Surgical instrument actuation input mechanisms, and related devices, systems, and methods

An actuation input mechanism for a teleoperated surgical instrument may include an interface structure and a shaft connected to the interface structure. The interface structure may be engageable with a drive structure of an actuation interface assembly of a teleoperated surgical system to be driven by the drive structure. The shaft may be rotatable in response to the interface structure being driven. The interface structure may comprise a depression shaped and sized to receive a fingertip. The interface structure may further comprise one or more gripping features disposed in the depression. A surgical instrument for a teleoperated surgical system may include an instrument shaft, an end effector, and a force transmission mechanism. The force transmission mechanism may comprise an actuation input mechanism to transmit drive forces to actuate the surgical instrument, the actuation input mechanism including an interface structure and a shaft.

TECHNICAL FIELD

Aspects of the present disclosure relate to surgical instrument actuation input mechanisms, and related devices, systems, and methods.

BACKGROUND

Remotely controlled surgical instruments, which can include teleoperated surgical instruments as well as manually operated (e.g., laparoscopic, thorascopic) surgical instruments, are often used in minimally invasive medical procedures. During a surgical procedure, a surgical instrument can come into contact with bodily fluids and other non-sterile substances and/or surfaces. After the surgical procedure, the surgical instrument may be cleaned. During the cleaning process, a user may wish to actuate various components, such as an end effector and/or wrist, of the surgical instrument to expose surfaces for access during cleaning. To actuate such components during the cleaning operation, the user may have to grip and manually actuate the component because the instrument is not attached to a surgical system that would normally provide an actuation input through a connected transmission housing of the surgical instrument. Gripping the component, however, may not be desirable because the component may include sharp surfaces, such as when the component is an end effector including scissors, a scalpel, or a blade, etc.

While cleaning procedures have been effective for cleaning surgical instruments, still further improvements to facilitate surgical instrument cleaning are desirable. For example, it may be desirable to facilitate actuation of various components, such as end effectors and/or wrists, of a surgical instrument by a user during a cleaning procedure.

SUMMARY

Exemplary embodiments of the present disclosure may solve one or more of the above-mentioned problems and/or may demonstrate one or more of the above-mentioned desirable features. Other features and/or advantages may become apparent from the description that follows.

In accordance with at least one exemplary embodiment, an actuation input mechanism for a teleoperated surgical instrument includes an interface structure and a shaft connected to the interface structure. The interface structure may be engageable with a drive structure of an actuation interface assembly of a teleoperated surgical system so as to be driven by the drive structure. The shaft is connected to the interface structure and is rotatably driven by the interface structure. The interface structure may comprise a depression shaped and sized to receive a fingertip. The interface structure may comprise one or more gripping features disposed in the depression.

In accordance with another exemplary embodiment, a surgical instrument for a teleoperated surgical system includes an instrument shaft, an end effector coupled to a first end of the shaft, and a force transmission mechanism coupled to a second end of the shaft opposite the first end. The force transmission mechanism may comprise an actuation input mechanism configured to transmit drive forces to actuate the surgical instrument. The actuation input mechanism may comprise an interface structure and an actuation shaft. The interface structure may be engageable with a drive structure of an actuation interface assembly of the teleoperated surgical system so as to be driven by the drive structure. The actuation shaft may be connected to the interface structure. The actuation shaft may be rotatably driven by the interface structure. The interface structure may comprise a depression shaped and sized to receive a fingertip, and wherein the interface structure comprises one or more gripping features disposed in the depression.

In accordance with another exemplary embodiment, a method of cleaning a surgical instrument of a teleoperated surgical system includes positioning a finger-shaped object into a depression of an interface structure of an actuation input mechanism. The depression may be sized and shaped to receive the finger shaped object. The interface structure may be engageable to be driven by a drive structure of an actuation interface assembly of the teleoperated surgical system to actuate one or more components of the surgical instrument. The method may further comprise driving the actuation input mechanism by manipulating the interface structure using the finger-shaped object received in the depression. The method may further comprise actuating one or more components of the surgical instrument in response to the driving for a cleaning procedure.

Additional objects, features, and/or advantages will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present disclosure and/or claims. At least some of these objects and advantages may be realized and attained by the elements and combinations particularly pointed out in the appended claims.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the claims; rather the claims should be entitled to their full breadth of scope, including equivalents.

DETAILED DESCRIPTION

This description and the accompanying drawings that illustrate exemplary embodiments should not be taken as limiting. Various mechanical, compositional, structural, electrical, and operational changes may be made without departing from the scope of this description and the claims, including equivalents. In some instances, well-known structures and techniques have not been shown or described in detail so as not to obscure the disclosure. Like numbers in two or more figures represent the same or similar elements. Furthermore, elements and their associated features that are described in detail with reference to one embodiment may, whenever practical, be included in other embodiments in which they are not specifically shown or described. For example, if an element is described in detail with reference to one embodiment and is not described with reference to a second embodiment, the element may nevertheless be claimed as included in the second embodiment.

