Systems and methods for control of a surgical instrument

Abstract

Systems and methods are provided for control of the surgical system. The surgical system includes a medical instrument, a voltage generator, and a controller. The controller is configured to perform operations that include delivering a dose of energy from the voltage generator to an end effector of the instrument on a condition that a tension member of the instrument is in an intact state. Additionally, the instructions included detecting a transition of the tension member from the intact state towards the at least partially broken state, and halting the delivery of the dose of energy to the end effector in response to the detection of the transition towards the at least partially broken state.

Description

Attomev Docket No. P06947-WOSYSTEMS AND METHODS FOR CONTROL OF A SURGICAL INSTRUMENTCross-Reference to Related Applications

[0001] This application claims priority to and the filing date benefit of U. S. Provisional Patent Application No. 63 / 734,916, entitled “Systems and Methods for Control of a Surgical Instrument / ’ filed December 17, 2024, the disclosure of which is incorporated herein by reference in its entirety.Background

[0002] The embodiments described herein relate to medical devices, and more specifically to endoscopic tools. More particularly, the embodiments described herein relate to medical devices that include systems for control of a surgical system in response to a reduction or loss of tension member integrity.

[0003] Known techniques for Minimally Invasive Surgery (MIS) employ instruments to manipulate tissue that can be either manually controlled or controlled via computer-assisted teleoperation. Many known MIS instruments include a therapeutic or diagnostic end effector (e.g., forceps, a cutting tool, or a cauterizing tool) mounted on a wrist mechanism at the distal end of a shaft. During an MIS procedure, the end effector, wrist mechanism, and the distal end of the shaft are inserted into a small incision or a natural orifice of a patient to position the end effector at a work site within the patient’s body.

[0004] To enable the desired movement of the wrist mechanism and end effector, know n instruments include drive assemblies (e.g., motors and capstans) and cables. The cables extend through the shaft that connects the wrist mechanism to a mechanical structure. For teleoperated systems, the proximal mechanical structure is typically motor driven and is operably coupled to a computer processing system to provide a user interface for a clinical user (e.g., a surgeon) to control the instrument as a whole, as well as the instrument’s components and functions. Some teleoperated systems include a manual control separate from the motor driven aspects allowing a user some level of manual interaction with the medical device.

[0005] In some known systems, the cables can be arranged as cable pairs that operate in opposition to produce the desired movement of the distal wrist mechanism and / or end effector. The movement of the distal wrist mechanism and / or end effector is in response to energy storedAttomev Docket No. P06947-WOin the cable pair (e.g., potential energy resulting from a tensile load placed upon the cable pair). For example, in some known systems, each cable of the cable pair can have a different tensile load, and the distal wrist mechanism and / or end effector moves in response to the difference in magnitudes between the tensile load in each cable of the cable pair.

[0006] During the lifecycle of the instrument, the cables can be subjected to wearing or other forces that can reduce the strength and / or integrity of the cables. A reduction or loss of integrity in one cable of a cable pair can result in the release of energy stored in the other cable of the cable pair. This release of energy can result in a non-commanded movement of a portion of the end effector. Such a non-commanded movement of the end effector, or a portion thereof, is not desirable during an MIS procedure, especially during procedures delivering a dose of energy to the end effector (e.g., cautery procedures).

[0007] In some known systems, the integrity of the cables is ascertained based on monitored current draw, electrical potential, rotational position, speed, or other similar parameters of the drive assemblies. In such systems, a system controller can monitor the parameters of the drive assembly to identify parameters that are indicative of a loss of integrity of one of the cables. Upon recognition of the loss of integrity, the system controller must then determine an appropriate corrective response and generate a command signal to the drive assemblies. Known systems have demonstrated an inability to implement the corrective response quickly enough to preclude a non-commanded contact between an energized end effector and surrounding tissue.

[0008] Thus, a need exists for improved medical devices, including systems that mitigate or eliminate the delivery of a dose of energy to the end effector upon the occurrence of a reduction or loss of integrity' in one cable of a cable pair.Summary

[0009] This summary introduces certain aspects of the embodiments described herein to provide a basic understanding. This summary is not an extensive overview of the inventive subject matter, and it is not intended to identify key or critical elements or to delineate the scope of the inventive subject matter.Attomev Docket No. P06947-WO

[0010] In some embodiments, the present disclosure is directed to a surgical system. The surgical system can include a medical instrument and a controller. The medical instrument can include an end effector, a tension member operably coupled to the end effector, and a sensor unit operably coupled to the tension member to produce an output associated with an operating state of the tension member. The operating state can be at least one of an intact state or an at least partially broken state. The controller can be operably coupled to the sensor unit and a voltage generator that is electrically coupled to the end effector. The controller can be configured to perform a set of operations. The set of operations can include delivering a dose of energy from the voltage generator to the end effector on a condition that the tension member is in the intact state. The set of operations can also include detecting, based on the output of the sensor unit, a transition of the tension member from the intact state towards the at least partially broken state. Additionally, the set of operations can include halting the delivery of the dose of energy to the end effector in response to the detection.

[0011] Other medical devices, related components, medical device systems, and / or methods according to embodiments will be or become apparent to one with skill in the art upon review of the following drawings and detailed description. It is intended that all such additional medical devices, related components, medical device systems, and / or methods included within this description be within the scope of this disclosure.Brief Description of the Drawings

[0012] FIG. 1 is a plan view of a minimally invasive teleoperated medical system according to an embodiment being used to perform a medical procedure such as surgery.

[0013] FIG. 2 is a perspective view of a user control console of the minimally invasive teleoperated surgery system shown in FIG. 1.

[0014] FIG. 3 is a perspective view of an optional auxiliary unit of the minimally invasive teleoperated surgery system shown in FIG. 1.

[0015] FIG. 4 is a front view of a manipulator unit, including a plurality of instruments, of the minimally invasive teleoperated surgery system shown in FIG. 1.

[0016] FIG. 5 is an illustration of a portion of the teleoperated system of FIG. 1, illustrating an instrument carriage of the manipulator unit, according to an embodiment.Attorney Docket No. P06947-WO

[0017] FIG. 6 is a perspective view of a portion of a medical instrument of the minimally invasive teleoperated surgery’ system shown in FIG. 1.

[0018] FIG. 7 is a top perspective view of a portion of a proximal mechanical structure of the medical instrument of FIG. 6.

[0019] FIG. 8A is a schematic illustration of a surgical system with a sensor unit in a first switch state according to an embodiment.

[0020] FIG. 8B is a schematic illustration of the surgical system of FIG. 8A with the sensor unit in a second switch state according to an embodiment.

[0021] FIG. 9 is a flow chart of a set of operations for control of a surgical system according to an embodiment.

[0022] FIG. 10A is a schematic illustration of a surgical system with a voltage generator electrically coupled to an end effector according to an embodiment.

[0023] FIG. 10B is a schematic illustration of the surgical system of FIG. 9A with the voltage generator electrically coupled to a shunt path according to an embodiment.

[0024] FIG. 11 A is a schematic illustration of a breaker assembly of an instrument with a switch mechanism in a first switch state according to an embodiment.

[0025] FIG. 1 IB is a schematic illustration of the breaker assembly shown in FIG. 11A with the switch mechanism in a second switch state according to an embodiment.

[0026] FIG. 12 is a perspective view of a guide structure and sensor unit of a medical instrument according to an embodiment.

[0027] FIG. 13 is a close-up perspective view of the guide structure and sensor unit of FIG.12.

[0028] FIG. 14 is a perspective view of the sensor unit of FIG. 12 in a second switch state.

[0029] FIG. 15 is a perspective view of the sensor unit of FIG. 12 with a switch being in a first switch state.Attomev Docket No. P06947-WO

[0030] FIGS. 16A and 16B are a schematic illustration of a sensor unit in a first position and in a second position respectively according to an embodiment.

[0031] FIG. 17 is a side view of the sensor unit of FIG. 16A.

[0032] FIG. 18 is a perspective view of a sensor unit according to an embodiment.

[0033] FIG. 19A is a cross-sectional view of the sensor unit of FIG. 18 in a first switch state.

[0034] FIG. 19B is a cross-sectional view of the sensor unit of FIG. 18 in a second switch state.

[0035] FIG. 20 is a schematic illustration of a controller for use with a minimally invasive teleoperated surgery system according to an embodiment.Detailed Description

[0036] The embodiments described herein can advantageously be used in a wide variety of grasping, cutting, and manipulating operations associated with minimally invasive surgery. In some embodiments, an end effector of the medical device can move with reference to the main body of the instrument in three mechanical DOFs, e.g., pitch, yaw, and roll (shaft roll). There may also be one or more mechanical DOFs in the end effector itself, e.g., two jaws, each rotating with reference to a clevis (2 DOFs) and a distal clevis that rotates with reference to a proximal clevis (one DOF).

[0037] The medical devices of the present application enable motion in three degrees of freedom (e.g., about a pitch axis, a yaw axis, and a grip axis) using multiple cables. In some embodiments, four cables are used, thereby reducing the total number of cables required, reducing the space required within the shaft and wrist, reducing overall cost, and enables further miniaturization of the wrist and shaft assemblies to promote MIS procedures. In some embodiments, six cables are used. It is appreciated that the various embodiments provided herein are adaptable to other systems with more or fewer cables based on the disclosure provided herein.

[0038] Generally, the present disclosure is directed to systems and methods for mitigating the negative effects that can potentially accompany a non-commanded movement of a surgicalAttomev Docket No. P06947-WOinstrument during an electrosurgical procedure (e.g., electrocautery, cutting, desiccation, and / or ablation). In particular, the systems and methods described herein facilitate the rapid detection of a loss of integrity (e.g., a reduction or loss of tension such as may be encountered in the event of a cable break) in a cable or in one cable of a pair of cables without monitoring a parameter (e.g., current draw, rotational position, speed, or other similar parameter) of a drive assembly. Upon the detection of the loss of integrity, the systems and methods facilitate the rapid implementation of mitigation steps that include halting the delivery of a dose of energy to the end effector. Additionally, the systems and methods can facilitate the rapid reduction in tension affecting the end effector of the medical instrument, thereby mitigating or preventing a non-commanded movement of the surgical instrument that would otherw ise occur. Said another way. the systems and methods can concurrently halt the delivery of the dose of energy to the end effector while mitigating or preventing the non-commanded movement of the end effector in response to the same loss of integrity of the tension member.

[0039] In some embodiments, the detection of the loss of integrity of the tension member can be achieved via a sensor unit that is operably coupled to a system controller. The rapid detection can be facilitated by the use of a sensor unit that has a binary output. In other words, the sensor unit can output to the controller merely an indication as to whether or not the tension member is compromised (e.g.. parted) or not. Said another way, the sensor unit can output to the controller an indication of one of two possible states of the tension member; and intact state or an at least partially broken state. The binary nature of the output of the sensor unit facilitates a more rapid detection and response to a loss of integrity of the tension member than would otherwise be possible via the monitoring of drive assembly parameters.

[0040] In some embodiments described herein, the sensor unit can also automatically reduce the tension affecting the medical instrument. In such embodiments, the sensor unit can have a first position that defines an operational cable path for a cable pair of the medical instrument. The operational cable path can. for example, correspond to a design (or nominal) cable path for each cable of the cable pair on a condition that both cables of the cable pair are in an intact state. The sensor unit can be movable from the first position to a second position in response to a transition of the first cable of the cable pair to at least a partially broken state (e.g., in response to a cable break). The second position can define a tension-release cable path for the second cable of the cable pair on a condition that the first cable of the cable pair is in at least a partially broken state. The tension-release cable path can have a length that is shorterAttorney Docket No. P06947-WOthan the length of the operational cable path. The transition to the shorter-1 ength tension-release cable path reduces the magnitude of the tension exerted on a portion of the end effector by the intact, second cable. The reduction in the magnitude of the tension mitigates or eliminates a non-commanded movement of the end effector, or a portion thereof, that would otherwise be driven by the tension in the intact cable. It should be appreciated that the immediate reduction in tension resulting from the movement of the tension-release member can be followed by a controller-implemented action to further mitigate or preclude the non-commanded movement of the end effector, or a portion thereof.

[0041] The objective of halting the dose of energy is to reduce or eliminate the possibility of delivering an electrical charge (i.e., the dose of energy associated with the electrosurgical procedure) to a tissue other than a target tissue, such as may occur if an energized end effector were to contact non-target tissue during a non-commanded movement. Accordingly, in some embodiments, halting the delivery of the dose of energy can include terminating an operation of a voltage generator that is electrically coupled to the end effector. The termination can. for example, include halting the generation of the dose of energy or precluding the discharge of the dose of energy from the voltage generator. However, in some embodiments, halting the delivery of the dose of energy can include electrically decoupling the voltage generator from the end effector, such as via a controller-actuated coupling. Additionally, in some embodiments, halting the dose of energy' can include shunting the dose of energy to ground in lieu of the end effector.

[0042] The systems and methods disclosed herein can also automatically halt the delivery of the dose of energy to the end effector upon the transition of the tension member toward the at least partially' broken state without the involvement of a system controller. In some embodiments, the system can include a switch assembly or switch mechanism that automatically couples the voltage generator to ground in response to the transition of the tension member towards the at least partially broken state so that the dose of energy is delivered to ground in lieu of the end effector. In some embodiments, the system can include a breaker assembly that automatically electrically decouples the voltage generator from the end effector in response to the transition of the tension member towards the at least partially broken state. In other words, the breaker assembly can be maintained in a closed state that electrically couples the voltage generator to the end effector by a tensile load in the tension member in the intact state but be biased toward an open state that intermpts the electrical coupling in responseAttomev Docket No. P06947-WOto a loss of structural integrity of the tension member. As the decoupling of the voltage generator from the end effector and / or the electrical coupling to ground occurs automatically in response to the transition, the halting of the dose of energy can, in some instances, be accomplished even more quickly than via operations implemented by a controller.

