Surgical devices and systems with rotating end effector assemblies having an ultrasonic blade
Surgical devices and systems having rotating end effector assemblies for treating tissue are provided. Methods for using the same are also provided.
1. A surgical device, comprising:
an instrument shaft extending from a housing, the instrument shaft including
an outer sleeve,
a waveguide that is acoustically coupled to an ultrasonic transducer and extending through the instrument shaft, and
a rotation assembly having an inner sleeve that includes first and second slots and a pin housed within one of the first and second slots, wherein the first and second slots intersect with each other; and
an end effector assembly at a distal end of the outer sleeve, the end effector assembly having a clamping element and an ultrasonic blade that is in acoustic communication with the waveguide, the clamping element being coupled to the inner sleeve;
wherein the pin is configured to selectively slide within the first and second slots such that translation of the pin in a distal direction within the first slot rotates the clamping element relative to the ultrasonic blade in a first rotational direction and translation of the pin in a proximal direction within the second slot further rotates the clamping element relative to the ultrasonic blade in the first rotational direction.
2. The device of claim 1 , wherein the pin is configured to translate in the distal direction within the first slot to cause the clamping element to rotate from about 1 degree to about 180 degrees in the first rotational direction.
3. The device of claim 2 , wherein the pin is configured to translate in the proximal direction within the second slot to cause the clamping element to further rotate from about 180 degrees to about 360 degrees in the first rotational direction.
4. The device of claim 3 , wherein the pin is configured to translate in a distal direction within the second slot to cause the clamping element to rotate from about 1 degree to about 180 degrees in a second rotation direction that is opposite the first rotation direction relative to the ultrasonic blade.
5. The device of claim 4 , wherein the pin is configured to translate in a proximal direction within the first slot to cause the clamping element to rotate from about 180 degrees to about 360 degrees in the second rotation direction relative to the ultrasonic blade.
6. The device of claim 1 , wherein a proximal-most end of the second slot is defined by a stopping element that is configured to prevent further proximal movement of the pin.
7. The device of claim 1 , wherein the instrument shaft includes a clamping assembly coupled to the end effector assembly, the clamping assembly being configured to drive movement of the clamping element relative to the instrument shaft such that the clamping element selectively moves towards and away from the ultrasonic blade.
8. The device of claim 1 , further comprising an articulation assembly that is configured to selectively deflect the end effector assembly from a position aligned with a longitudinal axis of the instrument shaft to a position not aligned with the longitudinal axis, wherein the longitudinal axis extends along a non-articulable region of the instrument shaft.
9. The device of claim 1 , wherein the housing is configured to be removably attached to an electromechanical arm.
10. The device of claim 1 , wherein at least one of the first slot and the second slot has a substantially spiral configuration about the inner sleeve.
11. A robotic surgical system, comprising:
an electromechanical arm operably coupled to a motor;
an instrument housing configured to be removably mounted to the electromechanical arm;
an instrument shaft extending from the housing, the instrument shaft including
an ultrasonic waveguide acoustically coupled to an ultrasonic transducer and extending through the instrument shaft, and
a rotation assembly having a multi-segment slot and a pin housed therein, wherein the multi-segment slot includes at least first and second slots that intersect with each other at a transition point; and
an end effector assembly at a distal end of the instrument shaft, the end effector assembly having a clamping element and an ultrasonic blade that is acoustically coupled to the ultrasonic waveguide;
wherein the pin is configured to selectively slide within the multi-segment slot upon a force applied to an input operatively coupled to the pin to thereby rotate the clamping element while the ultrasonic blade remains stationary.
12. The system of claim 11 , wherein the instrument shaft further comprises an actuation assembly that is operably coupled to the clamping element, the actuation assembly having a first actuator rod that is operably coupled to the motor and configured to axially translate relative to the outer shaft to slide the pin within the multi-segment slot.
13. The system of claim 11 , wherein the transition point is configured to allow the pin to slide from the first slot of the multi-segment slot to the second slot of the multi-segment slot such that the clamping element continuously rotates about 1 degree to about 360 degrees.
14. The system of claim 13 , wherein the pin is configured to translate in a distal direction within the first slot to rotate the clamping element in a first rotational direction, and wherein the pin is configured to translate in a proximal direction within the second slot to further rotate the clamping element in the first rotational direction.
15. The system of claim 14 , wherein the pin is configured to translate in a distal direction within the second slot to rotate the clamping element in a second rotational direction that is opposite the first rotational direction, and wherein the pin is configured to translate in a proximal direction within the first slot to further rotate the clamping element in the second rotational direction.
16. The system of claim 11 , wherein the instrument shaft includes a clamping assembly coupled to the end effector assembly, the clamping assembly being configured to drive movement of the clamping element relative to the instrument shaft such that the clamping element selectively moves towards and away from the ultrasonic blade.
17. The system of claim 11 , wherein the ultrasonic waveguide is articulable and the instrument shaft further comprises an articulation assembly that is configured to deflect the end effector assembly from a position aligned with a longitudinal axis of the instrument shaft to a position not aligned with the longitudinal axis of the instrument shaft, wherein the longitudinal axis extends along a non-articulable section of the instrument shaft.
18. The system of claim 11 , wherein the rotation assembly includes an inner sleeve having the multi-segment slot defined therein.
19. The system of claim 18 , wherein at least one of the first slot and the second slot has a substantially spiral configuration about the inner sleeve.
20. The system of claim 11 , wherein the instrument shaft further comprises an outer sleeve having an articulable region and a non-articulable region, wherein the end effector assembly is coupled to a distal end of the outer sleeve.