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 method, comprising:
receiving an input from a motor of a robotic surgical system at an interface of a tool housing of a surgical tool that includes an elongate shaft extending distally from the tool housing;
wherein the received input causes the interface to rotate and thereby drive longitudinal translation of a cable of the surgical tool;
wherein the longitudinal translation of the cable causes an end effector of the surgical tool to move relative to the elongate shaft; and
wherein the movement of the end effector includes opening the end effector with the longitudinal translation, and the longitudinal translation of the cable is in the distal direction.
2. The method of claim 1 , wherein the longitudinal translation of the cable in the distal direction causes a slidable member of the surgical tool to slide in the distal direction and thereby cause a link of the surgical tool to pivot to open jaws of the end effector.
3. The method of claim 1 , wherein the longitudinal translation of the cable in the distal direction causes a slidable member of the surgical tool to slide in the distal direction and thereby cause a pin to slide in a slot formed in one of two jaws of the end effector to open the jaws.
4. The method of claim 1 , wherein the cable is engaged with a pulley, and the longitudinal translation of the cable in the distal direction causes the cable to slide around the pulley.
5. The method of claim 1 , wherein the movement of the end effector also includes closing of the end effector, and the longitudinal translation of the cable is in the proximal direction.
6. The method of claim 1 , further comprising receiving a second input from the robotic surgical system at a second interface of the tool housing;
wherein the second received input causes the second interface to rotate and thereby drive longitudinal translation of a second cable of the surgical tool; and
wherein the longitudinal translation of the second cable in one direction causes the end effector to articulate in a first direction relative to a longitudinal axis of the elongate shaft, and longitudinal translation of the second cable in another, opposite direction causes the end effector to articulate in a second direction relative to the longitudinal axis of the elongate shaft.
7. The method of claim 1 , wherein the interface includes first and second interfaces;
the input includes a first input to the first interface and a second input to the second interface; and
the cable includes a first pair of cables operatively coupled to the first interface and that are driven to longitudinally translate by the rotation of the first interface, and a second pair of cables operatively coupled to the second interface and that are driven to longitudinally translate by the rotation of the second interface.
8. The method of claim 6 , wherein a flexible neck of the surgical tool that extends between the elongate shaft and the end effector bends laterally to facilitate the articulation of the end effector.
9. The method of claim 1 , wherein the interface includes a rotatable winch that has the cable attached thereto.
10. The method of claim 1 , further comprising engaging tissue with the end effector; and
applying energy to the tissue via the end effector.
11. The method of claim 1 , further comprising, before receiving the input, releasably coupling the tool housing to the robotic surgical system.
12. A surgical device, comprising:
a tool housing including an interface configured to receive an input from a motor of a robotic surgical system to cause the interface to rotate;
an end effector configured to engage tissue; and
first and second cables that are independent from one another and that are operatively coupled to the interface and the end effector;
wherein the rotation of the interface in a first direction is configured to cause the first cable to move proximally and thereby cause the end effector to open; and
the rotation of the interface in a second direction is configured to cause the second cable to move proximally and thereby cause the end effector to close, the first direction being opposite to the second direction.
13. The device of claim 12 , further comprising a pulley operatively coupled to the first cable;
wherein the rotation of the interface in the first direction is configured to cause the first cable to move proximally; and
the rotation of the interface in the second direction is configured to cause the second cable to move proximally.
14. The device of claim 12 , further comprising a hub operatively coupled to the end effector and the first and second cables;
wherein the proximal movement of the second cable causes the hub to longitudinally slide proximally, and the proximal movement of the first cable causes the hub to longitudinally slide distally.
15. The device of claim 14 , further comprising a link operatively coupled to the hub;
wherein the longitudinal sliding of the hub causes the link to pivot.
16. The device of claim 14 , wherein a distal end of the second cable is attached to a proximal end of the hub; and
a distal end of the first cable is attached to a distal end of the hub.
17. The device of claim 16 , wherein the first cable is looped around a pulley.
18. The device of claim 17 , wherein the pulley is located distal to the hub.
19. The device of claim 18 , further comprising a link operatively coupled to the hub;
wherein the longitudinal sliding of the hub causes the link to pivot.
20. The device of claim 12 , wherein the first cable is attached to a slidable member and is looped around a pulley located distal to the slidable member; and
the second cable is attached to the slidable member.
21. The device of claim 20 , wherein a distal end of the second cable is attached to a proximal end of the slidable member; and
a distal end of the first cable is attached to a distal end of the slidable member.
22. The device of claim 20 , further comprising a link having a first end pivotally attached to the slidable member and having a second end pivotally attached to the end effector;
wherein the link is configured to pivot in response to the first cable moving proximally and in response to the second cable moving proximally.