[0043] In some embodiments, the system can include a switch assembly that is configured to electrically decoupled the voltage generator and the end effector and to transfer the electrical coupling of the voltage generator from the end effector to ground in response to a loss of structural integrity' of the tension member. For example, the voltage generator can be electrically coupled to the end effector via a delivery path defined by the switch assembly only on a condition that the tension member is in an intact state. The switch assembly can then be configured to automatically electrically decouple the voltage generator and the end effector and instead electrically couple the voltage generator to a shunt path in response to the transition of the tension member toward the at least partially broken state. In other words, the switch assembly can have a default state that selectively couples the voltage generator to ground via a shunt path. The switch assembly can be moved from the default state by a tensile load applied to the tension member to electrically couple the voltage generator to the end effector.

[0044] As used herein, the term '’about" when used in connection with a referenced numeric indication means the referenced numeric indication plus or minus up to 10 percent of that referenced numeric indication. For example, the language ’‘about 50” covers the range of 45 to 55. Similarly, the language “about 5” covers the range of 4.5 to 5.5.

[0045] As used in this specification and the appended claims, the word “distal” refers to direction towards a work site, and the word “proximal” refers to a direction away from the work site. Thus, for example, the end of a medical device that is closest to the target tissue would be the distal end of the medical device, and the end opposite the distal end (i.e., the end manipulated by the user or coupled to the actuation shaft) would be the proximal end of the medical device.

[0046] Further, specific words chosen to describe one or more embodiments and optional elements or features are not intended to limit the invention. For example, spatially relative terms — such as “beneath”, “below”, “lower”, “above”, “upper”, “proximal”, “distal”, and the like — may be used to describe the relationship of one element or feature to another element or feature as illustrated in the figures. These spatially relative terms are intended to encompassAttomev Docket No. P06947-WOdifferent positions (i.e., translational placements) and orientations (i.e., rotational placements) of a device in use or operation in addition to the position and orientation shown in the figures. For example, if a device in the figures is turned over, elements described as ‘'below’’ or “beneath” other elements or features would then be “above” or “over” the other elements or features. Thus, the term “below” can encompass both positions and orientations of above and below. A device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. Likewise, descriptions of movement along (translation) and around (rotation) various axes include various spatial positions and orientations. The combination of a body’s position and orientation defines the body's pose.

[0047] Similarly, geometric terms, such as “parallel”, '‘perpendicular”, “round”, or “square”, are not intended to require absolute mathematical precision, unless the context indicates otherwise. Instead, such geometric terms allow for variations due to manufacturing or equivalent functions. For example, if an element is described as “round” or “generally round,” a component that is not precisely circular (e.g., one that is slightly oblong or is a many-sided polygon) is still encompassed by this description.

[0048] In addition, the singular forms “a”, “an”, and “the” are intended to include the plural forms as well, unless the context indicates otherwise. The terms “comprises”, '‘includes”, “has”, and the like specify the presence of stated features, steps, operations, elements, components, etc. but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, or groups.

[0049] As used in this specification and the appended claims, the word “member” refers to a constituent portion of a larger structure or mechanism. A “member” can refer to an individual contiguous structure or multiple connected structures such as a mechanism.

[0050] Unless indicated otherwise, the terms apparatus, medical device, medical instrument, and variants thereof, can be interchangeably used.

[0051] Inventive aspects are described with reference to a teleoperated surgical system. An example architecture of such a teleoperated surgical system is the da Vinci® surgical system commercialized by Intuitive Surgical, Inc., Sunnyvale, California. Knowledgeable persons will understand, however, that inventive aspects disclosed herein may be embodied and implemented in various ways, including computer-assisted, non-computer-assisted. and hybridAttomev Docket No. P06947-WOcombinations of manual and computer- assisted embodiments and implementations. Implementations are merely presented as examples, and they are not to be considered as limiting the scope of the inventive aspects disclosed herein. As applicable, inventive aspects may be embodied and implemented in both relatively smaller, hand-held, hand-operated devices and relatively larger systems that have additional mechanical support.

[0052] FIG. 1 is a plan view illustration of a teleoperated surgical system 1000 that operates with at least partial computer assistance (a “telesurgical system”). Both telesurgical system 1000 and its components are considered medical devices. Telesurgical system 1000 is a Minimally Invasive Robotic Surgical (MIRS) system used for performing a minimally invasive diagnostic or surgical procedure on a Patient P who is lying on an operating table 1010. The system can have any number of components, such as a user control unit 1100 for use by a surgeon or other skilled clinician S during the procedure. The MIRS system 1000 can further include a manipulator unit 1200 (popularly referred to as a surgical robot), an optional auxiliary equipment unit 1150, and a controller 1800. The manipulator unit 1200 can include an arm assembly 1300 and a surgical instrument tool assembly removably coupled to the arm assembly. The manipulator unit 1200 can manipulate at least one removably coupled instrument 1400 through a minimally invasive incision in the body or natural orifice of the patient P while the surgeon S views the surgical site and controls movement of the instrument 1400 through control unit 1100. An image of the surgical site is obtained by an endoscope (not shown), such as a stereoscopic endoscope, which can be manipulated by the manipulator unit 1200 to orient the endoscope. The auxiliary equipment unit 1150 can be used to process the images of the surgical site for subsequent display to the Surgeon S through the user control unit 1100. The number of instruments 1400 used at one time will generally depend on the diagnostic or surgical procedure and the space constraints within the operating room, among other factors. If it is necessary to change one or more of the instruments 1400 being used during a procedure, an assistant removes the instrument 1400 from the manipulator unit 1200 and replaces it with another instrument 1400 from a tray 1020 in the operating room. Although shown as being used with the instruments 1400, any of the instruments described herein can be used with the MIRS 1000.

[0053] FIG. 2 is a perspective view of the control unit 1100. The user control unit 1100 includes a left eye display 1112 and a right eye display 1114 for presenting the surgeon S with a coordinated stereoscopic view- of the surgical site that enables depth perception. The userAttomev Docket No. P06947-WOcontrol unit 1100 further includes one or more input control devices 1116, which in turn cause the manipulator unit 1200 (shown in FIG. 1) to manipulate one or more tools. The input control devices 1116 provide at least the same degrees of freedom as instruments 1400 with which they are associated to provide the surgeon S with telepresence, or the perception that the input control devices 1116 are integral with (or are directly connected to) the instruments 1400. In this manner, the user control unit 1100 provides the surgeon S with a strong sense of directly controlling the instruments 1400. To this end, position, force, strain, or tactile feedback sensors (not shown) or any combination of such sensations, from the instruments 1400 back to the surgeon's hand or hands through the one or more input control devices 1116.

[0054] The user control unit 1100 is shown in FIG. 1 as being in the same room as the patient so that the surgeon S can directly monitor the procedure, be physically present if necessary, and speak to an assistant directly rather than over the telephone or other communication medium. In other embodiments, however, the user control unit 1100 and the surgeon S can be in a different room, a completely different building, or other location remote from the patient, allowing for remote surgical procedures.

[0055] FIG. 3 is a perspective view of the auxiliary equipment unit 1150. The auxiliary equipment unit 1150 can be coupled with the endoscope (not shown) and can include one or more controllers with processors to process captured images for subsequent display, such as via the user control unit 1100, or on another suitable display located locally (e.g., on the unit 1150 itself as shown, on a wall-mounted display) and / or remotely. For example, where a stereoscopic endoscope is used, the auxiliary equipment unit 1150 can process the captured images to present the surgeon S with coordinated stereo images of the surgical site via the left eye display 1112 and the right eye display 1114. Such coordination can include alignment between the opposing images and can include adjusting the stereo working distance of the stereoscopic endoscope. As another example, image processing can include the use of previously determined camera calibration parameters to compensate for imaging errors of the image capture device, such as optical aberrations.

[0056] FIG. 4 shows a front perspective view of the manipulator unit 1200. The manipulator unit 1200 includes the components (e.g., arms, linkages, motors, sensors, and the like) to provide for the manipulation of the instruments 1400 and an imaging device (not shown), such as a stereoscopic endoscope, used for the capture of images of the site of the procedure. Specifically, the instruments 1400 and the imaging device can be manipulated byAttomev Docket No. P06947-WOteleoperated mechanisms having one or more mechanical joints. Moreover, the instruments 1400 and the imaging device are positioned and manipulated through incisions or natural orifices in the patient P in a manner such that a center of motion remote from the manipulator and typically located at a position along the instrument shaft is maintained at the incision or orifice by either kinematic mechanical or software constraints. In this manner, the incision size can be minimized.

[0057] FIG. 5 is a perspective view of a portion of an arm assembly 1300 and an instrument carriage 1330 to which an instrument 1400 can be removably coupled. The instrument carriage 1330 includes teleoperated actuators (e.g., motors 1340 with coupled drive discs 1320) to provide controller motions to the instrument 1400. which translates into a variety of movements of a tool or tools at a distal end portion 1402 (FIG. 6) of the instrument 1400. The arm assembly 1300 includes a connecting portion 1324 in which the instrument carriage 1330 can be coupled. The instrument carriage 1330 may be translatable relative to the arm assembly 1300, for example, along an insertion axis extending between a proximal end and a distal end of the arm assembly 1300 for insertion and removal of the instrument into a patient. The translation of the instrument carriage 1330 can develop a corresponding linear motion of the instrument 1400. In addition, the arm assembly 1300 can provide for additional degrees of freedom to orient and position the instrument carriage 1330 and instrument 1400 at a desired location. When an instrument 1400 is coupled to the instrument carriage 1330, input provided by a surgeon S to the user control unit 1100 (a “master’" command) is translated into a corresponding action by the instrument 1400 (a “’slave” response) via drive discs 1320 of the instrument carriage 1330 that are operatively coupled instrument discs (FIG. 6) on the instrument 1400.

[0058] The instrument carriage 1330 includes a carriage interface that includes drive discs 1320 that are configured to be operatively coupled with instrument discs 1702 (see FIG. 6) at a drive member interface. In embodiments utilizing a sterile adapter or other similar structure, the drive discs 1320 may be matingly coupled to couplers of the instrument sterile adapter. The instrument carriage 1330 also includes an indentation or cutout region 1310 in which the instrument shaft (shaft) 1410 (FIG. 6) of the instrument 1400 can extend when the instrument 1400 is supported by the manipulator unit 1200. In some embodiments, the drive discs 1320 of the carriage 1330 may be directly coupled to inputs of the instrument discs 1702 of the instrument 1400 without an intermediary sterile adapter.Attorney Docket No. P06947-WO

[0059] In some embodiments, the system 1000 can include at least one drive assembly (e.g., a first drive assembly 1050 and a second drive assembly 1060) configured to control a position of tension members of the instrument 1400. The drive assembly can, in some embodiments, include the teleoperated actuator (e.g., a motor 1340 with coupled drive disc 1320) of the arm assembly 1300, which produces and transmits torque in response to a controller command, as well as corresponding rotational drive components of the instrument 1400, which receive the torque from the motor and apply a tension to a tension member 1420 (FIG. 7). The corresponding rotational drive components can, for example, include an instrument disc 1702 and a capstan 1710 (FIG. 7), about which a tension member 1420 can be wound or otherwise coupled. In some embodiments, the drive assembly can be contained entirely within the instrument 1400 such that the motor is also positioned within the proximal mechanical structure 1700 (FIG. 6) with the corresponding rotational drive components.

[0060] FIG. 6 is a perspective view of a portion of the instrument 1400 according to an embodiment. In some embodiments, the instrument 1400 or any of the components therein are optionally parts of a surgical system that performs surgical procedures, and which can include a manipulator unit, a series of kinematic linkages, a set of cannulas, or the like. The instrument 1400 (and any of the instruments described herein) can be used in any suitable surgical system, such as the MIRS system 1000 shown and described above. As shown in FIG. 6, the instrument 1400 includes a proximal mechanical structure 1700 (depicted with an outer cover removed), an instrument shaft 1410, a distal end portion 1402, and a set of cables (not depicted in FIG.6). The cables function as tension members that couple the proximal mechanical structure 1700 to the distal end portion 1402. In some embodiments, the distal end portion 1402 of the instrument 1400 can include a wrist assembly 1500 coupled to the instrument shaft 1410. In some embodiments, the distal wrist assembly can support an end effector 1460. The instrument 1400 is configured such that movement of one or more of the cables produces movement of the end effector 1460 (e.g., pitch, yaw, or grip) and / or the wrist assembly 1500 about axes of an instrument coordinate system. The instrument coordinate system can include a longitudinal axis ALO defined by the instrument shaft and at least one lateral axis ALA extending orthogonally to the longitudinal axis ALO.

[0061] In some embodiments, the instrument shaft 1410 can be any suitable elongated shaft that is coupled to the wrist assembly 1500 and to the proximal mechanical structure 1700. Specifically, the instrument shaft 1410 includes a proximal end 1411 that is coupled to theAttomev Docket No. P06947-WOproximal mechanical structure 1700, and a distal end portion 1412 that is coupled to the wrist assembly 1500 (e.g., a proximal link of the wrist assembly 1500). The instrument shaft 1410 defines a passageway or series of passageways through which the cables and other components can be routed from the proximal mechanical structure 1700 to the wrist assembly 1500.

[0062] In some embodiments, the instrument shaft 1410 can be formed, at least in part with, for example, an electrically conductive material such as stainless steel. In such embodiments, the shaft may include any of an inner insulative cover or an outer insulative cover. Thus, the instrument shaft 1410 can be a shaft assembly that includes multiple different components. For example, the instrument shaft 1410 can include (or be coupled to) a spacer that provides the desired fluid seals, electrical isolation features, and any other desired components for coupling the wrist assembly 1500 to the instrument shaft 1410. Similarly stated, although the wrist assembly 1500 (and other wrist assemblies or links described herein) are described as being coupled to the instrument shaft 1410, it is understood that any of the wrist assemblies or links described herein can be coupled to the shaft via any suitable intermediate structure, such as a spacer and a cable guide, or the like.

