End effector including wrist assembly and monopolar tool for robotic surgical systems

Abstract

An end effector for a surgical instrument includes a wrist assembly and surgical tool. The wrist assembly includes a proximal hub having a pair of spaced apart uprights; a pulley pin extending across and supported by the pair of spaced apart uprights, the pulley pin defining a pulley pin axis oriented orthogonal to a longitudinal axis of the proximal hub; and a yoke. The yoke includes a planar proximal body portion, wherein a plane of the proximal body portion is defined by the longitudinal axis of the proximal hub and an axis extending orthogonal to the pulley pin axis; a planar distal body portion, wherein a plane of the distal body portion is defined by the longitudinal axis of the proximal hub and an axis extending parallel to the pulley pin axis; and an intermediate body portion interconnecting the proximal body portion and the distal body portion.

Description

Attorney Docket: A0012529W001END EFFECTOR INCLUDING WRIST ASSEMBLY AND MONOPOLAR TOOL FOR ROBOTIC SURGICAL SYSTEMSCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 697,686, filed September 23, 2024, the entire content of which is incorporated herein by reference.TECHNICAL FIELD

[0002] The disclosure relates to monopolar tools for use with robotic surgical systems, and more particularly to a wrist assembly for an end effector of a monopolar shear tool of a surgical instrument for use with robotic surgical systems.BACKGROUND

[0003] Robotic surgical systems have been used in minimally invasive medical procedures. Some robotic surgical systems include a console supporting a surgical robotic arm and a surgical instrument, having at least one end effector (e.g., forceps or a grasping tool), mounted to the robotic arm. The robotic arm provides mechanical power to the surgical instrument for its operation and movement. Each robotic arm may include an instrument drive unit that is operatively connected to the surgical instrument.

[0004] Cables extend from the robot console, through the robot arm, and connect to the wrist assembly and / or end effector. In some instances, the cables are actuated by means of motors that are controlled by a processing system including a user interface for a surgeon or clinician to be able to control the robotic surgical system including the robot arm, the wrist assembly and / or the end effector.

[0005] In some instances, the wrist assembly provides for articulation of the end effector through the use of four cables coupled to different components of the end effector or two cables used in combination with a pulley system coupled to components of the end effector. Each cable may be controlled by at least one motor. In such configurations, spaceAttorney Docket: A0012529W001 within the components of the end effector is consumed by cables and space within the robotic arm is consumed by motors. Even more space-consuming are electrical cables traveling from the robotic arm to portions of the end effector.

[0006] As demand for smaller surgical tools with greater maneuverability and greater surgical capabilities increases, a need exists for end effectors that can be used with powered electrosurgical instruments. Additionally, a need exists for end effectors with articulation mechanisms that require fewer cables, motors, and components, thereby minimizing the cross-sectional area of these tools, costs of the product components and the final products, cost and complexity of assembly, and the like. There is also a need for more reliable end effectors that experience fewer in-field failures, and that can be manufactured at lower costs. Reducing the costs of goods and services can render such tools acceptable as either multi-use or single-use, disposable devices.SUMMARY

[0007] In accordance with an aspect of the present disclosure, an end effector for a surgical instrument is provided. The end effector includes a wrist assembly and surgical tool. The wrist assembly includes a proximal hub defining a longitudinal axis. The proximal hub includes a pair of spaced apart uprights; a pulley pin extending across and supported by the pair of spaced apart uprights, the pulley pin defining a pulley pin axis oriented orthogonally to the longitudinal axis of the proximal hub; a set of pulleys rotatably supported on the pulley pin, the set of pulleys disposed between the pair of uprights; and a yoke.

[0008] The yoke includes: a planar proximal body portion pivotally supported on the pulley pin, wherein a plane of the proximal body portion is defined by the longitudinal axis of the proximal hub and an axis extending orthogonal to the pulley pin axis; a planar distal body portion, wherein a plane of the distal body portion is defined by the longitudinal axis of the proximal hub and an axis extending parallel to the pulley pin axis; and an intermediate body portion interconnecting the proximal body portion of the yoke and the distal body portion of the yoke.Attorney Docket: A0012529W001

[0009] The wrist assembly further includes a capture pin pivotally supported on the distal body portion of the yoke.

[0010] The surgical tool is pivotally supported on the distal body portion of the yoke and connected to the yoke by the capture pin.

[0011] The pulley pin axis may extend through the longitudinal axis of the proximal hub.

[0012] The pulley pin of the wrist assembly may be a distal pulley pin. The set of pulleys of the wrist assembly may be a distal set of pulleys. The wrist assembly may further include a proximal pulley pin extending across and supported by the pair of spaced apart uprights of the proximal hub; and a proximal set of pulleys rotatably supported on the proximal pulley pin, the proximal set of pulleys being disposed between the pair of uprights of the proximal hub.

[0013] The surgical tool may be in the form of shears including a pair of blades. The pair of blades of the shears may include a first blade having a first proximal blade hub and a first distal cutting portion; and a second blade having a second proximal blade hub and a second distal cutting portion.

[0014] The proximal blade hub of each of the first blade and the second blade may define a pivot opening. The capture pin may be located in the pivot opening of each of the first blade and the second blade.

[0015] The first proximal blade hub of the first blade may define a sheave having an annular race formed therearound. The first proximal blade hub of the first blade may define a recess located distally of the pivot opening of the first blade. The wrist assembly may include a first actuation puck rotatably disposed within the recess of the first blade. The first actuation puck may be connected to a first actuation cable.

