A surgical instrument includes a shaft extending distally from the housing, an end effector assembly disposed at a distal end of the shaft and configured to supply energy to tissue to treat tissue, a knife slidably disposed within the shaft and movable relative to the end effector assembly between a retracted position and an extended position, and a trigger operably coupled to the housing. The trigger is selectively activatable from a neutral position to a laterally pivoted position to supply energy to the end effector assembly and is selectively actuatable from a distal position to a proximally pivoted position to deploy the knife from the retracted position to the extended position. In the laterally pivoted position of the trigger, actuation of the trigger is inhibited. In the proximally pivoted position of the trigger, activation of the trigger is inhibited.

BACKGROUND

Technical Field

The present disclosure relates generally to the field of surgical instruments. In particular, the disclosure relates to a surgical instrument for grasping, treating, and/or dividing tissue.

Background of Related Art

Various different surgical instruments are utilized for grasping, treating, and/or dividing tissue. A surgical forceps, for example, is a pliers-like surgical instrument that relies on mechanical action between its jaw members to grasp, clamp, and constrict tissue. Energy-based surgical forceps utilize both mechanical clamping action and energy, e.g., radiofrequency (RF) energy, microwave energy, ultrasonic energy, light energy, thermal energy, etc., to heat tissue to treat, e.g., coagulate, cauterize, and/or seal, tissue.

Typically, once tissue is treated, the surgeon has to accurately divide the treated tissue. Accordingly, many surgical forceps are designed to incorporate a knife or cutting member utilized to effectively divide the treated tissue.

SUMMARY

As used herein, the term “distal” refers to the portion of the instrument or component thereof that is being described that is further from a user, while the term “proximal” refers to the portion of the instrument or component thereof that is being described that is closer to a user. Further, to the extent consistent, any of the aspects described herein may be used in conjunction with any of the other aspects described herein.

Provided in accordance with aspects of the present disclosure is a surgical instrument including a housing, a shaft extending distally from the housing, an end effector assembly disposed at a distal end of the shaft and adapted to connect to a source of energy to supply energy to tissue to treat tissue, a knife slidably disposed within the shaft and movable relative to the end effector assembly between a retracted position and an extended position, and a trigger operably coupled to the housing. The trigger is selectively activatable from a neutral position to a laterally pivoted position to supply energy to the end effector assembly, and selectively actuatable from a distal position to a proximally pivoted position to deploy the knife from the retracted position to the extended position. In the laterally pivoted position, actuation of the trigger is inhibited. On the other hand, in the proximally pivoted position, activation of the trigger is inhibited.

In an aspect of the present disclosure, the trigger includes a toggle and a disc body. The disc body is pivotably coupled to the housing to permit actuation of the trigger from the distal position to the proximally pivoted position. The toggle is pivotably coupled to the disc body and pivotable relative thereto for activating the trigger from the neutral position to the laterally pivoted position.

In another aspect of the present disclosure, the trigger is selectively activatable from the neutral position to first and second opposed laterally pivoted positions.

In still another aspect of the present disclosure, the trigger defines a distally-facing surface configured to facilitate manual manipulation of the trigger from the distal position to the proximally pivoted position. The trigger may further define a pair of side wing surfaces extending from opposing sides of the distally-facing surface and configured to facilitate manual manipulation of the trigger from the neutral position to the laterally pivoted position.

In yet another aspect of the present disclosure, the end effector assembly includes first and second jaw members. One or both of the jaw members is movable relative to the other between a spaced-apart position and an approximated position.

In still yet another aspect of the present disclosure, a movable handle is operably coupled to the housing and movable relative thereto between an initial position and a compressed position for moving the jaw members between the spaced-apart position and the approximated position.

In another aspect of the present disclosure, in the initial position of the movable handle, the movable handle interferes with the trigger to inhibit activation of the trigger from the neutral position towards the laterally pivoted position.

In another aspect of the present disclosure, an activation assembly including at least switch is disposed within the housing. The at least one switch is positioned such that, upon activation of the trigger from the neutral position to the laterally pivoted position, a portion of the trigger activates the at least one switch. The at least one switch may be a dome switch configured to produce at least one of an audible or tactile output in response to activation thereof.

