# US 10,441,370 B2 · Surgical instrument with robotic and manual actuation features > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,441,370 B2 - Document ID: US10441370B2 - Status: Granted - Kind: B2 - Application number: 15/269,155 - Filed: 2016-09-19 - Published: 2017-01-05 - Granted: 2019-10-15 - Earliest claimed: 2005-06-30 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Paul Millman; David Bailey; Dean Hoornaert; David Stephen Mintz; David Q. Larkin - Web page: https://patentgrep.com/patent/US10441370B2 ## CPC - A61B 34/30: Surgical robots - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 34/74: {Manipulators with manual electric input means} - A61M 1/743: {by changing the cross-section of the line, e.g. flow regulating valves (A61M1/7413 takes precedence)} - A61M 1/76: {Handpieces (specially for suction-irrigation A61M1/774, aspiration tips A61M1/84)} - A61M 1/77: {Suction-irrigation systems (aspiration tips supplying fluids A61M1/85; specific for negative pressure wound therapy A61M1/92; combined with tracheal tubes A61M16/0463)} - A61M 13/003: {Blowing gases other than for carrying powders, e.g. for inflating, dilating or rinsing} - A61B 2017/00203: {with speech control or speech recognition} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms} - A61B 2090/506: {using a parallelogram linkage, e.g. panthograph} - A61B 2217/005: with suction drainage system - A61B 2217/007: with irrigation system - A61M 2039/2473: {Valve comprising a non-deformable, movable element, e.g. ball-valve, valve with movable stopper or reciprocating element} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} ## Abstract A teleoperated surgical instrument comprises a housing configured to couple to a teleoperated manipulator and an elongated tube having a first end and a second end opposite the first end. The first end is mounted to the housing and the second end has one or more openings configured to deliver or receive a fluid at a surgical site. The instrument further comprises a flow control system in the housing. The flow control system includes a first tubular member coupled to the elongated tube and a first control element rotatable relative to the housing and the first tubular member. The first control element includes a receiving portion coupled to a shaft portion. The receiving portion is configured to couple with the teleoperated manipulator and rotate to control flow of the fluid through the first tubular member. ## Claims ### Claim 1 A teleoperated surgical instrument comprising: a housing configured to couple to a teleoperated manipulator; an elongated tube having a first end and a second end opposite the first end, the first end being mounted to the housing, and the second end having one or more openings configured to deliver or receive a fluid at a surgical site; and a flow control system in the housing, the flow control system including: a first tubular member coupled to the elongated tube, and a first control element rotatable relative to the housing and the first tubular member, the first control element including a receiving portion coupled to a shaft portion, wherein the receiving portion is configured to couple with the teleoperated manipulator and rotate to control flow of the fluid through the first tubular member. ### Claim 2 (depends on 1) The teleoperated surgical instrument of claim 1, wherein the first tubular member is flexible, and wherein rotation of the receiving portion causes compression of the first tubular member to control flow of the fluid through the first tubular member. ### Claim 3 (depends on 2) The teleoperated surgical instrument of claim 2 wherein the flow control system further includes: a second flexible tubular member, a second control member rotatable relative to the housing and configured to compress the second flexible tubular member to control a flow of the fluid through the second flexible tubular member, and a coupler coupled to the first and second tubular members and configured to route the flow of the fluid to the elongated tube. ### Claim 4 (depends on 2) The teleoperated surgical instrument of claim 2 wherein the flow control system further includes a bulkhead rigidly secured to the housing, and wherein rotation of the receiving portion causes compression of the first tubular member against the bulkhead. ### Claim 5 (depends on 1) The teleoperated surgical instrument of claim 1 wherein the receiving portion is configured to rotate in response to a command to the teleoperated manipulator from a processor. ### Claim 6 (depends on 1) The teleoperated surgical instrument of claim 1 wherein the receiving portion includes a pair of pins sized and spaced to couple with the teleoperated manipulator. ### Claim 7 (depends on 1) The teleoperated surgical instrument of claim 1 wherein the fluid is a gas. ### Claim 8 (depends on 1) The teleoperated surgical instrument of claim 1 further comprising: a feedback system including a light emitting element, the feedback system configured to cause light emission from the light emitting element when the fluid is delivered to the surgical site and to cause no light emission from the light emitting element when flow of the fluid is stopped. ### Claim 9 (depends on 1) The teleoperated surgical instrument of claim 1 further comprising: an electrical circuit within the housing and configured to generate an electrical signal when the fluid is delivered to the surgical site. ### Claim 10 A surgical instrument, comprising: a housing configured to couple to a teleoperated manipulator; a tube coupled to and extending into the housing; and a control system in the housing, the control system comprising: a valve coupled to the tube; a first actuating mechanism coupled to the valve and configured to actuate the valve in response to the teleoperated manipulator; and a second actuating mechanism coupled to the valve and configured to actuate the valve independent of the first actuating mechanism. ### Claim 11 (depends on 10) The surgical instrument of claim 10, wherein the first actuating mechanism is configured to actuate the valve in response to rotation of a coupled element of the teleoperated manipulator. ### Claim 12 (depends on 10) The surgical instrument of claim 10, wherein the first actuating mechanism is configured to actuate the valve in response to linear motion of a coupled element of the teleoperated manipulator. ### Claim 13 (depends on 10) The surgical instrument of claim 10, wherein the valve comprises an electrically operated valve. ### Claim 14 (depends on 10) The surgical instrument of claim 10, wherein the valve comprises a magnetically operated valve. ### Claim 15 (depends on 10) The surgical instrument of claim 10 further comprising a plurality of tube fittings extending into the housing and coupled to the valve, wherein the valve is configured to direct fluid flow between the plurality of tube fittings and the tube. ### Claim 16 (depends on 10) The surgical instrument of claim 10, wherein the control system is configured to prevent fluid flow through tube when the housing is uncoupled from the teleoperated manipulator. ### Claim 17 (depends on 10) The surgical instrument of claim 10 further comprising: a feedback system including a light emitting element, the feedback system configured to cause a light emission from the light emitting element if a fluid flow through the tube occurs and to stop the light emission from the light emitting element if the fluid flow through the tube stops.