Methods, systems, and devices relating to surgical end effectors
The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices, and more specifically including end effectors that can be incorporated into such devices. Certain end effector embodiments include various vessel cautery devices that have rotational movement as well as cautery and cutting functions while maintaining a relatively compact structure. Other end effector embodiments include various end effector devices that have more than one end effector.
1. An in-vivo vessel sealing end effector, the end effector comprising:
(a) an in vivo end effector body coupleable to an arm of an in vivo robotic device, wherein the arm and the end effector body are configured to be positioned entirely within a cavity of a patient, the end effector body comprising:
(i) a cautery component shaft disposed within the body; and
(ii) a first collar disposed around and operably coupled to the cautery component shaft; and
(b) a bipolar vessel cautery component operably coupled to the end effector body, the cautery component comprising:
(i) a stationary jaw coupled to a distal end of the cautery component shaft;
(ii) a mobile jaw pivotally coupled to the distal end of the cautery component shaft; and
(iii) a cutting component moveably coupled to the cautery component shaft.
2. The end effector of claim 1 , wherein the cautery component is rotatable about an axis parallel with the shaft.
3. The end effector of claim 1 , wherein the overall length of the end effector body is under about 3 inches.
4. The end effector of claim 1 , wherein the first collar is threadably coupled with the cautery component shaft such that rotation of the collar causes axial movement of the cautery component shaft, thereby causing the mobile jaw to move between open and closed positions.
5. The end effector of claim 4 , further comprising:
(a) a second collar rotatably disposed within the end effector body;
(b) a translation pin fixedly coupled to the cutting component and operably coupled to the second collar,
such that rotation of the second collar causes axial movement of the cutting component between retracted and deployed positions.
6. The end effector of claim 1 , wherein the stationary jaw is configured to provide a stable base to support a vessel to be cauterized.
7. The end effector of claim 1 , wherein rotation of the cautery component shaft causes rotation of the mobile and stationary jaws.
8. The end effector of claim 1 , further comprising:
(a) an electrical connection rotatably fixed to the cautery component shaft, wherein the electrical connection is electrically coupled to one of the mobile jaw and the stationary jaw;
(b) a first slip ring coupled to the end effector body, wherein the first slip ring is configured to maintain electrical contact with the electrical connection during rotation of the cautery component shaft;
(c) an external electrical source electrically coupled to the first slip ring; and
(d) a second slip ring coupled to the end effector body, wherein the second slip ring is configured to maintain electrical contact with the cautery component shaft during rotation of the cautery component shaft, wherein the second slip ring is electrically coupled to the external electrical source.
9. An in-vivo vessel sealing end effector, the end effector comprising:
(a) an in vivo end effector body coupleable to an arm of an in vivo robotic device, wherein the arm and the end effector body are configured to be positioned entirely within a cavity of a patient, the end effector body comprising:
(i) a cautery component shaft disposed within the body;
(ii) an electrical connection rotatably fixed to the cautery component shaft; and
(iii) a first slip ring coupled to the end effector body, wherein the first slip ring is configured to maintain electrical contact with the electrical connection during rotation of the cautery component shaft; and
(b) a bipolar vessel cautery component operably coupled to the end effector body, the cautery component comprising:
(i) a stationary jaw coupled to a distal end of the cautery component shaft;
(ii) a mobile jaw pivotally coupled to the distal end of the cautery component shaft; and
(iii) a cutting component moveably coupled to the cautery component shaft,
wherein the electrical connection is electrically coupled to one of the mobile jaw and the stationary jaw.
10. The end effector of claim 9 , further comprising an external electrical source electrically coupled to the first slip ring.
11. The end effector of claim 9 , further comprising a second slip ring coupled to the end effector body, wherein the second slip ring is configured to maintain electrical contact with the cautery component shaft during rotation of the cautery component shaft, wherein the second slip ring is electrically coupled to an external electrical source.
12. The end effector of claim 9 , further comprising a threaded collar disposed around and threadably coupled with the cautery component shaft such that rotation of the collar causes axial movement of the cautery component shaft, thereby causing the mobile jaw to move between open and closed positions.
13. The end effector of claim 9 , wherein rotation of the cautery component shaft causes rotation of the mobile and stationary jaws.
14. The end effector of claim 9 , further comprising:
(a) a collar rotatably disposed within the end effector body;
(b) a translation pin fixedly coupled to the cutting component and operably coupled to the collar,
such that rotation of the collar causes axial movement of the cutting component between retracted and deployed positions.
15. An in-vivo vessel sealing end effector, the end effector comprising:
(a) an in vivo end effector body coupleable to an arm of an in vivo robotic device, wherein the arm and the end effector body are configured to be positioned entirely within a cavity of a patient, the end effector body comprising a cautery component shaft disposed within the body; and
(b) a bipolar vessel cautery component operably coupled to the end effector body, the cautery component comprising:
(i) a stationary jaw coupled to a distal end of the cautery component shaft;
(ii) a mobile jaw pivotally coupled to the distal end of the cautery component shaft;
(iii) a cutting component moveably coupled to the cautery component shaft;
(iv) a first threaded collar rotatably disposed within the end effector body; and
(v) a translation pin fixedly coupled to the cutting component and threadably coupled to the first threaded collar, such that rotation of the first threaded collar causes axial movement of the cutting component between retracted and deployed positions.
16. The end effector of claim 15 , further comprising:
(a) an electrical connection rotatably fixed to the cautery component shaft, wherein the electrical connection is electrically coupled to one of the mobile jaw and the stationary jaw;
(b) a first slip ring coupled to the end effector body, wherein the first slip ring is configured to maintain electrical contact with the electrical connection during rotation of the cautery component shaft;
(c) an external electrical source electrically coupled to the first slip ring; and
(d) a second slip ring coupled to the device body, wherein the second slip ring is configured to maintain electrical contact with the cautery component shaft during rotation of the cautery component shaft, wherein the second slip ring is electrically coupled to the external electrical source.
17. The end effector of claim 15 , further comprising a second threaded collar disposed around and threadably coupled with the cautery component shaft such that rotation of the second collar causes axial movement of the cautery component shaft, thereby causing the mobile jaw to move between open and closed positions.
18. The end effector of claim 15 , wherein rotation of the cautery component shaft causes rotation of the mobile and stationary jaws.
19. The end effector of claim 15 , wherein the stationary jaw is configured to provide a stable base to support a vessel to be cauterized.