End effector and end effector drive apparatus
Provided herein is a surgical instrument comprising a cap having a first and second aperture extending therethrough, a first extendable and retractable member having a distal end coupled to a first coupling, a first arm extending from the first coupling and pivotable with respect to the distal end of the first member, and a second arm connected to the first arm through a second coupling and pivotable, with respect to the first arm, a second extendable and retractable member having a distal end coupled to a third coupling, a third arm extending from the second coupling, the third arm pivotable, with respect to the distal end of the second member, and a fourth arm connected to the third arm through a fourth coupling and pivotable, with respect to the third arm, a first end effector connected to the second arm and a second end effector connected to the fourth arm.
1. A surgical instrument, comprising:
a cap having a plurality of openings comprising a first opening and a second opening extending therethrough;
at least two flexible tubular members comprising a first and a second flexible tubular member;
the first flexible tubular member extendable from, and retractable inwardly of, the first opening in the cap, the first flexible tubular member having a distal end coupled to a first bendable coupling, the first flexible tubular member further including a controllable drive mechanism, the controllable drive mechanism rotatable about its length direction and movable along the length direction, and the first flexible tubular member is bendable by the controllable drive mechanism;
the first bendable coupling independently bendable in two directions orthogonal to one another;
the second flexible tubular member extendable from, and retractable inwardly of, the second opening in the cap, the second flexible tubular member having a distal end coupled to a second bendable coupling;
the second bendable coupling independently bendable in two directions orthogonal to one another;
a first end effector connected to a distal end of the first flexible tubular member; and
a second end effector operatively connected to a distal end of the second flexible tubular member;
each of the first and second end effectors further comprising a housing comprising an outer wall and an opening therein, and opposed first and second walls extending along opposite sides of the opening;
a first actuator pivotally coupled to the first wall of the housing;
a second actuator pivotally coupled to the second wall of the housing; and
a coupling link disposed within the opening of the housing and between at least a portion of the first and second actuators, the coupling link including opposed first and second ends, each end pivotally coupled to a different one of the first and second actuators, wherein the coupling link further comprises opposed first and second sides extending between the first and second ends thereof, and a first coupling pin extending from the first side adjacent to the first end thereof and inwardly of an opening in the first actuator;
wherein the housing further comprises a base and a wire guide extending inwardly of the opening from at least one of the first and second walls, wherein the coupling link is disposed between the base and the wire guide.
2. The surgical instrument of claim 1 , further comprising an outer sheath, having a length, and connected to the cap, the outer sheath rotatable about the length direction thereof.
3. The surgical instrument of claim 2 , wherein the first flexible tubular member extends within the outer sheath to the first opening of the cap and the second flexible tubular member extends through the outer sheath to the second opening of the cap.
4. The surgical instrument of claim 3 , wherein the first flexible member is translationally movable within or outwardly from the outer sheath by the controllable drive mechanism with respect to the length direction of the outer sheath.
5. The surgical instrument of claim 3 , wherein the first flexible tubular member is rotationally movable by the controllable drive mechanism about the length direction of the first flexible tubular member.
6. The surgical instrument of claim 3 , wherein the instrument further comprises a first introduction port, wherein the first flexible member is extendable therethrough, and linearly movable inwardly and outwardly of, and rotatable with respect to, the first introduction port.
7. The surgical instrument of claim 1 , wherein the cap further comprises a third opening therethrough, and an imaging member is selectively extendable and retractable with respect to the third opening.
8. The surgical instrument of claim 7 , wherein the cap further comprises a first portion through which the first and second openings extend, and an extending portion through which the third opening extends.
9. The surgical instrument of claim 1 , wherein the first bendable coupling is disposed between the first end effector and the first flexible member, wherein:
the first end effector extends in a first end effector direction; and
the first end effector direction is positionable at a single or a double angle with respect to the first flexible member.