# US 10,869,682 B2 · Cutting mechanisms for surgical end effector assemblies, instruments, and systems

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- Number: US 10,869,682 B2
- Document ID: US10869682B2
- Status: Granted
- Kind: B2
- Application number: 15/205,067
- Filed: 2016-07-08
- Published: 2018-01-11
- Granted: 2020-12-22
- Earliest claimed: 2016-07-08
- Assignees: Covidien LP
- Applicants: Covidien LP
- Inventors: Thomas E. Drochner; James D. Allen, IV; Gary M. Couture; William H. Nau, Jr.; Robert M. Sharp; David J. Van Tol
- Web page: https://patentgrep.com/patent/US10869682B2

## CPC

- A61B 17/285: combined with cutting implements
- A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)}
- A61B 17/28: Surgical forceps (biopsy forceps A61B10/06; {for holding suture needles or materials A61B17/0483; for removing or smashing calculi A61B17/221; surgical scissors A61B17/3201;} obstetrical forceps A61B17/44)
- A61B 18/1442: {Probes having pivoting end effectors, e.g. forceps}
- A61B 18/1445: {at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod}
- A61B 34/30: Surgical robots
- A61B 34/71: {Manipulators operated by drive cable mechanisms}
- A61B 2017/00314: {Separate linked members}
- A61B 2017/00323: {Cables or rods}
- A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft}
- A61B 2017/2938: {Independently actuatable jaw members, e.g. two actuating rods}
- A61B 2018/1452: {including means for cutting (A61B2018/146 takes precedence)}
- A61B 2018/1455: {having a moving blade for cutting tissue grasped by the jaws}
- A61B 2034/306: {Wrists with multiple vertebrae}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

A surgical system includes an attaching device having an end effector disposed at the distal end thereof. The end effector includes a support member, a wrist pivot pivotably coupling the end effector to the attaching device, and first and second jaw members pivotably coupled to one another and the support member. A first cable is operably coupled to the wrist pivot and configured to articulate the end effector relative to the attaching device. Second and third cables are operably coupled to the jaw members and configured to pivot the jaw members relative to the support member. A first actuation of the second and third cables collectively pivots the first and second jaw members relative to the support member. A second actuation of the second and third cables pivots the first and second jaw members relative to one another and the support member between a spaced-apart position and an approximated position.

## Claims

### Claim 1

An end effector assembly configured for use with a surgical instrument or surgical system, the end effector assembly comprising:
first and second jaw members each including an outer jaw housing and a tissue-treating plate, at least the second jaw member defining a longitudinally-extending channel and a longitudinally-extending guide track therethrough, at least one of the first or second jaw members pivotable relative to the other between a spaced-apart position and an approximated position; and
a cutting mechanism disposed within the second jaw member, the cutting mechanism including:
a knife disposed at least partially within the longitudinally-extending channel of the second jaw member, the knife defining a cutting surface and including a pivot pin, the pivot pin directly engaged with the longitudinally-extending guide track, the knife pivotable about the pivot pin relative to the second jaw member between a storage position, wherein the knife is fully disposed within the longitudinally-extending channel of the second jaw member and the cutting surface is oriented towards the first jaw member, and a use position, wherein the knife extends between the first and second jaw members and the cutting surface is oriented in a proximally-facing direction;
a pull-wire extending through the second jaw member and coupled to the knife at a first location of the knife and proximate a distal end of the pull-wire, the pull-wire configured for proximal pulling relative to the second jaw member to initially pivot the knife from the storage position to the use position and to subsequently translate the knife through the longitudinally-extending channel of the second jaw member in a distal-to-proximal direction led by the cutting surface thereof; and
a biasing member operatively coupled to the knife at a second location of the knife, the biasing member configured to remain operatively coupled to the knife throughout an entirety of longitudinal movement of the knife through the longitudinally-extending channel.

### Claim 2 (depends on 1)

The end effector assembly according to claim 1, wherein the biasing member is operably coupled between the knife and the second jaw member, the biasing member configured to initially bias the knife distally relative to the longitudinally-extending channel of the second jaw member and to subsequently bias the knife towards the storage position.

### Claim 3 (depends on 1)

The end effector assembly according to claim 1, wherein the longitudinally-extending guide track is configured to guide longitudinal translation of the pivot pin as the knife longitudinally translates through the longitudinally-extending channel.

### Claim 4 (depends on 3)

The end effector assembly according to claim 3, wherein the longitudinally-extending channel is parallel to the longitudinally-extending guide track.

### Claim 5 (depends on 1)

The end effector assembly according to claim 1, wherein the biasing member includes a spring.

### Claim 6 (depends on 1)

The end effector assembly according to claim 1 wherein a first end of the biasing member is operatively coupled to a single portion of the knife.