PL2866708T3

Electrode connections for rotary driven surgical tools

Abstract

A surgical tool can comprise an end effector, a shaft assembly, a rotatable drive shaft, a first electrical contact and a second electrical contact. The end effector comprises first and second jaw members that are pivotable relative to one another from an open position to a closed position and an electrode positioned on the first jaw member. The shaft assembly extends proximally from the end effector, is at least partially hollow, and defines an inner wall. The rotatable drive shaft extends proximally within the shaft assembly. The first electrical contact is coupled to the inner wall of the shaft assembly and positioned around at least a portion of the drive shaft. The second electrical contact is coupled to and rotatable with the drive shaft. The second electrical contact is positioned to be electrically connected to the first electrical contact as the drive shaft rotates.

Term

6.7 yearsto projected expiry

Projected expiry 21 June 2033, counted from filing; an application has no term until it is granted.

52 claims: 38 independent, 14 dependent

1
Claims Zastrzeżenia patentowe 1. A surgical tool (600), wherein the tool (600) includes:1. Narzędzie chirurgiczne (600), przy czym narzędzie (600) zawiera: chwytak (550), przy czym chwytak (550) zawiera: gripper (550), with the gripper (550) containing: first and second jaw members (3008A, 3008B), wherein the first and second jaw members (602A, 602B) are pivoted to each other from an open to a closed position;and an electrode (1112) disposed on the first jaw member (602B);pierwszy oraz drugi człony szczęki (3008A, 3008B), przy czym pierwszy oraz drugi człony szczęki (602A, 602B) są podpierane obrotowo względem siebie od położenia otwartego do zamkniętego;oraz elektrodę (1112) umieszczoną na pierwszym członie szczęki (602B);a shaft assembly (560) extending closer to the gripper (550), the shaft assembly (560) being at least partially hollow and defining an inner wall (608);a rotating drive shaft (630) extending closer to the shaft assembly (560);wherein the drive shaft (630) is displaceable between a distal position and a proximal position;a first electrical contact (1102) coupled to the inner wall of the shaft assembly and arranged around at least a portion of the drive shaft;zespół wału (560) rozciągający się bliżej od chwytaka (550), przy czym zespół wału (560) jest co najmniej częściowo wydrążony oraz wyznacza ścianę wewnętrzną (608);obrotowy wał napędowy (630) rozciągający się bliżej w zespół wału (560);przy czym wał napędowy (630) jest przemieszczalny pomiędzy położeniem dalszym oraz położeniem bliższym;pierwszy styk elektryczny (1102) sprzężony ze ścianą wewnętrzną zespołu wału oraz umieszczony wokół co najmniej części wału napędowego;characterized in that the surgical tool further comprises a second electrical contact (1103) coupled to and rotatable with the drive shaft, the second electrical contact being arranged to be electrically connected to the first electrical contact when the drive shaft is rotating. znamienne tym, że narzędzie chirurgiczne ponadto zawiera drugi styk elektryczny (1103) sprzężony z oraz obracalny z wałem napędowym, przy czym drugi styk elektryczny jest umieszczony, aby był elektrycznie połączony do pierwszego styku elektrycznego, gdy wał napędowy obraca się.
16
16/128 16/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 132 132
17
17/128 17/128 FIG. 20 σ » FIG. 20 σ» Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 133 133
18
18/128 and £> 18/128 i£> <Ν <Ν 300 300 ΙΌ ΙΌ FIG. 21 FIG. 21 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 134 134
19
19/128 19/128 300 300 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 135 135
20
20/128 20/128 300 ' 300" FIG. 23 FIG. 23 136 136 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708
21
21/128 21/128 FIG. 24 r-θ FIG. 24 r—θ Ο Ο ΣΕ ΣΕ Η137 Η137 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708
22
22/128 22/128 434Α 434Α FIG. 24Α FIG. 24Α 138 138 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708
23
23/128 23/128 139 139 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708
24
24/128 24/128 360 360 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 140 140
25
25/128 25/128 3608Ρ ' 3608Ρ' Κ) ο Κ) ο ί £> ί£> Ο Ο Lu Lu 141 141 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708
26
26/128 26/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 142 142
27
27/128 ο 27/128 ο ο ο Κ Κ 143 143 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708
28
28/128 28/128 3600 3600 FIG. 33Α FIG. 33Α Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 144 144
29
29/128 29/128 ΓΌ ΓΌ Z-15678 Z-15678 EP2866708 EP2866708 145 145
30
30/128 30/128 362CR ' /3624 362CR '/ 3624 FIG. 35 FIG. 35 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 146 146
31
31/128 νCN 31/128 νCN FIG. 37 FIG. 37 ΓΌ ΓΌ Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 147 147
32
32/128 32/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 148 148
33
33/128 33/128 3600 3600 FIG. 40 FIG. 41 FIG. 42 FIG. 43 FIG. FIG. 41 FIG. 42 FIG. 43 Ę.P2866708 Ę.P2866708 149 149
34
34/128 34/128 3600 Λ Z-ν - 3662 3600 Λ Z—ν--3662 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 150 150
35
35/128 35/128 FIG. 46 FIG. 46 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 151 151
36
36/128 36/128 FIG. 47 FIG. 47 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 152 152
37
37/128 37/128 2480 2480 2404 2404 Ζ-15678 Ζ-15678 EP2866708 EP2866708 153 153
38
38/128 38/128 249CK .^2480 z\/> 249CK. ^ 2480 from \ /> Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 154 154
39
39/128 39/128 2480 2480 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 155 155
40
40/128 40/128 2594 2594 FIG. 51 FIG. 51 ΐ, ΤΊ4' ΐ,ΤΊ4' Z-15678 Z-15678 EP2866708 EP2866708 157 157 42/128 42/128 K) K) LO LO ABOUT O Ll_ Ll_ Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 158 158 43/128 43/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 159 159 44/128 ο 44/128 ο r (Ο r * »m r(Ο r*» m CM CM FIG. 55 FIG. 55 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 160 160
41
45/128 45/128 2594 2594 FIG. 56 FIG. 56 Ζ-15678 Ζ-15678 EP2866708 EP2866708 161 161
42
46/128 46/128 2,600 m 2600 m co σ> every σ> m FIG' 57 FIG. 58 m FIG’ 57 FIG. 58 162 162 7- \ 56l® 7-\56l® 028661 «« 028661«« Α63 Α63 164 164
43
49/128 EP2S667O8 49/128 EP2S667O8 About u? O u? Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 165 165
44
50/128 • 2500 50/128 •2500 FIG. 63 FIG. 63 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708
45
51/128 51/128 602Β 602Β 009 009 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 167 167
46
52/128 52/128 909 909 FIG. 65 FIG. 65 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 168 168
47
53/128 ο 53/128 ο ο to «02Β FIG. 66 ο to «02Β FIG. 66 640 640 616- 616- Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 169 169
48
54/128 54/128 FIG. 67 FIG. 67 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 170 170
49
55/128 55/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 171 171
50
56/128 56/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 172 172
51
57/128 57/128 602Α 602Α Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 173 173
52
58/128 58/128 605Α 605Α Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 176 176 61/128 61/128 Z-15678 Z-15678 EP2866708 EP2866708 177 177 62/128 62/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 178 178 63/128 63/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 179 179 64/128 64/128 1202 ^ -1200 ο 1202 ^-1200 ο Ll_ Ll_ Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 180 180 65/128 65/128 1202 1202 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 181 181 66/128 66/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 182 182 67/128 67/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 183 183 68/128 ry σ> 68/128 ry σ> ο ο Ll_ Ll_ 1202 1202 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 184 184 69/128 hO σ> 69/128 hO σ> ο ο L_ L_ Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 185 185 70/128 m 70/128 m en about en o Ll_ Ll_ Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 186 186 71/128 (£> 71/128 (£> σ> σ> Ζ-15678 Ζ-15678 EP2866708 EP2866708 187 187 72/128 72/128 1400 J402 1400-J402 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 18S 18S 73/128 73/128 1408Ρ ' 1408Ρ' G_ G_ O "Ί F □ Γ" O "Ί F □ Γ" sfro ćru s \ eas $ ± believe a «i ± ss4« $ «ESg □ ώ Ol3 £ -" fU LTU □ ίΓΈτ "ώ dn sfro ćru s \ eas$±±a«i±ss4«$«ESg □ ώ Ol3 £ —„ fU LTU □ ίΓΈτ"ώ dn ΓΒγτΞΓΈπΕ ίπΕ ..... 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Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 194 194 79/128 79/128 CN CN ABOUT O ABOUT O Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 195 195 80/128 80/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 196 196 81/128 81/128 1000 1000 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 197 197 82/128 82/128 1003 1003 FIG. 112 FIG. 112 198 198 83/128 83/128 Ζ-15678 Ζ-15678 EP286Ó708 EP286Ó708 1028 1028 FIG. 113 FIG. 113 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 199 199 84/128 84/128 FIG. 114 FIG. 114 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 200 200 85/128 85/128 LO LO Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 86/128 86/128 904 904 202 202 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 87/128 87/128 FIG. 117 FIG. 117 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 203 203 88/128 88/128 FIG. 118 FIG. 118 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 204 204 89/128 89/128 928 928 FIG. 119 FIG. 119 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 205 205 90/128 90/128 Ο cn Ο cn FIG. 120 FIG. 120 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 206 206 91/128 cn 91/128 cn FIG. 121 FIG. 121 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 207 207 92/128 92/128 FIG. 124 FIG. 124 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 208 208 93/128 ο 93/128 ο Νσ> Νσ> Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 209 209 94/128 94/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 210 210 95/128 95/128 O o Oh, oh o m ohm CM ro CM ro Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 211 211 96/128 96/128 FIG. 134 ο FIG. 134 ο ο ο ΙΌ ΙΌ Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 212 212 97/128 97/128 502Α < 502Α < Ο Ο FIG. 135 FIG. 135 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 213 213 98/128 98/128 502Α ο 502Α ο ο m ο m Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 214 214 99/128 99/128 502Α 502Α FIG. 1 38 502Β' FIG. 1 38502Β' Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 215 215 100/128 ιη 100/128 ιη FIG. 139 FIG. 139 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 216 216 101/128 101/128 FIG. 140 FIG. 140 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 217 217 102/128 102/128 512Β 512Β 218 218 103/128 103/128 Ζ-15678 Ζ-15678 ΕΡ2866708 to + # ΙΟ ΕΡ2866708 to +#ΙΟ 532Α o 532Α o n this n to Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 219 219 104/128 104/128 550 / -560 550 /-560 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 220 220 105/128 105/128 FIG. 1 44 FIG. 1 44 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 221 221 106/128 106/128 FIG. 145 FIG. 145 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 222 222 107/128 107/128 560 560 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 223 223 108/128 108/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 224 224 109/128 109/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 225 225 110/128 110/128 Ζ-15678 Ζ-15678 EP2866708 EP2866708 226 226 111/128 z-550 111/128 z-550 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 227 227 112/128 112/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 228 228 113/128 113/128 -1100 -1100 229 229 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 114/128 114/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 230 230 115/128 115/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 231 231 116/128 116/128 720 720 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 232 232 117/128 117/128 -720 -720 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 233 233 118/128 ο 118/128 ο σ> σ> rΖ-15678 rΖ-15678 ΕΡ2866708 ΕΡ2866708 234 234 119/128 119/128 820 820 FIG. 159 FIG. 159 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 235 235 120/128 120/128 708 708 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 236 236 121/128 121/128 -708 h-1 _ι | -708 h-1 _ι | FIG. 161 FIG. 161 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 237 237 122/128 122/128 80Δ " 80Δ" AND I Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 238 238 123/128 123/128 Δ " Δ" Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 239 239 124/128 124/128 -708 -708 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 240 240 125/128 125/128 -708 -708 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 241 241 126/128 126/128 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 242 242 127/128 no 127/128 no 843 843 Ζ-15678 Ζ-15678 ΕΡ2866708 ΕΡ2866708 243 243 128/128 128/128

Independent claims38

430 paragraphs, as filed

[0001] A number of minimally-invasive robotic (or "teleoperative") systems have been developed in recent years to enhance surgical dexterity and to allow the surgeon to manipulate the patient in an intuitive way Many of such systems have been disclosed in the following US patents: US Patent No. 5,792,135, entitled "Articulated Surgical Instrument For Performing Minimally Invasive Surgery With Enhanced Dexterity and Sensitivity", US Patent No. 6,231,565, entitled "Robotic Arm DLUS For Performing Surgical Tasks", US Patent No. 6,783,524, entitled "Robotic Surgical Tool With Ultrasound Cauterizing and Cutting Instrument ", US Patent No. 6,364,888,entitled "Alignment of Master and Slave In a Minimally Invasive Surgical Apparatus", US Patent No. 7.524,320, titled "Mechanical Actuator Interface System For Robotic Surgical Tools", US Patent No. 7,691,098, entitled "Platform Link Wrist Mechanism", US patent No. 7,806,891, titled "Repositioning and Reorientation of Master / Slave Relationship in Minimally Invasive Telesurgery" and American Patent No. 7,824,401, entitled "Surgical Tool With Writed Monopolar Electrosurgical End Effectors." However, many of these systems have in the past been unable to generate forces needed for effective tissue cutting and attachment, and the current robotic surgical systems are limited,as to the number of different types of surgical devices that they can handle.

DESCRIPTION OF THE DRAWINGS [0002] The features and advantages of using the present invention, and the method of achieving them, will become more evident and the invention itself will be better understood by referring to the following description of exemplary embodiments of the invention in conjunction with the accompanying drawings in which:

[0003] W02011 / 008672A2 discloses a surgical tool that includes a rectangular housing supporting an acoustic assembly, a waveguide attached to an acoustic unit for imparting vibrations produced by an acoustic unit, a movable clip between an open position and a closed position relative to a waveguide, a first wire in electrical communication with a waveguide and a second wire in electrical communication with the terminal, the first wire and the second wire are arranged in electrical communication with the power source so that the current can flow between the waveguide and the clamp through the tissue. The waveguide includes an elongated portion of the shaft that is surrounded by a sheath that is pivotally connected to the distal end of the handle assembly to facilitate selective rotation of the sheath relative to the handpiece assembly. A slip ring contact and a negative slip contact are placed inside the handle housing for the rotary contact with the positive electrode and the negative electrode. [0004] W02008 / 045348 discloses an endoscopic vessel sealer and a divider having an elastic cardan shaft. The gripper contains electrosurgical electrodes connected to two jaw members. The jaws are opened and closed by a translating and rotating drive shaft inside the sheath or here. Driving leads the first electric potential to cz The jaws are opened and closed by a translating and rotating drive shaft inside the sheath or here. Driving leads the first electric potential to cz The jaws are opened and closed by a translating and rotating drive shaft inside the sheath or here. Driving leads the first electric potential to czthe maxillary jaw and the second electrical potential is transmitted through the drive shaft (or, alternatively, the sleeve) to the second jaw member.

[0005] The invention is limited by the scope of the independent claim 1, preferred embodiments are disclosed in the appended dependent claims.

[0006] Various embodiments are described herein by way of example in connection with the following figures, in which:

FIG. 1 is a perspective view of an embodiment of one robotic controller;

FIG. 2 is a perspective view of a robotic arm of the surgical arm / manipulator of a robotic system operating with the capability of operating a surgical tool;

FIG. 3 is a side view of the robotic arm of the surgical arm / manipulator shown in FIG. 2;

FIG. 4 is a perspective view of a carriage structure with positioning mechanisms for operable manipulation of robotic manipulators that can be used with various surgical tool embodiments;

FIG. 5 is a perspective view of a surgical tool embodiment and surgical gripper embodiment;

FIG. 6 is a perspective view of one embodiment of an electrosurgical tool in electrical communication with a generator;

Fig. 7 is a perspective view of one embodiment of the surgical tool gripper of FIG. 6 with open jaw members and a distal end of the axially movable member in the retracted position.

FIG. 8 is a perspective view of one embodiment of the surgical tool gripper of FIG. 6 with closed jaw members and a distal end of the axially movable member in a partially extended position.

FIG. 9 is a perspective view of one example of the axially movable surgical tool member of FIG. 6.

FIG. 10 is a cross-sectional view of one embodiment of the electrosurgical gripper of the surgical tool of FIG. 6.

FIG. 11 is a view of one embodiment of a demolition device of the adapter system and a tool holder for attaching to the robotic system various embodiments of a surgical instrument;

FIG. 12 is a side view of one embodiment of the adapter shown in FIG. 11;

FIG. 13 is a bottom view of one embodiment of the adapter shown in FIG. 11;

FIG. 14 is a top view of one embodiment of the adapter of FIG. 11 and 12; FIG. 15 is a partial bottom perspective view of one embodiment of a surgical instrument.

FIG. 16 is a front perspective view of one embodiment of a surgical tool part with some of its features omitted for clarity.

FIG. 17 is a rear perspective view of one embodiment of the surgical instrument of FIG. 16.

FIG. 18 is a plan view of one embodiment of the surgical instrument of FIG. 16 and 17.

FIG. 19 is a partial top view of one embodiment of the surgical instrument of FIG. 16-18 with manual actuation of the transmission in the unactuated position.

FIG. 20 is another partial view of one embodiment of the surgical instrument of FIG. 16-19 with manually actuated drive transmission in the initial operating position.

FIG. 21 is another partial top view of one embodiment of the surgical tool of FIG. 16-20 with manually actuated drive transmission in the started position.

FIG. 22 is a rear perspective view of another embodiment of the surgical instrument.

FIG. 23 is a side elevational view of one embodiment of the surgical instrument of FIG. 22.

FIG. 24 is a cross-sectional view of one embodiment of a part of the articulation joint and the gripper.

FIG. 24A illustrates one embodiment of the shaft assembly and articulation connector of FIG. 24 showing the connections between the distal cable sections and the proximal cable parts.

FIG. 25 is a view of the spreader assembly of one embodiment of the articulation portion and the gripper of FIG. 24.

FIG. 26 is a partial cross-sectional view of one embodiment of the articulation joint and gripper parts shown in FIG. 25.

FIG. 27 is a partial perspective view of an embodiment of the gripper and drive shaft assembly.

FIG. 28 is a partial side view of one embodiment of the drive shaft assembly.

FIG. 29 is a perspective view of one embodiment of the drive shaft assembly.

FIG. 30 is a side view of one embodiment of the drive shaft assembly of FIG. 29.

FIG. 31 is a perspective view of one embodiment of a complex drive shaft assembly.

FIG. 32 is a side view of one embodiment of the assembled power drive assembly of FIG. 31.

FIG. 33 is a different view of one embodiment of the drive shaft assembly of FIG. 29 and 30 assuming an arcuate or "bent" configuration.

FIG. 33A is a side view of one embodiment of the drive shaft assembly assuming an arcuate or "bent" configuration.

FIG. 33B is a side view of another embodiment of another drive shaft assembly providing an arcuate or "bent" configuration.

FIG. 34 is a perspective view of a portion of another embodiment of a drive shaft assembly.

FIG. 35 is a top view of an embodiment of the drive shaft assembly of FIG. 34.

FIG. 36 is a different perspective view of an embodiment of the drive shaft assembly of FIG. 34 and 35 in an arcuate configuration.

FIG. 37 is a plan view of an embodiment of the drive shaft assembly shown in FIG. 36.

FIG. 38 is a perspective view of another embodiment of the drive shaft assembly.

FIG. 39 is a different perspective view of an embodiment of the drive shaft assembly of FIG. 38 in an arcuate configuration.

FIG. 40 is a plan view of an embodiment of the drive shaft assembly of FIG. 38 and 39. FIG. 41 is a cross-sectional view of an embodiment of the drive shaft assembly of FIG. 40.

FIG. 42 is a partial cross-sectional view of another embodiment of the drive shaft assembly.

FIG. 43 is a different cross-sectional view of an embodiment of the drive shaft assembly of FIG. 42.

FIG. 44 is another cross-sectional view of a portion of another embodiment of a drive shaft assembly.

FIG. 45 is a different cross-sectional view of one embodiment of the drive shaft assembly of FIG. 44.

FIG. 46 is a perspective view of another embodiment of a surgical instrument. FIG. 47 is a cross-sectional perspective view of an embodiment of the surgical tool of FIG. 46

FIG. 48 is a cross-sectional perspective view of part of one embodiment of the articulation system.

FIG. 49 is a cross sectional view of one embodiment of the articulation system of FIG. 48 in the neutral position.

FIG. 50 is another cross-sectional view of one embodiment of the articulation system of FIG. 48 and 49 in the articulated bent position.

FIG. 51 is a side elevational view of a portion of one embodiment of the surgical instrument of FIG. 46-47 with parts thereof omitted for clarity.

FIG. 52 is a rear perspective view of part of one embodiment of the surgical instrument of FIG. 46-47 with parts thereof omitted for clarity.

FIG. 53 is a rear elevational view of a portion of one surgical tool embodiment of FIG. 46-47 with parts omitted for clarity.

FIG. 54 is a front perspective view of part of one embodiment of the surgical instrument of FIG. 46-47 with parts omitted for clarity,

FIG. 55 is a side elevational view of a portion of the surgical tool embodiment of FIG. 46-47 with parts omitted for clarity.

FIG. 56 is an exploded view of an exemplary embodiment of a surgical tool reversal system of FIG. 46-47.

FIG. 57 is a perspective view of an embodiment of the lever arm of the inversion system of FIG. 56.

FIG. 58 is a perspective view of the knife retractor button according to one embodiment of the inversion system of FIG. 56.

FIG. 59 is a perspective view of a portion of an embodiment of the surgical tool of FIG. 46-47 with parts thereof omitted for clarity and a lever arm in engagement engageable with the reversing gear.

FIG. 60 is a perspective view of a portion of an embodiment of the surgical instrument of FIG. 46-47 with their portions omitted for clarity and the lever arm in the unactuated position.

FIG. 61 is another perspective view of a portion of an embodiment of the surgical tool of FIG. 46-47 with parts thereof omitted for clarity and a lever arm in engagement with the gearing of the inversion.

FIG. 62 is a side elevational view of a part of the handle of an embodiment of the surgical tool of FIG. 46-47 with the shift button assembly shifted to a position that will cause the gripper to rotate when the drive shaft assembly is actuated.

FIG. 63 is a further side elevation view of the handle portion according to one embodiment of the surgical tool of FIG. 46-47 with the shift button assembly displaced in a different position that will cause the firing member to fire in the gripper when the drive shaft assembly is actuated.

FIG. 64 is a perspective view of an embodiment of a multi-axis articulated rotatable surgical instrument.

FIG. 65 is an exploded perspective view of the various components of one embodiment of the surgical instrument shown in FIG. 64.

FIG. 66 is a partial cross-sectional perspective view of one embodiment of the surgical instrument shown in FIG. 64, illustrating a rotatable drive shaft engaging the rotary drive nut to initiate translation of the I-beam member and close the gripper jaw assembly.

FIG. 67 is a cross-sectional perspective view of one embodiment of the surgical instrument shown in FIG. 64, illustrating a rotatable drive shaft engaging the rotary drive nut to initiate translation of the I-beam member and close the gripper jaw assembly.

FIG. 68 is a partial cross-sectional perspective view of one embodiment of the surgical instrument shown in FIG. 64, illustrating a rotatable drive shaft engaging the shaft coupling for actuating the rotation of the gripper. FIG. 69 is a side cross-sectional view of one embodiment of the surgical instrument shown in FIG. 64, showing the jaw assembly of the gripper in the open position, the I-beam member in the proximal pulled-in position and the rotating drive shaft engaging the rotating drive nut to initiate the translation of the I-beam member and the closure of the jaw-jaw assembly.

FIG. 70 is a side view of a cross-section of one embodiment of the surgical instrument shown in FIG. 64, showing the jaw assembly of the gripper in the closed position, the I-beam member in the distally extended position, and a rotating drive shaft engaging the rotating drive nut to actuate the translation of the I-beam member and open the jaw assembly of the gripper.

FIG. 71 is a side view of a cross-section of one embodiment of the surgical instrument shown in FIG. 64, showing the jaw assembly of the gripper in the open position, the I-beam member in the proximal pulled-in position and the rotary drive shaft engaging the shaft coupling for actuating the rotation of the gripper.

FIG. 72 is a side cross-sectional view of one embodiment of the surgical instrument shown in FIG. 64, showing the jaw assembly of the gripper in the closed position, the beam member in the distally extended position, and a rotating drive shaft engaging the shaft coupling for actuating the rotation of the gripper.

FIG. 73 and 74 are side detail views of the cross-sections of one embodiment of the surgical instrument shown in FIG. 64, illustrating engagement of cam surfaces of an I-beam member with anvil surfaces of the first jaw member to move the first jaw member relative to the second jaw member between an open position and a closed position.

FIG. 75 is an exploded view of elements comprising an embodiment of a multi-axis articulated and rotatable surgical instrument including a head locking mechanism.

FIG. 76 is an exploded view of the spline locking components in one embodiment of the locking mechanism for the surgical tool head depicted in FIG. 75.

FIG. 77 is a side cross-sectional view of one embodiment of the surgical instrument shown in FIG. 75, showing the jaw assembly of the gripper in an open position, the chainstay member in the proximal retracted position, a rotating drive shaft engaging the rotary drive nut to initiate translation of the I-beam member and closure of the chuck jaw assembly, and a coupled lock of the plunger lock to prevent rotation of the gripper.

FIG. 78 is a side view of a cross-sectional view of one embodiment of the surgical instrument shown in FIG. 75, showing the jaw assembly of the gripper in the closed position, the I-beam member in the distally extended position, a rotating drive shaft engaging the rotating drive nut to translate the I-beam member and open the jaw assembly gripper, and a coupled spline lock to prevent rotation of the gripper.

FIG. 79 is a side cross-sectional view of one embodiment of the surgical instrument shown in FIG. 75, showing the jaw assembly of the gripper in the open position, the I-beam member in the proximal pulled position, the rotary drive shaft engaging with the shaft coupling to activate the gripper's rotation and the splined lock being disabled, allowing the gripper to rotate.

FIG. 80 is a side cross-sectional view of one embodiment of the surgical instrument shown in FIG. 64, showing the jaw assembly of the gripper in the closed position, the I-beam member in the distally extended position, the rotary drive shaft β

coupling the shaft coupling to activate the gripper rotation and uncoupling the multi-spline lock allowing the gripper to be rotated.

