Patent ID: 12239336

DETAILED DESCRIPTION

Referring toFIG.1, an endoscopic ultrasonic surgical instrument exemplifying aspects and features of the present disclosure is shown generally identified by reference numeral10. Endoscopic ultrasonic surgical instrument10is configured to deliver ultrasonic energy to tissue; however, any other suitable endoscopic surgical instrument may be utilized in accordance with the aspects and features of the present disclosure such as, for example, an endoscopic surgical stapler, an endoscopic surgical clip applier instrument, an endoscopic surgical suturing instrument, an endoscopic electrosurgical surgical instrument, e.g., instrument400(FIGS.4A-4B), the endoscopic portion of a robotic surgical system, e.g., robotic surgical system1000(FIG.5), etc.

Instrument10generally includes a handle assembly12, a shaft14, a motion sensing assembly100, and an end effector assembly200including a jaw member210movable relative to an ultrasonic blade220between an open position and a clamping position for clamping issue against ultrasonic blade220.

Handle assembly12includes a housing20that supports a battery assembly118and a generator and transducer assembly20, and includes an activation button24and a clamp trigger26operably coupled thereto. Shaft14defines a longitudinal axis “B-B” of instrument10and extends distally from handle assembly12to end effector assembly200.

Battery assembly118, upon activation of the activation button24, is configured to supply power to the generator of generator and transducer assembly20to drive the ultrasonic transducer (not shown) of the generator and transducer assembly20which, in turn, is configured to produce ultrasonic energy for transmission along a waveguide (not shown) to ultrasonic blade220of end effector assembly200to treat, e.g., to coagulate, cauterize, fuse, cut, desiccate, fulgurate, or otherwise treat, tissue clamped between jaw member210and ultrasonic blade220or positioned adjacent to ultrasonic blade220.

Battery assembly118and generator and transducer assembly20are each releasably secured to housing20of handle assembly12, and are removable therefrom to facilitate disposal of handle assembly12, with the exception of battery assembly118and generator and transducer assembly20. However, any or all of the components of instrument10may be configured as disposable single-use components or sterilizable multi-use components, and/or that the surgical instrument10be connectable to a remote power source and/or generator rather than having such components on-board.

Continuing with reference toFIG.1, clamp trigger26is operably associated with housing20of handle assembly12and is selectively manipulatable relative thereto to actuate a drive assembly (not shown) extending through handle assembly12and shaft14to move jaw member210relative to ultrasonic blade220between the open position and the clamping position.

Motion sensing assembly100includes a motor110configured to drive manipulation of end effector assembly200in response to movement of housing20of handle assembly12. Handle assembly12can include a motion activation control30that activates motion sensing assembly100. When motion activation control30is activated, motion sensing assembly100creates a home or reference position corresponding to the position of housing20of handle assembly12at that moment. This reference position is then stored in a memory of motion sensing assembly100. Once the reference position is stored, motion sensing assembly100is able to detect movement of housing20of handle assembly12relative to the reference position and direct motor110to manipulate end effector assembly200in response to movement of housing20of handle assembly12relative to the reference position.

Motion sensing assembly100may include accelerometers, gyroscopes, and/or other suitable mechanisms configured to determine movement of housing20of handle assembly12relative to the reference position within a gravitational field. A microcontroller of motion sensing assembly100analyzes movement of housing20of handle assembly12within the gravitational field, based upon feedback from the accelerometers, gyroscopes, and/or other suitable mechanisms, and directs motor110to manipulate end effector assembly200in response to the movement of handle assembly100. A storage device associated with the microcontroller of motion sensing assembly100stores one or more programs for execution by the microcontroller to perform the above.