Further, this description's terminology is not intended to limit the disclosure or claims. For example, spatially relative terms—such as “beneath”, “below”, “lower”, “above”, “upper”, “proximal”, “distal”, and the like—may be used to describe one element's or feature's relationship to another element or feature as illustrated in the orientation of the figures. These spatially relative terms are intended to encompass different positions (i.e., locations) and orientations (i.e., rotational placements) of a device in use or operation in addition to the position and orientation shown in the figures. For example, if a device in the figures is inverted, elements described as “below” or “beneath” other elements or features would then be “above” or “over” the other elements or features. Thus, the exemplary term “below” can encompass both positions and orientations of above and below. A device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. The relative proximal and distal directions of surgical instruments are labeled in the figures.

The present disclosure contemplates various surgical instrument transmission actuation input mechanisms that include interface structures provided with features to facilitate gripping and manual actuation by a user. For example, features may be provided to assist with a user manually actuating the instrument, such as to facilitate actuation of one or more components of the instrument during a cleaning procedure.

Various exemplary embodiments of the present disclosure contemplate an actuation input mechanism for a surgical instrument that is configured to be driven via engagement with an actuation interface assembly of a patient side cart of a teleoperated surgical system, as well as including features to facilitate being driven via manual manipulation by a user. The actuation input mechanism may comprise an interface structure and an output shaft connected to the interface structure, wherein the output shaft is coupled to various gearing and/or drive members that ultimately couple to and effect motion of various components (e.g., end effector and/or wrist) of the surgical instrument. The interface structure may include at least one depression shaped to receive a fingertip so that the interface structure can be manipulated and moved with the fingertip or other finger-shaped object, such as via rotating a disk-shaped interface structure.

Interface features in accordance with various exemplary embodiments also may include various features to facilitate gripping so that a user's fingertip, or other finger-shaped object, does not slip during manipulation of the interface structure. For example, various gripping features may be located within the depression and/or on other portions of the interface structure that may be available to a user to manipulate in order to manually actuate the actuation interface structure, with the depression including one or more gripping surfaces. The gripping surfaces may include ribs. The ribs may be arranged in a radial pattern extending from a central region of the depression. The ribs may be substantially straight or may be in a spiral pattern. In one example, the ribs may have a profile substantially flush with a surface of the interface assembly the depression is located in. In another example, the ribs have a dished profile relative to a surface of the interface assembly the depression is located in. Tips of the ribs proximate to the central region of the depression may be rounded. The tips may be spaced from a central aperture in the central region. The gripping surfaces may be provided by a single rib having a spiral shape. One or more of the interface structures may have a knurled edge.

In various exemplary embodiments, a force transmission mechanism may be configured to facilitate user access to, and thereby manipulation of, an actuation input mechanism interface structure. For example, a force transmission mechanism housing can include a cutout around an outer periphery to provide access to an edge, which in various exemplary embodiments may be a knurled edge, of an interface structure. The interface structure may be an interface disk. The interface structure may include slots to receive projections of drive structure of an actuation interface assembly of a teleoperated surgical system to actuate the interface structures. The interface structures may comprise a first material and a second material overmolded onto the first material, wherein the second material is more compliant than the first material. Various exemplary embodiments of the present disclosure further contemplate surgical instruments and surgical systems including the actuation input mechanisms of the various exemplary embodiments described herein.

Referring now toFIG. 1, an exemplary embodiment of a patient side cart100of a teleoperated surgical system is shown. As those having ordinary skill in the art are familiar with, a teleoperated surgical system may further include a surgeon console (not shown) for receiving input from a user to control instruments mounted at patient side cart100, as well as an auxiliary control/vision cart (not shown), as described in for example, U.S. Pub. No. US 2013/0325033, entitled “Multi-Port Surgical Robotic System Architecture” and published on Dec. 5, 2013, and U.S. Pub. No. US 2013/0325031, entitled “Redundant Axis and Degree of Freedom for Hardware-Constrained Remote Center Robotic Manipulator” and published on Dec. 5, 2013, each of which is hereby incorporated by reference in its entirety. By way of non-limiting example, a teleoperated surgical system of the type contemplated by the present disclosure includes a da Vinci® Si (model no. IS3000) da Vinci® Si Surgical System, Single Site da Vinci® Surgical System, or a da Vinci® Xi Surgical System, available from Intuitive Surgical, Inc. of Sunnyvale, Calif.

