End effector with redundant closing mechanisms
End effectors with redundant closing mechanisms, and related tools and methods are disclosed. The disclosed end effectors may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises an elongate shaft having a proximal end and a distal end, a tool body disposed at the distal end of the shaft, a jaw movable relative to the tool body between a clamped configuration and an open configuration, a first actuation mechanism coupled with the jaw and operable to vary the position of the jaw relative to the tool body between the clamped configuration and the open configuration, and a second actuation mechanism coupled with the jaw. The second actuation mechanism has a first configuration where the jaw is held in the clamped configuration and a second configuration where the position of the jaw relative to the tool body is unconstrained by the second actuation mechanism.
1. A surgical method comprising:
proximally retracting a first cable segment included in a first actuation mechanism while distally advancing a second cable segment included in the first actuation mechanism to apply a grasping force to tissue disposed between a jaw and a treatment device of a surgical instrument;
applying a clamping force via a second actuation mechanism to the tissue disposed between the jaw and the treatment device, the clamping force being greater than the grasping force;
treating the tissue while the clamping force is applied to the tissue by actuating a third actuation mechanism; and
separating the jaw and the treatment device by proximally retracting the second cable segment while distally advancing the first cable segment.
2. The surgical method of claim 1 , wherein:
the second actuation mechanism comprises a drive shaft and a cam translated via rotation of the drive shaft; and
applying the clamping force to the tissue comprises rotating the drive shaft to translate the cam to generate the clamping force.
3. The surgical method of claim 2 , wherein the clamping force is generated via interfacing the cam with a proximal portion of the jaw disposed proximal to a jaw pivot point around which the jaw pivots.
4. The surgical method of claim 1 , wherein:
the treatment device comprises a stapling device;
the third actuation mechanism comprises a second drive shaft drivingly coupled with the stapling device; and
treating the tissue comprises rotating the second drive shaft to staple the tissue while the clamping force is applied to the tissue.
5. The surgical method of claim 4 , wherein:
the treatment device comprises a cutting device; and
treating the tissue comprises rotating the second drive shaft to cut the tissue while the clamping force is applied to the tissue.
6. The surgical method of claim 5 , wherein the treatment device comprises a leadscrew rotated via rotation of the second drive shaft.
7. The surgical method of claim 1 , wherein the clamping force is at least 20 lbs.
8. The surgical method of claim 1 , wherein the treatment device is detachable.
9. A surgical instrument comprising:
an end effector including a jaw and a treatment device;
a first actuation mechanism drivingly coupled with the end effector and operable to apply a grasping force to a tissue disposed between the jaw and the treatment device via proximal retraction of a first cable segment included in the first actuation mechanism during distal advancement of a second cable segment included in the first actuation mechanism, the first actuation mechanism being operable to separate the jaw and the treatment device via proximal retraction of the second cable segment during distal advancement of the first cable segment;
a second actuation mechanism drivingly coupled with them end effector and configured to apply a clamping force to the tissue disposed between the jaw and the treatment device, the clamping force being greater than the grasping force; and
a third actuation mechanism drivingly coupled with the treatment device and configured to treat the tissue while the clamping force is applied to the tissue.
10. The surgical instrument of claim 9 , wherein the second actuation mechanism comprises a drive shaft and a cam translated via rotation of the drive shaft, the clamping force being generated via translation of the cam.
11. The surgical instrument of claim 10 , wherein the clamping force is generated via controllably interfacing the cam with a proximal portion of the jaw disposed proximal to a jaw pivot point around which the jaw pivots.
12. The surgical instrument of claim 9 , wherein:
the treatment device comprises a stapling device;
the third actuation mechanism comprises a second drive shaft drivingly coupled with the stapling device; and
a rotation of the second drive shaft actuates the treatment device to staple the tissue while the clamping force is applied to the tissue.
13. The surgical instrument of claim 12 , wherein:
the treatment device comprises a cutting device; and
a rotation of the second drive shaft actuates the treatment device to cut the tissue while the clamping force is applied to the tissue.
14. The surgical instrument of claim 13 , wherein the treatment device comprises a leadscrew rotated via rotation of the second drive shaft.
15. The surgical instrument of claim 9 , wherein the clamping force is at least 20 lbs.
16. The surgical instrument of claim 9 , wherein the treatment device is detachable.