With additional reference toFIG.2, once motion activation control30has been activated to register home position “H” and thereafter housing20of handle assembly12is rotated from the home position “H” about the axis “B-B” in a clockwise direction, towards position “CW,” for example, motor110rotates shaft14about the axis “B-B” and relative to housing20of handle assembly12which, in turn, rotates end effector assembly200at the distal end of shaft14relative to housing20of handle assembly12in a clockwise direction. As the radial displacement of housing20of handle assembly12about the axis “B-B” is increased, motor110increases the speed at which shaft14is rotated about the axis “B-B” relative to housing20of handle assembly12. Similarly, as the radial displacement of handle assembly12about the axis “B-B” is decreased, motor110decreases the speed at which shaft14is rotated about the axis “B-B” relative to housing20of handle assembly12. Position “CW” may represent a maximum angular speed of rotation of shaft14such that rotation beyond position “CW” ceases to increase the angular speed of rotation of shaft14relative to housing20of handle assembly12. As shown, housing20of handle assembly12may reach the position “CW” after about π/4 or 45° of rotation; however, it is contemplated that position “CW” may be reached in a range of about π/6 or 30° to about π/2 or 90° of rotation. The maximum angular speed of rotation of shaft14may be in the range of about 5 rpm to about 30 rpm (e.g., about 15 rpm), although other speeds of rotation ranges are also contemplated. It will be appreciated that speed of rotation of shaft14is proportional to the rotation of housing20of handle assembly12about the axis “B-B” from the home position towards the position “CW.”

Similarly, when housing20of handle assembly12is rotated from the home position H about the axis “B-B” in a counter-clockwise direction, motor110rotates shaft14about the axis “B-B,” which rotates end effector assembly200relative to housing20of handle assembly12in a counter-clockwise direction.

Continuing to refer toFIGS.1and2, instrument10may include a rotation lockout feature that can prevent rotation of end effector assembly200when certain conditions are met. For example, the rotation lockout feature can be configured to prevent rotation of end effector assembly200relative to housing20of handle assembly12while ultrasonic energy is delivered to end effector assembly200. The rotation lockout feature may include a lockout switch212engagable by activation button24such that when activation button24is depressed to deliver ultrasonic energy, lockout switch212signals to the microcontroller of motion sensing assembly100to prevent rotation of end effector assembly200about the axis “B-B” relative to housing20of handle assembly12.

Additionally or alternatively, the rotation lockout feature may prevent rotation of end effector assembly200relative to housing20of handle assembly12when jaw member210of end effector assembly200is in the clamping position. The rotation lockout feature, in such configurations, may include a lockout switch214disposed at end effector assembly200(or otherwise positioned) such that when jaw member210of end effector assembly200is in the clamping position, lockout switch214signals the microcontroller of motion sensing assembly100to prevent rotation of end effector assembly200about the axis “B-B” relative to housing20of handle assembly12.

Instrument10may also include a torque limiting mechanism120that prevents excessive torque from being applied by motor110to rotate end effector assembly200about the axis “B-B” relative to housing20of handle assembly12. Torque limiting mechanism120may be a mechanical coupler (e.g., a clutch) or an electronic limiter (e.g., a torque sensor in communication with motor110). Torque limiting mechanism120may be positioned adjacent motor110or adjacent end effector assembly200, or in any other suitable position.

Referring toFIG.3, instrument10, as an alternative to incorporating motion sensing assembly100(FIG.1), may include a rotation control300. Rotation control300is disposed on handle assembly12to control rotation of shaft14about the axis “B-B” relative to housing20of handle assembly12and, thus, rotation of end effector assembly200relative to housing20of handle assembly12. Rotation control300can be in the form of a potentiometer that is engagable by the clinician such that rotation of rotation control300in a clockwise direction directs motor110to rotate shaft14about the axis “B-B” relative to housing20of handle assembly12in a clockwise direction. Rotation control300may be rotatable about a control axis that is parallel to the axis “B-B,” or otherwise oriented relative thereto. Motor110rotates shaft14about the axis “B-B” relative to housing20of handle assembly12at a radial speed proportional to the rotation of rotation control300from the home position about the control axis, similarly as detailed above with respect to motion sensing assembly100(FIG.1).