Another surgical instrument provided in accordance with aspects of the present disclosure includes a housing, a shaft extending distally from the housing, an end effector assembly disposed at a distal end of the shaft, a movable handle operably coupled to the housing, a knife slidably disposed within the shaft, and a trigger operably coupled to the housing. The end effector assembly includes first and second jaw members adapted to connect to a source of energy to supply energy to tissue to treat tissue. One or both of the jaw members is movable relative to the other between a spaced-apart position and an approximated position. The movable handle is movable between an initial position and a compressed position to move the jaw members between the spaced-apart position and the approximated position. The knife is slidably disposed within the shaft and movable between a retracted position and an extended position, wherein the knife extends at least partially between the first and second jaw members. The trigger is laterally pivotable to supply energy to the first and second jaw members and proximally pivotable to move the knife from the retracted position to the extended position. In the initial position of the movable handle, at least a portion of the movable handle interferes with the trigger to inhibit lateral pivoting thereof.

In an aspect of the present disclosure, the trigger includes a toggle and a disc body. The disc body is pivotably coupled to the housing to permit proximal pivoting of the trigger, while the toggle is pivotably coupled to the disc body and pivotable relative thereto to permit lateral pivoting of the trigger.

In another aspect of the present disclosure, the trigger is laterally pivotable in either direction from a neutral position to a laterally pivoted position to supply energy to the first and second jaw members.

In another aspect of the present disclosure, the trigger defines a distally-facing surface configured to facilitate proximal pivoting of the trigger. The trigger may further define a pair of side wing surfaces extending from opposing sides of the distally-facing surface. The side wing surfaces are configured to facilitate lateral pivoting of the trigger. In the initial position of the movable handle, the side wing surfaces at least partially surround the movable handle.

In yet another aspect of the present disclosure, the surgical instrument further includes a drive assembly operably coupled between the end effector assembly and the movable handle such that movement of the movable handle from the initial position to the compressed position moves the jaw members from the spaced-apart position to the approximated position.

In still another aspect of the present disclosure, at least one linkage is operably coupled between the trigger and the knife such that proximal pivoting of the trigger moves the knife from the retracted position to the extended position.

In still yet another aspect of the present disclosure, the knife defines a distal cutting edge having a dual rake configuration.

In another aspect of the present disclosure, the surgical instrument further includes an activation assembly including at least switch disposed within the housing. The at least one switch is positioned such that, upon lateral pivoting of the trigger, the trigger activates the at least one switch to supply energy to the first and second jaw members.

In still another aspect of the present disclosure, a first portion of the housing interferes with the trigger to inhibit proximal pivoting of the trigger when the trigger is laterally pivoted, and a second portion of the housing interferes with the trigger to inhibit lateral pivoting of the trigger when the trigger is proximally pivoted.

DETAILED DESCRIPTION

Referring generally toFIG. 1, an endoscopic surgical forceps provided in accordance with the present disclosure is shown generally identified by reference numeral10. As described in greater detail below, forceps10is configured for insertion through a cannula200(FIG. 2) and into an internal surgical site for grasping tissue, treating the grasped tissue with energy, and dividing the grasped and/or treated tissue. Although detailed herein with respect to endoscopic forceps10, the aspects and features of the present disclosure are equally applicable for use with any suitable surgical instrument.

With reference toFIGS. 1 and 4-8B, forceps10generally includes a housing20, a handle assembly30, a trigger assembly60, a rotation assembly70, a shaft80, an end effector assembly100, a drive assembly130(FIGS. 6A-6C), a knife assembly160(FIGS. 6A and 8B), and an activation assembly180(FIGS. 6A-6C). Forceps10further includes a cable2configured to couple forceps10to a source of energy, e.g., an electrosurgical generator (not shown), for supplying energy to end effector assembly100, although forceps10may alternative be configured as a cordless, hand-held device. The components and assemblies of forceps10are described more generally, followed by a more detailed description of the components and assemblies of forceps10that are germane to the aspects and features of the present disclosure.