[0063] In some embodiments, the end effector 1460 can include at least one tool member 1462 having a contact portion configured to engage or manipulate a target tissue during a surgical procedure. For example, in some embodiments, the contact portion can include an engagement surface that functions as a gripper, cutter, tissue manipulator, or the like. In other embodiments, the contact portion can be an energized tool member that is used for cauterization or electrosurgical procedures. The end effector 1460 may be operatively coupled to the proximal mechanical structure 1700 such that the tool member 1462 rotates relative to instrument shaft 1410. In this manner, the contact portion of the tool member 1462 can be actuated to engage or manipulate a target tissue during a surgical procedure. The tool member 1462 (or any of the tool members described herein) can be any suitable medical tool member. Moreover, although only one tool member 1462 is identified, as shown, the instrument 1400 can include two tool members that cooperatively perform gripping or shearing functions. In other embodiments, an end effector can include more than two tool members. In some embodiments, a dose of energy can be delivered to the end effector and on to a target tissue, such as in an electro-cautery or ablation operation.

[0064] The proximal mechanical structure 1700 is configured to be removably coupled to the arm assembly 1300 manipulator unit 1200 (FIG. 4). The manipulator unit 1200 includesAttomev Docket No. P06947-WOteleoperated actuators (e.g., motors 1340 with coupled drive discs 1320) to provide controller motions to the instrument 1400, which translates into a variety’ of movements of a tool or tools at the distal end portion 1402 of the instrument 1400. When an instrument 1400 is coupled to the arm assembly 1300, input provided by a surgeon S to the user control unit 1100 (a “master” command) is translated into a corresponding action by the instrument 1400 (a “slave” response) via drive discs of the arm assembly 1300 that are operatively coupled instrument discs 1702 on the instrument 1400,

[0065] In some embodiments, the proximal mechanical structure 1700 is operably coupled to the wrist assembly 1500 and / or the end effector 1460 via at least one tension member. The tension member can. for example, be a cable or other similar structure configured to transmit a tensile load. As depicted in FIG. 7, in some embodiments, the instrument 1400 includes at least a first cable 1420 and a second cable 1430. In some embodiments, the first cable 1420 and the second cable 1430 can be arranged as a cable pair. In some embodiments, the first cable 1420 in the second cable 1430 can be portions of a single, continuous cable. However, in some embodiments, the first cable 1420 in the second cable 1430 can be two separate cables arranged as the cable pair to work in conjunction with one another to achieve a singular effect.

[0066] The instrument 1400 is configured such that movement of the first cable 1420 in response to a torque input from a first drive assembly 1050 and second cable 1430 in response to a torque input from a second drive assembly 1060 produces rotation of the end effector 1460 about a first axis of rotation (which functions as the yaw axis; the term yaw is arbitrary) of the wrist assembly about a second axis of rotation (which functions as the pitch axis; the term pitch is arbitrary), a cutting rotation of the tool members of the end effector 1460 about the first axis of rotation, or any combination of these movements. Additional examples and disclosures of the actuation of the end effector with relevant axes, e.g., first axis and second axis, are further disclosed in U. S. application no. 18 / 683,651 entitled “Surgical Instrument Cable Control and Routing Structures” filed on February 14. 2024, which is incorporated herein by reference in its entirety.

[0067] As depicted in FIG. 7, in some embodiments, the first cable 1420 can include a proximal portion 1421 and a distal portion (not show n). The proximal portion 1421 of the first cable 1420 can be coupled to a first capstan 1710. In some embodiments, the second cable 1430 can include a proximal portion 1431, and a distal portion (not shown). The proximal portion 1431 of the second cable 1430 can be coupled to a second capstan 1720. The distalAttomev Docket No. P06947-WOportions of the first cable 1420 and the second cable 1430 can be coupled to a portion of the wrist assembly 1500 or the end effector 1460 (e.g., the tool member 1462). Thus, movement of the first capstan 1710 and the second capstan 1720 can move the proximal end portions of the first cable 1420 and the second cable 1430 to move the portion of the wrist assembly 1500 or the end effector 1460.

[0068] The end effector 1460 can be operatively coupled to the proximal mechanical structure 1700 such that the tool member(s) 1462 rotates about the first axis of rotation. For example, a drive pulley (not shown) of the tool member 1462 can coupled to the distal end of the first cable 1420 and the second cable 1430 such that a tension force exerted by the cable pair produces a rotation torque about the first axis. In this manner, the tool member 1462 can be actuated to engage or manipulate a target tissue during a surgical procedure.

[0069] In some embodiments, the proximal mechanical structure 1700, can include at least one chassis 1762, at least one capstan (e.g., the first capstan 1710. the second capstan 1720. the third capstan 1730, the fourth capstan 1740), and a guide structure 1780. The at least one capstan is coupled to the tension members (e.g., the first cable 1420, the second cable 1430) to move the tension members relative to (e.g., across) the guide structure 1780 in response to a motor input.

[0070] As shown in FIG. 7, the guide structure 1780, which is also referred to as a “waterfall” structure, can include an upper portion 1783 and a lower portion 1784. The lower portion 1784 is mounted to a component within the proximal mechanical structure 1700. such as the chassis 1762. The upper portion 1783 includes multiple guide grooves 1785 on a top guide surface 1786. The guide grooves 1785 extend along the top guide surface 1786 to at least one opening defined in the top surface 1786. As shown in FIG. 7, the cable pair is routed along the top surface 1786 within the guide grooves 1785 and through the openings to be routed to the passageway defined by the instrument shaft 1410. Said another way. the guide structure 1780 is formed to direct the cables from the proximal mechanical structure 1700 and into or along the instrument shaft 1410. Accordingly, the guide structure 1780 causes a change in the direction of the cables between the portions that are within the proximal mechanical structure and the portions that are within / along the instrument shaft 1410.

[0071] In some embodiments, the capstan(s) can include an upper portion, a lower portion, and a spool therebetween. The upper portion can function as an anchor portion to secure anAttomev Docket No. P06947-WOassociated tension member to the capstan. In some embodiments, the upper portion can include a specific configuration to allow for a cable to be coupled to the capstan without the use of external mechanisms (e.g., crimp joints, adhesive, knots) to maintain the coupling of the cable to the capstan. Such configuration can include, for example, grooves and recesses within which the cable can be wrapped, as shown and described in U. S. application no. 18 / 683,651 entitled “Surgical Instrument Cable Control and Routing Structures” filed on February 14, 2024, which is incorporated herein by reference in its entirety. In other embodiments, however, the upper portion can include recesses or channels that receive a crimp or know to secure the cable therein. The spool can include a cable wrap surface (which functions as a drive surface) and a side wall. The tension member can be coupled to the corresponding capstan such that a proximal end portion of the tension member wraps about the cable wrap surface.

[0072] In some embodiments, a housing cover, which is not depicted in FIGS. 6 and 7, encloses the proximal mechanical structure 1700, including the chassis 1762. The chassis 1762 provides structural support for mounting and aligning components in the proximal mechanical structure 1700. For example, the chassis 1762 defines a shaft opening 1712 that is communicatively coupled to the passageway defined by the instrument shaft 1410. In some embodiments, the chassis 1762 includes one or more bearing surfaces or defines one or more openings configured to rotatably support the capstans (e.g., the first capstan 1710 and the second capstan 1720).

[0073] In addition to providing mounting support for the internal components of the proximal mechanical structure 1700, the chassis 1762 can include external features (e.g., recesses, clips, etc.) that interface with a docking port of a drive device (not shown). The drive device can be, for example, a handheld system or a computer-assisted teleoperated system that can receive and manipulate the medical instrument 1400 to perform various surgical operations. The drive device can include one or more motors to drive capstans of the proximal mechanical structure 1700. In other embodiments, the drive device can be an assembly that can receive and manipulate the instrument 1400 to perform various operations.

[0074] Although the proximal mechanical structure 1700 is shown as including at least one capstan (e.g.. the first capstan 1710, the second capstan 1720, the third capstan 1730, the fourth capstan 1740), in other embodiments, a mechanical structure can include one or more linear actuators that produce translation (linear motion) of a portion of the cables. Such proximal mechanical structures can include, for example, a gimbal, a lever, or any other suitableAttomev Docket No. P06947-WOmechanism to directly pull (or release) an end portion of any of the cables. For example, in some embodiments, the proximal mechanical structure 1700 can include any of the proximal mechanical structures or components described in U. S. Patent Application Pub. No. US 2015 / 0047454 (filed Aug. 15, 2014), entitled “Lever Actuated Gimbal Plate,” or U. S. Patent No. US 6,817,974 B2 (filed Jun. 28, 2001), entitled “Surgical Tool Having Positively Positionable Tendon- Actuated Multi-Disc Wrist Joint,” each of which is incorporated herein by reference in its entirety.

[0075] FIGS. 8 A and 8B are schematic illustrations of a system 2000 according to an embodiment. The system 2000 can. for example, include any of the features and / or elements described herein with reference to any other surgical system, such as system 1000 described above. As depicted, the system 2000 can include an instrument 2400. The instrument can include a proximal mechanical structure 2700 and an end effector 2460 operably coupled to the proximal mechanical structure 2700 via at least one tension member 2420. Accordingly, the tension member 2420 is positioned to transfer a torque, in the form of tension within the respective tension member, from the proximal mechanical structure 2700 to the end effector 2460. The tensile load can then cause a movement of the portion of the end effector 2460.

[0076] The instrument 2400 also includes a sensor unit 2600 that is operably coupled to the tension member 2420 to produce an output associated with an operating state of the tension member 2420. The operating state of the tension member 2420 can be either an intact state Si, as depicted in FIG. 8A, or an at least partially broken state Sp, as depicted in FIG. 8B. In FIG.8B. the tension member 2420 is depicted as being parted (e g., broken or separated) and, therefore, in the at least partially broken state Sp. The at least partially broken state Sp can correspond to a loss of integrity of the tension member 2420 that precludes the transmission of a desired tensile magnitude within the tension member 2420 to the end effector 2460.

[0077] As depicted in FIGS. 8A and 8B. the system 2000 includes a voltage generator 2030. The voltage generator 2030 is electrically coupled to the end effector 2460. The voltage generator 2030 can be electrically coupled to the end effector 2460 in any suitable manner, such as by one or more wires or any other suitable conductive element. The voltage generator 2030 is configured to generate a dose of energy 2032. The dose of energy 2032 can be delivered to a target tissue via the end effector 2460 during an electrosurgical procedure (e.g., electrocautery, cutting, desiccation, and / or ablation). While the dose of energy 2032 can be beneficial when delivered to the target tissue, it is desirable that the dose of energy 2032 beAttomev Docket No. P06947-WOprecluded from contacting nontarget tissues. As a non-commanded movement of the end effector 2460 resulting from the transition of the tension member 2420 toward the at least partially broken state Sp, it is desirable to halt the dose of energy upon the initiation of such an event to preclude delivery of the dose of energy 2032 to a nontarget tissue.

[0078] As further depicted in FIGS. 8A and 8B, the system 2000 includes a controller 2800. The controller 2800 can include any of the features or elements described herein with reference to controller 1800 (FIG. 20). As depicted, the controller 2800 can be operably (e.g., communicatively) coupled to the proximal mechanical structure 2700, the sensor unit 2600, and the voltage generator 2030. The controller 2800 can be configured to perform any of a set of operations 80, such as depicted in FIG. 9. The set of operations can facilitate the rapid detection of a transition of the tension member 2420 to the at least partially broken state Sp, as depicted in FIG. 8B, and the implementation of a mitigating response to halt the delivery of the dose of energy 2032 to the end effector 2460. Although the operations of FIG. 9 are described with respect to the system 2000, in other embodiments, the method 80 can be performed using any of the systems or instruments described herein.

[0079] As depicted in FIG. 9 at 81, in some embodiments, the set of operations 80 includes delivering a dose of energy 2032 from the voltage generator 2030 to the end effector 2460 on a condition that the tension member 2420 is in the intact state Si, as depicted in FIG. 8 A. For example, the controller 2800 can cause the voltage generator 2030 to generate and deliver at least one pulse of cautery energy or ablative energy to the end effector 2460 via a conductive element in the performance of an electrosurgical procedure.

[0080] As depicted at 82, in some embodiments, the set of operations 80 includes detecting, based on the output of the sensor unit 2600, a transition of the tension member 2420 from an intact state Si, as depicted in FIG. 8A, towards an at least partially broken state Sp (e g., a parted sate), as depicted in FIG. 8B. The output of the sensor unit 2600 can be a binary output corresponding to either the presence or absence of a signal between the sensor unit 2600 and the controller 2800. Said another way, the sensor unit 2600 can output only one of two indications; the first indication corresponding to the tension member being in an intact state Si, and the second indication corresponding to the transition of the tension member toward the at least partially broken state Sp. For example, in some embodiments, the output of the sensor unit 2600 can correspond to the interruption of an electrical continuity signal, wherein the presence of the continuity signal is indicative of the tension member 2420 being in the intactAttomev Docket No. P06947-WOstate Si and the interruption of the signal is indicative of the transition of tension member 2420 toward the at least partially broken state Sp. By way of additional illustration, in some embodiments, the output of the sensor unit 2600 can correspond to the delivery of the signal, such as in response to the closing of the circuit. In such an embodiment, the absence of a signal being received from the sensor unit 2600 by the controller 2800 is indicative of the tension member 2420 being in the intact state Si, while the receipt of a signal from the sensor unit 2600 is indicative of the transition of the tension member 2420 toward the at least partially broken state SP. The use of the binary output to indicate the state of the monitored tension member 2420 facilitates the rapid detection of the loss of integrity of the tension member 2420 and, by extension, the rapid implementation of mitigation measures to limit or preclude the delivery of the dose of energy to the end effector 2460 under conditions in which the end effector 2460 can experience a non-commanded movement resulting from the loss of integrity of the tension member 2420.

[0081] Referring to FIGS. 8A and 8B, the sensor unit 2600 can, for example, include a switch 2640. The switch 2640 can have a first switch state SSi and a second switch state SS2.The switch 2640 can be in the first switch state SSi on a condition that the tension member 2420 is in the intact state Si. The switch 2640 can be configured to then transition to the second switch state SS2 in response to the transition of the first tension member 2420 towards the at least partially broken state Sp. Accordingly, in some embodiments, the output of the sensor unit 2600 can correspond to the transition of the switch 2640 to the second switch state SS2. In some embodiments, the transition of the switch 2640 to the second switch state SS2 can correspond to the opening of a circuit. However, in some embodiments, the transition of the switch 2640 to the second switch state SS2 can correspond to the closing of a circuit.

