Surgical end effector jaw and electrode configurations
A surgical end effector may comprise first and second jaw members. The second jaw member may comprise an offset proximal supply electrode that is positioned to contact an opposing member of the first jaw member when the first and second jaw members are in the closed position. The second jaw member may also comprise a distal supply electrode that is positioned distal of the offset proximal electrode and is aligned with a conductive surface of the first jaw member when the first and second jaw members are in the closed position. When the first and second jaw members are in the closed position, the proximal supply electrode may be in contact with the opposing member and the distal supply electrode is not in contact with the conductive surface of the first jaw member.
1. A surgical system for treating the tissue of a patient, comprising:
a surgical robot comprising a mounting interface; and
a surgical instrument configured to be releasably attached to said mounting interface, wherein said surgical instrument comprises:
a housing comprising a plurality of rotatable drive members, wherein said housing comprises a drive interface configured to facilitate releasable attachment of said surgical instrument to said mounting interface, and wherein said drive interface comprises said plurality of rotatable drive members thereon;
an elongate shaft extending distally from said housing, wherein said elongate shaft defines a longitudinal axis;
an end effector extending distally from said elongate shaft, wherein said end effector comprises:
a first jaw comprising a first electrode;
a second jaw comprising a second electrode, wherein said first jaw and said second jaw are configured to capture tissue therebetween and deliver electrical energy to the tissue; and
a gap setting member configured to define a gap between said first jaw and said second jaw to prevent contact between said first electrode and said second electrode, wherein said gap setting member comprises a selectively electrically insulating property;
a closure drive configured to move said first jaw relative to said second jaw between an open position and a closed position, wherein said gap setting member is positioned on said first jaw at a location directly opposite said second electrode when said first jaw is in said closed position;
a rotation drive configured to rotate said elongate shaft and said end effector about said longitudinal axis;
an articulation drive configured to articulate said end effector relative to said elongate shaft, wherein said articulation drive comprises a first joint and a second joint, wherein said first joint is configured to permit said end effector to articulate about a first articulation axis, wherein said second joint is configured to permit said end effector to articulate about a second articulation axis, and wherein said first articulation axis and said second articulation axis are orthogonal; and
a tissue cutting drive comprising a tissue cutting member configured to move between a proximal position and a distal position, wherein said closure drive, said rotation drive, said articulation drive, and said tissue cutting drive are each controlled by separate rotatable drive members of said plurality of rotatable drive members.
2. The surgical system of claim 1 , wherein said gap setting member is electrically insulating.
3. The surgical system of claim 1 , further comprising a second gap setting member positioned on said second jaw at a location directly opposite said first electrode when said first jaw is in said closed position.
4. The surgical system of claim 1 , wherein said second electrode is only in physical contact with said gap setting member when said first jaw is in said closed position in the absence of the tissue.
5. A surgical system for treating the tissue of a patient, comprising:
a robot comprising a mounting interface; and
an instrument configured to be replaceably attached to said mounting interface, wherein said instrument comprises:
a housing comprising a plurality of rotatable drive members, wherein said plurality of drive members are configured to abut said mounting interface of said robot when said instrument is replaceably attached thereto;
a shaft assembly extending distally from said housing, wherein said shaft assembly defines a longitudinal axis;
an end effector extending distally from said shaft assembly, wherein said end effector comprises:
a first jaw comprising a first electrode;
a second jaw comprising a second electrode, wherein said first jaw and said second jaw are configured to capture tissue therebetween and deliver electrical energy to the tissue; and
a gap setting member positioned on said first jaw, wherein said gap setting member is configured to define a gap between said first jaw and said second jaw to prevent contact between said first electrode and said second electrode, and wherein an insulating property of said gap setting member is variable;
a closure drive configured to move said first jaw relative to said second jaw between an open position and a closed position, wherein said gap setting member directly opposes said second electrode when said first jaw is in said closed position;
a rotation drive configured to rotate said shaft assembly and said end effector about said longitudinal axis;
an articulation drive configured to articulate said end effector relative to said shaft assembly, wherein said articulation drive comprises an articulation joint comprising a first joint and a second joint, wherein said first joint is configured to permit said end effector to pivot in a first articulation plane, wherein said second joint is configured to permit said end effector to pivot in a second articulation plane, and wherein said first articulation plane and said second articulation plane are orthogonal; and
a tissue cutting drive comprising a tissue cutting member configured to move between a proximal position and a distal position, wherein each of said closure drive, said rotation drive, said articulation drive, and said tissue cutting drive are controlled by different rotatable drive members of said plurality of rotatable drive members.
6. A surgical instrument for use with a surgical system for treating the tissue of a patient, wherein said surgical system comprises a surgical robot comprising a mounting interface, and wherein said surgical instrument comprises:
a housing comprising an external surface and a plurality of rotatable drive members, wherein said plurality of rotatable drive members extend beyond said external surface;
an elongate shaft extending distally from said housing, wherein said elongate shaft defines a longitudinal axis;
an end effector extending distally from said elongate shaft, wherein said end effector comprises:
a first jaw comprising a first electrode;
a second jaw comprising a second electrode, wherein said first jaw and said second jaw are configured to capture tissue therebetween and deliver electrical energy to the tissue; and
a gap setting member configured to prevent contact between said first jaw and said second jaw by defining a gap between said first electrode and said second electrode, wherein said gap setting member comprises a selectively insulating property;
a closure drive configured to move said first jaw relative to said second jaw between an open position and a closed position, wherein said second electrode is only in physical contact with said gap setting member when said first jaw is in said closed position in the absence of the tissue captured therebetween;
a rotation drive configured to rotate said elongate shaft and said end effector about said longitudinal axis;
an articulation drive configured to articulate said end effector relative to said elongate shaft, wherein said articulation drive comprises an articulation joint comprising a first joint and a second joint, wherein said first joint is configured to permit said end effector to articulate about a first articulation axis, wherein said second joint is configured to permit said end effector to articulate about a second articulation axis, and wherein said first articulation axis and said second articulation axis are orthogonal; and
a tissue cutting drive comprising a tissue cutting member configured to move between a proximal position and a distal position, wherein each of said closure drive, said rotation drive, said articulation drive, and said tissue cutting drive are configured to be coupled to individual rotatable drive members from said plurality of rotatable drive members.