Handle assembly30is operably coupled to housing20and includes a movable handle40extending from housing20adjacent fixed handle portion50of housing20to permit manual manipulation of movable handle40by a user. Trigger assembly60is also operably coupled to housing20and similarly includes a trigger62extending from housing20to permit manual manipulation thereof by a user.

Shaft80extends distally from housing20, defines a longitudinal axis “A-A,” and includes end effector assembly100disposed towards the distal end thereof. Shaft80may be configured as an integral, rigid component. Rotation assembly70may be disposed about the distal end of housing20and operably coupled to shaft80such that rotation of rotation nose72of rotation assembly70rotates shaft80and end effector assembly100relative to housing20.

End effector assembly100includes first and second jaw members110,120, at least one of which is movable relative to the other and shaft80between a spaced-apart position and an approximated position. Drive assembly130(FIGS. 6A-6C) extends through housing20and shaft80and operably couples movable handle40of handle assembly30with end effector assembly100such that movement of movable handle40moves jaw members110,120between the spaced-apart and approximated positions.

Knife assembly160(FIG. 6A) includes a knife162(FIG. 8B) slidably disposed within shaft80and operably coupled to trigger62of trigger assembly60such that actuation of trigger62advances knife162from a retracted position, wherein knife162is disposed proximally of end effector assembly100, to an extended position, wherein knife162extends between jaw members110,120(seeFIG. 8B). With particular reference toFIG. 8B, knife162includes a distal cutting edge168having a dual-rake configuration defining a central protruding point169aand angled cutting edges169bangled proximally from central protruding point169a. As a result of this configuration, upon advancement of knife162, distal cutting edge168is led by central protruding point169a, which is the distal-most portion of knife162and is positioned between jaw members110,120, while angled extend proximally from central protruding point169aat least partially into the knife channels118,128of jaw members110,120, respectively. It is noted that jaw members110,120are shown in a partially-open condition inFIG. 8Bto permit visualization of knife162and, thus, knife162is not shown positioned within knife channels118,128. However, with jaw members110,120in the approximated position upon advancement of knife162, the above-detailed configuration is achieved.

Referring again toFIGS. 1 and 4-8B, activation assembly180(FIGS. 6A-6C) includes a pair of switches182(FIGS. 6A-6C; only one switch182is shown) disposed within housing20and operably associated with trigger62of trigger assembly60such that activation of trigger62depresses one of switches182(depending upon the direction of activation of trigger62) to supply energy from the energy source to jaw members110,120of end effector assembly100. Cable2includes a plurality of lead wires (not explicitly shown) extending therethrough. The lead wires extend through housing20and shaft80to electrically couple the energy source, switches182of activation assembly180, and electrically-conductive surfaces116,126of jaw members110,120with one another.

With additional reference toFIGS. 2 and 3, forceps10is configured for use in endoscopic surgical procedures (although forceps10may equally be used in traditional open surgical procedures) and, thus, shaft80and jaw members110,120of end effector assembly100are configured for insertion through a cannula200to facilitate access to an internal surgical site. Shaft80defines longitudinal axis “A-A and includes a proximal portion82, a distal portion84, and a transition portion86between proximal and distal portions82,84where shaft80transitions from proximal portion82to distal portion84. Proximal portion82of shaft80defines a circular cross-sectional configuration, which provides strength and support to shaft80. The circular cross-sectional configuration of proximal portion82, being smooth, continuous, without angles or edges, and radially-symmetric, also facilitates formation of a fluid-tight seal about proximal portion82, e.g., via seal member230of cannula200, upon insertion into cannula200.