Patient side cart100includes a base102, a main column104, and a main boom106connected to main column104. Patient side cart100also includes a plurality of manipulator arms110,111,112,113, which are connected to main boom106. Portions of manipulator arms110,111,112,113include an instrument mount portion120to which an instrument130may be mounted, as illustrated for manipulator arm110. Manipulator arms110,111,112,113may be manipulated during a surgical procedure according to commands provided by a user at the surgeon console. In an exemplary embodiment, signal(s) or input(s) transmitted from a surgeon console may be transmitted to the control/vision cart, which may interpret the input(s) and generate command(s) or output(s) to be transmitted to the patient side cart100to cause manipulation of an instrument130(only one such instrument being mounted inFIG. 1) and/or portions of manipulator arm110to which the instrument130is coupled at the patient side cart100.

Instrument mount portion120includes an actuation interface assembly122and an accessory mount124. According to various exemplary embodiments, a shaft132of instrument130can extend through accessory mount124(and on to a surgery site during a surgical procedure) and a force transmission mechanism134of instrument can connect with the actuation interface assembly122. Accessory mount124is configured to hold a cannula (not shown) through which shaft132of instrument130may extend to a surgery site during a surgical procedure. Actuation interface assembly122includes a variety of mechanisms that are controlled to respond to input commands at the surgeon console and transmit forces to the force transmission mechanism134to actuate instrument130.

Although the exemplary embodiment ofFIG. 1shows an instrument130attached to only manipulator arm110for ease of illustration, those having ordinary skill in the art would appreciate that an instrument may be attached to any and each of manipulator arms110,111,112,113. A surgical instrument130, as contemplated herein, may be an instrument with an end effector or may be a camera instrument or other sensing instrument utilized during a surgical procedure to provide information, (e.g., visualization, electrophysiological activity, pressure, fluid flow, and/or other sensed data) of a remote surgical site. In the exemplary embodiment ofFIG. 1, either an instrument with an end effector or a camera instrument may be attached to and used with any of manipulator arms110,111,112,113. However, the embodiments described herein are not limited to the exemplary embodiment ofFIG. 1and various other teleoperated surgical system configurations may be used with the exemplary embodiments described herein.

Turning toFIG. 2, an exemplary embodiment of a surgical instrument200with an end effector280at a distal end264of shaft260is shown. Surgical instrument200further includes a force transmission mechanism210connected to shaft260. According to an exemplary embodiment, surgical instrument200may optionally include a wrist270to move end effector280in arbitrary pitch and/or yaw directions relative to shaft260. According to another exemplary embodiment, surgical instrument200may be a non-wristed instrument and thus lack wrist270. Surgical instrument200may include one or more members to translate force between force transmission mechanism210and end effector280and/or wrist270to actuate end effector280and/or wrist270. For instance, one or more drive member(s) (not shown) may connect force transmission mechanism210to end effector280and/or wrist270to provide actuation forces to end effector280and/or wrist270, such as by extending along an interior of shaft260from transmission mechanism210. Drive member(s) may include, for example, push/pull drive members (e.g., rod), pull/pull drive members (e.g., wires and cables), rotary members (e.g. drive shafts), and other drive members familiar to one of ordinary skill in the art.

Force transmission mechanism210includes one or more components to engage with a patient side cart of a teleoperated surgical system to translate a force provided by patient side cart to surgical instrument200. For instance, force transmission mechanism210may engage with actuation interface assembly122in the exemplary embodiment ofFIG. 1(as force transmission mechanism134engages actuation interface assembly122inFIG. 1) to receive input forces transmitted from actuation interface assembly122to actuate instrument200, such as to actuate end effector280and/or wrist270.

Turning toFIG. 3, a partial perspective view is shown of the force transmission mechanism210and shaft260of the instrument200ofFIG. 2. As shown inFIG. 3, force transmission mechanism210includes a chassis212through which a proximal end262of shaft260extends into force transmission mechanism210. According to an exemplary embodiment, chassis212may be made of a molded plastic, such as, for example, a polyetherimide or other plastic familiar to one of ordinary skill in the art. Force transmission mechanism210also may include a plurality of actuation input mechanisms to receive a force to actuate instrument200. As shown inFIG. 3, the actuation input mechanisms include interface disks220,230, and240that engage with drive structures of an actuation interface assembly of a patient side cart, such as the actuation interface assembly122of the patient side cart100of the exemplary embodiment ofFIG. 1. As will be described in more detail below, the actuation input mechanisms may be connected to cable(s), gearing, or other structures (e.g., within force transmission mechanism210) to transmit forces applied to interface disks220,230,240and actuate a functionality of instrument200associated with interface disks220,230,240. Thus, interface disks220,230, and240utilize actuation forces from an actuation interface assembly to actuate instrument200.