Similarly, rotation of the rotation control300in a counter-clockwise direction rotates shaft14about the axis “B-B” relative to housing20of handle assembly12in a counter-clockwise direction. Rotation control300may be a return-to-center potentiometer such that when rotation control300is released, rotation control300returns to a home or neutral position; shaft14is fixed about the axis “B-B” relative to housing20of handle assembly12when rotation control300is in the neutral position. Rotation lockout features such as those detailed above may likewise be used in conjunction with rotation control300. Alternatively, rotation control300may be an encoder or a return-to-center encoder and function in a similar manner as detailed above with respect to the potentiometer and return-to-center potentiometer, respectively. In embodiments where rotation control300is an encoder or a return-to-center encoder, various methods of encoding input may be provided such as, for example, electrical pulses or optics.

Referring toFIGS.4A and4B, an endoscopic electrosurgical surgical instrument exemplifying aspects and features of the present disclosure is shown generally identified by reference numeral400. Endoscopic electrosurgical surgical instrument400includes a housing420, a handle assembly430, a trigger assembly460, an activation switch470, and an end effector assembly480. Instrument400further includes a shaft412having a distal end portion configured to mechanically engage end effector assembly480and a proximal end portion that mechanically engages housing420. A cable500connects instrument400to an electrosurgical generator (not shown), although instrument400may alternatively be configured as a battery-powered device. Cable500includes wires (not shown) extending therethrough that have sufficient length to extend through shaft412in order to provide electrosurgical energy to one or both tissue-treating surfaces484,494of jaw members482,492, respectively, of end effector assembly480. Activation switch470is coupled to tissue-treating surfaces484,494and the generator for selectively activating the supply of energy to jaw members482,492for treating, e.g., cauterizing, coagulating/desiccating, and/or sealing, tissue.

Shaft412defines a distal segment413positioned towards the distal end portion thereof, a proximal segment414positioned towards the proximal end portion thereof, and an articulating section415disposed between the distal and proximal segments413,414, respectively. Articulating section415includes a plurality of articulating links416having a plurality of articulation cables417extending therethrough. Each cable417is operably engaged at its distal end to distal segment413or one of the articulating links416and at its proximal end to the articulation actuator, e.g., motion sensing assembly600and/or rotation/articulation control assembly800, so as to enable articulation of distal segment413and, thus, end effector assembly480, relative to proximal segment414upon actuation of the articulation actuator. In some embodiments, articulating section415is omitted, such that shaft412does not articulate.

Handle assembly430of instrument400includes a fixed handle450and a movable handle440. Fixed handle450is integrally associated with housing420and movable handle440is movable relative to fixed handle450. Movable handle440of handle assembly430is operably coupled to a drive assembly (not shown) that, together, mechanically cooperate to impart movement of one or both of jaw members482,492of end effector assembly480between a spaced-apart position (FIG.4A) and an approximated position (FIG.4B) to grasp tissue between jaw members482,492, in response to actuation of movable handle440.

Trigger assembly460includes a trigger462coupled to housing420and movable relative thereto between an un-actuated position and an actuated position. Trigger462is operably coupled to a knife (not shown) that is selectively translatable between jaw members482,492in response to activation of trigger462to cut tissue grasped between jaw members482,492.

End effector assembly480, as noted above, includes first and second jaw members482,492pivotably coupled to one another to enable movement of one or both of jaw members482,492between the spaced-apart and approximated positions. Tissue-treating surfaces484,494of jaw members482,492, respectively, are positioned to oppose one another, grasp tissue therebetween, and are formed from an electrically conductive material to enable conduction of electrosurgical energy therebetween for treating tissue grasped therebetween. As mentioned above, tissue-treating surfaces484,494are coupled to activation switch470and the generator (not shown) such that energy may be selectively supplied tissue-treating surfaces484,494and conducted through tissue disposed therebetween to treat tissue in response to activation of activation switch470.