[0082] In some embodiments, the sensor unit 2600 can include a conductive element (e.g., an insulated conductive element) of tension member 2420. The conductive element can, for example, extend between the first drive assembly 2050 and the end effector 2460. As depicted at 83 and FIG. 9, the set of operations 80 can, in some embodiments, optionally include delivering a continuity signal to the conductive element. The controller 2800 can, therefore, be configured to receive the continuity signal on a condition that tension member 2420 is in the intact state Si. Accordingly, the detection of the transition of tension member 2420 to the at least partially broken state Sp can include, at 84, detecting a disruption of the continuityAttomev Docket No. P06947-WOsignal. The disruption of the continuity signal being, therefore, indicative of the transition of tension member 2420 to the at least partially broken state Sp.

[0083] As depicted at 85 and FIG. 9, in some embodiments, the mitigation measures can include halting the delivery of the dose of energy 2032 to the end effector 2460 in response to the detection of the transition of the tension member 2420 toward the at least partially broken state SP. To halt the delivery of the dose of energy 2032, the controller 2800 can, in some embodiments, terminate an operation (e.g., voltage generation, energy discharge, or capacitor discharge) of the voltage generator 2030. In some embodiments, the controller 2800 can electrically decouple (e.g., via a controller-actuated coupling) the voltage generator 2030 from the end effector 2460 to halt the delivery of the dose of energy 2032. In some embodiments, the controller 2800 can halt the delivery the dose of energy 2032 by electrically coupling (e.g., via controller-actuated coupling) the voltage generator 2030 to an alternative energy path (e.g., a shunt path) in lieu of the end effector 2460.

[0084] In some embodiments, the set of operations 80 can also include affecting an operation of at least one drive assembly (not shown) to mitigate a non-commanded movement of the end effector 2460 in response to the detection of the transition of the tension member 2420 from the intact state Si towards the at least partially broken state Sp. In some embodiments, affecting the operation of the drive assembly can include halting or slowing (e.g., in accordance with a damping transition) a rotation drive assembly as an initial response to the transition of the tension member 2420 to the at least partially broken state Sp. In some embodiments, to affect the operation of the drive assembly, the controller 2800 reverses a rotational direction of the drive assembly. Reversing the rotational direction of the drive assembly can, for example, reduce a tensile load transmitted to the end effector 2460 via a remaining, intact tension member (not shown). In some embodiments, reversing the rotational direction of the drive assembly can increase a length of the intact, tension member between the drive assembly and the end effector 2460. Reversing the rotational direction of the drive assembly can, therefore, establish slack along the intact tension member. The presence of slack along the intact tension member reduces or eliminates the tensile load within the tension member. The reduction or elimination of the tensile load accordingly minimizes or precludes delivery of the tensile load to the end effector 2460. Therefore, an undesirable, non-commanded movement of the end effector 2460 that would have otherwise occurred in response to the tensile load in intact tension member (e.g., one cable of a cable pair) in theAttomev Docket No. P06947-WOabsence of a tensile load in the tension member 2420 (e.g., due to the transition to the at least partially broken state Sp) is minimized or precluded.

[0085] FIGS. 10A and 10B are schematic illustrations of a system 6000 according to an embodiment. The system 6000 can, for example, include any of the features and / or elements described herein with reference to any other surgical system, such as system 1000 and / or system 2000 described herein. As depicted, the system 6000 can include a voltage generator 6030, and an instrument 6400. The voltage generator 6030 can be configured to generate a dose of energy 6032 for delivery to an end effector 6460 of the instrument 6400 in the performance of an electrosurgical procedure. For example, the dose of energy 6032 can correspond to a dose of cautery energy or a dose of ablative energy that is delivered to a target tissue via the end effector 6460 during the electrosurgical procedure.

[0086] The instrument 6400 can include a proximal mechanical structure 6700 and the end effector 6460 operably coupled to the proximal mechanical structure 6700 via at least one tension member 6420. Accordingly, the tension member 6420 is positioned to transfer a torque, in the form of tension within the respective tension member, from the proximal mechanical structure 6700 to the end effector 6460. The tensile load can then cause a movement of the portion of the end effector 6460. The tension member 6420 can have an intact state Si, as depicted in FIG. 10A, or an at least partially broken state Sp, as depicted in FIG. 10B. In the at least partially broken state Sp, the structural integrity of the tension member 6420 can be compromised such that the magnitude of the tension within the tension member 6420 does not correspond to the torque applied by the proximal mechanical structure 6700. Said another way, the at least partially broken state Sp can correspond to a loss of integrity of the tension member 6420 that precludes the transmission of a desired tensile magnitude within the tension member 6420 to the end effector 6460.

[0087] The instrument 6400 also includes a switch assembly 6600. As depicted in FIG.10B the switch assembly 6600 selectively couples the voltage generator 6030 to ground GR via a shunt path PS on a transition of the tension member 6420 toward the at least partially broken state Sp. In some embodiments, the switch assembly 6600 can selectively couple the voltage generator 6030 to the end effector 6460 on a condition that the tension member 6420 is in the intact state Si. Accordingly, the switch assembly 6600 can at least partially define a delivery path DP for the dose of energy 6032.Attomev Docket No. P06947-WO

[0088] In some embodiments, the switch assembly 6600 includes a switch mechanism 6640. The switch mechanism 6640 is movable between a first switch state SSi and a second switch state SS2. The switch mechanism 6640 can be in the first switch state SSi on a condition that the tension member 6420 is in the intact state, as depicted in FIG. 10A. The switch mechanism 6640 can automatically move from the first switch state SSi to the second switch state SS2 concurrently with the transition of the tension member 6420 toward the at least partially broken state Sp. In other words, the switch mechanism 6640 can be biased toward the second switch state SS2.

[0089] The switch mechanism 6640 can, in some embodiments, include a delivery contact, at least one shunt contact, and a movable contact that is electrically coupled to the voltage generator 6030. The delivery contact can be electrically coupled to the end effector 6460, while the shunt contact is electrically coupled to ground GR. Accordingly, the switch mechanism 6640 can define a portion of the delivery path DP in the first switch state SSi such that the voltage generator 6030 is electrically coupled to the end effector 6460 via the switch mechanism 6640. For example, the movable contact can be electrically coupled to the delivery contact in the first switch state SSi. In the second switch state SS2, the switch mechanism 6640 can find a portion of the shunt path PS. The shunt path PS can have an electrical resistance that is lower than the delivery path DP. For example, the shunt path PS can electrically couple the voltage generator 6030 to ground GR on the condition that the switch mechanism 6640 is in the second switch state SS2. Said another way, the movable contact can be electrically coupled to the shunt contact and the second switch state SS2. Accordingly, the dose of energy 6032 can be delivered to ground GR in lieu of the end effector 6460 on a condition that the switch mechanism 6640 is in the second switch state SS2 in response to a transition of the tension member 6420 to the at least partially broken state SP.

[0090] In some embodiments, the switch assembly 6600 can define at least a portion of the shunt path PS but not a portion of the delivery path DP. In such embodiments, the switch mechanism 6640 can be operably coupled to the tension member 6420. The switch mechanism 6640 can be movable between an open state (e.g., a first switch state SSi) on a condition that the tension member 6420 is in the intact state Si and a closed state (e g., a second switch state SS2) on a condition that the tension member 6420 is in the at least partially broken state Sp.The voltage generator 6030 is electrically coupled to ground GR via the shunt path PS a condition that the switch mechanism 6640 is in the closed state. Insofar as the shunt path PSAttomev Docket No. P06947-WOhas an electrical resistance that is less than the delivery path, at least a substantial portion of the dose of energy 6032 is diverted from the delivery path DP and into the lower-resistance shunt path PS.

[0091] FIGS. 11A and 11B are schematic illustrations of a breaker assembly 7600 according to an embodiment. The breaker assembly 7600 can, for example, be used with any of the surgical systems described herein, such as system 1000, system 2000, and / or system 6000. As depicted, the breaker assembly 7600 can be electrically coupled to a voltage generator 7030 and define at least a portion of a delivery path of a dose of energy 7032 generated by the voltage generator 7030. The dose of energy 7032 can, for example, be delivered to an end effector (e.g., end effector 1460) in the performance of an electrosurgical procedure. Accordingly, the dose of energy 7032 can correspond to a dose of cautery energy or a dose of ablative energy that is delivered to a target tissue via the end effector during the electrosurgical procedure.

[0092] The breaker assembly 7600 is operably coupled to a tension member 7420 (i.e., a tension member of the instrument 1400). Breaker assembly 7600 the breaker assembly is movable between a first switch state SSi (FIG. 11 A) (e.g., a closed state) on a condition that the tension member 7420 is in an intact state Si and a second switch state SS2 (FIG. 1 IB) (e.g., an open state) on a condition that the tension member 7420 is transitioned toward an at least partially broken state Sp. The breaker assembly 7600 at least partially defines the delivery path DP on condition that the breaker assembly 7600 is in the first switch state SSi. In the second switch state SS2, the breaker assembly 7600 disrupts (e.g., breaks) the delivery path DP. For example, the voltage generator 7030 voltage generator can be electrically coupled to the end effector via the delivery path and electrically decoupled from the end effector on a condition that the breaker assembly 7600 is in the second switch state SS2.

[0093] In order to automatically halt the delivery of the dose of energy in response to a transition of the tension member 7420 towards the at least partially broken state Sp, the breaker assembly 7600 can be biased toward the second switch state SS2. Accordingly, the second switch state SS2 depicted in FIG. 11B can be a default switch state for the breaker assembly 7600. The breaker assembly 7600 can move from the default, second switch state SS2 to the first switch state SSi in response to a tensile load carried by the tension member 7420 in the intact state Si. By extension, the breaker assembly 7600 is maintained in the first switch state SSi in response to a force applied by the tension member 7420 to an actuating body 7642.Attomev Docket No. P06947-WO

[0094] In some embodiments, the breaker assembly 7600 can include a fixed conductive element 7644, a movable conductive element 7646, and an actuating body 7642. The movable conductive element 7646 can be electrically coupled to the voltage generator 7030 in both the first switch state SSi and the second switch state SS2. In some embodiments, a portion of the movable conductive element 7646 is deformable relative to another portion of the movable conductive element 7646. The movable conductive element 7646 can be positioned between the fixed conductive element 7644 and the actuating body 7642. The actuating body 7642 can, as depicted in FIG. 11A, be positioned at a compressed position Pc in response to a tensile load applied to the tension member 7420 in the intact state Si. In the compressed position Pc, the actuating body 7642 can move or deform the movable conductive element 7646 so that the movable conductive element 7646 is in conductive contact with the fixed conductive element 7644, thereby, completing an electric circuit defining at least a portion of the delivery path DP. Said another way, the movable conductive element 7646 is in contact with the fixed conductive element 7644 and the actuating body 7642 is at the compressed position Pc on the condition that the breaker assembly 7600 is in the first switch state SSi.

[0095] As depicted in FIG. 11B, the movable conductive element 7646 and the actuating body 7642 are biased to move in the direction indicated by arrow D4 upon a transition of the tension member 7420 towards the at least partially broken state Sp. Accordingly, in the absence of the force applied to the actuating body 7642 by the tension member 7420, the actuating body 7642 defaults to an uncompressed position PU, and the movable conductive element 7646 moves away from the fixed conductive element 7644. On a condition that the actuating body 7642 is at the uncompressed position PU, the fixed conductive element 7644 has an absence of electrical contact with the movable conductive element 7646. The absence of electrical contact between the fixed conductive element 7644 and the movable conductive element 7646 (i.e., second switch state SS2) disrupts the delivery path DP, thereby halting the delivery of the dose of energy 7032. Said another way, the movement of a portion of the movable conductive element 7646 away from the fixed conductive element 7644 opens (i.e., breaks) a circuit between the voltage generator 7030 and an end effector.

[0096] FIGS. 12-15 depict a sensor unit 3600 according to an embodiment. The sensor unit 3600 can, for example, be used with any instrument described herein, such as instrument 1400, instrument 2400, and / or instrument 6400, having at least one tension member 3420 (see FIG. 15) configured to transfer a mechanical input from a proximal mechanical structure (e.g.,Attomev Docket No. P06947-WOproximal mechanical structure 1700) to a portion of an end effector (e.g., the tool member 1462). The tension member 3420 can. as described above, be arranged as a first cable 1420 of a cable pair that includes a second cable 1430. For the purposes of illustration, unless stated otherwise, the sensor unit 3600 is described below with reference to the instrument 1400.

[0097] FIG. 12 is a perspective view of the guide structure 1780 and the sensor unit 3600 co-located therewith according to an embodiment. Similarly, FIG. 13 is a close-up view of a portion of the guide structure 1780 and the sensor unit 3600 depicted in FIG. 12. As depicted in FIG. 7, the guide structure 1780 can be positioned between the shaft opening 1712 defined by the proximal mechanical structure 1700 (e.g., defined at least in part by the chassis 1762) and the drive components (e.g., the first capstan 1710 and the second capstan 1720 as depicted in FIG. 7) of the proximal mechanical structure 1700. The guide structure 1780 (which is also referred to as a “waterfall” due to the directional change imparted on the tension members by the guide structure 1780) includes the upper portion 1783 that defines at least one guide groove 1785. The guide groove 1785 extends along the top guide surface 1786 radially outward from the shaft opening 1712. The guide structure 1780 can, for example, define a distinct, separate guide path Gp into the shaft opening 1712 for each tension member (e.g., the first tension member 1420 and the second tension member 1430) of the instrument 1400.

[0098] In some embodiments, the tension member 3420 (FIG. 15) is configured to transition within the guide path Gp between the first direction as indicated by arrow DI and the second direction as indicated by arrow D2. Accordingly, the tension member 3420 (e.g., the first tension member 1420) extends generally in the first direction DI between a portion of the drive assembly (e.g., the first capstan 1710) and the shaft opening 1712 and in the second direction D2 between the shaft opening 1712 and the end effector 1460 (FIG. 6). Said another way, the tension member 3420 can extend generally in the first direction DI between the portion of the drive assembly (e.g., the first capstan 1710) and the shaft opening 1712 and is redirected by the guide structure 1780 to extend in the second direction D2 between the shaft opening 1712 and the end effector 1460. It should be appreciated that the first direction DI and the second direction D2 form a non-zero angle. For example, in some embodiments, the first direction DI and the second direction D2 form an angle in a range of 70 degrees to 120 degrees (e.g.. substantially 90 degrees).