FIG. 81 is a side view of the cross-sectional detail of one embodiment of the surgical instrument shown in FIG. 80.

FIG. 82 is a side view of the cross sectional details of one embodiment of the surgical instrument shown in FIG. 78.

FIG. 83 is a perspective view of a cross section of a surgical instrument having first and second jaw members according to some embodiments described herein.

FIG. 84 is a perspective view of a closure cap according to one embodiment of the surgical tool of FIG. 83.

FIG. 85 is a plan view of a cross-section of an embodiment of the surgical instrument of FIG. 83, in which the first jaw member and the second jaw member are in at least a partially open position and in which the rotating drive shaft is operatively disengaged from the rotating drive nut.

FIG. 86 is a vertical cross-sectional view of an embodiment of the surgical tool of FIG. 83, in which the first jaw member and the second jaw member are in the at least partially open position and wherein the rotary drive shaft is operatively engaged with the rotating drive nut.

FIG. 87 is a vertical cross-sectional view of an embodiment of the surgical tool of FIG. 83, in which the first jaw member and the second jaw member are in an at least partially closed position in which the rotary drive shaft is operatively engaged with the rotating drive nut and the lock nut is operatively disengaged from the rotating drive nut.

FIG. 88 is a plan view of a cross-section of an embodiment of the surgical tool of FIG. 83, in which the first jaw member and the second jaw member are in an at least partially closed position in which the rotating drive shaft is operatively engaged with the rotating drive nut, the I beam member being at least partially elongated.

FIG. 89 is a plan view of a cross-section of an embodiment of the surgical tool of FIG. 83, in which the first jaw member and the second jaw member are in an at least partially closed position in which the rotary drive shaft is operatively engaged with the rotating drive nut, and wherein the I-beam member is at least partially retracted.

FIG. 90 is a vertical cross-sectional view of one embodiment of the surgical tool of FIG. 83, in which the first jaw member and the second jaw member are in an at least partially closed position in which the rotating drive shaft is operatively engaged with the rotating drive nut, wherein the I-beam member is at least partially retracted.

FIG. 91 is a vertical view of the cross-section of one embodiment of the surgical instrument of FIG. 83, in which the first jaw member and the second jaw member are in at least partially open position, the rotary drive shaft being engaged with the rotating drive nut and wherein the lock nut is operatively engaged with the rotating drive nut.

FIG. 92 is a perspective view of a cross section of a surgical instrument having first and second jugular members in accordance with some embodiments described herein.

FIG. 93 is a vertical cross-sectional view of one embodiment of the surgical instrument of FIG. 92, wherein the first jaw member and the second jaw member are in at least partially open position and wherein the rotary drive shaft is operably coupled to the spline coupling portion of the gripping drive housing. FIG. 94 is a vertical view of the cross-section of one embodiment of the surgical instrument of FIG. 92, wherein the first jaw member and the second jaw member are in the at least partially closed position, and wherein the rotary drive shaft is operably coupled to the spline cam engaging coupling portion.

FIG. 95 is a vertical view of the cross-section of one embodiment of the surgical instrument of FIG. 92, wherein the first jaw member and the second jaw member are in an at least partially closed position, and wherein the rotary drive shaft is operatively coupled to any of the spline coupling portions.

FIG. 96 is a side elevational view of one embodiment of the surgical instrument of FIG. 92, wherein the first jaw member and the second jaw member are at least partially closed, and wherein the rotary drive shaft is operably coupled to the splined coupling portion of the rotating drive nut. FIG. 97 is a perspective view of the gripper and articulation connector of the surgical instrument, in accordance with at least one embodiment shown with parts removed for clarity.

FIG. 98 shows a detailed view of a drive shaft according to at least one embodiment configured to be provided in the gripper, and the articulation connector of FIG. 97.

FIG. 99 is a perspective view of a drive shaft according to at least one alternative embodiment,

FIG. 100 is a side elevational view of one embodiment of the drive shaft of FIG. 99. FIG. 101 is a elevational view of one embodiment of the drive shaft of FIG. 99 is illustrated in the articulated state.

FIG. 102 is a perspective view of a drive shaft assembly comprising a drive tube and a thread extending around the drive tube in accordance with at least one alternative embodiment.

FIG. 103 is a side elevational view of one embodiment of the drive shaft assembly of FIG. 102.

FIG. 104 is a perspective view of a drive shaft assembly including a drive tube, a thread extending around the drive tube, and an inner core extending through the drive tube according to at least one embodiment.

FIG. 105 is a side elevation of one embodiment of the drive shaft assembly of FIG. 104.

FIG. 106 is a perspective view of a surgical tool having first and second jaw members according to some embodiments described herein.

FIG. 107 is a cross sectional view of the distal parts of one embodiment of the first and second jaw members of the surgical end instrument shown in FIG. 106.

FIG. 108 is a perspective view of a surgical gripper and shaft assembly in accordance with certain embodiments described herein.

FIG. 109 is a perspective view of the jaw member of a surgical gripper, in accordance with certain embodiments described herein.

FIG. 110 is a cross-sectional view of a surgical gripper detached from a shaft assembly in accordance with certain embodiments described herein.

FIG. 111 is a cross-sectional view of a surgical gripper attached to a shaft assembly in accordance with certain embodiments described herein.

FIG. 112 is a perspective view of many replacement surgical grippers according to some embodiments described herein.

FIG. 113 is a perspective view of a surgical grasper including a cross-section of a jaw member in accordance with certain embodiments described herein. FIG. 114 is a cross-sectional view of a surgical gripper detached from a shaft assembly in accordance with some embodiments described herein.

FIG. 115 is a cross-sectional view of a surgical gripper attached to a shaft assembly in accordance with some embodiments described herein.

FIG. 116 is a perspective view of a surgical grasper having first and second jaws, in accordance with certain embodiments described herein.

FIG. 117 is another perspective view of the surgical gripper shown in FIG. 116 comprising a perspective sectional view of the jaw member according to some embodiments described herein.

FIG. 118 is a sectional view of the first jaw member and the second jaw member of the surgical gripper, in accordance with certain embodiments described herein.

FIG. 119 is a cross-sectional view of the first jaw member and the second jaw member of the surgical gripper, in accordance with some embodiments described herein.

FIG. 120 is a perspective view of the first jaw member and the second jaw member of the surgical gripper, in accordance with some embodiments described herein.

FIG. 121 is a perspective view of the distal portion of the jaw member of the surgical gripper in accordance with certain embodiments described herein.

FIG. 122 is a top view of the catching portion in accordance with some embodiments described herein.

FIG. 123 is a top view of a catching portion according to some embodiments described herein.

FIG. 124 is a top view of the catching portion according to some embodiments described herein.

HG. 125 is a top view of a catching portion according to some embodiments described herein.

HG. 126 is a top view of the catching portion in accordance with some embodiments described herein.

HG. 127 is a top view of the catching portion according to some embodiments described herein.

HG. 128 is a top view of the catching portion in accordance with some embodiments described herein.

FIG. 129 is a top view of the catching portion according to some embodiments described herein.

FIG. 130 is a top view of the catching portion according to some embodiments described herein.

HG. 131 is a top view of the catching portion in accordance with some embodiments described herein.

HG. 132 is a perspective view of one embodiment of a gripper having first and second jaw members in the open position and inclined surfaces in contact with the tissue along substantially the entire length of the jaw members.

HG. 133 is another perspective view of one embodiment of the gripper shown in FIG. 132 with the first and second jaw members in the closed position. FIG. 134 is a front view of one embodiment of the gripper shown in HG. 133.

HG. 135 is a cross-sectional view of one embodiment of the gripper represented on HG. 134.

FIG. 136 is a side view of one embodiment of the gripper shown in FIG.

132.

FIG. 137 is a side view of one embodiment of the gripper shown in FIG.

133.

FIG. 138 is a schematic diagram illustrating a front view of one embodiment of a gripper having first and second mandrel members, each jaw member having two opposite inclined surfaces in contact with the tissue.

FIG. 139 is a perspective view of one embodiment of a gripper having first and second jaw members in an open position and an inclined surface in contact with the tissue along a portion of the length of the jaw members.

FIG. 140 is another perspective view of one embodiment of the gripper shown in FIG. 139.

FIG. 141 is a perspective view of one gripper embodiment having a first and a second jaw member in the open position, sloped contact surfaces in contact with tissue along a portion of the length of the jaw members, and electrodes disposed between two inclined surfaces in contact with the tissue on the second jaw member.

FIG. 142 is a cross-sectional view of one embodiment of a gripper having first and second jugular members in the closed position, clamping the tissue between the jaw members, the first and second jug portions having oppositely inclined surfaces in contact with the tissue.

FIG. 143 is a cross-sectional view of one embodiment of the gripper and shaft assembly of FIG. 64-82 illustrating the invention, an exemplary installation of a rotating electrode assembly. FIG. 144 is a view in the spreading lawn of one embodiment of the gripper and shaft assembly of FIG. 143 showing a rotating set of electrodes both installed and in the deployed state.

FIG. 145 is a cross sectional view of one embodiment of the gripper and shaft assembly of FIG. 143 showing a rotatable assembly of electrodes with a rotary drive head in the proximal position.

FIG. 146 is a cross sectional view of one embodiment of the gripper and shaft assembly of FIG. 143 showing a rotatable assembly of electrodes with a rotary drive head in the distal position.

FIG. 147-148 are cross-sections of one embodiment of the gripper and shaft of FIG. 143, wherein the longitudinal length of the outer contact is selected such that the rotary switch assembly alternately closes and opens the electrical connection limited by the longitudinal position of the brush assembly.

FIG. 149-150 show one embodiment of the gripper and shaft assembly of FIG. 143 showing a configuration including parts of lead and a set of connectors between the gripper and the shaft assembly.

FIG. 151 shows a cross-section of one embodiment of the gripper and shaft assembly showing a different context in which a rotatable joint assembly can be used.

FIG. 152 is a cross-sectional view of one embodiment of the gripper and shaft assembly of FIG. 83-91 illustrating another exemplary installation of a rotating electrode assembly.

FIG. 153 shows one embodiment of a gripper that can be used with various surgical tools, including those described herein.

FIG. 154 is one embodiment of the gripper of FIG. 153 showing a tissue adjoining part adjacent to the longitudinal channel of the second gripper jaw member. FIG. 155 shows one embodiment of the gripper of FIG. 153 showing an axial section along the midline of the first jaw member, showing the portion in contact with the tissue located adjacent the longitudinal channel of the first jaw member.

FIG. 156 is a perspective view of one of the embodiments of the gripper of FIG. 153 in the open position.

FIG. 157 is a top view of one embodiment of a second jaw member suitable for use with the gripper of FIG. 153.

FIG. 158 is a bottom view of one embodiment of a first jaw member suitable for use with the gripper of FIG. 153.

FIG. 159 is a front cross-sectional view of another embodiment of the gripper of FIG. 153 in the closed position.

FIG. 160-165 is a side cross-sectional view of various embodiments of the zl53 gripper

FIG. 166 shows another embodiment of a second jaw member suitable for use with the gripper of FIG. 153. in the closed position, holding the surgical instrument.

FIG. 167 shows one embodiment of a second jaw member suitable for use with the gripper of FIG. 153.

FIG. 168 depicts another embodiment of a second jaw member suitable for use with the gripper of FIG. 153.

DETAILED DESCRIPTION [0007] Certain embodiments will now be described to provide a complete understanding of the principles of construction, functionality, manufacture and use of the devices and methods disclosed herein. One or more examples of these exemplary embodiments are illustrated in the accompanying drawings. Those skilled in the art will be aware that the devices and methods described in detail herein and in the accompanying drawings are non-limiting exemplary embodiments and that the scope of the various embodiments of the present invention is determined solely by the claims.

The features shown or described in connection with one exemplary embodiment may be combined with the properties of other exemplary embodiments. Such modifications and changes will fall within the scope of the present invention.

[0008] FIG. 1 shows a main controller 12 that can be used in conjunction with a subordinate trolley 20 of the robot arm of the type illustrated in FIG. 2. The main controller 12 and the subordinate robot armchair 20, as well as their respective components and control systems are collectively referred to herein as a robotic system 10. Examples of such systems and devices are disclosed in US Pat. No. 7,524,320. Accordingly, various details of such devices will not be described in detail here except those which may be necessary to understand the various exemplary embodiments disclosed herein. As is known, the main controller 12 usually includes main drivers (usually referred to as FIG. 1) that are captured by the surgeon and operated in space,

[0009] As can be seen in FIG. 2, the robot armchair 20 is configured to move multiple surgical tools, designated generally as 30. Various surgical systems and robotic methods using the main controller configurations and robot arm prongs are disclosed in U.S. Patent No. 6,132,368, entitled "Multi-Component Telepresence System. and Method. As can be seen, the robot arm frame 20 includes a base 22 from which three surgical tools are operated in the illustrated embodiment 30. The surgical instruments 30 are operated by a series of manually operated mechanisms, usually referred to as adjustable connections 32, and a manipulator. robotic 34. These constructions are presented here with protective covers, extending over a large part of the robotic mechanism, these protective guards may be optional and may be limited in size or completely eliminated in some embodiments to minimize the inertia that the servos used to manipulate such devices contact to limit the volume of the movable components to avoid collisions and to limit the total weight of the cart 20. The cart 20 will normally have dimensions suitable for transporting the cart 20 between the operating rooms. The cart 20 is configured to fit into the standard doors of the operating rooms and in standard hospital lifts. The cart 20 may preferably have a weight and comprise a wheel system (or other means of transport),

[0010] In FIG. The third illustrated robotic manipulators 34 may include a mechanism 38 that restricts the movement of the surgical tool 30. The mechanism 38 includes rigid connectors connected to each other by rotatable connections in a parallelogram configuration such that the surgical tool 30 rotates around a point in space 40 which has been described in more detail in US Patent No. 5,817,084. The configuration of the parallelogram limits the rotational movement to be rotated about the axis 40a, sometimes referred to as the tilting axis. The connectors holding the parallelogram mechanism are pivotably attached to the adjustable connections 32 (FIGURE 2) in such a way that the surgical tool 30 also rotates about the axis 40b, sometimes referred to as the directional axis. The tilting axis and the directional axis 40a, 40b intersect in the distal center 42, An alternative design of an adjustable connection is shown in FIG. 4. In this embodiment, the surgical tool 30 is maintained by an alternative construction of the manipulator 50 'between two tissue manipulation tools.

[0011] Other embodiments may include a variety of alternative robotic constructions, including those described in U.S. Patent No. 5,878,193, entitled "Automated Endoscope System For Optimal Positioning." In addition, although here the data transmission between a robotic component and a processor of a robotic surgical system has been described with reference to the transmission between the surgical tool 30 and the main controller 12, a similar transmission may take place between a manipulator circuitry, an interconnection, an endoscope or other image capture device or the like and a processor of a robotic surgical system to verify component compliance, identification the type of components, transmission for the needs of component calibration (such as offset or the like),confirmation of connection of the component to a robotic surgical system or the like.

[0012] A surgical tool 100 that is well-suited for use with a robotic system is depicted in FIG. 5-6. FIG. 5 shows an additional embodiment of a surgical tool 100 and electrosurgical gripper 3000. As can be seen in FIG. 5, the surgical tool 100 includes an electrosurgical gripper 3000.

The electrosurgical gripper 3000 may use electrical energy for treatment and / or tissue destruction. The electrosurgical gripper 3000 generally comprises first and second jaw members 3008A, 3008B, which may be straight as shown in FIG. 6-10, or curved, as shown in various other figures described herein. One or both of the jaw members 3008A, 3008B generally contain different electrodes for delivering electrosurgical energy to the tissues. The surgical tool 100 generally comprises an elongated shaft assembly 200 which is operatively engaged with the manipulator 50 by a tool attachment portion, generally labeled as 300. Electrosurgical tools (e.g., surgical instruments that include the electrosurgical gripper,

[0013] In general, electrosurgical tools comprise one or more electrodes for supplying electric current. The electrodes can be based on and / or positioned relative to the tissue so that the electric current can flow through the tissue. Electric current can generate heat in the tissue, which in turn causes one or more hemostatic closures to form in tissues and / or between tissues. For example, heating tissue caused by electricity can at least partially denature proteins in tissue. Proteins such as collagen, for example, may be denatured in a protein amalgam that mixes and binds or "seals" together when the proteins are renaturised. When the treated area heals over time, the biological "weld" can be absorbed by the process healing the wounds of the body.

[0014] The electric energy delivered by electrosurgical tools may be in any suitable form, including, for example, direct or alternating current. For example, electricity can include high frequency alternating current, such as radio frequency energy or "RF." RF energy can contain energy, ranging from 300 kilohertz (kHz) to 1 megahertz (MHz). RF can cause ion stirring or friction, increasing tissue temperature.In addition, RF energy can provide a sharp boundary between the affected tissue and other tissues surrounding it, enabling surgeons to work at a high level of precision and control Low energy RF operating temperatures allow surgeons to remove, reduce or sculpting soft tissue while sealing the blood vessels.

[0015] In certain embodiments, some bipolar (e.g., two electrode) electrosurgical tools may include opposing first and second jaw members in which the surface of each jaw can include a current path and / or an electrode. In use, the tissue can be enclosed between the surfaces of the jaws that the current can flow between the opposing electrodes of the jaws and through the tissue placed between them. These tools may have to coagulate, seal or "weld" many types of tissue, such as anatomical structures having walls of irregular or dense fiber content, bundles of diverse anatomical structures, substantially thick anatomical structures, and / or tissues with thick fascia such as blood vessels. with a large diameter, for example. Some embodiments may include a knife or cutting edge to cut the tissue, e.g., during or after application of electrosurgical energy. Particularly with reference to the cutting and sealing of large diameter blood vessels, for example, such applications may require high tissue adhesion strength immediately after the procedure.

[0016] FIG. 6 is a perspective view of one embodiment of an electrosurgical tool 100 in electrical connection with a generator 3002. An electrosurgical tool 100 in combination with a generator 3002 may be configured to supply energy, e.g. electric energy, ultrasonic energy and / or heat energy, e.g. to tissue the patient. In the illustrated embodiment, in functionally similar embodiments, the generator 3002 is connected to an electrosurgical tool 100 via a suitable transmission medium, such as a cable 3010. In one embodiment, the generator 3002 is coupled to a controller such as a control unit 3004, e.g. . In various embodiments, control unit 3004 may be formed integrally with generator 3002 or may be provided as a separate circuit module or electrically coupled device with generator 3002 (shown in broken lines to illustrate this option). Although in the presently disclosed embodiment, the generator 3002 is shown separately from the electrosurgical tool 100, in one embodiment, the generator 3002 (and / or the control unit 3004) can be integrally formed with the electrosurgical tool 100 to produce a uniform electrosurgical system. For example, in some embodiments, a generator or an appropriate circuit may be included in the tool mounting portion 300 and / or in the handle, in appropriate manual embodiments (as described herein).

[0017] The generator 3002 may include an input device 3006 located in the front panel of the generator console 3002. The input device 3006 may include any suitable device that generates signals suitable to program the operation of the generator 3002, such as a keypad or input port, for example. In one embodiment, the different electrodes of the first jaw member 3008A and the second jaw member 3008B may be connected to the generator 3002. The cable 3010 connecting the 300 to mount the tool with the 3002 generator may include a plurality of electrical wires for applying positive (+) and positive electrical power. the negative (-) electrodes of the electrosurgical tool 100. The control unit 3004 can be used to start the generator 3002, which can serve as a power source.

[0018] In various embodiments, the surgical tool 100 may include at least one power cord 3012 and at least one return wire 3014, in which the current may be supplied to the electrosurgical tool 100 via a power cord 3012 and where the current may flow back to the device. of the generator 3002 via the return line 3014. In various embodiments, the supply line 3012 and the return line 3014 may comprise insulated conductors and / or any other suitable type of conductor. In some embodiments, as described below, the power cord 3012 and the return wire 3014 may be located inside and / or may include a wire 3010 extending therebetween or at least partially between the generator 3002 and the gripper 3000 of the electrosurgical tool 100.

[0019] The electrosurgical gripper 3000 may be adapted to capture and to cut tissue and to simultaneously weld the seized tissue with a controlled use of energy (e.g., RF energy). FIG. 7 shows one embodiment of the electrosurgical gripper 300 with the jaw members 3008A, 3008B open and axially movable member 3016 in a proximal retracted position. FIG. 8 depicts one embodiment of the electrosurgical gripper 300 with closed jaw members 3008A, 3008B, and the member 30 is movable axially at a partially advanced position.

[0020] In use, the jaw members 3008A, 3008B close themselves thereby catching or engaging the tissue around the longitudinal axis of the LT-LT tool defined by the axially movable member 3016 (or a distal portion thereof). The first jaw member 3008A and the second jaw member 3008B can also use tissue compression. In some embodiments, the elongated shaft 200 as well as the first jaw member 3008A and the second jaw member 3008B can be rotated through 360 ° degrees, as shown by arrow 3018 (see FIG 8), relative to the tool mounting portion 300.

[0021] The first jaw member 3008A and the second jaw member 3008B each may include a longitudinal slot or channel 3020A and 3020B (FIGURE 7), respectively, disposed outward along their respective central portions. In addition, the first jugular member 3008A and the second jugular member 3008B may each include tissue grabbing members, such as teeth 3022, positioned on the inner portion of the first jigging member 3008A and the second junctions member 3008B. The lower jaw element 3008B may define the jaw body with the energy delivery surface or electrodes 3024B. For example, the electrode 3024B may be in electrical connection with the generator 3002 via the power cord 3012. The energy supply surface 3024A on the upper first jumper member 3008 may provide a return path for electrosurgical energy. For example, the energy supply surface 3024A can be electrically connected to the return line 3014. In the illustrated embodiment and in functionally similar embodiments, other conductive portions of the surgical tool 100, including e.g., the jaw members 3008A, 3008B, shaft 200, etc., may form all or part of the return path. Various electrode configurations and various configurations of tacking surface 3024A, 3024B of energy supply with wires 3012, 3014 are described herein. Furthermore, it should be noted that the electrode feed 3024B can be placed on the lower jaw member 3008B as shown either on the upper jaw member 3008A. For example, the energy supply surface 3024A can be electrically connected to the return line 3014. In the illustrated embodiment and in functionally similar embodiments, other conductive portions of the surgical tool 100, including e.g., the jaw members 3008A, 3008B, shaft 200, etc., may form all or part of the return path. Various electrode configurations and various configurations of tacking surface 3024A, 3024B of energy supply with wires 3012, 3014 are described herein. Furthermore, it should be noted that the electrode feed 3024B can be placed on the lower jaw member 3008B as shown either on the upper jaw member 3008A. For example, the energy supply surface 3024A can be electrically connected to the return line 3014. In the illustrated embodiment and in functionally similar embodiments, other conductive portions of the surgical tool 100, including e.g., the jaw members 3008A, 3008B, shaft 200, etc., may form all or part of the return path. Various electrode configurations and various configurations of tacking surface 3024A, 3024B of energy supply with wires 3012, 3014 are described herein. Furthermore, it should be noted that the electrode feed 3024B can be placed on the lower jaw member 3008B as shown either on the upper jaw member 3008A. In the illustrated embodiment and in functionally similar embodiments, other conductive portions of the surgical tool 100, including e.g., the jaw members 3008A, 3008B, shaft 200, etc., may form all or part of the return path. Various electrode configurations and various configurations of tacking surface 3024A, 3024B of energy supply with wires 3012, 3014 are described herein. Furthermore, it should be noted that the electrode feed 3024B can be placed on the lower jaw member 3008B as shown either on the upper jaw member 3008A. In the illustrated embodiment and in functionally similar embodiments, other conductive portions of the surgical tool 100, including e.g., the jaw members 3008A, 3008B, shaft 200, etc., may form all or part of the return path. Various electrode configurations and various configurations of tacking surface 3024A, 3024B of energy supply with wires 3012, 3014 are described herein. Furthermore, it should be noted that the electrode feed 3024B can be placed on the lower jaw member 3008B as shown either on the upper jaw member 3008A. Various electrode configurations and various configurations of tacking surface 3024A, 3024B of energy supply with wires 3012, 3014 are described herein. Furthermore, it should be noted that the electrode feed 3024B can be placed on the lower jaw member 3008B as shown either on the upper jaw member 3008A. Various electrode configurations and various configurations of tacking surface 3024A, 3024B of energy supply with wires 3012, 3014 are described herein. Furthermore, it should be noted that the electrode feed 3024B can be placed on the lower jaw member 3008B as shown either on the upper jaw member 3008A.

[0022] In the distal and proximal translation of the axially movable member 3016, it can be used to open and close the jaws 3008A, 3008B and rupture the tissue held between them. FIG. 9 is a perspective view of one embodiment of the axially movable member 3016 of the surgical tool 100. The axially movable member 3016 may comprise one or several pieces, but may in each case be movable or translate with respect to the elongated shaft 200 and / or the jaw members 3008A, 3008B. Also, in at least one embodiment, the axially movable member 3016 can be made of 17-4 hardened stainless steel. The distal end of the axially movable member 3016 may include a double-taper with a flange adapted to slide in the channels 3020AA and 3020B on the jaw members 3008A and 3008B. The axially movable member 3016 may move within the channels 3020A, 3O2OB to open and close the first ring member 3008A and the second jaw member 3008B. The distal end of the axially movable member 3016 may also include an upper flange or a C-shaped portion 3016A and a lower flange or a C-shaped portion 3016B. The flanges 3016A and 3016B respectively define the inner surfaces of the cam 3026A and 3026B to couple the surfaces facing outwardly of the first member 3008A of the maxilla and the second member 3008B. Opening and closing of the jaw members 3008A and 3008B can apply very high compressive forces to the tissue using cam mechanisms that may include a movable I-bead axially movable member 3016 and outward facing surfaces 3028A,

[0023] More specifically, referring to Figs. 7-9, together the inner cam surfaces 3026A and 3026B of the distal end of the axially movable member 3016 can be adapted to the first sliding engagement directed outwardly of the surface 3028A and the second outwardly facing surface 3028B of the first member 3008A jaw and second juncture 3008B, respectively. The channel 3020A within the first jaw member 3008A and the channel 3020B within the second jaw member 3008B may be sized and configured to accommodate the movement of the axial movable member 3016 that may include a tissue cutting element 3030, e.g. including a sharp distal edge. FIG. 8, for example, shows the distal end of the axially movable member 3016 precedes at least partially by channels 3020A and 3020B (FIGURE 7). Moving the axially movable member 3016 can close the gripper 3000 from the open position shown in FIG. 7. In the closed position shown in FIG. 8, the upper first member 3008A and the lower second jaw member 3008B define a gap or dimension D between the first energy supply surface 3024A and the second energy supply surface 3024B of the first member 3008A of the jaw member and the second member 3008B, respectively. In various embodiments, the dimension D may be from about 0.0005 "to about 0.040", e.g., in some embodiments, from about 0.001 "to about 0.010", e.g. In addition, the edges of the first energy supply surface 3024A and the second energy supply surface 3024B may be rounded to prevent tissue delamination.