[0016] The second proximal blade hub of the second blade may define a concave recess located in a first side surface of the proximal hub, and a convex projection located on a second side surface of the proximal hub. The concave recess and the convex projectionAttorney Docket: A0012529W001 may be concentric with one another and concentric with the pivot opening of the proximal hub of the second blade.

[0017] The second proximal blade hub of the second blade may define a recess located distally of the pivot opening of the second blade. The wrist assembly may include a second actuation puck rotatably disposed within the recess of the second blade. The second actuation puck may be connected to a second actuation cable.

[0018] The capture pin may include a capture pin shaft; and a capture pin head secured to one end of the capture pin shaft. The capture pin head may include an outer disc portion and an inner disc portion. The inner disc portion may have a diameter which is smaller than the outer disc portion. The capture pin head may define a radial fillet interconnecting the outer disc portion and the inner disc portion.

[0019] The capture pin head of the capture pin may be in contact with the convex projection of the second proximal blade hub of the second blade to define an annular race for receiving the second actuation cable.

[0020] According to another aspect of the present disclosure, another end effector for a surgical instrument is provided and includes a wrist assembly and a surgical tool. The wrist assembly includes a proximal hub defining a longitudinal axis. The proximal hub includes a pair of spaced apart uprights; a pulley pin extending across and supported by the pair of spaced apart uprights, the pulley pin defining a pulley pin axis oriented orthogonally to the longitudinal axis of the proximal hub; a set of pulleys rotatably supported on the pulley pin, the set of pulleys disposed between the pair of uprights; a yoke having a proximal body portion pivotally supported on the pulley pin, and a distal body portion; and a capture pin pivotally supported on the distal body portion of the yoke.

[0021] The capture pin includes a capture pin shaft; and a capture pin head secured to one end of the capture pin shaft. The capture pin head includes an outer disc portion and an inner disc portion. The inner disc portion has a diameter which is smaller than the outer disc portion. The capture pin head defines a radial fillet interconnecting the outer disc portion and the inner disc portion.Attorney Docket: A0012529W001

[0022] The surgical tool includes a first blade and a second blade each pivotally supported on the distal body portion of the yoke by the capture pin shaft. The second blade includes a convex projection. The capture pin head of the capture pin is in contact with the convex projection of the second blade to define an annular race.

[0023] The first blade of the surgical tool may include a first proximal blade hub and a first distal cutting portion; and the second blade of the surgical tool may include a second proximal blade hub and a second distal cutting portion. The proximal hub of each of the first blade and the second blade may define a pivot opening. The capture pin shaft of the capture pin may be located in the pivot opening of each of the first blade and the second blade.

[0024] The first proximal blade hub of the first blade may define a sheave having an annular race formed therearound. The first proximal blade hub of the first blade may define a recess located distal of the pivot opening of the first blade. The wrist assembly may include a first actuation puck rotatably disposed within the recess of the first blade. The first actuation puck may be connected to a first actuation cable.

[0025] The second proximal blade hub of the second blade may define a concave recess located in a first side surface of the second proximal blade hub. The convex projection may be located on a second side surface of the second proximal blade hub. The concave recess and the convex projection may be concentric with one another and concentric with the pivot opening of the second proximal blade hub of the second blade. The second proximal blade hub of the second blade may define a recess located distally of the pivot opening of the second blade. The wrist assembly may include a second actuation puck rotatably disposed within the recess of the second blade. The second actuation puck may be connected to a second actuation cable.

[0026] The yoke may include a planar proximal body portion, a planar distal body portion and an intermediate body portion. The proximal body portion may be pivotally supported on the pulley pin. A plane of the proximal body portion may be defined by the longitudinal axis of the proximal hub and an axis extending orthogonal to the pulley pin axis. A plane of the distal body portion may be defined by the longitudinal axis of the proximal hub and an axis extending parallel to the pulley pin axis. The intermediate bodyAttorney Docket: A0012529W001 portion may interconnect the proximal body portion of the yoke and the distal body portion of the yoke.

[0027] According to a further aspect of the present disclosure, an electromechanical surgical instrument is provided and includes an end effector as described above. The electromechanical surgical instrument further includes a first actuation cable secured to the first blade, wherein the first actuation cable is at least partially retained in the annular race of the first proximal blade hub of the first blade; and a second actuation cable secured to the second blade, wherein the second actuation cable is at least partially retained in the annular race defined between the capture pin head of the capture pin and the convex projection of the second blade.BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with a general description of the disclosure given above, and the detailed description of the embodiment(s) given below, serve to explain the principles of the disclosure, wherein:

[0029] FIG. 1 is a schematic illustration of a robotic surgical system including a robotic surgical assembly in accordance with the present disclosure;

[0030] FIG. 2A is a right side, perspective view of an end effector including a monopolar tool, according to an embodiment of the present disclosure, for use in the robotic surgical system of FIG. 1 ;

[0031] FIG. 2B is a left side, perspective view of the end effector of FIG. 2A;

[0032] FIG. 3 is a cross-sectional view of the end effector of FIGS. 2A-2B, as taken through 3-3 of FIG. 2A;

[0033] FIG. 4 is a first side, perspective view of a first jaw of the end effector of FIGS. 2A-3;

[0034] FIG. 5 is a second side, perspective view of the first jaw of FIG. 4;Attorney Docket: A0012529W001

[0035] FIG. 6 is a first side, perspective view of a second jaw of the end effector of FIGS. 2A-3;

[0036] FIG. 7 is a perspective view of a capture pin of the end effector of FIGS. 2A- 3;

[0037] FIG. 8 is a perspective view of the capture pin illustrated in FIG. 7 connected to the second jaw illustrated in FIG. 6;