Turning toFIG. 4, an exemplary embodiment of an actuation interface assembly300is shown. Actuation interface assembly300may be used as actuation interface assembly122inFIG. 1to engage with a surgical instrument force transmission mechanism, such as with force transmission mechanism134or210. Actuation interface assembly300includes an aperture310into which a shaft of an instrument (e.g., shaft260inFIG. 3) can be inserted so the instrument shaft extends from the actuation interface assembly300to a surgical site (not shown). Actuation interface assembly300further includes drive structures to transmit a force to actuation input mechanisms of a surgical instrument force transmission mechanism. As shown in the exemplary embodiment ofFIG. 4, actuation interface assembly300can include drive disks320,330, and340to respectively engage with interface disks220,230, and240of force transmission mechanism210when force transmission mechanism210is engaged with actuation interface assembly300.

According to an exemplary embodiment, actuation interface assembly300also may include one or more motors (not shown) to rotate drive disks320, such as in directions324inFIG. 4, although a force to rotate drive disk320may be supplied by other means, such as motors onboard the transmission mechanism of the instrument and not located within actuation interface assembly300. When drive disk320engages a corresponding interface disk220of force transmission mechanism210, the interface disk220can be rotated in directions224to operatively actuate the functionality associated with interface disk220. Similarly, other drive disks320,330, and340may be rotated in directions324to drive corresponding interface disks220,230, and240of force transmission mechanism210. Thus, drive disks320,330, and340may engage with interface disks220,230, and240, to impart a force to rotate and drive interface disks220,230, and240, which in turn actuate instrument200via associated actuation input mechanisms.

FIG. 5shows some internal components of a force transmission mechanism1310that includes a chassis1312to which a shaft1360of a surgical instrument is connected, as discussed above with regard to the exemplary embodiment ofFIG. 3. Force transmission mechanism1310also includes the interface disks1320,1330,1340of actuation input mechanisms1370. Interface disks1320,1330,1340may be configured according to the various exemplary embodiments of interface disks described herein. For example, interface disks1320,1330,1340may respectively include slots1322,1332,1342to engage with projections322,332,342of drive disks320,330,340of the actuation interface assembly300of the exemplary embodiment ofFIG. 4to receive a force from drive disks320,330,340and actuate functionalities associated with interface disks1320,1330,1340, as will be discussed below.

As shown inFIGS. 5 and 6, one or more of interface disks1320,1330,1340may be part of actuation input mechanisms1370. AlthoughFIGS. 5 and 6show that only interface disks1330and1340are part of actuation input mechanisms1370(with interface disks1320being connected to other actuation mechanisms), more or fewer of interface disks1320,1330,1340may be part of actuation input mechanisms1370. Actuation input mechanisms1370may include an interface disk (e.g., interface disk1320,1330, or1340) at one end, as shown inFIGS. 5 and 6, and an output shaft1371. In various exemplary embodiments, the output shaft is provided with an output section1372(seeFIG. 6) configured to couple the shaft1371to other components of the surgical instrument so as to enable actuation of those components in response to rotation of the output shaft1371. Output section1372may include, for example, gear teeth, a rack, screw threads, grooves, or other structures to interact with other mechanisms and output forces applied to actuation input mechanism1370to in turn actuate one or more components of the surgical instrument. A drive member or the surgical instrument may be connected to output section1372in this manner.

For example, in the exemplary embodiment ofFIG. 6, cables1374are connected to the output sections1372(which may be, for example, grooves or threads in shaft1371to receive a cable1374) of actuation input mechanism1370. Thus, when an actuation input mechanism1370is rotated in directions1376(e.g., due to a force applied to an interface disk of actuation input mechanism1370), cable1374is paid out or wound upon output section1372, causing a component of the surgical instrument associated with the cable1374and the actuation input mechanism1370to be actuated. As shown in the exemplary embodiment ofFIG. 6, the cables1374connected to actuation input mechanisms1370may be connected to a mechanism1380at a proximal portion of instrument shaft1360to allow the cables1374to ultimately connect to and actuate various components (e.g., to achieve various functionalities) associated with the surgical instrument.

The component functionalities associated with interface disks220,230, and240(and interface disks1320,1330,1340) and their corresponding actuation input mechanisms may be selected from amongst, for example, actuating end effector280of instrument200ofFIG. 2(e.g., opening and/or closing end effector280), moving wrist270in an arbitrary yaw direction, moving wrist270in an arbitrary pitch direction, rolling shaft260(as well as end effector280), and other functionalities familiar to one of ordinary skill in the art. Further, although five interface disks and five corresponding drive disks are shown in the exemplary embodiments ofFIGS. 3-6, force transmission mechanisms and actuation interface assemblies of the various exemplary embodiments described herein may include other numbers of respective disks, such as, for example, two, three, four, six, or more disks. Moreover, those having ordinary skill in the art would appreciate that a single actuation input mechanism can actuate more than one component and/or component functionality in accordance with various exemplary embodiments, based on, for example, the gearing, drive members, etc. to which the output shaft may be coupled.