Distal portion84of shaft80and end effector assembly100cooperate to define a length “X” that is less than the overall cooperative length of shaft80and end effector assembly100. Distal portion84defines a rectangular cross-sectional configuration including a pair of opposed short sides85aand a pair of opposed long sides85b. Each of the opposed long sides85bof distal portion84of shaft80defines a width that approximates the diameter of the circular cross-sectional proximal portion82of shaft80, although other configurations are also contemplated. Each of the opposed short sides85aof distal portion84of shaft80defines a width that is less than a diameter of the circular cross-sectional proximal portion82of shaft80such that distal portion84of shaft80defines a narrowed configuration as compared to proximal portion82of shaft80. This narrowed configuration facilitates visualization of end effector assembly100and insertion of end effector assembly100and shaft80through cannula200and into an internal surgical site, as detailed below. Further, the narrowed configuration of distal portion84of shaft80allows for positioning of other instrumentation, e.g., irrigation and/or suction tubes, a camera, a sensor(s), a light source, an energizable probe, a navigation tool, etc. alongside distal portion84of shaft80without extending beyond or extending minimally beyond the outer dimension of proximal portion82of shaft80. The additional instrumentation may be incorporated into forceps10, e.g., extending through proximal portion82of shaft80and alongside distal portion84of shaft80, may be releasably engagable with distal portion84of shaft80, or may be wholly separate from forceps10.

Distal portion84of shaft80may be centered relative to the longitudinal axis “A-A” of shaft80or may be offset relative thereto, e.g., such that one of the long sides85bis closer to the longitudinal axis “A-A” than the other long side85b. Further, other narrowed configurations, e.g., square, oval, semi-circle, smaller-diametered circle, etc., are also contemplated. Intermediate portion86of shaft80provides a smooth, continuous transition between proximal and distal portions82,84, respectively, thus inhibiting potential snag points along shaft80and facilitating insertion thereof into and through cannula200.

End effector assembly100, as noted above, includes first and second jaw members110,120. Jaw members110,120define curved configurations, wherein jaw members110,120curve off of the longitudinal axis “A-A” of shaft80towards one of the long sides85bof distal portion84of shaft80(and away from the other long side85bof distal portion84of shaft80). Jaw members110,120are sufficiently curved such that the distal ends of jaw members110,120extend beyond the outer dimension of the circular cross-sectional proximal portion82of shaft80. Thus, the maximum width dimension defined by shaft80and end effector assembly100extends transversely from the distal tips “W1” of jaw members110,120to the outer-most dimension of the opposite side “W2” of proximal portion82of shaft80(seeFIG. 3). The curved configurations of jaw members110,120of end effector assembly100facilitate visualization of tissue as tissue is grasped, manipulated, treated, and/or divided. In configurations where distal portion84of shaft80is offset relative to the longitudinal axis “A-A” of shaft80, jaw members110,120are configured to curve away from the offset direction of distal portion84, thus reducing the maximum width dimension of shaft80and end effector assembly100.

Referring toFIGS. 2 and 3, an exemplary cannula200configured for use in endoscopic surgery is shown defining a longitudinal axis “B-B” and generally including a proximal housing210, a distal sleeve220extending from proximal housing210, at least one seal member230, and a fluid port240defined therein. Although exemplary cannula200is shown and described herein, it is understood that the aspects and features of the present disclosure apply equally to any suitable cannula providing access to an internal surgical site. Proximal housing210is configured for positioning on the exterior surface of a patient's skin and includes seal member230disposed therein. Proximal housing210, distal sleeve220, and seal member230cooperate to define a lumen225extending therethrough. Seal member230is configured to establish a fluid-tight seal about an instrument or instruments, e.g., proximal portion82of shaft80of forceps10(FIG. 1), inserted through lumen225of cannula200. Seal member230may be any suitable seal or combination of seals, e.g., a duck bill valve, brush seal, elastomeric seal, etc., for establishing a fluid-tight seal about an instrument or instruments. Fluid port240is configured to connect to a fluid supply for insufflating the internal surgical site, providing other fluid thereto, or removing fluid therefrom. Cannula200defines a length “Y” and lumen225of cannula200defines a diameter “D.” Further, plural cannulas200may be provided of different lengths and/or diameters, such that an appropriate cannula200may be selected based upon a patient's anatomy, the procedure to be performed, preference of the user, and/or other factors. To this end, plural forceps10may be provided, each configured for use with one or more of the different length and/or diameter cannulas200. It is typically advantageous to use the smallest-diametered cannula200suitable for the particular patient and/or procedure as such requires a smaller incision for the cannula200and, as a result, reduced post-surgical pain and healing time. However, other factors and/or considerations may warrant use of a different cannula200.