[0038] FIG. 9 is a first, perspective view of a yoke of the end effector of FIGS. 2A- 2B;

[0039] FIG. 10 is a second, perspective view of the yoke of FIG. 9;

[0040] FIG. 11 is a first, perspective view of an end effector according to another embodiment of the present disclosure, illustrating the jaws thereof in an open condition,

[0041] FIG. 12 is a second, perspective view of the end effector of FIG. 11; and

[0042] FIG. 13 is a perspective view of the end effector of FIGS. 11-12, illustrating the jaws thereof in a closed condition.DETAILED DESCRIPTION

[0043] Embodiments of the presently disclosed surgical assembly including an instrument drive unit for driving the operation of an electromechanical surgical instrument and methods thereof are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein, the term “distal” refers to that portion of the robotic surgical system, surgical assembly, or component thereof, that is closer to a patient, while the term “proximal” refers to that portion of the robotic surgical system, surgical assembly, or component thereof, that is further from the patient. As used herein, the terms parallel and perpendicular are understood to include relative configurations that are substantially parallel and substantially perpendicular up to about + or - 10 degrees from true parallel and true perpendicular.Attorney Docket: A0012529W001

[0044] As used herein, the term “clinician” refers to a doctor, nurse, or other care provider and may include support personnel. In the following description, well-known functions or construction are not described in detail to avoid obscuring the present disclosure in unnecessary detail.

[0045] As will be described in detail below, provided is a surgical assembly configured to be attached to a surgical robotic arm. The surgical assembly includes an instrument drive unit having, for example, but not limited to, a motor configured to rotate an electromechanical instrument about a longitudinal axis thereof. In some embodiments, the motor may be a hollow core motor. The rotation of the electromechanical instrument may be achieved with a hollow core motor, a canister motor (brushless or brushed), via a transmission (gear, belt and / or cable); via pneumatics, and / or via hydraulics. The axis of rotation of the electromechanical instrument may be integral to the instrument drive unit or to the robotic arm.

[0046] Referring initially to FIG. 1 , a surgical system, such as, for example, a robotic surgical system 1, generally includes one or more surgical robotic arms 2, 3, a control device 4, and an operating console 5 coupled with control device 4. Any of the surgical robotic arms 2, 3 may have a robotic surgical assembly 100 and an electromechanical surgical instrument 200 coupled thereto. The electromechanical surgical instrument 200 includes an end effector 1000 disposed at a distal portion thereof. In some embodiments, the robotic surgical assembly 100 may be removably attached to a slide rail 40 of one of the surgical robotic arms 2, 3. In certain embodiments, the robotic surgical assembly 100 may be fixedly attached to the slide rail 40 of one of the surgical robotic arms 2, 3.

[0047] Operating console 5 includes a display device 6, which is set up to display three-dimensional images; and manual input devices 7, 8, by means of which a clinician (not shown), is able to telemanipulate the robotic arms 2, 3 in a first operating mode, as known in principle to a person skilled in the art. Each of the robotic arms 2, 3 may be composed of any number of members, which may be connected through joints. The robotic arms 2, 3 may be driven by electric drives (not shown) that are connected to control device 4. The control device 4 (e.g., a computer) is set up to activate the drives, for example, by means of a computer program, in such a way that the robotic arms 2, 3, the attached roboticAttorney Docket: A0012529W001 surgical assembly 100, and thus the electromechanical surgical instrument 200 (including the end effector 1000) execute a desired movement according to a movement defined by means of the manual input devices 7, 8. The control device 4 may also be set up in such a way that it regulates the movement of the robotic arms 2, 3 and / or of the drives.

[0048] The robotic surgical system 1 is configured for use on a patient “P” positioned (e.g., lying) on a surgical table “ST” to be treated in a minimally invasive manner by means of a surgical instrument, e.g., the electromechanical surgical instrument 200 and more specifically the end effector 1000 of the electromechanical surgical instrument 200. The robotic surgical system 1 may also include more than two robotic arms 2, 3, the additional robotic arms likewise connected to the control device 4 and telemanipulatable by means of the operating console 5. A surgical instrument, for example, the electromechanical surgical instrument 200 (including the end effector 1000 thereof), may also be attached to any additional robotic arm(s).

[0049] The control device 4 may control one or more motors, (not shown), with each motor configured to drive movement of the robotic arms 2, 3 in any number of directions. Further, the control device 4 may control an instrument drive unit 110 including a motor pack disposed within a sterile barrier housing of the robotic surgical assembly 100. The motors of the motor pack drive various operations of the end effector 1000 of the electromechanical surgical instrument 200. The motors may include a rotation motor, such as, for example, a canister motor. One or more of the motors (or a different motor, not shown) may be configured to drive a relative rotation of the electromechanical surgical instrument 200, or components thereof, along a longitudinal axis thereof. In some embodiments, each motor of the motor pack can be configured to actuate (e.g., rotate) respective drive screws (not shown, or, for example, a linear drive, a capstan, etc.) which is operatively connected to a drive rod or a lever arm to effect operation and / or movement of the electromechanical end effector 1000 of the electromechanical surgical instrument 200.

[0050] With continued reference to FIG. 1, the robotic surgical system 1 includes the robotic surgical assembly 100 that is coupled with or to the robotic arm 2 or 3, and the electromechanical surgical instrument 200 that is coupled to the robotic surgical assembly 100. The robotic surgical assembly 100 transfers power and actuation forces from its motorsAttorney Docket: A0012529W001 to driven members of the electromechanical surgical instrument 200 to ultimately drive movement of components of the end effector 1000 of electromechanical surgical instrument 200, for example, an articulation / rotation / pitch / yaw of the end effector 1000. The robotic surgical assembly 100 may also be configured for the activation or firing of an electrosurgical energy-based instrument or the like (e.g., cable drives, pulleys, friction wheels, rack and pinion arrangements, etc.).

