System and method for minimally invasive cutting instrument operation
A system and method of operating a minimally invasive cutting instrument includes a surgical cutting instrument. The surgical cutting instrument includes a drive unit, an end effector located at a distal end of the instrument, and a garage for housing the cutting blade when the cutting blade is not in use. The end effector includes gripping jaws and a cutting blade. To perform a cutting operation, the instrument extends the cutting blade from a first position to a second position, retracts the cutting blade from the second position to a third position between the first and second positions, and further retracts the cutting blade to the first position. While the cutting blade is not in use, the cutting blade is maintained in the first position using a restraining mechanism in the drive unit, force or torque applied by a motor or other active actuator to the drive unit, or both.
1. A cutting instrument for use with a computer-assisted device, the instrument comprising:
a drive unit;
an end effector located at a distal end of the instrument, the end effector comprising opposable gripping jaws and a cutting blade;
a shaft between the drive unit and the end effector, the shaft housing one or more drive mechanisms for coupling force or torque from the drive unit to the end effector; and
a garage for housing the cutting blade when the cutting blade is not in use;
wherein to perform a cutting operation, the instrument is configured to:
extend the cutting blade from a first position to a second position;
retract the cutting blade from the second position to a third position between the first and second positions; and
further retract the cutting blade to the first position;
wherein while the cutting blade is not in use, the cutting blade is maintained in the first position using at least a restraining mechanism in the drive unit, wherein the restraining mechanism is configured to apply force or torque without input from a motor or other active actuator external to the drive unit.
2. The instrument of claim 1 , wherein the restraining mechanism is a spring.
3. The instrument of claim 1 , further comprising an articulated wrist coupling the end effector to the shaft.
4. The instrument of claim 1 , wherein one or more of the gripping jaws includes a groove to assist in guiding the cutting blade during the extending and retracting.
5. The instrument of claim 1 , wherein the first position is within the garage.
6. The instrument of claim 5 , wherein the third position corresponds to a position where the cutting blade is retracted to just outside the garage.
7. The instrument of claim 1 , wherein the instrument is further configured to hold the cutting blade in the second position before retracting the cutting blade to the third position.
8. The instrument of claim 1 , wherein a motor or active actuator driving the drive unit is configured to apply force or torque subject to first force or torque limits when the cutting blade is being extended, and the motor or active actuator driving the drive unit is configured to apply the force or torque subject to the first force or torque limits when the cutting blade is being held in the second position.
9. The instrument of claim 1 , wherein during the cutting operation, a motor or active actuator is configured to actuate the drive unit for the cutting blade based on a positional profile, the positional profile comprising a time sequence of desired positions describing a smooth trajectory for the cutting blade between the first, second, and third positions.
10. The instrument of claim 1 , wherein while the cutting blade is not in use, the cutting blade is also maintained in the first position via a second force or torque applied by a motor or active actuator driving the drive unit.
11. The instrument of claim 10 , wherein the motor or active actuator driving the drive unit is configured to apply force or torque subject to first force or torque limits when the cutting blade is maintained in the first position, and to apply force or torque subject to second force or torque limits while the cutting blade is being extended or retracted, wherein the first force or torque limits have a lower magnitude than the second force or torque limits.
12. The instrument of claim 10 , wherein the motor or active actuator driving the drive unit is configured to apply force or torque subject to first force or torque limits when the cutting blade is being retracted to the third position, and to apply force or torque subject to the first force or torque limits when the cutting blade is being further retracted to the first position.
13. The instrument of claim 10 , wherein the motor or active actuator driving the drive unit is configured to apply force or torque subject to first force or torque limits having a first magnitude when the cutting blade is being extended, and to apply force or torque subject to second force or torque limits having a second magnitude when the cutting blade is being retracted and further retracted, wherein the first magnitude of the first force or torque limits is greater than the second magnitude of the second force or torque limits.
14. The instrument of claim 13 , wherein a difference between the first and second magnitudes is based on a force or torque applied by the restraining mechanism.