Referring toFIG. 3, as noted above, shaft80and end effector assembly100are configured for insertion through cannula200and into an internal surgical site. Where plural size cannulas200and/or forceps10(FIG. 1) with plural size shafts80are provided, a suitable cannula200and forceps10(FIG. 1) pair is first selected. In an effort to utilize the smallest-diameter cannula200, it is contemplated that the cannula200and forceps10(FIG. 1) pair be configured such that the length “Y” of the cannula200is equal to the collective length “X” of distal portion84of shaft80and end effector assembly100or less than the collective length “X” but sufficiently long so as to ensure that seal member230is disposed about proximal portion82of shaft80when end effector assembly100is positioned within the internal surgical site (rather than being disposed about transition portion86or distal portion84, where it may be more difficult to establish an effective seal). For similar purposes, it is further contemplated that cannula200and forceps10(FIG. 1) be configured such that the diameter “D” of lumen225of cannula200is equal to or greater than the maximum width dimension defined by shaft80and end effector assembly100but sufficiently small to enable insertion of end effector assembly100and shaft80therethrough in an angled orientation relative to distal sleeve220of cannula200.

In use, cannula200is positioned within an opening in tissue such that proximal housing210remains external while distal sleeve220extends through the opening in tissue into the internal surgical site. When forceps10(FIG. 1) is to be used, end effector assembly100and shaft80are inserted through lumen225of cannula200. As a result of the above-noted length and width/diameter relationship, end effector assembly100and distal portion84of shaft80are inserted through lumen225of cannula200in an angled orientation relative to longitudinal axis “B-B” of cannula200. This configuration enables insertion of end effector100and distal portion84of shaft80through lumen225of cannula220despite diameter “D” of lumen225of cannula200being equal to or greater than the maximum width dimension defined by shaft80and end effector assembly100. As end effector assembly100and shaft80are further inserted through lumen225of cannula200, the distal tips “W1” of jaw members110,120eventually reach the distal end of distal sleeve220of cannula200. As a result of the length “Y” of the cannula200being equal to or less than the collective length “X” of distal portion84of shaft80and end effector assembly100, the distal tips “W1” of jaw members110,120reach the distal end of distal sleeve220prior to transition portion86of shaft80entering lumen225of cannula200. Thus, upon further insertion of end effector assembly100and shaft80into cannula200, curved jaw members110,120begin to emerge from the distal end of distal sleeve220, allowing shaft80to be straightened from the angled orientation towards an aligned orientation relative to longitudinal axis “B-B” of cannula200, thereby providing sufficient clearance for transition portion86and, ultimately, proximal portion82of shaft80to enter lumen225of cannula200to permit further insertion of end effector assembly100and shaft80into and through cannula200such that end effector assembly100may be readily positioned at the internal surgical site.

With end effector assembly100positioned at the internal surgical site, at least a portion of proximal portion82of shaft80has entered cannula200such that seal member230is disposed about the circular cross-sectional proximal portion82of shaft80, thus ensuring an effective fluid-tight seal. Once this position has been achieved, forceps10(FIG. 1) may be utilized to grasp, treat, and/or divide tissue, as detailed below.

Referring toFIGS. 1 and 8B, end effector assembly100, as mentioned above, includes first and second jaw members110,120. Jaw members110,120are pivotably coupled to one another and shaft80to enable movement of jaw members110,120relative to one another and shaft80between the spaced-apart position and the approximated position. As an alternative to this bilateral configuration, end effector assembly100may define a unilateral configuration, e.g., wherein jaw member120is fixed relative to shaft80and jaw member110is pivotable relative to jaw member120and shaft80between the spaced-apart and approximated positions.

