Circulating system and method for vessel sealers

Abstract

A method for replacing consumables of a surgical tool includes fixing the surgical tool, the surgical tool comprising a drive housing, an elongated shaft extending distally from the drive housing, an end effector positioned at the distal end of the shaft, and a wrist portion interposed between the distal end of the shaft and the end effector. The method further includes moving the elongated shaft proximal to expose the internal portion of the wrist portion and the end effector, moving the end effector distal to separate it from the wrist portion, cutting the end effector from the proximal portion of the surgical tool, replacing consumables of the surgical tool, reconnecting the end effector to the proximal portion of the surgical tool, moving the end effector proximal to reattach it to the wrist portion, and moving the shaft distal to close the internal portion of the wrist portion and the end effector.

Description

Background Art

[0001] Minimally invasive surgical (MIS) instruments are often preferred over conventional open surgical devices because they shorten the postoperative recovery time and result in minimal scarring. Laparoscopic surgery is a type of MIS technique where one or more small incisions are made in the patient's abdomen and trocars are inserted through the incisions to form a pathway for accessing the abdominal cavity. Through the trocars, various instruments and surgical tools can be introduced into the abdominal cavity. These instruments and tools introduced into the abdominal cavity through the trocars can be used to engage and / or treat tissue in many ways to obtain diagnostic or therapeutic effects.

[0002] To assist MIS techniques, various robotic systems have been developed. The robotic system can enable intuitive hand movements by maintaining natural eye and hand axes. The robotic system can also enable movement with multiple degrees of freedom by including a joint-movable "wrist" joint that forms joints like a natural hand. In such a system, an end effector positioned at the distal end of the instrument can perform articulation (movement) using a cable-driven motion system having one or more drive cables extending through the wrist joint. A user (e.g., a surgeon) can remotely operate the end effector of the instrument by gripping and manipulating one or more controllers in space that communicate with a tool drive unit connected to the surgical instrument. The user input is processed by a computer system incorporated within the robotic surgical system, and the tool driver responds by actuating the cable-driven motion system. By moving the drive cables, the end effector is articulated to the desired angular position and configuration.

[0003] MIS instruments incorporate various high-wear components that degrade mechanically or physically over time, potentially limiting their service life. Therefore, most MIS instruments are designed for use only during a predetermined number of treatments, after which they are often discarded. As is understood, this can have adverse environmental impacts.

[0004] To maintain product value while simultaneously avoiding the generation of additional environmental waste, businesses and manufacturers are increasingly exploring ways to incorporate "circularity" into their business models. Circularity is an economic model that adheres to the three "Rs": reuse, reprocessing, and recycle, aiming to extend the lifespan of products through repair and maintenance, reuse, remanufacturing, or upcycling.

[0005] What is needed is a circular process or methodology for the reuse and recycling of MIS equipment that minimizes its environmental impact. [Brief explanation of the drawing]

[0006] The following figures are included to illustrate specific aspects of the disclosure, but should not be viewed as exclusive embodiments. The disclosed subject matter can be substantially modified, altered, combined, and equivalent in form and function without departing from the scope of the disclosure. [Figure 1] This is a block diagram of an exemplary robotic surgical system that may incorporate some or all of the principles of this disclosure. [Figure 2] This is an isometric side view of an exemplary surgical tool that may incorporate some or all of the principles of this disclosure. [Figure 3] Figure 2 shows the potential degrees of freedom of the wrist portion of the surgical tool, which can perform joint movement (pivot) and translation. [Figure 4] This is an isometric side view of an exemplary cyclic processing system according to one or more embodiments. [Figure 5A]Figure 4 is a magnified isometric view of the distal end of the surgical tool shown in Figure 2, mounted on an end effector mount. [Figure 5B] Figure 4 is a magnified isometric view of the distal end of the surgical tool shown in Figure 2, mounted on an end effector mount. [Figure 6A] This is an enlarged isometric view of the distal end of the end effector of Figure 2, mounted on the end effector mount of Figure 4, according to one or more embodiments. [Figure 6B] This is an enlarged isometric view of the distal end of the end effector of Figure 2, mounted on the end effector mount of Figure 4, according to one or more embodiments. [Figure 7A] An end effector in an additional step of disassembly according to one or more embodiments of the present disclosure is shown. [Figure 7B] An end effector in an additional disassembly step is shown according to one or more additional embodiments of the present disclosure. [Figure 8] This is an enlarged gradual diagram of the interconnection between a drive rod and a push rod according to one or more embodiments. [Figure 9] An end effector in an additional disassembly step is shown according to one or more additional embodiments of the present disclosure. [Figure 10A] Additional steps for disassembling the end effector are shown according to one or more additional embodiments of the present disclosure. [Figure 10B] Additional steps for disassembling the end effector are shown according to one or more additional embodiments of the present disclosure. [Figure 11] An end effector in an additional disassembly step is shown according to one or more additional embodiments of the present disclosure. [Figure 12A] This diagram shows a further disassembly and subsequent assembly of the upper jaw according to one or more embodiments. [Figure 12B] This diagram shows a further disassembly and subsequent assembly of the upper jaw according to one or more embodiments. [Figure 12C] This diagram shows a further disassembly and subsequent assembly of the upper jaw according to one or more embodiments. [Figure 13A] These are cross-sectional side views and isometric views of the distal end of a surgical tool, respectively, illustrating the interconnection of conductors according to one or more embodiments. [Figure 13B] These are cross-sectional side views and isometric views of the distal end of a surgical tool, respectively, illustrating the interconnection of conductors according to one or more embodiments. [Figure 14] Another isometric view of the distal end of a surgical tool, according to one or more additional embodiments. [Figure 15] This is a cross-sectional side view of a drive housing according to one or more embodiments. [Figure 16] An isometric view of the distal end of a surgical tool according to one or more additional embodiments. [Figure 17] An isometric view of the distal end of a surgical tool according to one or more additional embodiments. [Figure 18] This is another enlarged isometric view of an end effector according to one or more embodiments of the present disclosure. [Figure 19A] This is an enlarged isometric view of the knife and knife housing of Figure 18, according to one or more embodiments. [Figure 19B] This is an enlarged isometric view of the knife and knife housing of Figure 18, according to one or more embodiments. [Figure 20A] This is a side view of a knife connected to the distal end of a drive rod, according to one or more embodiments. [Figure 20B] This is a side view of a knife connected to the distal end of a drive rod, according to one or more embodiments. [Figure 21A] This is a side view of another exemplary knife connected to the distal end of a drive rod, according to one or more additional embodiments. [Figure 21B] This is a side view of another exemplary knife connected to the distal end of a drive rod, according to one or more additional embodiments. [Figure 22A] This is an isometric view of an exemplary knife assembly according to one or more embodiments. [Figure 22B] This is an enlarged view of the knife assembly shown in Figure 22A, according to one or more embodiments. [Figure 23] An enlarged side view of an end effector according to one or more embodiments. **DETAILED DESCRIPTION**

[0007] The present disclosure relates to surgical tools, and more specifically, to extending the lifespan of surgical tools by implementing a circulatory system and method that result in the replacement of one or more consumables included in the surgical tool.

[0008] Most uses or “lifespans” of robotic (and non-robotic) surgical tools are often limited by the lifespan or durability of only a few components within the surgical tool, referred to herein as “consumables.” The embodiments disclosed herein explain how the design of a surgical tool can be modified to allow for the fairly easy replacement of consumables without the need to completely disassemble the surgical tool. Thus, the embodiments disclosed herein can demonstrate that they are advantageous for restoring a used surgical tool by reducing or even eliminating the need to discard the entire surgical tool, and instead, by replacing one or more consumables.

[0009] Figure 1 is a block diagram of an exemplary robotic surgical system 100 that may incorporate some or all of the principles of this disclosure. As shown, the system 100 may include at least one set of user input controllers 102a and at least one control computer 104. The control computer 104 may be mechanically and / or electrically coupled to a robotic manipulator, more specifically, one or more robotic arms 106 (alternatively referred to as “tool drives”). In some embodiments, the robotic manipulator may be contained in or otherwise mounted on an arm cart that may make the system portable. Each robotic arm 106 may include, or otherwise provide, a place to mount one or more surgical instruments or tools 108 for performing various surgical tasks on a patient 110. The operation of the robotic arms 106 and associated tools 108 may be instructed by a clinician 112a (e.g., a surgeon) from the user input controllers 102a.

[0010] In some embodiments, a second set of user input controllers 102b (shown by dashed lines) may be operated by the second clinician 112b in conjunction with the first clinician 112a to instruct the operation of the robotic arm 106 and tool 108 via the control computer 104. In such embodiments, for example, each clinician 112a,b may control a different robotic arm 106, or, as appropriate, complete control of the robotic arm 106 may be passed between clinicians 112a,b as needed. In some embodiments, an additional robotic manipulator with additional robotic arms may be used during surgery on patient 110, and these additional robotic arms may be controlled by one or more of the user input controllers 102a,b.

[0011] The control computer 104 and user input controllers 102a,b may communicate with each other according to any communication protocol via a communication link 114, which may be any type of wired or wireless telecommunications means configured to carry various communication signals (e.g., electrical, optical, infrared, etc.). In some applications, for example, there may be a tower equipped with auxiliary devices and a processing core designed to drive a robotic arm 106.

[0012] The user input controllers 102a,b generally include one or more physical controllers that clinicians 112a,b can grasp and manipulate in space while the surgeon views the procedure via a stereo display. The physical controllers generally include manual input devices that are movable in multiple degrees of freedom, and the manual input devices often include actuated handles for operating surgical tools 108 (e.g., for opening and closing opposing jaws, applying potential (current) to electrodes, etc.). To provide a visual display of various surgical instrument metrics, such as the amount of force applied to the surgical instrument (i.e., cutting instrument or dynamic clamping member), the control computer 104 may further include optional feedback meters that clinicians 112a,b can view via a display.

[0013] Figure 2 is an isometric side view of an exemplary surgical tool 200 that may incorporate some or all of the principles of this disclosure. The surgical tool 200 may be identical or similar to the surgical tool 108 in Figure 1, and therefore may be used in conjunction with a robotic surgical system, such as the robotic surgical system 100 in Figure 1. Accordingly, the surgical tool 200 may be designed to be releasably coupled to a tool drive unit included in the robotic surgical system 100. However, in other embodiments, the form of the surgical tool 200 may be adapted for use in a manual or hand-operated manner without departing from the scope of this disclosure.

[0014] As shown in the figure, the surgical tool 200 includes an elongated shaft 202, an end effector 204, a wrist portion 206 (alternatively referred to as the “wrist joint” or “articulated wrist joint”) connecting the end effector 204 to the distal end of the shaft 202, and a drive housing 208 connected to the proximal end of the shaft 202. In applications where the surgical tool is used with a robotic surgical system (e.g., the robotic surgical system 100 in Figure 1), the drive housing 208 may include a coupling mechanism that releasably connects the surgical tool 200 to the robotic surgical system.

[0015] The terms “proximal” and “distal” are defined herein in reference to a robotic surgical system having an interface configured to mechanically and electrically connect a surgical tool 200 (e.g., housing 208) to a robotic manipulator. The term “proximal” refers to the location of an element closer to the robotic manipulator, and the term “distal” refers to the location of an element closer to the end effector 204 and therefore further away from the robotic manipulator. Alternatively, in applications operated manually or by hand, the terms “proximal” and “distal” are defined herein in reference to a user, such as a surgeon or clinician. The term “proximal” refers to the location of an element closer to the user, and the term “distal” refers to the location of an element closer to the end effector 204 and therefore further away from the user. Furthermore, the use of directional terms such as up, down, upward, downward, left, right, etc., is used in reference to illustrative embodiments as shown in the figures, where upward or upward direction is toward the top of the corresponding figure, and downward or downward direction is toward the bottom of the corresponding figure.

