Surgical instrument with robotic and manual actuation features
A teleoperated surgical instrument comprises a housing configured to couple to a teleoperated manipulator and an elongated tube having a first end and a second end opposite the first end. The first end is mounted to the housing and the second end has one or more openings configured to deliver or receive a fluid at a surgical site. The instrument further comprises a flow control system in the housing. The flow control system includes a first tubular member coupled to the elongated tube and a first control element rotatable relative to the housing and the first tubular member. The first control element includes a receiving portion coupled to a shaft portion. The receiving portion is configured to couple with the teleoperated manipulator and rotate to control flow of the fluid through the first tubular member.
1. A teleoperated surgical instrument comprising:
a housing configured to couple to a teleoperated manipulator;
an elongated tube having a first end and a second end opposite the first end, the first end being mounted to the housing, and the second end having one or more openings configured to deliver or receive a fluid at a surgical site; and
a flow control system in the housing, the flow control system including:
a first tubular member coupled to the elongated tube, and
a first control element rotatable relative to the housing and the first tubular member, the first control element including a receiving portion coupled to a shaft portion, wherein the receiving portion is configured to couple with the teleoperated manipulator and rotate to control flow of the fluid through the first tubular member.
2. The teleoperated surgical instrument of claim 1 , wherein the first tubular member is flexible, and wherein rotation of the receiving portion causes compression of the first tubular member to control flow of the fluid through the first tubular member.
3. The teleoperated surgical instrument of claim 2 wherein the flow control system further includes:
a second flexible tubular member,
a second control member rotatable relative to the housing and configured to compress the second flexible tubular member to control a flow of the fluid through the second flexible tubular member, and
a coupler coupled to the first and second tubular members and configured to route the flow of the fluid to the elongated tube.
4. The teleoperated surgical instrument of claim 2 wherein the flow control system further includes a bulkhead rigidly secured to the housing, and wherein rotation of the receiving portion causes compression of the first tubular member against the bulkhead.
5. The teleoperated surgical instrument of claim 1 wherein the receiving portion is configured to rotate in response to a command to the teleoperated manipulator from a processor.
6. The teleoperated surgical instrument of claim 1 wherein the receiving portion includes a pair of pins sized and spaced to couple with the teleoperated manipulator.
7. The teleoperated surgical instrument of claim 1 wherein the fluid is a gas.
8. The teleoperated surgical instrument of claim 1 further comprising:
a feedback system including a light emitting element, the feedback system configured to cause light emission from the light emitting element when the fluid is delivered to the surgical site and to cause no light emission from the light emitting element when flow of the fluid is stopped.
9. The teleoperated surgical instrument of claim 1 further comprising:
an electrical circuit within the housing and configured to generate an electrical signal when the fluid is delivered to the surgical site.
10. A surgical instrument, comprising:
a housing configured to couple to a teleoperated manipulator;
a tube coupled to and extending into the housing; and
a control system in the housing, the control system comprising:
a valve coupled to the tube;
a first actuating mechanism coupled to the valve and configured to actuate the valve in response to the teleoperated manipulator; and
a second actuating mechanism coupled to the valve and configured to actuate the valve independent of the first actuating mechanism.
11. The surgical instrument of claim 10 , wherein the first actuating mechanism is configured to actuate the valve in response to rotation of a coupled element of the teleoperated manipulator.
12. The surgical instrument of claim 10 , wherein the first actuating mechanism is configured to actuate the valve in response to linear motion of a coupled element of the teleoperated manipulator.
13. The surgical instrument of claim 10 , wherein the valve comprises an electrically operated valve.
14. The surgical instrument of claim 10 , wherein the valve comprises a magnetically operated valve.
15. The surgical instrument of claim 10 further comprising a plurality of tube fittings extending into the housing and coupled to the valve, wherein the valve is configured to direct fluid flow between the plurality of tube fittings and the tube.
16. The surgical instrument of claim 10 , wherein the control system is configured to prevent fluid flow through tube when the housing is uncoupled from the teleoperated manipulator.
17. The surgical instrument of claim 10 further comprising:
a feedback system including a light emitting element, the feedback system configured to cause a light emission from the light emitting element if a fluid flow through the tube occurs and to stop the light emission from the light emitting element if the fluid flow through the tube stops.