[0099] In some embodiments, the sensor unit 3600 is co-located with the guide structure 1780. Said another way, in some embodiments, the sensor unit 3600 is integrated with orAttomev Docket No. P06947-WOincorporated into the guide structure 1780. Accordingly, at least a portion of the sensor unit 3600 is positioned between the drive components and the shaft opening 1712. For example, the sensor unit 3600 can be positioned between the first capstan 1710 and the shaft opening 1712. In such an embodiment, the sensor unit 3600 can have a first switch state SSi (FIG. 15) on a condition that the tension member 3420 is in an intact state Si and a second switch state SS2 (FIG. 14) on a condition that the tension member 3420 is transitioned toward at least partially broken state Sp. In other words, the sensor unit 3600 can transition from the first switch state SSi to the second switch state SS2 in response to a reduction in the integrity of the tension member 3420 resulting in an undesirable (e.g., un-commanded or unintended) decrease in tension within the tension member 3420.

[0100] In some embodiments, the first switch state SSi is an open switch state, while the second switch state SS2 is a closed switch state that completes a circuit. In such embodiments, the completion of the circuit is indicative of the transition of the tension member 3420 towards the at least partially broken state. In some embodiments however, the first switch state SSi is a closed switch state that completes a circuit, while the second switch state SS2 is an open switch state that interrupts the circuit. The interruption of the circuit is indicative of the transition of the tension member 3420 towards the at least partially broken state. For example, in the first switch state SSi, the sensor unit 3600 can deliver a continuity signal to the controller 1800 that is indicative of the tension member 3420 being in the intact state. The disruption of the continuity signal corresponding to the transition of the sensor unit 3600 to the second switch state SS2 is, therefore, indicative of the transition of the tension member 3420 towards the at least partially broken state.

[0101] Referring to FIGS. 12-15, in some embodiments, the sensor unit 3600 includes an actuating key 3642 and a switch 3640. The switch 3640 is configured to move from the first switch state SSi (depicted in FIG. 15) to the second switch state SS2 (depicted in FIG. 14) with the transition of the tension member 3420 to the at least partially broken state. The switch 3640 can, for example, be a momentary switch with the second switch state SS2 being the default switch state for the momentary switch. Said another way, as a momentary switch, the switch 3640 can be biased toward the second switch state SS2. Accordingly, in the absence of a force maintaining the switch 3640 in the first switch state SSi. the switch 3640 defaults to the second switch state SS2, which is indicative of the transition of the tension member 3420 to the at least partially broken state.Attorney Docket No. P06947-WO

[0102] As depicted in FIG. 15, the actuating key 3642 is positioned between the tension member 3420 and the switch 3640. The actuating key 3642 is positioned at a compressed position Pc, as depicted in FIG. 15, in response to a tensile load applied to the tension member 3420 on a condition that the tension member 3420 is in the intact state. The switch 3640 is maintained in the first switch state SSi by the actuating key 3642 at the compressed position Pc. Said another way, on a condition that the tension member 3420 is under tension, a force exerted on the actuating key 3642 by the tension member 3420 maintains the actuating key 3642 at the compressed position Pc and, therefore, the switch 3640 in the first switch state SSi. As depicted in FIGS 12-14, the actuating key 3642 is positioned at an uncompressed position Pu on the condition that the tension member 3420 transitions toward the at least partially broken state. As depicted in FIG. 14, the transition of the actuating key 3642 to the uncompressed position Pu results in the transition of the switch 3640 to the second switch state SS2.

[0103] In some embodiments, the actuating key 3642 includes a contact surface 3643. The contact surface 3643 is shaped to receive a force from the tension member 3420. The contact surface 3643 can, for example, be shaped to minimize a friction between the actuating key 3642 and the tension member 3420 on a condition that the tension member 3420 is in contact with and exerting a force on the actuating key 3642. On a condition that the actuating key 3642 is at the compressed position Pc, the contact surface 3643 is aligned with the guide structure 1780. For example, in the compressed position Pc, the contact surface 3643 can be substantially aligned with the guide grooves 1785. Said another way, in some embodiments, the contact surface 3643 can be substantially flush with a line extending radially outward from the shaft opening 1712 along the vertex of the guide groove 1785. In some embodiments, the contact surface 3643 can have a radius of curvature that coincides with the radius of curvature of the guide groove 1785. Accordingly, in the compressed position, the radius of curvature of contact surface 3643 can be axially aligned with the radius of curvature of the guide grooves 1785.

[0104] As depicted in FIGS. 12 and 13, on a condition that the actuating key 3642 is at the uncompressed position Pu, the contact surface 3643 is proud of the guide structure 1780. For example, on the condition that the actuating key 3642 is at the uncompressed position Pu, a portion of the actuating key 3642 including the contact surface 3643 extends radially inward from a concave surface of the guide groove 1785 toward a longitudinal axis of the guide groove 1785. Accordingly, the actuating key 3642 being at the uncompressed position Pu corresponds to positioning the contact surface 3643 and a portion of the actuating key 3642 at least partiallyAttorney Docket No. P06947-WOwithin the guide path Gp defined by the guide groove 1785. Said another way, at the uncompressed position Pu, a portion of the actuating key 3642 including the contact surface 3643 is positioned within partially obstructs the guide path Gp. The portion of the actuating key 3642 is moved from the guide path with the movement to the compressed position Pc in response to the force applied to the contact surface 3643 by the tension member 3420 in the intact state under a tensile load. Said yet another way, the absence of the tension member 3420 within the guide path Gp permits the positioning of the portion of the actuating key 3642 including the contact surface 3643 within the guide path Gp, while the positioning of the tension member 3420 within the guide path Gp precludes the positioning of the portion of the actuating key 3642 in the guide path Gp.

[0105] As depicted in FIG. 7, in some embodiments, the proximal mechanical structure 1700 can include a set of capstans (e.g., the first capstan 1710 and the second capstan 1720) and a set of tension members (e.g., the first tension member 1420 and the second tension member 1430) operably coupled to the end effector 1460 (FIG. 6). Accordingly, as depicted in FIGS. 12-15, the sensor unit 3600 can include a set of pairings of actuating keys and corresponding switches. Each actuating key is positioned to engage a different tension member of the instrument 1400 such that each actuating key is positioned at the compressed position Pc in response to a tensile load applied to the corresponding tension member on a condition that the corresponding tension member is in the intact state. Each switch of the set of pairings is maintained in the first switch position SSi by the corresponding actuating key at the compressed position Pc. In some embodiments for example, the instrument 1400 can include four tension members. Accordingly, the sensor unit 3600 can include four pairings of the actuating keys and the switches. With the four pairings, the sensor unit 3600 can, therefore, indicate to the controller 1800 a transition of any one of the four tension members to the at least partially parted state. Said another way, with the four pairings, the sensor unit 3600 can indicate the occurrence of a cable break in any one of the tension members of the instrument 1400, thereby, facilitating the implementation of a mitigating action, such as halting the delivery of the dose of energy to the end effector 1460. In some embodiments, the controller 1800 can also implement mitigating actions configured to minimize or preclude an un-commanded movement of the end effector 1460.

[0106] In some embodiments, the controller 1800 can deliver a test signal having a known voltage to each switch of the set of pairings. In such an embodiment, the output of the sensorAttomev Docket No. P06947-WOunit 3600 has a first voltage magnitude that substantially equals the combined voltages of the test signal delivered to each switch of the set of pairings on a condition that each switch is in the first switch state SSi. For example, a test signal of 5V can be delivered to each switch such that the output of the sensor unit 3600 has a first voltage magnitude of 20V on the condition that each switch is in the first switch state SSi. By extension therefore, the output of the sensor unit 3600 has a second voltage magnitude that is less than the first voltage magnitude on a condition that at least one switch is transitioned to the second switch state SS2. Said another way, with the transition of one switch to the second switch state SS2, the second voltage magnitude can substantially equal the combined voltages of the test signal delivered to each switch remaining in the first switch state SSi. For example, for a test signal of 5V delivered to each switch, the output of the sensor unit 3600 can have a second voltage magnitude of 15V on the condition that one of the switches is in the second switch state SS2. The second voltage magnitude is indicative of a transition of at least one tension member from the intact state Si toward the at least partially broken state Sp.

[0107] In some embodiments, the sensor unit 3600 is configured as a switch assembly, such as switch assembly 6600 described with reference to FIGS. 10A and 10B. The switch assembly can include any of the features described above with reference to the sensor unit 3600. In some embodiments, the switch assembly can be both communicatively coupled to the controller 1800 and electrically coupled to a voltage generator (e.g., voltage generator 6030) of the system 1000 and can be configured to function both as described above with reference to the sensor unit 3600 and described below with reference to the switch assembly. In some embodiments, the switch assembly is electrically coupled only to the voltage generator and configured to automatically interrupt and / or redirect (i.e.. halt) the delivery of the dose of energy without any controller input.

[0108] The switch assembly can be configured to automatically electrically decouple a voltage generator (e.g., voltage generator 6030) of the system 1000 from the end effector 1460 and electrically couple the voltage generator to ground with the transition of the tension member toward the at least partially broken state Sp. In some embodiments, the switch assembly is operably coupled to the tension member 3420 and selectively couples the voltage generator to either the end effector 1460 via a delivery path or to ground via a shunt path, which can have a resistance that is less than that of the delivery path.Attomev Docket No. P06947-WO

[0109] In some embodiments, switch assembly includes a switch mechanism that can include any of the features described above with reference to the switch 3640 of the sensor unit 3600. The switch mechanism is movable between the first switch state SSi and the second switch state SS2. The switch mechanism is in the first switch state SSi on a condition that the tension member 3420 is in the intact state Si and is in the second switch state SS2 on a condition that the tension member 3420 is in the at least partially broken state Sp. In the first switch state SSi, the switch mechanism defines a portion of the delivery path such that the voltage generator is electrically coupled to the end effector 1460 via the switch mechanism. In the second switch state SS2, the switch mechanism defines a portion of the shunt path such that the voltage generator is electrically coupled to ground via the switch mechanism. Accordingly, the dose of energy is delivered to ground in lieu of the end effector 1460 on a condition that the switch mechanism is in the second switch state SS2 in response to a transition of the tension member 3420 toward the at least partially broken state Sp.

[0110] In order to facilitate a rapid, automatic response to a transition of the tension member 3420 towards the at least partially broken state Sp, the switch mechanism is biased toward the second switch state SS2. In other words, the second switch state SS2 can be the default switch state for the switch mechanism. The switch mechanism can move from the default, second switch state SS2 to the first switch state SSi in response to a tensile load carried by the tension member 3420 in the intact state Si.

[0111] To define both a portion of the delivery path and a portion of the shunt path, the switch mechanism includes a delivery’ contact, a shunt contact and a movable contact. The movable contact is electrically coupled to the voltage generator and configured to receive the dose of energy from the voltage generator. The delivery contact is electrically’ coupled to the end effector 1460. In the first switch state SSi, the movable contact is electrically coupled to the delivery' contact and not the shunt contact such that the delivery' path extends unbroken between the voltage generator and the end effector 1460. In contrast, the shunt contact is electrically coupled to ground. In the second switch state SS2, the movable contact is electrically coupled to the shunt contact and not the delivery’ contact such that the delivery’ path is broken and the voltage generator is electrically grounded. Thus, on the condition that the switch mechanism is in the second switch state SS2. any electrical discharge of the voltage generator (e.g., the dose of energy) is conducted to ground rather than to the end effector 1460.Attorney Docket No. P06947-WO

[0112] In some embodiments, the sensor unit 3600 is configured as a breaker assembly, such as breaker assembly 7600 described with reference to FIGS. 11 A and 1 IB. The breaker assembly can include any of the features described above with reference to the sensor unit 3600. In some embodiments, the breaker assembly defines a portion of a delivery path for a dose of energy from a voltage generator to an end effector. The breaker assembly can be configured to open in response to a transition of the tension member 3420 to the at least partially broken state Sp to interrupt the delivery path and halt delivery of the dose of energy without any controller input.

[0113] In some embodiments, breaker assembly can include a fixed conductive element and a movable conductive element. Said another way. the breaker assembly can include the switch 3640. The movable conductive element can be electrically coupled to the voltage generator in both the first switch state SSi and the second switch state SS2. In some embodiments, a portion of the movable conductive element is deformable relative to another portion of the movable conductive element. The movable conductive element can be positioned between the fixed conductive element and an actuating body (e.g., actuating key 3642). As described above with reference to actuating key 3642, the actuating body can be positioned at a compressed position Pc in response to a tensile load applied to the tension member 3420 in the intact state Si. In the compressed position Pc. the actuating body 7642 can move or deform the movable conductive element so that the movable conductive element is in conductive contact with the fixed conductive element, thereby, completing an electric circuit defining at least a portion of the delivery path. Said another way, the movable conductive element is in contact with the fixed conductive element and the actuating body is at the compressed position Pc on the condition that the breaker assembly is in the first switch state SSi.

[0114] In order to facilitate a rapid, automatic response to a transition of the tension member 3420 towards the at least partially broken state Sp. the breaker assembly is biased toward the second switch state SS2. In other words, the second switch state SS2 can be the default switch state for the breaker assembly. The breaker assembly can move from the default, second switch state SS2 to the first switch state SSi in response to a tensile load carried by the tension member 3420 in the intact state Si. Said another way, the movable conductive element and the actuating body are biased to move away from the fixed conductive member upon a transit on of the tension member 3420 towards the at least partially broken state Sp.Attomev Docket No. P06947-WOAccordingly, in the absence of the force applied to the actuating body by the tension member 3420, the actuating body defaults to an uncompressed position PU, and the movable conductive element moves breaks contact with the fixed conductive member. In other words, on a condition that the actuating body is at the uncompressed position PU, the fixed conductive element has an absence of electrical contact with the movable conductive element. The absence of electrical contact between the fixed conductive element and the movable conductive element (i.e., second switch state SS2) disrupts the delivery path, thereby halting the delivery of the dose of energy. Said another way, the movement of a portion of the movable conductive element away from the fixed conductive element opens (i.e., breaks) a circuit between the voltage generator and an end effector 3460.