Instrument400may further include a motion activation control630and motion sensing assembly600including a motor610, similar to motion activation control30, motion sensing assembly100, and motor110, respectively, of instrument10(seeFIG.1), to enable setting of a reference position and, thereafter, rotation of shaft412and, thus, end effector assembly480relative to housing420in response to movement of housing420relative to the reference position. As an alternative to or in addition to controlling rotation of shaft412, motor610(or a separate motor (not shown)) may be operably coupled to articulation cables417to enable setting of a reference position of housing420for articulation (which may be similar or different from the reference position for rotation) and, thereafter, articulation of end effector assembly480relative to housing420in response to movement of housing420relative to the reference position for articulation. In embodiments, once an articulated position is achieved, this articulated position may be maintained when a rotational input is received to prevent the articulated end effector assembly480from whipping around as a result of rotation of shaft412and, instead, provide wristed rotation of end effector assembly480in the articulated position.

Rotation and/or articulation lockout features may be incorporated into instrument400to prevent rotation and/or articulation of end effector assembly480when certain conditions are met. For example, the rotation lockout feature can include a lockout switch712engagable by activation switch470such that when activation switch470is depressed to deliver electrosurgical energy, lockout switch712signals to the microcontroller of motion sensing assembly600to prevent rotation and/or articulation of end effector assembly480. Additionally or alternatively, the rotation lockout feature may prevent rotation and/or articulation of end effector assembly480when jaw members482,484are disposed in the approximated position via a lockout switch714disposed at end effector assembly480(or otherwise positioned) such that when jaw members482,484are disposed in the approximated position, lockout switch714signals the microcontroller of motion sensing assembly600to prevent rotation and/or articulation of end effector assembly480. Instrument400may also include a torque limiting mechanism720, similarly as detailed above, that prevents excessive torque from being applied by motor610to rotate and/or articulate end effector assembly480.

As an alternative to or in addition to incorporating motion sensing assembly600, instrument400may include a rotation/articulation control assembly800to control rotation and/or articulation of end effector assembly480. For example, in embodiments, one of motion sensing assembly600and rotation/articulation control assembly800controls rotation, while the other of motion sensing assembly600and rotation/articulation control assembly800controls articulation, although other configurations are also contemplated. Rotation/articulation control assembly800is similar to rotation control300of instrument10(seeFIG.3), detailed above, and may likewise include lockout features.

In embodiments where motion sensing assembly600is utilized to control both rotation and articulation of end effector assembly480, a first type of motion may effect rotation and a second type of motion may effect articulation. For example, rotation of housing420about a longitudinal axis of instrument400may effect rotation of end effector assembly480, while tilting housing420, e.g., up, down, left, or right from a neutral (reference) position, may effect articulation of end effector assembly480in a corresponding direction. Motion sensing assembly600may incorporate lockout features (not shown) to inhibit rotation while articulation is being effected and/or to inhibit articulation while rotation is being effected.

With reference toFIG.5, a robotic surgical system exemplifying the aspects and features of the present disclosure is shown identified by reference numeral1000. Robotic surgical system1000includes 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, to enable a surgeon may be able to telemanipulate robot arms1002,1003in a first operating mode. Robotic surgical system1000may be configured for use on a patient1013lying on a patient table1012to be treated in a minimally invasive manner. Robotic surgical system1000may further include a database1014, in particular coupled to control device1004, in which are stored, for example, pre-operative data from patient1013and/or anatomical atlases.

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, an end effector assembly1100,1200, respectively. End effector assembly1100may be similar to end effector assemblies100,480(FIGS.1and4A, respectively), or any other suitable end effector assembly for coupling to attaching device1009may be provided. End effector assembly1200may be any end effector assembly, e.g., an endoscopic camera, other surgical tool, etc. Robot arms1002,1003and end effector assemblies1100,1200may be driven by electric drives, e.g., motors, that are connected to control device1004. Control device1004(e.g., a computer) may be configured to activate the motors, in particular by means of a computer program, in such a way that robot arms1002,1003, their attaching devices1009,1011, and end effector assemblies1100,1200execute a desired movement and/or function according to a corresponding input from manual input devices1007,1008, respectively. Control device1004may also be configured in such a way that it regulates the movement of robot arms1002,1003and/or of the motors.

