U.S. patent application number 16/872701 was filed with the patent office on 2021-11-18 for stapling device with continuously parallel jaws.
The applicant listed for this patent is Covidien LP. Invention is credited to Rajanikanth Mandula, Rajat Ravindra Rokde.
Application Number | 20210353289 16/872701 |
Document ID | / |
Family ID | 1000004844628 |
Filed Date | 2021-11-18 |
United States Patent
Application |
20210353289 |
Kind Code |
A1 |
Rokde; Rajat Ravindra ; et
al. |
November 18, 2021 |
STAPLING DEVICE WITH CONTINUOUSLY PARALLEL JAWS
Abstract
A stapling device includes first and second jaws. The second jaw
defines first and second threaded bores. A drive member has a
distal end portion supporting a rack. An approximation drive
assembly includes a first lead screw received within the first
threaded bore. A second lead screw is received within the second
threaded bore. A first pinion is supported on the first lead screw.
A second pinion is supported on the second lead screw. Moving the
drive member from the retracted position toward the advanced
position advances the rack to rotate the first pinion and the
second pinion, the first lead screw within the first threaded bore,
and the second lead screw within the second threaded bore to move
the second jaw in relation to the first jaw from an open position
to a clamped position.
Inventors: |
Rokde; Rajat Ravindra;
(Pune, IN) ; Mandula; Rajanikanth; (Hyderabad,
IN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Covidien LP |
Mansfield |
MA |
US |
|
|
Family ID: |
1000004844628 |
Appl. No.: |
16/872701 |
Filed: |
May 12, 2020 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 2017/07228
20130101; A61B 2017/07285 20130101; A61B 2017/07214 20130101; A61B
17/072 20130101; A61B 17/07207 20130101; A61B 17/068 20130101; A61B
17/115 20130101; A61B 17/0686 20130101; A61B 2017/07257
20130101 |
International
Class: |
A61B 17/068 20060101
A61B017/068; A61B 17/072 20060101 A61B017/072 |
Claims
1. A tool assembly for a surgical stapling device, comprising: a
first jaw having a first surface; a second jaw having a second
surface facing the first surface, the second jaw defining first and
second threaded bores, the second jaw movable in relation to the
first jaw between an open position and a clamped position; a drive
member having a distal end portion, the distal end portion
supporting a rack having a first side and a second side, the drive
member movable from a retracted position to an advanced position;
and an approximation drive assembly including a first lead screw
received within the first threaded bore, a second lead screw
received within the second threaded bore, a first pinion supported
on the first lead screw, and a second pinion supported on the
second lead screw, the first pinion engaging the first side of the
rack and the second pinion engaging the second side of the rack,
wherein the first lead screw and the second lead screw are each
rotatably secured to the first jaw, wherein movement of the drive
member from the retracted position toward the advanced position
advances the rack to rotate the first pinion and the second pinion,
and wherein rotating the first pinion rotates the first lead screw
within the first threaded bore and rotating the second pinion
rotates the second lead screw within the second threaded bore to
move the second jaw in relation to the first jaw from the open
position to the clamped position.
2. The tool assembly of claim 1, wherein the second surface of the
second jaw is maintained in substantially parallel alignment with
the first surface of the first jaw as the second jaw is
approximated from the open position to the clamped position.
3. The tool assembly of claim 2, wherein the first jaw supports
first and second guide pins and the second jaw defines first and
second orifices that are aligned with the first and second guide
pins, wherein the first guide pin and the second guide pin are
configured to maintain substantially parallel alignment between the
first surface of the first jaw and the second surface of the second
jaw.
4. The tool assembly of claim 1, wherein the first threaded bore is
formed at least in-part in a first nut fixedly secured to the
second jaw, and the second threaded bore is formed at least in-part
in a second nut fixedly secured to the second jaw.