[0024] FIG. 10 is a sectional view of one embodiment of the gripper 3000 of the surgical tool 100. The meshing or tissue-touched surface 3024B of the lower jaw member 3008B is adapted to deliver energy to the tissue, at least in part, via a conductive-resistive matrix, such as a variable-sized body. a positive temperature coefficient of resistance (PTC), as discussed in more detail below. At least one of the upper and lower jaw members 3008A, 3008B may have at least one electrode 3032 configured to supply energy from the generator 3002 to the tissue being captured. The intermeshing or tissue-toughening surface 3024A of the upper jaw member 3008A may have a similar conductive-resistive matrix (i.e., PTC material) or, in some embodiments, the surface may be a conductive electrode or an insulating layer, for example. Alternatively, the engaging surfaces of the jaw elements may include any of the energy transfer elements disclosed in US Patent No. 6,773,409, filed October 22, 2001, entitled ELECTROSURGICAL JAW STRUCTURE FOR CONTROLLED ENERGY DELIVERY. The first energy supply surface 3024A and the second energy supply surface 3024B can each be electrically connected to the generator 3002. The first delivery energy supply surface 3024A and the second energy supply surface 3024B can be configured to contact the tissue and provide electrosurgical energy to the captured tissue that is adapted to close or weld the tissue. The control unit 3004 controls the power supply by the electric generator 3002, which in turn delivers the electrosurgical energy to the first energy supply surface 3024A and the second energy supply surface 3024B. Energy delivery may be initiated in any suitable manner (e.g., by actuation of the robot system.) In one embodiment, the electrosurgical tools 100 may be powered by the generator 3002 via the foot switch 3034 (Fig. 6). a generator 3002 for supplying power to the gripper 3000, e.g., the control device 3004 may control the power generated by the generator 3002 during activation. Although the foot switch 3034 may be beneficial in many circumstances,

[0026] As mentioned above, the electrosurgical energy supplied by the energy generator 3002 and regulated or otherwise controlled by the control device 3004 may include radio frequency energy (RF), or other suitable forms of electric energy. In addition, one or both of the opposed first and second energy supply surfaces 3024A and 3024B can have bodies with variable positive temperature coefficient of resistance (PTC) that are electrically connected to the generator 3002 and the control unit 3004. Additional details about electrosurgical grippers, jaw closing mechanisms and surfaces providing electrosurgical energy are described in the following US patents and published patent applications: US Pat. No. 7,087,054; 7,083,619; 7,070,597; 7,041,102; 7,011,657; 6,929,644; 6,926,716; 6,913,579; 6,905,497; 6,802,843; 6,770,072; 6,656,177; 6,533,784; and 6,500,176; and US Pat. App. Pub. No. 2010/0036370 and 2009/0076506.

[0027] In one embodiment, the generator 3002 may be implemented as an electrosurgical device (ESU) capable of providing sufficient energy to perform bipolar electrosurgery using radio frequency (RF) energy. In one embodiment, the ESU may be a bipolar ERBE ICC 350 marketed by ERBE USA, Inc., Marietta, Georgia. In some embodiments, such as in the case of bipolar electrosurgical applications, a surgical instrument having an active electrode and a return electrode may be used, wherein the active electrode and the return electrode may be based on, placed in the vicinity and / or in electrical connection with the tissue which to be treated like this, that current can flow from the active electrode through the bodies with a positive temperature coefficient of resistance (PTC), and the return electrode through the tissue. Thus, in various embodiments, the system 150 may include electrosurgical delivery and return paths, wherein the captured tissue to be treated terminates or closes the periphery. In one embodiment, the generator 3002 may be a unipolar RF ESU and the electrosurgical tool 100 may include a unipolar gripper 3000 in which one or more active electrodes are integrated. For such a system, the generator 3002 may require a return pad in direct contact with the patient at a location remote from the operating field and / or another suitable return path. The return washer can be connected by a cable to the 3002 generator. and the return electrode through the tissue. Thus, in various embodiments, the system 150 may include electrosurgical delivery and return paths, wherein the captured tissue to be treated terminates or closes the periphery. In one embodiment, the generator 3002 may be a unipolar RF ESU and the electrosurgical tool 100 may include a unipolar gripper 3000 in which one or more active electrodes are integrated. For such a system, the generator 3002 may require a return pad in direct contact with the patient at a location remote from the operating field and / or another suitable return path. The return washer can be connected by a cable to the 3002 generator. and the return electrode through the tissue. Thus, in various embodiments, the system 150 may include electrosurgical delivery and return paths, wherein the captured tissue to be treated terminates or closes the periphery. In one embodiment, the generator 3002 may be a unipolar RF ESU and the electrosurgical tool 100 may include a unipolar gripper 3000 in which one or more active electrodes are integrated. For such a system, the generator 3002 may require a return pad in direct contact with the patient at a location remote from the operating field and / or another suitable return path. The return washer can be connected by a cable to the 3002 generator. which is to be treated ends or closes the circuit. In one embodiment, the generator 3002 may be a unipolar RF ESU and the electrosurgical tool 100 may include a unipolar gripper 3000 in which one or more active electrodes are integrated. For such a system, the generator 3002 may require a return pad in direct contact with the patient at a location remote from the operating field and / or another suitable return path. The return washer can be connected by a cable to the 3002 generator. which is to be treated ends or closes the circuit. In one embodiment, the generator 3002 may be a unipolar RF ESU and the electrosurgical tool 100 may include a unipolar gripper 3000 in which one or more active electrodes are integrated. For such a system, the generator 3002 may require a return pad in direct contact with the patient at a location remote from the operating field and / or another suitable return path. The return washer can be connected by a cable to the 3002 generator. generator 3002 may require a return pad in direct contact with the patient at a location remote from the operative field and / or another suitable return path. The return washer can be connected by a cable to the 3002 generator. generator 3002 may require a return pad in direct contact with the patient at a location remote from the operative field and / or another suitable return path. The return washer can be connected by a cable to the 3002 generator.

[0028] During the operation of the electrosurgical tool 100, the practitioner usually grasps the tissue, provides energy to the tissue to be captured to form a seal or seal (e.g., using the actuation button 214 and / or the pedal 216) and then performs the tissue cutting member 3030 on the distal side. the end of the axially movable member 3016 by the tissue being caught. According to various embodiments, the translation of the axial movement of the axially movable member 3016 may be transmitted or otherwise controlled to assist in guiding the axially movable member 3016 at a suitable speed of movement. By controlling the rate of movement, the probability that the entrapped tissue has been properly closed and functionally sealed prior to cutting of the cutting element 3030 is increased.

[0029] With reference now to the embodiment shown in FIG. 11-15, the tool mounting portion 300 includes a tool mounting plate 304 that maintains many of the functions (in FIG. 15 are shown four) rotating parts of the body, disks or driven elements 306, each of which includes a pair of pins 308 exiting the surface of the driven element 306. One pin 308 is closer to the axis of rotation of each driven member 306 than the second pin 308 on the same element driven by 306, which aids in providing a positive angular setting of the driven member 306. The connector 302 may include an adapter portion 310 that is configured to attach the mounting plate 304, as will be described in detail below. The illustrated adapter portion 310 includes a circuitry of electrical connection terminals 312 (HG. 13) that can be connected to the storage structure by means of a circuit board within the tool mounting portion 300. Although the connector 302 has been described herein with reference to mechanical, electrical and magnetic connecting elements, it should be assumed that it is possible to use a variety of different telemetry procedures, including infrared, inductive and the like in other embodiments.

[0030] As can be seen in FIG. 11-14, adapter part 310 essentially includes tool side 314 and side 316 of the handle. Many of the rotatable bodies 320 are mounted to the floating plate 318, which has a limited range of motion relative to the surrounding adapter structure perpendicular to the main surfaces of the adapter 310. The axial movement of the floating plate 318 helps disengage the rotatable bodies 320 from the tool holding portion 300 when the levers or other latching systems along the sides of the housing of the tool mounting part (not shown) move. Other embodiments may use other mechanisms / configurations to connect the disjoint tool attachment portion 300 to the adapter 310. In the embodiment of FIG. The 11-15 rotatable bodies 320 are elastically attached to the floating plate 318 by means of elastic radial elements that enter the circumferential cut around the rotatable bodies 320. The rotatable bodies 320 can move axially with respect to the plate 318 by deflecting these elastic structures. In the case of arrangement in the first axial position (towards the side 314 of the tool), the rotary bodies 320 rotate freely without an angular limit. However, when the rotary bodies 320 move axially towards the side 314 of the tool, the tabs 322 (extending radially from the rotatable bodies 320) laterally engage latches on the floating plates to limit the angular rotation of the rotatable bodies 320 about their axis. This limited rotary movement may be used to assist in driving the rotary bodies 320 with drive pins 332 of a corresponding part of the tool holder 330 of the robotic system 10 when the drive pins 332 push the rotary bodies 320 into a limited rotation position until the pins 332 overlap with (and will be inserted into) holes 334 '. The holes 334 in the tool side 314 and the holes 334 'in the side 316 of the handle of the rotatable bodies 320 are configured to precisely overlap the driven elements 306 (FIG. 15) of the tool mounting portion 300 with the drive elements 336 of the tool holder 330. According to the above description regarding the inner and outer pins 308 of the driven elements 306, the openings 304, 304 'are located at different distances from the axis of rotation on their respective rotary when the drive pins 332 will push the rotary bodies 320 into a limited rotation position until the pins 332 overlap with (and will be inserted into) the openings 334 '. The holes 334 in the tool side 314 and the holes 334 'in the side 316 of the handle of the rotatable bodies 320 are configured to precisely overlap the driven elements 306 (FIG. 15) of the tool mounting portion 300 with the drive elements 336 of the tool holder 330. According to the above description regarding the inner and outer pins 308 of the driven elements 306, the openings 304, 304 'are located at different distances from the axis of rotation on their respective rotary when the drive pins 332 will push the rotary bodies 320 into a limited rotation position until the pins 332 overlap with (and will be inserted into) the openings 334 '. The holes 334 in the tool side 314 and the holes 334 'in the side 316 of the handle of the rotatable bodies 320 are configured to precisely overlap the driven elements 306 (FIG. 15) of the tool mounting portion 300 with the drive elements 336 of the tool holder 330. According to the above description regarding the inner and outer pins 308 of the driven elements 306, the openings 304, 304 'are located at different distances from the axis of rotation on their respective rotary in the side 316 of the handle of the rotatable bodies 320 are configured for the precise overlapping of the driven elements 306 (FIG. 15) of the tool mounting portion 300 with the drive elements 336 of the tool holder 330. According to the above description regarding the inner and outer pins 308 of the driven elements 306, the openings 304, 304 'are located at different distances from the axis of rotation on their respective rotary in the side 316 of the handle of the rotatable bodies 320 are configured for the precise overlapping of the driven elements 306 (FIG. 15) of the tool mounting portion 300 with the drive elements 336 of the tool holder 330. According to the above description regarding the inner and outer pins 308 of the driven elements 306, the openings 304, 304 'are located at different distances from the axis of rotation on their respective rotarybodies 306 to ensure that the alignment is not 180 degrees from the intended position. In addition, each of the openings 304 is slightly radially elongated to arrange the pins 308 in the peripheral arrangement. This makes it possible to move the pins 308 radially inside the openings 304 and to adapt to some axial misalignment between the tool 100 and the tool holder 330, while minimizing any lack of angular alignment and clearance between the drive and driven elements. The holes 304 on the side 314 of the tools are rotated about 90 degrees relative to the openings 334 '(shown in dashed lines) on the side 316 of the handle, which is best seen in FIG. 14.

[0031] In the embodiment of FIG. 11-15, the electrical connection terminal system 340 is located on the side 316 of the adapter holder 310, and the side 314 of the adapter tool 310 has slots 342 (FIG 14) for inserting the tip arrangement (not shown) of the tool mounting portion 300. In addition to transmitting electrical signals between the surgical tool 100 and the tool holder 330, at least some of these electrical connections may be connected to the adapter storage device 344 (FIGURE 13) using the adapter PCB 310.

[0032] In the embodiment of FIG. 11-15 a releasable latch system 346 is used for attachment with the possibility of releasing the adapter 310 to the tool holder 330. The term "tool drive assembly" as used in the context of the robotic system 10 as used herein includes at least an adapter 310 and a tool holder 330, wherein the assembly is generally designated by number 110 in FIG 11. As can be seen, for example, in FIG 11, the tool holder 330 includes a first latch bolt assembly 337 that is sized such that it can be inserted into respective clev- ing slots 311 in the adapter 310. In addition, the tool holder 330 further has second latch pins 338 that are sized such that they can be retained in respective latching bolts 313 in adapter 310. See FIG 11. The latch assembly 315 is held movable on the adapter 310 and has a pair of snap stirrups 317 formed therein which can be biased from the first latched position, in which the latch pins 338 are held in their respective latch 313 and the unlatched position in which the stirrups 317 they coincide with the stirrups 313 to allow the introduction of the second latch pins 338 to or remove from the snap clamps 313. A spring or springs (not shown) are used to bias the latch assembly to a latched position. In the lip on the side 314 of the adapter tools 310, transversely extending flaps of the tool mounting housing are displaced (not shown). which may deviate from the first latched position, in which the latch pins 338 are held in their respective latching bolt 313 and the unlatched position in which the stirrups 317 coincide with the stirrups 313 to allow the introduction of the second latch pins 338 to or remove from the snap stirrups 313. A spring or springs (not shown) are used to bias the latch assembly to a latched position. In the lip on the side 314 of the adapter tools 310, transversely extending flaps of the tool mounting housing are displaced (not shown). which may deviate from the first latched position, in which the latch pins 338 are held in their respective latching bolt 313 and the unlatched position in which the stirrups 317 coincide with the stirrups 313 to allow the introduction of the second latch pins 338 to or remove from the snap stirrups 313. A spring or springs (not shown) are used to bias the latch assembly to a latched position. In the lip on the side 314 of the adapter tools 310, transversely extending flaps of the tool mounting housing are displaced (not shown). wherein the stirrups 317 coincide with the stirrups 313 to allow the introduction of the second latch pins 338 to or removed from the snap stirrup 313. A spring or springs (not shown) are used to bias the latch assembly to a latched position. In the lip on the side 314 of the adapter tools 310, transversely extending flaps of the tool mounting housing are displaced (not shown). wherein the stirrups 317 coincide with the stirrups 313 to allow the introduction of the second latch pins 338 to or removed from the snap stirrup 313. A spring or springs (not shown) are used to bias the latch assembly to a latched position. In the lip on the side 314 of the adapter tools 310, transversely extending flaps of the tool mounting housing are displaced (not shown).

[0033] Referring to FIG. 5 and 16-21, the tool mounting portion 300 maintains a plurality of drive systems to generate various forms of control movements necessary for the operation of a specific type of gripper that is connected to the distal end of the longitudinal shaft assembly 200. As can be seen in FIG. 5 and 1621, the tool mounting portion 300 includes a first drive system, generally designated as 350, which is configured to receive the corresponding "first" output rotation from the drive assembly 110 of the robotic system tool 10 and convert this first output rotary motion to a first rotary control motion. for use with a surgical gripper. In the embodiment shown, the first rotary control motion is used to rotate the longitudinal rod assembly 200 (and the surgical gripper 3000) about the tool longitudinal axis LT-LT. [0034] In the embodiment of FIG. 5 and 16-18, the first drive system 350 includes a tubular gear segment 354 that is formed to (or attached to) a proximal end 208 of the segment 202 proximal to the closure tube of the longitudinal rod assembly 200. The proximal end 208 of the proximal segment 202 of the tube is pivotably mounted on the tool mounting plate 304 of the tool mounting portion 300 by means of a front support cradle 352 which is attached to the tool mounting plate 304. See FIG. 16. The tubular gear segment 354 is kept in mesh with the first rotating transmission unit 360, which is held on the tool attachment plate 304. As can be seen in FIG. 16, the rotary transmission assembly 360 includes a first rotatable gear 362 that is connected to a respective first of the driven discs or features 306 on the side 316 of the tool mounting plate holder 304 when the tool mounting portion 300 is connected to the tool drive assembly 110. See FIG. 15. The rotary transmission assembly 360 also comprises a first rotatable driven gear 364 that is rotatably mounted on the tool mounting plate 304. The first rotatable driven gear 365 is in mesh with the second rotatable driven gear 366 which in turn is in mesh with the tubular gear segment 354.

[0035] In the embodiment of FIG. 5 and 16-21, the tool mounting portion 300 further includes a second drive system generally designated 370, which is configured to receive a corresponding "second" output rotation from the driving assembly 110 of the robotic system tool 10 and converting this second output rotary motion to a second rotary motion The second drive system 370 includes a second rotatable driving gear 372 that is connected to the respective second of the discs or driven elements 306 on the side 316 of the tool mounting plate holder 304 when the tool holding portion 300 is connected to the drive assembly. 110. See FIG. 15. The second drive system 370 further includes a first rotatable driven gear 374, which is rotatably mounted on the tool attachment plate 304. The first rotatable driven sprocket 374 is in mesh with the shaft gear 376 that is movable and is mounted without being able to rotate on the proximal segment 380 of the drive shaft. In this illustrated embodiment, the pinion gear 376 is mounted without rotation on the proximal segment 380 of the drive shaft by a series of axial wedge grooves 384 that allow the axial displacement of the pinion 376 of the shaft on the proximal segment 380 of the drive shaft, while it is simultaneously fastened without the possibility of turning to the drive shaft. The rotation of the segment 380 of the proximal drive shaft results in the transfer of a second rotary control movement to the surgical gripper 3000.

[0036] The second drive system 370 in the embodiment of FIG. 5 and 16-21 includes a shifting system 390 for selectively axially moving the segment 380 of the proximal drive shaft, which causes the shaft gear 376 to move to and from meshing with the first rotatable driven gear 374. For example, as can be seen in FIG. 16-18, a proximal segment 380 of the drive shaft is mounted within the second holding cradle 382, which is attached to the tool mounting plate 304 in such a way that the proximal drive shaft segment 380 can move axially and rotate relative to the second support cradle 382. In at least one the form of the shifting system 390 further comprises a shifter yoke 392, which is held slidably on the tool fastening plate 304. The proximal portion 380 of the drive shaft is held in the shifter yoke 392 and has a pair of flanges 386 thereon, which means that moving the shifter yoke 392 on the tool fastening plate 304 results in an axial displacement of the segment 380 of the proximal drive shaft. In at least one form, the shifting system 390 further comprises a shifter solenoid 394 that operatively connects to the shifter yoke 392. The shifter solenoid 394 receives control energy from the robotic controller 12 in such a manner that when the sliding solver 394 is activated, the shifter yoke 392 is moved in the distal direction "DD". that sliding the shifter yoke 392 on the tool fastening plate 304 results in an axial displacement of the segment 380 of the proximal drive shaft. In at least one form, the shifting system 390 further comprises a shifter solenoid 394 that operatively connects to the shifter yoke 392. The shifter solenoid 394 receives control energy from the robotic controller 12 in such a manner that when the sliding solver 394 is activated, the shifter yoke 392 is moved in the distal direction "DD". that sliding the shifter yoke 392 on the tool fastening plate 304 results in an axial displacement of the segment 380 of the proximal drive shaft. In at least one form, the shifting system 390 further comprises a shifter solenoid 394 that operatively connects to the shifter yoke 392. The shifter solenoid 394 receives control energy from the robotic controller 12 in such a manner that when the sliding solver 394 is activated, the shifter yoke 392 is moved in the distal direction "DD".

that applying the output rotary motion from the tool drive assembly 110 in one direction will result in rotation of the segment 380 of the proximal drive shaft and eventually other drive shaft components connected thereto in the first direction, and the application of the rotational movement in the opposite direction will result in segment rotation 380 a closer drive shaft in a second direction that is opposite to the first direction. When it is desired to move the segment 380 of the proximal drive shaft in the distal direction "DD", as will be discussed in detail below, the robotic controller 12 activates the shift solenoid 390 to move the shift yoke 392 in the distal direction "DD". In some embodiments, the shifter solenoid 390 may be able to move the proximal portion of the drive shaft 380 between more than two longitudinal positions. For example, in some embodiments, such as those described above with reference to FIG. 83-96, a rotary drive shaft (e.g. connected to the shaft of the proximal drive section 380) may be used in more than two locations in the longitudinal direction. [0038] FIG. 22-23 show another embodiment that uses the same components as the embodiment shown in FIG. 5 and 16-21 except that this embodiment uses a battery-powered driver 400 to provide driving rotational motions to the segment 380 of the proximal drive shaft. Such a configuration allows the tool part to generate larger output rotational movements and torque, which may be advantageous when using different gripping forms. As can be seen in these figures, the motor 400 is attached to the tool mounting plate 304 by means of the retaining structure 402 in such a way that the drive wheel gear 404, which is connected to the motor 400, is held in mesh with the roller gear 376. In the embodiment of FIG. 22-23, holding structure 402 is configured to releasably engage snap locks 303 formed in the tool fastening plate 304 that are intended to facilitate mounting of the housing member (not shown) to the mounting plate 304 when the motor which may be advantageous when using different forms of grippers. As can be seen in these figures, the motor 400 is attached to the tool mounting plate 304 by means of the retaining structure 402 in such a way that the drive wheel gear 404, which is connected to the motor 400, is held in mesh with the roller gear 376. In the embodiment of FIG. 22-23, holding structure 402 is configured to releasably engage snap locks 303 formed in the tool fastening plate 304 that are intended to facilitate mounting of the housing member (not shown) to the mounting plate 304 when the motor which may be advantageous when using different forms of grippers. As can be seen in these figures, the motor 400 is attached to the tool mounting plate 304 by means of the retaining structure 402 in such a way that the drive wheel gear 404, which is connected to the motor 400, is held in mesh with the roller gear 376. In the embodiment of FIG. 22-23, holding structure 402 is configured to releasably engage snap locks 303 formed in the tool fastening plate 304 that are intended to facilitate mounting of the housing member (not shown) to the mounting plate 304 when the motor that the toothed wheel 404 that is connected to the engine 400 is kept in engagement with the pinion 376 of the shaft. In the embodiment of FIG. 22-23, holding structure 402 is configured to releasably engage snap locks 303 formed in the tool fastening plate 304 that are intended to facilitate mounting of the housing member (not shown) to the mounting plate 304 when the motor that the toothed wheel 404 that is connected to the engine 400 is kept in engagement with the pinion 376 of the shaft. In the embodiment of FIG. 22-23, holding structure 402 is configured to releasably engage snap locks 303 formed in the tool fastening plate 304 that are intended to facilitate mounting of the housing member (not shown) to the mounting plate 304 when the motor

400 is not used. As a result, to use the engine 400, the clinician removes the housing from the tool mounting plate 304 and then introduces the legs 403 of the retention structure to the latch cuts 303 in the tool mounting plate 304. The proximal portion 380 of the drive shaft and the other components of the drive shaft connected to it rotate around the longitudinal axis LT-LT of the tool as a result of feeding the motor 400. As can be seen, the motor 400 is battery powered. However, in this configuration, the motor 400 connects to the robotic controller 12 in such a way that the robotic system controls the activation of the motor 400. In alternative embodiments, the motor 400 is manually activated by means of a switch (not shown) mounted on the motor 400 or on the mounting part 300 tool.

[0039] The embodiment shown in FIG. 5 and 16-21 includes a manually operated reversing system, generally designated as 410, for manually invoking a reversing pivotal movement against the segment 380 of the proximal drive shaft in the event of a motor failure or in the absence of energy supplied to the robotic system or power supply interruption. This manually operated reversing system 410 can also be particularly useful, for example when the drive shaft assembly 388 is clamped or otherwise locked so that it is impossible to achieve reverse rotation of the drive shaft components solely due to engine power. In the illustrated embodiment, the mechanically actuated reversing system 410 includes a transmission drive assembly 412, which can be selectively connected to a second rotatable driven gear 376 and is manually activated to apply a reverse rotation movement to the segment 380 of the proximal drive shaft. The power transmission assembly 412 includes a reversing wheel 414 which is attached with the possibility of moving to the tool mounting plate 304. The reversing wheel 414 is rotatably mounted on the rotary shaft 416, which is movably attached to the tool attachment plate 304 through the slot 418. See FIG. 17. In the embodiment of FIG. 5 and 16-21 the manually operated reversing system 410 further comprises a manually operated toothed wheel 420 that includes a body portion 422 that has an arcuate segment 424 of the gear formed thereon.

[0040] FIG. 16-19 show a manually operated reversing system 410 in a first unactivated position. In one exemplary embodiment, the handle portion 426 is formed into or attached to a body part 422 in a different manner. The portion of the actuator handle 426 is sized relative to the tool mounting plate 304 that a small amount of negative clearance is established between the handle portion 426 and the tool fastening plate 304 to hold the handle portion 426 in the first unactuated position. However, when the physician wishes to manually actuate the transmission drive assembly 412, the clinician can easily overcome the interference fit by applying a rotational movement to the handle portion 426. As can also be seen in FIG. 16-19 when the drive gear assembly 412 is in the first unactuated position, the arcuate segment 424 of the gear is outside the toothing 414. When the clinician wishes to apply a reversing rotary driving drive against the segment 380 of the proximal drive shaft, the physician begins to apply a rotary ratchet motion to the drive wheel 420. When the driving gear 420 begins to rotate about the actuating axis AA, the body part 422 contacts the portion of the reversing wheel 414 and axially moves the reversal wheel 414 in the distal direction DD, pulling the driving wheel gear 376 out of engagement with the first rotatable driven wheel. toothed 374 of the second drive system 370. See FIG. 20. When the driving gear 420 is rotated, the arched segment 424 of the gear is snapped into engagement with the reversing wheel 414. Further ratchet movement of the driving gear 420 results in application of an inverting driving rotary movement to the drive gear 376 of the roller and finally to the segment 380 of the proximal drive shaft. The clinician may continue to move the ratchet drive drive assembly 412 as many times as required to fully release or reverse the related gripper components. After the required amount of reversing rotational motion is applied to the segment 380 of the proximal drive shaft, the physician restores the drive gear 420 to an initial or non-actuated position in which the arcuate segment 416 of the gear is outside the meshing of the drive gear 376 of the roller.