[0051] Referring nowto FIGS. 2A-10, an end effector of electromechanical surgical instrument 200, for connection to robot arms 2, 3 and for manipulation by control device 4, will be described and is generally designated as end effector 1000. As described above, end effector 1000 is disposed at a distal portion of electromechanical surgical instrument 200.

[0052] End effector 1000 is composed of a wrist assembly 1100 and a surgical tool 1200. The wrist assembly 1100 is configured to articulate such that the surgical tool 1200 may be positioned or moved by control device 4 (FIG. 1) to an articulated position / orientation relative to a longitudinal axis “X” of electromechanical surgical instrument 200. Surgical tool 1200 may be a monopolar electrosurgical device (for example, monopolar linear or curved shears) electrically coupled to an electrosurgical generator 10 (FIG. 1 ) via power cable 18. In certain configurations, a return pad (not shown) may be required which couples a portion of the patient table “ST” or the patient “P” to the electrosurgical generator 10 creating a return path to the electrosurgical generator 10.

[0053] Electrosurgical generator 10 is configured to generate energy (e.g., electrosurgical radio frequency energy, bipolar energy, monopolar energy, ultrasonic energy, etc.) and transmit the generated energy to surgical tool 1200 of end effector 1000 for treatment of tissue via power cable 18. It is contemplated that generators such as those sold by Covidien, a division of Medtronic, may be used as a source of electrosurgical energy (electrosurgical generator 10), e.g., LigaSure® Generator, FORCE EZ® Electrosurgical Generator, FORCE FX® Electrosurgical Generator, FORCE 1C™, FORCE 2™ Generator, SurgiStat® II, FORCETRIAD®, VALLEYLAB™ FT 10 Energy Platform, and the FORCETRIAD™ Energy Platform electrosurgical generators or other envisioned generators which may perform different or enhanced functions. One such system is described in commonly-owned U.S. Patent No. 6,033,399, fded on April 9, 1997, entitledAttorney Docket: A0012529W001“ELECTROSURGICAL GENERATOR WITH ADAPTIVE POWER CONTROL,” the entire content of which is incorporated by reference herein. Further details regarding electrosurgical generator 10 may also be found in U.S. Patent No. 7,648,499, entitled “SYSTEM AND METHOD FOR GENERATING RADIO FREQUENCY ENERGY,” the entire content of which is incorporated by reference herein.

[0054] With specific reference to FIGS. 2A-2B, wrist assembly 1110 of end effector 1000 includes a proximal hub 1112 in the form of a distally extending clevis which extends parallel to the longitudinal axis “X” of electromechanical surgical instrument 200. The proximal hub 1112 defines a longitudinal axis parallel or coincident with the longitudinal axis “X” of electromechanical surgical instrument 200.

[0055] Proximal hub 1112, being in the form of a clevis, includes a pair of spaced apart, opposed upright supports 1112a, 1112b, a proximal pulley pin 1112c, and a distal pulley pin 1112d. Distal pulley pin 1112d of the proximal hub 1112 defines a first pivot axis “A” that is oriented orthogonally to the longitudinal axis “X” of the proximal hub 1112 of the electromechanical surgical instrument 200. In an embodiment, first pivot axis “A” may extend through the proximal hub 1112 of the longitudinal axis “X” of electromechanical surgical instrument 200.

[0056] Wrist assembly 1100 includes a first or proximal set of pulleys 1106 rotatably supported on proximal pulley pin 1112c. The proximal set of pulleys 1106 is disposed between upright supports 1112a, 1112b of the proximal hub 1112. Wrist assembly 1100 further includes a second or distal set of pulleys 1106 rotatably supported on distal pulley pin 1112d. The distal set of pulleys 1108 is disposed between upright supports 1112a, 1112b of the proximal hub 1112. The proximal set of pulleys 1106 and the distal set of pulleys 1108 provide guides and races for passage and / or winding of actuation cables through the wrist assembly 1100 to ultimately effect articulation of the wrist assembly 1100 in a pitch direction and / or yaw direction, and ultimately effect the opening and closing of the surgical tool. 1200.

[0057] Wrist assembly 1100 further includes a yoke 1114 pivotally connected to upright supports 1112a, 1112b of proximal hub 1112 via the distal pulley pin 1112d. In particular, a proximal body portion 1114a of the yoke 1114 is pivotally coupled to theAttorney Docket: A0012529W001 opposed upright supports 1112a, 1112b of the proximal hub 1112 via the distal pulley pin 1112d, and a distal body portion 1114b of yoke 1114 may extend distally from the upright supports 1112a, 1112b of proximal hub 1112. In this regard, yoke 1114 may pivot relative to proximal hub 1112 about first pivot axis “A.”

[0058] With reference to FIG. 2A, and momentarily FIGS. 9-10, yoke 1114 may be in the form of a twisted yoke including a proximal body portion 1114a, a distal body portion 1114b, and an intermediate twisted body portion 1114c. Specifically, proximal body portion 1114a of yoke 1114 is planar, which plane thereof is defined by the longitudinal axis “X” of electromechanical surgical instrument 200 and by an axis extending orthogonally to the first pivot axis “A”. Further, distal body portion 1114b of yoke 1114 is planar, which plane thereof is defined by the longitudinal axis “X” of electromechanical surgical instrument 200 and by an axis extending parallel to the first pivot axis “A”. The intermediate twisted body portion 1114c of yoke 1114 is shaped so as to provide for the transition of the orientation of the planes between the proximal body portion 1114a and the distal body portion 1114b.