5. The tool assembly of claim 1, wherein the drive member includes
a working end at the distal end portion of the drive member, the
working end configured to maintain a maximum distance between the
first surface of the first jaw and the second surface of the second
jaw when the second jaw is in the clamped position.
6. The tool assembly of claim 5, wherein the working end of the
drive member moves along the first jaw and the second jaw to
maintain the maximum distance between the first surface of the
first jaw and the second surface of the second jaw.
7. The tool assembly of claim 6, wherein the working end of the
drive member defines an I-beam, the I-beam including a first beam
configured to be engaged with the first jaw, a second beam
configured to be engaged with the second jaw, and a vertical strut
connecting the first beam and the second beam.
8. The tool assembly of claim 7, wherein the I-beam includes a
distal-facing surface that defines a knife.
9. A surgical stapling device, comprising: an elongate body having
a proximal portion and a distal portion; and a reload assembly
including a proximal body portion and a tool assembly, the proximal
body portion adapted to be releasably coupled to the distal portion
of the elongate body, and the tool assembly being supported on the
proximal body portion, the tool assembly including: a first jaw
having a first surface; a second jaw having a second surface facing
the first surface, the second jaw defining first and second
threaded bores, the second jaw movable in relation to the first jaw
between an open position and a clamped position; a drive member
having a distal end portion, the distal end portion supporting a
rack having a first side and a second side, the drive member
movable from a retracted position to an advanced position; and an
approximation drive assembly including a first lead screw received
within the first threaded bore, a second lead screw received within
the second threaded bore, a first pinion supported on the first
lead screw, and a second pinion supported on the second lead screw,
the first pinion engaging the first side of the rack and the second
pinion engaging the second side of the rack, wherein the first lead
screw and the second lead screw are each rotatably secured to the
first jaw, wherein movement of the drive member from the retracted
position toward the advanced position advances the rack to rotate
the first pinion and the second pinion, and wherein rotating the
first pinion rotates the first lead screw within the first threaded
bore and rotating the second pinion rotates the second lead screw
within the second threaded bore to move the second jaw in relation
to the first jaw from the open position to the clamped
position.
10. The surgical stapling device of claim 9, wherein the second
surface of the second jaw is maintained in substantially parallel
alignment with the first surface of the first jaw as the second jaw
is approximated from the open position to the clamped position.
11. The surgical stapling device of claim 10, wherein the first jaw
supports first and second guide pins and the second jaw defines
first and second orifices that are aligned with the first and
second guide pins, wherein the first guide pin and the second guide
pin are configured to maintain substantially parallel alignment
between the first surface of the first jaw and the second surface
of the second jaw.
12. The surgical stapling device of claim 9, wherein the first
threaded bore is formed at least in-part in a first nut fixedly
secured to the second jaw, and the second threaded bore is formed
at least in-part in a second nut fixedly secured to the second
jaw.
13. The surgical stapling device of claim 9, wherein the drive
member includes a working end at the distal end portion of the
drive member, the working end configured to maintain a maximum
distance between the first surface of the first jaw and the second
surface of the second jaw when the second jaw is in the clamped
position.
14. The surgical stapling device of claim 13, wherein the working
end of the drive member moves along the first jaw and the second
jaw to maintain the maximum distance between the first surface of
the first jaw and the second surface of the second jaw.
15. The surgical stapling device of claim 14, wherein the working
end of the drive member defines an I-beam, the I-beam including a
first beam configured to be engaged with the first jaw, a second
beam configured to be engaged with the second jaw, and a vertical
strut connecting the first beam and the second beam.
16. The surgical stapling device of claim 15, wherein the I-beam
includes a distal-facing surface that defines a knife.
Description
FIELD
[0001] This technology is generally related to surgical stapling
devices and, more particularly, to surgical stapling devices that
include a tool assembly including jaws in continuously parallel
alignment.