[0016] During use of the surgical tool 200, the end effector 204 is configured to move (pivot) relative to the shaft 202 at the wrist portion 206 to position the end effector 204 in a desired direction and location relative to the surgical site. To achieve this, the housing 208 includes (houses) various drive inputs and mechanisms (e.g., gears, actuators, etc.) designed to control the operation of various mechanisms associated with the end effector 204 (e.g., clamping, firing, cutting, rotating, jointing, etc.). In at least some embodiments, the shaft 202, and therefore the end effector 204 connected thereto, is configured to rotate around the longitudinal axis A1 of the shaft 202. In such embodiments, at least one of the drive inputs contained in the housing 208 is configured to control the rotational motion of the shaft 202 around the longitudinal axis A1.

[0017] The shaft 202 is an elongated member extending distally from the housing 208 and has at least one lumen extending through its interior along its axial length. In some embodiments, the shaft 202 may be fixed to the housing 208, but alternatively, it may be rotatably mounted to the housing 208 so as to allow the shaft 202 to rotate around the longitudinal axis A1. In yet another embodiment, the shaft 202 may be releasably connected to the housing 208, thereby allowing a single housing 208 to be adapted to various shafts having different end effectors.

[0018] The end effector 204 can exhibit a variety of sizes, shapes, and configurations. In the illustrated embodiment, the end effector 204 comprises a tissue gripper and vessel sealer combination including opposing first (upper) jaws 210 and opposing second (lower) jaws 212 configured to move (articulate) between an open position and a closed position. However, as will be understood later, the opposing jaws 210, 212 may alternatively form part of other types of end effectors, including but not limited to surgical scissors, clip applicators, needle holders, Babcocks including a pair of opposing gripping jaws, and bipolar jaws (e.g., bipolar Maryland gripping instruments, forceps, fenestrated gripping instruments, etc.). One or both of the jaws 210, 212 may be configured to pivot in order to articulate the end effector 204 between an open position and a closed position.

[0019] Figure 3 shows the potential degrees of freedom of the wrist portion 206, which can articulate (pivot) and move the end effector 204. The wrist portion 206 can have any of a variety of configurations. Generally, the wrist portion 206 has joints configured to allow pivotal movement of the end effector 204 relative to the shaft 202. The degrees of freedom of the wrist portion 206 are expressed by three translational variables (i.e., surge, heave, and sway) and three rotational variables (i.e., Euler angles or roll, pitch, and yaw). The translational and rotational variables describe the position and orientation of the end effector 204 relative to a given reference Cartesian frame. As shown in Figure 3, "surge" refers to forward and backward translational movement, "heave" refers to up and down translational movement, and "sway" refers to left and right translational movement. Regarding rotational terminology, "roll" refers to tilting the side, "pitch" refers to tilting forward and backward, and "yaw" refers to rotating left and right.

[0020] The pivot motion can include pitch motion around a first axis (e.g., the X-axis) of the wrist portion 206, yaw motion around a second axis (e.g., the Y-axis) of the wrist portion 206, and combinations thereof, enabling 360° rotational motion of the end effector 204 around the wrist portion 206. In other applications, the pivot motion can be limited to motion in a single plane, for example, only pitch motion around the first axis of the wrist portion 206, or only yaw motion around the second axis of the wrist portion 206, resulting in the end effector 204 moving only in a single plane.

[0021] Referring again to Figure 2, the surgical tool 200 may further include several drive cables (hidden in Figure 2) that form part of a cable-driven motion system configured to facilitate the operation and articulation of the end effector 204 relative to the shaft 202. By moving (actuating) one or more of the drive cables, the end effector 204 moves between an articulated position and an articulated position. In Figure 2, the end effector 204 is shown in an articulated position such that its longitudinal axis A2 is substantially aligned with the longitudinal axis A1 of the shaft 202, thereby resulting in a substantially zero angle of the end effector 204 relative to the shaft 202. Due to factors such as manufacturing tolerances and precision of the measuring device, the end effector 204 may not be at a precise zero angle relative to the shaft 202 in the articulated position, but it may still be considered "substantially aligned" with respect to the shaft 202. In the joint movement position, the longitudinal axes A1 and A2 are angularly offset from each other such that the angle of the end effector 204 with respect to the shaft 202 is not zero.

[0022] In some embodiments, the surgical tool 200 may be supplied with power (current) via a power cable 214 connected to the housing 208. In other embodiments, the power cable 214 may be omitted, and power may be supplied to the surgical tool 200 via an internal power source such as one or more batteries or fuel cells. In such embodiments, the surgical tool 200 may alternatively be characterized and referred to as an "electrosurgical instrument" capable of supplying electrical energy to the end effector 204.

[0023] The power cable 214 can allow the surgical tool 200 to communicate with the generator 216, which supplies energy such as electrical energy (e.g., radio frequency energy), ultrasonic energy, microwave energy, thermal energy, or any combination thereof, to the surgical tool 200, more specifically to the end effector 204. Thus, the generator 216 may be equipped with a radio frequency (RF) source, an ultrasonic source, a DC source, and / or any other suitable type of electrical energy source, which can be activated independently or simultaneously.

[0024] Like most surgical tools, the surgical tool 200 contains various high-wear components, referred to herein as “consumables,” which degrade mechanically or physically over time, potentially limiting the service life of the surgical tool 200. Therefore, the surgical tool 200 may be designed for use in only a predetermined number of procedures. Once a predetermined number of procedures is reached, the operator (e.g., nurse, physician, etc.) may no longer be able to continue using the surgical tool 200. In such cases, the surgical tool 200 is conventionally discarded, which can have adverse effects on the environment.

[0025] According to embodiments of the present disclosure, instead of discarding the surgical tool 200, the surgical tool 200 may undergo a circular processing or circular economy model or approach designed to reprocess and recycle the surgical tool 200 for further use. In circular processing, the surgical tool 200 is discarded when it has reached a predetermined number of treatments and is then sent to a service center where trained technicians clean the surgical tool 200 and mount it in a disassembly and fixation device. While mounted in the disassembly and fixation device, various parts of the surgical tool 200 may be disassembled to access and remove one or more consumables that form part of the surgical tool 200. The removed consumables may then be cleaned, repaired, or replaced with new consumables. The surgical tool 200 may then be reassembled, tested, and delivered to a distribution center and subsequently sent to an end user (e.g., a hospital, surgeon, operator, etc.) for further use.

[0026] Figure 4 is an isometric side view of an exemplary surgical tool circulating treatment system 400 according to one or more embodiments. As shown, the surgical tool circulating treatment system 400 includes a disassembly and fixation device 402 configured to receive and mount surgical tools 200. The disassembly and fixation device 402 may be provided to a service center employing technicians trained to clean, disassemble, and repair surgical tools 200, as described herein.

[0027] As shown in the figures, the disassembly fixture 402 provides an elongated base 404 having a first or "distal" end 406a and a second or "proximal" end 406b opposite the distal end 406a. In some embodiments, the base 404 may have a substantially rectangular shape, as shown in the figures, but alternatively, it may have other shapes without departing from the scope of the present disclosure.

[0028] A drive housing mount 408 is provided at a proximal end 406b, otherwise defined, and may be configured to receive and seat a drive housing 208, the drive housing mount 208 may include a bottom 410a that can be mated with an upper 410b. In the illustrated embodiment, the drive housing 208 is shown received within the drive housing mount 408 such that the bottom 410a faces upward and is otherwise exposed. In such an embodiment, some or all of the bottom 410a may be removed by a technician to access various internal components of the drive housing 208, as will be described in more detail below. Furthermore, in such an embodiment, a robotic manipulator (not shown) may be mounted on the bottom 410a to operate an exposed drive input 411 of the drive housing 208. However, in other embodiments, the drive housing 208 may be received within the drive housing mount 408 with the upper 410b facing upward, without departing from the scope of the present disclosure.

[0029] As shown in the figure, the drive housing mount 408 may include a plurality of structural elements that extend from or form part of the body 404 and are designed to receive and seat the drive housing 208. More specifically, the drive housing mount 408 may include a cradle or "yoke" 412, a rear support 414, and one or more side supports 416 (two of which are visible) located at various points between the yoke 412 and the rear support 414. The yoke 412 may be configured to support the distal end of the drive housing 208, and the rear support 414 may be configured to support the proximal end of the drive housing 208. The side supports 416 may be configured to support the sides of the drive housing 208.

[0030] In some embodiments, the drive housing mount 408 may further include a clamp 418 that is operable to secure the drive housing 208 to the base 404 when properly received within the drive housing mount 408. In some embodiments, the clamp 418 may be attached to the rear support 414 as shown, but alternatively, without departing from the scope of the present disclosure, it may be attached to the drive housing mount 408 or to other parts of the base 404.

[0031] The vise, referred to herein as the end effector mount 420, may be provided at or near the distal end 406a of the base 404, or otherwise defined, and may be configured to receive and seat the distal end of a surgical tool 200. More specifically, as shown in the enlarged inset, the end effector mount 420 may include a bracket or stand 422 and a fixing clasp or mechanism 424 pivotably attached to the stand 422. The fixing mechanism 424 may include a pivot joint 426, a fixing bar 428 extending from the pivot joint 426, and a mechanical fastener 430 located at the end of the fixing bar 428 opposite the pivot joint 426. When attached to the pivot joint 426, the fixing bar 428 may be vertically offset a short distance from the stand 422 so that a gap 432 is provided between the fixing bar 428 and the top of the stand 422. The gap 432 may be large enough to accommodate the distal end of the surgical tool 200 when the fixation mechanism 424 is fixed to the stand 422.

[0032] To secure the distal end of the surgical tool 200 to the disassembly fixture 402, more specifically to the end effector mount 420, the distal end of the surgical tool 200 is first placed on the stand 422 such that the shaft 202 or a portion of the wrist portion 206 engages with the top of the stand 422. The fixing bar 428 can then be pivoted around the pivot joint 426 until the mechanical fastener 430 can position and mate with the corresponding fixing receptor 434. Operating the mechanical fastener 430 onto the fixing receptor 434, or otherwise securing it, can load the distal end of the surgical tool 200, which helps prevent the surgical tool 200 from moving up or down or translating axially. In the illustrated embodiment, the mechanical fastener 430 includes a thumb screw, but alternatively, it may include other types of mechanical fasteners or fastening means suitable for securing the fixing bar 428 to the stand 422, thereby helping to secure the surgical tool 200 to the disassembly fixture 402.

[0033] Those skilled in the art will readily understand that the end effector mount 420 and the fixing mechanism 424 are merely one exemplary embodiment consistent with the principles of the present disclosure. Indeed, other means and configurations of the end effector mount 420 and / or the fixing mechanism 424 are possible and contemplated herein without departing from the scope of the present disclosure.

[0034] Figures 5A and 5B are enlarged isometric views of the distal end of a surgical tool 200 mounted on an end effector mount 420 according to one or more embodiments. As shown in Figure 5A, once the distal end of the surgical tool 200 is properly mounted on the end effector mount 420, the shaft 202 can be moved proximal to the end effector 204, as indicated by arrow B in Figure 5B, or otherwise translated. In some embodiments, it may be necessary to release the proximal end of the shaft 202 within the drive housing 208 (Figures 2 and 4) before moving the shaft 202 proximal, as described below. However, once the proximal end of the shaft 202 is released, the shaft 202 may be manually translated in the proximal direction B, which exposes the internal portions of the end effector 204 and the wrist portion 206.

