Robotic bi-polar instruments
Various exemplary systems, devices, and methods for robotic bi-polar instruments are provided. In general, a surgical tool can include an elongate shaft, an end effector, a wrist that couples the end effector to the shaft at a distal end of the shaft, and a tool housing coupled to a proximal end of the shaft that is configured to control the operation various features associated with the end effector and to operatively couple to a robotic surgical system.
1. A surgical device, comprising:
an elongate shaft;
a pair of jaws at a distal end of the elongate shaft, the pair of jaws being configured to engage tissue therebetween and apply energy thereto;
a cable configured to be actuated and thereby move in a proximal direction;
a slidable member operatively engaged with the cable and being configured to slide in a distal direction in response to the movement of the cable in the proximal direction; and
a link operatively coupled with the slidable member and with the cable, the sliding of the slidable member being configured to cause the link to pivot and thereby cause the pair of jaws to open.
2. The device of claim 1 , further comprising a second cable operatively engaged with the slidable member and configured to move in the proximal direction to cause the pair of jaws to close, the slidable member being configured to slide in the proximal direction in response to the movement of the second cable in the proximal direction, and the sliding of the slidable member in the proximal direction being configured to cause the link to pivot and thereby cause the pair of jaws to close.
3. The device of claim 2 , wherein the cable is attached to one of a proximal end and a distal end of the slidable member, and the second cable is attached to the other of the proximal end and the distal end of the slidable member.
4. The device of claim 2 , wherein the cable is configured to move in the distal direction when the second cable is moving in the proximal direction, and the second cable is configured to move in the distal direction when the cable is moving in the proximal direction.
5. The device of claim 2 , further comprising a housing having the elongate shaft extending distally therefrom, the housing including a first rotary member configured to rotate to cause the movement of the cable in the distal direction and including a second rotary member configured to rotate to cause the movement of the second cable in the proximal direction.
6. The device of claim 5 , wherein the housing is configured to be coupled to a tool driver of a robotic surgical system that provides inputs to the first and second rotary members to cause the rotation thereof.
7. The device of claim 1 , further comprising a pulley having the cable operatively engaged therewith, with trailing ends of the cable extending proximally from the pulley.
8. The device of claim 1 , wherein the cable is configured to be actuated and thereby move in the distal direction, the slidable member being configured to slide in the proximal direction in response to the movement of the cable in the distal direction, and the sliding of the slidable member in the proximal direction being configured to cause the link to pivot and thereby cause the pair of jaws to close.
9. The device of claim 1 , further comprising a housing having the elongate shaft extending distally therefrom, the housing including a first rotary member configured to rotate to cause the movement of the cable in the proximal direction.
10. The device of claim 1 , further comprising a rod extending along the elongate shaft, the slidable member being configured to slide along the rod.
11. The device of claim 1 , further comprising a bias member that biases the pair of jaws closed.
12. The device of claim 1 , further comprising an articulation cable configured to be actuated and thereby cause the pair of jaws to articulate relative to the elongate shaft; and
an energy cable configured to deliver energy for the pair of jaws to apply to the engaged tissue.
13. A surgical device, comprising:
an elongate shaft;
an end effector configured to engage tissue and apply energy thereto;
a cutting element configured to move longitudinally along the end effector to cut tissue engaged by the end effector;
a cutting element cable configured to be actuated to cause the movement of the cutting element; and
a pulley at a distal end of the end effector and operatively coupled to the cutting element cable such that the cutting element cable slides along the pulley during the movement of the cutting element.
14. The device of claim 13 , wherein the cutting element cable is configured to be pushed distally to cause the movement of the cutting element.
15. The device of claim 13 , further comprising an articulation cable configured to be actuated and thereby cause the pair of jaws to articulate relative to the elongate shaft;
a closure cable configured to be actuated and thereby cause the pair of jaws to close; and
an energy cable to configured to deliver energy for the pair of jaws to apply to the engaged tissue.
16. A surgical method, comprising:
advancing jaws at a distal end of a surgical tool into a patient, the surgical tool being configured to apply energy to tissue engaged by the end effector; and
causing a cable that extends along the elongate shaft to move proximally to thereby cause a slidable member operatively engaged with the cable to slide distally, the distal sliding of the slidable member causing a link to pivot and thereby cause the jaws to open.
17. The method of claim 16 , further comprising causing a second cable that extends along the elongate shaft to move proximally to thereby cause the slidable member operatively engaged with the second cable to slide proximally, the proximal sliding of the slidable member in response to the movement of the second cable causing the link to pivot and thereby cause the jaws to close.
18. The method of claim 17 , wherein causing the cable to move proximally includes providing an input to the surgical tool from a robotic surgical system having the surgical tool coupled thereto, and causing the second cable to move proximally includes providing another input to the surgical tool from the robotic surgical system having the surgical tool coupled thereto.
19. The method of claim 16 , further comprising causing the cable to move distally to thereby cause the slidable member to slide proximally, the proximal sliding of the slidable member causing the link to pivot and thereby cause the jaws to close.
20. The method of claim 16 , wherein causing the cable to move proximally includes providing an input to the surgical tool from a robotic surgical system having the surgical tool coupled thereto.