[0115] FIGS. 16A and 16B are a schematic illustration and FIG. 17 is a side view of a sensor unit 4600 according to an embodiment. The sensor unit 4600 can, for example, be used with any instrument described herein, such as instrument 1400, instrument 2400, and / or instrument 6400. having a cable pair configured to transfer a mechanical input from a proximal mechanical structure (e.g., proximal mechanical structure 1700) to a portion of an end effector (e.g., the tool member 1462). Such a cable pair can, as described above, include a first cable 1420 and a second cable 1430. For the purposes of illustration, the sensor unit 4600 is described below with reference to the instrument 1400 and, in particular, to the proximal mechanical structure 1700.

[0116] As depicted, in some embodiments, the sensor unit 4600 is positioned between the first and second capstans 1710, 1720 and the shaft opening 1712. In some embodiments, being positioned between the capstans and the shaft opening 1712 refers to the physical positioning of the sensor unit 4600. In some embodiments, being positioned between the capstans and the shaft opening 1712 refers to the operable positioning of the sensor unit 4600. The sensor unit 4600 can, in some embodiments, be further positioned between the first cable 1420 and the second cable 1430 of a cable pair operably coupled between a tool member (e.g.. tool member 1462) and a corresponding first capstan 1710 and second capstan 1720.

[0117] In some embodiments, the sensor unit 4600 has a first switch state SSi on a condition that the first cable 1420 is in an intact state Si as depicted in FIG. 16A. The sensor unit 4600 also has a second switch state SS2 on a condition that the first cable 1420 is in at least a partially broken state Sp (e.g., a parted state) as depicted in FIG. 16B. Accordingly, the sensor unit 4600 can, in some embodiments, include an actuation body 4630. In some embodiments,Attorney Docket No. P06947-WOthe actuation body 4630 can extend between a first guide portion 4632 and a second guide portion 4634. The first guide portion 4632 is positioned to engage the first cable 1420 of the cable pair and the second guide portion 4634 is positioned to engage the second cable 1430 of the cable pair. The actuation body 4630 is movable from a first position Pi, as depicted in FIG.16A, to a second position P2, as depicted in FIG. 16B, in response to a tensile load w ithin the second cable 1430 on a transition of the first cable 1420 toward the at least partially broken state Sp. Said another way, the actuation body 4630 is movable toward the second position P2 in response to a force exerted on the second guide portion 4634 by the second cable 1430 on the transition of the first cable 1420 toward the at least partially broken state Sp.

[0118] In some embodiments, the first guide portion 4632 and the second guide portion 4634 are each a fixed guide surface. Accordingly, the first guide portion 4632 and the second guide portion 4634 can be shaped to reduce a friction between the actuation body 4630 and the cable pair. In some embodiments, the first guide portion 4632 and the second guide portion 4634 are formed from a low friction material. In some embodiments, the first guide portion 4632 and the second guide portion 4634 include a low friction coating. In some embodiments, the first guide portion 4632 and the second guide portion 4634 include a rotatable element. The rotatable element can, for example, be a pulley, a roller, or a captive ball.

[0119] As depicted in FIG. 17, in some embodiments, the actuation body 4630 is movable relative to a fixed portion 4636 of the sensor unit 4600. The movement of the actuation body 4630 relative to the fixed portion 4636 of the sensor unit 4600 can transition the sensor unit 4600 between the first switch state SSi and the second switch state SS2. In some embodiments, the fixed portion 4636 can be a switch that is mechanically actuated, electromechanically actuated, magnetically actuated or other similar switch architecture that is actuated by the movement of the actuation body 4630 relative to the fixed portion 4636. In some embodiments, the first switch state SSi is an open switch state, and the second switch state SS2 is a closed switch state that completes a circuit. The completion of the circuit is indicative of the transition of the first cable 1420 toward the at least partially broken state SP. However, in some embodiments, the first switch state SSi is a closed switch state that completes a circuit, and the second switch state is an open switch state that interrupts the circuit. The interruption of the circuit is indicative of the transition of the first cable 1420 toward the at least partially broken state Sp.Attomev Docket No. P06947-WO

[0120] In some embodiments, the sensor unit 4600 is slidable laterally along a first axis Ai from the first position Pi to the second position P2. As depicted, the first axis Ai is orthogonal to a second axis A2. The second axis A2 bisects the shaft opening 1712. The sensor unit 4600 is, in some embodiments, centered on the second axis A2 when at the first position Pi. The movement of the sensor unit 4600 along the first axis Ai (e.g., a lateral movement) from the first position Pi to the second position P2 is in response to a transition of the first cable 1420 of the cable pair toward the at least partially broken (e.g., parted) state. The movement is, therefore, away from the second cable 1430 toward the first cable 1420 or a region of the proximal mechanical structure 1700 previously occupied by the first cable 1420. As depicted in FIG. 16B, the movement of the sensor unit 4600 can, for example, be in the direction indicated by arrow D3.

[0121] In some embodiments, the sensor unit 4600 is maintained in the first position Pi by the tension in each of the first cable 1420 and the second cable 1430 of the cable pair in an intact state exerting a lateral force on the sensor unit 4600. The lateral force exerted by the first cable 1420 is exerted, at least partially, toward the second axis A2. Similarly, the lateral force exerted by the second cable 1430 is exerted, at least partially, toward the second axis A2 in a direction that is opposite the force exerted by the first cable 1420. Said another way, a lateral movement (e.g., a movement parallel to the first axis Ai) of the sensor unit 4600 from the first position Pi to the second position P2 is limited by a tension in each cable 1420, 1430 of the cable pair on a condition that each cable 1420, 1430 of the cable pair is in an intact state (e.g., retains a design structural integrity).

[0122] As depicted in FIG. 16B, the sensor unit 4600 moves parallel to the first axis Ai within the proximal mechanical structure 1700 from the first position Pi to the second position P2 in response to the transition of the first cable 1420 of the cable pair to the at least partially broken (e.g., parted) state Sp. In other words, the loss of tension in one or the cables of the cable pair results in the force exerted on the sensor unit 4600 by the intact cable, which has a tensile load, causing the sensor unit 4600 to move toward the second position P2 (e.g., away from the intact second cable 1430), as such a movement is no longer resisted by tension in the now compromised (e.g., parted) cable.

[0123] In some embodiments, the actuation body 4630 defines a guide channel 4631. The guide channel 4631 is configured to receive a guide mechanism 1701 of the proximal mechanical structure 1700. The guide mechanism 1701 can, for example, be shaped to allowAttorney Docket No. P06947-WOa lateral movement of the sensor unit 4600 in response to a parting of the first cable 1420 while precluding a rotation of the sensor unit 4600 relative to the second axis A2. For example, the guide mechanism 1701 can have a noncircular shape and instead, have a shape that is oval, rectilinear, or a combination thereof. In some embodiments, the guide mechanism 1701 can remain at a fixed position relative to the first axis Ai and can include a friction reducing element, such as a bearing or a bushing, positioned to contact the guide channel 4631. An interaction of the guide mechanism 1701 and the guide channel 4631 maintains the sensor unit 4600 at a single position along the second axis A2 and guides a movement of the sensor unit 4600 along the first axis Ai from the first position Pi to the second position P2 in response to a transition of the first cable 1420 to at least a partially broken state.

[0124] As depicted in FIG. 16A, in some embodiments, the first position Pi of the sensor unit 4600 defines at least a portion of the operational cable path OCP for the cable pair. The operational cable path OCP can, for example, correspond to a design (or nominal) cable path for each cable of the cable pair on a condition that both cables of the cable pair are in an intact state. The sensor unit 4600 is movable from the first position Pi to a second position P2 (as depicted in FIG. 16B) that defines a tension-release cable path TCP for the second cable 1430 of the cable pair on a condition that the first cable 1420 is in at least a partially broken state (e.g., parted). The length of the operational cable path OCP is greater than the length of the tension-release cable path TCP. Therefore, transition of the second cable 1430 (i.e., the intact cable) from the operational cable path OCP to the tension-release cable path TCP reduces or eliminates a tensile load within the second cable 1430, thereby, precluding or mitigating an un-commanded movement of at least a portion of the end effector that would have otherwise been the result of receiving a tensile load from only a single, intact cable upon the transition of the other cable of the cable pair to at least a partially broken state.

[0125] FIGS. 16A and 16B depict the movement of the second cable 1430 from the operational cable path OCP (depicted in FIG. 16A) to the tension-release cable path TCP (depicted in FIG. 16B) corresponding to the movement of the sensor unit 4600 from the first position Pi to the second position P2. In response to the movement of the sensor unit 4600, a portion of the second cable 1430 moves from a deflected path to a straight-line path. In FIG.16B, the second cable 1430 is in the tension-release cable path TCP and the delivery of a tensile load is eliminated or mitigated by the resultant slack in the second cable 1430 resulting from the shorter length of the tension-release cable path TCP.Attorney Docket No. P06947-WO

[0126] In some embodiments, the engagement of the first cable 1420 by the first guide portion 4632 displaces a portion of the first cable 1420 away from the second axis A2 and away from the second cable 1430 on a condition that the sensor unit 4600 is in the first position Pi. Said another way, on a condition that the second cable 1430 is in an intact state, the first guide portion 4632 is positioned to displace a portion of the first cable 1420 from a straight-line path to establish the operational cable path OCP at a length that is greater than the tension-release cable path TCP. Likewise, the second guide portion 4634 is positioned to engage the second cable 1430 of the cable pair. On a condition that the sensor unit 4600 is in the first position Pi, the engagement of the second cable 1430 by the second guide portion 4634 displaces a portion of the second cable 1430 away from the second axis A2 and away from the first cable 1420. Said another way, on a condition that the first cable 1420 is in an intact state, the second guide portion 4634 is positioned to displace a portion of the second cable 1430 from a straight-line path to establish the operational cable path OCP at a length that is greater than the tension-release cable path TCP. Said yet another way, the elongated body extending between the first guide portion 4632 and the second guide portion 4634 spreads the first cable 1420 and the second cable 1430 away from one another and the corresponding straight-line path each would take in the absence of the sensor unit 4600. In some embodiments, in the second position P2, the first guide portion 4632 has an absence of contact w ith the first cable 1420 due to the first cable 1420 being in a parted state.

[0127] In some embodiments, the sensor unit 4600 is configured as a switch assembly, such as switch assembly 6600 described with reference to FIGS. 10A and 10B. The switch assembly can include any of the features described above with reference to the sensor unit 4600. In some embodiments, the switch assembly can be both communicatively coupled to the controller 1800 and electrically coupled to a voltage generator (e.g., voltage generator 6030) of the system 1000 and can be configured to function both as described above with reference to the sensor unit 4600 and described below' with reference to the switch assembly. In some embodiments, the switch assembly is electrically coupled only to the voltage generator and configured to automatically interrupt and / or redirect (i.e., halt) the delivery of the dose of energy without any controller input. In such embodiments, the sensor unit 4600 can concurrently preclude or mitigate a non-commanded movement of at least a portion of the end effector that would have otherwise been the result of receiving a tensile load from only a single, intact cable upon the transition of the other cable of the cable pair to at least a partially broken state and halt the delivery of the dose of energy.Attomev Docket No. P06947-WO

[0128] The switch assembly can be configured to automatically electrically decouple a voltage generator (e.g., voltage generator 6030) of the system 1000 from the end effector 1460 and electrically couple the voltage generator to ground with the transition of the tension member toward the at least partially broken state SP. In some embodiments, the switch assembly is operably coupled to the tension member 4420 and selectively couples the voltage generator to either the end effector 1460 via a delivery path or to ground via a shunt path, which can have a resistance that is less than that of the delivery path.

[0129] In some embodiments, the switch assembly is movable between the first switch state 551 and the second switch state SS2. The switch assembly is in the first switch state SSi on a condition that the tension member 4420 is in the intact state Si and is in the second switch state 552 on a condition that the tension member 4420 is in the at least partially broken state Sp. In the first switch state SSi, the switch assembly defines a portion of the delivery path such that the voltage generator is electrically coupled to the end effector 1460 via the switch assembly. In the second switch state SS2, the switch assembly defines a portion of the shunt path such that the voltage generator is electrically coupled to ground via the switch assembly. Accordingly, the dose of energy is delivered to ground in lieu of the end effector 1460 on a condition that the switch assembly is in the second switch state SS2 in response to a transition of the tension member 4420 toward the at least partially broken state Sp.

[0130] In order to facilitate a rapid, automatic response to a transition of the tension member 4420 towards the at least partially broken state Sp, the switch assembly is biased toward the second switch state SS2. In other words, the second switch state SS2 can be the default switch state for the switch assembly. The switch assembly can move from the default, second switch state SS2 to the first switch state SSi in response to a tensile load carried by the tension member 4420 in the intact state Si.

[0131] To define both a portion of the delivery path and a portion of the shunt path, the switch mechanism includes a delivery contact, a shunt contact and a movable contact. In some embodiments, the movable contact coupled to the actuation body 4630 and is electrically coupled to the voltage generator to receive the dose of energy therefrom. The delivery contact is supported by the fixed portion 4636 and is electrically coupled to the end effector 1460. In the first switch state SSi, the movable contact is electrically coupled to the delivery contact and not the shunt contact such that the delivery path extends unbroken between the voltage generator and the end effector 1460. In contrast, the shunt contact, which can also be supportedAttomev Docket No. P06947-WOby the fixed portion 4636, is electrically coupled to ground. In the second switch state SS2, the movable contact is electrically coupled to the shunt contact and not the delivery contact such that the delivery path is broken and the voltage generator is electrically grounded. Thus, on the condition that the switch mechanism is in the second switch state SS2, any electrical discharge of the voltage generator (e.g., the dose of energy) is conducted to ground rather than to the end effector 1460.

[0132] In some embodiments, the sensor unit 4600 is configured as a breaker assembly, such as breaker assembly 7600 described with reference to FIGS. 11 A and 1 IB. The breaker assembly can include any of the features described above with reference to the sensor unit 4600. In some embodiments, the breaker assembly defines a portion of a delivery path for a dose of energy from a voltage generator to an end effector. The breaker assembly can be configured to open in response to a transition of the tension member 4420 to the at least partially broken state Sp to interrupt the delivery path and halt delivery of the dose of energy without any controller input.