[0059] With continued reference to FIGS. 9 and 10, proximal body portion 1114a of yoke 1114 includes an opening 1114al formed therein for passage or receipt of distal pulley pin 1112d of proximal hub 1112. Distal body portion 1114b of yoke 1114 includes an opening 1114b 1 formed therein for passage or receipt of a capture pin shaft 1122 of a capture pin 1120.

[0060] Turning back to FIGS. 2A-2B, wrist assembly 1110 of end effector 1000 further includes surgical tool 1200 pivotally connected to the distal body portion 1114b of the yoke 1114. Specifically, surgical tool 1200 is pivotally connected to the distal body portion 1114b of yoke 1114 by a capture pin 1120.

[0061] Surgical tool 1200 may be in the form of shears including a pair of blades or jaws, namely a first blade 1210, and a second blade 1220, as illustrated in FIGS. 2A-6. Specifically, as illustrated in FIGS. 2A, 2B, 3 and 6, the first blade 1210 includes a first proximal blade body portion or hub 1210a and a first distal cutting portion 1210b. The first proximal blade hub 1210a of first blade 1210 defines a pivot opening 1210al configured to receive the capture pin shaft 1122 of the capture pin 1120. The first proximal blade hubAttorney Docket: A0012529W001 race configured to receive a cable for actuating the first blade 1210. It is envisioned that pulley 1210a2 may be integrally formed with first blade 1210, or may be a separate component which is connected to the first proximal blade hub 1210a. The first proximal blade hub 1210a of first blade 1210 additionally defines a recess 1210a3 located distally of pivot opening 1210al and being configured to receive a first actuation puck 1150 connected to first actuation cables 1140a, 1140b. The recess 1210a3 of the proximal hub 1210a may at least partially be formed in the pulley 1210a2.

[0062] The first distal cutting portion 1210b of first blade 1210 includes a linear cutting edge 1210bl. While first blade 1210 is shown and described as having a linear cutting edge 121 Obi, it is envisioned and contemplated that first blade 1210 may include a curved cutting edge, or no cutting edge at all.

[0063] As illustrated in FIGS. 2A, 2B and 3-5, the second blade 1220 includes a second proximal blade body portion or hub 1220a and a second distal cutting portion 1220b. The second proximal blade hub 1220a of second blade 1220 defines a pivot opening 1220al configured to receive the capture pin shaft 1122 of the capture pin 1120. The second proximal blade hub 1220a of second blade 1220 further defines concave recess 1220a2 located in a first side surface of the second proximal blade hub 1220a, and a convex projection 1220a4 located on a second side surface of the second proximal blade hub 1220a. The concave recess 1220a2 and the convex projection 1220a4 are concentric with one another and concentric with the pivot opening 1220al. The convex projection 1220a4 of the second proximal blade hub 1220a of second blade 1220 forms one-half (1 / 2) of a pulley or sheave of second blade 1220.

[0064] The second proximal blade hub 1220a of second blade 1220 additionally defines a recess 1220a3 located distally of pivot opening 1220al and is configured to receive a second actuation puck 1152 connected to second actuation cables 1140a, 1140b. The recess 1220a3 of the second proximal blade hub 1220a may at least partially be formed to extend into concave recess 1220a2.

[0065] The second distal cutting portion 1220b of first blade 1220 includes a linear cutting edge 1220b 1. While second blade 1220 is shown and described as having a linearAtorney Docket: A0012529W001 cuting edge 1220bl, it is envisioned and contemplated that second blade 1220 may include a curved cuting edge, or no cuting edge at all.

[0066] Turning now to FIGS. 3, 7 and 8, wrist assembly 1110 of end effector 1000 further includes, as briefly mentioned above, a capture pin 1120 for pivotally securing first blade 1210 and second blade 1220 to the distal body portion 1114b of the yoke 1114. Specifically, the capture pin 1120 includes a capture pin shaft 1122, and a capture pin head 1124 secured to one end of the capture pin shaft 1122. The capture pin head 1124 includes an outer disc portion 1124a, and an inner disc portion 1124b, wherein the inner disc portion 1124b has a diameter which is smaller than the outer disc portion 1124a. The capture pin head 1124 defines a radial fillet 1124c interconnecting the outer disc portion 1124a and the inner disc portion 1124b. The capture pin 1120 may be formed as an integral construct or may be formed as separate component elements secured or welded to one another.

[0067] In accordance with the present disclosure, as illustrated in FIG. 3, when the capture pin 1120 is secured to the yoke 1114 and the first blade 1210, the capture pin head 1124 contacts the convex projection 1220a4 of the second proximal blade hub 1220a of the second blade 1220 such that the radial fillet 1124c of the capture pin head 1124 combines with the contour of the convex projection 1220a4 of the second proximal blade hub 1220a of the second blade 1220 to define an annular race configured to receive a cable for actuating the second blade 1220.

[0068] With reference to FIGS. 2A-3, wrist assembly 1110 of end effector 1000 includes a washer 1126, or the like, which is secured to the capture pin shaft 1122 of the capture pin 1120. Specifically, when assembled, the capture pin shaft 1122 of the capture pin 1120 extends through the pivot opening 1220a I of the second blade 1220, through opening 1114b I of the distal body portion 1114b of the yoke 1114, through the pivot opening 12 lOal of the first blade 1210, wherein an end of the capture pin shaft 1122 projects from the first blade 1210. The washer 1126 is secured (e.g., welded, glued, peened, etc.) to the end of the capture pin shaft 1122 projecting from the first blade 1210.

