Granted Patent B2

US 12,727,880 · App. 18/800,806 · Granted Sep 8, 2026

Inventor: Thomas D. Egan (Marblehead, MA)

Assignee: Intuitive Surgical Operations, Inc.

A61B17/06166A61B17/0401A61B17/0469B29C65/3468A61B2017/0409A61B2017/0619

Abstract

Claims (64)

1 . An apparatus for applying suture to tissue, wherein the suture comprises a biocompatible, electrically conductive thermoplastic material and has a diameter, the apparatus comprising:

a shaft having a distal end and a proximal end;

a jaw assembly coupled to the shaft, the jaw assembly comprising:

a first jaw member comprising a first connector, and

a second jaw member comprising a second connector;

a gripping assembly coupled to the shaft, the gripping assembly comprising:

a first gripper comprising a first gripping surface, and

a second gripper comprising a second gripping surface;

an electrode assembly coupled to the shaft, the electrode assembly comprising an electrode movable toward and away from the first and second gripping surfaces; and

an actuation assembly operably coupled to the jaw assembly, the gripping assembly, and the electrode assembly, the actuation assembly comprising:

an actuation member movably mounted to the shaft and movable between a first position and a second position relative to the shaft, and

a drive member mounted to the actuation member and coupled to the first connector of the first jaw member and the second connector of the second jaw member,

wherein movement of the actuation member from the first position toward the second position relative to the shaft causes, sequentially:

(a) at least one of the first and second jaw members of the jaw assembly to move from an initial spaced apart position toward each other and toward a closed position;

(b) at least one of the first and second grippers to move the first and second gripping surfaces from an initial spaced apart position toward each other toward a gripping position; and

(c) the electrode to move from an initial position away from the first and second gripping surfaces toward the first and second gripping surfaces.

2 . The apparatus according to claim 1 , wherein subsequent movement of the actuation member from the second position toward the first position causes, sequentially:

(d) the electrode to move away from the first and second gripping surface toward the initial position;

(e) at least one of the first and second grippers to move the first and second gripping surfaces away from each other and toward the initial spaced apart position; and

(f) at least one of the first and second jaw members of the jaw assembly to move away from each other toward the initial spaced apart position.

3 . The apparatus according to claim 2 , further comprising a cutter blade, wherein movement of the actuation member from the first position toward the second position relative to the shaft further causes movement of the cutter blade in response to movement of the at least one of the first gripping surface and the second gripping surfaces away from each other.

4 . The apparatus according to claim 1 , wherein the first connector is a first slot and the second connector is a second slot.

5 . The apparatus according to claim 4 , wherein the first slot comprises a curved portion and a straight portion, and further wherein the second slot comprises a curved portion and a straight portion.

6 . The apparatus according to claim 1 , wherein the gripping assembly further comprises a gripper clip engageable with the first gripper and the second gripper.

7 . The apparatus according to claim 6 , further comprising a cutter blade mounted to and moveable with the gripper clip.

8 . The apparatus according to claim 1 , wherein the electrode assembly is configured to generate an electric potential between the electrode and at least one of the first and second gripping surfaces.

9 . The apparatus according to claim 1 ,

wherein the first jaw member comprises a first passageway and the second jaw member comprises a second passageway, and

wherein in the closed position, the first and second passageways form a continuous passageway configured to receive a loop of suture.

10 . The apparatus according to claim 9 , wherein the first passageway in the first jaw member is a groove, and further wherein the second passageway in the second jaw member is a groove.

11 . The apparatus according to claim 1 , wherein the electrode assembly comprises:

a first electrode;

a second electrode; and

a spring biasing the first electrode and the second electrode toward engagement with the gripping assembly.

12 . The apparatus of claim 11 , wherein the spring biases the first electrode and the second electrode to maintain pressure on a contact region of the suture between a first end of the suture and second end of the suture.

13 . The apparatus according to claim 11 , further comprising:

a first pin comprising a protruding head, the first pin extending proximally from one of the first and second electrodes; and

a hinge pin coupled to the jaw assembly, the first jaw member and the second jaw member pivotable relative to each other about the hinge pin.

14 . The apparatus of claim 13 , wherein:

the hinge pin includes a counterbore,

the hinge pin restrains axial movement of the first gripper and the second gripper, and

the spring engages the head of the first pin and the counterbore and exerts a proximally directed biasing force on the first electrode.

15 . The apparatus of claim 13 , further comprising:

a second pin including a head coupled to a second spring, wherein the second spring exerts a biasing force on the second pin,

wherein in a state of contact between the first pin and the second pin, the biasing force of the second spring causes the electrode to move toward the first and second gripping surfaces.

16 . The apparatus of claim 1 , wherein the actuation member comprises a rod.

17 . A method for actuation of a suturing device for applying suture to tissue, comprising:

moving an actuation member of the suturing device and thereby driving movement of a jaw assembly, a gripper assembly, and an electrode assembly operably coupled to the actuation member,

wherein movement of the actuation member in a first direction causes, sequentially:

(a) at least one of a first and second jaw of the jaw assembly to move from an initial spaced apart position toward the other of the at least one first and second jaw and toward a closed position;

(b) at least one of first and second grippers of the gripping assembly to move first and second gripping surfaces from an initial spaced apart position toward each other to a gripping position; and

(c) an electrode of the electrode assembly to move from an initial position spaced from the first and second gripping surfaces toward the first and second gripping surfaces to a welding position in which the electrode is configured to generate an electric potential with one of the first and second grippers.

18 . The method according to claim 17 , wherein subsequent movement of the actuation member in a second direction opposite the first direction causes, sequentially:

(d) the electrode to move from its welding position toward the initial position spaced from the first and second gripping surfaces;

(e) at least one of the first and second grippers to move the first and second gripping surfaces toward the initial spaced apart position; and

(f) at least one of the first and second jaws of the jaw assembly toward the initial spaced apart position.

19 . The method according to claim 18 , wherein movement of the actuation member drives movement of a drive component coupled to the first jaw and the second jaw.

20 . The method according to claim 19 , wherein the drive component comprises a pin received in a first slot of the first jaw and a second slot of the second jaw.

21 . The method according to claim 17 , wherein movement of the actuation member further causes a cutter blade to move from an initial position spaced from the first and second gripping surfaces toward the first and second gripping surfaces to a cutting position after step (c).

22 . The method according to claim 17 , wherein movement of the actuation member in the first direction further causes movement of a plurality of pinching features along the first gripper and the second gripper to move the first and second gripping surfaces toward the gripping position at step (b).

23 . The method according to claim 17 , wherein movement of the actuation member in the first direction further comprises:

causing contact between a first pin coupled to an electrode at a first spring and a second pin within the gripper assembly, wherein the second pin is coupled to a second spring; and

causing movement of the electrode toward the welding position at step (c).

24 . The method according to claim 17 , wherein movement of an electrode of the electrode assembly into the welding position further comprises maintaining the electrode in a biased position to maintain pressure on a contact point.

Assignments (2)

Continuity (4)

References Cited (82)