Drive disks320,330, and340and interface disks220,230, and240may include structures to facilitate engagement and the transfer of forces between the disks. As shown in the exemplary embodiment ofFIG. 4, drive disks320includes projections322to engage with corresponding structures of an interface disk. According to an exemplary embodiment, interface disk220includes slots222to receive projections322of drive disk320, as shown inFIG. 7, which depicts an end view of drive disk320. Slots222have a shape corresponding to a shape of projection322. Thus, when a drive disk320is rotated in directions324inFIG. 4, projections322inserted within slots222may in turn facilitate driving interface disk220in directions224, as shown inFIG. 7. The present disclosure contemplates that the interface disk, drive disk, and an intermediate disk of a sterile adapter are configured to provide an Oldham coupling, with the projections of the drive disk being able to slide radially within the grooves. AlthoughFIGS. 4 and 7depict projections322on drive disk320and slots222on interface disk220, the location of these structures may be reversed, with slots on drive disk320and projections on interface disk220. Further, the number, position, shape, and other features of projections322and slots222may be modified relative to the exemplary embodiments depicted inFIGS. 4 and 7. Drive disks330,340and interface disks230,240may be structured in a similar manner and respectively include projections332,342to facilitate engagement and transfer of forces between the disks. In various exemplary embodiments, interface disks220,230, and240may be made of a molded plastic, such as, for example, a polyetherimide or other plastic familiar to one of ordinary skill in the art. Further, interface disk220may have an outer diameter221inFIG. 7ranging from, for example, about 0.50 inches to about 1.00 inches. Interface disks230and240may have the same outer diameter as interface disk220.

Interface disks of a force transmission mechanism may be structured and positioned to protect the interface disks from damage. For example, as shown in the exemplary embodiment ofFIG. 3, interface disks220,230, and240are located within recesses of chassis212to minimize the amount of surface area of interface disks220,230, and240that is exposed and could be subjected to an impact or other potentially damaging event. For example, the exposed surfaces of interface disks (e.g., interface disks220,230, and/or240) of force transmission mechanism200inFIG. 3may be substantially level with a surface215of chassis and an edge213of chassis may surround the interface disks to provide a degree of protection to the interface disks.

As discussed above, it may be desirable to actuate an instrument during a cleaning procedure, such as, for example, to actuate an end effector and/or wrist of the instrument to facilitate cleaning. To actuate the instrument component(s) during such a cleaning procedure, it may be desirable for a user to manually drive the interface disks, and thereby corresponding actuation input mechanisms, of the force transmission mechanism of the instrument instead of, for example, gripping the component directly to manually move and/or actuate it. Thus, it may be desirable to arrange and configure actuation input mechanisms, including interface structures, to facilitate gripping and manipulation of the same, for example, permitting a user's fingers, or other finger-shaped object, to manipulate the actuation input mechanism and manually actuate an instrument during a cleaning procedure.

Although all interface disks of a force transmission mechanism could include gripping features according to the various exemplary embodiments described herein, not all interface disks need to include such gripping features. For example, interface disks220ofFIGS. 3 and 7may be associated with an actuation input mechanism used to actuate a functionality of an instrument that is not needed during a cleaning operation, such as, for example, rolling a shaft of an instrument. Because a user is unlikely to manually actuate interface disks220during a cleaning procedure, interface disks220need not include gripping features and/or other features to facilitate manual manipulation of disks220described herein, although disks220could include such gripping features and/or other features.

Turning toFIG. 8, an end view is shown of interface disk230of force transmission mechanism210ofFIG. 3. As shown inFIG. 8, interface disk230includes slots232to receive projections332of drive disk330, similar to the configuration described with reference toFIG. 7, and a central aperture237. According to an exemplary embodiment, central aperture237may be used, for example, as an aid during assembly of force transmission mechanism210. For instance, central aperture237may vary in size and/or depth from one interface disk to another so that the various interface disks may be distinguished from one another to facilitate correct placement of the interface disks in force transmission mechanism210. According to an exemplary embodiment, central aperture237may be used, for example, as an aid during molding of an interface disk, such as to facilitate positioning of a part within a mold, such as a shaft (not shown) being overmolded with plastic. Interface disk230further includes a depression236that serves as a gripping feature. According to an exemplary embodiment, depression236may be shaped to receive a fingertip of a user or a finger-shaped object, such as, for example, a stylus, pencil, or other specially-designed tool having a configuration similar to a finger. As shown inFIG. 9, which is a cross-sectional view ofFIG. 8along line9-9, depression236can have various dimensions for its depth, radius of curvature and diameter. For example, the depth of the depression233may range from about 0.010 inches to about 0.050 inches. The radius of curvature may range from about 0.032 inches to about 2.000 inches, for example. The diameter235may range from about 0.600 inches to about 0.1875 inches, for example.