[0069] With continued reference to FIGS. 2A-3, electromechanical surgical instrument 200 includes a pair of first actuation cables 1140a, 1140b and a pair of second actuation cables 1142a, 1142b, each threaded and wrapped through the wrist assembly 1110Attorney Docket: A0012529W001(and across or around pulleys supported in the wrist assembly 1100). The proximal ends of the first actuation cables 1140a, 1140b and the proximal ends of the second actuation cables 1142a, 1142b are secured to respective drive nuts disposed within a proximal end of the surgical tool 1200 (not shown). The distal ends of the first actuation cables 1140a, 1140b and the distal ends of the second actuation cables 1142a, 1142b are secured to respective first blade 1210 and second blade 1220.

[0070] Specifically, the distal end of the first actuation cables 1140a, 1140b connects to the first blade 1210 via a first engagement member or actuation puck 1150. More specifically, the first actuation puck 1150 is secured to the distal end of each of the pair of first cables 1140a, 1140b, and wherein the first actuation puck 1150 is rotationally seated within the recess 1210a3 defined in the first proximal blade hub 1210a of the first blade 1210. The first actuation puck 1150 is retained in recess 1210a3 defined in the first proximal blade hub 1210a of the first blade 1210 by washer 1126 ofthe wrist assembly 1110 at least partially overlaying the first actuation puck 1150.

[0071] Similarly, the distal end of the second actuation cables 1142a, 1142b connects to the second blade 1220 via a second engagement member or actuation puck 1152. More specifically, the second actuation puck 1152 is secured to the distal end of each of the pair of second cables 1142a, 1142b, and wherein the second actuation puck 1152 is rotationally seated within the recess 1220a3 defined in the second proximal blade hub 1220a of the second blade 1220. The second actuation puck 1152 is retained in recess 1220a3 defined in the second proximal blade hub 1220a of the second blade 1220 by the capture pin head 1124 of the capture pin 1120 at least partially overlaying the first actuation puck 1150.

[0072] While electromechanical surgical instrument 200 is shown and described as having a pair of first actuation cables 1140a, 1140b and a pair of second actuation cables 1142a, 1142b, it is envisioned that electromechanical surgical instrument 200 may include a unitary first cable and a unitary second cable on which respective actuation pucks are secured.

[0073] Turning now to FIGS. 11-13, an alternate embodiment of a surgical tool of the present disclosure is illustrated and generally designated as surgical tool 2200. SurgicalAttorney Docket: A0012529W001 tool 2200 is substantially similar to surgical tool 1200, and only the differences therebetween will be discussed in detail herein.

[0074] Surgical tool 2200 may be in the form of curved shears including a pair of jaws, namely a first jaw in the form of a blade 2210, and a second jaw in the form of an anvil 2220. Specifically, the first jaw or blade 2210 includes a first distal cutting portion 2210b having a convex curved cutting edge 221 Obi. Further, the second jaw or anvil 2220 includes a distal non-cutting or blunt portion 2220b having a concave curved planar surface 2220b 1. In use, the first jaw 2210 and the second jaw 2220 may be approximated relative to one another such that the cutting edge 221 Obi of the first jaw 2210 traverses the planar surface 2220b 1 of the second jaw 2220 to perform a cutting function.

[0075] Surgical tool 2200 further includes a mechanical cutting stroke stop 2260. Specifically, the mechanical cutting stroke stop 2260 includes a stem 2262 extending from the first jaw 2210, extending past the longitudinal central axis “X” of surgical tool 2200, and extending at least partially into or across the second jaw 2220. The stem 2262 is located proximal of the cutting edge 221 Obi of the first jaw 2210. The mechanical cutting stroke stop 2260 further includes a pocket or recess 2264 formed in the second jaw 2220. The recess 2264 is configured and sized to receive and interact with the stem 2262 of the first jaw 2210.

[0076] In use, as the first jaw 2210 and the second jaw 2220 are approximated to perform a cutting function, during the approximation, the stem 2262 of the first jaw 2210 enters the recess 2264 of the second jaw 2220 and ultimately bottoms out (i.e., contacts a bottom of the recess 2264, see FIG. 13) to thereby stop continued approximation of the first jaw 2210 and the second jaw 2220. The location and size of the stem 2262 and the recess 2264 of the mechanical cutting stroke stop 2260 are selected such that the mechanical stopping function will not occur until after the entirety of the cutting edge 221 Obi of the first jaw 2210 has traversed the planar surface 2220b 1 of the second jaw 2220.

[0077] It will be understood that various modifications may be made to the embodiments disclosed herein. For example, while the cables disclosed herein have been shown and described as being connected to specific portions of the distal hub and support hub, it is contemplated and within the scope of the present disclosure, for the cables to beAttorney Docket: A0012529W001 operatively connected to any portion of the hubs or supports. Therefore, the above description should not be construed as limiting, but merely as exemplifications of various embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended thereto.

[0078] The following examples are illustrative of the techniques described herein.

