Articulating surgical instrument

{
  "publication_number": "US11717364B2",
  "country": "US",
  "kind": "B2",
  "title": "Articulating surgical instrument",
  "abstract": "An electrosurgical instrument having jaws is energized and actuated using a length of cable. The cable is formed of a conductive inner portion coated with a dielectric polymer. The cable extends through a pass-through in a portion of the jaw and is crimped to create a mechanical and electrical connection between the conductive inner portion and the conductive jaw material.",
  "claims": [
    "1. An electrosurgical instrument, comprising: an elongate shaft; a jaw member assembly on the elongate shaft, the jaw member assembly comprising at least one electrically conductive jaw member having a distal jaw, a collar having a through hole, and a stem between the distal jaw and the collar, the jaw member including a pass-through extending through the stem, and medial and lateral pulley sections disposed on opposite sides of the collar to define a cable channel between them, and a pivot pin extending through the medial and lateral pulley sections and the through hole of the collar, the jaw member pivotable about the pivot pin; an electrically conductive hypotube element disposed in the pass-through, the hypotube element having a lumen; an electrically conductive cable extending through the lumen of the hypotube element, wherein the hypotube is swaged at the pass-through to form an electrically conductive path between the cable and the jaw member, and the cable, jaw member and shaft are arranged such that an alteration of tension on the cable causes articulation of the jaw member relative to the shaft; and an actuator engaged with the cable, the actuator operable to selectively alter tension on the cable wherein the cable includes first and second segments, the first segment extending from a first end of the hypotube element around a first portion of the cable channel and into the shaft, the second segment extending from a second end of the hypotube element around a second portion of the cable channel and into the shaft, wherein the first and second portions of the cable channel are different portions of the cable channel and first end and second end are opposite ends of the hypotube element.",
    "2. The instrument of claim 1, wherein the cable includes an insulative coating, the portion of the cable underlying the hypotube being at least partially free of the coating.",
    "3. The instrument of claim 1, wherein: the jaw member and the medial and lateral pulleys are rotationally coupled such that an alteration of tension on the cable causes articulation of the jaw member assembly about the pin and relative to the shaft.",
    "4. The instrument of claim 1, wherein the cable channel extends annularly from the passthrough.",
    "5. The instrument of claim 1, wherein the cable channel is defined by an annular rib on the medial or lateral pulley section, the cable extending from the hypotube along a circumference of the rib.",
    "6. The instrument of claim 1, wherein: the jaw member is a first jaw member and the instrument further includes a second electrically conductive jaw member on the elongate shaft, the second jaw member including a second pass-through, and a second electrically conductive hypotube element disposed in the second pass-through; the cable is a first cable and the instrument further includes a second electrically conductive cable extending through a lumen of the second hypotube element, wherein the second hypotube is swaged at the pass-through to form an electrically conductive path between the second cable and the second jaw member, and the second cable, second jaw member and the shaft are arranged such that an alteration of tension on the second cable causes articulation of the second jaw member relative to the shaft.",
    "7. A method of assembling an electrosurgical instrument, comprising: providing at least one electrically conductive jaw member having a pass-through, a distal jaw, a collar having a through hole, and a stem extending between the distal jaw and the collar; assembling the jaw member into a jaw member assembly, said assembling including: sandwiching the collar between medial and lateral pulley sections to define a cable channel between the medial and lateral pulley sections; positioning the cable such that a first segment extends proximally from a first end of the hypotube around a first portion of the cable channel and into the shaft, the second segment extending proximally from a second end of the hypotube around a second portion of the cable channel and into the shaft, the first and second ends being opposite ends of the hypotube; and positioning a pin through the medial and lateral pulley sections and the through hole of the collar to rotationally couple the jaw member and the medial and lateral pulleys such that an alteration of tension on the cable causes articulation of the jaw member assembly relative to the shaft; positioning an electrically conductive hypotube element in the pass-through; positioning an electrically conductive cable through a lumen of the pass-through; swaging the hypotube at the pass-through to form an electrically conductive path between the cable and the jaw member, coupling the jaw member to a distal end of an elongate shaft and extending the cable along the length of the shaft with the jaw member, cable and shaft arranged such that an alteration of tension on the cable causes articulation of the jaw member relative to the shaft; and engaging an actuator with the cable, the actuator operable to selectively alter tension on the cable.",
