End effector mechanism for a surgical instrument
View Patent ↗Improved end effector mechanisms for a surgical instrument used in minimally invasive surgical instruments as well as instruments for general surgery or as part of robotically controlled end effectors. These end effector mechanisms include multiple grasping elements paired with drive links. Each grasping element also serves as a stabilizing link for the next most distal grasping element, forcing it to maintain its relative angle with respect to the opposing grasping elements.
1. A surgical instrument comprising an improved end effector assembly comprising:
a housing;
a pivot driver disposed within said housing and configured to reciprocate longitudinally within said housing;
first and second gripping members extending from said housing;
first actuation means for moving said first gripping member relative to said second gripping member, wherein said first actuation means comprise a first actuator being attached to a first end of a first actuator rod, and wherein said first actuator rod reciprocates longitudinally within said housing and within said pivot driver;
wherein said first gripping member comprises a first jaw element, a second jaw element and a drive element and wherein said first jaw element comprises a first end pivotally connected to a first location of said housing and a second end pivotally connected to a first location of a first end of said second jaw element;
wherein said drive element comprises a first end pivotally connected to a first location of said pivot driver and a second end pivotally connected to a second location of said first end of said second jaw element; and
means for adjusting the distance between said first housing location and said first pivot driver location and wherein adjusting of said distance establishes a desired angular orientation between said first and second jaw elements.
2. The surgical instrument of claim 1 wherein said first gripping member drive element rotatively engages a first location of said first actuator and wherein linear motion of said first actuator rod translates into rotational motion of said first gripping member drive element and said rotational motion of said first gripping member drive element moves said first gripping member relative to said second gripping member.
3. The surgical instrument of claim 2 wherein said means for adjusting said distance between said first housing location and said first pivot driver location actuates longitudinal linear motion of said pivot driver and wherein said linear motion of said pivot driver translates into rotational motion of said first gripping member drive element and said rotational motion of said first gripping member drive element moves said first gripping member second jaw element relative to said first gripping member first jaw element.
4. The surgical instrument of claim 3 wherein said second gripping member comprises a first jaw element, a second jaw element and a drive element and wherein said second gripping member first jaw element comprises a first end pivotally connected to said first location of said housing and a second end pivotally connected to a first location of a first end of said second gripping member second jaw element and wherein said second gripping member drive element comprises a first end pivotally connected to said first location of said pivot driver and a second end pivotally connected to a second location of said first end of said second gripping member second jaw element.
5. The surgical instrument of claim 4 wherein said means for adjusting said distance between said first housing location and said first pivot driver location actuates longitudinal linear motion of said pivot driver and wherein said linear motion of said pivot driver translates into rotational motion of said second gripping member drive element and said rotational motion of said second gripping member drive element moves said second gripping member second jaw element relative to said second gripping member first jaw element.
6. The surgical instrument of claim 5 wherein said second gripping member drive element rotatively engages a second location of said first actuator and wherein linear motion of said first actuator rod translates into rotational motion of said second gripping member drive element and said rotational motion of said second gripping member drive element moves said second gripping member relative to said first gripping member.
7. The surgical instrument of claim 6 wherein said first actuator comprises first and second fingers, and wherein said first and second fingers comprise first and second yoke pins for rotatively engaging first and second linking yokes of the first and second gripping member drive elements, respectively.
8. The surgical instrument of claim 5 wherein said first actuation means further comprise a second actuator being attached to a first end of a second actuator rod, and wherein said second actuator rod reciprocates longitudinally within said housing and within said pivot driver and wherein said second gripping member drive element engages a first location of said second actuator and wherein linear motion of said second actuator rod translates into rotational motion of said second gripping member drive element and said rotational motion of said second gripping member drive element moves said second gripping member relative to said first gripping member.
9. The surgical instrument of claim 8 wherein said first and second actuators comprise first and second yoke pins for rotatively engaging first and second linking yokes of the first and second gripping member drive elements, respectively.
10. The surgical instrument of claim 3 further comprising a handle assembly for actuating said first actuation means and said means for adjusting said distance between said first housing location and said first pivot driver location.
11. The surgical instrument of claim 10 further comprising a shaft assembly comprising a hollow sheath, said first actuation means and said means for adjusting said distance between said first housing location and said first pivot driver location.
12. The surgical instrument of claim 1 wherein said pivot driver comprises a hollow tube.
13. The surgical instrument of claim 1 wherein said first gripping member further comprises a third jaw element and a second drive element and wherein said third jaw element comprises a first end pivotally connected to a first location of said second end of said second jaw element, and wherein said second drive element comprises a first end pivotally connected to a second location of said first end of said second jaw element and a second end pivotally connected to a second location of said first end of said third jaw element.
14. The surgical instrument of claim 13 further comprising additional jaw elements and additional drive elements for each of said first and second gripping members.
15. The surgical instrument of claim 1 wherein any of said jaw elements comprise inner surfaces comprising one of serrations, aggressive teeth, atraumatic teeth, elbow or protrusions.
16. The surgical instrument of claim 1 wherein any of said gripping members is disposable.
17. The surgical instrument of claim 1 wherein said second gripping member is fixedly connected to said housing.
18. The surgical instrument of claim 1 wherein said end effector assembly is robotically controlled.
19. The surgical instrument of claim 1 wherein said end effector assembly is used in minimally invasive surgery.
20. A prosthetic assembly comprising said improved end effector assembly of claim 1 .
21. A robotic assembly comprising said improved end effector assembly of claim 1 .
22. A method for setting any desired angular orientation between first and second jaw elements of a first gripping member of an end effector assembly for a surgical instrument, said method comprising:
providing a housing;
providing a pivot driver disposed within said housing and configured to reciprocate longitudinally within said housing;
providing said first gripping member and a second gripping member wherein said first gripping member comprises said first and second jaw elements and a drive element;
providing first actuation means for moving said first gripping member relative to said second gripping member, wherein said first actuation means comprise a first actuator being attached to a first end of a first actuator rod, and wherein said first actuator rod reciprocates longitudinally within said housing and within said pivot driver;
pivotally connecting a first end of said first jaw element to a first location of said housing and a second end of said first jaw element to a first location of a first end of said second jaw element;
pivotally connecting a first end of said drive element to a first location of said pivot driver and a second end of said drive element to a second location of said first end of said second jaw element, wherein said first housing location and said first pivot driver location are separated by an adjustable distance;
providing means for adjusting said distance between said first housing location and said first pivot driver location; and
adjusting the distance between said first housing location and said first pivot driver location thereby establishing a desired angular orientations between said first and second jaw elements.