Each jaw member110,120of end effector assembly100includes a proximal flange111,121and a distal body112,122. Proximal flanges111,121define aligned pivot apertures (not shown) and oppositely-angled cam slots113,123. The pivot apertures are configured to receive a pivot pin103for pivotably coupling jaw members110,120to clevis88of distal portion86of shaft80. Oppositely-angled cam slots113,123receive a drive pin105that is operably coupled to drive bar132of drive assembly130(FIGS. 6A-6C) such that translation of drive bar132through shaft80and relative to end effector assembly100pivots jaw members110,120between the spaced-apart and approximated positions.

Distal bodies112,122of jaw members110,120each define a curved configuration, as noted above, wherein distal bodies112,122curve laterally in similar directions. Distal jaw bodies112,122each further define opposing tissue-contacting surfaces116,126. Tissue-contacting surfaces116,126are formed at least partially from an electrically-conductive material and either or both are adapted to connect to a source of energy as well as activation assembly180(FIGS. 6A-6C) via the lead wires extending through cable2(FIG. 1) to enable the selective supply of energy thereto for treating tissue grasped therebetween. Either or both of distal bodies112,122may further define a knife channel118,128extending through tissue-contacting surfaces116,126to facilitate reciprocation of knife162between jaw members110,120.

Turning toFIGS. 1, 4, and 6A-6C, handle assembly30includes movable handle40, fixed handle portion50of housing20, and a linkage44. Movable handle40is pivotably coupled to housing20within housing20to enable pivoting of movable handle40relative to fixed handle portion50between an initial position (FIG. 1) and a compressed position (FIG. 8A). Linkage44operably couples movable handle40with drive assembly130such that pivoting of movable handle40between the initial and compressed positions translates drive bar132(FIGS. 6C and 8B) through shaft80and relative to end effector assembly100to move jaw members110,120between the spaced-apart position and the approximated position. Drive assembly130may further include a spring mandrel assembly134(FIGS. 6A-6C) operably coupling linkage44with drive bar132such that a closure pressure imparted to tissue grasped between jaw members110,120is limited to a particular closure pressure range, e.g., between about 3 kg/cm2and about 16 kg/cm2.

Movable handle40and fixed handle portion50further include cooperating engagement components48,58, respectively, e.g., a pin and corresponding track, to enabling locking of movable handle40in the compressed position upon achieving the compressed position, thereby retaining the jaw members110,120in the approximated position. Cooperating engagement components48,58may be disengaged, allowing movable handle40to return to the initial position, upon moving movable handle40further towards fixed handle portion50to an over-compressed position and then releasing or returning movable handle40towards the initial position.

With reference toFIGS. 1 and 4-6C, trigger assembly60includes a trigger62, an elongated link68a, and a lever arm68b. Trigger62includes a toggle63and a disc body66. Toggle63includes an upper flange64aand a manipulation portion65aextending from upper flange64a. Upper flange64aof toggle63includes disc body66rotatably coupled thereabout. Upper flange64afurther includes an activation post64bextending from each lateral side thereof. As detailed below, one of the ends64cof activation post64bis configured to depress the corresponding switch182of activation assembly180(depending upon the direction of activation of trigger62, as detailed below) to supply energy to jaw members110,120. Switches182may be configured as dome switches or other suitable switches to facilitate activation thereof via activation posts64b. Switches182may be configured to produce an audible and/or tactile “click” upon activation, thus indicating to a user that energy is being supplied to end effector assembly100(FIG. 8B).

Manipulation portion65aof toggle63of trigger62extends from housing20and defines a distally-facing contact surface65band a pair of side wing surfaces65cextending from either side of distally-facing contact surface65bin a proximal direction. Distally-facing contact surface65bis configured to facilitate actuation of trigger62, e.g., proximal pivoting of trigger62from an un-actuated position (FIG. 1) to an actuated position (FIG. 8B), to deploy knife162relative to end effector assembly100(seeFIG. 8B). Side wing surfaces65care configured to facilitate activation of trigger62, e.g., lateral pivoting of trigger62(in either lateral direction) from a neutral position (FIG. 1) to an activated position (FIG. 7), for urging one of the ends64cof activation post64binto the corresponding switch182of activation assembly180(depending upon the direction of activation of trigger62) to activate the switch182and supply energy to jaw members110,120. Further, side wing surfaces65care configured to surround movable handle40in the initial position of movable handle40(seeFIG. 4) such that lateral pivoting of trigger62from the neutral position is inhibited when jaw members110,120are disposed in the spaced-apart position (seeFIG. 1). As such, side wing surfaces65cof trigger62and movable handle40cooperate to define a lockout that inhibits energy from being supplied to jaw members110,120when jaw members110,120are disposed in the spaced-apart position.