[0035] Figures 6A and 6B are enlarged isometric views of the distal end of an end effector 204 mounted on an end effector mount 420 according to one or more embodiments. In the illustrated embodiments, the fixing mechanism 424 is clamped to a portion of the wrist portion 206 interposed between the end effector 204 and the shaft 202 (Figures 2, 4, and 5A-5B). As shown, the wrist portion 206 may include at least a distal clevis 602, which may help facilitate articular movement of the wrist portion 206 relative to the shaft 202. In the illustrated depiction, the fixing mechanism 424 is clamped downward to the distal clevis 602 to fix the end effector 204 to the end effector mount 420. However, in other embodiments, the fixing mechanism 424 may be clamped to other portions of the wrist portion 206 to fix the end effector 204 to the end effector mount 420.

[0036] In some embodiments, the wrist portion 206 may further include a coupling mechanism 604 positioned distal to the distal clevis 602 and operably mounted to the jaws 210, 212. A first pulley 606a and a second pulley 606b may be rotatably mounted to the distal end of the distal clevis 602 on the pivot axis P1 of the wrist portion 206. The coupling mechanism 604 may be positioned distal to the pivot axis P1 and operably mounted to the jaws 210, 212, the pivot axis P1 being substantially perpendicular (orthogonal) to the longitudinal axis A1 of the end effector 204. As described below, the coupling mechanism 604 may comprise two or more mating parts and may be operable to help hold the jaws 210, 212 together.

[0037] As best seen in Figure 6B, the multiple drive cables, indicated as drive cables 608a, 608b, 608c, and 608d (closed), extend proximal to the end effector 204 and at least partially through the wrist portion 206. The drive cables 608a-d may form part of a cable-driven motion system housed within the drive housing 208 (Figure 2) and may include cables, bands, lines, cords, wires, woven wires, ropes, strings, twisted strings, elongated members, belts, shafts, flexible shafts, drive rods, or any combination thereof. The drive cables 608a-d can be made from a variety of materials, including but not limited to metals (e.g., tungsten, stainless steel, nitinol, etc.), polymers (e.g., ultra-high molecular weight polyethylene), synthetic fibers (e.g., KEVLAR®, VECTRAN®, etc.), elastomers, or any combination thereof. Although four drive cables 608a to d are shown in Figure 6B, more than four or fewer than four cables can be used without departing from the scope of this disclosure.

[0038] The drive cables 608a to d extend from the end effector 204 toward the drive housing 208 (Figures 2 and 4), where the drive cables 608a to d are operably connected to various actuation mechanisms or devices that facilitate the longitudinal movement (translation) of the drive cables 608a to d. Selective actuation of the drive cables 608a to d in the drive housing 208 applies tension (i.e., tensile force) to a given drive cable 608a to d in the proximal direction, which causes the given drive cables 608a to d to be translated longitudinally.

[0039] The distal ends of each drive cable 608a to d may be terminated at the first pulley 606a or the second pulley 606b, thus operably connecting each drive cable 608a to d to the end effector 204. In some embodiments, the distal ends of the first drive cable 608a and the second drive cable 608b may be connected to each other and terminated at the first pulley 606a, and the distal ends of the third drive cable 608c and the fourth drive cable 608d may be connected to each other and terminated at the second pulley 606b. In at least one embodiment, the distal ends of the first drive cable 608a and the second drive cable 608b, and the distal ends of the third drive cable 608c and the fourth drive cable 608d may each be connected to each other by corresponding ball crimps 610 (one of which is visible) attached to the first pulley 606a and the second pulley 606b, respectively.

[0040] As is most commonly seen in Figure 6B, in some embodiments, the first conductor 612a and the second conductor 612b extend longitudinally through the wrist portion 206 and terminate at the end effector 204, supplying electrical energy to the end effector. More specifically, the first conductor 612a terminates at a first or "upper" electrode 614a fixed to the upper jaw 210, and the second conductor 612b terminates at a second or "lower" electrode 614b fixed to the lower jaw 212. When the jaws 210 and 212 are closed, the electrodes 614a and 614b face each other.

[0041] In some embodiments, the conductors 612a and 612b may each include a wire, but alternatively, they may include a rigid or semi-rigid shaft, rod, or strip (ribbon) made of a conductive material. The conductors 612a and 612b may be partially covered with an insulating coating (overmolding) made of a non-conductive material. By routing the conductors 612a and 612b to the corresponding electrodes 614a and 614b, respectively, the end effector 204 can operate in bipolar RF operation. However, in other embodiments, only one electrode 614a or 614b may be included, and the end effector 204 and the opposing jaw act as the other electrode while operating in bipolar RF operation.

[0042] In some embodiments, as shown in the figures, each conductor 612a, b may include a corresponding electrical connector 615 configured to join two opposing lengths of the conductors 612a, b. The distal length of the conductors 612a, b extends to the electrodes 614a, b, while the proximal length (not shown) of the conductors 614a, b extends to the drive housing 208 (Figures 2 and 4). The electrical connector 615 allows the distal length of the conductors 612a, b to be separated from the proximal length when the end effector 204 is removed, as described below.

[0043] As described above, the end effector 204 includes a combination of a tissue gripping instrument and a vessel sealer and may further include a knife (not shown), also called a “cutting element” or “blade.” As will be described in more detail below, the knife is configured to align with and traverse a guide track (not shown) longitudinally defined on one or both of the upper jaws 210 and the lower jaws 212. The knife may be operably connected to the distal end of a drive rod 616 (Figure 6B) that extends longitudinally and passes through the wrist portion 206. Longitudinal movement (translation) of the drive rod 616 corresponds to movement of the knife within the guide track. Similar to the drive cables 608a-d, the drive rod 616 may form part of an actuation system housed within the drive housing 208 (Figure 2). Selective actuation of the corresponding drive inputs moves the drive rod 616 distally or proximally, correspondingly moving the knife in the same longitudinal direction.

[0044] The distal clevis 602 provides opposing first and second arms 618 (only one visible in Figure 6A) that are laterally offset from each other and extend distally toward the end effector 204. A gap (space) is formed between the arms 618 to receive the pulleys 606a, b and to provide space for accommodating other elements of the end effector 204 that extend through the wrist portion 206 to the end effector 204. In some embodiments, as shown, each arm 618 may provide, or otherwise define, an open end slot 620 (only one visible in Figure 6A) that is open distally and configured to receive and seat a corresponding retaining cap or "end cap" 622 (only one visible) associated with each pulley 606a, b. In some embodiments, the end cap 622 may form an integral part of the corresponding pulleys 606a, b. However, in other embodiments, each end cap 622 may comprise a separate component configured to be operably connected to pulleys 606a, b and to help secure pulleys 606a, b to the distal clevis 602.

[0045] As described above, each slot 620 has an open end distally. Therefore, the end cap 622 can be removed from the distal clevis 612 by pulling the end effector 204 distally, as indicated by arrow C, thereby separating the end cap 622 from the distal clevis 602. Figure 6A shows the end effector 204 in a first state or "assembled" state, and Figure 6B shows the end effector 204 in a second state or "extended" state, where the end effector 204 is manually moved distally C to separate the pulleys 606a, b from the corresponding open end slots 620. To enable the end effector 204 to be pulled distally, a surgical tool 200 (Figure 2) can be provided in the design of the drive housing 208 (Figures 2 and 4) or otherwise incorporated. In such embodiments, for example, the drive cables 608a-c, conductors 612a, b, and drive rod 616 may each be configured to unwind slack when the end effector 204 is pulled distally in direction C. In at least one embodiment, this can be achieved for the drive cables 608a-d by rotating the input capstan to unwind or unwind the cable from the spool through various spool-capstan mechanisms. On the other hand, the conductors 612a, b, and drive rod 616 may each be cut before (or after) the end effector 204 is extended distally, as is generally described below.

[0046] Figure 7A shows the end effector 204 in an additional disassembly step according to one or more embodiments of the present disclosure. As described above, when the end effector 204 extends distally, the pulleys 606a,b can be separated or disassembled laterally from the end effector 204, as indicated by arrow D.

[0047] More specifically, the first jaw 210 provides a first jaw extension 702a, and the second jaw 212 provides a second jaw extension 702b, with each jaw extension 702a,b extending proximal to the corresponding jaws 210, 212. The first pulley 606a may be rotatably connected to the first jaw extension 702a such that the movement (rotation) of the first pulley 606a causes the first jaw 210 to move (rotate) in correspondence, and the second pulley 606b may be rotatably connected to the second jaw extension 702b such that the movement (rotation) of the second pulley 606b causes the second jaw 212 to move (rotate) in correspondence. The first pulley 606a provides a first jaw pin (invisible) configured to engage with a first jaw opening 704a defined on the first jaw extension 702a, and the second pulley 606b may provide or define a second jaw pin 706 configured to engage with a second jaw opening 704b (Figure 7B) defined on the second jaw extension 702b. The jaw pin 706 is eccentric with respect to the pivot axis, thereby allowing the pulleys 606a and 606b to rotate and pivot the jaws 210 and 212 between open and closed positions. However, when the pulleys 606a and 606b are separated from the end effector 204, they no longer constrain the assembly.

[0048] Figure 7B shows the end effector 204 in an additional disassembly step according to one or more additional embodiments of the present disclosure. Once the pulleys 606a,b are separated laterally from the end effector 204, as generally described above with reference to Figure 7A, the end effector 204 is ready to be completely removed from the shaft 202 and its subcomponents. In at least one embodiment, the end effector 204 may be rotated angularly (e.g., clockwise) around the longitudinal axis A1 of the shaft 202, as indicated by arrow E. In some configurations, rotating the end effector 204 angularly in direction E allows the drive rod 616 to be mechanically removed from the push rod 708 (partially visible) extending into the shaft 202. The push rod 708 is a generally rigid rod extending to the drive housing 208 (Figures 2 and 4), and may be operably connected to an actuation mechanism capable of axially translating the push rod 708 within the shaft 202, and actual translation of the push rod 708 corresponds to acting on the drive rod 616 in the same direction.

[0049] Figure 8 shows an enlarged, incremental diagram of the interconnection between the drive rod 616 and the push rod 708 according to one or more embodiments. As shown, the drive rod 616 can be operably and releasably connected to the push rod 708 at a releasable connector 802.

[0050] In at least one embodiment, the releasable connector 802 may include a bayonet connector. More specifically, the releasable connector 802 may include a bayonet connector 804 located at the proximal end of the drive rod 616, and the distal end of the push rod 708 may include and be otherwise defined a female receptor 806. However, in some embodiments, the positions of the bayonet connector 804 and the female receptor 806 can be interchanged. In such embodiments, the bayonet connector 804 may instead be located at the distal end of the push rod 708, and the proximal end of the drive rod 616 may include the female receptor 806.

[0051] The bayonet connector 804 includes one or more radial pins 808 configured to be received in a matching L-shaped slot 810 defined within a female receptor 806. In such embodiments, the radial pins 808 can be released from the L-shaped slot 810 by rotating the end effector 204 (Figure 7B) in the angular direction E (Figure 7B), and then the drive rod 616 is moved in the distal direction C.

[0052] Figure 9 shows the end effector 204 in an additional disassembly step according to one or more additional embodiments of the present disclosure. More specifically, once the releaseable connection 802 of the drive rod 616 is disconnected, the end effector 204 is manually translated distally C, as generally described above, thereby separating the end effector 204, the drive rod 616, and the conductors 612a,b from the remaining (proximal) portion of the shaft 202 and its subcomponents.