BACKGROUND
[0002] Surgical stapling devices for simultaneously cutting and
stapling tissue are known in the art and are commonly used during
surgical procedures to reduce the time required to perform the
surgical procedure and to facilitate endoscopic access to a
surgical site. Performing a surgical procedure endoscopically
reduces the amount of trauma inflicted on a patient during a
surgical procedure to minimize patient discomfort and reduce
patient recovery times.
[0003] Typically, endoscopic stapling devices include a tool
assembly having a first jaw, and a second jaw that can pivot in
relation to the first jaw between an open or spaced position and a
closed or clamped position. One of the first or second jaws
supports a cartridge assembly that includes a plurality of staples
and the other of the first or second jaws supports an anvil
assembly that includes an anvil having staple deforming pockets
that receive and deform legs of the staples when the staples are
ejected from the cartridge assembly.
[0004] In known devices, each of the first and second jaws is in
pivotal relation with one another about a pivot point or hinge.
Pivoting the first and second jaws creates mutually inclined
surfaces in the first and second jaws, thus creating inconsistent
pressure on tissue therebetween. As a result, tissue may be pushed
toward a distal end of the first and second jaws upon closure of
the jaws.
SUMMARY
[0005] This disclosure generally relates to surgical stapling
devices, and more particularly, to surgical stapling devices that
maintain a continuously parallel alignment between first and second
jaws during closure of the first and second jaws. The tool assembly
includes a rack and pinion closure mechanism. The rack and pinion
closure mechanism is configured such that the second jaw is
maintained in continuously parallel alignment with the first jaw as
the first and second jaws are moved from an open configuration to a
clamped configuration.
[0006] In one aspect of the disclosure, a tool assembly for a
surgical stapling device includes a first jaw having a first
surface and a second jaw having a second surface facing the first
surface. The second jaw defines first and second threaded bores.
The second jaw is movable in relation to the first jaw between an
open position and a clamped position. A drive member has a distal
end portion. The distal end portion supports a rack having a first
side and a second side. The drive member is movable from a
retracted position to an advanced position. An approximation drive
assembly includes a first lead screw received within the first
threaded bore. A second lead screw is received within the second
threaded bore. A first pinion is supported on the first lead screw.
A second pinion is supported on the second lead screw. The first
pinion engages the first side of the rack and the second pinion
engages the second side of the rack. The first lead screw and the
second lead screw are each rotatably secured to the first jaw.
Moving the drive member from the retracted position toward the
advanced position advances the rack to rotate the first pinion and
the second pinion. Rotating the first pinion rotates the first lead
screw within the first threaded bore and rotating the second pinion
rotates the second lead screw within the second threaded bore to
move the second jaw in relation to the first jaw from the open
position to the clamped position.
[0007] In some aspects of the disclosure, the second surface of the
second jaw is maintained in substantially parallel alignment with
the first surface of the first jaw as the second jaw is
approximated from the open position to the clamped position. The
first jaw supports first and second guide pins and the second jaw
defines first and second orifices that are aligned with the first
and second guide pins. The first guide pin and the second guide pin
are configured to maintain substantially parallel alignment between
the first surface of the first jaw and the second surface of the
second jaw.
[0008] In some aspects of the disclosure, the first threaded bore
is formed at least in-part in a first nut fixedly secured to the
second jaw. The second threaded bore is formed at least in-part in
a second nut fixedly secured to the second jaw.
[0009] In some aspects of the disclosure, the drive member includes
a working end at the distal end portion of the drive member. The
working end is configured to maintain a maximum distance between
the first surface of the first jaw and the second surface of the
second jaw when the second jaw is in the clamped position.
[0010] In some aspects of the disclosure, the working end of the
drive member moves along the first jaw and the second jaw to
maintain the maximum distance between the first surface of the
first jaw and the second surface of the second jaw. The working end
of the drive member defines an I-beam. The I-beam includes a first
beam configured to be engaged with the first jaw a second beam
configured to be engaged with the second jaw. A vertical strut
connects the first beam and the second beam. The I-beam may include
a distal-facing surface that defines a knife.
