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US 10,206,738 B2Granted
Robotic electrosurgical device with disposable shaft
AssigneeEthicon, Inc.
InventorsShailendra K. Parihar, Barry C. Worrell
Life of this patent
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Abstract
An apparatus includes an interface assembly and a shaft assembly. The interface assembly is for use with a robotic system and includes a first drive assembly. The first drive assembly includes a first slot having a distal recess and a transverse recess. The shaft assembly is removably couplable with the interface assembly and includes an end effector and a first coupling feature. The first drive assembly of the interface assembly actuates the end effector of the shaft assembly. The first coupling feature is couplable with the first slot of the first drive assembly to longitudinally fix the shaft assembly relative to the interface assembly.
Claims19
An apparatus for operating on tissue, comprising:
- (a) an end effector;
- (b) a shaft assembly extending proximally from the end effector along a longitudinal axis, wherein the shaft assembly includes a proximal end portion having a first coupling feature projecting radially outward therefrom about the longitudinal axis;
- and
- (c) an interface assembly configured to removably couple with the shaft assembly for use with a robotic system, the interface assembly including:
- (i) a proximal end,
- (ii) a distal end, and
- (iii) a first drive assembly having a first slot with a first proximal slot opening, wherein the first slot is configured to distally receive the first coupling feature of the shaft assembly through the first proximal slot opening to removably couple the first coupling feature to the first drive assembly, wherein the first drive assembly is configured to actuate the first coupling feature to thereby actuate the end effector,
- wherein the shaft assembly is axially insertable into the proximal end of the interface assembly upon removably coupling the first coupling feature to the first drive assembly such that the end effector is configured to travel through the proximal end of the interface assembly and out through the distal end of the interface assembly,
- wherein the first drive assembly further includes a first drive opening extending longitudinally therethrough, wherein the first drive opening is configured to distally receive the end effector and the shaft assembly such that the end effector is configured to travel through the first drive opening, and
- wherein the first slot is positioned about the first drive opening such that the first slot extends radially inward in communication with the first drive opening to receive the radially outward projecting first coupling feature,
- wherein the first slot is configured to receive the first coupling feature as a first bayonet fitting.
8 more elements
An apparatus for operating on tissue, comprising:
- (a) an end effector;
- (b) a shaft assembly extending proximally from the end effector along a longitudinal axis, wherein the shaft assembly includes a proximal end portion having a first coupling feature projecting radially outward therefrom about the longitudinal axis and a second coupling feature projecting radially outward therefrom about the longitudinally axis, wherein the shaft assembly further includes an outer member and an inner member, wherein the outer member is configured to movably receive the inner member and wherein the first and second coupling features extend from the outer and inner members, respectively, and wherein the second coupling feature is configured to move relative to the first coupling feature to thereby actuate the inner member relative to the outer member;
- and
- (c) an interface assembly configured to removably couple with the shaft assembly for use with a robotic system, the interface assembly including:
- (i) a proximal end,
- (ii) a distal end,
- (iii) a first drive assembly having a first slot with a first proximal slot opening, wherein the first slot is configured to distally receive the first coupling feature of the shaft assembly through the first proximal slot opening to removably couple the first coupling feature to the first drive assembly, wherein the first drive assembly is configured to actuate the first coupling feature to thereby actuate the end effector, and
- (iv) a second drive assembly having a second slot with a second proximal slot opening, wherein the second slot is configured to distally receive the second coupling feature of the shaft assembly through the second proximal slot opening to removably couple the second coupling feature to the second drive assembly, wherein the second drive assembly is configured to actuate the second coupling feature to thereby further actuate the end effector,
- wherein the shaft assembly is axially insertable into the proximal end of the interface assembly upon removably coupling the first coupling feature to the first drive assembly such that the end effector is configured to travel through the proximal end of the interface assembly and out through the distal end of the interface assembly.
6 more elements
An apparatus for operating on tissue, comprising:
- (a) an end effector;
- (b) a shaft assembly extending proximally from the end effector along a longitudinal axis, wherein the shaft assembly includes a proximal end portion having a first coupling feature projecting radially therefrom about the longitudinal axis;
- and
- (c) an interface assembly configured to removably couple with the shaft assembly for use with a robotic system, the interface assembly including:
- (i) a proximal end,
- (ii) a distal end, and
- (iii) a first drive assembly having a first slot with a first proximal slot opening, wherein the first slot is configured to distally receive the first coupling feature of the shaft assembly through the first proximal slot opening to removably couple the first coupling feature to the first drive assembly, wherein the first drive assembly is configured to actuate the first coupling feature to thereby actuate the end effector,
- wherein the shaft assembly is axially insertable into the proximal end of the interface assembly upon removably coupling the first coupling feature to the first drive assembly such that the end effector is configured to travel through the proximal end of the interface assembly and out through the distal end of the interface assembly,
- wherein the shaft assembly further includes an outer shaft and an inner shaft extending proximally from the outer shaft, wherein the inner shaft is movable relative to the outer shaft, and wherein the first coupling feature extends from the outer shaft or inner shaft and is configured to actuate the outer and inner shafts relative to each other.
6 more elements
Dependencies are inferred from the claim text.