The use of robotically generated control movements against the second drive system in a first direction results in the first rotational drive motion applied to the drive shaft assembly 388. When the drive shaft assembly 388 rotates in the first rotational direction, the axially movable member 3016 is driven in the distal direction "DD" from its initial position towards its final position in the gripper 3000, e.g. as described herein with respect to FIGS. 64-96. The use of robotically generated control movements against the second drive system in the second direction results in a second rotational drive motion against the drive shaft assembly 388. When the drive shaft assembly 388 rotates in the second rotational direction, the axially movable member 3016 is driven in the proximal direction "PD"

[0042] The drive shaft assembly, which is used to fire, close and rotate the gripper, can be activated and moved manually, allowing the gripper to be released and removed from the surgical site, as well as from the abdomen, even if the engine (s) fails , the robotic system will not be powered or other electronic damage will occur. Activation of handle portion 426 results in manual generation of actuation or control forces that are applied to drive shaft assembly 388 'by various components of the manually actuating reversing system 410. If the handle portion 426 is in its unactuated state, it is deflected beyond the actuating engagement with the wheel 414. The start of actuation of handle part 426 shifts the deviation.

[0043] According to FIG. 5 and 16-21, the tool mounting portion 300 includes a third drive system 430 that is configured to receive a corresponding "third" output rotation from the driving assembly 110 of the robotic system tool 10 and converting this third output rotary motion to a third rotary control motion. the drive system 430 includes a third drive pulley 432 which is connected to a respective third of the discs or driven elements 306 on the side 316 of the tool holder plate 304 when the tool holding portion 300 is connected to the tool drive assembly 110. See FIG. The third drive pulley 432 is configured to perform a third rotary control motion {in response to the corresponding output rotational motions applied to it by the robotic system 10) against the corresponding third drive cord 434 that can be used to perform various control movements or manipulations against the gripper, which is operably connected to the roller assembly 200. As can be seen in particular in FIG. 16-17, the third drive (434) passes around the third drive spindle assembly 436. The third drive spindle assembly 436 is pivotably attached to the tool mounting plate 304, and a third tension spring 438 is fixed between the third drive spindle assembly 436 and the tool fastening plate 304 to maintain the required tension value of the third drive cable 434. As can be seen in the figures, the end portion 434A of the third drive cable link 434 passes around the upper portion of the pulley block 440. which is attached to the tool attachment plate 304 and the cable end portion 434B extends around the roller block or counterweight 442 on the pulley block 440. It should be noted that invoking a third output rotary motion from the tool drive assembly 110 in one direction will result in the rotation of the third drive pulley 432 in the first direction and cause the cable end portions 434A to move and 434B in opposite directions to perform control movements against the gripper 3000 or the longitudinal roller assembly 200 , which will be discussed in detail below. This means that when the third drive pulley 432 rotates in the first rotational direction, the end portion 434A of the cord moves in the distal direction "DD" and the cable end portion 434B moves in the proximal direction "PD". The rotation of the third pulley 432 in the opposite rotational direction results in the end portion 434A being moved in the proximal direction "PD"

[0044] The tool attachment plate 300 shown in FIG. 5 and 16-21 comprises a fourth drive system 450 that is configured to receive a corresponding "fourth" output rotation from the driving assembly 110 of the robotic system tool 10 and converting the fourth output rotary motion to a fourth rotary control motion. The fourth drive system 450 includes a fourth drive a pulley 452 which is connected to a respective fourth of discs or driven elements 306 on the handle side 316 of the tool mounting plate 304 when the tool holding portion 300 is connected to the tool drive assembly 110. See FIG. 15. The fourth drive pulley 452 is configured to apply a fourth rotary control motion (in response to the corresponding output rotational movements applied to it by the robotic system 10) against the respective fourth drive cord 454 that can be used for various control or manipulation movements of the gripper that is operatively connected to the roller assembly 200. As can be seen in particular in FIG. 16-17, the fourth drive link 454 passes around a fourth drive spindle assembly 456. The fourth drive spindle assembly 456 is pivotably attached to the tool mounting plate 304, and a fourth tension spring 458 is attached between the fourth spindle assembly 456 and the tool fastening plate 304 to maintain the required tension amount of the fourth drive cord 456. The end portion 454A of the fourth drive cord 454 conducts around the bottom portion 440 of the pulley that is affixed to the plate 304 of the tool attachment, and the cable end portion 454B extends around the roller block or fourth counterbalance 462 on the pulley block 440. It should be noted that applying the output rotary motion from the tool drive assembly 110 in one direction will result in rotation of the fourth drive pulley 452 in the first direction and cause the cable end portions 454A and 454B to move in opposite directions to apply control movements to the gripper or longitudinal roller assembly 200, will be discussed in detail below. This means that when the fourth drive pulley 434 rotates in the first rotational direction, the cable end portion 454A moves in the distal direction "DD" and the cable end portion 454B moves in the proximal direction "PD". The rotation of the fourth pulley 452 in the opposite rotational direction results in displacement of the cable end portion 454A in the proximal direction "PD"

[0045] A surgical tool 100 as shown in FIG. 5-6 includes a 3500 articulated connection. In this embodiment, the third drive system 430 may also be referred to as the "first articulated drive system" and the fourth drive system 450 may be referred to herein as the "second articulated drive system". Similarly, the third drive fin 434 may be referred to as "the first proximal articulation link", and the fourth drive link 454 may be referred to herein as the "second proximal link articulation".

[0046] Tool attachment plate 300 from the embodiment shown in FIG. 5 and 1625 21 includes a fifth propulsion system generally designated 470, which is configured to axially move the drive rod assembly 490. The power rod assembly 490 includes a proximal rod segment 492 that extends through the segment 380 of the proximal drive shaft and drive shaft assembly 388. See FIG. 18. The fifth drive system 470 includes a movable drive yoke 472 that is held slidably on the tool mounting plate 304. The proximal segment 492 of the drive rod is retained in the drive yoke 372 and has a pair of balls 394 of the retainer, which means that moving the drive yoke 372 on the tool fastening plate 304 results in axial displacement of the proximal rod segment 492. In at least one exemplary embodiment, the fifth drive system 370 further includes a drive solenoid 474 that operatively connects to the drive yoke 472. The drive solenoid 474 receives control signals from the robotic controller 12. Activating the drive solenoid 474 in the first direction will cause the drive rod assembly 490 to move toward a further & quot; DD & quot; and actuation of the drive solenoid 474 in the second direction will cause displacement of the drive rod assembly 490 in the proximal direction "PD". As can be seen in FIG. 5, the gripper 3000 includes jaw members that can move between open and closed positions when axial closing movements are applied to the closing system. In the embodiment shown in FIG. 5 and 16-21 the fifth drive system 470 is used to generate such closing movements. As a result, the fifth drive system 480 may also be referred to as a "closing drive." The surgical tool 100 depicted in FIGS. 5 and 16-21 includes a articulation 3500 that interacts with the third and fourth drive systems 430, 450, respectively, to moving the articulated gripper 3000 around the longitudinal axis of the "LT" tool. The articulation 3500 includes a proximal seat tube 3502 that is connected to the distal end 233 of the distal outer tube portion 231 and defines a proximal ball seat 3504 therein. See FIG. 24. The proximal ball member 3506 is mounted to be moved within the proximal ball seat 3504. As can be seen in FIG. 24 the proximal ball member 3506 has a central drive passage 3508 that allows passage of the drive shaft segment 3740 therethrough. In addition, the proximal ball element 3506 has four articulated passageways 3740, which facilitate passage through the further wire segments 444,445, 446,447. In various embodiments, further wire segments 444,445,446,447 may be directly or indirectly to the proximal end portions of wires 434A, 434B, 454a, 454b, respectively, as shown in FIG. 24A. As can be seen in FIG. 24, the articulation 3500 further comprises a segment 3512 of an articulated articulation tube which has an intermediate ball seat 3514 formed therein. Intermediate ball seat 3514 is configured to retain in it a ball 3522 of a gripper formed on the gripper adapter tube 3520. Segments 444,445, 446, 447 of the distal cable pass through the passages 3524 formed in the gripper ball 3522 and are attached to it by means of protrusions 3526 placed within respective passages 3528 in the gripper ball 3522. Other fastening systems can be used to attach the segments 444, 445, 446, 447 of the distal link to the gripper ball 3522.

[0048] A unique and novel rotary retaining link assembly, generally designated as 3540, is shown in FIG. 25 and 26. The shown rotary retaining assembly 3540 includes a portion of gripper 4012 of gripper casing 4010 that is of substantially cylindrical shape. The first ring race 4014 is formed around the periphery of the cylindrical part 4012 connector. The rotatably retaining joint assembly 3540 further includes a distal portion of the seat 3530 that is formed on the gripper connector tube 3520, as shown in FIG. 25 and 26. The distal portion of the seat 3530 is sized relative to the cylindrical portion of the joint 4012 that the joint portion 4012 can rotate freely within the seat portion 3530. A second ring race 3532 is formed on the inner wall 3531 of the distal portion of the socket 3530. A distal window 3533 is provided in distal seat 3530 that communicates with the second ring race 3532. As can also be seen in FIG. 25 and 26, the rotary support assembly 3540 further includes a carrier member 3534 in the form of a ring. In various exemplary embodiments, the ring support member 3534 includes a substantially circular deformable plastic ring that has a notch 735. The notch forms free ends 3536, 3537 in the carrier member 3534 in the form of a ring. As can be seen in FIG. 25, the support member 3534 in the form of a ring has a substantially annular shape in its natural, undefiled condition. In a further socket 3530, a window 3533 is provided that communicates with the second ring race 3532. As can also be seen in FIG. 25 and 26, the rotary support assembly 3540 further includes a carrier member 3534 in the form of a ring. In various exemplary embodiments, the ring support member 3534 includes a substantially circular deformable plastic ring that has a notch 735. The notch forms free ends 3536, 3537 in the carrier member 3534 in the form of a ring. As can be seen in FIG. 25, the support member 3534 in the form of a ring has a substantially annular shape in its natural, undefiled condition. In a further socket 3530, a window 3533 is provided that communicates with the second ring race 3532. As can also be seen in FIG. 25 and 26, the rotary support assembly 3540 further includes a carrier member 3534 in the form of a ring. In various exemplary embodiments, the ring support member 3534 includes a substantially circular deformable plastic ring that has a notch 735. The notch forms free ends 3536, 3537 in the carrier member 3534 in the form of a ring. As can be seen in FIG. 25, the support member 3534 in the form of a ring has a substantially annular shape in its natural, undefiled condition. the rotary support assembly 3540 further includes a carrier member 3534 in the form of a ring. In various exemplary embodiments, the ring support member 3534 includes a substantially circular deformable plastic ring that has a notch 735. The notch forms free ends 3536, 3537 in the carrier member 3534 in the form of a ring. As can be seen in FIG. 25, the support member 3534 in the form of a ring has a substantially annular shape in its natural, undefiled condition. the rotary support assembly 3540 further includes a carrier member 3534 in the form of a ring. In various exemplary embodiments, the ring support member 3534 includes a substantially circular deformable plastic ring that has a notch 735. The notch forms free ends 3536, 3537 in the carrier member 3534 in the form of a ring. As can be seen in FIG. 25, the support member 3534 in the form of a ring has a substantially annular shape in its natural, undefiled condition. 3537 in the support member 3534 in the form of a ring. As can be seen in FIG. 25, the support member 3534 in the form of a ring has a substantially annular shape in its natural, undefiled condition. 3537 in the support member 3534 in the form of a ring. As can be seen in FIG. 25, the support member 3534 in the form of a ring has a substantially annular shape in its natural, undefiled condition.

For the surgical connection of the gripper 3000 (e.g., the first surgical tool) to the articulation 3500 (e.g. the second surgical tool) the cylindrical portion 4012 is inserted into the distal portion 3530 to attract the second ring race 3532 essentially to align with the first ring race 4014. One of the free ends 3536, 3537 of the carrier element in the form of a ring is then inserted into the aligned annular raceways 4014,3532 through the window 3533 in the further part of the seat 3530 of the gripper connector tube 3520. To assist with easy insertion, the window or aperture 3533 has a tapered surface 3538 formed thereon. See FIG. 25. The support member 3534 in the form of a ring is substantially rotated in place and as it tends to form a circle or ring, it does not tend to retract through the window 3533 after installation. After the bearing member 3534 in the form of a ring is inserted into the aligned ring raceways 4014, 3532, the gripper connector tube 3520 will be pivotally attached to the gripper portion of the gripper drive housing 4010. This arrangement makes it possible to rotate the gripper drive housing 4010 around the longitudinal tool axis LT-LT relative to the gripper connector tube 3520. The support member 3534 in the form of a ring becomes the bearing surface on which the gripper drive housing 4010 rotates. Each lateral load attempts to deform the carrier member 3534 in the form of a ring that is held and bounded by two locking tracks 4014, 3532, preventing damage to the carrier member 3534 in the form of a ring. It should be noted that such a simple and effective connection assembly, using a carrier member 3534 in the form of a ring, forms a highly slip connection between rotatable parts 4010, 3530. If during assembly it is allowed to extend one of the free ends 3536, 3537 through the window 3533 (see FIG. 26), the rotary retaining joint assembly 3540 can be disengaged by retracting the carrier member 3532 through the window 3533. The rotary retaining joint assembly 3540 allows easy assembly and manufacture while providing good gripping of the gripper while facilitating rotational manipulation.

The articulation 3500 facilitates the articulation of the gripper 3000 about the longitudinal axis of the tool LT. For example, when it is desired to articulate the gripper 3000 in a first direction "FD" as shown in FIG. 5, the robotic system 10 can drive the third drive system 430 in such a manner.

436 (FIGS. 16-18) rotates in a first direction, they attract.

as shown in FIG. 5, the robotic system 10 can drive the fourth drive system 450 such that the fourth drive spindle assembly 456 rotates in the third direction, thereby drawing the proximal end portion 454A of the cord and finally the distal portion 446 of the cord in the proximal direction "PD" and releasing the proximal link 446. the cable end portion 454B and the further cable segment 447 thereby rotating the gripper ball 3522 in the socket 3514. Similarly, to articulate the gripper 3000 in the fourth "FTH" direction, opposite to the third TD direction, the robotic system 10 can drive the fourth drive system 450 in such a way that the fourth drive spindle assembly 456 rotates in the fourth direction, thereby drawing the proximal end portion 454B of the cord and finally the further cable segment 447 in the proximal direction "PD" and releasing the proximal end portion 454A of the cord and the further cable segment 446, thereby rotating the gripper ball 3522 in the socket 3514, [0051] The gripper embodiment shown in FIG. 5 and 16-21 uses rotational and longitudinal movements which are transmitted from the tool attachment portion 300 by the longitudinal shaft assembly for actuation. The drive shaft assembly used to transmit such rotational and longitudinal movements (e.g., torsional, tension and compressive movements) to the gripper is relatively flexible to facilitate articulation of the gripper around the articulation. FIG. 27-28 illustrate an alternative drive shaft assembly 3600 that may be used in conjunction with the embodiment shown in FIG. 5 and 16-21 or in other embodiments. In the embodiment shown in FIG. 5, the proximal drive shaft segment 380 includes a drive shaft assembly portion 3600, and the drive shaft segment 3740 similarly includes another drive shaft component portion 3600. The drive shaft assembly 3600 includes a drive tube 3602 that has a plurality of radial connection segments 3604 cut therein. In the illustrated embodiment, the drive tube 3602 includes a distal portion 380 of the proximal drive shaft 380. For example, the roller assembly 3600, and the roller assemblies 3600 '3600 "described above with respect to FIGS. 27-45 can be components and / or mechanically coupled to the latter. various rotary drive shafts described herein, including, for example, rotating drive shafts 680,1270,1382, etc.

The drive tube 3602 includes a hollow metal tube (stainless steel, titanium and the like) that has a series of radial connection segments 3604 formed therein. The radial connection segments 3605 comprise a plurality of loosely-joined dovetail 606 shapes that are on example cut in the drive tube 3602 by means of a laser and serve to facilitate flexible displacement between adjacent connection segments 3604. See FIG. 28. Such laser cutting of the tube creates a flexible hollow tube that can be used for compression, tension and twisting. Such a system uses a full diametral cut and connection with the neighboring part using the "piece of puzzle" configuration.

[0053] FIG. 29-33 illustrate an alternative example of the 3604 'micro-ring segment, which includes a plurality of laser cut-out shapes 3606', which more or less resemble loosely combined inverted & quot; T & quot; shapes and T-shaped shapes with a cut-out portion. In this case, each connection segment 3604, 3604 'can transmit torque, thereby facilitating relative articulation between each annular connection segment. As can be seen in FIGS. 29-30, connection segment 3604D' at the distal end 3603 drive tube 3602 has a further part of the mounting flange 3608D,

[0054] The range of connection-connection traffic for each specific drive shaft assembly 3600 can be increased by increasing the laser cut spacings. For example, to ensure that the connection segments 3604 'remain connected to each other without significantly reducing the ability of the articulated drive tube to move within the required travel ranges, a secondary stop element 610 is used. In the embodiment shown in FIG. 32 and 32 the secondary restriction element 3610 includes a spring 3612 or another helically wound element. In various exemplary embodiments, the distal end 3614 of the spring 3612 corresponds to the distal portion of the mounting collar 3608D and is wound closer than the central portion 3616 of the spring 3612. Similarly, the proximal end 3618 of the spring 3612 is wound more tightly than the central portion 3616 of the spring 3612. In other embodiments, the restriction element 3610 is installed on the drive tube 3602 with the required pitch such that the stop element also performs for example a flexible thread drive thread threaded with other threaded controls on the gripper and / or control system. It should also be noted that the restriction element can be installed in such a way as to have a variable pitch to realize the transmission of the required rotary control movements when the drive shaft assembly rotates. For example, the variable pitch system of the limiting element can be used to strengthen the opening / closing movements and the firing movements, it would use different line jumps within the same rotational movement. In other embodiments, for example, the drive shaft assembly has a variable pitch thread on an empty flexible drive shaft that can be pushed and pulled around a bend at a ninety degree angle. In further embodiments, the secondary constraining element includes an elastomeric tube or coating 3611 provided around the outer portion or circumference of the drive tube 3602 as shown in FIG. 33A. In a further embodiment, e.g. an elastomeric tube or coating 3611 'is installed in the empty passage 3613 formed in the drive tube 3602, as shown in FIG. 33B. In other embodiments, for example, the drive shaft assembly has a variable pitch thread on an empty flexible drive shaft that can be pushed and pulled around a bend at a ninety degree angle. In further embodiments, the secondary constraining element includes an elastomeric tube or coating 3611 provided around the outer portion or circumference of the drive tube 3602 as shown in FIG. 33A. In a further embodiment, e.g. an elastomeric tube or coating 3611 'is installed in the empty passage 3613 formed in the drive tube 3602, as shown in FIG. 33B. In other embodiments, for example, the drive shaft assembly has a variable pitch thread on an empty flexible drive shaft that can be pushed and pulled around a bend at a ninety degree angle. In further embodiments, the secondary constraining element includes an elastomeric tube or coating 3611 provided around the outer portion or circumference of the drive tube 3602 as shown in FIG. 33A. In a further embodiment, e.g. an elastomeric tube or coating 3611 'is installed in the empty passage 3613 formed in the drive tube 3602, as shown in FIG. 33B. In further embodiments, the secondary constraining element includes an elastomeric tube or coating 3611 provided around the outer portion or circumference of the drive tube 3602 as shown in FIG. 33A. In a further embodiment, e.g. an elastomeric tube or coating 3611 'is installed in the empty passage 3613 formed in the drive tube 3602, as shown in FIG. 33B. In further embodiments, the secondary constraining element includes an elastomeric tube or coating 3611 provided around the outer portion or circumference of the drive tube 3602 as shown in FIG. 33A. In a further embodiment, e.g. an elastomeric tube or coating 3611 'is installed in the empty passage 3613 formed in the drive tube 3602, as shown in FIG. 33B.

[0055] Such drive shaft systems include a composite torsion drive axle that allows excellent load transfer, while facilitating the required axial range of articulation. See, e.g., FIG. 33 and 33A-B. This means that these composite drive shaft assemblies allow a large range of motion, while maintaining the ability to transmit torsional movement in both directions and to facilitate the transmission of stress control and compression movements. In addition, the hollow form of such drive shaft configurations facilitates the passage of other control elements through them, while at the same time providing a better stress load. For example, some other embodiments include a flexible inner cable that passes through the drive shaft assembly, which promotes alignment of the connection segments, at the same time facilitating the use of tensioning movements within the drive shaft assembly. In addition, such drive shaft systems are relatively easy to manufacture and assemble.

[0056] FIG. 34-37 show a segment 3620 of the drive shaft assembly 3600 '. This embodiment includes connection segments 3622,3624 that are laser-cut in the tube material (e.g., stainless steel, titanium, polymer, and the like). The connection segments 3622, 3624 remain loosely connected to each other, because the cuts 3626 are radial and somewhat narrowed. For example, each of the portions of the projections 3628 has a tapered outer portion of the circumference 3629 that is received in the seat 3630 that has a tapered inner wall portion. See, e.g., FIG. 35 and 37. As a result, assembly to connect the connection segments 3622, 3624 is not required. As can be seen in these figures, the connection segment 3622 has opposite parts of the rotary projection 3628 deployed at each end,

[0057] FIG. 34-37 show a small segment of the 3600 'drive shaft assembly. Those skilled in the art will be aware that the projections / sockets can be cut out along the entire length of the drive shaft assembly. This means that the connection segments 3624 may have opposite opposing sockets 3630 cut therein to facilitate connection to adjacent connection segments 3622 to complement the length of the drive shaft assembly 3600 '. In addition, the connection segments 3624 have an angled end portion 3632 cut therein to facilitate articulation of the connection segments 3624 relative to the connection segments 3622, as shown in FIG. 36-37. In the embodiment shown, each projection 3628 has a portion of the articulation limiter 3634, which is adapted to make contact with an appropriate articulation restrictor 3636 formed in the connection segment 3622. See HG. 36-37. Other embodiments that may be otherwise the same as segment 3620 are not provided with the articulation limiter part 3634 and the surge arrester 3636.

[0058] According to the above description, the range of connection-connection traffic for each specific drive shaft assembly can be increased by increasing the laser cut spacings. In such embodiments, to ensure that the connection sections 3622, 3624 remain connected to each other without significantly reducing the articulation of the drive tube in the required travel ranges, a secondary stop element is used in the form of an elastomeric sleeve 3640. Other embodiments use other forms the limiting elements disclosed herein and their equivalent constructions. As can be seen in FIG. 34, connection segments 3622,3624 may rotate about a pivot axis "PA-PA" defined by rotary projections 3628 and corresponding seats 3630.

[0059] FIG. 38-43 show a segment 3640 of a further drive shaft assembly 600 ".The drive shaft assembly 3600" comprises a multi-segment drive system that includes a plurality of interconnected connection segments 3642 that form a flexible hollow drive tube 3602. "Connection segment 3642 includes a ball joint portion 3644 and part of the seat 3648. Each connection section 3642 may be made, for example, by injection metal molding "MIM" and may be made of stainless steel 174, 17-7, 420. Other embodiments may be manufactured from stainless steel series 300 or 400, aluminum 6065 or 7071 or titanium. Still other embodiments may be formed, for example, from a Nylon, Ultem, ABS, polycarbonate or polyethylene material filled or unfilled with plastic. As can be seen in these figures, the ball joint 3644 has a hexagonal shape. This means that the ball joint 3644 has six arcuate surfaces 3646 formed thereon and is adapted to be rotatably inserted into sockets of similar shape 3650. Each slot 3650 has an outer hexagonal shaped portion 3652 formed of six flat surfaces 3654, and an inner part having 3656 radial shape. See FIG. 41. Each connection segment 3642 is identical in construction except that the seat portions of at least the last connection segments forming the distal end and proximal to the drive shaft assembly 3600 may be configured for functional cooperation with suitable control elements. Each ball joint 3644 has an empty passage of 3645,

[0060] As can be seen in FIG. 42 and 43 of the interconnected connection segments 3642 are located in the limiting element 3660, which comprises a tube or sleeve made for example of a polymeric material. FIG. 44 shows a flexible inner core member 3662 extending through interconnected connection segments 3642. The inner core element 3662 includes a solid member made of a polymeric material or a hollow tube or sleeve made of a flexible polymeric material. FIG. 45 shows another embodiment in which the restriction element 3660 and the inner core element 3662 are used simultaneously.

[0061] The drive shaft assembly 3600 & quot; facilitates the transmission of rotational and progressive motion through articulation of varying radius. The hollow form of the drive shaft assembly 3600 & quot; provides space for additional control elements or a tensile member (e.g., elastic cord) to facilitate stretching or compressible load transfer. . However, in other embodiments, the connection sections 3624 do not provide empty passage in the drive shaft assembly. In such embodiments, for example, the part of the ball joint is fixed. Rotational motion is transmitted through the edges of the hexagonal surfaces. More stringent tolerances may allow greater load capacities. As a result of using a cable or other tensile element in the center line of the 3600 "drive shaft assembly

[0062] Although the various exemplary embodiments described above are configured to functionally connect to and be at least partially actuated by a robotic system, components of the gripper and longitudinal shaft can be effectively used in combination with handheld tools. For example, FIG. 46-47 is a handheld surgical tool 2400 that can use various components and systems described above for functional actuation of a gripper 3000 connected to it. It is clear that the handheld surgical tool 2400 may include and / or be electrically connected to a generator such as a generator 3002 for generating an electro-surgical drive signal to drive the gripper 300. In the exemplary embodiment shown in FIG. 46-47 quick connector 2210 is used to connect the gripper 3000 to the longitudinal shaft assembly 2402. For example, the quick connector 2210 may act to remove the gripper 3000 as described herein with reference to FIG. 106-115. In order to facilitate moving the articulated gripper 3000 around the articulation 3500, the proximal part of the longitudinal roller assembly 2402 includes an exemplary manually operated articulated drive 2410.

