# US 10,307,215 B2 · Locking articulating robotic surgical tools > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,307,215 B2 - Document ID: US10307215B2 - Status: Granted - Kind: B2 - Application number: 15/422,714 - Filed: 2017-02-02 - Published: 2018-08-02 - Granted: 2019-06-04 - Earliest claimed: 2017-02-02 - Assignees: Ethicon, Inc. - Applicants: Ethicon LLC - Inventors: Jeffrey S. Swayze; Mark Overmyer - Web page: https://patentgrep.com/patent/US10307215B2 ## CPC - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 17/072: for applying a row of staples in a single action, e.g. the staples being applied simultaneously - A61B 17/07207: {the staples being applied sequentially} - A61B 17/295: combined with cutting implements - A61B 17/320016: {Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes (A61B10/0233, A61B17/29, A61B17/3207 take precedence)} - A61B 18/1445: {at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod} - A61B 17/0218: {for minimally invasive surgery (A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)} - A61B 17/062: Needle manipulators - A61B 17/3201: Scissors (for biopsy A61B10/02) - A61B 2017/00221: {with wireless transmission of data, e.g. by infrared radiation or radiowaves} - A61B 2017/07285: {characterised by its cutter} - A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft} - A61B 2017/2946: {Locking means} - A61B 2018/00595: {Cauterization} - A61B 2018/00988: {Means for storing information, e.g. calibration constants, or for preventing excessive use, e.g. usage, service life counter} - A61B 2018/1455: {having a moving blade for cutting tissue grasped by the jaws} - A61B 2034/303: {specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels} - A61B 2090/034: {abutting on parts of the device itself} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The device of claim 1, further comprising first and second rods configured to move longitudinally relative to the end effector to thereby cause the end effector to articulate, each of the first and second rods being configured to be operatively engaged by the locking mechanism to lock the end effector. ### Claim 3 (depends on 1) The device of claim 1, wherein the locking mechanism is configured to lock the end effector at any angle in the end effector's range of articulation. ### Claim 4 (depends on 1) The device of claim 1, further comprising a pair of plates configured to frictionally engage with one another to lock the end effector at the angle until a force is applied thereto to overcome the frictional engagement. ### Claim 5 (depends on 1) The device of claim 1, wherein the locking mechanism includes a gear having teeth configured to operatively engage corresponding teeth of a rod configured to move the cutting element, and the gear being configured to rotate during the movement of the cutting element along the end effector. ### Claim 6 (depends on 1) The device of claim 1, wherein the locking mechanism includes a plate configured to operatively engage a rod configured to move the cutting element, and the plate being configured to move longitudinally with the cutting element during the movement of the cutting element along the end effector. ### Claim 7 (depends on 1) The device of claim 1, wherein the movement of the cutting element is configured to be controlled by a robotic surgical system. ### Claim 8 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. ### Claim 9 (depends on 8) The device of claim 8, wherein the locking mechanism is configured to move during the articulation of the end effector. ### Claim 10 (depends on 8) The device of claim 8, wherein the locking mechanism is configured to move during the movement of the cutting element. ### Claim 11 (depends on 8) The device of claim 8, wherein the movement of the locking mechanism includes longitudinal movement. ### Claim 12 (depends on 8) The device of claim 8, wherein the movement of the locking mechanism includes rotational movement. ### Claim 13 (depends on 8) The device of claim 8, further comprising an actuator configured to be actuated to cause the movement of the cutting element, the locking mechanism being configured to move relative to the end effector in response to the actuation of the actuator. ### Claim 14 (depends on 8) The device of claim 8, further comprising an actuator configured to be actuated to cause the articulation of the end effector, the locking mechanism being configured to move relative to the end effector in response to the actuation of the actuator. ### Claim 15 (depends on 8) The device of claim 8, wherein the locking mechanism includes a pair of surfaces configured to frictionally engage to hold the end effector at the angle until a force is applied thereto to overcome the frictional engagement. ### Claim 16 (depends on 8) The device of claim 8, wherein the locking mechanism includes a gear having teeth configured to operatively engage corresponding teeth of the rod and to rotate during the movement of the cutting element along the end effector. ### Claim 17 (depends on 8) The device of claim 8, wherein the locking mechanism includes a plate configured to operatively engage the rod and to move longitudinally with the cutting element during the movement of the cutting element along the end effector. ### Claim 18 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. ### Claim 19 (depends on 18) The method of claim 18, wherein actuating the first actuator causes the end effector to be locked at the angle throughout the movement of the cutting element, and the surgical tool includes a pair of plates configured to engage at a first coefficient of friction in response to the actuation of the first actuator. ### Claim 20 (depends on 18) The method of claim 18, wherein actuating the second actuator causes the end effector to be locked at the angle throughout the movement of the cutting element, actuating the first actuator causes longitudinal movement of an articulation rod to effect the articulation of the end effector, and the surgical tool includes a movable locking mechanism that moves into engagement with the articulation rod to lock the end effector at the angle throughout the movement of the cutting element.