# US 11,439,458 B2 · Robotic bi-polar instruments > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,439,458 B2 - Document ID: US11439458B2 - Status: Granted - Kind: B2 - Application number: 16/879,301 - Filed: 2020-05-20 - Published: 2020-09-10 - Granted: 2022-09-13 - Earliest claimed: 2016-03-07 - Assignees: Cilag GmbH International - Applicants: Ethicon LLC - Inventors: Kevin D. Felder; Michel G. Bruehwiler; Cole Constantineau; Daniel J. Yasevac; Mary T. Carter; Jeffrey Chagnon; Kevin Delsignore - Web page: https://patentgrep.com/patent/US11439458B2 ## CPC - A61B 18/1445: {at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod} - A61B 17/32: Surgical cutting instruments ({A61B18/042 takes precedence; suture cutters A61B17/0467;} implements for ligaturing and cutting {A61B17/122, A61B17/12; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133}) - A61B 34/30: Surgical robots - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 17/062: Needle manipulators - A61B 46/10: specially adapted for instruments{, e.g. microscopes} - A61B 50/30: Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments (for wound clamps A61B17/10; for ligaturing clips A61B17/122; packages or dispensers for surgical gloves or finger-stalls A61B42/40) - A61B 2017/00309: {Cut-outs or slits} - A61B 2017/00327: {with actuating members moving in opposite directions} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft} - A61B 2017/2932: {Transmission of forces to jaw members} - A61B 2017/2943: {Toothed members, e.g. rack and pinion} - A61B 2018/00184: {Moving parts} - A61B 2018/126: {bipolar} - 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 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities} - A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms} - A61B 2034/306: {Wrists with multiple vertebrae} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract Various exemplary systems, devices, and methods for robotic bi-polar instruments are provided. In general, a surgical tool can include an elongate shaft, an end effector, a wrist that couples the end effector to the shaft at a distal end of the shaft, and a tool housing coupled to a proximal end of the shaft that is configured to control the operation various features associated with the end effector and to operatively couple to a robotic surgical system. ## Claims ### Claim 1 A surgical method, comprising: receiving an input from a motor of a robotic surgical system at an interface of a tool housing of a surgical tool that includes an elongate shaft extending distally from the tool housing; wherein the received input causes the interface to rotate and thereby drive longitudinal translation of a cable of the surgical tool; wherein the longitudinal translation of the cable causes an end effector of the surgical tool to move relative to the elongate shaft; and wherein the movement of the end effector includes opening the end effector with the longitudinal translation, and the longitudinal translation of the cable is in the distal direction. ### Claim 2 (depends on 1) The method of claim 1, wherein the longitudinal translation of the cable in the distal direction causes a slidable member of the surgical tool to slide in the distal direction and thereby cause a link of the surgical tool to pivot to open jaws of the end effector. ### Claim 3 (depends on 1) The method of claim 1, wherein the longitudinal translation of the cable in the distal direction causes a slidable member of the surgical tool to slide in the distal direction and thereby cause a pin to slide in a slot formed in one of two jaws of the end effector to open the jaws. ### Claim 4 (depends on 1) The method of claim 1, wherein the cable is engaged with a pulley, and the longitudinal translation of the cable in the distal direction causes the cable to slide around the pulley. ### Claim 5 (depends on 1) The method of claim 1, wherein the movement of the end effector also includes closing of the end effector, and the longitudinal translation of the cable is in the proximal direction. ### Claim 6 (depends on 1) The method of claim 1, further comprising receiving a second input from the robotic surgical system at a second interface of the tool housing; wherein the second received input causes the second interface to rotate and thereby drive longitudinal translation of a second cable of the surgical tool; and wherein the longitudinal translation of the second cable in one direction causes the end effector to articulate in a first direction relative to a longitudinal axis of the elongate shaft, and longitudinal translation of the second cable in another, opposite direction causes the end effector to articulate in a second direction relative to the longitudinal axis of the elongate shaft. ### Claim 7 (depends on 1) The method of claim 1, wherein the interface includes first and second interfaces; the input includes a first input to the first interface and a second input to the second interface; and the cable includes a first pair of cables operatively coupled to the first interface and that are driven to longitudinally translate by the rotation of the first interface, and a second pair of cables operatively coupled to the second interface and that are driven to longitudinally translate by the rotation of the second interface. ### Claim 8 (depends on 6) The method of claim 6, wherein a flexible neck of the surgical tool that extends between the elongate shaft and the end effector bends laterally to facilitate the articulation of the end effector. ### Claim 9 (depends on 1) The method of claim 1, wherein the interface includes a rotatable winch that has the cable attached thereto. ### Claim 10 (depends on 1) The method of claim 1, further comprising engaging tissue with the end effector; and applying energy to the tissue via the end effector. ### Claim 11 (depends on 1) The method of claim 1, further comprising, before receiving the input, releasably coupling the tool housing to the robotic surgical system. ### Claim 12 A surgical device, comprising: a tool housing including an interface configured to receive an input from a motor of a robotic surgical system to cause the interface to rotate; an end effector configured to engage tissue; and first and second cables that are independent from one another and that are operatively coupled to the interface and the end effector; wherein the rotation of the interface in a first direction is configured to cause the first cable to move proximally and thereby cause the end effector to open; and the rotation of the interface in a second direction is configured to cause the second cable to move proximally and thereby cause the end effector to close, the first direction being opposite to the second direction. ### Claim 13 (depends on 12) The device of claim 12, further comprising a pulley operatively coupled to the first cable; wherein the rotation of the interface in the first direction is configured to cause the first cable to move proximally; and the rotation of the interface in the second direction is configured to cause the second cable to move proximally. ### Claim 14 (depends on 12) The device of claim 12, further comprising a hub operatively coupled to the end effector and the first and second cables; wherein the proximal movement of the second cable causes the hub to longitudinally slide proximally, and the proximal movement of the first cable causes the hub to longitudinally slide distally. ### Claim 15 (depends on 14) The device of claim 14, further comprising a link operatively coupled to the hub; wherein the longitudinal sliding of the hub causes the link to pivot. ### Claim 16 (depends on 14) The device of claim 14, wherein a distal end of the second cable is attached to a proximal end of the hub; and a distal end of the first cable is attached to a distal end of the hub. ### Claim 17 (depends on 16) The device of claim 16, wherein the first cable is looped around a pulley. ### Claim 18 (depends on 17) The device of claim 17, wherein the pulley is located distal to the hub. ### Claim 19 (depends on 18) The device of claim 18, further comprising a link operatively coupled to the hub; wherein the longitudinal sliding of the hub causes the link to pivot. ### Claim 20 (depends on 12) The device of claim 12, wherein the first cable is attached to a slidable member and is looped around a pulley located distal to the slidable member; and the second cable is attached to the slidable member. ### Claim 21 (depends on 20) The device of claim 20, wherein a distal end of the second cable is attached to a proximal end of the slidable member; and a distal end of the first cable is attached to a distal end of the slidable member. ### Claim 22 (depends on 20) The device of claim 20, further comprising a link having a first end pivotally attached to the slidable member and having a second end pivotally attached to the end effector; wherein the link is configured to pivot in response to the first cable moving proximally and in response to the second cable moving proximally.