[0063] Referring to FIG. 48-50, in at least one exemplary embodiment, the articulation drive 2410 includes four axially displaceable axial guides that are positioned to move the proximal drive shaft between the proximal outer tube segment 2214 and the proximal drive shaft segment 380 'on segment 380'. For example, the articulated link segment 434A 'is attached to a first articulation guide 2420 that has a first articulating rod of the actuator 2422 protruding therefrom. The articulation link segment 434B' is attached to a second articulation guide 2430 that is directly opposite the first articulation guide 2420. The second articulation link 2430 has a second articulation rod of the actuating member 2432 projecting therethrough.

[0064] As can be seen in FIG. 48, the articulated rods of the actuator 2422, 2432, 2442, 2452 are movably movable by a clamping ball 2470 that is arranged on the proximal segment 2404 of the outer tube. In at least one embodiment, the clamping ball 2470 can be manufactured from segments that are joined together by means of suitable fastening systems (e.g. welding, binder, screws, and the like). As can be seen in FIG. 50, the articulation rods of the actuator 2422 and 2432 pass through the slots 2472 in the proximal segment 2404 and the slot 2474 in the mounting ball 2470 to allow axial movement of the articulars 2420, 2430 relative to them. Although not shown, the articulation rods of the actuator 2442 , 2452 pass through similar slots 2472,

2474 in the clamping ball 2470 for functional receiving in the respective fastening seats 2466 in the articulation ring assembly 2460. See FIG. 122.

[0065] In at least one exemplary embodiment, the pivot ring assembly 2460 is made of a pair of ring segments 2480, 2490 that are joined together, e.g. by welding, adhesive, snaps, bolts, and the like to form the articulation ring assembly 2460. Segments 2480, 2490 cooperate to form fastening seats 2466. Each of the articulated rods of the actuator has a holding mold 2468 formed thereon, each adapted to be displaceable in a corresponding mounting seat 2466 in the articulation ring assembly 2460.

[0066] Various exemplary embodiments of the articulation drive 2410 may further include an exemplary locking system 2486 configured to retain the articulation ring assembly 2460 in the actuated position. In at least one exemplary embodiment, the locking system 2486 includes a plurality of locking tabs formed on the articulation ring assembly 2460. For example, the ring segments 2480, 2490 may be made of a somewhat flexible polymeric material or a rubber. The ring segment 2480 has a series of elastic proximal locking flaps 2488 formed therein, and the ring segment 2490 has a series of further elastic locking tabs 2498 formed therein. Each locking tab 2388 has at least one locking latch 2389 formed thereon, and each locking tab 2398 has at least one locking latch 2399. The locking tabs 2389, 2399 may be used to establish the required amount of locking friction with the ball joint to hold the ball pivot in position. In other exemplary embodiments, the locking latches 2389, 2390 are configured to mate between the various locking cavities formed on the outer periphery of the ball 2470.

[0067] The operation of the articulation drive 2410 can be understood by referring to FIG. 49 and 50. FIG. 49 shows the articulation drive 2410 in the unactuated position. In FIG. The clinician manually tilts the articulation ring assembly 2460 to axially advance the articulation guide 2420 in the distal direction "DD", thereby extending the articulation link segment 434A 'away. This displacement of the articulation ring assembly 2460 also results in axial displacement of the articulation guide 2430 toward In this way, pulling out and extending the segments of the articulated link 434A ', 434B' will result in articulation of the gripper 3000 with respect to the longitudinal tool axis "LT-LT" in the manner described above. To reverse the direction of articulation, the clinician just reverses the direction of the articulation ring assembly 2460, thereby moving the articulation guide 2430 in the distal direction "DD" and moving the articulation guide 2420 in the proximal direction "PD". The articulated rod assembly 2460 can be similarly actuated to apply the required pushing and pulling movements to the segments of the articulated link 454A ', 454B'. The friction generated between the locking tabs 2389, 2399 and the outer periphery of the ball is used to maintain the articulation drive 2410 in a position after the gripper 3000 has been articulated to the desired position. In alternative exemplary embodiments, when the locking tabs 2389, 2399 are arranged in such a way,

[0068] In the exemplary and other embodiments shown, the longitudinal shaft assembly 2402 is operably associated with the handle assembly 2500. An exemplary embodiment of the handle assembly 2500 includes a pair of handle housing portions 2502, 2504 that are joined together to form various drive components and systems. , which will be discussed in detail below. See, e.g., FIG. 46. The segments of the handle housing 2502, 2504 can be connected to one another by means of bolts, latches, adhesive and the like. When connected together, the handle segments 2502, 2504 can form a handle assembly 2500 that includes a portion of the pistol grip 2506.

In order to facilitate the selective rotation of the gripper 3000 about the longitudinal axis of the tool "LT = LT", the longitudinal shaft assembly 2402 can connect to a first drive system, designated generally as 2510. The drive system 2510 includes a manually operated rotatable discharge gripper 2512 that is rotatable. supported on the handle assembly 2500 in such a way that it can be rotated relative to it and moved axially between a locked position and an unlocked position.

[0070] The surgical tool 2400 may include a closing system 3670. The locking system 3670 may be used in some embodiments of the invention to provide further and proximal movement in the longitudinal shaft assembly 2402 and the gripper 3000. For example, in some embodiments, the locking system 3670 may axially guide a movable member, such as 3016. For example, the locking system 3670 may be used to translate the axially movable member 3016 instead of the various rotary shafts described with reference to FIG. 64-82.83-91 and 92-96. In such an exemplary embodiment, the closing system 3670 is actuated by a closing trigger 2530 which is pivotably attached to a handle frame assembly 2520 that is supported within the handle housing segments 2502, 2504. The closing trigger 2530 includes an actuating part 2532, which is rotatably mounted on the pivot pin 2531, which is supported within the frame assembly 2520 of the handle frame. See FIG. 51. Such an exemplary configuration facilitates rotational movement in and out of the pistol grip portion 2506 of the handle assembly 2500. As can be seen in FIG. 51, the closure trigger 2530 includes a closure switch 2534 that is connected to the first swivel connector and the transmission assembly 3695 by means of the closure wire 2535. As a result, by turning the closure trigger 2530 towards the pistol grip portion 2506 of the grip assembly 2500 into an unactuated position, the closure connector 2534 and closing wire 2535 cause displacement through the first rotary connector and the transmission assembly 3695 in the distal direction "DD"

[0071] The surgical tool 2400 may further include a locking lockout system 2536 to maintain the closure trigger in the actuated position. In at least one exemplary embodiment, the locking lockout system 2536 includes a locking member 2538 that is rotatably connected to the handle frame assembly 2520. As can be seen in FIG. 52 and 53, the locking member 2538 has a locking arm 2539 formed thereon, which is configured to move on the arcuate portion 2537 of the closing connector 2532 when the closing trigger 2530 is moved towards the pistol grip portion2506. When the closure trigger 2530 has been rotated to the fully actuated position, the blocking arm 2539 falls after the end of the closing fastener 2532 and prevents the return of the closure trigger 2530 to its unactuated position. As a result, the further movement transferred by the shaft assembly to the gripper can be blocked to allow the closing trigger 2530 to be returned to its unactuated position, the clinician simply rotates the closure stop member 2538 until the lock arm 2539 disengages from the end of the closure connector 2532, thus allowing moving the closing connector 2532 to the unactuated position.

[0072] The closure trigger 2532 is returned to the non-actuated position by the closing return system 2540. For example, as can be seen in FIG. 51, one exemplary embodiment of the return shutoff system 2540 includes a slider of the closure trigger 2542 which is connected to the closure connector 2534 by the closure pull latch 2544. The slider of the closure trigger 2542 is slidably supported in the sliding cavity 2522 in the grip frame assembly 2520. . The return spring of the closure trigger 2546 is positioned within the sliding cavity 2520 to apply a biasing force to the slider of the closure trigger 2542. As a result, when the clinician actuates the closure trigger 2530,

[0073] The surgical tool 2400 may also use any of the various exemplary embodiments of the drive shaft described above. In at least one exemplary embodiment, the surgical tool 2400 uses a second drive system

2550 to apply rotary control movements to the proximal drive shaft assembly 380 '. See FIG. 55. The second drive system 2550 may include a motor assembly 2552 that is functionally supported in the pistol grip portion 2506. The motor assembly 2552 may be powered by a power supply 2554 that can be removably attached to the handle assembly 2500 or may be powered by an AC power source. The second drive gear 2556 is operably connected to a drive shaft 2555 of the engine assembly 2552. The second drive gear 2556 is supported to mesh with a second rotatable driven gear 2558 that is attached to the segment 380 'of the drive shaft's drive shaft closer.

[0074] The second propulsion system 2550 may further include a firing discharge assembly 2570 that is coupled movably, e.g., rotatably, to the handle frame assembly 2520. For example, in at least one exemplary embodiment, the firing support assembly 2570 includes a first rotary drive release 2572 that cooperates with a corresponding switch / not (which is not shown) that electrically couples to the motor assembly 2552 and which, when activated, causes the motor assembly 2552 to be used. a first rotary drive motion against the second driven gear 2558. In addition, the firing discharge post 2570 further includes a retraction drive trigger 2574 that is rotatable relative to the first rotary drive trigger.

[0075] The illustrated embodiment also includes a hand-guided security element 2580 that is pivotally attached to the closure control actuating portion 2532 and is selectively rotated between a first & quot; safe & quot; position in which the security element 2580 physically prevents rotational displacement of the ejection trigger assembly 2570, and a second "off" position in which the physician is free to rotate the firing assembly 2570. As can be seen in FIG. 51, a first recess 2582 is provided in the actuating part 2532 of the closing sock that corresponds to the first part of the safety element 2580. When the safety element 2580 is in the first position, a hook (not shown) on the security element 2580 is placed inside the first recess 2582.

[0076] In at least some exemplary embodiments, the surgical tool 2400 may include a mechanically operated inversion system, generally designated as symbol 2590, for mechanically applying reverse rotation to the proximal drive shaft 380 'in case the motor assembly 2552 fails or in the absence of energy. battery or break in providing battery power. Such a mechanical reversing system 2590 may also be particularly suitable, for example, when components of the drive shaft system connected in function to the segment 380 'of the proximal drive shaft are pinched or otherwise locked in a manner that would prevent reverse rotation of the drive shaft components only due to engine power. In at least one exemplary embodiment, the mechanically operated reversing system 2590 includes a reversing mechanism 2592 which is rotatably mounted on a shaft 2524A formed on the grip frame assembly 2520 in engagement with the second gear segment 2562 on the second driven gear 2558. See FIG. 53. As a result, the reversing mechanism 2592 rotates freely on the shaft 2524A when the second driven gear 2558 rotates the segment 380 'of the proximal drive shaft of the drive shaft assembly.

[0077] In various exemplary embodiments, the mechanical inversion system 2590 further includes a hand-operated actuator 2594 in the form of a lever arm 2596. As can be seen in FIG. 56 and 57, the lever arm 2596 includes a yoke portion 2597 that has longitudinal slots 2598. Roll 2524A passes through slot 2598A, and second opposite roll 2598B formed on set 2520 of the handle housing passes through the second longitudinal slot to be able to move the lever arm 2596. In addition, the lever arm 2596 has a actuation rib 2597 formed thereon that engages a reversing mechanism 2592. There is a latch or feature that holds the lever arm 2596 in an unactuated state until the doctor has considerable force to actuate it. It prevents them from accidental stimulation in the event of a reversal. Other embodiments may use the spring to bias the lever arm to an unactuated state. The various exemplary embodiments of the mechanical reversal system 2590 further include a knife retractor button 2600 that is disposed displaceably in the handle frame assembly 2520. As can be seen in FIG. 56 and 57, the knife retractor button 2600 includes a disconnect tab 2602 that is configured to connect the upper portion of the second drive gear 2556. The knife retractor button 2600 is biased to a position detached by the knife retractor spring 2604. In the disconnected position, the release tab 2602 is biased out of engagement with the second drive gear 2556. As a result, until

Further ratchet movement of the manually actuated drive member 2594 results in applying a reversing driving rotational movement to the second gear segment 2562 and ultimately to the proximal drive shaft segment 380 '. The physician may continue to move the ratchet of the drive member 2594 as many times as required to fully release or reverse the associated component (s) of the gripper component. After the required amount of reverse rotation is applied to the proximal drive shaft segment 380 ', the clinician releases the knife retainer 2600 and the drive element 2594 to their respective initial or non-actuated positions in which the rib 2597 is outside engagement with the reversing mechanism 2592,

[0079] The surgical tool 2400 can also be used with an electro-surgical gripper 1000 that includes various rotary drive elements that are otherwise driven by the rotating drive shaft at various axial positions. Examples of such grippers and drive mechanisms are described herein with reference to FIG. 64-82, 83-91 and 92-96. The surgical tool 2400 may use a biasing system 2610 to selectively axially move the proximal drive shaft segment 380 'that moves the roller gear 376 to and from mesh with the first rotatable driven gear 374. For example, the proximal drive shaft segment 380' is supported in the frame assembly 2520 in such a way that the segment 380 ' the closer drive shaft can move axially and rotate in it. In at least one exemplary embodiment, the shifting system 2610 further comprises a shifter yoke 2612 which is slidably supported by the handle frame assembly 2520. See FIG. 51 and 54. The proximal drive shaft segment 380 'has a pair of flanges 386 (shown in FIGS. 51 and 55), which means that displacing the shift yoke 2612 on the handle frame assembly 2520 results in an axial displacement of the proximal drive shaft segment 380'. In at least one form, the shifting system 2610 further comprises a shifter push button assembly 2614 that operably engages the shift shoe 2612 and extends through the slit 2505 in the handle housing segment 2504 of the handle assembly 2500. See FIG. 62 and 63. The shift spring 2616 is attached to the handle frame assembly 2520 in such a way that the segment 380 'of the proximal drive shaft is connected. See FIG. 54 and 61. The spring 2616 serves to provide the clinician with audible click and tactile feedback when the push button assembly 2614 is slidably disposed between the first axial position shown in FIG. 135, in which the rotation of the drive shaft assembly results in the rotation of the gripper 3000 about the longitudinal tool axis "LTLT" relative to the articulation 3500 (as shown in FIG. 67) and the second axial position shown in FIG. 63, wherein the rotary motion of the drive shaft assembly. results in an axial displacement of the firing member in the gripper (as shown in FIG. 66). As a result, this configuration allows the physician to easily slide the set of the shifter button 2614 while maintaining the handle assembly 2500. See HG. 62 and 63. The shift spring 2616 is mounted to the handle frame assembly 2520 so that it contacts the proximal section of the drive shaft 380 '. See FIG. 54 and 61. The shift spring 2616 serves to provide the clinician an audible click and tactile feedback when the shifter button assembly 2614 is slidably engaged between the first axial position shown in FIG. 62, wherein the rotation of the drive shaft of the assembly results from the rotation of the gripper 3000 about the longitudinal tool axis "LT-LT" with respect to the joint joint 3500 (FIGURE 67), and in the second axial position shown in FIG. 63, wherein the rotation of the drive shaft of the assembly results from the axial movement of the member being fired in the gripper (shown in FIG. 66). Thus, this arrangement allows the physician to easily position the slider switch 2614 holding the handle assembly 2500. In some embodiments, the push button assembly 2500 may have more than two axial positions corresponding to more than two desired axial positions of the rotary drive shaft. Examples of such surgical tools are in the present description in connection with FIG. 83-91 and 92-96. the push button assembly 2500 may have more than two axial positions corresponding to more than two desired axial positions of the rotating drive shaft. Examples of such surgical tools are in the present description in connection with FIG. 83-91 and 92-96. the push button assembly 2500 may have more than two axial positions corresponding to more than two desired axial positions of the rotating drive shaft. Examples of such surgical tools are in the present description in connection with FIG. 83-91 and 92-96.

[0080] Referring to Figs. 64-72, a multi-axis articulated and rotating surgical tool 600 includes a gripper 550 comprising a first jaw member 602A and a second jaw member 602B. The first jaw member 602A is movable relative to the second jaw member 602B between an open position (Figs. 64, 66-69, 71) and a closed position (Fig. 70 and

72) for tissue clamping between the first jaw member 602A and the second jaw member 602B. The surgical tool 600 is shaped to articulate itself around the articulated joint 640 in the vertical direction (marked direction V in Figs. 64 and 66-72) and the horizontal direction (the direction H indicated in Figs. 64 and 65-68). The activation of the articulated joint 640 can be triggered in a similar manner to that described above with reference to Figs. 24-26. The surgical tool 600 is configured to independently rotate about the head rotation junction 645 in the longitudinal direction (direction indicated H in Figs. 64 and 66-72). Gripper 550 includes an element 620 I-beam and a jaw assembly 555 including a first jaw member 602A, a second jaw member 602B, a proximal part 603 of the second jaw member 602B, and a drive nut 606 mounted at the proximal portion 603.

The gripper 550 is coupled to a roller assembly 560 comprising a gripper drive housing 608, a gripper adapter tube 610, a tube segment 616, and a distal outer tube portion 642. The gripper 550 and the roller assembly 560 together include a surgical tool 600. The gripper 550 can be detachably coupled to the gripper drive housing 608 by a mechanism, as described, for example, in connection with Figs. 106-115. The tube 610 of the gripper connector comprises a cylindrical portion 612 and a ball element 614. The gripper drive housing 608 is coupled to the portion 612 of the cylindrical gripper adapter tube 610 via the head rotation connector 645. The gripper 550 and the gripper housing 608 together gripper part 556 of the surgical tool head 600. The head portion of the surgical tool head 600 is independently rotated about the head rotation connector 645,

[0082] The intermediate articulated tube segment 616 includes a ball element 618 and a ball seat 619. The grip adapter tube 610 is coupled to the intermediate articulated tube segment 616 via a ball joint formed by engagement of the gripper adapter 614 ball tube member 610 and the ball joint intermediate socket 616 via the articulation segment 616. An intermediate articulated tube segment 616 is coupled to the distal outer tube portion 642 by a ball and socket joint formed by reciprocal coupling of the ball portion intermediate member 618 of the tube tube portion and the ball seat of the distal outer tube portion 642. The articulated connection 640 includes a gripper adapter tube 610, an intermediate articulated tube section 616, and a distal outer tube portion 642. It is possible to run an independent vertical articulation and / or articulation of the surgical tool 600 on the articulated connection 640, for example, using independently actuated cable segments such as 444, 445, 446, 447 described above connected to the ball element 614 of the tube 610 connecting the gripper. This independent articulated functionality is described, for example, in connection with Figs. 24, 24A and 25.

Automatic and manual devices enabling practitioners to initiate articulated functionality as described, for example, in connection with Figures 6: 16-21 and 46-50. [0083] The movement of the first jaw member 602A relative to the second jaw member 602B between the open position (Figs. 64, 66-69 and 71) and the closed position (Figs. 70 and 72) can be actuated by a suitable closing actuation mechanism. Referring to Figs. 73 and 74, the closure of the jaw assembly 555 can be triggered by moving the beam member I1. Elements 620 I-beams contain the first collar 622A Ibelki and the second flange 622B I-beam. First flange 622A I-beam and second flange 622B I-beam are connected to intermediate part 624. The intermediate part 624 of the element 620 I-beam contains the cutting element 625, which is shaped to cut the tissue clamped between the first jaw member 602A and the second jaw member 602B when the jaw assembly 555 is in the closed position. The I-beam element 620 is shaped to be displaced in the first channel 601A in the first jaw member 602A and in the second channel 601B in the second jaw member 602B. The first channel 601A comprises a collar 605A of the first channel and the second channel 601B comprises a collar 605B of the second channel. The first I-beam flange 622A may define a first cam surface 626A, and the second flange 622B I-beam may define a second cam surface 626B. The first and second cam elements 626A and 626B can bias with the outwardly facing opposite surfaces of the first and second flange collars 605A and 605B.

[0084] Figure 73 shows the member 620 I-beam in a fully approximate position and the jaw assembly 555 in an open position. In the position shown in Fig. 73, the first cam surface 626A contacts the proximal portion of the arcuate anvil surface 628 that mechanically holds the first jaw member 602A open relative to the second jaw member 602B (Figures 69 and 71). The displacement of the beam element I-beam in the longitudinal direction (the direction indicated by L in Figs. 64 and 66-74) causes a sliding engagement of the first cam surface 626A with an arcuate length of the anvil surface 628 that guides the first jaw member 602A toward the second jaw member 602B, until the first cam surface 626A engages the distal portion of the arcuate anvil surface 628. After a further translation of the first beam member 620 to a predetermined distance, the first cam surface 626A engages a distal portion of the arcuate anvil surface 628, and the jaw assembly is in the closed position (Figure 74). Thereafter, the I-beam member 620 may be further advanced to intersection of the tissue clamped between the first jaw member 602A and the second jaw member 602B in the closed position. [0085] During the further displacement of the beam member I1 after the jaw assembly is closed, the first and second cam elements 626A and 626B of the first and second collars 622A and 622B I-beam slidably engage the opposite surfaces of the first and second channels, respectively, flanges 605A and 605B.

[0086] The distal or guiding end of the element I1 of the beam includes a cutting element 625 which can be a sharp edge or blade shaped to cut the clamped tissue during the further pitch of the I-beam, thereby cutting the tissue. Figs. 72 and 70 show the element 620 I-beam in a fully distant position after further stroke travel. After a further travel stroke, the I-beam element 620 may be brought back proximity to the longitudinal position shown in FIG. 74, in which the jaw assembly remains closed, clamping any tissue trimmed between the first jaw member 602A and the second jaw member 602B. Further displacement of the I-beam member to a fully close position (FIGS. 69, 71 and 73) will result in engagement of the first cam surface 626A and the proximal part of the anvil surface 628,

[0087] Before, during and / or after the element 620 I-of the beam is displaced by the tissue clamped between the first jaw member 602A and the second jaw member 602B, the electric current may be applied to the electrodes of the first and second jaw members 602A and 602B. and / or the second for tissue seaming / joining as described in more detail herein. For example, the electrodes may be configured to deliver RF energy to the tissue clamped between the first jaw member 602A and the second jaw member 602B in the closed position to couple / connect the tissue. [0088] A further and a closer displacement of the beam member I1 between a proximal retraction position (Figs. 64, 66-69, 71 and 73), an intermediate position (Fig. 74) and an offset position (Fig. 70 and 72) can be achieved by means of an appropriate offset actuation mechanism. Referring to Figs. 65-72, member 620 I-beam is connected to a threaded rotatable drive member 604. The threaded drive nut 606 is screwed onto the rotatable drive member 604. The threaded drive nut 606 is mounted in the proximal portion 603 of the second jaw member 602B. The threaded drive nut 606 is mechanically limited for shifting in any direction, but the threaded rotatable drive nut 606 may rotate in the proximal portion 603 of the second jaw member 602B. Therefore, considering the threaded engagement of the rotating drive nut 606 and the threaded rotatable drive member 604,

The threaded rotatable drive member 604 is threaded by a rotatable drive nut 606 and is located on the display of the rotatable drive shaft 630. The threaded rotatable drive member 604 is not attached or connected to the rotary drive shaft 630. The threaded rotatable drive member 604 is free to move within the rotational width of the drive shaft 630 and to move within the rotational space of the drive shaft 630 when driven by the rotation of the rotating drive nut 606. The rotary drive shaft 630 includes a threaded rotatable drive member 604 disposed in the lumen of the rotating drive shaft 630, which forms a concentric rotary drive / bolt drive assembly that is located in the lumen of the roller assembly 560.

[0090] As shown in Fig. 65, a gripper housing 608, gripper adapter tube 610 and intermediate articulated tube section 616 that together comprise a roller assembly 560, have open gaps, and therefore the roller assembly has a clearance as shown in Fig. 66. -68. Referring again to FIGS. 66-68, the concentric rotary drive shaft / threaded rotary drive member assembly is within the radius of the roller assembly 560 and passes through the gripper drive housing 608, gripper adapter tube 610, and intermediate articulated tube segment 616. Although not shown in Figs. 66-68, at least the rotary drive shaft 630 passes through the clearance of the distal outer portion 642 of the tube and is operably coupled to a drive mechanism that provides rotational and axial translation movements for the rotatable drive shaft 630. E.g, in some embodiments, the surgical tool 600 may be operably coupled through a roller assembly 560 with an automatic surgical system that provides rotational movement and axial translational movement for the rotatable drive shaft 630, such as the robotic surgical systems described with reference to Figs. 16-21. For example, the rotary drive shaft 630 may be operably engaged by the roller assembly 560 with the proximal segment 380 of the drive shaft described above. Also in some embodiments, the surgical tool 600 may be used in conjunction with a manual surgical device, such as the device described above with reference to Figs. 46-63. For example, the rotary drive shaft 630 may be operatively coupled, although the roller assembly 560,

[0091] The rotating drive shaft 630 includes a rotary drive head 632. The rotary drive head 632 includes a female coupling hex 634 on the distal side of the rotary drive head 632, and the rotary drive head 632 includes a male coupling hex 636 on the proximal side of the rotary drive head 632.

The further female coupling part 634 of the rotary drive head 632 is shaped for mechanical engagement with the male coupling part 607 of the hexagonal rotary nut

606 of a drive drive located on the proximal side of the rotary drive nut 606. The proximal male coupling portion 636 of the hexagonal rotary drive head 632 is shaped to mechanically engage the female coupling portion 609 of the hexagonal drive housing housing 608.

[0092] Referring to Figs. 66, 67, 69 and 70, the rotary drive shaft 630 is shown in a completely further axial position in which the female coupling part 634 of the hexagonal rotary drive head 632 is mechanically coupled to the male coupling portion.