[0053] As described above, each conductor 612a, b includes a corresponding electrical connector 615, and the electrical connector 615 is disengaged from the proximal (invisible) length of the conductors 612a, b by pulling the end effector 204 distally C. In some embodiments, for example, each electrical connector 615 may be equipped with a crimp-fit ​​plug, such as a banana clip. In such embodiments, the electrical connector 902 can be disconnected from the corresponding connection in the shaft 202 simply by pulling it distally C, thereby removing the banana clip.

[0054] Figures 10A and 10B show additional steps for disassembling the end effector 204 according to one or more additional embodiments of the present disclosure. Referring first to Figure 10A, the entire end effector 204, including all “consumables” or high-wear components associated with the end effector 204, may be replaced at this point, if desired. In such embodiments, a new or repaired end effector, conductors and corresponding electrical connectors, drive rods, and a knife may be provided, and the aforementioned steps of disassembly and removal up to this point may be reversed to reattach the component parts to the remaining (proximal) portion of the surgical tool 200 (Figure 2).

[0055] Alternatively, if it is desirable to replace individual “consumables” associated with the end effector 204, the end effector 204 may undergo further disassembly by removing, separating, or otherwise breaking the retaining band 1002 that extends around the coupling mechanism 604 and holds the jaws 210, 212 in place. The retaining band 1002 may be made of a variety of materials, including, but not limited to, metals, polymers, elastomers, composites, and any combination thereof. In Figure 10A, the retaining band 1002 is shown cut or separated at the break or separation point 1004. In other embodiments, instead of being cut or separated, the retaining band 1002 may be separated, for example, by removing a mechanical fastener or mechanical coupling.

[0056] Exemplary “consumables” of the end effector 204 that can be replaced by further disassembling the end effector 204 include, but are not limited to, the jaws 210, 212 (one or both), the drive rod 616, a knife (not shown) fixed to the distal end of the drive rod 616, conductors 612a, b and corresponding electrical connectors 615, and electrodes 614a, b fixed to the upper jaw 210 and the lower jaw 212, respectively.

[0057] Referring here to Figure 10B, once the fixing band 1002 (Figure 10A) is removed, the coupling mechanism 604 can then be removed from the jaws 210, 212. In the illustrated embodiment, the coupling mechanism 604 includes two or more component parts that are joined or fitted together to help secure the jaws 210, 212. More specifically, the coupling mechanism 604 comprises opposing first coupling mechanism portion 1006a and second coupling mechanism portion 1006b, and joining the coupling mechanism portions 1006a, b helps to rotatably secure the jaws 210, 212. When disassembling the end effector 204, the coupling mechanism portions 1006a, b can be removed laterally as indicated by arrow D.

[0058] As shown in the figure, each coupling mechanism portion 1006a, b may provide or define a lateral arm 1008, and each jaw 210, 212 defines a saddle or “groove” 1010 configured to receive one of the corresponding lateral arms 1008, thereby providing a corresponding inner jaw pivot surface for the jaws 210, 212. In the illustrated embodiment, the lateral arm 1008 of the second coupling mechanism portion 1006b is received in the groove 1010 defined by the first jaw 210, and the lateral arm 1008 of the first coupling mechanism portion 1006a is received in the groove 1010 defined by the second jaw 212. By receiving the lateral arm 1008 in the groove 1010, a jaw pivot point is created from which the jaws 210, 212 can pivot between an open position and a closed position. The lateral arm 1008 interacts with the corresponding groove 1010, helping to prevent the jaws 210 and 212 from separating from each other. In some embodiments, as the jaws 210 and 212 open and close around the jaw pivot point, the lateral arm 1008 slidably engages with the corresponding groove 1010, and thus the groove 1010 can act as the corresponding cam surface. The jaw pivot point generated by the interaction between the lateral arm 1008 and the groove 1010 may be substantially parallel to the pivot axis P1 (Figures 6A-6B).

[0059] Figure 11 shows the end effector 204 in an additional disassembly step according to one or more additional embodiments of the present disclosure. More specifically, Figure 11 shows an exploded view of the end effector 204, where the upper jaw 210 and the lower jaw 212 are disassembled perpendicularly from each other, as indicated by arrow F, thereby exposing the knife 1102 received in the knife housing 1104. Once the end effector 204 is assembled, the knife housing 1104 can be attached to the end effector 204 between the upper jaw 210 and the lower jaw 212. The lower jaw 212 provides or otherwise defines a knife slot 1106, through which the knife 1102 may traverse when the drive rod 616 is distally actuated. The knife slot 1106 is visible in the lower jaw 212, but in some embodiments, the knife slot 1106 may be collaboratively defined by both the upper jaw 210 and the lower jaw 212.

[0060] The knife 1102 is shown in Figure 11 in a first or “storage” position, at least partially received within a cavity defined by the knife housing 1104, and is sized to receive and “storage” the knife 1102 when not in use. When the end effector 204 is fired, the drive rod 616 is moved distally (biased), correspondingly moving the knife 1102 from the knife housing 1104 into the knife slot 1106. After firing is complete, the drive rod 616 retracts proximally, pulling the knife 1102 proximally back into the knife housing 1104 until it is desired to fire the end effector 204 again.

[0061] At this point, one or more “consumables” of the end effector 204 may be replaced. In some embodiments, one or both of the lower and lower jaws 210, 212, including, for example, the corresponding electrodes 614a, b and the corresponding conductors 612a, b and the electrical connector 615, may be replaced. In such embodiments, once new jaws 210, 212 are provided, the aforementioned steps of disassembly and removal up to this point may be reversed.

[0062] In other embodiments, or in addition, the knife 1102 may be replaced. In such embodiments, a new or repaired knife assembly, including the knife 1102 and the drive rod 616, may be provided together or separately. Once a new knife assembly is provided, the aforementioned steps of disassembly and removal up to this point may be reversed to return the surgical tool 200 (Figure 2) to a usable state.

[0063] Alternatively, if it is desired to replace one or both of electrodes 614a, b, or one or both of jaws 210, 212, the end effector 204 may undergo further disassembly.

[0064] Figures 12A to 12C are stepwise diagrams of further disassembly and subsequent assembly of the upper jaw 210 according to one or more embodiments. Although Figures 12A to 12C show the upper jaw 210, it should be noted that the following considerations are equally applicable to the lower jaw 212.

[0065] In some embodiments, it may be desirable to replace the upper electrode 614a, which is connected to and forms part of the upper jaw 210. The upper electrode 614a may be manufactured via an injection molding process resulting in the creation of a plurality of vertical posts 1202 (see Figure 12B). The posts 1202 may be alignable with a plurality of corresponding orifices 1204 defined in the body of the upper jaw 210, and the upper electrode 614a may be fixed to the body of the upper jaw 210 by heat riveting the posts 1202 within the orifices 1204. Heat riveting the posts 1202 involves applying heat to the posts 1202 and simultaneously applying force to deform the posts 1202, thereby forming a head that fixes the posts 1202 within the orifices 1204. However, as can be understood, the upper electrode 614a may be manufactured from or fixed to the body of the upper jaw 210 by other manufacturing methods and means without departing from the scope of the present disclosure.

[0066] As shown in Figure 12B, the post 1202 may be drilled, milled, or punched in order to remove the upper electrode 614a from the body of the upper jaw 210. This can be achieved by accessing the head or upper end of the post 1202 through the corresponding orifice 1204 and then drilling, milling, or punching the head of the post 1202. This process disengages the post 1202 from the orifice 1204, thereby allowing the upper electrode 614a to be separated from the body of the upper jaw 210.

[0067] Once the old upper electrode 614a is removed, a new upper electrode 1206 can be attached to the body of the upper jaw 210, as shown in Figure 12C. In some embodiments, the new upper electrode 1206 may be attached to the body of the upper jaw 210 by heat scribing. More specifically, as shown, the new upper electrode 1206 may include a plurality of posts 1202 configured to align with an orifice 1204 defined in the body of the upper jaw 210. Once properly received within the orifice 1204, the posts 1202 can be fixed to the body of the upper jaw 210 by heat scribing the posts 1202, generally as described above. The straightness of the new electrode 1206 relative to the upper jaw 210 can be maintained while the individual posts are heat scribing. However, in other embodiments, the new upper electrode 1206 may be bonded to the body of the upper jaw 210 with epoxy. In some embodiments, the new upper electrode 1206 may have a new anti-stick coating on it.

[0068] The aforementioned steps of disassembling and removing the end effector 204 up to this point can then be reversed to return the surgical tool 200 (Figure 2) to a usable state. In particular, in the process of reversing the process outlined in Figure 11 above, the upper jaw 210 and the lower jaw 212 are brought into contact perpendicularly with each other, thereby allowing the knife 1102 and the knife housing 1104 to be captured between them.

[0069] Furthermore, in the process of reversing the process outlined in Figures 10A to 10B above, the coupling mechanism portions 1006a and 1006b of the distal coupling mechanism 604 may be assembled to the jaws 210 and 212, and the fixing band 1002 may be reattached or re-fixed. In some embodiments, the fixing band 1002 may be reattached to the distal coupling mechanism 604 via spot welding, but alternatively, it may be attached by other means such as brazing, mechanical fasteners, mechanical engagements, or any combination of the foregoing.

[0070] In the process of reversing the process outlined in Figure 7A above, the pulleys 606a and 606b can then be reattached to the first jaw extension 702a and the second jaw extension 702b.

[0071] In the process of reversing the process outlined in Figures 7B and 8 above, the drive rod 616 can then be reattached to the push rod 708 and reconnected.

[0072] In the process of reversing the process outlined in Figure 9 above, the distal lengths of the conductors 612a, b can then be reconnected to the proximal lengths of the conductors 612a, b by reattaching the electrical connector 615. Figures 13A and 13B are cross-sectional side view and isometric view, respectively, of the distal end of the surgical tool 200, showing the interconnection of the conductors 612a, b according to one or more embodiments. More specifically, Figures 13A-13B show the shaft 202 retracted proximal to allow a reassembly technician to access the electrical connector 615.

[0073] Figure 13A shows an electrical connector 615 for a first conductor 612a, which includes a first or "distal" connector 1302a and a second or "proximal" connector 1302b. Although the electrical connector 615 for the first conductor 612a is shown in Figure 13A, the following description is equally applicable to the electrical connector 615 for the second conductor 612b. As shown, the distal connector 1302a is attached to the distal length (part) of the first conductor 612a, which extends to the upper electrode 614a and is attached to the upper jaw 210. The proximal connector 1302b is attached to the proximal length (part) of the first conductor 612b which extends to the drive housing 208 (Figures 2 and 4). As described above, the electrical connector 615 may include a clamp-fit ​​plug, such as a banana clip. Therefore, the distal connector 1302a and the proximal connector 1302b can generally be removed (cut) simply by pulling them in opposite directions, as described above.

[0074] Reattaching the distal connector 1302a and the proximal connector 1302b can be achieved by reversing the removal process. In particular, the distal connector 1302a may include a male end 1304 (shown by a dashed line) provided by the proximal connector 1302b and receivable in a corresponding female receptacle, which is otherwise defined. By receiving the male end 1304 in the female receptacle, the distal connector 1302a and the proximal connector 1302b are properly connected. However, in some embodiments, without departing from the scope of the present disclosure, the male end 1304 may alternatively be provided on the proximal connector 1302b, and the female receptacle may instead be provided on the distal connector 1302a.