Manual input devices1007,1008of robotic surgical system1000may further include a motion activation control, a motion sensing assembly including a motor, rotation and/or articulation lockout features, excessive torque limiting features, and/or a rotation control, similarly as detailed above, to provide the user with the ability to control manipulation of end effector assemblies1100,1200, similarly as detailed above with respect to instruments10,400(FIGS.1and4A, respectively) by moving manual input devices1007,1008relative to a reference position.

Turning toFIG.6, a surgical system1600provided in accordance with the present disclosure is illustrated including instrument400(although instrument10(FIG.1), robotic surgical system1000(FIG.5), or any other suitable surgical instrument or system may similarly be utilized), a surgical camera1610, e.g., an endoscopic camera, and one or more surgical displays1620, wherein end effector assembly480of instrument400and distal portion612of surgical camera610extend endoscopically into an internal surgical site “S.”

Instrument400may include any or all of the features detailed above with respect to instrument400(or instrument10(FIG.1) or robotic surgical system1000(FIG.5)). In embodiments, instrument400may further include a position sensor490disposed on or within shaft412or end effector assembly480. Position sensor490communicates with motion sensing assembly600and/or rotation/articulation control assembly800of instrument400to provide position information of end effector assembly480thereto. Alternatively, position sensor490may communicate the position information of end effector assembly480to display1620via a wireless or wired connection1630and/or to surgical camera1610via a wireless or wired connection1640.

The position of end effector assembly480relative to the position of distal working end1612of surgical camera1610enables determination of whether motion sensing assembly600and/or rotation/articulation control assembly800should operate in a standard mode or in a reversed mode, as detailed below. As an alternative or in addition to providing a position sensor490, instrument400may include a manual selector491enabling a user to manually select between the standard mode (a first position493of manual selector491) or the reversed mode (a second position494of manual selector491). Where both position sensor490and manual selector491are provided, manual selector491may include a neutral position495, wherein the mode is automatically selected using position information, and may be movable from neutral position495to first position493, wherein the standard mode is utilized regardless of the position information, or second position494, wherein the reversed mode is utilized regardless of the position information.

In the standard mode, motion sensing assembly600and/or rotation/articulation control assembly800operate as detailed above; that is, where movement of housing420effects rotation and/or articulation of end effector assembly480in a corresponding direction, e.g., clockwise rotation of housing420effects clockwise rotation of end effector assembly480. In the reversed mode, on the other hand, motion sensing assembly600and/or rotation/articulation control assembly800operate in a reversed manner; that is, where movement of housing420effects rotation and/or articulation of end effector assembly480in an opposite direction, e.g., clockwise rotation of housing420effects counterclockwise rotation of end effector assembly480.

Continuing with reference toFIG.6, surgical camera1610may be any suitable surgical camera such as, for example, an endoscopic camera including a distal working portion1612configured to be inserted into internal surgical site “S,” an image capture portion1614disposed on distal working portion1612, and a proximal handle assembly1616. Image capture portion1614may include, for example, a lens and an image sensor, although other suitable components facilitating image capture are also contemplated. Surgical camera1610further includes, for example, an image processor1618and a transmitter1619, e.g., a wireless or wired transmitter, associated with proximal handle assembly1616or otherwise incorporated into surgical camera1610. As such, surgical camera1610is configured to convert an optical image produced by the lens into an electrical signal for transmission to surgical display1620via a wireless or wired connection1650. Surgical camera1610may further include an illumination source (not shown) to facilitate visualization within the internal surgical site “S.” Additionally or alternatively, surgical camera1610may include a position sensor1613disposed at distal working portion1612thereof that is configured to communicate position information of distal working portion1612to instrument400via wireless or wired connection1640, or to surgical display1620via wireless or wired connection1650.

Surgical display1620includes a display monitor1622and a CPU1624including, for example, a processor and memory associated therewith storing instructions for execution by the processor. Surgical display1620further includes a transmitter1626, e.g., a wireless or wired transmitter, configured to receive the electrical signals from surgical camera1610via wireless or wired connection1650and, in embodiments, the position information from position sensor1613of surgical camera1610and/or the position information from position sensor490of instrument400via wireless or wired connections1630,1650, respectively.