607 hexagonal rotary 606 drive nut. In this embodiment, the rotation of the rotating drive shaft 630 actuates the rotation of the drive nut 606 that initiates the translation of the threaded rotatable drive member 604 that triggers the translation of the member 620 of the beam. The orientation of the threaded thread of the rotatable drive member 604 and the rotating drive nut 606 can be set such that either rotation of the rotary drive shaft 630 in a clockwise or anti-clockwise direction will cause a further or closer displacement of the threaded rotatable element. 604 drive and element 620 I-beam. In this way, the direction, speed and duration of rotation of the rotary drive shaft 630 can be controlled to control the direction, the speed and magnitude of the longitudinal displacement of the element I1 of the beam, i.e. the closing and opening of the jaw assembly and the intersecting stroke of the I-beam along the first and second channels 601A and 60IB, as described above. [0093] Referring to Figs. 69, for example, the rotatable drive shaft 630 clockwise (as viewed from the observing proximal point to the distal point) actuates the rotation of the rotating drive nut 606 in a clockwise direction that actuates further advancing. a threaded rotatable drive member 604 that activates further advancing an element I1 of the beam that actuates the closure of the jaw assembly and the further intersection of the intersection of the element 620 I-beam / cutting element 625. Referring to Fig. 70, for example, rotation of the rotary drive shaft 630 in an anti-clockwise direction (as viewed from the proximal to distant observation point) actuates the anti-clockwise rotation of the rotary drive nut 606, which actuates a closer displacement of the threaded rotatable drive member 604 that actuates a closer gear ratio 620 I-beam, which activates a closer return stroke of the element 620 I-beam / cutting element 625 and opening of the jaw assembly. In this way, the rotary drive shaft 630 may be used to independently actuate the opening and closing of the jaw assembly and the closer distal movement of the element 620 I-beam / cutting element 625.

[0094] Referring to Figs. 68, 71 and 72, the rotatable drive shaft 630 is shown in a completely axial arrangement in which the male coupling portion 636 of the hexagonal rotary head

The drive member 632 is mechanically coupled to the female coupling portion 609 of the hexagonal drive shaft of the gripper drive housing 608. In this embodiment, the rotatable drive shaft 630 actuates the rotation of the surgical tool head portion 556 around the rotational connection 645, including the rotation of the gripper 550 and the gripper drive housing 608. In this embodiment, a part of the surgical tool 600 that is distant from the connection 645 of the rotary head <i.e., part 556 of the surgical tool head 600 comprising the gripper 550 and gripper drive housing 608) rotates with the rotation of the rotatable drive shaft 630 and the tool part surgical, which is closer to the combination of a 645 rotary head (e.g., a gripper adapter tube 610, an intermediate articulated tube segment 616, and the distal outer portion 642 of the tube) does not rotate with the rotation of the rotatable drive shaft 630. It should be noted that the desired rotational speed of the rotating drive shaft 630 for driving the rotatable drive nut 606 may be greater than the desired rotation speed of the rotating head portion 556. For example, the rotary drive shaft 630 may be driven by a motor (not shown) that can operate at different speeds.

Referring to Fig. 71, for example, rotation of the rotating drive shaft 630 clockwise (as viewed from the proximal to distant view) drives the clockwise rotation of the gripper 550 and gripper housing 608 (i.e. , part 556 of the surgical tool head 600) with the jaw assembly 555 in the open position. Turning the rotary drive shaft 630 in an anti-clockwise direction (as viewed from the proximal to distal position) activates the anti-clockwise rotary motion of the gripper 550 and the gripper body 608 along with the jaw assembly 555 in the open position. Referring to Fig. 72, for example, rotation of the rotating drive shaft 630 in a clockwise direction (as viewed from the proximal to distant observation point) triggers the clockwise rotation of the gripper 550 and the gripper body 608 with the jaw assembly 555 to the closed position. Turning the rotary drive shaft 630 counterclockwise (as viewed from the proximal to distant observation point) activates the rotation of the gripper 550 counterclockwise and the gripper housing 608 with the jaw assembly 555 in the closed position. Although not shown, it should be understood that the I-beam member 620 may be placed in an intermediate position in which the jaw assembly is closed, but the I-beam is not fully extended (see, for example, in Fig. 74),

[0096] In this way, the rotary drive shaft 630 can be used to independently open and close the jaw assembly, proximal-further advancing the stroke of the beam-element 625 and the rotation of the head portion of the surgical tool 600d.

[0097] In various embodiments, the surgical tool may comprise a gripper, a first actuator, and a second actuator. The surgical instrument may also include a clutch element configured to selectively couple and transmit the pivotal movement either to the first actuator or to the second actuator. For example, in various embodiments, the clutch element may comprise a rotary drive shaft including a rotatable drive head as described, for example, in connection with Figs. 64-72. In various embodiments, the first actuating mechanism may comprise an I-beam member connected to a threaded rotatable drive element threaded by a rotatable drive nut as described, for example, in connection with Figs. 64-74, in which the I-beam, the threaded rotatable drive member and the rotating drive nut are configured to trigger the closing and opening of the jaw assembly and / or the cutting element displacement. In various embodiments, the second actuator may include a shaft engaging portion as described, for example, in connection with Figs. 64-72, wherein the shaft coupling portion is configured to actuate the rotation of the surgical tool head portion. [0098] In various embodiments, the surgical tool may include a gripper comprising a first jaw member, a second jaw member and a first actuating mechanism configured to move the first jaw member relative to the second jaw member between an open position and a closed position. The surgical instrument may also include a roller assembly close to the surgical gripper threshold. The surgical tool may also include a rotary drive shaft. The rotary drive shaft can be configured to transmit rotational movements and can also be selectively moved between a first position and a second position relative to the roller assembly. The rotary drive shaft may be configured to engage and selectively transmit rotational motions to the first actuator when in the first position, and the drive cowling shaft may be shaped to disengage from the actuator when in the second position. For example, in various embodiments,

[0099] In various embodiments, the surgical tool may include a surgical gripper comprising a first jaw member, a second jaw member and a closing mechanism configured to move the first jaw member relative to the second jaw member between an open position and a closed position. The surgical instrument may also include a roller assembly close to the surgical gripper, wherein the surgical gripper is shaped to rotate relative to the roller assembly. The surgical tool may also include a rotary drive shaft configured to transmit rotational motions, wherein the drive shaft selectively oscillates axially between the first position and the second position relative to the roller assembly, the rotatable drive shaft being shaped like this, to apply rotation to the closing mechanism when in the first axial position and the rotary drive shaft is configured to transmit rotational movements to the surgical gripper when in the second axial position. For example, in various embodiments, the first axial position may correspond to the pivot shaft which is in a completely further axial position in which the rotatable drive head is mechanically coupled to the rotating drive nut as described, for example, in connection with FIG. 64-72. In various embodiments, the second axial position may correspond to the rotary drive shaft fully in the proximal axial position in which the rotatable drive head is mechanically coupled to the shaft coupling portion of the shaft element as described, for example,

[0100] In various embodiments, a surgical tool comprising a gripper, a first actuator, and a second actuator may further include a head locking mechanism. For example, referring to Figs. 75-82, a multi-axis articulated and rotating surgical tool 650 includes a gripper 570, a roller assembly 580, and a head locking mechanism 590. Gripper 570 includes a first jaw member 652A and a second jaw member 652B. The first jaw member 602A is movable relative to the second jaw member 602B between an open position (Figures 77 and 79) and a closed position (Figs. 78 and 80) for tissue clamping between the first jaw member 652A and the second jaw member 652B. The surgical tool 650 is configured to independently flex at articulation in the vertical and horizontal direction, such as the surgical tool 600 shown in Figs. 64-72. The surgical tool 650 is also configured to independently rotate around the swivel head connection, such as the surgical tool 600 shown in Figs. 64-72. Gripper 570 includes a 670 I-beam member and a jaw assembly 575 including a first jaw member 652A, a second jaw member 652B, a proximal portion 653 of the second jaw member 652B, and a rotating drive nut 656 mounted in the proximal portion 653. 64-72. Gripper 570 includes a 670 I-beam member and a jaw assembly 575 including a first jaw member 652A, a second jaw member 652B, a proximal portion 653 of the second jaw member 652B, and a rotating drive nut 656 mounted in the proximal portion 653. 64-72. Gripper 570 includes a 670 I-beam member and a jaw assembly 575 including a first jaw member 652A, a second jaw member 652B, a proximal portion 653 of the second jaw member 652B, and a rotating drive nut 656 mounted in the proximal portion 653.

The gripper 570 is engaged with a roller assembly 580 comprising a gripper drive housing 658, a gripper adapter tube 660, an intermediate articulated segment 666 of the tube, and a surgical tool roller component (not shown). Gripper 570 and roller assembly 580 together include a surgical tool 650. The gripper 570 may be detachably coupled to the gripper drive housing 658 using a mechanism as described, for example, in connection with Figs. 106-115. The gripper drive housing 608 is coupled to the gripper connector tube 660 by a rotary connection of the head. Gripper 570 and gripper drive housing 658 together comprise the main portion 578 of a surgical tool 650. The portion 578 of the surgical tool head 650 is independently rotated about the head rotation connection, as described in more detail above in connection with FIG. 64-72 showing the surgical tool 600. [0102] The gripper adapter tube 660 is coupled to the intermediate articulated tube segment 666 via a ball joint seat formed by mutual engagement of the ball end element of the coupling tube of the gripper 660 and the ball seat of the articulation tube intermediate 666. The intermediate articulated segment 666 of the tube is coupled to the surgical tool shaft component via a ball joint formed by mutual engagement of the ball-shaped intermediate intermediate articulation tube member 616 and the surgical tool ball seat hub. The articulation connector comprises a gripper connector tube 660, an intermediate articulated segment 666 of the tube, and a surgical tool shaft component. It is possible to actuate an independent vertical articulation and / or horizontal joint of the surgical tool 650 at the articulation joint, for example using independently actuated drive cables connected to the ball element of the gripper connector tube 660. This independent articulation functionality is described, for example, in connection with Figs. 24-25. For example, automatic and manual devices are described that allow practitioners to initiate articulation functionality, e.g. in conjunction with Figures 6, 16-21 and 46-50. [0103] The movement of the first jaw member 652A with respect to the second jaw member 652B is triggered using the same actuating mechanism described above in connection with Figs. 73 and 74. A further and a closer translation of the I-beam member 670 between a retracted further position (Figs. 77 and 79), the intermediate position (see Fig. 74) and the extended position (Figs. 78 and 80) can be achieved by means of a corresponding shift actuation mechanism. Referring to Figs. 75-80, the I-beam element 670 is connected to a threaded rotatable drive member 654. The threaded rotatable drive nut 656 is threaded on the threaded rotatable drive member 654. A threaded drive nut 656 is mounted in the proximal portion 653 of the second jaw member 652B. The threaded mechanical drive nut 656 is mechanically limited to move in any direction, but it can rotate in the proximal portion 653 of the second jaw member 652B. Therefore, considering the threaded engagement of the rotating drive nut 656 and the threaded rotatable drive member 654,

[0104] The threaded rotary drive member 654 is threaded by the rotatable drive nut 656 and is positioned within the rotational lumen of the drive shaft 680. The threaded rotatable drive member 654 is not attached or connected to the rotating drive shaft 680. The threaded rotatable drive member 654 is free to move within the rotational space of the drive shaft 680 and will travel in the lumen of the rotating drive shaft 680 when driven by the rotation of the rotating drive nut 656. The rotary drive shaft 680 includes a threaded rotatable drive member 654 disposed within the rotary shaft of the drive shaft 680 to form a concentric rotary drive / bolt assembly that is located in the lumen of the roller assembly 580.

[0105] Referring to Figs. 77-80, the concentric rotary drive shaft / screw assembly is in the lumen of the roller assembly 560 and passes through the gripper drive housing 658, the gripper connector tube 660, and the intermediate articulated tube section 666. Although not shown in Figs. 77-80, at least the rotary drive shaft 680 passes through the clearance of the surgical tool shaft component and is operably coupled to a drive mechanism that provides rotational movement and axial translational movement for the rotating drive shaft 680. For example, in some embodiments, a surgical tool 650 may be operably coupled through a roller assembly 580 with an automatic surgical system that provides rotational movement and axial translational movement for a rotatable drive shaft 680, such as, e.g. automatic surgical systems described in connection with Figures 5 and 16-21. In some embodiments, the surgical tool 650 may be operably coupled through a roller assembly 580 with a manual surgical device that provides rotational movement and axial translational movement for a rotatable drive shaft 680, such as, for example, manual surgical instruments described with reference to Fig. 46-63. In some embodiments, the threaded rotatable drive member 654 has a length that is less than the length of the rotating drive shaft 680, and thus is located further away from the rotatable drive shaft 680. which provides rotational movement and axial translational movement for the rotary drive shaft 680, such as, for example, manual surgical instruments described with reference to Figs. 46-63. In some embodiments, the threaded rotatable drive member 654 has a length that is less than the length of the rotating drive shaft 680, and thus is located further away from the rotatable drive shaft 680. which provides rotational movement and axial translational movement for the rotary drive shaft 680, such as, for example, manual surgical instruments described with reference to Figs. 46-63. In some embodiments, the threaded rotatable drive member 654 has a length that is less than the length of the rotating drive shaft 680, and thus is located further away from the rotatable drive shaft 680.

[0106] The threaded rotatable drive member 654 and the rotatable drive shaft 680 are flexible so that portions of the threaded rotatable drive member 654 and the rotating drive shaft 680 that are located in the articulation joint can bend without damage or loss of functionality during independent bending of the tool 650 surgery with articulated connection. Exemplary embodiments of the rotary drive shaft 680 are described herein with reference to Figs. 28-45.

[0107] The rotating drive shaft 680 includes a rotatable drive head 682. The rotary drive head 682 includes a female coupling part 684 hexagonal on the distal side of the rotary drive head 682, and the rotary drive head 682 includes a male part

686, the hexagonal coupling coupling on the proximal side of the rotary drive head 682. The further female coupling portion 684 of the hexagonal rotary drive head 682 is configured to engage mechanically with the male engaging portion 657 of the hexagonal rotary drive nut 656 located on the proximal side of the rotating drive nut 656. The proximal male part 686 of the hexagonal rotary drive head 682 is shaped to mechanically engage the female engaging hexagonal part 659 of the gripper shaft housing 658.

[0108] Referring to Figs. 77 and 78, the rotary drive shaft 680 is shown in a distal position in an axial position in which the female coupling part 684 of the hexagonal rotary drive head 682 is mechanically coupled to the male coupling portion 657 of the hexagonal rotatable drive nut 656. In this embodiment, the rotation of the rotating drive shaft 680 actuates the rotation of the rotating drive nut 656, which actuates the displacement of the threaded rotatable drive member 654 that triggers the displacement of the beam member 670. Referring to Figs. 79 and 80, the rotary drive shaft 680 is shown in a fully axial fully proximal position in which the male coupling hexagonal portion 686 of the rotating drive head 682 is mechanically coupled to the female engaging portion 659 of the hex shaft of the gripper housing 658.

[0109] The rotating drive shaft 680 includes a splined block 690. The spline lock 690 is coupled to the rotary drive shaft 680 by means of the roller flange 685. The spline lock 690 has a mechanically locked orifice in any direction by the rotary drive shaft 680 and the roller flanges 685, but the multi-spline lock 690 is free to rotate around the rotatable drive shaft 680. The multi-spline locking 690 includes spline members 692 disposed circumferentially around the outer surface of the splined block 690 and oriented coaxially with the roller assembly 580. As shown in Figs. 75 and 76, the multi-spline block 690 is in a rotatable connection formed by engagement of the gripper drive housing 658 with the gripper adapter tube 660. The gripper drive housing 658 includes a spline engagement member 694 comprising splined members 696 positioned circumferentially around the inner surface of the gripper drive housing 658 and oriented coaxially with the roller assembly 580. The gripper adapter tube 660 includes a splined coupling portion 662 comprising splined members 664 positioned circumferentially around the inner surface of the gripper adapter tube 660 and oriented coaxially with the roller assembly 580.

[0110] Elements 692, 696 and 664 of the spline locking 690 of the gripper drive plurality 658 gripper housing and gripper tube 660, respectively, are shaped to be mechanically coupled to each other when the rotary drive shaft 680 is in a full axial distal position, in which the female coupling part 684 of the hexagonal rotary drive head 682 is mechanically coupled to the male coupling part 657 of the hexagonal rotary drive nut 656 for driving the rotary motion of the rotating drive nut 656 and the threaded rotation of the rotating drive member 654 and the beam member 670I (Figures 77, 78 and 82 ). The mechanical engagement of the respective elements 692, 696 and 664 of the spline blocks the gripper drive housing 658 at the position of the gripper adapter tube 660, thereby blocking the swivel connection and preventing rotation of the head portion of the surgical tool 650. As the splined block 690 is free to rotate around the rotary drive shaft 680, mechanical engagement of the respective key elements 692, 696 and 664 and does not prevent the rotary drive shaft 680 from actuating the rotating drive nut 656, the threaded rotatable drive member 654, and the beam member 670.

[0111] When the rotary drive shaft 680 is in the fully proximal axial position, in which the male engaging hexagon portion 686 of the rotating drive head 682 is mechanically coupled to the female engaging portion 659 of the hexagonal shaft of the gripper drive housing 658 to drive the rotation of the tool head portion 578 surgically, the spline block 690 is fully inserted into the clearance of the gripper adapter tube 660, and the spline locking device 690 is fully decoupled from the splined part 694 of the gripper coupling housing 658, (Figures 79, 80 and 81). In this embodiment, the splined blocking elements 692 of the spline lock 690 and the spout adapter pieces 660 of the gripper adapter 660 are completely uncoupled, and the members 692 of the splined multi-spline blockade 690 and the spline driver's housing 696 elements 678 are completely uncoupled. A mechanical retraction of the keyed splines 699 of the splined block 690 and the gripping element 678 of the gripper drive housing 680 as the rotary drive shaft 680 is in the fully axial proximal position unlocks the gripper housing 658 from gripper adapter tube 660, thereby unlocking the pivot connection and allowing rotation parts of the head 578 surgical tool 650. Because the multi-spline lock 690 is free to rotate around the rotating drive shaft 680,

[0112] The head locking mechanism 590 ensures that the portion 578 of the surgical tool head 650 does not rotate when the rotary drive shaft 680 is in a completely axial distal position engaging the rotating drive nut 656 to actuate the actuation of the jaw closing mechanism. the I-beam slide mechanism as described above (Figures 77, 78 and 82), the head locking mechanism 590 ensures that

578 of the surgical tool head 650 rotates freely as the rotary drive shaft 680 is in the fully axial proximal position engaging the coupling engagement portion 659 in the gripper drive housing 658 for driving rotation of the head as described above (Figures 79, 80 and 81 ).

[0113] Referring to Figs. 77 and 78, for example, rotation of the rotating drive shaft 680 triggers rotation of the rotating drive nut 656 that activates further or proximal translation of the threaded rotatable drive member 654 (depending on the direction of rotation of the rotation shaft 680 of the drive 680) which actuates a further or a closer displacement of the beam member 670, which actuates the closure and opening of the jaw assembly 575 and further and proximal intersection cuts of the element 670 I-beam / cutting element 675. At the same time, the spline lock 690 engages both the gripper drive housing 658 and the gripper adapter tube to prevent unintentional rotation of the head.

[0114] Referring to Figs. 79 and 80, for example, the rotation of the rotary drive shaft 680 triggers the rotation of the gripper drive housing 658 that triggers the rotation of the gripper 570. At the same time, the splined block 690 uncouples both the gripper drive housing 658 and prevents the head from rotating. . In this way, the rotary drive shaft 680 can be used independently to actuate the opening and closing of the jaw assembly 575, the proximal-stroke intersections of the I6-beam / cutting element 675 and the rotation of the surgical tool head portion 578.

[0115] In various embodiments, the gripper, such as the grippers 550 and 570 shown in Figs. 64-82, may include first and second jaw members including the first and second distal textured parts, respectively. The first and second distal textured portions of the first and second gripper jaw members may face each other may allow the gripper to be gripped, run, and / or manipulate surgical tools such as stitch tissue needles, in addition to the gripping tissue, e.g., during a dissection operation. In some embodiments, further textured parts may also be electrodes shaped, for example, to deliver RF energy to the tissue during the cleavage operation. This capture, handling, handling and / or cutting functionality is described, for example, in connection with FIG.

[0116] In various embodiments, the gripper, such as the grippers 550 and 570 shown in Figs. 64-82, may include first and second jaw elements comprising first and second gripping portions positioned on the surfaces facing outward of the first and second jaw portions. . The first and second gripping portions of the first and second jaw members may act to facilitate tissue dissection as described, for example, in connection with Figs. 116-131.

[0117] In various embodiments, the gripper, such as the grippers 550 and 570 shown in Figs. 64-82, may include at least one electrode disposed on at least one surface in contact with the tissue of at least one jaw member. The electrodes can be shaped, for example, to deliver RF energy to the tissue clamped between the jaw members when they are in a closed position for joining / joining tissues, which in some embodiments can be cut by displacing the I-beam member comprising a cutting member. . In some embodiments, the second jaw member may also include an offset electrode positioned at a distal end of the jaw member, wherein the electrode is configured to deliver RF energy to the tissue during a slice operation, for example.

[0118] In various embodiments, the gripper, such as the grippers 550 and 570 shown in Figs. 64-82, may include jaw members including inclined tissue contact surfaces as described, for example, in connection with Figs. 132-142. .

[0119] Referring to Figs. 83-91, the articulated multi-axis and rotatable surgical tool 1200 includes a gripper 1202 including a jaw assembly 1211 including a first jaw member 1204 and a second jaw member 1206. The first mandibular element 1204 may move relative to the second jaw member 1206 between an open position and a closed position to clamp the tissue between the first element 1204 of the jaw 1204 and the second jaw member 1206. The surgical tool 1200 is shaped to self-bend at the articulated joint 1208. As described above, the surgical tool 1200 is also configured to rotate independently around the pivotable joint 1210 of the articulated head. Referring mainly to Fig. 83, the gripper 1202 additionally comprises a proximal roller portion 1212.

[0120] Gripper 1202 is coupled to roller assembly 1214 comprising a gripper drive housing 1216, gripper adapter tube 1218, intermediate articulated port 1220, and outer distal tube portion (not shown in Figs. 83-91). Gripper 1202 and roller assembly 1214 together may include a surgical tool 1200. The gripper 1202 may be detachably coupled to the gripper drive housing 1216 using a mechanism as described, for example, in connection with Figs. 106-115. The gripper adapter tube 1218 includes a cylindrical portion 1222 and a ball portion 1224. The gripper drive housing 1216 is coupled to the cylindrical portion 1222 from the gripper connector tube 1218 to the swivel head connection 1210. Gripper 1202 and gripper drive housing 1216 together comprise a surgical tool head portion 1200.

[0121] With reference primarily to Figs. 85-87, the surgical tool 1200 may include a locking mechanism 1226 for sliding the first jaw member 1204 with respect to the second jaw member 1206 between an open position (Figure 86) and a closed position (Figure 87). . As shown in Fig. 83, the first jaw member 1204 may include first attachment holes 1228, and the second jaw member 1206 may include second attachment openings (not shown in Figures 83-91). The first element 1204 of the jaw 1204 may be positioned relative to the second jaw member 1206, such that the end or journal pin (not shown in Figs. 83-91) extends through the first attachment holes 1228 of the first element 1204 of the jaw 1204, and the second attachment holes from the second jaw member 1206 to rotate engagement of the first jaw member 1204 with the second jaw member 1206. Other suitable means for engaging the first jaw member 1204 with the second jaw member 1206 are within the scope of the present disclosure. [0122] Referring to Figs. 83-91, the closing mechanism 1226 may include a joining system that may include a first connector 1230 and a second connector (not shown in Figs. 83-91). The locking mechanism 1226 may also include a closing controller, e.g. in the form of a closure cap 1232. The closure cap 1232 (Fig. 84) may be at least partially disposed within the gripper drive housing 1216. In use, the closure cap 1232 can move axially between the first position (FIG.pivotally with the first connector 1230 by means of the first pin 1242 through the first opening 1240. Similarly, the second arm 1236 may comprise a second hole 1244, the second arm 1236 may be pivotally connected to the second connector by means of a second pin (not shown in Fig. 91) through the second opening 1244. The first connector 1244 and the second connector (not shown in Figs. 83-91) are also pivotally connected to the first jaw member 1204 so that when the closure nut 1232 is moved farther from the first position (Figure 86). to the second position (Figure 87), the first jaw member 1204 biases relative to the second jaw member 1206 toward the closed position. Accordingly, when the closure nut 1232 is retracted in the proximal direction from the second position (Figure 89) to the first position (Figure 91), the first jaw member 1204 deflects relative to the second jaw member 12016 toward the open position. Fig. 85 shows the closure nut 1232 in a first position and the jaw assembly 1211 in an open position. Fig. 87 shows the closure nut 1232 in the second position and the jaw assembly 1211 in the closed position. Closure nut 1232, however, may be limited in rotation by the gripper drive housing 1316 by a graduation feature, e.g., abutting the gripper drive housing 11316.

[0123] Referring to Figs. 83-91, the surgical tool 1200 may include a triggering mechanism 1246 having a corresponding firing controller. The triggering mechanism 1246 may include a bead member 1247I, a threaded drive member 1248, and a threaded rotatable drive nut 1250. The element 1247 I-beam can comprise a first flange 1252 and a second flange 1254 of the beam I-beam. The I-beam element 1247 may operate in a similar manner to that described above with reference to the axially actuated element 3016 described above. For example, the first flange 1252 of the I-beam and the second flange 1254 of the I-beam are connected to the intermediate portion 1256. The intermediate portion 1256 of the I-beam may include a cutting member 1258 at its distal or leading end. The I-beam element 1247 is shaped to be displaced in the first passage 1260 in the first jaw member 1204 and in the second passage 1262 in the second jaw member 1206. Fig. 84 shows the element 1247 I-beam fully in its proximal position and the jaw assembly 1211 in the open position. The I-beam element 1247 may be moved in a distal direction so that the cutting member 1258 cuts the tissue clamped between the first jaw member 1204 and the second jaw member 1206 when in the closed position. The cutting element 1258, which may include a sharp edge or blade, for example, is shaped to pierce through the clamped tissue during the further movement (trigger) of the pitch of the beam element I-1247, which intersects the tissue. FIG. 88 shows the element 1247 I-beam in a fully distant position after the release stroke.