[0075] Referring to Figure 13B, the window 1306 may be defined and provided otherwise within a subassembly in the shaft 202. The window 1306 may provide physical access to the electrical connector 615, thereby allowing a technician to not only cut the distal connector 1302a and the proximal connector 1302b (Figure 13A) but also to visually ensure that the distal connector 1320a and the proximal connector 1320b are successfully mated. In at least one embodiment, the window 1306 may also allow a technician to properly mate the distal connector 1302a and the proximal connector 1302b using a tool (not shown).

[0076] Figure 14 is another isometric view of the distal end of the surgical tool 200 according to one or more additional embodiments. In particular, Figure 14 shows an alternative embodiment of the electrical connector 615 (one partially shown) and an exemplary reattachment process. As shown, the window 1402 may be defined within a subassembly in the shaft 202 or otherwise provided. The window 1402 may also provide physical access to the electrical connector 615, thereby allowing a technician to visually ensure proper reattachment and connection of the electrical connector 615. In the illustrated embodiment, the electrical connector 615 may include a biasing device or spring 1404. In such embodiment, the electrical connector 615 may be subjected to spring tension, and reattaching the electrical connector 615 may require overcoming the spring force of the spring 1404. Thus, in at least one embodiment, the window 1402 may further be used to insert a tool configured to assist in cutting the electrical connector 615 during disassembly and to secure the connection of the electrical connector 615 during assembly. The spring 1404 may prove advantageous in helping to maintain tension on the conductor as it passes through the wrist portion while the wrist portion is in various angular positions or orientations. These spring-loaded electrical connectors 615 may further include cylindrical connecting means to ensure they do not separate due to spring force, and seals (e.g., O-rings) that help prevent fluid from entering the electrical connector 615.

[0077] Once the electrical connector 615 is properly reinstalled, the end effector 204 can be advanced proximal to be reinstalled on the distal clevis 602 in a process that reverses the process outlined in Figures 6A and 6B above. During this process, the pulleys 606a and 606b are then reinstalled and received separately by the open-end slots 620 of the distal clevis 602, thereby returning the end effector 204 to its assembled state.

[0078] In the process of reversing the process outlined in Figures 5A and 5B above, the shaft 202 can then be manually moved distally and otherwise returned toward the end effector 204.

[0079] Finally, in the reverse process of the process outlined in Figure 4 above, the surgical tool 200 can be detached and removed from the disassembly and fixation device 402.

[0080] Figure 15 is a cross-sectional side view of a drive housing 208 according to one or more embodiments. More specifically, Figure 15 shows the interior of the drive housing 208. As shown, the shaft 202 extends through an opening 1502 defined within the drive housing 208 and distally therefrom. One or more retaining clips 1504 (one is shown) may be mounted inside the drive housing 208 and configured to secure the shaft 202 in a distal position. In the illustrated embodiments, the retaining clips 1504 may be secured to a shaft collar 1506 located inside the drive housing 208, but alternatively, they may be secured to other mechanisms or structures within the drive housing 208.

[0081] As shown in Figures 2, 4, and 5A, when the shaft 202 is at its most distal position, the retaining clip 1504 may be positioned to abut against or engage with the proximal end 1508 of the shaft 202, thereby preventing the shaft 202 from moving in the proximal direction B. However, in other embodiments, the retaining clip 1504 may be configured to engage with another part of the shaft 202, such as being received in a groove 1510 defined on the body of the shaft 202, thereby equally preventing its proximal movement.

[0082] To allow the shaft 202 to be moved to proximal B, the retaining clip 1504 must be disengaged from its engagement with the proximal end 1508 (or groove 1510) or bent, as described in the process outlined in Figures 5A and 5B above. In some embodiments, the retaining clip 1504 may comprise a C-clip, etc. In such embodiments, the retaining clip 1504 may be manually disengaged by a technician, or otherwise bent from its engagement with the proximal end 1508 (or groove 1510). However, those skilled in the art will readily recognize that the retaining clip 1504 may comprise other types of mechanical components or devices that can fix the shaft 202 to its most distal position without departing from the scope of the present disclosure.

[0083] In Figure 15, after the retaining clip 1504 has been successfully disengaged from the proximal end 1508 (or groove 1510), the shaft 202 is moved in the proximal direction B. Once the retaining clip 1504 is removed, the shaft 202 can move freely in the proximal direction B. The technician may be able to access the retaining clip 1504 by removing one or both of the bottom surface 410a and / or top surface 410b of the drive housing 208. Once the bottom or top surface 410a,b is removed, the technician can easily access and manually operate the retaining clip 1504.

[0084] Figure 16 is an isometric view of the distal end of the surgical tool 200 according to one or more additional embodiments. In the illustrated embodiments, the shaft 202 is retracted proximal to expose various subcomponents of the surgical tool 200 in or near the wrist portion 206, including a releasable interconnect 1602 between the drive rod 616 and the push rod 708. The releasable interconnect 1602 may be the same as or different from the bayonet-type connector described above with reference to Figure 8. In at least one embodiment, the releasable interconnect 1602 may include a spring-loaded interconnect that can be released, for example, by manually releasing spring tension.

[0085] In some embodiments, as shown, the surgical tool 200 may further include a shaft sleeve 1604 that is longitudinally translatable along at least a portion of the shaft 202 and retractable to expose a separately releaseable interconnect 1602. As shown, the shaft sleeve 1604 includes a vertical tab 1606, which can be moved proximal to expose the releaseable interconnect 1602. In some embodiments, a technician may be able to manually engage the vertical tab 1606 to push (slide, shift, etc.) the shaft sleeve 1604 in the proximal direction B. However, in other embodiments, the vertical tab 1606 may interlock with a sleeve connector 1608 (shown by dashed line) provided on the shaft 202. In such embodiments, moving the shaft 202 in either direction (distal or proximal) acts correspondingly on the vertical tab 1606, moving the shaft sleeve 1604 in the same direction. In yet another embodiment, the vertical tab 1606 does not have to interlock with the sleeve connector 1608, but instead may simply be engageable with it. In such an embodiment, the technician may need to manually engage the vertical tab 1606 to move the shaft sleeve 1604 proximal B, but moving the shaft 202 distally engages the sleeve connector 1608 on the vertical tab 1606, which in turn acts on the vertical tab 1606, moving the shaft sleeve 1604 in the same distal direction.

[0086] As the shaft sleeve 1604 moves proximal to expose the releaseable interconnect 1602, a technician can manually disengage the drive rod 616 from the push rod 708 by releasing the releaseable interconnect 1602, or confirm that the drive rod 616 has been successfully disengaged from the push rod 708. Furthermore, once the drive rod 616 is released from the push rod 708, the drive rod 616 and the interconnected knife 1102 (Figure 11) can be removed distally while the wrist portion 206 (articular movement joint assembly) remains intact. In embodiments including the sleeve connector 1608, the vertical tab 1606 may be held distally when the shaft 202 is in its most distal position. In such embodiments, the shaft 202 acts as an outer insulating sleeve, and the metal shaft may be located within the shaft 202 and provide a counter tab that contacts the vertical tab 1606 when the shaft 202 is in its most distal position. This may prove advantageous in helping to ensure that the releasable interconnect 1602 is connected whenever the shaft 202 is fully distal (i.e., during device operation).

[0087] Figure 17 is an isometric view of the distal end of the surgical tool 200 according to one or more additional embodiments. The surgical tool 200 includes a jaw assembly 1702, which includes an end effector 204, a drive rod 616 (and interconnected knife), conductors 612a, b and associated electrodes 614a, b, and an electrical connector 615. Figure 17 shows the jaw assembly 1702 separated from the wrist portion 206 (articular movement joint assembly). According to embodiments of the present disclosure, this can be achieved while the wrist portion 206 remains intact.

[0088] In the first step, for example, the jaw assembly 1702 may be advanced distally C together with the pulleys 606a, b and the corresponding drive cables 608a-d. As described above with reference to Figures 6A-6B, the pulleys 606a, b are removed from the distal clevis 602 by pulling distally, thereby allowing the end caps 622 to be removed from the open end slots 620 of the distal clevis 602. In the second step, the jaw assembly 1702 may be advanced further distally C, thereby separating the jaw assembly 1702 from the pulleys 606a, b, as schematically described above with reference to Figure 7A. In this (preferred) embodiment, the disassembly step is to first retract the shaft 202 to disconnect the electrical connections and knife interconnects, then advance the wrist assembly 206 and the pulleys 606a, b, and then separate the pulleys 606a, b to completely remove the end effector 204.

[0089] Threaded knife component attachment One area that can cause problems with vessel sealers such as the end effector 204 described herein is the blunting of the knife 1102 (Figure 11) during treatment use. As described herein, the knife assembly, including the knife 1102 and the interconnected drive rod 616 (Figures 6A-6B), may be characterized collectively or individually as “consumables” that may have a limited or predetermined lifespan. What is needed is a method for replacing the knife 1102 in order to maximize the reuse of components for circulating use while maintaining consistent cutting performance.

[0090] Figure 18 is another enlarged isometric view of the end effector 204 according to one or more embodiments of the present disclosure. The upper jaws 210 (Figures 2 and 6A-6B) are omitted from Figure 18 to allow viewing of the various internal mechanisms of the end effector 204.

[0091] In the illustrated embodiment, the knife 1102 (mostly closed) is shown as being received within a portion of the lower electrode 414b of the lower jaw 212, more specifically, within a portion of the insulator 1802 connected to the lower electrode 414b. In the subsequently retracted position, as shown in Figure 18, the knife 1102 may further be partially received within a knife housing 1104 mounted on the end effector 204 between the upper jaw 210 and the lower jaw 212. The lower jaw 212 provides, or otherwise defines, at least a portion of the knife slot 1106 through which the knife 1102 can traverse when the drive rod 616 is actuated distally. However, as described above, in some embodiments, the knife slot 1106 may be collaboratively defined by both the upper jaw 210 and the lower jaw 212.

[0092] As described in more detail below, the knife housing 1104 defines a central passage through which a drive rod 616 can extend to move the knife 1102 along the knife slot 1106. When the end effector 204 is fired, the drive rod 616 is moved distally (biased), and in response, the knife 1102 moves from the knife housing 1104 into the knife slot 1106. After firing is complete, the drive rod 616 retracts proximally, pulling the knife 1102 proximally back into the knife housing 1104 until it is desired to fire the end effector 204 again.

[0093] Figures 19A and 19B are enlarged isometric views of a knife 1102 and a knife housing 1104 according to one or more embodiments. In Figure 19A, the knife 1102 is shown in a first position or "retained" position, where the knife 1102 is at least partially received within a cavity 1902 defined by the knife housing 1104 and is sized to receive and "retain" the knife 1102 when not in use. In Figure 19B, the knife 1102 is shown in a second position or "extended" position, where the knife 1102 extends distally from the cavity 1902.

[0094] As described above, the knife 1102 can be operably connected to the distal end of the drive rod 616 (shown by a dashed line in Figure 19A). The central passage 1904 is defined through the knife housing 1104 and provides a conduit through which the drive rod 616 can extend to move the knife 1102 into and along the knife slot 1106 (Figure 18). In at least one embodiment, the lumen 1902 may form part of the central passage 1904 or communicate with the central passage. In some embodiments, the drive rod 616 may comprise a solid shaft, but alternatively, it may comprise a tube or tubular structure. Furthermore, the drive rod 616 may be made from a variety of flexible materials, including but not limited to metals or metal alloys (e.g., nickel-titanium alloy or "nitinol"), plastics or thermoplastic materials, composite materials, or any combination thereof. The drive rod 616 may further comprise a braided cable structure made of metal (e.g., stainless steel, tungsten, etc.) or one of the aforementioned materials, and such a braided cable may be radially constrained to support an axial load.

