Surgical grapser tool and actuation mechanism
A surgical instrument and actuation mechanism comprises an end effector, the end effector including opposing faces, and a positioning slot. The positioning slot includes a linear portion and a radial portion. In accordance with one aspect, the surgical instrument further comprises an actuation mechanism engaged with the positioning slot, wherein the opposing faces of the end effector move in a parallel manner when the actuation mechanism moves within the linear portion of the positioning slot, and wherein the opposing faces of the end effector move in an angular manner when the actuation mechanism moves within the radial portion of the positioning slot.
1. A surgical instrument, comprising:
a housing;
an actuation rod extending through the housing;
a first jaw member, the first jaw member including a first positioning slot, the first positioning slot including a linear portion and a radial portion;
a first actuation link having a proximal end and a distal end, the proximal end of the first actuation link coupled with the actuation rod;
a first pivot link having a proximal end and a distal end, the proximal end of the pivot link coupled with the distal end of the first actuation link, the distal end of the first pivot link coupled with the first jaw member;
a second jaw member, the second jaw member including a second positioning slot, the second positioning slot including a linear portion and a radial portion; a second actuation link have a proximal end and a distal end, the proximal end of the second actuation link coupled with the actuation rod;
a second pivot link having a proximal end and a distal end, the proximal end of the second pivot link coupled with the distal end of the second actuation link, the distal end of the second pivot link coupled with the second jaw member;
wherein the proximal end of the first pivot link and the distal end of the first actuation link are slidably engaged within the first positioning slot; and wherein the proximal end of the second pivot link and the distal end of the second actuation link are slidably engaged within the second positioning slot.
2. The surgical instrument of claim 1 , wherein the first jaw member includes a grasping portion and a mounting portion, wherein the first positioning slot is located within the mounting portion.
3. The surgical instrument of claim 2 , wherein the grasping portion and the mounting portion are integrated with each other.
4. The surgical instrument of claim 1 , further comprising a handle assembly connected to the housing.
5. The surgical instrument of claim 4 , wherein the handle assembly is coupled to the actuation rod so as to control the linear motion of the actuation rod.
6. The surgical instrument of claim 1 , wherein movement of the distal end of the first actuation link and the proximal end of the first pivot link within the linear portion of the first positioning slot moves the first jaw member in an axial motion and wherein movement of the distal end of the first actuation link and the proximal end of the first pivot link within the radial portion of the first positioning slot moves the first jaw member in an angular motion.
7. The surgical instrument of claim 1 , wherein the first positioning slot includes a plurality of linear portions.
8. The surgical instrument of claim 1 , wherein the first positioning slot includes a plurality of radial portions.
9. The surgical instrument of claim 1 , wherein the distal end of the first actuation link and the proximal end of the first pivot link are connected by a fastener.
10. The surgical instrument of claim 9 , wherein the fastener is selected from the group consisting of a pin, a rivet, a hinge, a living hinge, and a dowel.
11. The surgical instrument of claim 1 , wherein the housing includes a fulcrum connection point and wherein the pivot link is coupled with the fulcrum connection point.
12. The surgical instrument of claim 11 , wherein the first pivot link is coupled to the fulcrum connection point at a point that is generally equidistant from the first pivot link proximal end and the first pivot link distal end.
13. A surgical instrument actuation device, comprising:
an end effector, the end effector including a first positioning slot and a second positioning slot, the first positioning slot including a first linear portion and a first radial portion and the second positioning slot including a second linear portion and a second radial portion;
an actuation link having a proximal end and a distal end, the proximal end of the actuation link coupled with an actuator of the surgical tool;
a pivot link having a proximal end and a distal end, the proximal end of the pivot link coupled with distal end of the actuation link, the distal end of the pivot link coupled with the end effector;
wherein the proximal end of the pivot link and the distal end of the actuation link are slidably engaged with at least the first positioning slot.
14. The surgical instrument of claim 13 , wherein the end effector includes a pair of opposing faces, and wherein the opposing faces of the end effector move in a parallel manner when the proximal end of the pivot link and the distal end of the actuation link are engaged in at least the first linear portion of the first positioning slot, and wherein the opposing faces of the end effector move in an angular manner when the proximal end of the pivot link and the distal end of the actuation link are engaged with at least the first radial portion of the first positioning slot.
15. The surgical instrument of claim 13 , wherein the first and second positioning slots each include plurality of linear portions and a plurality of radial portions.