[0079] Example 1. An end effector for a surgical instrument, the end effector comprising: a wrist assembly including: a proximal hub defining a longitudinal axis, the proximal hub having: a pair of spaced apart uprights; a pulley pin extending across and supported by the pair of spaced apart uprights, the pulley pin defining a pulley pin axis oriented orthogonally to the longitudinal axis of the proximal hub; a set of pulleys rotatably supported on the pulley pin, the set of pulleys disposed between the pair of uprights; a yoke having: a planar proximal body portion pivotally supported on the pulley pin, wherein a plane of the proximal body portion is defined by the longitudinal axis of the proximal hub and an axis extending orthogonal to the pulley pin axis; a planar distal body portion, wherein a plane of the distal body portion is defined by the longitudinal axis of the proximal hub and an axis extending parallel to the pulley pin axis; and an intermediate body portion interconnecting the proximal body portion of the yoke and the distal body portion of the yoke; and a capture pin pivotally supported on the distal body portion of the yoke; and a surgical tool pivotally supported on the distal body portion of the yoke and connected to the yoke by the capture pin.

[0080] Example 2. The end effector according to Example 1, wherein the pulley pin axis extends through the longitudinal axis of the proximal hub.

[0081] Example 3. The end effector according to Example 2, wherein the pulley pin of the wrist assembly is a distal pulley pin, and wherein the set of pulleys of the wrist assembly is a distal set of pulleys, wherein the wrist assembly further includes: a proximal pulley pin extending across and supported by the pair of spaced apart uprights of the proximal hub; and a proximal set of pulleys rotatably supported on the proximal pulley pin, the proximal set of pulleys being disposed between the pair of uprights of the proximal hub.

[0082] Example 4. The end effector according to Example 1, wherein the surgical tool is in the form of shears including a pair of blades, and wherein the pair of blades of the shears include: a first blade having: a first proximal blade hub; and a first distalAtorney Docket: A0012529W001 cuting portion; and a second blade having: a second proximal blade hub; and a second distal cuting portion.

[0083] Example 5. The end effector according to Example 4, wherein the proximal blade hub of each of the first blade and the second blade defines a pivot opening, wherein the capture pin is located in the pivot opening of each of the first blade and the second blade.

[0084] Example 6. The end effector according to Example 5, wherein the first proximal blade hub of the first blade defines a sheave having an annular race formed therearound.

[0085] Example 7. The end effector according to Example 6, wherein the first proximal blade hub of the first blade defines a recess located distal of the pivot opening of the first blade, and wherein the wrist assembly includes a first actuation puck rotatably disposed within the recess of the first blade, wherein the first actuation puck is connected to a first actuation cable.

[0086] Example 8. The end effector according to Example 7, wherein the second proximal blade hub of the second blade defines a concave recess located in a first side surface of the second proximal blade hub, and a convex projection located on a second side surface of the second proximal blade hub, wherein the concave recess and the convex projection are concentric with one another and concentric with the pivot opening of the second proximal blade hub of the second blade.

[0087] Example 9. The end effector according to Example 8, wherein the second proximal blade hub of the second blade defines a recess located distal of the pivot opening of the second blade, and wherein the wrist assembly includes a second actuation puck rotatably disposed within the recess of the second blade, wherein the second actuation puck is connected to a second actuation cable.

[0088] Example 10. The end effector according to Example 9, wherein the capture pin includes: a capture pin shaft; and a capture pin head secured to one end of the capture pin shaft, wherein the capture pin head includes an outer disc portion and an inner disc portion, wherein the inner disc portion has a diameter which is smaller than the outer disc portion, and wherein the capture pin head defines a radial fillet interconnecting the outer disc portion and the inner disc portion.Attorney Docket: A0012529W001

[0089] Example 11. The end effector according to Example 10, wherein the capture pin head of the capture pin is in contact with the convex projection of the second proximal blade hub of the second blade to define an annular race for receiving the second actuation cable.

[0090] Example 12. An end effector for a surgical instrument, the end effector comprising: a wrist assembly including: a proximal hub defining a longitudinal axis, the proximal hub having: a pair of spaced apart uprights; a pulley pin extending across and supported by the pair of spaced apart uprights, the pulley pin defining a pulley pin axis oriented orthogonally to the longitudinal axis of the proximal hub; a set of pulleys rotatably supported on the pulley pin, the set of pulleys disposed between the pair of uprights; a yoke having a proximal body portion pivotally supported on the pulley pin, and a distal body portion; and a capture pin pivotally supported on the distal body portion of the yoke, wherein the capture pin includes: a capture pin shaft; and a capture pin head secured to one end of the capture pin shaft, wherein the capture pin head includes an outer disc portion and an inner disc portion, wherein the inner disc portion has a diameter which is smaller than the outer disc portion, and wherein the capture pin head defines a radial fillet interconnecting the outer disc portion and the inner disc portion; and a surgical tool including a first blade and a second blade each pivotally supported on the distal body portion of the yoke by the capture pin shaft, wherein the second blade includes a convex projection, wherein the capture pin head of the capture pin is in contact with the convex projection of the second blade to define an annular race.

[0091] Example 13. The end effector according to Example 12, wherein: the first blade of the surgical tool includes: a first proximal blade hub; and a first distal cutting portion; and the second blade of the surgical tool includes: a second proximal blade hub; and a second distal cutting portion.

[0092] Example 14. The end effector according to Example 13, wherein the proximal blade hub of each of the first blade and the second blade defines a pivot opening, wherein the capture pin shaft of the capture pin is located in the pivot opening of each of the first blade and the second blade.

[0093] Example 15. The end effector according to Example 14, wherein the first proximal blade hub of the first blade defines a sheave having an annular race formed therearound.Attorney Docket: A0012529W001

[0094] Example 16. The end effector according to Example 15, wherein the first proximal blade hub of the first blade defines a recess located distal of the pivot opening of the first blade, and wherein the wrist assembly includes a first actuation puck rotatably disposed within the recess of the first blade, wherein the first actuation puck is connected to a first actuation cable.