Depression236may include gripping structures to facilitate gripping of interface disk via a fingertip inserted into depression236. Depression236may also be gripped by a finger-shaped object, such as, for example, a stylus, pencil, or other specially-designed tool having a configuration similar to a finger. According to an exemplary embodiment, interface disk230includes a plurality of ribs238located within depression236, as shown inFIG. 8andFIG. 10, which is a cross-sectional view along line10-10ofFIG. 8. Thus, when a user inserts a fingertip or a finger-shaped object into depression236, ribs238engage the fingertip or the finger-shaped object to facilitate gripping interface disk230. Further, the fingertip of the user or the object may be pressed into spaces239of depression236between ribs238when the fingertip is pressed against ribs238, which may enhance gripping of interface disk230. Furthermore, the user's fingernail can be projected into the spaces between the ribs238so as to engage against the sides of the ribs for better traction. Similarly, a tool, such as, for example, a flat-bladed screwdriver, may be used to rotate the input. To minimize or prevent damage to a fingertip or a glove worn on the hand of a user, edges of ribs238may be rounded to reduce the sharpness of the edges.

As shown in the exemplary embodiment ofFIG. 8, ribs236have a radial arrangement, with ribs236extending along straight radial lines in relation to aperture237, although the various interface disk embodiments described herein may use other rib arrangements. In addition, although the exemplary embodiment ofFIG. 8depicts an interface disk with six ribs238, the interface disks of the various exemplary embodiments described herein may include other numbers of ribs, such as, for example, three ribs, four ribs, five ribs, seven ribs, eights ribs, or more ribs. Further, although various exemplary embodiments of interface disks described herein may include ribs, such as ribs238inFIG. 8, a depression (e.g., depression236inFIG. 8) may include other structures to facilitate gripping of a fingertip or a finger-shaped object inserted into the depression, such as, for example, a plurality of bumps, a roughened surface of the depression, or other structures familiar to one of ordinary skill in the art.

An interface disk of a force transmission mechanism may include other gripping structures than a depression and gripping structures inside the depression. Turning toFIG. 11, an end view is shown of interface disk240of force transmission mechanism210ofFIG. 3. As shown inFIG. 11, interface disk240may include slots242to receive projections342of a drive disk340, a central aperture247, and a depression246. Depression246may be structured in the same way as depression236of interface disk230of the exemplary embodiment ofFIGS. 8-10. For instance, depression236may include gripping structures, such as ribs248. According to an exemplary embodiment, interface disk240also includes a knurled edge250as a gripping structure in addition to depression246and any gripping structures of depression (e.g., ribs248). Knurled edge250may include, for example, peaks252separated by grooves251, as shown inFIG. 11, so that knurled edge250provides a feature that facilitates gripping by a user's hand. Thus, an interface disk may include either a depression with its gripping structures or a knurled edge, or include both the depression with its gripping structures and a knurled edge.

Knurled edge250is configured to be gripped by a user pressing a fingertip or finger-shaped object against knurled edge250to rotate interface disk240in directions243inFIG. 11. As discussed above with regard toFIG. 3, interface disks220,230,240may be recessed within chassis212to provide a degree of protection to the interface disks, according to an exemplary embodiment. Because such an arrangement in which interface disks are recessed may interfere with a user's ability to access an edge of the interface disks, a force transmission mechanism210may include structures to facilitate access to an edge of an interface disk. For example, the chassis including the interface disks may include a cutout to facilitate access to an edge of one or more of the interface disks. As shown in the exemplary embodiment ofFIG. 3, edge213of chassis212may include cutouts214so that knurled edges250of interface disks240may be easily accessed by a user, such as to manually turn interface disks240during a cleaning procedure. According to an exemplary embodiment, cutouts214may be provided for interface disks that actuate a functionality of instrument200a user may utilize during a cleaning operation, such as, for example, opening or cleaning end effector280, while cutouts214are not provided for other interface disks. Thus, cutouts may be provided on interface disks240and not on interface disks220and230, according to an exemplary embodiment. As shown inFIGS. 7 and 8, interface disks220and230may have respective edges223and231that lack a knurled edge since those disks220are used to actuate a functionality of an instrument that is not needed during a cleaning operation, such as, for example, rolling a shaft of an instrument, and/or are not be located proximate to edge213of chassis212.