[0124] Before, during and / or after the I-beam element 1247 is moved through the tissue clamped between the first element 1204 of the jaw 1204 and the second jaw element 1206, an electric current may be delivered to the electrodes included in the first jaw member 1204 1204 and / or in the second member 1206 of the jaw for tissue seaming / joining, as described in more detail in this specification. For example, the electrode may be configured to deliver RF energy to the tissue clamped between the first jaw member 1204 and the second jaw member 1206 when it is in the closed position for the connec- tion / joining of tissues.

[0125] A further and a closer displacement of the twist beam element 1247 between the proximal retracted position and the distal extended position can be realized by means of a corresponding triggering mechanism 1246. Referring to Figs. 83-91, the Ibeiki element 1247 is connected to a threaded rotatable drive nut 1248, the threaded rotatable drive nut 1250 being in threaded engagement with the threaded drive element 1248. Referring mainly to Fig. 83, a threaded rotatable drive nut 1250 is arranged in the gripper drive housing 1216 to the closure nut 1232 between the proximal annular flange 1264 and the distal annular flange 1266. The threaded pivotable drive nut 1250 is mechanically limited before sliding in any direction, but it can rotate inside the gripper drive housing 1216 about the central axis A. Therefore, due to the threaded engagement of the rotary drive nut 1250 of the threaded drive element 1248, the rotational movement of the rotating drive nut 1250 is converted by the translational movement of the threaded drive member along the central axis A and, in turn, the translation movement of the beam I element 1247 along the central axis. AND.

[0126] The threaded drive element 1248 is threaded by a rotatable drive nut 1250 and positioned at least partially within the lumen 1268 of the rotating drive shaft 1270. The drive threaded element 1248 is not attached or connected to the rotary drive shaft 1270. In use, the threaded drive element 1248 is freely movable within the rotation limit of the drive shaft 1270 and will move in the lumen of the rotating drive shaft 1270 when driven by the rotation of the rotating drive nut 1250. The rotary drive shaft 1270 and the threaded drive element 1248 form a concentric rotary shaft / bolt assembly which is located in the shaft assembly 1214. In addition, the threaded drive element 1248 extends further through the clearance 1272 of the closure cap 1232.

[0127] Referring to Figs. 83-91, the rotatable drive nut 1250 may include a threaded portion 1274 further. The closure nut 1232 may include a threaded proximal portion 1276. The threaded distal portion 1274 of the rotatable drive nut 1250 and the threaded proximal portion 1276 of the closure cap 1232 are threadedly engaged. As described above, the threaded rotary drive nut 1250 is mechanically limited before moving in any direction, but it may rotate within the gripper drive housing 1260 about the central axis A. Thus, due to the threaded engagement of the rotary drive nut 1250 and the closure cap 1232, the rotational movement of the rotating drive nut 1250 is translated into translational movement of the closure nut 1232 along the central axis A, which in turn, for oscillating motion in the jaw assembly 1211.

[0128] As shown in Fig. 83, the gripper drive housing 1216, the gripper adapter tube 1218, and the intermediate articulation tube segment 1220, which together comprise the roller assembly 1214, have open lumens, and thus the roller assembly 1214 includes a clearance extending longitudinally through it, like shown in Figs. 83 and 85-91. Referring again to Figs. 83 and 85-91, a rotary concentric rotary shaft / threaded actuator assembly is located within the lumen of the roller assembly 1214 and passes through the gripper drive housing 1216, gripper adapter tube 1218, and intermediate articulated port 1220. Although not shown in Figs. 83-91, at least the rotary drive shaft 1270 passes through the clearance of the roller assembly 1214 and is functionally coupled to the drive mechanism, which provides rotational movement and axial translation of the rotary drive shaft 1270. For example, in some embodiments, the surgical tool 1200 may be operably coupled to a roller assembly 1214 for an automatic surgical system that provides rotary and axial movement of the advancing movement of the rotary drive shaft 1270, such as, for example, the automatic surgical systems described in from Figures 5 and 16-21. For example, the rotary drive shaft 1270 may be coupled, via the roller assembly, to the segment 380 of the proximal drive shaft described above. In some embodiments, for example, the surgical tool 1200 may be operatively connected to the roller assembly 1214 with a manual surgical device, such as the device described above, with reference to Figs. 46-63. E.g,

[0129] In some embodiments, the threaded drive member 1248 has a length that is less than the length of the rotating drive shaft 1270, and therefore only lies further down the rotatable drive shaft 1270, for example. The threaded drive element 1248 and the rotary drive shaft 1270 may be flexible such that the threaded drive element 1248 and the rotary drive shaft 1270 may bend without damage or loss of functionality when the surgical tool 1200 is wound in the articulated joint 1208.

[0130] Described in more detail elsewhere in the specification, the rotary drive shaft 1270 may include a rotatable drive head 1278. The rotary drive head 1278 includes a female coupling 1280 hexagon on the distal side of the rotary drive head 1278, and the rotary drive head 1278 includes a male coupled 1282 hexagon part on the proximal side of the rotary drive head 1278. The further female coupling portion 1280 of the hexagonal rotary drive head 1278 is shaped to mechanically engage a male coupling portion 1284 of a hexagonal rotary drive nut 1250 located on the proximal side of the rotatable drive nut 1250. As described elsewhere,

[0131] Referring to Fig. 85, the rotary drive shaft 1270 is shown in a fully axial fully proximal position, in which the engaging rotation portion 1282 of the rotary drive head 1278 is mechanically coupled to the female engagement hexagonal portion of the gripper drive housing 1216. In this embodiment, rotation of the rotary drive shaft 1270 causes rotation of the surgical tool head portion 1200 around the rotary connection 1210, including the rotation of the gripper 1202 and gripper drive housing 1216. In this embodiment, a portion of the surgical tool 1200 that is distanced from the head rotary connection 1210 (e.g., the head portion) rotates with the rotation of the rotary drive shaft 1270, and a portion of the surgical tool 1200 that is closer to the rotatable head connection 1210, which does not rotate with rotation of the drive shaft 1270. An example of a rotary connection 1210 of the head is described in connection with Figs. 6482, Figs. 83-91 and 92-96. Other suitable techniques and rotating means for rotating the gripper 1202 relative to the roller assembly 1214 are within the scope of the present invention. It should be noted that the desired rotational speed of the rotary drive shaft 1270 to the rotary drive of the drive nut 1250 may be greater than the desired rotational speed for rotation of the head portion. For example, the rotary drive shaft 1270 may be driven by a motor (not shown) that operates at different rotational speeds. Other suitable techniques and rotating means for rotating the gripper 1202 relative to the roller assembly 1214 are within the scope of the present invention. It should be noted that the desired rotational speed of the rotary drive shaft 1270 to the rotary drive of the drive nut 1250 may be greater than the desired rotational speed for rotation of the head portion. For example, the rotary drive shaft 1270 may be driven by a motor (not shown) that operates at different rotational speeds. Other suitable techniques and rotating means for rotating the gripper 1202 relative to the roller assembly 1214 are within the scope of the present invention. It should be noted that the desired rotational speed of the rotary drive shaft 1270 to the rotary drive of the drive nut 1250 may be greater than the desired rotational speed for rotation of the head portion. For example, the rotary drive shaft 1270 may be driven by a motor (not shown) that operates at different rotational speeds.

[0132] The thread direction of the threaded drive element 1248 and the rotating drive nut 1250 can be set so that rotation either in a clockwise or anti-clockwise direction of the rotary drive shaft 1270 will result in a further or closer translation of the threaded element. 1248 drive 1248 and element 1247 I-beam. In other words, the rotary drive shaft 1270 and the rotary drive nut 1250 can rotate in the first upward direction of the threaded drive element 1248 further and accordingly rotate in a second opposite direction to retract the threaded drive element 1248 closer. Stroke and / or number of thread actuations of the threaded drive element 1248 and threading of the rotary drive nut 1250, it may be selected to control the speed and / or duration of rotation of the rotary drive nut 1250 and consequently the translation of the threaded drive element 1248. In this way, the direction, speed, and / or rotation time of the rotary drive shaft 1270 can be controlled to control the direction, speed and magnitude of the longitudinal displacement of the beam I element 1247 along first channel 1260 and second channel 1262 as described above.

[0133] Similar to the above, the orientation of the threaded thread of the distal portion 1274 of the rotating drive nut 1250 with the thread of the threaded proximal portion 1276 of the closure cap 1232 can be adjusted such that rotation in a clockwise or anti-clockwise direction, rotation the rotary drive shaft 1270 will result in further or closer translation of the closure nut 1232, and consequently the closure or opening of the jaw assembly 1211. In other words, the threaded distal portion 1274 can rotate in the first direction to advance the threaded proximal portion 1276 further and accordingly rotate in a second opposite direction to retract the threaded proximal portion 1276 in the proximal direction. The pitch and / or number of actuations of the threaded portion of the distal portion 1274 of the threaded drive element 1248 and the threaded portion of the proximal portion 1276 of the closure cap 1232 may be selected to control the speed and / or duration of rotation of the cap 1250 of the closure cap nut 1232. In this way, the direction, speed and / or duration of rotation of the rotary drive shaft 1270 can be controlled to control the direction, speed and size of the swing of the jaw assembly 1211. [0134] Referring to Figs. 86-88, the rotary drive shaft 1270 is shown in the fully extended proximal axial position in which the female coupling 1280 of the rotary drive turret 1278 is mechanically coupled to the male coupling portion 1284 of the hexagonal rotary drive nut 1250. In this configuration, turning the rotary drive shaft 1270 in the first direction (e.g. clockwise) about the central axis A starts a firing stroke causing rotation of the rotary drive nut 1250 in a first direction. Rotation of the rotating drive nut moves the threaded drive insertion 1248, which in turn moves the element 1247 I-beam 1247 further. At the same time, the rotation of the rotary drive nut 1250 moves the nut 1232 further, which closes the jaw assembly 1211 1211. The cap 1232 of the threaded drive element 1248 moves further until the closing nut 1232 is disengaged from the threaded engagement with the rotating drive nut 1250, as shown in FIG. 88. In other words, the closure nut 1232 can be moved further, until the thread of the threaded distal portion 1274 of the rotary drive nut 1250 is already threaded with the thread of the proximal portion 1276 of the closure cap 1232. Thus, as a result, the further rotation of the rotary drive nut 1250 in the first direction will not move the closing nut 1232 further. Locking nut 1232 will be idle in the rest of the release stroke. The additional rotation of the rotary drive nut 1250 in the same direction continues the advance of the threaded drive element 1248, which continues the further movement of the beam member 1247 in the remainder of the trigger stroke. [0135] The surgical tool 1200 may include a clamping member 1288, a spiral spring, and / or a spring washer, e.g. located at least partially around the threaded distal portion 1274 of the rotating drive nut 1250. As shown in Fig. 86, the biasing member 1288 may include a proximal end abutting the distal annular flange 1266 of the gripper drive housing 1216, and the distal end adheres to the proximal end 1290 of the closure cap 1232. When the closure nut 1232 is released from the threaded engagement with the rotary drive nut 1250, the pressure element 1288 can prevent the closure nut 1232 from re-engagement with the rotary drive nut 1250 by pushing the closure nut 1232 axially in a distal direction parallel to the center axis A until further away. part 1238 of the closure cap 1232 rests against the wall 1294 of the proximal portion 1212 of the gripper shaft 1202. The gripping element 1288 also ensures

[0136] Referring mainly to Fig. 84, the closure nut 1232 may include a cam element 1296 extending away from the closure cap 1232. Referring mainly to Fig. 87, the cam element 1296 may pass through the wall port 1298 of the proximal end 1212 of the gripper shaft 1202 when the distal portion 1238 of the closure cap 1232 rests against the end wall 1294 of the proximal portion 1212 of the gripper shaft 1202 under the positive pressure induced by the component. 1288 tightening.

Referring to Fig. 88, the rotary drive shaft 1270 is shown in the fully extended axial proximal position, in which the female coupling 1280 of the rotary drive head 1278 is mechanically coupled to form a male coupling part 1284 of the hexagonal rotary drive nut 1250. . In this embodiment, the rotation of the rotary drive shaft 1270 in a second direction opposite the first direction (e.g., counterclockwise) starts the reverse stroke causing reverse rotation of the rotary drive nut 1250 that retracts the threaded drive element 1248, which in turn it retracts the 1247 I-beam element. At least in the initial phase of the return stroke, the cap 1232 of the closure 1232 remains detached from the rotating drive nut 1250. However, when the I-beam member 1247 is retracted, the I-beam element 1247 may engage the closure cap member 1296 of the closure cap. Any further retraction of the I-beam member 1247 may simultaneously open the jaw assembly 1211 by pushing the closing nut 1232 proximally along the central axis A, toward the rotatable drive nut 1250. In order that the element 1247 I-beam 1247 pushes closer to the closure nut 1232, the I-beam element 1247 has to compress the pressing element 1288. When the element 1247 I-beam 1247 is retracted, the element of the 1247 I-beam 1247 may press the closure nut 1232 closer until the nut closure returns to the threaded connection with the rotatable drive nut 1250. In such a moment the rotary drive nut 1250 can be pulled closer to the closing nut 1232, because threaded couplings are between them. Because the cap 1232 of the closure 1232 is retracted closer, the first connector 1230 and the second connector causes the jaw assembly 1211 to open. Retraction of the I-beam element 1247 and opening of the jaw assembly 1211 takes place simultaneously in the remainder of the reverse stroke.

[0138] The order of events causing the jaw assembly 1211 to close, full extension of the beam 1247 I-beam 1247, full retraction of the beam I-beam member 1247, and re-opening of the jaw assembly 1211 is illustrated in Figures 85-91 in chronological order. Fig. 85 shows the jaw assembly 1211 in the fully open position, the element 1247 I-beam 1247 in fully retracted position and the rotary drive shaft 1270 in a fully retracted axial position, wherein the female coupling hexagonal portion 1280 of the rotary drive nut 1278 is mechanically disengaged from The male coupling part 1284 of the hexagonal rotary 1250 drive nut. In the first phase of the operation, returning to FIG. 86, the rotary drive shaft 1270 is displaced in the axial direction, up to the mechanical coupling of the female coupling part 1280 of the hexagonal rotary drive nut 1278 to the male coupling portion 1284 of the hexagonal rotary drive nut 1250. Referring again to FIG. 86, rotation of the rotary drive shaft 1270 in a first direction (e.g., clockwise) around the central axis A, causes rotation of the rotating drive nut 1250 in a first direction. The closure nut 1232 and the threaded drive element 1248 are simultaneously advanced further by rotating the rotary drive nut 1250 in the first direction. In turn, the closure of the jaw assembly 1211 and the initiation of the movement of the beam 1247 I-beam element occur simultaneously in the first operating phase. In the second phase of the work, now with reference to Fig. 87, the closure nut 1232 is disengaged from the threaded engagement with the rotating drive nut 1250. In the remainder of the second operating phase, the rotary drive nut 1250 further moves the threaded drive element 1248 independently of the closure nut 1232. As a result, referring primarily to FIG. 88, the jaw assembly 1211 remains closed and the I-beam member 1247 continues to move to the end of the second operating phase.

[0139] In the third phase of operation, as shown in Fig. 89, the rotary drive shaft 1270 is rotated in a second direction opposite to the first direction, which causes rotation of the rotary drive nut 1250 in a second direction. In the third operating phase, the closure nut 1232 remains uncoupled from the rotary drive nut 1250. The rotation of the drive nut 1250 retracts the threaded drive element 1248 of the independent closure nut 1232. As a result, the jaw assembly 1211 remains closed and the I-beam member 1247 is inserted in response to rotation of the rotary drive. In the fourth operating phase, with reference primarily to Fig. 90, the rotary drive nut 1250 continues its rotation in the second direction, thereby retracting the threaded drive element 1248 that retracts the element 1247 I-beam 1247, until the element 1247 I-beam engages the element 1296 of the cam closure nut 1232. Any further retraction of the beam element 1247 at the same time opens the jaw assembly 1211 1211 by pushing the closure nut 1232 axially closer along the central axis A towards the rotatable drive nut 1250 compres- sed the gripping element 1288. Referring primarily to FIG. 91, the I-beam element 1247 may continue to push the closure nut 1232 closer from one another until it returns to the threaded engagement with the rotatable drive nut 1250. The retraction of the I-beam element 1247 and the opening of the jaw assembly 1211 takes place simultaneously during the remainder of the fourth operation step. along the central axis A in the direction of the rotary drive nut 1250 compres- sed the pressing element 1288. Referring primarily to FIG. 91, the I-beam element 1247 may continue to push the closure nut 1232 closer from one another until it returns to the threaded engagement with the rotatable drive nut 1250. The retraction of the I-beam element 1247 and the opening of the jaw assembly 1211 takes place simultaneously during the remainder of the fourth operation step. along the central axis A in the direction of the rotary drive nut 1250 compres- sed the pressing element 1288. Referring primarily to FIG. 91, the I-beam element 1247 may continue to push the closure nut 1232 closer from one another until it returns to the threaded engagement with the rotatable drive nut 1250. The retraction of the I-beam element 1247 and the opening of the jaw assembly 1211 takes place simultaneously during the remainder of the fourth operation step.

[0140] Referring to Figs. 92-96, a multi-axis articulated and rotating surgical tool 1300 includes a gripper 1302 including a jaw assembly 1311 including a first jaw member 1304 and a second jaw member 1306. The first jaw member 1304 is movable relative to the second jaw member 1306 between an open position and a closed position to clamp the tissue between the first jaw member 1304 and the second jaw member 1306. A surgical tool 1300 shaped to self-bend in an articulated joint 1308. As described above, the surgical tool 1300 is also configured to rotate independently at the rotatable head connection 1310.

The gripper 1302 is connected to a shaft 1314 assembly comprising a gripping drive housing 1316, a gripper adapter tube 1318, an intermediate articulated segment 1320 of the tube, and a distal outer tube portion (not shown in Figs. 92-96). Gripper 1302 and roller assembly 1314 together may include a surgical tool 1300. The gripper 1302 may be releasably engageable with the gripper drive housing 1316 using a mechanism as described, for example, in connection with Figs. 106-115. The gripper adapter tube 1318 includes a cylindrical portion 1322 and a ball portion 1324. The gripping drive housing 1316 is coupled to the portion 1322 of the cylindrical tube 1318 of the gripper connector 1318 to the swivel head connections 1310. Gripper 1302 and gripper drive housing 1316 together comprise a surgical tool head portion 1300.

[0142] Referring primarily to Fig. 92, a surgical tool 1300 may include a closing mechanism 1326 for sliding the first jaw member 1304 relative to the second jaw member 1306 between an open position (Figure 93) and a closed position (Figure 94). As shown in Fig. 83, the first jaw member 1304 may include first attachment holes 1328, and the second jaw member 1306 may include second attachment openings (not shown in Figs. 92-96). The first jaw member 1304 may be positioned relative to the second jaw member 1306 such that the pivot or pivot pin (not shown in Figs. 92-96) extends through the first mounting holes 1328 of the first jaw element 1304, and the second fixing holes of the second jaw member 1306 to pivotally engage the first jaw member 1304 with the second jaw member 1306. Other suitable means for engaging the first jaw element 1304 and the second jaw member 1306 are within the scope of the present disclosure.

[0143] Referring to Figs. 92-96, the closing mechanism may comprise a closing connector 1330 that axially moves relative to the gripper drive housing 1316 between the first position and the second position. The closing connector 1330 may include a distal end 1332 and a proximal end 1334. The distal end 1332 may be pivotally connected to the proximal portion 1336 of the first jaw member 1304 such that when the closure adapter 1330 is moved between the first position and the second position, the first jaw member 1304 moves relative to the second jaw member 1306 between the open position and the closed position.

[0144] Referring to FIG. 92-96, wherein the closing mechanism 1328 may also comprise a closing controller in the form of a cylindrical drum 1338, for example. The cam body 1338 may be located within the cam drive housing 1316. The cam body 1338 may comprise a substantially cylindrical shape having a lumen 1340 therethrough. The roller drum cam 1338 may comprise a first arcuate groove 1346 and a second arcuate groove 1348 defined in its circumferential surface. The first arcuate groove 1346 may receive a first pin 1350 extending from the gripper drive housing 1316. The second arcuate groove 1348 may receive a second pin (not shown in Figs. 92-96) extending from the drive housing of the gripper 1316. The first pin 1350 and second. a pin (not shown in Figs. 92-96), may extend from the circumferentially opposite sides of the inner wall of the gripper drive housing 1316. The cam body 1338 may rotate about central axis A, wherein when the cylindrical drum 1338 rotates about central axis A, first pin 1350 slides along first arcuate groove 1346 and the second pin moves along the second arcuate groove 1348 thereby shifting the cylindrical drum 1338 axially along the central axis A. As a result, the cylindrical drum 1338 rotates into the axial movement of the closure link 1330. In other words, the rotation of the roller drum 1338 in the first in the direction of (e.g. clockwise) around the central axis A, it can cause the cylindrical drum 1338 to move axially towards the distal end. Respectively, the rotational movement of the cylindrical drum cam 1338 in the second direction (e.g. counter-clockwise) against the first direction may cause the cylindrical drum 1338 to retract axially in the proximal direction parallel to the central axis A. [0145] Referring to FIG. . 92-96, the proximal end 1334 of the closure connector 1330 may be operatively coupled to the roller drum 1338 such that advancing in the axial direction of the cylindrical drum 1338 may cause the link 1330 to close in the axial direction and the jaw assembly 1311 in closing. Similarly, a closer reversal of the drum reel 1338 can retract the closure connector 1330 that can open the jaw assembly 1311. As illustrated in FIG. 92-96. the roller drum cam 1338 may comprise a circumferential recess 1354 on the outer wall of the cylindrical drum 1338 in a further part. The proximal end of the closure connector 1330 may include a connector member 1356. The connector member 1356 may be operably connected to the roller drum 1338 along the recess 1354. As a result, the roller drum 1338 may transfer axial movements to the closure connector 1330 through the connector member 1356.

[0146] Referring mainly to FIGs. 92, the surgical tool 1300 may include a firing mechanism 1358. The firing mechanism 1358 may include an I-beam member 1360 a threaded actuator 1362, and a threaded rotatable drive nut 1364. The Iobike member 1360 may operate in a manner analogous to the axially-described movable member 3016 described above. as well as may include a first flange I-beam 1367 and a second flange Ibeiki 1368. The first flange I-beam 1367 and the second flange I-beam 1368 is connected to the intermediate portion 1370. The intermediate portion 1370 of the I-beam 1360 may include a cutting element 1372, which may include a sharp edge of the blade or, for example, to cut the tissue clamped between the first jaw member 1304 and the second jaw member 1306 when the jaw assembly 1311 is closed. The beam member I-beam 1360 can move distally to the first channel (not shown in Figs. 92-96), determined in the first jaw member 1304 and in the second channel 1376 defined in the second jaw member 1306 to cut the clamped tissue during the further stroke of movement (firing). ). FIG. 96 shows the I-beam element 1360 after the firing stroke.

[0147] Before, during and / or after the I-beam 1360 is moved through the tissue clamped between the first jaw member 1304 and the second jaw member 1306, an electric current may be delivered to the electrode 1378 contained in the first jaw member 1304 and and / or a second jaw member 1306 for welding / securing the tissue, as described in more detail in this specification. For example, the electrodes 1378 may be configured to supply RF energy to the tissue clamped between the first jaw member 1304 and the second jaw member 1306 in the closed position for welding / tissue protection.

[0148] The further and proximal displacement of the beam member I-beam 1360 between the proximal retracted position and the distal extended position can be realized by means of an appropriate firing mechanism 1358. With reference to FIG. 92-96, the element Ibelki 1360 is connected to the threaded drive element 1362, the threaded drive member 1362 being threadedly engaged with the shank of the rotatable drive nut 1364. The rotary threaded drive nut 1364 is positioned inside the gripper drive housing 1316 further to the cylindrical drum cam. 1338 between the proximal ring flange 1339A and the distal ring flange 1339B. The threaded rotary drive nut 1364 is mechanically limited before moving in any direction, but it can rotate within the gripper drive housing 1316. Therefore,

[0149] The threaded drive member 1362 is threaded by the rotatable drive nut 1364 and is located at least partially within the lumen 1381 of the rotary drive shaft 1382. The threaded drive member 1362 is not attached or connected to the rotary drive shaft 1382. The threaded drive member 1362 is freely movable within the inner space 1381 of the rotary drive shaft 1382 and displaced in the lamellar 1381 of the rotary drive shaft 1382 when driven by the rotation of the rotary drive nut 1364. The rotary drive member 1382 and the threaded drive member 1362 form a concentric rotary drive shaft / threaded drive member assembly which it is located in the shaft assembly 1314. In addition, the threaded drive member 1362 extends in a distal direction through the clearance 1384 of the cylindrical drum 1338,wherein the threaded drive member 1362 is freely movable within the lumen 1384 of the cylindrical drum 1338 and slides in the lumen 1384 of the cylindrical drum 1338 when the threaded drive element is driven by rotating the rotatable fixing nut 1364.

[0150] As shown in FIG. 92, the gripping housing of the gripper 1316, the gripper connecting tube 1318 and the intermediate articulated tubular section 1320, which together constitute the shaft assembly 1314 have a number of lumens extending therethrough. As a result, the shaft assembly 1314 may include a clearance therethrough through it, as shown in FIG. 92-96. Referring again to FIG. 92-96 the concentric rotary drive shaft / threaded drive element assembly is located inside the lumen of the shaft assembly 1314 and passes through the drive housing of the gripper 1316, the gripper connecting tube 1318 and the intermediate articulated tubular section

1320. Although not shown in FIG. 92-96, at least the rotary drive shaft 1382 passes through the clearance of the shaft assembly 1314, and is operably connected to a drive mechanism that provides rotational and / or axial translational movement to the rotatable drive shaft 1382. For example, in some embodiments the surgical tool 1300 it may be operatively connected to a shaft assembly 1314 for a robotic surgical system that provides rotary movement and / or axial translational movement to the rotary drive shaft 1382, such as, for example, robotic surgical systems described in connection with FIG. 5 and 16-21. For example, the rotary drive shaft 1382 may be operably connected via the shaft assembly 1314 in the proximal section of the drive shaft 380 described above. In addition, in some embodiments, the surgical tool 1300 may be used in conjunction with a manual surgical device, such as the device described above, with reference to FIG. 46-63. For example, the rotary drive shaft 1382 may be functionally connected, via the shaft assembly 1314 in the proximal section of the drive shaft 380 'described above.

