End effector drive mechanisms for surgical instruments such as for use in robotic surgical systems
A robotic system includes an electrosurgical instrument having an instrument housing having a shaft with an end effector assembly and first and second jaw members attached thereto movable to grasp tissue. An input is operably coupled to the instrument housing and is configured to move the jaw members. A handle is remotely disposed relative to the instrument housing and is configured to communicate with the input for controlling the jaw members, the handle having a lever configured to cooperate with the input to control the jaw members relative to movement of the lever. The lever moves between a homing position and a first position correlating to the jaw members closing with a pressure therebetween in the range of about 0.1 kg/cm 2 to about 2 kg/cm 2 . The lever further movable to a seal position correlating to the jaw members closing about tissue with a pressure between about 3 kg/cm 2 to about 16 kg/cm 2 for sealing.
1 . A robotic surgical system, comprising:
an electrosurgical instrument, including:
an instrument housing having a shaft extending therefrom;
an end effector assembly disposed at a distal end of the shaft, the end effector assembly including first and second jaw members at least one of which is movable relative to the other to grasp tissue; and
an input operably coupled to the instrument housing and configured to move the at least one of the jaw members; and
at least one handle remotely disposed relative to the instrument housing and configured to communicate with the input for controlling the jaw members, the at least one handle including:
a housing having a lever operably coupled thereto, the lever, in turn, configured to cooperate with the input to control the movement of the at least one of the jaw members,
wherein the lever is movable from a home position wherein the lever is spaced relative to the housing and the jaw members are disposed in a spaced apart position to a grasp position wherein the lever is closer to the housing to impart movement of the jaw members to grasp tissue with a grasping pressure between the jaw members to inhibit damage to tissue,
wherein the lever is movable from the grasp position to a seal position wherein the lever is closer to the housing to impart movement of the jaw members to grasp tissue with a sealing pressure between the jaw members to seal tissue between the jaw members upon activation of electrosurgical energy, and
wherein the sealing pressure is maintained in response to movement of the lever from the seal position to an end position of the lever wherein the lever is closer to the housing.
2 . The robotic surgical system according to claim 1 , wherein the housing of the at least one handle includes a cavity defined therein configured to house one or more components therein configured to operably connect to the input such that movement of the lever relative to the housing moves the at least one of the jaw members.
3 . The robotic surgical system according to claim 1 , wherein a correlation of movement of the lever and the at least one of the jaw members is non-linear.
4 . The robotic surgical system according to claim 2 , wherein the combination of components disposed in the cavity correlate the position of the lever to a pressure applied to tissue grasped between the jaw members.
5 . The robotic surgical system according to claim 2 , wherein the combination of components disposed in the cavity includes at least one of a gear, a linkage, or a spring.
6 . A robotic surgical system, comprising:
an electrosurgical instrument, including:
an instrument housing having a shaft extending therefrom;
an end effector assembly disposed at a distal end of the shaft, the end effector assembly including first and second jaw members at least one of which is movable relative to the other to grasp tissue; and
an input operably coupled to the instrument housing and configured to move the at least one of the jaw members; and
at least one handle remotely disposed relative to the instrument housing and configured to communicate with the input for controlling the jaw members, the at least one handle including:
a housing having a lever operably coupled thereto, the lever, upon movement thereof, cooperating with the input to impart movement of the at least one of the jaw members, wherein initial movement of the lever towards the housing from an unactuated position to a first position imparts movement to the at least one of the jaw members to grasp tissue with a grasping pressure to inhibit damage to tissue, wherein subsequent movement of the lever towards the housing beyond the first position imparts movement to the at least one of the jaw members to grasp tissue with a sealing pressure to seal tissue between the jaw members upon activation of electrosurgical energy, and wherein, once the sealing pressure is reached, the sealing pressure is maintained in response to further movement of the lever towards the housing.
7 . The robotic surgical system according to claim 6 , wherein the housing of the at least one handle includes a cavity defined therein configured to house one or more components therein configured to operably connect to the input such that movement of the lever relative to the housing moves the at least one of the jaw members.
8 . The robotic surgical system according to claim 6 , wherein a correlation of movement of the lever and the at least one of the jaw members is non-linear.
9 . The robotic surgical system according to claim 7 , wherein the combination of components disposed in the cavity correlate the position of the lever to a pressure applied to tissue grasped between the jaw members.
10 . The robotic surgical system according to claim 9 , wherein the combination of components disposed in the cavity includes at least one of a gear, a linkage, or a spring.
11 . The robotic surgical system according to claim 6 , further comprising at least one of a tactile, visual or audible indicator operably associated with the lever configured to alert the user when the lever is moved beyond the first position.
12 . A robotic surgical system, comprising:
an electrosurgical instrument, including:
an instrument housing having a shaft extending therefrom;
an end effector assembly disposed at a distal end of the shaft, the end effector assembly including first and second jaw members at least one of which is movable relative to the other to grasp tissue; and
an input operably coupled to the instrument housing and configured to move the at least one of the jaw members; and
at least one handle remotely disposed relative to the instrument housing and configured to communicate with the input for controlling the jaw members, the at least one handle including:
a housing having a lever operably coupled thereto, the lever movable relative to the housing between a first lever position and a second lever position; and
a switch operably disposed on at least one of the lever or the housing, the switch movable between a first switch position and a second switch position, wherein:
with the switch disposed in the first switch position, movement of the lever from the first lever position to the second lever position cooperates with the input to impart movement to the jaw members to grasp tissue with a grasping pressure within a grasping pressure range to inhibit damage to tissue, and
with the switch disposed in the second switch position, movement of the lever from the first lever position to the second lever position cooperates with the input to impart movement to the jaw members to grasp tissue with a sealing pressure within a sealing pressure range greater than the grasping pressure range to enable sealing of tissue between the jaw members upon activation of electrosurgical energy.
13 . The robotic surgical system according to claim 12 , wherein movement of the switch to the second switch position configures the jaw members for electrosurgical activation.
14 . The robotic surgical system according to claim 12 , wherein when the switch is disposed in the first switch position, electrosurgical energy is deactivated.
15 . The robotic surgical system according to claim 12 , further comprising at least one of a tactile, visual or audible indicator of a applied to tissue grasped between the jaw members.