[0011] The details of one or more aspects of the disclosure are set
forth in the accompanying drawings and the description below. Other
features, objects, and advantages of the techniques described in
this disclosure will be apparent from the description and drawings,
and from the claims.
BRIEF DESCRIPTION OF DRAWINGS
[0012] Various aspects and features of the disclosure are described
with reference to the drawings wherein like numerals designate
identical or corresponding elements in each of the several views
and:
[0013] FIG. 1 is a side perspective view of exemplary aspects of
the disclosed stapling device including a tool assembly in an open
position;
[0014] FIG. 2 is an enlarged side perspective view of the tool
assembly of the stapling device of FIG. 1;
[0015] FIG. 3 is an exploded side perspective view of the tool
assembly of the stapling device shown in FIG. 1;
[0016] FIG. 4 is a top plan view of the tool assembly of the
stapling device shown in FIG. 1 with a first jaw shown in phantom
and the drive member in a retracted position;
[0017] FIG. 5 is an enlarged side view of the tool assembly of the
stapling device shown in FIG. 4 in the open position with the first
jaw of the tool assembly shown in phantom;
[0018] FIG. 6 is a cross-sectional view taken along section line
6-6 of FIG. 5;
[0019] FIG. 7 is a cross-sectional view taken along section line
7-7 of FIG. 5;
[0020] FIG. 8 is a top plan view of the tool assembly of the
stapling device shown in FIG. 1 in the clamped position with the
first jaw of the tool assembly shown in phantom and the drive
member in a partially advanced position;
[0021] FIG. 9 is an enlarged side view of the tool assembly of the
stapling device shown in FIG. 8 with the first and second jaws of
the tool assembly shown in phantom and the drive member in the
partially advanced position;
[0022] FIG. 10 is a cross-sectional view taken along section line
10-10 of FIG. 9;
[0023] FIG. 11 is a cross-sectional view taken along section line
11-11 of FIG. 9;
[0024] FIG. 12 is a top plan view of the tool assembly of the
stapling device shown in FIG. 1 in the clamped position with the
first jaw of the tool assembly shown in phantom and the drive
member in a fully advanced position; and
[0025] FIG. 13 is an enlarged side view of the tool assembly of the
stapling device shown in FIG. 12 with the first and second jaws of
the tool assembly shown in phantom and the drive member in the
fully advanced position.
DETAILED DESCRIPTION
[0026] The disclosed surgical stapling device will now be described
in more detail with reference to the drawings in which like
reference numerals designate identical or corresponding elements in
each of the several views. However, it is to be understood that the
aspects of the disclosure are merely exemplary of the disclosure
and may be embodied in various forms. Well-known functions or
constructions are not described in detail to avoid obscuring the
disclosure in unnecessary detail. Therefore, specific structural
and functional details disclosed herein are not to be interpreted
as limiting, but merely as a basis for the claims and as a
representative basis for teaching one skilled in the art to
variously employ the disclosure in virtually any appropriately
detailed structure. In addition, directional terms such as
horizontal, vertical, distal, proximal, and similar terms are used
to assist in understanding the description and are not intended to
limit the disclosure.
[0027] As used herein, the term "distal" refers to the portion of
the stapling device that is being described which is further from a
user, while the term "proximal" refers to the portion of the
stapling device that is being described which is closer to a user.
Further, to the extent consistent, any of the aspects and features
detailed herein may be used in conjunction with any or all the
other aspects and features detailed herein.
[0028] As used herein, the terms parallel and perpendicular are
understood to include relative configurations that are
substantially parallel and substantially perpendicular up to about
+ or -10 degrees from true parallel and true perpendicular.
[0029] "About" or "approximately" or "substantially" as used herein
may be inclusive of the stated value and means within an acceptable
range of variation for the particular value as determined by one of
ordinary skill in the art, considering the measurement in question
and the error associated with measurement of the particular
quantity (e.g., the limitations of the measurement system).