Disc body66of trigger62, as noted above, is rotatably coupled about upper flange64a. More specifically, disc body66includes a circular pivot aperture67areceived within a circular pivot member67bdefined within upper flange64aof toggle63such that toggle63is laterally pivotable relative to disc body66, e.g., between the neutral and activated positions (FIGS. 4 and 7, respectively). Disc body66further includes a pair of outwardly-extending pivot posts67cconfigured for receipt within corresponding pivot apertures22(FIG. 6C, only one of apertures22is shown) defined within housing20to pivotably couple trigger62to housing20. As such, trigger62is pivotably actuatable relative to housing20, via the pivotable coupling of pivot posts67cwithin pivot apertures22, between the un-actuated position (FIG. 1) and the actuated position (FIG. 8A).

Referring toFIGS. 6A-6C, as noted above, trigger assembly60further includes an elongated link68aand a lever arm68b. Elongated link68ais pivotably coupled to disc body66of trigger62at the distal end of elongated link68aand is pivotably coupled to lever arm68bat the proximal end of elongated link68a. Lever arm68bis pivotably coupled to housing20at a first end thereof, is operably coupled to proximal collar164of knife assembly160at a second end thereof. Proximal collar164is engaged about the proximal end of knife bar166, which extends distally through housing20and a portion of shaft80. Knife162(FIG. 8B) is engaged with and extends distally from knife bar166. As a result of the above-detailed configuration, proximal actuation of trigger62from the un-actuated position (FIG. 1) to the actuated position (FIG. 8A) translates knife162distally to the extended position (FIG. 8B), wherein knife162extends between jaw members110,120.

As illustrated inFIGS. 6A and 6B, housing20may further define lock surfaces24positioned to interfere with activation post64bof toggle63of trigger62in the activated position thereof such that actuation of trigger62from the un-actuated position to the actuated position is inhibited when trigger62is disposed in the activated position. Thus, knife162(FIG. 8B) is inhibited from being deployed while energy is being supplied to jaw members110,120of end effector assembly100(seeFIG. 8B). Likewise, when trigger62is disposed in the actuated position (FIG. 8A), activation posts64bare positioned adjacent an interior surface of housing20and spaced-apart from switches182, inhibiting lateral pivoting of trigger62, thereby inhibiting energy activation when knife162is deployed.

Referring generally toFIGS. 1 and 4-8B, in use, once end effector assembly100is positioned adjacent an internal surgical site, e.g., through cannula200(FIGS. 2 and 3), as detailed above, forceps10may be manipulated, e.g., via moving housing20and/or rotating rotation nose72of rotation assembly70, such that jaw members110,120of end effector assembly100are positioned with tissue to be grasped, treated, and/or divided therebetween. Thereafter, jaw members110,120may be moved from the spaced-apart position to the approximated position to grasp tissue by moving movable handle40from the initial position (FIG. 1) to the compressed position (FIG. 8A).

With tissue grasped between jaw members110,120of end effector assembly100, trigger62may be activated by laterally pivoting trigger62from the neutral position (FIG. 1) to either of the activated positions (e.g., the activated position illustrated inFIG. 7) to thereby activate the corresponding switch182of activation assembly180. The activation of either switch182supplies energy from the energy source to tissue-contacting surfaces116,126(FIG. 8B) of jaw members110,120to treat tissue grasped therebetween.