[0095] In some embodiments, as shown, the flexible sheath 1906 (e.g., a hypotube) can cover at least a portion of the drive rod 616. The sheath 1906 can help support the drive rod 616 and prevent buckling when subjected to compressive loads during joint movement of the wrist portion 206 (Figures 2 and 6A-6B) and during opening and closing of the jaws 210, 212 (Figures 2 and 6A-6B). Like the drive rod 616, the flexible sheath 1906 may be made from a variety of flexible materials, including but not limited to metals or metal alloys (e.g., nickel-titanium alloy or "nitinol"), metal coils, plastics or thermoplastic materials, composite materials, braided tubular materials, or any combination thereof.

[0096] When the end effector 204 (Figures 2 and 6A-6B) is fired, the drive rod 616 is moved distally (biased) through the central passage 1904, correspondingly moving the knife 1102 to its extended position, or otherwise moving it out of the cavity 1902 into the knife slot 1106 (Figure 18). As the drive rod 616 is translated distally, the sheath 1906 supports the drive rod 616 against axial buckling resulting from the compressive load on the drive rod 616. After firing is complete, the drive rod 616 retracts proximally, correspondingly pulling the knife 1102 proximally back to its retracted position, or otherwise retracting it into the cavity 1902, until it is desired to fire the end effector 204 again.

[0097] The knife 1102 may be attached to the distal end of the drive rod 616 in a connecting or “retaining” mechanism 1908. As described herein, the retaining mechanism 1908 may be configured to removably connect the knife 1102 to the drive rod 616. For example, the retaining mechanism 1908 may be fixed to the knife 1102, but may also be screw-receptacle-engaged to the distal end of the drive rod 616, and thus be screw-removable from the drive rod 616.

[0098] Figures 20A and 20B are side views of a knife 1102 connected to the distal end of a drive rod 616 according to one or more embodiments. The holding mechanism 1908 may comprise a short tubular length or tube. More specifically, the holding mechanism 1908 may comprise a tubular body 2002 having a first end or "distal" end 2004a and a second end or "proximal" end 2004b opposite the distal end 2004a.

[0099] As best seen in Figure 20A, the knife 1102 may be welded to the retaining mechanism 1908 at a weld 2006 located at the interface between the knife 1102 and the retaining mechanism 1908. The retaining mechanism 1908 may be made of a material that allows the knife 1102 to be welded to the retaining mechanism. In at least one embodiment, for example, the retaining mechanism 1908 may be made of a metal such as stainless steel. In embodiments in which the knife 1102 is made of nitinol, the retaining mechanism 1908 may also be made of nitinol.

[0100] Referring to Figure 20B, the tubular body 2002 may provide an internal conduit or passage that extends at least partially between the distal end 2004a and the proximal end 2004b. The internal passage defines a female thread 2008a (indicated by a dashed line) configured to screw-fit to a male thread 2008b (indicated by a dashed line) defined on the distal end of the drive rod 616. The female thread 2008a and the male thread 2008b may include any type of thread suitable for screw-fitting the tubular body 2002 to the distal end of the drive rod 616, including, but not limited to, roll-formed threads, Unified Miniature (UNM) threads, standard threads, ACME threads, custom threads, or any combination thereof.

[0101] Therefore, the knife 1102 can be screwed onto the distal end of the drive rod 616 in a screw engagement between the female thread 2008a and the male thread b. The screw connection between the tubular body 2002 and the drive rod 616 restricts the positioning of the knife 1102 and transmits the cutting load along the axis of the drive rod 616. In embodiments where it is desirable to replace the knife 1102, the knife 1102 may simply be unscrewed from the distal end of the drive rod 616, and a new knife may be screwed onto the distal end.

[0102] Figures 21A and 21B are side views of another exemplary knife 2102 connected to the distal end of the drive rod 616, according to one or more additional embodiments. The knife 2102 may be similar in some respects to the knife 1102 in Figures 20A-20B, and is therefore best understood by referring to it, with similar reference numerals representing similar components which will not be described in detail again.

[0103] The knife 2102 includes a retaining mechanism 1908, and as best seen in Figure 21A, the knife 2102 may be welded to the retaining mechanism 1908 by one or more welds, indicated as a first weld 2104a and a second weld 2104b. More specifically, the knife 2102 may define a notch or cutout 2106 extending from its proximal end into the central portion of the body of the knife 2102, and the retaining mechanism 1908 may be sized to be received within the cutout 2106. When received within the cutout 2106, one or both of the welds 2104a, b may be applied to the corresponding interface between the knife 2102 and the retaining mechanism 1908. In at least one embodiment, only one of the welds 2104a, b may be required or included.

[0104] Referring to Figure 21B, the tubular body 2002 of the retaining mechanism 1908 may provide an internal conduit or passage defining a female thread 2108a (shown by a dashed line) configured to screw-fit with a male thread 2108b (shown by a dashed line) defined on the distal end of the drive rod 616. The female thread 2108a and the male thread 2108b may be the same as the threads 2008a and 2008b in Figure 20B, and thus may have any type of thread suitable for screw-fitting the tubular body 2002 to the distal end of the drive rod 616.

[0105] Figure 22A is an isometric view of an exemplary knife assembly 2200 according to one or more embodiments, and Figure 22B is a magnified view of the knife assembly 2200 as shown by the dashed box included in Figure 22A. Referring first to Figure 22A, the knife assembly 2200 includes a knife 2202, a drive rod 2204, a proximal hypo tube 2206, and a push rod 2208.

[0106] Knife 2202 may be the same as or similar to either knife 1102 or 2102 described herein, but may alternatively include other types of knives known to those skilled in the art. Knife 2202 may be operably connected to drive rod 2204, which may be the same as or similar to drive rod 616 described herein. Proximal hypotube 2206 may be operably connected to the proximal end of drive rod 2204, and push rod 2208 may be operably connected to the proximal end of proximal hypotube 2206. In some embodiments, push rod 2208 may be the same as or similar to push rod 708 (Figure 8).

[0107] Referring to Figure 22B, which is an enlarged view of the knife assembly 2200 as indicated by the dashed box in Figure 22A, the drive rod 2204 can be operably connected to the proximal hypo tube 2206 by a screw engagement. More specifically, the drive rod 2204 provides and may otherwise define a male thread 2210a, and the proximal hypo tube 2206 provides and may otherwise define a female thread 2210b that receives the male thread 2210a and is sized to screw-fit with the male thread 2210a. The knife 2202 and drive rod 2204 can be separated from the rest of the knife assembly 2200 by unscrewing the drive rod 2204 from the proximal hypo tube 2206 by a screw engagement. This may prove advantageous if only the replacement of the knife 2202 and drive rod 2204 with a new knife and a new drive rod 2204 is desired.

[0108] In at least one embodiment, as intended herein, the proximal hypotube 2206 may be omitted without departing from the scope of the present disclosure, and instead the drive rod 2204 may be screwably engaged with the push rod 2208.

[0109] Figure 23 is an enlarged side view of an end effector 204 according to one or more embodiments. As shown, the end effector 204 includes branched jaws 210, 212, which allow the knife 2102 to be exposed when the jaws 210, 212 are in the open position. The knife 2102 shown in Figure 23 is merely an example and may be replaced by any other knife described herein without departing from the scope of this disclosure.

[0110] In embodiments where it is desired to replace knife 2102 and / or other parts of the knife assembly, the jaws 210, 212 can be opened manually, either at the end effector 204 or by using a manual slider that forms part of the drive housing 208 (Figures 2 and 4). The drive rod 616 can then be advanced distally, correspondingly advancing knife 2102 out of the end effector 204, thereby exposing the knife for removal. In embodiments where knife 2102 is screwed onto the drive rod 616, knife 2102 may be unscrewed (disengaged) from the drive rod 616, as described herein, and a new knife may then be screwed onto the distal end of the drive rod 616. The drive rod 616 can then be retracted proximally, correspondingly retracting the new knife, closing the jaws 210, 212, thereby completing the replacement process.

[0111] In other embodiments, the knife 2102 and the drive rod 616 may be unscrewed from the proximal portion of the knife assembly, as described above with reference to Figures 22A-22B. In such embodiments, the knife 2102 and the interconnected drive rod 616 may be unscrewed from the proximal portion of the jaw assembly 2200, and the new knife and new drive rod may then be unscrewed onto the proximal portion of the jaw assembly 2200. The new drive rod may then be retracted proximal to retract the new knife in correspondence, and then the jaws 210, 212 may be closed, thereby completing the replacement process.

[0112] The embodiments disclosed herein include the following:

[0113] A. A method for replacing consumables of a surgical tool includes fixing the surgical tool, the surgical tool comprising a drive housing, an elongated shaft extending distally from the drive housing, an end effector positioned at the distal end of the elongated shaft, and a wrist portion interposed between the distal end of the elongated shaft and the end effector. The method may further include moving the elongated shaft proximal to expose the internal portion of the wrist portion and the end effector, moving the end effector distal to separate it from the wrist portion, cutting the end effector from the proximal portion of the surgical tool, replacing consumables of the surgical tool, reconnecting the end effector to the proximal portion of the surgical tool, moving the end effector proximal to reattach it to the wrist portion, and moving the elongated shaft distal to close the internal portion of the wrist portion and the end effector.

[0114] B. A surgical tool configured for a circulating treatment system comprises a drive housing that can be mounted on a drive housing mount, an elongated shaft extending distally from the drive housing, an end effector positioned at the distal end of the elongated shaft and capable of securing an end effector mount, a wrist portion interposed between the distal end of the elongated shaft and the end effector, and one or more retaining clips provided inside the drive housing and capable of engaging with the elongated shaft within the drive housing, wherein by disengaging one or more retaining clips from the elongated shaft, the elongated shaft can move freely proximal within the drive housing, thereby exposing the wrist portion and the internal portion of the end effector while the surgical tool is attached to a disassembly fixture.

[0115] C. A method for replacing consumables of a surgical tool is to fix the surgical tool, the surgical tool comprising a drive housing, an elongated shaft extending distally from the drive housing, an end effector positioned at the distal end of the elongated shaft, and a wrist portion interposed between the distal end of the elongated shaft and the end effector, the wrist portion comprising a distal clevis having opposing first and second arms that are laterally offset from each other and extend distally, each arm comprising a wrist portion defining an open end slot that opens distally, and first and second pulleys operably connected to the end effector and rotatably mounted on the first and second arms. The method may further include moving the end effector distally, thereby separating the first and second pulleys from the first and second arms by exiting the open end slot; cutting the end effector from the proximal portion of the surgical tool while the wrist portion remains intact; replacing consumables of the surgical tool; reattaching the end effector to the proximal portion of the surgical tool; and moving the end effector proximal to reattach the end effector to the wrist portion.

[0116] D. A surgical tool configured for a circulating processing system includes a drive housing that can be attached to a drive housing mount, an elongated shaft extending distally from the drive housing, an end effector positioned at the distal end of the elongated shaft and capable of securing an end effector mount, a wrist portion interposed between the distal end of the elongated shaft and the end effector, and at least one conductor extending from the drive housing and terminating with an electrode attached to the end effector, wherein the at least one conductor includes a spring tension electrical connector comprising a distal connector attached to the distal length of the at least one conductor and a proximal connector attached to the proximal length of the at least one conductor.