[0030] Descriptions of technical features or aspects of the
disclosure should typically be considered as available and
applicable to other similar features or aspects of the disclosure.
Accordingly, technical features described herein according to one
exemplary aspect of the disclosure may be applicable to other
exemplary aspects of the disclosure, and thus duplicative
descriptions may be omitted herein.
[0031] FIG. 1 illustrates exemplary aspects of the disclosed
surgical stapling device shown generally as stapling device 10.
Stapling device 10 includes a powered handle assembly 12, an
elongate body 14, and a tool assembly 16. The elongate body 14
defines a longitudinal axis "X-X" and includes a proximal portion
14a supported on the handle assembly 12 and a distal portion 14b
that supports the tool assembly 16. In some aspects of the
disclosure, the tool assembly 16 forms part of a reload assembly 18
that includes a proximal body portion 18a that is adapted to be
releasably coupled to the distal portion 14b of the elongate body
14 of the stapling device 10. In other aspects of the disclosure,
the proximal body portion 18a includes a distal portion that
supports the tool assembly 16 for articulation about an axis
transverse to the longitudinal axis "X" of the elongate body 14. In
alternate aspects of the disclosure, the tool assembly 16 is
fixedly secured to the distal portion 14b of the elongate body 14.
For a description of exemplary aspects of the tool assembly, see,
e.g., U.S. Pat. No. 6,241,139 ("the '139 patent").
[0032] The handle assembly 12 of the stapling device 10 includes a
stationary handle 20 and actuation buttons 22 that can be depressed
to actuate the tool assembly 16, e.g., approximate the tool
assembly 16, articulate the tool assembly 16, fire staples, etc. In
aspects of the disclosure, batteries (not shown) are supported in
the stationary handle 20 to power the handle assembly 12. It is
envisioned that the stapling device 10 need not be powered but can
also include a manually powered handle assembly such as described
in the '139 patent.
[0033] FIGS. 2-13 illustrate the tool assembly 16 of the surgical
stapling device 10 of FIG. 1. The tool assembly 16 for the surgical
stapling device 10 includes a first jaw 101 and a second jaw 102.
In aspects of the disclosure, the first jaw 101 supports an anvil
111 that includes a first tissue contact surface 121, and the
second jaw 102 supports a cartridge assembly 112 that includes a
staple cartridge 113 defining a second tissue contact surface 122
and a plurality of staple pockets 114. Alternatively, the jaws of
the tool assembly 16 may support other surgical devices including
vessel sealing devices, clip appliers, two-part fastener appliers,
grasping devices, etc. The second jaw 102 is movable in relation to
the first jaw 101 between an open position (see, e.g., FIG. 2) and
a clamped position (see, e.g., FIG. 9). In the clamped position,
the second surface 122 of the staple cartridge 113 is in juxtaposed
alignment with the first surface 121 of the anvil 111. As described
below in more detail, in use, the second jaw 102 is moved from the
open position to the clamped position by advancing a drive member
331, while continuously maintaining parallel alignment between the
first surface 121 of the anvil 111 and the second surface 122 of
the staple cartridge 113. When the second jaw 102 is in the clamped
position, the first surface 121 of the anvil 111 and the second
surface 122 of the staple cartridge 113 are in juxtaposed alignment
and define a predetermined maximum tissue gap "G" (see FIG.
13).
[0034] Moving the second jaw 102 with respect to the first jaw 101
from the open position to the clamped position while continuously
maintaining parallel alignment between the first surface 121 of the
anvil 111 and the second surface 122 of the cartridge assembly 112
increases the ability of the operator to achieve a desired tissue
compression force in the tissue gap "G." Additionally, pinching of
tissue which may occur around the site of a pivot point between an
anvil and a cartridge in a conventional tool assembly can be
minimized. Continuously maintaining the first surface 121 of the
anvil 111 and the second surface 122 of the cartridge assembly 112
in parallel alignment applies a more evenly distributed compression
force to the tissue during clamping, as compared with a
conventional tool assembly employing a pivot point between the
anvil 111 and the cartridge assembly 112.