[0133] In some embodiments, breaker assembly can include a fixed conductive element and a movable conductive element. The movable conductive element can be electrically coupled to the voltage generator in both the first switch state SSi and the second switch state SS2. The movable conductive element can be coupled to the actuation body 4630. The fixed conductive element is supported by' the fixed portion 4636 and is electrically coupled to the end effector 1460. In the first switch state SSi, the movable conductive element is electrically coupled to the fixed conductive element such that the delivery path extends unbroken between the voltage generator and the end effector 1460. In the second switch state SS2. the movable conductive element is electrically decoupled coupled from the fixed conductive element such that the delivery path is broken. Thus, on the condition that the switch mechanism is in the second switch state SS2, any electrical discharge of the voltage generator (e.g., the dose of energy) are not delivered to the end effector 1460.

[0134] FIGS. 18, 19A, and 19B depict a sensor unit 5600 according to an embodiment. The sensor unit 5600 can, for example, be used with any instrument described herein, such as instrument 1400, instrument 2400, and / or instrument 6400, having at least one tension member 5420 configured to transfer a mechanical input from a proximal mechanical structure (e.g., proximal mechanical structure 1700) to a portion of an end effector (e.g., the tool member 1462). The tension member 5420 can, as described above, be arranged as a first cable 1420 ofAttomev Docket No. P06947-WOa cable pair that includes a second cable 1430. For the purposes of illustration, unless stated otherwise, the sensor unit 5600 is described below with reference to the instrument 1400.

[0135] In some embodiments, at least a portion of the sensor unit 5600 is coupled directly to the tension member 5420. The sensor unit 5600 has a first switch state SSi, as depicted in FIG. 19A, on a condition that the tension member 5420 is in an intact state. The sensor unit 5600 also has a second switch state SS2, as depicted in FIGS. 18 and 19B, on a condition that the tension member 5420 is in at least a partially broken state.

[0136] In some embodiments, the sensor unit 5600 includes a deformable member 5650. For example, FIG. 18 is a perspective view of the deformable member 5650. FIG. 19A is a cross-sectional view of the deformable member 5650 of FIG. 18 in the first switch state SS1based on the tension member 5420 being in the intact state. FIG. 19B is a cross-sectional view of the deformable member 5650 of FIG. 18 in the second switch state SS2 in the absence of the tension member 5420, such as may result from the parting of the tension member 5420.

[0137] The deformable member 5650 can, for example, include a first electrical contact 5651. The deformable member 5650 can also include a second electrical contact 5652. The second electrical contact 5652 is movable relative to the first electrical contact 5651. In the first switch state SSi, as depicted in FIG. 19 A, the second electrical contact 5652 is separated from the first electrical contact 5651. For example, the second electrical contact 5652 can be coupled to an elastically deformable portion of the deformable member 5650 that is displaced relative to the remaining portions of the deformable member 5650 by the presence of the tension member 5420 in the intact state, thereby, physically separating the second electrical contact 5652 from the first electrical contact 5651. On a condition that the tension member 5420 transitions to the at least partially broken state, the sensor unit 5600 moves from the first switch state SSi to the second switch state SS2 in which the second electrical contact 5652 is electrically coupled to the first electrical contact 5651, thereby, completing a circuit. Accordingly, the output of the sensor unit 5600 corresponds to the closed circuit resulting from the transition of the sensor unit 5600 to the second switch state SS2.

[0138] As depicted in FIG. 18, in some embodiments, the first electrical contact 5651 is a first conductive insert that is coupled to a first lead line 5653. Similarly, the second electrical contact 5652 can be a second conductive insert that is coupled to a second lead line 5654. The first electrical contact 5651 and the second electrical contact 5652 can, therefore, received byAttomev Docket No. P06947-WO(e.g., inserted into) the deformable member 5650 formed from a nonconductive, elastically deformable material, such as a polymer. In some embodiments, the first electrical contact 5651 can be a first conductive region of the deformable member 5650, while the second electrical contact 5652 can be a second conductive region of the deformable member 5650. Each of the first conductive region and a second conductive region can be coupled to a nonconductive portion of the deformable member 5650.

[0139] In some embodiments, the second switch state SS2is the default switch state for the sensor unit 5600. Accordingly, absent the effects of the tension member 5420, the first electrical contact 5651 and the second electrical contact 5652 are electrically coupled to one another. Said another way, a tensile load within the tension member 5420 exerts a torque on the deformable member 5650 to move the second electrical contact 5652 relative to the first electrical contact 5651. The torque exerted on the deformable member by the tension member 5420 under the tensile load maintains the sensor unit 5600 in the first switch state on the condition that the tension member 5420 is in the intact state. In the absence of the tension member 5420, such as may be encountered in the event of a cable break, the sensor unit 5600 defaults to the second switch state SS2, which is indicative of the cable break.

[0140] In some embodiments, the sensor unit 5600 is configured as a switch mechanism, such as switch assembly 6600 described with reference to FIGS. 10A and 10B. The switch mechanism can include any of the features described above with reference to the sensor unit 5600. In some embodiments, the switch mechanism is electrically coupled only to the voltage generator and configured to automatically shunt (i.e., halt) the deliver}’ of the dose of energy via a delivery path without any controller input. The switch mechanism can, therefore, be configured to electrically couple the voltage generator to ground automatically via a shunt path (with a resistance that is less than that of the delivery path) with the transition of the tension member toward the at least partially broken state Sp.

[0141] In some embodiments, the switch mechanism is movable between an open state (as depicted in FIG. 19A) on a condition that the tension member 5420 is in the intact state Si and a closed state (as depicted in FIG. 19B) on a condition that the tension member is in the at least partially broken state Sp. The voltage generator is electrically coupled to ground via a shunt path at least partially defined by the switch mechanism in the closed state. Conversely, the voltage generator is electrically decoupled from ground on the condition that the switch mechanism is in the open state. To facilitate the automatic shunting of the dose of energy, theAttomev Docket No. P06947-WOswitch mechanism is biased toward the closed position of FIG. 19B and is only maintained in the open position only in response to the tensile load applied to the tension member 5420 on a condition that the tension member 5420 is in the intact state Si.

[0142] As previously described with reference to the sensor unit 5600, the switch mechanism can include a deformable member 5650 that is coupled to the tension member 5420. The deformable member 5650 includes a first electrical contact 5651 and a second electrical contact 5652. The second electrical contact 5652 is movable relative to the first electrical contact 5651. On the condition that the tension member 5420 is in the intact state Si, the switch mechanism is in the open state (FIG. 19A) and the second electrical contact 5652 is separated from the first electrical contact 5651. In other words, in the open state, an air gap exists between the first electrical contact 5651 and the second electrical contact 5652. On the condition that the tension member 5420 transitions to the at least partially broken state Sp, the switch mechanism transitions to the default closed state (FIG. 19B). In the closed state the second electrical contact 5652 is electrically coupled to the first electrical contact 5651. In some embodiments, the first electrical contact 5651 is a first conductive insert that is coupled to the voltage generator via a first lead line 5653. The second electrical contact 5652 is a second conductive insert that is coupled to ground via a second lead line 5654. Accordingly, the transition to the default, closed state completes an electrical circuit that includes the first lead line and the second lead line and electrically couples the voltage generator to ground. Being electrically coupled to ground with the switch mechanism in the closed state precludes delivery of a dose of energy to the end effector 1460.

[0143] As shown particularly in FIG. 20, a schematic diagram of one embodiment of suitable components that may be included within the controller 1800 is illustrated. In some embodiments, the controller 1800 is positioned within a component of the surgical system 1000. such as the user control unit 1100 and / or the optional auxiliary equipment unit 1150. However, the controller 1800 may also include distributed computing systems wherein at least one aspect of the controller 1800 is at a location which differs from the remaining components of the surgical system 1000 for example, at least a portion of the controller 1800 may be an online controller.

[0144] As depicted, the controller 1800 includes one or more processor(s) 1802 and associated memory device(s) 1804 configured to perform a variety of computer implemented functions (e.g., performing the methods, steps, calculations and the like and storing relevantAttomev Docket No. P06947-WOdata as disclosed herein). Additionally, in some embodiments, the controller 1800 includes a communication module 1806 to facilitate communications between the controller 1800 and the various components of the surgical system 1000.

[0145] As used herein, the term “processor’ refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic controller (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s) 1804 may generally comprise memory element(s) including, but not limited to, computer readable medium (e.g., random access memory (RAM)), computer readable nonvolatile medium (e.g., a flash memory), a floppy disc, a compact disc read only memory (CD ROM), a magneto optical disc (MOD), a digital versatile disc (DVD) and / or other suitable memory elements. Such memory device(s) 1804 may generally be configured to store suitable computer readable instructions that, when implemented by the processor(s) 1802, configure the controller 1800 to perform various functions.

[0146] The communication module 1806 may include a control input module 1808 configured to receive control inputs from the operator / surgeon S, such as via the input device 1116 of the user control unit 1100. The communication module 1806 may also include a sensor interface 1810 (e.g., one or more analog to digital converters) to permit signals transmitted from one or more sensors (e.g., sensor units 2600, 3600, 4600, and / or 5600 as described herein) to be converted into signals that can be understood and processed by the processors 1802. The sensors may be communicatively coupled to the communication module 1806 using any suitable means. For example, the sensors may be coupled to the communication module 1806 via a wired connection and / or via a wireless connection, such as by using any suitable wireless communications protocol known in the art. Additionally, in some embodiments, the communication module 1806 includes a device control module 1814 configured to modify an operating state of the instrument 1400 (and / or any of the instruments described herein).

[0147] While various embodiments have been described above, it should be understood that they have been presented by way of example only, and not limitation. Where methods and / or schematics described above indicate certain events and / or flow patterns occurring in certain order, the ordering of certain events and / or operations may be modified. While the embodiments have been particularly shown and described, it will be understood that various changes in form and details may be made.Attomev Docket No. P06947-WO

[0148] For example, any of the instruments described herein (and the components therein) are optionally parts of a surgical assembly that performs minimally invasive surgical procedures, and which can include a manipulator unit, a series of kinematic linkages, a series of cannulas, or the like. Thus, any of the instruments described herein can be used in any suitable surgical system, such as the MIRS system 1000 shown and described above. Moreover, any of the instruments shown and described herein can be used to manipulate target tissue during a surgical procedure. Such target tissue can be cancer cells, tumor cells, lesions, vascular occlusions, thrombosis, calculi, uterine fibroids, bone metastases, adenomyosis, or any other bodily tissue. The presented examples of target tissue are not an exhaustive list. Moreover, a target structure can also include an artificial substance (or non-tissue) within or associated with a body, such as for example, a stent, a portion of an artificial tube, a fastener w ithin the body or the like.

[0149] For example, any of the tool members can be constructed from any material, such as medical grade stainless steel, nickel alloys, titanium alloys or the like. Further, any of the links, tool members, tension members, or components described herein can be constructed from multiple pieces that are later joined together. For example, in some embodiments, a link can be constructed by joining together separately constructed components. In other embodiments however, any of the links, tool members, tension members, or components described herein can be monolithically constructed.

[0150] Although the instruments are generally shown as having an axis of rotation of the tool members that is normal to an axis of rotation of the wrist member, in other embodiments any of the instruments described herein can include a tool member axis of rotation that is offset from the axis of rotation of the wrist assembly by any suitable angle.

[0151] Although various embodiments have been described as having particular features and / or combinations of components, other embodiments are possible having a combination of any features and / or components from any of embodiments as discussed above. Aspects have been described in the general context of medical devices, and more specifically surgical instruments, but inventive aspects are not necessarily limited to use in medical devices.

Claims

Attomev Docket No. P06947-WOWhat is claimed is:

1. A surgical system comprising:a medical instrument including an end effector, a tension member operably coupled to the end effector, and a sensor unit operably coupled to the tension member to produce an output associated with an operating state of the tension member, the operating state being at least one of an intact state or an at least partially broken state;anda controller operably coupled to the sensor unit and a voltage generator that is electrically coupled to the end effector, the controller being configured to perform a plurality of operations comprising:delivering a dose of energy from the voltage generator to the end effector on a condition that the tension member is in the intact state,detecting, based on the output of the sensor unit, a transition of the tension member from the intact state towards the at least partially broken state, andhalting the delivery of the dose of energy to the end effector in response to the detecting.

2. The surgical system of claim 1, wherein:halting the delivery of the dose of energy includes terminating an operation of the voltage generator.

3. The surgical system of claim 1, wherein:halting the delivery of the dose of energy includes electrically decoupling the voltage generator from the end effector.

4. The surgical system of claim 1, wherein:halting the delivery of the dose of energy includes shunting the dose of energy to ground.

5. The surgical system of claim 1, wherein:the sensor unit includes a switch having a first switch state and a second switch state; the switch is in the first switch state on the condition that the tension member is in the intact state;Attorney Docket No. P06947-WOthe switch transitions to the second switch state in response to the transition of the tension member towards the at least partially broken state; andthe output of the sensor unit corresponds to the transition of the switch to the second switch state.

6. The surgical system of claim 1, wherein:the sensor unit includes an actuating key and a switch;the actuating key is positioned between the tension member and the switch;the actuating key is positioned at a compressed position in response to a tensile load applied to the tension member on the condition that the tension member is in the intact state;the switch is maintained in a first switch state by the actuating key at the compressed position;the actuating key is positioned at an uncompressed position and the switch is transitioned to a second switch state in response to the transition of the tension member to the at least partially broken state; andthe output of the sensor unit corresponds to the transition of the switch to the second switch state.

7. The surgical system of claim 6, wherein:the actuating key includes a contact surface shaped to receive a force from the tension member;on a condition that the actuating key is at the compressed position, the contact surface is aligned with a guide structure that defines a guide path of the of the tension member; andon a condition that the actuating key is at the uncompressed position, the contact surface is proud of the guide structure and is at least partially within the guide path of the tension member.

