System and method for actuating a laparoscopic surgical instrument
View Patent ↗A surgical instrument can include tips and an actuation rod having a pin and slot design where the driving slots are moved from the tips to the actuation rod in one aspect of the invention. As a result, the back end of each blade or tip can be dramatically reduced in area so that during full deflection, very little or no part of the blade or tip extends beyond the outside diameter of the shaft. In addition, the depth of each slot can be varied such that during actuation, increased tension can be put on the blades or tips throughout the cut.
1. A surgical instrument, comprising:
an elongate tube extending along an axis;
an actuation rod coaxially slidable within the elongate tube;
a first tip having a proximal end with a proximal end surface, the first tip comprising a first pin formed on the proximal end surface of the first tip; and
a second tip having a proximal end with a proximal end surface, the second tip comprising a second pin formed on the proximal end surface of the second tip, the second tip being pivotally connected to the first tip at a common pivot pin operably connected to the elongate tube to open and close the tips in response to movement of the actuation rod, and
wherein the actuation rod comprises a fork actuation rod having a first side and a second side, wherein each of the first side and the second side comprises a slot to accept a corresponding one of the pins of the first and second tips, the slots each having camming surfaces for the corresponding pin to slide within the slot, and the slot of the first side extending transverse to the slot of the second side of the actuation rod, and wherein the proximal ends of the tips extend minimally outside the diameter of the elongate tube during actuation of the tips.
2. The surgical instrument of claim 1 , wherein the actuation rod is formed by one of machining, stamping, overmolding, casting, and metal injection molding.
3. The surgical instrument of claim 1 , wherein the slot on each side of the actuation rod comprises a through slot.
4. The surgical instrument of claim 3 wherein at least one of the slots is one of an open-end slot and a closed end slot.
5. The surgical instrument of claim 1 , wherein the proximal end of the first tip and the proximal end of the second tip are positioned between the first side of the fork actuation rod and the second side of the fork actuation rod.
6. A surgical instrument comprising:
an elongate tube extending along an axis;
a tongue actuation rod coaxially slidable within the elongate tube;
a first tip having a proximal end with a proximal end surface, the first tip comprising a first pin formed on the proximal end surface of the first tip; and
a second tip having a proximal end with a proximal end surface, the second tip comprising a second pin formed on the proximal end surface of the second tip, the second tip being pivotally connected to the first tip at a common pivot pin operably connected to the elongate tube to open and close the tips in response to movement of the actuation rod, and
wherein the tongue actuation rod comprises a slot to accept the pins of the first and second tips, the slot having camming surfaces for the pins to slide within the slot and a bottom surface extending between the camming surfaces, and the slot comprising a ratchet mechanism formed in the bottom surface, the ratchet mechanism defining a locked position of the tips.
7. The surgical instrument of claim 6 , wherein the ratchet mechanism comprises at least one elevation shift.
8. The surgical instrument of claim 6 , wherein the tongue actuation rod comprises a first side and a second side opposite the first side, the tongue actuation rod comprising the slot formed on the first side of the tongue actuation rod, and a second slot formed on the second side of the tongue actuation rod, the second slot extending transversely to the first slot.
9. The surgical instrument of claim 6 , wherein the proximal ends of the tips do not extend outside the diameter of the elongate tube during actuation of the tips.
10. The surgical instrument of claim 6 , wherein the ratchet mechanism comprises at least one detent formed in the slot.
11. A surgical instrument comprising:
an elongate tube extending along an axis;
a tongue actuation rod slidable within the elongate tube along the axis, the tongue actuation rod comprising a first side surface and a second side surface opposite the first side surface;
a first tip having a distal end with a first blade formed thereon and a proximal end with a proximal end surface, the first tip comprising a first pin formed on the proximal end surface of the first tip; and
a second tip having a distal end with a second blade formed thereon, a proximal end with a proximal end surface, the second tip comprising a second pin formed on the proximal end surface of the second tip, the second tip being pivotally connected to the first tip at a common pivot pin operably connected to the elongate tube to open and close the tips in response to movement of the actuation rod such that a cutting surface is defined between the first blade and the second blade, and
wherein the tongue actuation rod comprises a first slot formed in the first side surface and a second slot formed in the second side surface to accept the corresponding first and second pins of the first and second tips, the first and second slots each having side walls defining camming surfaces for the pins to slide within the slot, and at least one of the first and second slots having a bottom surface extending between the side walls and defining a depth relative to the corresponding first and second side surfaces that varies along a length of the slot.
12. The surgical instrument of claim 11 , wherein the at least one of the first and second slots having a bottom surface defining a depth that varies along the length of the slot has a first end and a second end opposite the first end, and a first depth at the first end and a second depth at the second end, the second depth different from the first depth.
13. The surgical instrument of claim 11 , wherein the depth of the at least one of the first and second slots having a bottom surface defining a depth that varies along the length of the slot varies along the length of the slot to apply a tension to the cutting surface.
14. The surgical instrument of claim 13 , wherein the depth of the at least one of the first and second slots having a bottom surface defining a depth that varies along the length of the slot varies such that as the first and second tips are pivoted to a closed position relative to one another, the pins are forced apart relative to the corresponding first and second side surfaces.