[0035] FIGS. 3-7 illustrate the second jaw 102 which defines a
first threaded bore 201 and a second threaded bore 202. The drive
member 331 has a distal end portion 333 and a proximal end portion
332. The distal end portion 333 supports a rack 203 having a first
side and a second side. The rack 203 defines a plurality of teeth
on each of the first side and the second side of the rack 203 that
are configured to engage gears formed on a corresponding pinion. An
approximation drive assembly 204 (FIG. 3) includes a first lead
screw 205, a second lead screw 206, a first pinion 207, and a
second pinion 208. The first lead screw 205 is received within the
first threaded bore 201 and the second lead screw 206 is received
within the second threaded bore 202. A first pinion 207 is
supported on the first lead screw 205 and the second pinion 208 is
supported on the second lead screw 206. The first pinion 207
engages the first side of the rack 203 and the second pinion 208
engages the second side of the rack 203. The first lead screw 205
and the second lead screw 206 are each rotatably secured to the
first jaw 101. Moving the drive member 331 from the retracted
position toward the advanced position advances the rack 203 to
rotate the first pinion 207 and the second pinion 208. Rotating the
first pinion 207 rotates the first lead screw 205 within the first
threaded bore 201 and rotating the second pinion 208 rotates the
second lead screw 206 within the second threaded bore 202 to move
the second jaw 102 in relation to the first jaw 101 from the open
position to the clamped position.
[0036] The first threaded bore 201 may be formed at least in-part
in a first nut 209 that is fixedly secured to the second jaw 102.
Similarly, the second threaded bore 202 may be formed at least
in-part in a second nut 210 fixedly secured to the second jaw
102.
[0037] The first jaw 101 supports a first guide pin 211 (FIG. 7)
and a second guide pin 212. The second jaw 102 defines a first
orifice 213 and a second orifice 214. The first orifice 213 is
aligned with the first guide pin 211 and the second orifice 214 is
aligned with the second guide pin 212. The first guide pin 211
includes a first end portion 215 partially positioned in the first
orifice 213 when the second jaw 102 is in the open position with
respect to the first jaw 101 (FIG. 7). The first end portion 215 of
the first guide pin 211 further slides into the first orifice 213
as the second jaw 102 is approximated to the closed position with
respect to the first jaw 101 (FIG. 11). The second guide pin 212
includes a second end portion 216 partially positioned in the
second orifice 214 when the second jaw 102 is in the open position
with respect to the first jaw 101 (FIG. 7). The second end portion
216 of the second guide pin 212 further slides into the second
orifice 214 as the second jaw 102 is approximated to the closed
position with respect to the first jaw 101 (FIG. 11). The first
guide pin 211 and the second guide pin 212 maintain parallel
alignment and prevent relative rotation between the first jaw 101
and the second jaw 102.
[0038] The distal portion 333 of the drive member 331 supports a
working end (e.g., I-beam 334) that defines the maximum tissue gap
"G." The I-beam 334 has a first beam 335, a second beam 336, and a
vertical strut 337 connecting the first beam 335 with the second
beam 336. The drive member 331 is movable from a retracted positon
(see, e.g., FIG. 5) towards a partially advanced position to move
the tool assembly from the open position to the clamped position
(see, e.g., FIG. 9), and is movable from the partially advanced
position to a fully advanced position (see, e.g., FIG. 13) to fire
staples from the cartridge assembly 112. The partially advanced
position of the drive member 331 (FIG. 9) is defined by a distal
end portion 339 of the rack 203. The drive member 331 has a flat
surface 340 on opposite sides thereof between the distal end
portion 339 of the rack 203 and the proximal end portion 332 of the
drive member 331. Thus, advancing the drive member 331 from the
partially advanced position (FIG. 9) to the fully advanced position
(FIG. 13) does not rotate first pinion 207 or second pinion 208.