8. The surgical system of claim 6, wherein:the second switch state is a default switch state for the switch.

9. The surgical system of claim 6, wherein:the second switch state is an open switch state.Attomev Docket No. P06947-WO10. The surgical system of claim 6, wherein:the tension member is one of a plurality of tension members;the actuating key is one of a plurality of actuating keys;the switch is one of a plurality of switches;each actuating key of the plurality of actuating keys is positioned at its compressed position in response to a force applied by a corresponding tension member of the plurality of tension members to a corresponding actuating key of the pl urality of actuating keys on the condition that the corresponding tension member is in the intact state;each switch of the plurality of switches is maintained in the first switch state by the corresponding actuating key of the plurality of actuating keys at the compressed position; andeach actuating key of the plurality of actuating keys is positioned at the uncompressed position and each corresponding switch is transitioned to the second switch state in response to a reduction in the force applied by the corresponding tension member to the corresponding actuating key.

11. The surgical system of claim 10, wherein:the plurality of operations includes delivering a test signal having a known voltage to each switch of the plurality of switches;the output of the sensor unit has a first voltage magnitude that substantially equals a combined voltages of the test signal delivered to each switch of the plurality switches on a condition that each switch of the plurality of switches is in the first switch state; the output of the sensor unit has a second voltage magnitude that is less than the combined voltages of the test signal delivered to each switch of the plurality of switches on a condition that at least one switch of the plurality of switches is transitioned to the second switch state; andthe second voltage magnitude is indicative of a transition of at least one tension member of the plurality of tension members from the intact state towards the at least partially broken state.

12. The surgical system of claim 1, wherein:the tension member is a first cable of a cable pair, the cable pair including a second cable;Attomev Docket No. P06947-WOthe medical instrument includes a proximal mechanical structure;the sensor unit includes an actuation body positioned within the proximal mechanical structure between the first cable and the second cable;the actuation body is at a first position on the condition that the first cable is in the intact state;on a condition that the first cable is transitioned to the at least partially broken state, the actuation body is configured to move to a second position in response to a tensile load within the second cable; andthe output of the sensor unit with the actuation body at the second position is indicative of the transition of the first cable to the at least partially broken state.

13. The surgical system of claim 12, wherein:the actuation body extends between a first guide portion and a second guide portion; the first guide portion is positioned to engage the first cable and the second guide portion is positioned to engage the second cable;the actuation body is movable relative to a fixed portion of the sensor unit to transition the sensor unit between a first switch state and a second switch state; anda movement of the actuation body from the first position to the second position is prevented by a tension in each cable of the cable pair on a condition that each cable of the cable pair is in the intact state.

14. The surgical system of claim 1, wherein:the sensor unit includes a deformable member coupled to the tension member;the deformable member includes a first electrical contact and a second electrical contact that is movable relative to the first electrical contact;on the condition that the tension member is in the intact state, the sensor unit is in a first switch state in which the second electrical contact is separated from the first electrical contact;on the condition that the tension member transitions to the at least partially broken state, the sensor unit is in a second switch state in which the second electrical contact is electrically coupled to the first electrical contact; andthe output of the sensor unit corresponds to the transition of the sensor unit to the second switch state and is indicative of the transition of the tension member from the intact state towards the at least partially broken state.Attomev Docket No. P06947-WO15. The surgical system of claim 14. wherein:the first electrical contact is a first conductive insert coupled to a first lead line;the second electrical contact is a second conductive insert coupled to a second lead line;andthe transition to the second switch state closes an electrical circuit that includes the first lead line and the second lead line.

16. The surgical system of claim 1, wherein:the sensor unit includes a conductive element of the tension member that extends along a length of the tension member;the conductive element extends between a drive assembly and the end effector;the plurality of operations includes delivering a continuity signal to the conductive element; andthe detection of the transition of the tension member to the at least partially broken state based on the output of the sensor unit includes detecting a disruption of the continuity signal.

17. A surgical system comprising:a medical instrument including an end effector and a tension member operably coupled to the end effector, the tension member having at least one of an intact state or an at least partially broken state;a voltage generator configured to generate a dose of energy; anda switch assembly operably coupled to the tension member, the switch assembly selectively coupling the voltage generator to one of the end effector via a delivery path on a condition that the tension member is in the intact state or to ground via a shunt path on a condition that the tension member is in an at least partially broken state.

18. The surgical system of claim 17, wherein:the switch assembly includes a switch mechanism that is movable between a first switch state and a second switch state.Attomev Docket No. P06947-WOthe switch mechanism defines a portion of the delivery path in the first switch state such that the voltage generator is electrically coupled to the end effector via the switch mechanism in the first switch state;the switch mechanism defines a portion of the shunt path in the second switch state such that the voltage generator is electrically coupled to ground via the switch mechanism in the second switch state; andthe dose of energy being delivered to ground in lieu of the end effector on a condition that the switch mechanism is in the second switch state in response to a transition of the tension member to the at least partially broken state.

19. The surgical system of claim 18. wherein:the switch mechanism includes a delivery contact, a shunt contact, and a movable contact; the delivery contact is electrically coupled to the end effector;the shunt contact is electrically coupled to ground;the movable contact is electrically coupled to the voltage generator;the movable contact is electrically coupled to the delivery contact in the first switch state;andthe movable contact is electrically coupled to the shunt contact in the second switch state.

20. The surgical system of claim 18. wherein:the switch mechanism is biased toward the second switch state.

21. The surgical system of claim 17, wherein:a resistance of the shunt path is less than a resistance of the delivery’ path.

22. The surgical system of claim 17, wherein:the medical instrument includes a proximal mechanical structure that has a capstan and defines a shaft opening at a coupling with an instrument shaft;the tension member is operably coupled between the end effector and the capstan; the tension member extends in a first direction between the capstan and the shaft opening and in a second direction between the shaft opening and the end effector;the first direction and the second direction form a non-zero angle; andthe switch assembly is positioned between the capstan and the shaft opening.Attorney Docket No. P06947-WO23. The medical instrument of claim 22, wherein:the switch assembly includes an actuating key and a switch mechanism;the actuating key is positioned between the tension member and the switch mechanism; the actuating key is positioned at a compressed position in response to a force applied by the tension member on the condition that a tensile load is applied to the tension member in the intact state;the switch mechanism is maintained in a first switch state by the actuating key at the compressed position; andthe actuating key is positioned at an uncompressed position and the switch mechanism is transitioned to a second switch state on the condition that the tension member is in the at least partially broken state.

24. The medical instrument of claim 23, wherein:the proximal mechanical structure includes a guide structure positioned between the shaft opening and the capstan;the guide structure defines a guide path into the shaft opening;the tension member is configured to transition within the guide path between the first direction and the second direction;the actuating key includes a contact face shaped to receive a force from the tension member;on a condition that the actuating key is at the compressed position, the contact face is aligned with the guide structure; andon a condition that the actuating key is at the uncompressed position, the contact face is proud of the guide structure and is at least partially within the guide path.

25. The surgical system of claim 17, wherein:the tension member is a first cable of a cable pair, the cable pair including a second cable; the medical instrument includes a proximal mechanical structure;the switch assembly includes an actuation body positioned within the proximal mechanical structure between the first cable and the second cable;the actuation body is at a first position on the condition that the first cable is in the intact state;the voltage generator is electrically coupled to the end effector via the delivery path on a condition that the actuation body is at the first position;Attorney Docket No. P06947-WOon a condition that the first cable is transitioned to the at least partially broken state, the actuation body is configured to move to a second position in response to a tensile load within the second cable; andthe voltage generator is electrically coupled to ground via the shunt path on a condition that the actuation body is at the second position.

26. The surgical system of claim 25, wherein:the actuation body extends between a first guide portion and a second guide portion; the first guide portion is positioned to engage the first cable and the second guide portion is positioned to engage the second cable;the actuation body is movable relative to a switch mechanism of the switch assembly to transition the switch mechanism between a first switch state and a second switch state; anda movement of the actuation body from the first position to the second position is prevented by a tension in each cable of the cable pair on a condition that each cable of the cable pair is in the intact state.

27. The surgical system of claim 26, wherein:the switch mechanism includes a delivery contact, a first shunt contact, a second shunt contact and a movable contact;the delivery' contact is electrically coupled to the end effector;the delivery contact is positioned between the first shunt contact and the second shunt contact;the first shunt contact and the second shunt contact are electrically coupled to ground; the movable contact is electrically coupled to the voltage generator;the movable contact is electrically coupled to the delivery contact in the first switch state;andthe movable contact is electrically coupled to one of the first shunt contact or the second shunt contact in the second switch state.

28. A surgical system comprising:a medical instrument including an end effector and a tension member operably coupled to the end effector; andAttomev Docket No. P06947-WOa breaker assembly operably coupled to the tension member, the breaker assembly is movable between a first switch state on a condition that the tension member is in an intact state and a second switch state on a condition that the tension member is transitioned toward an at least partially broken state, the breaker assembly at least partially defining a delivery path on a condition that the breaker assembly is in the first switch state, a voltage generator being electrically coupled to the end effector via the delivers- path, the voltage generator being electrically decoupled from the end effector on a condition that the breaker assembly is in the second switch state.

29. The surgical system of claim 28, wherein:the breaker assembly is biased toward the second switch state; andthe breaker assembly is maintained in the first switch state in response to a force applied by the tension member to an actuating body on the condition that a tensile load is applied to the tension member in the intact state.

30. The surgical system of claim 29, wherein:the breaker assembly transitions from the first switch state to the second switch state in response to a reduction in the tensile load of the tension member corresponding to a transition of the tension member toward the at least partially broken state.

31. The surgical system of claim 28, wherein:the breaker assembly includes a fixed conductive member, a movable conductive member, and an actuating body;the movable conductive member is positioned between the fixed conductive member and the actuating body;the actuating body is positioned at a compressed position in response to a tensile load applied to the tension member on the condition that the tension member is in the intact state; andthe movable conductive member is in contact with the fixed conductive member and the actuating body is positioned at the compressed position on the condition that the breaker assembly is in the first switch state.

32. The surgical system of claim 28. wherein:Attomev Docket No. P06947-WOthe medical instrument includes a proximal mechanical structure that has a capstan and defines a shaft opening at a coupling with an instrument shaft;the tension member is operably coupled between the end effector and the capstan; the tension member extends in a first direction between the capstan and the shaft opening and in a second direction between the shaft opening and the end effector;the first direction and the second direction form a non-zero angle; andthe breaker assembly is positioned between the capstan and the shaft opening.

33. The medical instrument of claim 32, wherein:the breaker assembly further includes an actuating body configured as an actuating key; the actuating key is positioned between the tension member and a movable conductive member of the breaker assembly;the actuating key is positioned at a compressed position in response to a tensile load applied to the tension member on the condition that the tension member is in the intact state;the breaker assembly is maintained in the first switch state by the actuating key at the compressed position; andthe actuating key is positioned at an uncompressed position and the breaker assembly is transitioned to the second switch state on the condition that the tension member is in the at least partially broken state.

34. The medical instrument of claim 33, wherein:the proximal mechanical structure includes a guide structure positioned between the shaft opening and the capstan;the guide structure defines a guide path into the shaft opening;the tension member is configured to transition within the guide path between the first direction and the second direction;the actuating key includes a contact face shaped to receive a force from the tension member;on a condition that the actuating key is at the compressed position, the contact face is aligned with the guide structure; andon a condition that the actuating key is at the uncompressed position, the contact face is proud of the guide structure and is at least partially within the guide path.Attomev Docket No. P06947-WO35. The surgical system of claim 28, wherein:the tension member is a first cable of a cable pair that also includes a second cable; the medical instrument includes a proximal mechanical structure;the breaker assembly includes an actuation body positioned within the proximal mechanical structure between the first cable and the second cable;the actuation body is at a first position on the condition that the first cable is in the intact state;the voltage generator is electrically coupled to the end effector via the delivery path on a condition that the actuation body is at the first position;on a condition that the first cable is transitioned to the at least partially broken state, the actuation body is configured to move to a second position in response to a tensile load within the second cable; andthe voltage generator is electrically decoupled from the end effector on a condition that the actuation body is at the second position.

36. The surgical system of claim 35, wherein:the actuation body extends between a first guide portion and a second guide portion; the first guide portion is positioned to engage the first cable and the second guide portion is positioned to engage the second cable;the actuation body is movable relative to a portion of breaker assembly to transition the breaker assembly between the first switch state and the second switch state; and a movement of the actuation body from the first position to the second position is prevented by a tension in each cable of the cable pair on a condition that each cable of the cable pair is in the intact state.

37. A surgical system comprising:a medical instrument including an end effector and a tension member operably coupled to the end effector;a voltage generator configured to generate a dose of energy, the voltage generator being electrically coupled the end effector via a delivery path; anda switch mechanism operably coupled to the tension member, the switch mechanism being movable between an open state on a condition that the tension member is in intact state and a closed state on a condition that the tension member is in an at least partially broken state, the voltage generator being electrically coupled to ground via aAttomev Docket No. P06947-WOshunt path on a condition that the switch mechanism is in the closed state, the voltage generator being electrically decoupled from ground on a condition that the switch mechanism is in the open state.

38. The surgical system of claim 37, wherein:the switch mechanism is biased toward the closed state; andthe switch mechanism is maintained in the open state in response to a tensile load applied to the tension member on the condition that the tension member is in the intact state.

39. The surgical system of claim 37, wherein:a resistance of the shunt path on a condition that the switch mechanism is in the closed state is less than a resistance of the delivery path.

40. The surgical system of claim 37, wherein:the switch mechanism includes a deformable member coupled to the tension member; the deformable member includes a first electrical contact and a second electrical contact that is movable relative to the first electrical contact:on the condition that the tension member is in the intact state, the switch mechanism is in the open state in which the second electrical contact is separated from the first electrical contact; andon the condition that the tension member transitions to the at least partially broken state, the switch mechanism is in the closed state in which the second electrical contact is electrically coupled to the first electrical contact.

41. The surgical system of claim 40, wherein:the first electrical contact is a first conductive insert coupled to the voltage generator via a first lead line;the second electrical contact is a second conductive insert coupled to ground via a second lead line; andthe transition to the closed state completes an electrical circuit that includes the first lead line and the second lead line.

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