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 instrument comprising:
an instrument shaft having a proximal end and a distal end;
an end effector comprising a jaw reconfigurable between an open configuration and a clamped configuration, wherein the end effector is coupled with the instrument shaft and disposed adjacent to the distal end of the instrument shaft;
a first actuation mechanism coupled with the end effector and operable to reconfigure the jaw from the open configuration to the clamped configuration to apply a grasping force to a tissue clamped by the jaw, wherein the first actuation mechanism comprises a first cable segment and a second cable segment; wherein the first cable segment is retracted to apply the grasping force to the tissue clamped by the jaw, and wherein the second cable segment is retracted to reconfigure the jaw from the clamped configuration to the open configuration;
a second actuation mechanism coupled with the end effector and operable to apply a clamping force to the tissue clamped by the jaw, wherein the second actuation mechanism comprises a drive shaft and a cam translated via rotation of the drive shaft, and wherein the clamping force is greater than the grasping force; and
a treatment device configured to perform a surgical task to the tissue clamped by the jaw.
2. The surgical instrument of claim 1 , wherein the first actuation mechanism comprises a capstan around which the first cable segment and the second cable segment are wrapped, wherein rotation of the capstan in a first direction retracts the first cable segment, wherein rotation of the capstan in second direction retracts the second cable segment, and wherein the second direction is opposite to the first direction.
3. The surgical instrument of claim 1 , wherein the cam interfaces with a proximal portion of the jaw disposed proximal to a jaw pivot point around which the jaw pivots to generate the clamping force.
4. The surgical instrument of claim 1 , wherein:
the treatment device comprises a stapling device;
the surgical instrument comprises a third actuation mechanism comprising a second drive shaft drivingly coupled with the stapling device; and
the third actuation mechanism is operable to actuate the stapling device while the clamping force is applied to the tissue via rotation of the second drive shaft.
5. The surgical instrument of claim 4 , wherein:
the treatment device comprises a cutting device; and
the third actuation mechanism is operable to actuate the cutting device to cut the tissue while the clamping force is applied to the tissue.
6. The surgical instrument of claim 5 , wherein the treatment device comprises a leadscrew rotated via the third actuation mechanism.
7. The surgical instrument of claim 1 , wherein each of the first cable segment and the second cable segment are drivingly coupled with a proximal portion of the jaw disposed proximal to a jaw pivot point around which the jaw pivots to reconfigure the jaw between the open configuration and the clamped configuration.
8. The surgical instrument of claim 1 , wherein the second actuation mechanism has a first configuration where the jaw is held in the clamped configuration and a second configuration where movement of the jaw is not limited by the second actuation mechanism, and wherein the first actuation mechanism is operable to retract the second cable segment while the second actuation mechanism is in the second configuration to reconfigure the jaw from the clamped configuration to the open configuration.
9. A tool for mounting on a manipulator, the tool comprising:
an instrument shaft having a proximal end and a distal end;
a tool chassis coupled with the instrument shaft and disposed adjacent to the proximal end of the instrument shaft, wherein the tool chassis is releasably mountable to the manipulator;
an end effector comprising a jaw reconfigurable between an open configuration and a clamped configuration, wherein the end effector is coupled with the instrument shaft and disposed adjacent to the distal end of the instrument shaft;
a first actuation mechanism coupled with the end effector and operable to apply a grasping force to a tissue clamped by the jaw, wherein the first actuation mechanism comprises a first cable segment and a second cable segment, wherein the first cable segment is retracted to apply the grasping force to the tissue, and wherein the second cable segment is retracted to reconfigure the jaw from the clamped configuration to the open configuration; and
a second actuation mechanism coupled with the end effector and operable to apply a clamping force to the tissue clamped by the jaw, wherein the second actuation mechanism comprises a drive shaft and a cam translated via rotation of the drive shaft, and wherein the clamping force is greater than the grasping force.
10. The tool of claim 9 , wherein the first actuation mechanism is back-drivable.
11. The tool of claim 9 , wherein:
the first cable segment extends distally from the tool chassis, through a bore of the instrument shaft, to the end effector; and
the second cable segment extends distally from the tool chassis, through the bore of the instrument shaft, to the end effector.
12. The tool of claim 11 , wherein the drive shaft extends distally from the tool chassis, through the bore of the instrument shaft, to the end effector.
13. The tool of claim 9 , wherein application of external force to the jaw cannot move the cam.
14. The tool of claim 9 , wherein the second actuation mechanism has a first configuration where the jaw is held in the clamped configuration and a second configuration where movement of the jaw is not limited by the second actuation mechanism, and wherein the first actuation mechanism is operable to retract the second cable segment while the second actuation mechanism is in the second configuration to reconfigure the jaw from the clamped configuration to the open configuration.
15. The tool of claim 9 , wherein the drive shaft extends distally from the tool chassis, through a bore of the instrument shaft, to the end effector.
16. The tool of claim 9 , wherein the first actuation mechanism comprises a capstan around which the first cable segment and the second cable segment are wrapped, wherein rotation of the capstan in a first direction retracts the first cable segment, wherein rotation of the capstan in second direction retracts the second cable segment, and wherein the second direction is opposite to the first direction.
17. The tool of claim 9 , wherein the cam interfaces with a proximal portion of the jaw disposed proximal to a jaw pivot point around which the jaw pivots to generate the clamping force.
18. The tool of claim 9 , wherein:
the end effector comprises a stapling device;
the tool comprises a third actuation mechanism comprising a second drive shaft drivingly coupled with the stapling device; and
the third actuation mechanism is operable to actuate the stapling device while the clamping force is applied to the tissue via rotation of the second drive shaft.
19. The tool of claim 18 , wherein:
the end effector comprises a cutting device; and
the third actuation mechanism is operable to actuate the cutting device to cut the tissue while the clamping force is applied to the tissue.
20. The tool of claim 9 , wherein each of the first cable segment and the second cable segment are drivingly coupled with a proximal portion of the jaw disposed proximal to a jaw pivot point around which the jaw pivots to reconfigure the jaw between the open configuration and the clamped configuration.