According to another exemplary embodiment, all interface disks may include a knurled edge (e.g., knurled edge250ofFIG. 11). Thus, interface disks220and230are not limited to lacking knurled edges but instead may have knurled edges to facilitate gripping their edges and their manual actuation. Further, cutouts may be provided for all interface disks of a force transmission mechanism, such as when all interface disks220,230, and240have a knurled edge. For instance, cutouts214may be provided for interface disks proximate to chassis edge213(e.g., interface disks220and240), and a cutout (not shown) may be provided in surface215of chassis212to provide access to a knurled edge of interface disk230.

As discussed above with regard toFIGS. 8-11, a depression of an interface disk may include gripping structures, such as ribs arranged in the radial pattern shown in the exemplary embodiments ofFIGS. 8-11. Turning toFIG. 12, an exemplary embodiment is shown of an actuation input mechanism400for a force transmission mechanism, such as force transmission mechanism210ofFIGS. 2 and 3. Actuation input mechanism400includes an interface disk410and shaft430joined to interface disk410. A plurality of actuation input mechanisms may be arranged according to the positions of interface disks illustrated in the exemplary embodiment ofFIGS. 3 and 8-11. Interface disk410also includes slots412, a central aperture417, a depression416with gripping structures, such as, for example, ribs418in the radial pattern shown inFIG. 12, and a knurled edge420. Thus, interface disk410is configured to be actuated by projections (not shown) of a drive disk (such as projections322of drive disk320in the exemplary embodiment ofFIG. 4) or by a user engaging depression416or knurled edge420to turn interface disk410. Because shaft430is joined to interface disk410(e.g., as a single piece or as separate pieces joined to one another), shaft430rotates as well. Shaft430may include an output section432, which may be connected to cables, gearing, or other structures to actuate one or more components and/or component functionalities of an instrument.

The depressions of interface disks of the various exemplary embodiments described herein, however, are not limited to the arrangements shown inFIGS. 8-12. Instead, other rib arrangements and structures may be used to facilitate gripping a depression of an interface disk. Turning toFIG. 13, an actuation input mechanism500is shown that includes an interface disk510and shaft530. Interface disk510and shaft530can be arranged according to the exemplary embodiment ofFIG. 12, except that ribs518of depression516may include rounded edges, according to an exemplary embodiment. For example, edges515along the length of ribs518may be rounded or tips519of ribs518may be rounded, or both edges515and tips519of ribs518may be rounded. Although edge520of interface disk510may lack a knurled edge, as shown inFIG. 13, edge520may instead be knurled, as shown inFIGS. 11 and 12. According to another exemplary embodiment shown inFIG. 14, an actuation input mechanism600may include an interface disk610and a shaft630, which may be arranged according to the exemplary embodiment ofFIG. 12, except that ends of ribs618in depression616may be spaced from a central aperture617. Spacing ribs618from central aperture617may assist with, for example, molding input member600. Although edge620of interface disk610may lack a knurled edge, as shown inFIG. 14, edge620may instead be knurled, as shown inFIGS. 11 and 12.

The depressions of interface disks of the various exemplary embodiments described herein are not limited to the radially patterned ribs shown in the exemplary embodiments described above and instead may include other arrangements.FIG. 15shows an exemplary embodiment of an actuation input mechanism700that includes an interface disk710and a shaft730, which may be arranged according to the exemplary embodiment ofFIG. 12, except that ribs718of depression716have a partial spiral shape. As a result, when a user engages depression716, such as by inserting a fingertip or a finger-shaped object within depression716, turning of interface disk710in direction740inFIG. 15is facilitated because the fingertip or object will wedge between ribs718when the fingertip, or finger-shaped object, and interface disk710are turned in direction740. According to an exemplary embodiment, ribs718may spiral along a constant radius of curvature. According to another exemplary embodiment, ribs718may spiral along a radius of curvature that varies. Although edge720of interface disk710may lack a knurled edge, as shown inFIG. 15, edge720may instead be knurled, as shown inFIGS. 11 and 12.

In the exemplary embodiment ofFIG. 15, top surfaces719of ribs718are substantially flush with a surface713of interface disk710. Thus, ribs718have a profile substantially flush with surface713, and surfaces719and713may be substantially planar. However, ribs may have a different shape. According to an exemplary embodiment, a top surface819of ribs818(which may be curved like ribs718ofFIG. 15) may be dished so that top surface819is not flush with a surface813of interface disk810, as shown inFIG. 16. Thus, ribs818may have a dished profile relative to surface813. For example, a distance between top surface819of ribs818and surface813may increase in a direction from an outer edge819of depression816to a central aperture817. As a result, when a user engages depression816, such as by inserting a fingertip or a finger-shaped object, such as, for example, a stylus, pencil, or other specially-designed tool having a configuration similar to a finger, within depression816, turning of interface disk810in direction840inFIG. 16is facilitated because the fingertip or object may wind down into the spiral formed by ribs818and be inserted deeper into depression816. Although edge820of interface disk810may lack a knurled edge, as shown inFIG. 16, edge820may instead be knurled, as shown inFIGS. 11 and 12.

