Locking articulating robotic surgical tools
AssigneeEthicon, Inc.
InventorsJeffrey S. Swayze, Mark Overmyer
Life of this patent
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Abstract
Various exemplary systems, devices, and methods are provided for locking articulating surgical tools. In general, a surgical tool can include an elongate shaft having at a distal end thereof an end effector configured to engage tissue. The end effector can be configured to articulate relative to the elongate shaft. The surgical tool can include a locking mechanism configured to lock the end effector at its current angled orientation. The surgical tool can be configured to releasably couple to a robotic surgical system configured to control a variety of movements and actions associated with the surgical tool.
Claims20
A surgical device, comprising:
- an elongate shaft;
- an end effector at a distal end of the elongate shaft, the end effector being configured to articulate at an angle relative to a longitudinal axis of the elongate shaft;
- a cutting element configured to move longitudinally along the end effector to cut tissue engaged by the end effector;
- and
- a locking mechanism configured to lock the end effector at the angle, wherein the movement of the cutting element along the end effector is configured to cause the locking mechanism to lock the end effector at the angle.
A surgical device, comprising:
- an elongate shaft;
- an end effector at a distal end of the elongate shaft, the end effector being configured to articulate at an angle relative to a longitudinal axis of the elongate shaft;
- a rod configured to move longitudinally relative to the end effector to thereby cause the end effector to articulate;
- a cutting element configured to move longitudinally along the end effector to cut tissue engaged by the end effector;
- and
- a locking mechanism configured to automatically move relative to the end effector, wherein the movement of the cutting element is configured to cause the automatic movement of the locking mechanism to thereby hold the end effector at the angle.
A surgical method, comprising:
- actuating a first actuator of a surgical tool having an elongate shaft with an end effector at a distal end thereof, actuation of the first actuator causing the end effector to articulate at any angle up to a maximum angle relative to the elongate shaft;
- and
- actuating a second actuator of the surgical tool to cause a cutting element of the surgical tool to move along the end effector to cut tissue engaged by the end effector;
- wherein one of actuating the first actuator and actuating the second actuator causes the end effector to be locked at the angle throughout the movement of the cutting element.
Dependencies are inferred from the claim text.