Medical instruments for tissue cauterization
Certain aspects relate to systems and techniques for an articulating monopolar medical instrument. In one aspect, the medical instrument includes a wrist comprising a proximal clevis and a distal clevis; an end effector coupled to the distal clevis via a distal axle; at least one proximal pulley in the proximal clevis; at least one distal pulley in the distal clevis and coupled to the distal axle; a first cable configured to engage with the at least one proximal pulley and the at least one distal pulley; and a second cable configured to engage with the at least one proximal pulley without engaging the at least one distal pulley.
1. A medical instrument, comprising:
a wrist comprising a proximal clevis and a distal clevis;
an end effector coupled to the distal clevis via a distal axle;
at least one proximal pulley in the proximal clevis;
at least one distal pulley in the distal clevis and coupled to the distal axle;
a first cable configured to engage with the at least one proximal pulley and the at least one distal pulley; and
a second cable comprising two second cable segments, each of the second cable segments configured to directly engage with the at least one proximal pulley without engaging the at least one distal pulley, and each of the second cable segments further configured to directly engage with the distal clevis at a single side of the distal clevis offset from a central axis of the wrist.
2. The instrument of claim 1 , wherein the distal clevis comprises a surface area free of stationary redirect surfaces.
3. The instrument of claim 2 , wherein the distal clevis is completely devoid of any stationary redirect surfaces.
4. The instrument of claim 1 , wherein the proximal clevis and the distal clevis are formed of one or more insulating materials.
5. The instrument of claim 4 , wherein inner surfaces of the proximal clevis and the distal clevis are completely formed of the one or more insulating materials.
6. The instrument of claim 1 , wherein:
the at least one proximal pulley is configured to rotate with respect to a pitch axis providing a first degree of freedom for articulation of the end effector, and
the at least one distal pulley is configured to rotate with respect to a yaw axis providing a second degree of freedom for the articulation of the end effector.
7. The instrument of claim 6 , wherein cable paths of the first cable and the second cable are free of contact with any stationary redirect surface.
8. The instrument of claim 1 , wherein the end effector comprises a monopolar hook.
9. The instrument of claim 8 , wherein the monopolar hook is offset from a rotational axis that extends through the at least one distal pulley in the distal clevis.
10. The instrument of claim 8 , wherein the monopolar hook comprises a first link angulated relative to a second link.
11. The instrument of claim 10 , wherein:
the first link comprises a proximal link and the second link comprises a distal link, and
the at least one distal pulley comprises a base into which the first link is configured to be received.
12. The instrument of claim 11 , wherein:
the first link is configured to form an angle relative to a rotational axis of the at least one distal pulley, and
the angle is configured to prevent the monopolar hook from catching on a cannula in response to removal of the instrument from the cannula.
13. The instrument of claim 1 , wherein at least one segment of the first cable is asymmetrical with respect to at least one of the two second cable segments.
14. The instrument of claim 13 , wherein the at least one segment of the first cable is configured to traverse a longer path through the wrist than the at least one of the two second cable segments.
15. The instrument of claim 1 , further comprising a conductive cable configured to:
engage the at least one proximal pulley and the at least one distal pulley, and
provide a current to the end effector.
16. The instrument of claim 15 , wherein:
the first cable comprises two first cable segments, and
the at least one proximal pulley comprises four proximal pulleys, each of which is configured to engage with a corresponding one of the two first cable segments or the two second cable segments.
17. The instrument of claim 16 , wherein two proximal pulleys of the four proximal pulleys are configured to engage with the two second cable segments and are further configured to be located closer to the central axis of the wrist than the two proximal pulleys engaged with the two first cable segments.
18. The instrument of claim 17 , wherein the distal clevis comprises a pin that is configured to be received in a channel formed in a base of the end effector.
19. The instrument of claim 1 , wherein the end effector comprises an N+1 hook, wherein N is a number of degrees of freedom in which the N+1 hook is configured to be actuated and N+1 is a number of cable segments configured to control actuation of the N+1 hook.
20. The instrument of claim 1 , wherein:
the first cable comprises two first cable segments engaged with the same distal pulley of the at least one distal pulley,
the at least one proximal pulley comprises two separate proximal pulleys, and
the two first cable segments engage with the two separate proximal pulleys and wrap around the two separate proximal pulleys in the same direction.