Continuing with reference toFIG.6, in use, surgical display1620is configured to receive the electrical signals from surgical camera1610and display a corresponding video image of the internal surgical site “S” on display monitor1622to enable the surgeon to view the internal surgical site “S” on display monitor1622and, more specifically, to enable the surgeon to view end effector assembly480on display monitor1622, thus facilitating manipulation of end effector assembly480into position for performing a surgical task, e.g., grasping, treating, and/or dividing tissue.

Depending upon the position of end effector assembly480relative to surgical camera1610, the video image displayed on display monitor1622may become reversed. In such an instance, when the surgeon manipulates, e.g., translates, rotates, and/or articulates, end effector assembly480in one direction, the video image displayed on display monitor1622displays the manipulation of end effector assembly480in an opposite direction. Such is sometimes referred to as reverse alignment visualization.

In embodiments, motion sensing assembly600and/or rotation/articulation control assembly800may determine, based upon the position information received from position sensors490,1613, whether the relative positions of end effector assembly480and surgical camera1610would result in reverse alignment visualization of the video image displayed on display monitor1622. If it is determined that reverse alignment visualization would result, motion sensing assembly600and/or rotation/articulation control assembly800is automatically switched to the reversed mode such that the surgeon, when viewing display monitor1622, can move housing420of instrument400in a desired direction to effect corresponding rotation and/or articulation of end effector assembly480as it appears on display monitor1622in the same direction (which is opposite the direction of rotation and/or articulation of end effector assembly480within the internal surgical site “S”).

If it is determined that reverse alignment visualization would not result, motion sensing assembly600and/or rotation/articulation control assembly800is automatically switched to the standard mode such that the surgeon, when viewing display monitor1622, can move housing420of instrument400in a desired direction to effect corresponding rotation and/or articulation of end effector assembly480as it appears on display monitor1622in the same direction (which is the same direction of rotation and/or articulation of end effector assembly480within the internal surgical site “S”).

As an alternative to motion sensing assembly600and/or rotation/articulation control assembly800determining whether reverse alignment visualization would result, the position information may be communicated to display1620or surgical camera1610to enable display1620or surgical camera1610to determine whether reverse alignment visualization would result in a similar manner as detailed above. The display1620or surgical camera1610may then relay the result back to motion sensing assembly600and/or rotation/articulation control assembly800to automatically adjust the mode (in embodiments where the mode is automatically adjusted or in manual embodiments where manual selector491is disposed in neutral position495), if necessary, or may provide an indicator (audible, tactile, or visual indicator) to enable the user to manually switch the mode, if desired, in embodiments where manual selector491is provided.

Additional or alternative hardware and/or software components, incorporated into instrument400, surgical camera1610, and/or display1620, may be provided to enable determination of whether reverse alignment visualization would result. Further, whether reverse alignment visualization would result may be determined periodically at any suitable interval, dynamically, e.g., upon movement of end effector assembly480or surgical camera1620, or in any other suitable manner. In embodiments where lockout features, torque limiting features, or other safety features, the activation of the same may be communicated to display1620for display or other output of a suitable indicator to indicate to the surgeon that the lockout feature, torque limiting feature, or other safety feature has been activated. Likewise, display1620(and/or instrument400) may display or otherwise indicate whether motion sensing assembly600and/or rotation/articulation control assembly800is operating in the standard mode or the reversed mode via a suitable indicator.

In embodiments where multiple displays1620are provided, the displays1620may be configured to operate in the same mode, in opposite modes, or independently based upon different feedback or other input.

While several embodiments of the disclosure have been shown in the drawings, it is not intended that the disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Any combination of the above embodiments is also envisioned and is within the scope of the appended claims. Therefore, the above description should not be construed as limiting, but merely as exemplifications of particular embodiments. Those skilled in the art will envision other modifications within the scope of the claims appended hereto.