[0117] Each of embodiments A, B, C, and D may have one or more of the following additional elements in any combination: Element 1: One or more retaining clips are provided inside the drive housing and are engageable with an elongated shaft inside the drive housing, and moving the elongated shaft proximal includes accessing the inside of the drive housing, moving one or more retaining clips to disengage from the elongated shaft, and moving the elongated shaft proximal, further inside the drive housing. Element 2: The wrist portion includes a distal clevis having opposing first and second arms that are laterally offset from each other and extend distally, each arm defining an open-end slot that opens distally, and the surgical tool further includes first and second pulleys rotatably mounted on the first and second arms and operably connected to an end effector, and moving the end effector distal includes separating the first and second pulleys from the first and second arms by exiting the open-end slot. Element 3: The surgical tool further includes a drive rod extending to an end effector and terminating with a knife, and cutting the end effector from the proximal portion of the surgical tool includes laterally separating the first and second pulleys from the end effector, cutting the drive rod from a push rod extending in an elongated shaft from the drive housing, and moving the end effector and drive rod distally from the proximal portion of the surgical tool. Element 4: The drive rod is releasably connected to the push rod via a bayonet connection, and cutting the drive rod from the push rod includes rotating the end effector around the longitudinal axis of the elongated shaft, thereby cutting the bayonet connection. Element 5: Further includes cutting the end effector from the proximal portion of the surgical tool while the wrist portion remains intact.Element 6: The surgical tool further includes at least one conductor terminated with an electrode attached to an end effector, and cutting the end effector from the proximal portion of the surgical tool includes laterally separating the first and second pulleys from the end effector, cutting the electrical connector of at least one conductor from the proximal length of at least one conductor, and moving the distal length of the end effector and at least one conductor distally from the proximal portion of the surgical tool. Element 7: The electrical connector comprises a distal connector attached to the distal length of at least one conductor and a proximal connector attached to the proximal length of at least one conductor, and cutting the electrical connector includes removing the distal connector and the proximal connector. Element 8: The consumable is the end effector, and replacing the consumable of the surgical tool includes replacing the entire end effector. Element 9: A distal coupling mechanism is attached to the proximal end of an end effector, the end effector includes opposing upper and lower jaws, and cutting the end effector from the proximal portion of the surgical tool further includes removing a fixing band extending around the distal coupling mechanism, separating two or more coupling mechanism portions of the distal coupling mechanism from the end effector, and separating the upper and lower jaws, thereby exposing a knife fixed to the distal end of a drive rod. Element 10: The knife includes a consumable, and replacing the consumable of the surgical tool includes replacing the knife. Element 11: The surgical tool further includes at least one conductor terminating with an electrode attached to a corresponding one of the upper and lower jaws, the electrode includes a consumable, and replacing the consumable of the surgical tool includes removing the electrode from a corresponding one of the upper and lower jaws, and attaching a new electrode to a corresponding one of the upper and lower jaws. Element 12: Fixing a surgical tool includes mounting the surgical tool to a disassembly fixture, which includes the steps of mounting the drive housing to the drive housing mount of the disassembly fixture and fixing the end effector to the end effector mount of the disassembly fixture.

[0118] Element 13: The disassembly fixture includes an elongated base having opposing proximal and distal ends, with a drive housing mount provided at the proximal end and an end effector mount provided at the distal end. Element 14: At least one of one or more retaining clips includes a flexible C-clip. Element 15: The wrist portion includes a distal clevis having opposing first and second arms that are laterally offset from each other and extend distally, each arm defining an open-end slot that opens distally; a distal coupling mechanism located distal to the distal clevis and attached to the end effector; and first and second pulleys operably coupled to the end effector and rotatably mounted on the first and second arms, the first and second pulleys being separable from the first and second arms by moving the end effector distally, thereby allowing the first and second pulleys to exit the open-end slot. Element 16: The distal coupling mechanism includes two or more coupling mechanism parts that can be attached to an end effector, and a fixing band extending around the coupling mechanism to secure the two or more coupling mechanism parts to the end effector, the fixing band being removable to release the two or more coupling mechanism parts and thereby allow disassembly of the end effector. Element 17: An electrical connector including at least one conductor extending from a drive housing and terminating with an electrode attached to an end effector, a distal connector attached to the distal length of at least one conductor, and a proximal connector attached to the proximal length of at least one conductor, and a window defined within a subassembly housed in an elongated shaft, providing physical access to the electrical connector when the elongated shaft is moved proximal. Element 18: The electrical connector includes a spring tension connector.Element 19: The surgical tool further comprises a push rod extending from a drive housing within an elongated shaft; a drive rod releasably connected to the distal end of the push rod at a releasable interconnect and extending to an end effector; a knife attached to the distal end of the drive rod; and a shaft sleeve that is longitudinally translatable within the elongated shaft and retractable to expose a releasable interconnect, the drive rod and knife being replaceable by separating the releasable interconnect.

[0119] As a non-limiting example, exemplary combinations applicable to A, B, C, and D include element 2 with element 3, element 3 with element 4, element 3 with element 5, element 2 with element 6, element 6 with element 7, element 9 with element 10, element 9 with element 11, element 15 with element 16, and element 17 with element 18.

[0120] Accordingly, the systems and methods disclosed are well-adapted to achieve the results and benefits mentioned, as well as the inherent results and benefits therein. The teachings of this disclosure can be modified and implemented in equivalent ways that are evident to those skilled in the art who are interested in the teachings herein, although different; therefore, the specific embodiments disclosed above are merely illustrative. Furthermore, it is not intended to limit the details of the structures or designs shown herein other than those described in the following claims. Accordingly, the specific illustrative embodiments disclosed above can be modified, combined, or altered, and all such variations are considered to be within the scope of this disclosure. The systems and methods disclosed herein can be suitably implemented in the absence of any elements not specifically disclosed herein and / or any optional elements disclosed herein. Compositions and methods are described using the terms “comprising,” “containing,” or “including” various components and steps, but compositions and methods can also “consist essentially of” or “consist of” various components and steps. All numbers and ranges disclosed above may differ to some extent. Whenever a numerical range with lower and upper limits is disclosed, any number and any range that falls within that range is specifically disclosed. In particular, all ranges of values ​​(of form) disclosed herein ("about a to about b," or equivalently "about a to b (from approximately a to b)," or equivalently "about a to b (from approximately ab)") should be understood to describe all numbers and ranges that fall within a broad range of values. Furthermore, terms in the claims have plain and ordinary meanings unless otherwise explicitly and clearly defined by the patentee. In addition, when used in claims, the indefinite article "a" or "an" is defined herein to mean one or more of the elements it introduces.If there is any inconsistency in the use of a word or term in this Specified Patent or other document that may be incorporated herein by reference, the definition consistent with this Specified Patent or other Patent or other Document should be adopted.

[0121] As used herein, the phrase “at least one of” preceding a list of items is accompanied by the terms “and” or “or” to separate any of the items, but modifies the list as a whole, rather than each individual component of the list (i.e., each item). The phrase “at least one of” allows for meanings including at least one of any one of the items and / or at least one of any combination of items and / or at least one of each of the items. For example, the phrases “at least one of A, B, and C” or “at least one of A, B, or C” mean A only, B only, or C only, any combination of A, B, and C, and / or at least one of each of A, B, and C, respectively.

[0122] The use of directional terms such as up, down, upward, downward, left, right, ascend, and descend is used in relation to illustrative embodiments as they are depicted in the figures, where the upward direction is toward the top of the corresponding figure and the downward direction is toward the bottom of the corresponding figure.

[0123] [Implementation Method] (1) A method for replacing consumables of surgical tools, The surgical tool is fixed in place, and the surgical tool is Drive housing and A long, slender shaft extending distally from the drive housing, An end effector positioned at the distal end of the elongated shaft, The fixation includes a wrist portion interposed between the distal end of the elongated shaft and the end effector, The elongated shaft is moved proximally, thereby exposing the wrist portion and the internal portion of the end effector. Moving the end effector distally to separate it from the wrist portion, The end effector is cut from the proximal portion of the surgical tool, Replacing the consumables of the surgical tools, Reconnecting the end effector to the proximal portion of the surgical tool, The end effector is moved to a more proximal position and the end effector is reattached to the wrist portion. A method comprising moving the elongated shaft distally to close the wrist portion and the internal portion of the end effector. (2) One or more retaining clips are provided inside the drive housing and are capable of engaging with the elongated shaft inside the drive housing, and are capable of moving the elongated shaft proximally. Accessing the inside of the drive housing, Moving one or more of the retaining clips so as to disengage them from the elongated shaft, The method according to Embodiment 1, further moving the elongated shaft proximally and into the interior of the drive housing. (3) The wrist portion includes a distal clevis having opposing first and second arms that are laterally offset from each other and extend distally, each arm defining an open-end slot that opens distally, and the surgical tool further includes first and second pulleys that are operably connected to the end effector and rotatably mounted on the first and second arms, The method according to Embodiment 1 or Embodiment 2, wherein moving the end effector distally includes separating the first pulley and the second pulley from the first arm and the second arm by exiting the open end slot. (4) The surgical tool further includes a drive rod extending to the end effector and terminating with a knife, and the end effector is cut from the proximal portion of the surgical tool. The first pulley and the second pulley are separated laterally from the end effector, The drive rod is cut from the push rod that extends from the drive housing into the elongated shaft, The method according to Embodiment 3, comprising moving the end effector and the drive rod from the proximal portion of the surgical tool to the distal portion. (5) The method according to Embodiment 4, wherein the drive rod is releasably connected to the push rod via a bayonet connection, and disconnecting the drive rod from the push rod includes rotating the end effector around the longitudinal axis of the elongated shaft, thereby disconnecting the bayonet connection.

[0124] (6) The method according to embodiment 4, further comprising cutting the end effector from the proximal portion of the surgical tool while the wrist remains intact. (7) The surgical tool further includes at least one conductor terminated by an electrode attached to the end effector, and the end effector is cut from the proximal portion of the surgical tool. The first pulley and the second pulley are separated laterally from the end effector, The electrical connector of the at least one conductor is cut from the proximal length of the at least one conductor, The method according to Embodiment 3, comprising moving the distal length of the end effector and the at least one conductor distal to the proximal portion of the surgical tool. (8) The method according to Embodiment 7, wherein the electrical connector comprises a distal connector attached to the distal length of the at least one conductor and a proximal connector attached to the proximal length of the at least one conductor, and disconnecting the electrical connector includes removing the distal connector and the proximal connector. (9) The method according to any one of embodiments 1 to 8, wherein the consumable is the end effector, and replacing the consumable of the surgical tool includes replacing the entire end effector. (10) A distal coupling mechanism is attached to the proximal end of the end effector, and the end effector includes opposing upper and lower jaws, and the end effector is cut from the proximal portion of the surgical tool. Removing the fixing band that extends around the distal connecting mechanism, Separating two or more connection mechanism portions of the distal connection mechanism from the end effector, The method according to any one of embodiments 1 to 9, further comprising separating the upper jaw and the lower jaw, thereby exposing a knife fixed to the distal end of the drive rod.