Once tissue has been sufficiently treated, or where it is only desired to grasp and divide tissue, with trigger62disposed in (or returned to) the neutral position, trigger62may be pivoted proximally from the un-actuated position to the actuated position to thereby deploy knife162(FIG. 8B) between jaw members110,120to cut tissue grasped therebetween. The treated and/or divided tissue may be released by releasing or returning movable handle40to the initial position and subsequent tissue may then be grasped, treated, and/or divided similarly as detailed above.

The above-detailed aspects and features of the present disclosure may be configured to work with robotic surgical systems and what is commonly referred to as “Telesurgery.” Such systems employ various robotic elements to assist the surgeon and allow remote operation (or partial remote operation) of surgical instrumentation. Various robotic arms, gears, cams, pulleys, electric and mechanical motors, etc. may be employed for this purpose and may be designed with a robotic surgical system to assist the surgeon during the course of an operation or treatment. Such robotic systems may include remotely steerable systems, automatically flexible surgical systems, remotely flexible surgical systems, remotely articulating surgical systems, wireless surgical systems, modular or selectively configurable remotely operated surgical systems, etc.

The robotic surgical systems may be employed with one or more consoles that are next to the operating theater or located in a remote location. In this instance, one team of surgeons or nurses may prep the patient for surgery and configure the robotic surgical system with one or more of the instruments disclosed herein while another surgeon (or group of surgeons) remotely control the instruments via the robotic surgical system. As can be appreciated, a highly skilled surgeon may perform multiple operations in multiple locations without leaving his/her remote console which can be both economically advantageous and a benefit to the patient or a series of patients.

The robotic arms of the surgical system are typically coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the working ends of any type of surgical instrument (e.g., end effectors, graspers, knifes, scissors, etc.) which may complement the use of one or more of the embodiments described herein. The movement of the master handles may be scaled so that the working ends have a corresponding movement that is different, smaller or larger, than the movement performed by the operating hands of the surgeon. The scale factor or gearing ratio may be adjustable so that the operator can control the resolution of the working ends of the surgical instrument(s).

The master handles may include various sensors to provide feedback to the surgeon relating to various tissue parameters or conditions, e.g., tissue resistance due to manipulation, cutting or otherwise treating, pressure by the instrument onto the tissue, tissue temperature, tissue impedance, etc. As can be appreciated, such sensors provide the surgeon with enhanced tactile feedback simulating actual operating conditions. The master handles may also include a variety of different actuators for delicate tissue manipulation or treatment further enhancing the surgeon's ability to mimic actual operating conditions.

Turning toFIG. 9, a medical work station is shown generally as work station1000and generally may include a plurality of robot arms1002,1003; a control device1004; and an operating console1005coupled with control device1004. Operating console1005may include a display device1006, which may be set up in particular to display three-dimensional images; and manual input devices1007,1008, by means of which a surgeon may be able to telemanipulate robot arms1002,1003in a first operating mode.

Each of the robot arms1002,1003may include a plurality of members, which are connected through joints, and an attaching device1009,1011, to which may be attached, for example, a surgical tool “ST” supporting an end effector1100. Suitable surgical tools “ST” include forceps10, and end effector assembly100thereof (seeFIG. 1).

Robot arms1002,1003may be driven by electric drives (not shown) that are connected to control device1004. Control device1004(e.g., a computer) may be set up to activate the drives, in particular by means of a computer program, in such a way that robot arms1002,1003, their attaching devices1009,1011and thus the surgical tool (including end effector1100) execute a desired movement according to a movement defined by means of manual input devices1007,1008. Control device1004may also be set up in such a way that it regulates the movement of robot arms1002,1003and/or of the drives.

Medical work station1000may be configured for use on a patient1013lying on a patient table1012to be treated in a minimally invasive manner by means of end effector1100. Medical work station1000may also include more than two robot arms1002,1003, the additional robot arms likewise being connected to control device1004and being telemanipulatable by means of operating console1005. A medical instrument or surgical tool (including an end effector1100) may also be attached to the additional robot arm. Medical work station1000may include a database1014, in particular coupled to with control device1004, in which are stored, for example, pre-operative data from patient/living being1013and/or anatomical atlases.