As shown in the exemplary embodiments ofFIGS. 16 and 17, a depression of an interface disk may include a plurality of ribs arranged in a spiral pattern. According to another exemplary embodiment, an interface disk910may include a depression906having a single rib908arranged in a spiral pattern, as shown inFIG. 17. Similar to the exemplary embodiment ofFIG. 15, a top surface909of rib908may be flush with surface913of interface disk910. According to another exemplary embodiment, the interface disk1010ofFIG. 18may include a depression1008with a single rib1008having a top surface1009that is dished relative to surface1013of interface disk1010(e.g., rib1008may have a dished profile relative to surface1013), similar to the exemplary embodiment ofFIG. 16. Although edges920and1020of interface disks910and1010may lack a knurled edge, as shown inFIGS. 17 and 18, edges920and1020may instead be knurled, as shown inFIGS. 11 and 12.

According to an exemplary embodiment, an interface disk of a force transmission mechanism may include gripping features that extend above a surface of the interface disk. Turning toFIG. 19, an interface disk1110is shown that includes a central aperture1107and projections1108that extend from a surface1102of interface disk1110. Projections1108may act as gripping features, such as for a user to manually engage during a cleaning procedure, and may also serve as projections to engage with corresponding slots on driven disks of an actuation interface assembly, as described above with regard to the exemplary embodiment ofFIG. 4. Although edge1120of interface disk1110may lack a knurled edge, as shown inFIG. 19, edge1120may instead be knurled, as shown inFIGS. 11 and 12.

Interface disks of the various exemplary embodiments described herein may be made of molded plastic. However, the various exemplary embodiments are not limited solely to molded plastic but may include additional materials, such as to facilitate gripping of the interface disks by a user. According to an exemplary embodiment, interface disks may be made of plastic overmolded with a second material, such as a material that is more compliant than the plastic. The second material may facilitate gripping of the interface disk due to its compliant nature. The compliant material may be, for example, an elastomer, such as rubber. Turning toFIG. 20, an interface disk1210is shown that includes slots1212, a depression1216(which may be arranged according to the various exemplary embodiments described herein), with the interface disk1210including a main body1240formed by a first material, such as a plastic, and a second overmolded material1230more compliant than the first material1240(a portion of second material1230being removed inFIG. 20to reveal the first material1240underneath). Main body1240may be completely covered by material1230as indicated in the exemplary embodiment ofFIG. 20, or main body1240may be partially covered by material1230, such as by applying material1230as discrete features, such as ribs, spirals, or dots. Although edge1220of interface disk1210may lack a knurled edge, as shown inFIG. 20, edge1220may instead be knurled, as shown inFIGS. 11 and 12.

Although some interface disks (e.g., interface disk240ofFIG. 11) of some exemplary embodiments have been depicted and/or described as having a knurled edge continuously around a circumference of the interface disk, persons having ordinary skill in the art will appreciate that a knurled edge of an interface disk may extend along only one or more portions of an edge of an interface disk. For example, the knurled edge of an interface disk may be discontinuous and extend along one or more portions of the edge of the interface disk in the various exemplary embodiments described herein.

By providing a surgical instrument with interface disks of actuation input mechanisms with gripping features according to the various exemplary embodiments described herein, manual actuation of the interface disks by a user during a cleaning procedure may be facilitated. Thus, a user may actuate a functionality of the instrument by manually actuating an interface disk instead of grasping an instrument component (e.g., an end effector) with their hand.

Further modifications and alternative embodiments will be apparent to those of ordinary skill in the art in view of the disclosure herein. For example, the devices, systems, and methods may include additional components or steps that were omitted from the diagrams and description for clarity of operation. Accordingly, this description is to be construed as illustrative only and is for the purpose of teaching those skilled in the art the general manner of carrying out the present disclosure. It is to be understood that the various embodiments shown and described herein are to be taken as exemplary. Elements and materials, and arrangements of those elements and materials, may be substituted for those illustrated and described herein, parts and processes may be reversed, and certain features of the present teachings may be utilized independently, all as would be apparent to one skilled in the art after having the benefit of the description herein. Changes may be made in the elements described herein without departing from the scope of the present disclosure and following claims.

It is to be understood that the particular examples and embodiments set forth herein are non-limiting, and modifications to structure, dimensions, materials, and methodologies may be made without departing from the scope of the present disclosure.

Other embodiments in accordance with the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with being entitled to their full breadth of scope, including equivalents by the following claims.