When the drive member 331 is advanced from the retracted position
(FIG. 5) to the partially advanced position (FIG. 9), the second
jaw member 102 is fully approximated from the open configuration
with respect to the first jaw member 101 (FIG. 5) into the
approximated position with respect to the first jaw member 101
(FIG. 9) by rotation of the first pinion 207 and the second pinion
208. As the drive member 331 further moves through the tool
assembly 16 from the partially advanced position (FIG. 9) to the
fully advanced position (FIG. 13), the first beam 335 engages the
first jaw 101 and the second beam 336 engages the second jaw 102 to
prevent outward movement of the first and second jaws 101 and 102
beyond a pre-set distance to define the maximum tissue gap "G".
When the drive member 331 reaches the fully advanced position (FIG.
13), all staples of the cartridge assembly 112 have been fired.
[0039] The I-beam 334 may have a distal-facing surface that defines
a knife 338 having a sharpened edge configured to cut tissue.
[0040] The various aspects of the stapling device disclosed herein
may also be configured to work with robotic surgical systems and
what is commonly referred to as "Telesurgery." Such systems employ
various robotic elements to assist the surgeon and allow remote
operation (or partial remote operation) of surgical
instrumentation. Various robotic arms, gears, cams, pulleys,
electric and mechanical motors, etc. may be employed for this
purpose and may be designed with a robotic surgical system to
assist the surgeon during the course of an operation or treatment.
Such robotic systems may include remotely steerable systems,
automatically flexible surgical systems, remotely flexible surgical
systems, remotely articulating surgical systems, wireless surgical
systems, modular or selectively configurable remotely operated
surgical systems, etc.
[0041] The robotic surgical systems may be employed with one or
more consoles that are next to the operating theater or located in
a remote location. In this instance, one team of surgeons or nurses
may prep the patient for surgery and configure the robotic surgical
system with one or more of the instruments disclosed herein while
another surgeon (or group of surgeons) remotely controls the
instruments via the robotic surgical system. As can be appreciated,
a highly skilled surgeon may perform multiple operations in
multiple locations without leaving his/her remote console which can
be both economically advantageous and a benefit to the patient or a
series of patients.
[0042] The robotic arms of the surgical system are typically
coupled to a pair of master handles by a controller. The handles
can be moved by the surgeon to produce a corresponding movement of
the working ends of any type of surgical instrument (e.g., end
effectors, graspers, knifes, scissors, etc.) which may complement
the use of one or more of the aspects of the disclosure described
herein. The movement of the master handles may be scaled so that
the working ends have a corresponding movement that is different,
smaller or larger, than the movement performed by the operating
hands of the surgeon. The scale factor or gearing ratio may be
adjustable so that the operator can control the resolution of the
working ends of the surgical instrument(s).
[0043] The master handles may include various sensors to provide
feedback to the surgeon relating to various tissue parameters or
conditions, e.g., tissue resistance due to manipulation, cutting or
otherwise treating, pressure by the instrument onto the tissue,
tissue temperature, tissue impedance, etc. As can be appreciated,
such sensors provide the surgeon with enhanced tactile feedback
simulating actual operating conditions. The master handles may also
include a variety of different actuators for delicate tissue
manipulation or treatment further enhancing the surgeon's ability
to mimic actual operating conditions.
[0044] It should be understood that various aspects disclosed
herein may be combined in different combinations than the
combinations specifically presented in the description and
accompanying drawings. It should also be understood that, depending
on the example, certain acts or events of any of the processes or
methods described herein may be performed in a different sequence,
may be added, merged, or left out altogether (e.g., all described
acts or events may not be necessary to carry out the techniques).
In addition, while certain aspects of this disclosure are described
as being performed by a single module or unit for purposes of
clarity, it should be understood that the techniques of this
disclosure may be performed by a combination of units or modules
associated with, for example, a medical device.
* * * * *