[0125] (11) The method according to Embodiment 10, wherein the knife includes the consumables, and replacing the consumables of the surgical tool includes replacing the knife. (12) The surgical tool further includes at least one conductor terminated by an electrode attached to a corresponding one of the upper jaws and the lower jaw, the electrode including the consumable, and the replacement of the consumable of the surgical tool is The electrode is removed from the corresponding one of the upper jaw and the lower jaw. The method according to embodiment 10 or 11, comprising attaching a new electrode to the corresponding one of the upper jaw and the lower jaw. (13) Fixing the surgical tool includes attaching the surgical tool to a disassembly and fixing device, The steps include: attaching the drive housing to the drive housing mount of the disassembly fixing device; The method according to any one of embodiments 1 to 12, comprising the step of fixing the end effector to the end effector mount of the disassembly fixture. (14) A surgical tool configured for a circulating treatment system, A drive housing that can be attached to the aforementioned drive housing mount, A long, slender shaft extending distally from the drive housing, An end effector positioned at the distal end of the elongated shaft and capable of fixing the end effector mount, A wrist portion interposed between the distal end of the elongated shaft and the end effector, The drive housing comprises one or more retaining clips provided inside the drive housing and capable of engaging with the elongated shaft within the drive housing, A surgical tool wherein, by disengaging one or more retaining clips from the elongated shaft, the elongated shaft moves freely proximal to the drive housing, thereby exposing the wrist portion and the internal portion of the end effector while the surgical tool is attached to the disassembly fixture. (15) The surgical tool according to Embodiment 14, wherein the disassembly and fixing device includes an elongated base having opposing proximal and distal ends, the drive housing mount is provided at the proximal end, and the end effector mount is provided at the distal end.

[0126] (16) The wrist portion is A distal clevis having opposing first and second arms that are laterally offset from each other and extend distally, wherein each arm defines an open-end slot that opens distally, A distal coupling mechanism is positioned distal to the distal clevis and attached to the end effector, The end effector is operably connected to the first arm and the second arm, and includes a first pulley and a second pulley rotatably mounted on the first arm and the second arm, The surgical tool according to Embodiment 14 or Embodiment 15, wherein the first pulley and the second pulley are separable from the first arm and the second arm by moving the end effector distally, thereby allowing the first pulley and the second pulley to exit the open end slot. (17) The distal coupling mechanism, Two or more connecting mechanism parts that can be attached to the end effector, A surgical tool according to embodiment 16, comprising a fixing band extending around the coupling mechanism to secure the two or more coupling mechanism portions to the end effector, the fixing band being removable to release the two or more coupling mechanism portions and thereby allow disassembly of the end effector. (18) At least one conductor extending from the drive housing and terminating with an electrode attached to the end effector, An electrical connector including a distal connector attached to the distal length of the at least one conductor and a proximal connector attached to the proximal length of the at least one conductor, A surgical tool according to any one of embodiments 14 to 17, further comprising: a window defined within a subassembly housed within the elongated shaft, which provides physical access to the electrical connector when the elongated shaft is moved proximal. (19) The surgical tool is A push rod extending from the drive housing within the elongated shaft, A drive rod is releasably connected to the distal end of the push rod at a releasable interconnection and extends to the end effector, A knife attached to the distal end of the drive rod, The system further comprises a shaft sleeve that is translatable in the longitudinal direction within the elongated shaft and retractable to expose the retractable interconnection portion, A surgical tool according to any one of embodiments 14 to 18, wherein the drive rod and the knife can be replaced by separating the releasable interconnection portion. (20) A method for replacing consumables of surgical tools, The surgical tool is fixed in place, and the surgical tool is Drive housing and A long, slender shaft extending distally from the drive housing, An end effector positioned at the distal end of the elongated shaft, A wrist portion interposed between the distal end of the elongated shaft and the end effector, comprising a distal clevis having a first arm and a second arm that are offset laterally from each other and extend distally, each arm defining an open end slot that opens distally, The end effector is operably connected and includes a first pulley and a second pulley rotatably mounted on the first arm and the second arm, respectively, for fixing, The end effector is moved distally, thereby separating the first pulley and the second pulley from the first arm and the second arm by exiting the open end slot. While the wrist remains unharmed, the end effector is cut off from the proximal portion of the surgical tool. Replacing the consumables of the surgical tools, Reconnecting the end effector to the proximal portion of the surgical tool, A method comprising moving the end effector to a proximal position and reattaching the end effector to the wrist portion.

Claims

1. A method for replacing consumables of surgical tools, The surgical tool is fixed in place, and the surgical tool is Drive housing and A long, slender shaft extending distally from the drive housing, An end effector positioned at the distal end of the elongated shaft, The fixation includes a wrist portion interposed between the distal end of the elongated shaft and the end effector, The elongated shaft is moved proximally, thereby exposing the wrist portion and the internal portion of the end effector. Moving the end effector distally to separate it from the wrist portion, The end effector is cut from the proximal portion of the surgical tool, Replacing the consumables of the surgical tools, Reconnecting the end effector to the proximal portion of the surgical tool, The end effector is moved to a more proximal position and the end effector is reattached to the wrist portion. A method comprising moving the elongated shaft distally to close the wrist portion and the internal portion of the end effector.

2. One or more retaining clips are provided inside the drive housing and are capable of engaging with the elongated shaft inside the drive housing, and are capable of moving the elongated shaft proximally. Accessing the inside of the drive housing, Moving one or more of the retaining clips so as to disengage them from the elongated shaft, The method according to claim 1, further moving the elongated shaft proximally and into the interior of the drive housing.

3. The wrist portion includes a distal clevis having opposing first and second arms that are laterally offset from each other and extend distally, each arm defining an open-end slot that opens distally, and the surgical tool further includes first and second pulleys that are operably connected to the end effector and rotatably mounted on the first and second arms, The method according to claim 1 or 2, wherein moving the end effector distally includes separating the first pulley and the second pulley from the first arm and the second arm by exiting the open end slot.

4. The surgical tool further includes a drive rod extending to the end effector and terminating with a knife, and the end effector is cut from the proximal portion of the surgical tool. The first pulley and the second pulley are separated laterally from the end effector, The drive rod is cut from the push rod that extends from the drive housing into the elongated shaft, The method according to claim 3, comprising moving the end effector and the drive rod from the proximal portion of the surgical tool to the distal portion.

5. The method according to claim 4, wherein the drive rod is releasably connected to the push rod via a bayonet connection, and disconnecting the drive rod from the push rod includes rotating the end effector around the longitudinal axis of the elongated shaft, thereby disconnecting the bayonet connection.

6. The method according to claim 4, further comprising severing the end effector from the proximal portion of the surgical tool while the wrist remains intact.

7. The surgical tool further includes at least one conductor terminated by an electrode attached to the end effector, and the end effector is cut from the proximal portion of the surgical tool. The first pulley and the second pulley are separated laterally from the end effector, The electrical connector of the at least one conductor is cut from the proximal length of the at least one conductor, The method according to claim 3, comprising moving the distal length of the end effector and the at least one conductor distal to the proximal portion of the surgical tool.

8. The method according to claim 7, wherein the electrical connector comprises a distal connector attached to the distal length of the at least one conductor and a proximal connector attached to the proximal length of the at least one conductor, and disconnecting the electrical connector includes removing the distal connector and the proximal connector.

9. The method according to claim 1, wherein the consumable is the end effector, and replacing the consumable of the surgical tool includes replacing the entire end effector.

10. A distal coupling mechanism is attached to the proximal end of the end effector, and the end effector includes opposing upper and lower jaws, and the end effector is cut from the proximal portion of the surgical tool. Removing the fixing band that extends around the distal connecting mechanism, Separating two or more connection mechanism portions of the distal connection mechanism from the end effector, The method according to claim 1, further comprising separating the upper jaw and the lower jaw, thereby exposing a knife fixed to the distal end of the drive rod.

11. The method according to claim 10, wherein the knife includes the consumables, and replacing the consumables of the surgical tool includes replacing the knife.

12. The surgical tool further includes at least one conductor terminated by an electrode attached to a corresponding one of the upper jaws and the lower jaw, the electrode includes the consumable, and the consumable of the surgical tool can be replaced. The electrode is removed from the corresponding one of the upper jaw and the lower jaw. The method according to claim 10 or 11, further comprising attaching a new electrode to the corresponding one of the upper jaw and the lower jaw.

13. Fixing the surgical tool includes attaching the surgical tool to a disassembly and fixing device, The steps include: attaching the drive housing to the drive housing mount of the disassembly fixing device; The method according to claim 1, comprising the step of fixing the end effector to the end effector mount of the disassembly and fixing device.

14. A surgical tool configured for a circulating treatment system, A drive housing that can be attached to the aforementioned drive housing mount, A long, slender shaft extending distally from the drive housing, An end effector positioned at the distal end of the elongated shaft and capable of fixing the end effector mount, A wrist portion interposed between the distal end of the elongated shaft and the end effector, The drive housing is provided with one or more retaining clips that are engaged with the elongated shaft inside the drive housing, A surgical tool wherein, by disengaging one or more retaining clips from the elongated shaft, the elongated shaft moves freely proximal to the drive housing, thereby exposing the wrist portion and the internal portion of the end effector while the surgical tool is attached to the disassembly fixture.

15. The disassembly and fixing device includes an elongated base having opposing proximal and distal ends, the drive housing mount being provided at the proximal end, and the end effector mount being provided at the distal end, according to claim 14.

16. The aforementioned wrist portion is A distal clevis having opposing first and second arms that are laterally offset from each other and extend distally, wherein each arm defines an open end slot that opens distally, A distal coupling mechanism is positioned distal to the distal clevis and attached to the end effector, The end effector is operably connected and includes a first pulley and a second pulley rotatably mounted on the first arm and the second arm, The surgical tool according to claim 14 or 15, wherein the first pulley and the second pulley are separable from the first arm and the second arm by moving the end effector distally, thereby allowing the first pulley and the second pulley to exit the open end slot.

17. The distal connecting mechanism, Two or more connecting mechanism parts that can be attached to the end effector, The surgical tool according to claim 16, comprising a fixing band extending around the coupling mechanism to secure the two or more coupling mechanism portions to the end effector, the fixing band being removable to release the two or more coupling mechanism portions and thereby allow disassembly of the end effector.

18. At least one conductor extending from the drive housing and terminating at an electrode attached to the end effector, An electrical connector including a distal connector attached to the distal length of the at least one conductor and a proximal connector attached to the proximal length of the at least one conductor, The surgical tool according to claim 14, further comprising: a window defined within a subassembly housed within the elongated shaft, which provides physical access to the electrical connector when the elongated shaft is moved proximal to it.

19. The aforementioned surgical tool, A push rod extending from the drive housing within the elongated shaft, A drive rod is releasably connected to the distal end of the push rod at a releasable interconnection and extends to the end effector, A knife attached to the distal end of the drive rod, The system further comprises a shaft sleeve that is translatable in the longitudinal direction within the elongated shaft and retractable to expose the retractable interconnection portion, The surgical tool according to claim 14, wherein the drive rod and the knife can be replaced by separating the releasable interconnection portion.

20. A method for replacing consumables of surgical tools, The surgical tool is fixed in place, and the surgical tool is Drive housing and A long, slender shaft extending distally from the drive housing, An end effector positioned at the distal end of the elongated shaft, A wrist portion interposed between the distal end of the elongated shaft and the end effector, comprising a distal clevis having a first arm and a second arm that are offset laterally from each other and extend distally, each arm defining an open end slot that opens distally, The end effector is operably connected and includes a first pulley and a second pulley rotatably mounted on the first arm and the second arm, respectively, for fixing, The end effector is moved distally, thereby separating the first pulley and the second pulley from the first arm and the second arm by exiting the open end slot. While the wrist remains unharmed, the end effector is cut off from the proximal portion of the surgical tool. Replacing the consumables of the surgical tools, Reconnecting the end effector to the proximal portion of the surgical tool, A method comprising moving the end effector to a proximal position and reattaching the end effector to the wrist portion.

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