Abstract:
Surgical tools having a two degree-of-freedom wrist (70), wrist articulation by linked tension members (218, 220, 222, 224), mechanisms (372, 390) for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member (80) is pivotally coupled with a distal end of an instrument shaft (74) so as to rotate about a first axis transverse to the shaft, and an end effector body (72) is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members (218, 220, 222, 224) interact with attachment features (180, 182, 184, 186) to articulate the wrist. A torque-transmitting mechanism (372, 390) includes a coupling member (384, 394), coupling pins (398, 400), a drive shaft (392), and a driven shaft (396). The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.
Abstract:
An electrosurgical device having first and second poles; blade electrode with a metal shim having two opposing faces and one or more facets, a nonconductive coating which covers at least the faces and a portion of the facets of the metal shim, while a distal portion of the one or more facets remains uncovered by the nonconductive coating; a lateral electrode comprised of a broad shim having one or more conductive faces and is placed parallel to the blade electrode so that at least one of the one or more conductive faces is exposed and a distal end of the blade electrode protrudes from the lateral electrode; the lateral electrode is fixed stationary relative to the blade electrode; the nonconductive coating insulates the blade electrode from the lateral electrode; and the first pole is connected to the blade electrode and the second pole is connected to the lateral electrode.
Abstract:
A surgical system includes an attaching device having an end effector disposed at the distal end thereof. The end effector includes a support member, a wrist pivot pivotably coupling the end effector to the attaching device, and first and second jaw members pivotably coupled to one another and the support member. A first cable is operably coupled to the wrist pivot and configured to articulate the end effector relative to the attaching device. Second and third cables are operably coupled to the jaw members and configured to pivot the jaw members relative to the support member. A first actuation of the second and third cables collectively pivots the first and second jaw members relative to the support member. A second actuation of the second and third cables pivots the first and second jaw members relative to one another and the support member between a spaced-apart position and an approximated position.
Abstract:
A powered, hand held, electromechanical surgical device (100), comprising: a handle assembly (102) including: a handle housing (104) defining a longitudinal axis, the handle housing including a first connecting feature (110) and a second connecting feature (120); a circuit board (150) disposed within the handle housing; at least one electrical contact (112) associated with the first connecting feature of the handle housing and being in electrical communication with the circuit board; at least one electrical contact (122) associated with the second connecting feature of the handle housing and being in electrical communication with the circuit board; and at least one first firing button (106) configured for actuation by a finger of a user, each first firing button being in electrical communication with the circuit board; and
a drive unit assembly (200) removably and selectively connectable to a selected one of the first connecting feature or the second connecting feature of the handle assembly, the drive unit assentbly including: a drive unit housing (202) defining a longitudinal axis, the drive unit housing including a connecting feature (210) configured and adapted to mate with a selected one of the first connecting feature or the second connecting feature of the handle assembly; a motor (230) disposed within the drive unit housing; a drive shaft (204) rotatably supported in and extending from the drive unit housing, the drive shaft being driven by the motor; and at least on electrical contact (212) associated with the connecting feature of the drive unit housing and being in electrical communication with the motor;
wherein, when the drive unit assembly is connected to the first connecting feature of the handle assembly: an electrical contact (212) associated with the connecting feature of the drive unit housing electrically interfaces with an electrical contact (122) of the first connecting feature of the handle housing; and the longitudinal axis of the drive unit housing is parallel relative to the longitudinal axis of the handle housing; and
wherein, when the drive unit assembly is connected to the second connecting feature of the handle assembly: an electrical contact (212) associated with the connecting feature of the drive unit housing electrically interfaces with an electrical contact (122) of the second connecting feature of the handle housing; and the longitudinal axis of the drive unit housing is angled relative to the longitudinal axis of the handle housing.
Abstract:
A forceps, comprising: an end effector assembly including first and second jaw members disposed in parallel orientation relative to one another, at least one of the jaw members movable relative to the other along a first axis between a spaced-apart position and an approximated position for grasping tissue therebetween, the first and second jaw members disposed in slidable inter-fit engagement with one another to maintain the parallel orientation between the jaw members upon movement of the jaw members between the spaced-apart and approximated positions.
Abstract:
An electromechanical instrument, comprising: a handle housing supporting a plurality of drive connectors; a drive mechanism supported in the handle housing and configured to selectively rotate the plurality of drive connectors; an end effector supporting an axially translatable drive member; an adapter assembly selectively connectable between the handle housing and the end effector, the adapter assembly includes: an outer tube; an inner tube supported within the outer tube; a proximal drive shaft coupled to a first one of the plurality of drive connectors of the handle housing, the proximal drive shaft rotatable in response to rotation of the first one of the plurality of drive connectors; a distal drive shaft supported within the inner tube and operably coupled to the proximal drive shaft; a drive coupling nut threadably coupled to the distal drive shaft and supported within the inner tube such that inner tube prevents the drive coupling nut from rotating, the drive coupling nut slidably movable along the inner tube as the distal drive shaft rotates; and a drive tube coupled to the drive coupling nut and axially movable as the drive coupling nut slides along the inner tube, the drive tube operably coupled to the axially translatable drive member of the end effector.
Abstract:
A forceps includes a disposable shaft and a reusable shaft. The shafts each including a jaw member disposed at a distal end thereof. The shafts are releasably coupled to one another about a pivot and are moveable relative to one another for moving the jaw members between an open position and a closed position. The disposable shaft includes a first tissue sealing plate disposed thereon and an electrical, connector coupled thereto that includes a plurality of wires extending therethrough and into the disposable shaft member. One or more wires is coupled to the first tissue sealing plate and one or more wires is coupled to a second tissue sealing plate that is configured for releasable engagement with the jaw member of the reusable shaft member. The tissue sealing plates are adapted to conduct energy through tissue for sealing tissue grasped between the jaw members.