[0095] Example 17. The end effector according to Example 16, wherein the second proximal blade hub of the second blade defines a concave recess located in a first side surface of the second proximal blade hub, and wherein the convex projection located on a second side surface of the second proximal blade hub, wherein the concave recess and the convex projection are concentric with one another and concentric with the pivot opening of the second proximal blade hub of the second blade.

[0096] Example 18. The end effector according to Example 17, wherein the second proximal blade hub of the second blade defines a recess located distal of the pivot opening of the second blade, and wherein the wrist assembly includes a second actuation puck rotatably disposed within the recess of the second blade, wherein the second actuation puck is connected to a second actuation cable.

[0097] Example 19. The end effector according to Example 18, wherein the yoke includes: a planar proximal body portion pivotally supported on the pulley pin, wherein a plane of the proximal body portion is defined by the longitudinal axis of the proximal hub and an axis extending orthogonal to the pulley pin axis; a planar distal body portion, wherein a plane of the distal body portion is defined by the longitudinal axis of the proximal hub and an axis extending parallel to the pulley pin axis; and an intermediate body portion interconnecting the proximal body portion of the yoke and the distal body portion of the yoke.

[0098] Example 20. An electromechanical surgical instrument comprising: the end effector according to Example 15; a first actuation cable secured to the first blade, wherein the first actuation cable is at least partially retained in the annular race of the first proximal blade hub of the first blade; and a second actuation cable secured to the second blade, wherein the second actuation cable is at least partially retained in the annular race defined between the capture pin head of the capture pin and the convex projection of the second blade.

Claims

Attorney Docket: A0012529W001CLAIMS:What is claimed is:

1. An end effector for a surgical instrument, the end effector comprising: a wrist assembly including: a proximal hub defining a longitudinal axis, the proximal hub having: a pair of spaced apart uprights; a pulley pin extending across and supported by the pair of spaced apart uprights, the pulley pin defining a pulley pin axis oriented orthogonally to the longitudinal axis of the proximal hub; a set of pulleys rotatably supported on the pulley pin, the set of pulleys disposed between the pair of uprights; a yoke having: a planar proximal body portion pivotally supported on the pulley pin, wherein a plane of the proximal body portion is defined by the longitudinal axis of the proximal hub and an axis extending orthogonal to the pulley pin axis; a planar distal body portion, wherein a plane of the distal body portion is defined by the longitudinal axis of the proximal hub and an axis extending parallel to the pulley pin axis; and an intermediate body portion interconnecting the proximal body portion of the yoke and the distal body portion of the yoke; and a capture pin pivotally supported on the distal body portion of the yoke; and a surgical tool pivotally supported on the distal body portion of the yoke and connected to the yoke by the capture pin.Attorney Docket: A0012529W001 . The end effector according to claim 1, wherein the pulley pin axis extends through the longitudinal axis of the proximal hub.

3. The end effector according to any of the preceding claims, wherein the pulley pin of the wrist assembly is a distal pulley pin, and wherein the set of pulleys of the wrist assembly is a distal set of pulleys, wherein the wrist assembly further includes: a proximal pulley pin extending across and supported by the pair of spaced apart uprights of the proximal hub; and a proximal set of pulleys rotatably supported on the proximal pulley pin, the proximal set of pulleys being disposed between the pair of uprights of the proximal hub.

4. The end effector according to claim 1, wherein the surgical tool is in the form of shears including a pair of blades, and wherein the pair of blades of the shears include: a first blade having: a first proximal blade hub; and a first distal cutting portion; and a second blade having: a second proximal blade hub; and a second distal cutting portion.

5. The end effector according to claim 4, wherein the proximal hub of each of the first blade and the second blade defines a pivot opening, wherein the capture pin is located in the pivot opening of each of the first blade and the second blade.

6. The end effector according to any of preceding claims 4 to 5, wherein the first proximal blade hub of the first blade defines a sheave having an annular race formed therearound.

7. The end effector according to any of preceding claims 4 to 6, wherein the first proximal blade hub of the first blade defines a recess located distal of the pivot openingAttorney Docket: A0012529W001 of the first blade, and wherein the wrist assembly includes a first actuation puck rotatably disposed within the recess of the first blade, wherein the first actuation puck is connected to a first actuation cable.

8. The end effector according to any of preceding claims 4 to 7, wherein the second proximal blade hub of the second blade defines a concave recess located in a first side surface of the second proximal blade hub, and a convex projection located on a second side surface of the second proximal blade hub, wherein the concave recess and the convex projection are concentric with one another and concentric with the pivot opening of the second proximal blade hub of the second blade.

9. The end effector according to any of preceding claims 4 to 8, wherein the second proximal blade hub of the second blade defines a recess located distal of the pivot opening of the second blade, and wherein the wrist assembly includes a second actuation puck rotatably disposed within the recess of the second blade, wherein the second actuation puck is connected to a second actuation cable.

10. The end effector according to any of preceding claims 4 to 9, wherein the capture pin includes: a capture pin shaft; and a capture pin head secured to one end of the capture pin shaft, wherein the capture pin head includes an outer disc portion and an inner disc portion, wherein the inner disc portion has a diameter which is smaller than the outer disc portion, and wherein the capture pin head defines a radial fillet interconnecting the outer disc portion and the inner disc portion.

11. The end effector according to any of preceding claims 4 to 10, wherein the capture pin head of the capture pin is in contact with the convex projection of the second proximal blade hub of the second blade to define an annular race for receiving the second actuation cable.

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