    "8. The method of claim 7, further including providing the cable to include an insulative coating, the portion of the cable underlying the hypotube being at least partially free of the coating.",
    "9. The method of claim 7, wherein the cable channel extends annularly from the passthrough.",
    "10. The instrument of claim 1, wherein the medial or lateral pulley section includes a boss, the boss extending through the through hole of the collar.",
    "11. The instrument of claim 10, wherein the pin extends through a lumen in the boss.",
    "12. The method of claim 7, wherein the medial or lateral pulley section is provided to include a boss, and wherein sandwiching the collar between medial and lateral pulley sections includes positioning the boss to extend through the through hole of the collar.",
    "13. The method of claim 12, further including positioning the lumen to extend through a lumen in the boss.",
    "14. An electrosurgical instrument, comprising: an elongate shaft; at least one electrically conductive jaw member on the elongate shaft, the jaw member including a pass-through; an electrically conductive hypotube element disposed in the pass-through, the hypotube element having a lumen; an electrically conductive cable having first and second end segments extending through the shaft, and an intermediate segment extending through the lumen of the hypotube element, wherein the hypotube is swaged at the pass-through to form an electrically conductive path between the intermediate segment of the cable and the jaw member, the first segment extends from a first end of the hypotube element and into the shaft, the second segment extends from a second end of the hypotube element and into the shaft, wherein the first end and second end are opposite ends of the hypotube element. and the cable, jaw member and shaft are arranged such that an alteration of tension on the cable causes articulation of the jaw member relative to the shaft; and an actuator engaged with the cable, the actuator operable to selectively alter tension on the cable."
  ],
  "description_excerpt": "This application claims the benefit of U.S. Provisional Application No. 62/787,244, filed 31 Dec. 2018, and U.S. Provisional Application No. 62/787,303, filed 1 Jan. 2019.\n\nThe present invention relates to the field of surgical devices and systems, including those using electromechanical actuation.\n\nThere are various types of surgical robotic systems on the market or under development. Some surgical robotic systems use a plurality of robotic arms. Each arm carries a surgical instrument, or the camera used to capture images from within the body for display on a monitor. See U.S. Pat. No. 9,358,682 and US 20160058513, which are incorporated herein by reference. Other surgical robotic systems use a single arm that carries a plurality of instruments and a camera that extend into the body via a single incision. Each of these types of robotic systems uses motors to position and/or orient the camera and instruments and to, where applicable, actuate the instruments. Typical configurations allow two or three instruments and the camera to be supported and manipulated by the system. Input to the system is generated based on input from a surgeon positioned at a master console, typically using input devices such as input handles and a foot pedal. Motion and actuation of the surgical instruments and the camera is controlled based on the user input. The image captured by the camera is shown on a display at the surgeon console. The console may be located patient-side, within the sterile field, or outside of the sterile field.",
  "cpc": [
    "A61B 34/37",
    "A61B 18/085",
    "A61B 18/1445",
    "A61B 2017/00477",
    "A61B 2017/2902",
    "A61B 2017/2927",
    "A61B 2034/305",
    "A61B 2090/0808",
    "A61B 34/71",
    "A61B 90/08"
  ],
  "ipc": [
    "A61B 34/00",
    "A61B 34/37",
    "A61B 90/00",
    "A61B 18/08"
  ],
  "assignees": [
    "Asensus Surgical US Inc"
  ],
  "inventors": [
    "Matthew Robert Penny",
    "Nicholas J. Jardine",
    "Paul Wilhelm Schnur"
  ],
  "filing_date": "2019-12-31",
  "publication_date": "2023-08-08",
  "grant_date": "2023-08-08",
  "priority_date": "2018-12-31",
  "application_number": "US-201916732306-A",
  "family_id": "72661763",
  "cited_by_count": 5,
  "citations": [
    "US6840938B1",
    "US9339341B2"
  ]
}