WO2012006306A3 - Surgical instrument comprising an articulatable end effector - Google Patents

Surgical instrument comprising an articulatable end effector Download PDF

Info

Publication number
WO2012006306A3
WO2012006306A3 PCT/US2011/043008 US2011043008W WO2012006306A3 WO 2012006306 A3 WO2012006306 A3 WO 2012006306A3 US 2011043008 W US2011043008 W US 2011043008W WO 2012006306 A3 WO2012006306 A3 WO 2012006306A3
Authority
WO
WIPO (PCT)
Prior art keywords
end effector
shaft
instrument
surgical instrument
handle
Prior art date
Application number
PCT/US2011/043008
Other languages
French (fr)
Other versions
WO2012006306A2 (en
Inventor
Zhifan F. Huang
David A. Witt
Raymond M. Banks
Timothy G. Dietz
Mary E. Mootoo
Gregory W. Johnson
Jeffrey S. Swayze
Jason L. Harris
Foster B. Stulen
Prasanna Malaviya
Richard W. Timm
John V. Hunt
Suzanne E. Thompson
Gavin M. Monson
Robert J. Laird
Omar J. Vakharia
Christopher J. Schall
Cory G. Kimball
Al Mirel
John F. Cummings
Andrew T. Beckman
Original Assignee
Ethicon Endo-Surgery, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US12/832,345 external-priority patent/US9149324B2/en
Priority claimed from US12/832,361 external-priority patent/US8834466B2/en
Application filed by Ethicon Endo-Surgery, Inc. filed Critical Ethicon Endo-Surgery, Inc.
Publication of WO2012006306A2 publication Critical patent/WO2012006306A2/en
Publication of WO2012006306A3 publication Critical patent/WO2012006306A3/en

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14Probes or electrodes therefor
    • A61B18/1442Probes having pivoting end effectors, e.g. forceps
    • A61B18/1445Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32Surgical cutting instruments
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003Steerable
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003Steerable
    • A61B2017/00305Constructional details of the flexible means
    • A61B2017/00309Cut-outs or slits
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003Steerable
    • A61B2017/00318Steering mechanisms
    • A61B2017/00323Cables or rods
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • A61B2017/2901Details of shaft
    • A61B2017/2902Details of shaft characterized by features of the actuating rod
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • A61B17/2909Handles
    • A61B2017/291Handles the position of the handle being adjustable with respect to the shaft
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • A61B2017/2926Details of heads or jaws
    • A61B2017/2927Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00053Mechanical features of the instrument of device
    • A61B2018/00059Material properties
    • A61B2018/00071Electrical conductivity
    • A61B2018/00077Electrical conductivity high, i.e. electrically conducting
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00607Coagulation and cutting with the same instrument
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/0063Sealing
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14Probes or electrodes therefor
    • A61B2018/1405Electrodes having a specific shape
    • A61B2018/1412Blade
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14Probes or electrodes therefor
    • A61B18/1442Probes having pivoting end effectors, e.g. forceps
    • A61B2018/1452Probes having pivoting end effectors, e.g. forceps including means for cutting
    • A61B2018/1455Probes having pivoting end effectors, e.g. forceps including means for cutting having a moving blade for cutting tissue grasped by the jaws
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/305Details of wrist mechanisms at distal ends of robotic arms

Abstract

An electrosurgical instrument can comprise a handle, a shaft, and an end effector, wherein the end effector can be rotatably coupled to the shaft by an articulation joint. The instrument can further comprise a drive member and the articulation joint can comprise flexible support members which can be configured to support the drive member. The instrument can further comprise supply wires electrically coupled to electrodes in the end effector and a wire tensioning device configured to prevent the supply wires from accumulating slack within the articulation joint. The drive member can comprise a plurality of flexible layers wherein some of the layers can be comprised of an electrically insulative material and other layers can be comprised of an electrically conductive material which is in electrical communication with a cutting member in the end effector and/or electrodes positioned within the end effector. A surgical instrument can comprise a handle and an end effector, wherein the end effector can comprise first and second jaws which can be opened and closed in order to capture tissue therebetween. The surgical instrument can further comprise a shaft extending between the handle and the effector and means for articulating the end effector relative to the shaft. The articulating means can comprise a portion of the shaft which is rotatable about a first axis in order to articulate the end effector about a second axis. In at least one embodiment, the shaft can comprise a first portion including a cam and a second portion including a cam follower, wherein the rotation of the second portion and the interaction of the cam and cam follower can cause the second portion to pivot relative to the first portion.
PCT/US2011/043008 2010-07-08 2011-07-06 Surgical instrument comprising an articulatable end effector WO2012006306A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US12/832,345 2010-07-08
US12/832,361 2010-07-08
US12/832,345 US9149324B2 (en) 2010-07-08 2010-07-08 Surgical instrument comprising an articulatable end effector
US12/832,361 US8834466B2 (en) 2010-07-08 2010-07-08 Surgical instrument comprising an articulatable end effector

Publications (2)

Publication Number Publication Date
WO2012006306A2 WO2012006306A2 (en) 2012-01-12
WO2012006306A3 true WO2012006306A3 (en) 2012-08-23

Family

ID=44588250

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2011/043008 WO2012006306A2 (en) 2010-07-08 2011-07-06 Surgical instrument comprising an articulatable end effector

Country Status (1)

Country Link
WO (1) WO2012006306A2 (en)

Families Citing this family (463)

* Cited by examiner, † Cited by third party
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