Instrument for selectively grabbing and cutting tissue
A surgical instrument configured for both grasping and cutting operations has a shaft with a push rod extending through it. An end effector on the shaft has a grasping jaw, a cutting jaw, and an intermediate jaw. The grasping jaw forms a grasping device with the intermediate jaw, and the cutting jaw forming a cutting device with the intermediate member. A segment of the shaft proximal to the end effector is axially rotatable between a first position, in which the push rod can advance through the segment to actuate the cutting device, and a second position in which the push rod can advance through the segment to actuate the grasping device
1. A method of using a surgical instrument comprising:
providing an elongate shaft having a push rod longitudinally extending therethrough, a shaft tip on the shaft and axially rotatable relative to the shaft, the shaft tip having first and second through-holes, and an end effector including a grasping Jaw, a cutting jaw, and at least one intermediate jaw, said grasping jaw forming a grasping device defining a grasping jaw opening with at least one of said at least one intermediate jaw, and said cutting jaw forming a cutting device having a cutting jaw opening with at least one of said at least one intermediate jaw;
positioning the shaft tip in a first axial position relative to the shaft to position the first through-hole in longitudinal alignment with the push rod, and moving an actuator relative to the shaft to longitudinally advance the push rod into the first through-hole to move the grasping jaw from an open position to a closed position without moving the cutting jaw between open and closed positions;
axially rotating the shaft tip to position the shaft tip in a second axial position relative to the shaft to position the second through-hole in longitudinal alignment with the push rod, and moving the actuator relative to the shaft to longitudinally advance the push rod into the second through-hole to move the cutting jaw from the open position to the closed position without moving the grasping jaw between open and closed positions.
2. The method of claim 1 , wherein the grasping jaw opening and cutting jaw opening are separate openings.
3. The method of claim 1 , wherein the grasping jaw remains in the closed position when the shaft tip is in the second axial position.
4. The method of claim 1 , wherein the cutting device remains in the closed position when the shaft tip is in the first axial position.
5. The method of claim 1 , wherein each of the cutting device and the grasping device is in its corresponding closed position when the push rod occupies neither the first nor the second through-hole.
6. The method of claim 1 , wherein the surgical instrument is mounted to a robotic manipulator of a surgical robotic system including a robotic manipulator and a user input, and wherein the step of positioning the shaft tip in the first axial position or second axial position relative to the shaft is performed in response to tip selection input by a user using the user input.
7. The method of claim 6 , wherein the step of moving the actuator relative to the shaft to move the cutting jaw or the grasping jaw from the open position to the closed position is performed in response to instrument actuation input by a user using the user input.