Instrument for Selectively Grabbing and Cutting Tissue

Abstract

A surgical instrument configured for both grasping and cutting operations has a shaft with a push rod extending through it. An end effector on the shaft has a grasping jaw, a cutting jaw, and an intermediate jaw. The grasping jaw forms a grasping device with the intermediate jaw, and the cutting jaw forming a cutting device with the intermediate member. A segment of the shaft proximal to the end effector is axially rotatable between a first position, in which the push rod can advance through the segment to actuate the cutting device, and a second position in which the push rod can advance through the segment to actuate the grasping device

Claims

1. A method of using a surgical instrument comprising: providing an elongate shaft, a shaft tip on the shaft and axially rotatable relative to the shaft, and an end effector including a grasping jaw, a cutting jaw, and at least one intermediate jaw, said grasping jaw forming a grasping device defining a grasping jaw opening with at least one of said at least one intermediate jaw, and said cutting jaw forming a cutting device having a cutting jaw opening with at least one of said at least one intermediate jaw; positioning the shaft tip in a first axial position relative to the shaft and moving an actuator relative to the shaft to move the grasping jaw from an open position to a closed position without moving the cutting jaw between open and closed positions; axially rotating the shaft tip to position the shaft tip in a second axial position relative to the shaft, and moving the actuator relative to the shaft to move the cutting jaw from an open position to the closed position without moving the grasping jaw between open and closed positions.

2. The method of claim 1, wherein: the elongate shaft is provided to have a push rod longitudinally extending therethrough, and the shaft tip is provided to have first and second through-holes; positioning the shaft tip in a first axial positions the first through-hole in longitudinal alignment with the push rod; moving the actuator relative to the shaft to move the grasping jaw from an open position to a closed position longitudinally advances the push rod into the first through-hole to close the grasping jaw; positioning the shaft tip in a second axial positions the second through-hole in longitudinal alignment with the push rod; moving the actuator relative to the shaft to move the cutting jaw from an open position to a closed position longitudinally advances the push rod into the second through-hole to close the cutting jaw.

3. The method of claim 1, wherein the grasping jaw opening and cutting jaw opening are separate openings.

4. The method of claim 1, wherein the grasping jaw has a closed position and wherein the grasping jaw remains in the closed position when shaft tip is in the second position.

5. The method of claim 1, wherein the cutting device has a closed position and wherein the cutting device remains in the closed position when shaft tip is in the first position.

6. The method of claim 1, wherein each of the cutting device and the grasping device has a closed position, and wherein each of the cutting device and the grasping device is in its corresponding closed position when the push rod occupies neither the first nor the second through-hole.

7. The method of claim 1, wherein the surgical instrument is mounted to a robotic manipulator of a surgical robotic system including a robotic manipulator and a user input, and wherein the step of positioning the shaft tip in the first axial position or second axial position relative to the shaft is performed in response to tip selection input by a user using the user input.

8. The method of claim 7, wherein the step moving the actuator relative to the shaft to move the cutting jaw or the grasping jaw from an open position to the closed position is performed in response to instrument actuation input by a user using the user input.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0008] FIG. 1 shows an example of a robot-assisted surgical system;

[0009] FIG. 2 shows an end effector of an embodiment of a surgical instrument employing separate grab and cut features;

[0010] FIG. 3A is similar to FIG. 2 and illustrates rotation of the shaft tip relative to the shaft during instrument selection.

[0011] FIG. 3B is a cross-section view of the shaft tip.

DETAILED DESCRIPTION

[0012] Referring to FIG. 2, a surgical instrument 10 includes an end effector having a grasping part 112 and a cutting part 114. The end effector is disposed on a shaft 108.

[0013] In the illustrated embodiment, the end effector is formed by a pair of pivoting jaw members 116a, 116b and a central member 118. The jaw member 116a and the central member 118 form the cutting part 112, which includes at least one cutting surface facing into a cutting jaw opening 120. The jaw member 116b and the central member 118 form the grasping part having a grasping jaw opening 122 and grasping surfaces on the jaw member 116b and the portion of the central member on the grasping side, facing the grasping jaw opening 122. The jaw openings 120, 122 are separate openings in this embodiment.

[0014] In alternative embodiments, the central member 18 may be two separate members, one used for the grasping part and one used for the cutting part.

[0015] A shaft tip 124 of the end effector is rotatable on the shaft 108. As shown in the cross-section view of the shaft tip that is shown in FIG. 3B, the shaft tip 124 includes a pair of longitudinal through-holes in parallel to one another. Within the shaft 108 is a push rod 128 that is moveable longitudinally in proximal and distal directions. Depending on the rotational orientation of the shaft tip 124, the push rod aligns and enters either the through-hole 126a corresponding to the cutting part, or through-hole 126b corresponding to the grasping part. Actuation of the push rod to move includes use of electromechanical actuators in the manipulator or carried by the instrument to cause operation of the corresponding part 112, 114.

[0016] To change the tip selection from one part to the other, the user enters input at the user input device of the surgical system, which causes electromechanical actuators in the manipulator or the instrument to effect rotation of the shaft tip 124 relative to the shaft 108.

[0017] The actuation mechanism of the instrument is preferably configured so that distal movement of the push rod 128 causes opening of the corresponding jaws (which, as discussed above, depends on whether the cutting part or the grasping part is aligned with the push rod). Whichever of the cutting part and distal part is not positioned to be actuated will remain in the closed position during actuation of the other part. Note that FIGS. 2 and 3 show both the cutting part and grasping part in open positions for purposes of simplicity, since at any given time both the grasping and cutting parts will be closed, or one will be open and the other closed.