[0151] In some embodiments, the threaded drive member 1362 has a length that is less than the length of the rotatable portion of the drive shaft 1382, and thus, for example, lies only the distal portion of the rotary drive shaft 1382. The threaded drive member 1362 and the rotating drive shaft 1382 may be flexible so that the threaded drive element 1362 and the rotary drive shaft 1382 can bend without damage or loss of functionality during the articulation of the surgical tool 1300 around the joint 1308.

The rotary drive nut 1364 may also include a spline splice 1397 having spline members 1398 arranged circumferentially around the inner wall of the rotary drive nut 1364 and oriented coaxially with the shaft assembly 1314. As shown in Fig. 93, the rotary drive shaft 1382 may be selectively retracted proximal to bring the rotary drive head 1386 to the functional coupling with the spline driver 1310 connecting portions. In this configuration, the rotation of the rotary drive shaft 1382 rotates the surgical tool head 1300 around the rotary head joint 1310, including the rotation of the gripper 1302 and the gripper drive housing 1316. In this configuration, part of the surgical tool 1300, which is distal from the rotary head joint 1310 rotates with the rotation of the rotary drive shaft 1382, and a portion of the surgical tool 1300 that is proximal to the rotary head joint 1310 does not rotate with the rotation of the rotary drive shaft 1382. An example of a rotary head joint 1310 is described in combination with Figs. 64-82, Figs. 83-91 and 9296. Other suitable techniques and rotating means for rotating the gripper 1302 with respect to the shaft assembly 1314 are within the scope of the present disclosure. It should be noted that the desired rotation speed of the rotary drive shaft 1382 for driving the rotary drive nut 1364 may be greater than the desired rotation speed for rotating the head. For example, the rotary drive shaft 1270 may be driven by a motor (not shown) that can operate at different rotational speeds.

[0153] As shown in Fig. 94, the rotary drive shaft 1382 may be selectively displaced distally to bring the rotary drive head 1386 into operational engagement with the spline coupling portion 1394 of the roller drum gym 1338. In this configuration, rotation of the rotary drive shaft 1382 causes rotation of the roller drum 1338. As described above, the rotation of the cylindrical drum 1338 causes axial movements in the closure connection, 1330. As a result, rotation of the rotary drive shaft 1382 in the first direction (e.g. clockwise) around the central axis A can cause the link to rotate. the closure 1330 will be moved distally along the central axis A, which can close the jaw assembly 1311. Alternatively, the rotation of the rotating drive shaft 1382,

[0154] As shown in Fig. 95, the rotary drive shaft 1382 may be selectively displaced distally to move the rotary drive head 1386 through the cam follower 1338 to the space 1399 in the gripper drive housing 1316 between the cam 1338 the barrel drum and the rotating drive nut 1364. wherein the rotatable drive head 1386 is not in operative coupling with any of the coupling splined parts. The rotary drive shaft 1382 can then be further moved distally to bring the rotary drive head 1386 into functional engagement with the spline coupling portion 1397 of the rotary drive nut 1364 as shown in Fig. 96. In this configuration, the rotation of the rotatable drive shaft 1382 rotates the rotatable nut. 1364. As described above, the rotation of the rotary drive nut 1364 causes axial movements in the threaded drive member 1362. As a result, rotation of the drive shaft 1382 in the first direction (e.g. clockwise) around the central axis A may cause the threaded drive member 1362 to move distantly , which in turn can move the I-beam element 1360 distally. Alternatively, rotation of the rotary drive shaft 1382 in the second direction (e.g., clockwise) against the first direction may cause the threaded drive member 1362 to retract in the proximal direction, which may retract the Igertube 1360 member proximally. rotation of the drive shaft 1382 in a first direction (e.g. clockwise) around the central axis A may cause the threaded drive element 1362 to move distant, which in turn may move the I-beam element 1360 distally. Alternatively, rotation of the rotary drive shaft 1382 in the second direction (e.g., clockwise) against the first direction may cause the threaded drive member 1362 to retract in the proximal direction, which may retract the Igertube 1360 member proximally. rotation of the drive shaft 1382 in a first direction (e.g. clockwise) around the central axis A may cause the threaded drive element 1362 to move distant, which in turn may move the I-beam element 1360 distally. Alternatively, rotation of the rotary drive shaft 1382 in the second direction (e.g., clockwise) against the first direction may cause the threaded drive member 1362 to retract in the proximal direction, which may retract the Igertube 1360 member proximally.

[0155] The order of the events that cause the jaw assembly 1311 to close fully extend the member of the I-bar 1360, with the full retraction of the member of the I-beam 1360 and re-opening the jaw assembly 1311 is shown in Figs. 93-96 in chronological order. Fig. 93 shows the jaw assembly 1311 in the fully open position, the I-beam member 1360 in fully retracted position and the rotary drive shaft 1382 in the retracted axial position, the rotatable drive head 1386 operatively connected to the spline connection 1390 of the drive housing 1316. gripper. In the first phase of operation, the rotary drive shaft 1382 is rotated to rotate the gripper 1302 into a suitable alignment, e.g. relative to the blood vessel. In the second phase of operation, the rotary drive shaft 1382 is axially displaced to bring the rotary drive head 1386 to the operational coupling with the spline coupling portion 1394 of the roller drum cam 1338. In this configuration, the rotary drive shaft 1382 may be rotated in a first direction (e.g., clockwise) about a central axis A to close the jaw assembly 1311 around the blood vessels. The electrodes 1378 of the first jaw member 1304 and the second jaw member 1306 may be included to close the blood vessel. In the third phase of operation, the rotary drive shaft 1382 may then be extended axially to bring the rotary drive head 1386 into engagement with the spline coupling portion 1397 of the rotating drive nut 1364. In this configuration, the rotary drive shaft 1382 can rotate in a first direction about the central axis A (e.g. in a clockwise direction) to move the I-beam member 1360 itself crossing the sealed blood vessel. In the fourth operating step, the rotary drive shaft 1382 can rotate in the second direction (e.g. counterclockwise) against the first direction to retract the I-beam member 1360.

[0156] In the fifth operating step, the rotary drive shaft 1382 is slid axially to bring the rotary drive head 1386 into operative coupling with the spline coupling portion 1394 of the roller drum cam 1338. In this configuration, the rotary drive shaft 1382 can rotate in a second direction (e.g. counter-clockwise) against the first direction to reopen the jaw assembly 1311 thereby releasing the sealed blood vessel.

[0157] As described above, the surgical tool may use the drive system to move the drive member distally within the surgical tool gripper to move the cutting element in the gripper, for example, to translate the drive tube proximally to retract the drive tube and / or cutting element. Figs. 97 and 98 show an example of a drive shaft assembly 1400 that may be used in conjunction with a gripper 1420 and / or any of the grippers described herein. For example, the drive shaft assembly 1400 (and assembly 1400 ') may correspond to various threaded rotatable drive members described herein, including, e.g., rotatable threaded drive members 604, 654, 1040, 1248, 1364, etc. Further to the above, the drive shaft assembly 1400 may be moved distally to rotate the gripper element 1422 of the gripper 1420 between a closed position and an open position as shown in Fig. 97 and slide the cutting element between the jaw member 1422 and the jaw portion 1424 opposite the jaw member 1422. In one exemplary embodiment, the drive shaft assembly 1400 includes a drive member or tube, 1402, which may include a series of annular cutter portions 1404 therein. [0158] In various embodiments, the drive member 1402 may include a hollow metal tube consisting of stainless steel, titanium, and / or any other suitable material, for example, that it has a series of wrist annular portions 1404 formed therein. In at least one embodiment, the hinge annular portions 1404 may include a plurality of interlocking dovetail tail forms 1406 that are, for example, cut into the laser drive element 1402 and serve to facilitate flexible movement between adjacent sections 1404. Such laser tube cutting can form a flexible hollow drive tube that can be used in compression, tension and / or twisting. Such a system may utilize a full diametrical cut that is coupled to the adjacent portion by configuring "part of the puzzle." These pieces are then duplicated along the empty drive tube in the array and are sometimes "synchronized" or rotated to change the voltage or twist characteristics. Accordingly, the engaging dovetail shapes 1406 are just one embodiment and in different conditions, the drive member 1402 may include any suitable articulated link network including locking protrusions and drive cavities. In various circumstances, the drive member 1402 may include a articulated link network including operationally connected protrusions and depressions that may be connected to each other to transmit linear and / or rotational movements therebetween. In this sense, in various embodiments, the drive element 1402 may include a plurality or a plurality of articulation links defined in the body of the drive member 1402. The drive member 1402 may include multiple articulation links that are internal to the body of the drive member 1402. the drive member 1402 may include a articulated link network including operably associated protrusions and depressions that may be connected to each other to transmit linear and / or rotational movements therebetween. In this sense, in various embodiments, the drive element 1402 may include a plurality or a plurality of articulation links defined in the body of the drive member 1402. The drive member 1402 may include multiple articulation links that are internal to the body of the drive member 1402. the drive member 1402 may include a articulated link network including operably associated protrusions and depressions that may be connected to each other to transmit linear and / or rotational movements therebetween. In this sense, in various embodiments, the drive element 1402 may include a plurality or a plurality of articulation links defined in the body of the drive member 1402. The drive member 1402 may include multiple articulation links that are internal to the body of the drive member 1402.

[0159] Accordingly, the drive member 1402 may be pushed in the distal direction such that the longitudinal force is transmitted by the drive member 1402 and the cutting member, e.g., operatively connected to the distal end of the drive member 1402. Correspondingly, the drive member 1402 may be pulled out in the proximal direction so that the longitudinal force is transmitted by the drive element 1402 to the cutting element. The interlocking dovetail shapes 1406 can be configured to transmit longitudinal tractive and pushing forces between the joint portions 1404, regardless of whether the pivot portions 1404 are aligned in the longitudinal direction as shown in FIG. 98 and / or articulated to one another to articulate articulated joint 1430 that is pivotally connected to the gripper 1420 to the surgical tool shaft. In particular, as a result of the foregoing, the articulation joint 1430 can comprise one or more articulation sections 1434 that can move relative to each other to allow the gripper 1420 to rotate, wherein to adjust the relative articulation of the articulation sections 1434, the pivot portions 1404 with The drive element 1402 may be rotated or moved relative to each other. At least in the embodiment of Fig. 97, articulated pivot portions 1434 may define a passage 1435 passing through them, which may be configured to to accurately receive the drive element tube 1402 and limit the large lateral movements between the hinge portions 1404, while at the same time allowing adequate relative movement between the hinge portions 1404 when the articulated joint 1430 has articulated. Figs. 99-101 illustrate alternative examples of the micro-ring portions 1404 'of the drive element 1402', which may include a plurality of laser cut shapes 1406 'that approximately resemble loosely engaging, opposite "T" shapes and T-shapes with a portion cut out therein. , for example, the laser cut shapes 1406 'may also roughly resemble the loosely engaging, opposing "L" shapes and L-shapes defining the cut portion, for example. The articulation portions 1404 generally comprise a plurality of micro-articulated joints. This means that each of the portions 1404, 1404 'of the articulation can transmit the moment, facilitating at least some relative articulation between each annular pivot section. As shown in FIG. 99, 100, the pivot portion 1404D 'at the distal end 1403' of the drive element 1402 'has a distal portion securing the ring 1408D' that facilitates attachment to other drive means for actuating the gripper. Similarly, the joint portion 1404P at the proximal end 1405 'of the drive element 1402' has a proximal fastening portion of the ring 1408P 'that facilitates attachment to other proximal drive components or parts of the quick release joint, for example. the hinge can transmit the moment, facilitating at least some relative articulation between each annular pivot section. As shown in FIG. 99, 100, the pivot portion 1404D 'at the distal end 1403' of the drive element 1402 'has a distal portion securing the ring 1408D' that facilitates attachment to other drive means for actuating the gripper. Similarly, the joint portion 1404P at the proximal end 1405 'of the drive element 1402' has a proximal fastening portion of the ring 1408P 'that facilitates attachment to other proximal drive components or parts of the quick release joint, for example. the hinge can transmit the moment, facilitating at least some relative articulation between each annular pivot section. As shown in FIG. 99, 100, the pivot portion 1404D 'at the distal end 1403' of the drive element 1402 'has a distal portion securing the ring 1408D' that facilitates attachment to other drive means for actuating the gripper. Similarly, the joint portion 1404P at the proximal end 1405 'of the drive element 1402' has a proximal fastening portion of the ring 1408P 'that facilitates attachment to other proximal drive components or parts of the quick release joint, for example. the joint at the distal end 1403 'of the drive element 1402' has a distal portion securing the ring 1408D ', which facilitates connection to other drive means for actuating the gripper. Similarly, the joint portion 1404P at the proximal end 1405 'of the drive element 1402' has a proximal fastening portion of the ring 1408P 'that facilitates attachment to other proximal drive components or parts of the quick release joint, for example. the joint at the distal end 1403 'of the drive element 1402' has a distal portion securing the ring 1408D ', which facilitates connection to other drive means for actuating the gripper. Similarly, the joint portion 1404P at the proximal end 1405 'of the drive element 1402' has a proximal fastening portion of the ring 1408P 'that facilitates attachment to other proximal drive components or parts of the quick release joint, for example.

[0160] The range of motion from articulation to articulation on a particular joint segment 1404 'can be increased by increasing the distance in the laser cuts. In many cases, however, the number ί / or density of the laser cuts in a particular region of the drive element 1402 'may cause the drive element 1402' to be particularly flexible in this area. To ensure that the hinge segments 1404 remain connected to each other without significantly reducing the ability of the drive tube to articulate through the desired movement ranges, the secondary stop element may be used to limit or prevent the hinge segments 1404 from expanding outwardly. In the embodiment shown in FIG. 102 and 103, the secondary stop element 1410 comprises a spring 1412 or a spirally wound element. wherein the drive element 1402 'and / or the drive element 1402, for example, can be arranged. The oblong hole 1413 and the drive element 1402 'can be dimensioned and shaped such that the drive element 1402' is firmly received in the elongated hole 1413, in which, in different circumstances, the spring coils 1412 can limit outward movement of the hinge segments 1404 'such that the joint portions 1404 'do not disengage from each other when articulated to each other. As indicated above, the distal end 1414 of the spring 1412 may be permanently attached to the distal end 1403 'of the drive element 1402' and the proximal end 1418 of the spring 1412 may be permanently attached to the proximal end 1405 'of the drive element 1402' in which the distal movement the end of the tube 1403 ' they can move to the distal end of the spring 1414 and, accordingly, the movement of the proximal end of the tube 1405 'can move the proximal end of the spring 1418. In various circumstances, the ends of the spring 1414 and 1418 can be welded, e.g. to the ends 1403' and 1405 'of the tube, respectively. In at least an illustrated embodiment, the turns of the central portion 1416 may be permanently attached to the drive member 1402 '. In at least one such embodiment, the drive element 1402 'may be adapted to at least partially articulation in the turns of the central portion 1416 to the drive element 1402' while contacting the turns, at which point the turns may be configured to at least partially expand or move to position the lateral movement of the drive element 1402 '.

[0161] Accordingly, the stop element 1410 can be mounted on the drive element 1402 'with the desired inclination so that the stop element 1410 also acts, for example, in the form of a flexible threaded drive 1440 that can be threadedly engaged with other threaded elements. drive on the gripper and / or drive system as described above. The drive element 1402 'may be limited to rotate about its longitudinal axis, wherein when the threaded drive element is engaged with the thread 1440 and rotates in the first direction by means of a motor, for example, the drive element 1402' may be moved distally in the gripper 1420 Accordingly, when the threaded drive element coupled to the thread 1440 is rotated in the second or opposite direction in the direction of the drive element 1402 ' it can be withdrawn in a closer direction. It will be understood that the limiting element 1410 can be installed in such a way that the thread 1440 has a constant or at least a substantially constant pitch along its length. In such embodiments, the drive element 1402 'can be moved forwards and / or rearwardly, or at least substantially continuously, an indicator for a given speed at which the threaded drive element is rotated. It should also be noted that the limiting element 1410 can be installed in such a way that the thread 1440 has a variable pitch or pitch which varies along the length of the drive element 1402 '. For example, the variable pitch distribution of the limiting element 1410 can be used to retard the drive assembly 1400 '. down or acceleration of the drive assembly 1400 'up during certain portions of the firing stroke of the drive assembly 1400'. For example, the first thread portion 1440 may include a first pitch that is smaller than the pitch of the second thread portion 1440, wherein the first stroke may move the closing member at the first rate and the second portion may move the firing element at a second rate, e.g. At least in some embodiments, for example, the drive shaft assembly includes a variable thread pitch on a hollow flexible drive shaft that can be pushed and pulled around a ninety degree or more curve, for example. which is smaller than the pitch of the second thread portion 1440, wherein the first stroke can move the closing member at the first rate and the second portion can move the firing element at a second rate, e.g. At least in some embodiments, for example, the drive shaft assembly includes a variable thread pitch on a hollow flexible drive shaft that can be pushed and pulled around a ninety degree or more curve, for example. which is smaller than the pitch of the second thread portion 1440, wherein the first stroke can move the closing member at the first rate and the second portion can move the firing element at a second rate, e.g. At least in some embodiments, for example, the drive shaft assembly includes a variable thread pitch on a hollow flexible drive shaft that can be pushed and pulled around a ninety degree or more curve, for example.

[0162] As mentioned above, the drive element 1402 'may be limited from rotating about its longitudinal axis. In addition, the entire drive shaft assembly 1400 'may be limited from rotating about its longitudinal axis. In various embodiments, the drive member 1402 'may include a longitudinal slot defined therein that may be connected to one or more protrusions that may extend inwardly from the gripper 1420 and / or articulated joint members 1434 to the longitudinal slot, e.g.. Such a longitudinal slot and projection arrangement may be configured to prevent or at least limit the rotation of the drive shaft assembly 1400 'about its own longitudinal axis. As used herein, the longitudinal axis of the drive shaft assembly 1400 ', and / or the drive element 1402' they may extend in the middle of the drive shaft assembly 1400 ', regardless of whether the drive shaft assembly 1400' is in a straight configuration or a bent configuration. As a result, the path and direction of the longitudinal axis of the drive shaft assembly 1400 'can vary as the gripper 1420 is pivotally connected and the drive shaft assembly 1400' articulates to accommodate the gripper joint 1420. Accordingly, the drive element 1402 'can be permanently mounted and stretched in a direction proximal to the cutting element located inside the gripper 1420. As described herein, the cutting element can be tightly received in individual sockets and / or channels defined in the gripper that can protect the cutting element and drive shaft assembly 1400 ' extending in it, from turning, or at least substantially rotating about its longitudinal axis. In contrast, the longitudinal axis of the drive shaft assembly 1400 'can be determined by the drive element 1402', the longitudinal axis can be determined by the spring 1412. In at least one such embodiment, the center path of the spring turns can determine the longitudinal axis of the drive shaft assembly 1400 *. In any case, the drive shaft assembly 1400 'may be limited to rotating about its longitudinal axis.

[0163] Referring now to FIG. 104 and 105, the drive shaft assembly 1400 'may include an inner stop element, e.g. an elastic core 1417, e.g., which may be configured to limit or prevent displacement or collapse of the drive portions 1402' of portions 1404 '. The drive element 1402 'can define an inner longitudinal cavity 1415 that can be configured to accurately receive the elastic core 1417. In at least one such embodiment, the inner cavity 1415 defined in the drive element 1402' can include a diameter or width that is equal to or at least substantially equal to the diameter or width of the elastic core 1417. In various circumstances during the articulation of the gripper 1420, e.g., part of the portions 1404 '. the hinges may deviate or be moved inwardly towards the elastic core 1417, wherein, when the hinge portions 1404 'are in contact with the elastic core 1417, the core 1417 can inhibit movement to the inside of the hinge portions 1404' and prevent the drive element 1402 from collapsing. inwards. The elastic core 1417 may be mounted on at least part of the drive element 1402 'as in the distal end 1408D' and / or the proximal end 1408P 'thereof, for example. In some embodiments, the elastic core 1417 can be permanently attached to the drive member 1402 ', wherein in such embodiments, the elastic core 1417 can be held in place by the drive member 1402'. In any case, the elastic core 1417 can be sufficiently flexible so that

[0164] As mentioned above, the shaft assembly 400 ', for example, may be configured to bend or flexure to accommodate the gripper joint 1420 about the articulation joint 1430. The drive element 1402', the elastic core 1417, and / or the spring 1412 may be flexible such that the shaft assembly 1400 'can return to its initial longitudinal configuration, for example. In various circumstances, the gripper 1420 may rotate from its articulated position back to its longitudinal or straight position and as such, the shaft assembly 1400 'may be configured to bend to adapt to the end of the gripper 1420.

[0165] Referring to FIG. 106-108, the surgical tool 1000 may include a surgical gripper 1001 and a shaft assembly 1003. The surgical gripper 1001 may be configured to perform surgical operations in response to the drive motions applied to it. The shaft assembly 1003 may be configured to transmit such movements of the surgical gripper 1001. The surgical gripper 1001 may include a first jaw member 1002 and a second jaw member 1004. The first jaw member 1002 may move relative to the second jaw member 1004 between the first position and the second position. Alternatively, the first jug eiement 1002 and the second jug eiement 1004 can move relative to each other between the first position and the second position.

[0166] Referring to FIG. 106-108, the first jaw member 1002 may be rotatably movable relative to the second jaw member 1004 between the first position and the second position. As shown in FIG. 108, the first jaw member 1002 may include mounting holes (not shown) and the second jaw member 1004 may include mounting holes 1008. The first jaw member 1002 may be positioned relative to the second jaw member 1004 such that the pin or stud pin (not shown) is inserted through openings for attaching the first jaw member 1002 and mounting holes 1008 to the second jaw member 1004 by rotatably engaging the first jaw member 1002 with the second jaw member 1004. Other suitable means for engaging the first jaw member 1002 and the second jaw member 1004 are considered to be within the scope of this disclosure.

[0167] Referring to FIG. 106-108, surgical gripper 1001 may be adapted to perform multiple functions. For example, the surgical gripper 1001 may include gripping elements 1010 disposed on the outer surface of the first jaw member 1002 and / or the second jaw member 1004. The gripping members 1010 may be adapted to contact and separate the blunt tissues. Suitable gripping members 1010 are described, for example, in connection with FIG. 116-131. The surgical gripper 1001 may also include oblique surfaces 1012 engaging the tissue to cut the tissue. Suitable tissue interlocking tissue-connecting surfaces 1012 are described, for example, in connection with FIG. 132-142. The first jaw member 1002 may include an inner surface 1014 and the second jaw member 1004 may include an interior surface 1016. The first 1016 and second 1014 inner surfaces may be configured to receive, administer and / or manipulate the tissue and / or surgical tools such as stapling needles 1015. tissue. These capture, feeding and / or handling are described, for example in connection with FIG. 153-168. Furthermore, the surgical gripper 1001 may also include electrodes 1017 and / or other electrically active surfaces for sealing blood vessels during surgery. The electrodes 1017 can be configured to supply radio frequency energy (RF) to the tissue clamped between the first jaw member 1002 and the second jaw member 1004, when in the closed position for welding / protecting the tissue, which can be cut by moving the cutting element 1018. Suitable electrodes are described, for example in connection with FIG. 153-168. [0168] Referring to FIG. 108-111, the surgical gripper 1001 may be releasably connected to a shaft assembly 1003. The operator or surgeon may attach the surgical gripper 1001 to the shaft assembly 1003 for performing the surgical procedure. In the embodiment shown in FIG. 108, the shaft assembly 1003 includes a coupling member in the form of a quick disconnect or joint 1019 that facilitates quick attachment of the distal portion of the shaft 1020 relative to the shaft assembly 1003 to the proximal portion of the shaft 1022 of the surgical gripper 1001.

[0169] As shown in FIG. The surgical gripper 1001 may be replaced by other surgical grippers suitable for use with the shaft assembly 1003. For example, the surgical gripper 1001 may be detached from the shaft assembly 1003 and the second surgical gripper 1024 may be attached to the shaft assembly 1003. In another example, the second surgical gripper 1001. The surgical gripper 1024 may be replaced by a third surgical gripper 1026. Surgical grippers 1001, 1024 and 1026 may include common drive train components that are operatively coupled to their counterparts in shaft assembly 1003. However, surgical grippers 1001, 1024 and 1026 may each contain unique operational features suitable for specific surgical tasks.

[0170] The surgical gripper 1001 may include a boot mechanism. The actuation mechanism may include a closing mechanism for sliding the first jaw member 1002 relative to the second jaw member 1004. The actuation mechanism may include a firing mechanism for cutting tissue caught between the first jaw member 1002 and the second jaw member 1004. Closure and launch can be achieved by separate mechanisms that can be driven separately or simultaneously. Alternatively, closing and firing can be achieved with a single mechanism. Suitable closing mechanisms and corresponding firing mechanisms are described, for example in connection with FIG. 64-82, FIG. 83-91 and 92-96.

[0171] Referring to FIG. 113, the startup mechanism 1028 is shown. The actuation mechanism may include a piston movement member 1030. The piston movement member 1030 may define a cam groove 1032 configured to receive a cam pin 1034 connected to the first jubilee member 1002. The distal and proximal movement of the reciprocating member 1030 may translate the cam pin 1032 into the cam groove 1034, which may in turn cause the first jaw member 1002 to turn to the open position (e.g., proximal position of the piston gear member 1030) to a closed (e.g., distal) position. position, reciprocating piston member 1030). In embodiments where the first 1002 and second 1004 of the jaw member are movable, both the jaw members 1002 and 1004 may include a cam pin, and the piston movement member 1030 may define a pair of grooves or cam slots. The piston movement member 1030 may include an I-beam member adapted to slide on the members 1002 and 1004 in the jaw.

S to close the jaw members 1002 and 1004, and / or to provide a compressive force tending to compress the jaws 1002 and 1004 together. The piston movement member 1030 may include a cutting blade 1036. The cutting blade 1036 may be attached to the piston movement member 1030 and positioned so that it can be extended and retracted with the piston movement member 1030. The cutting element may be extended to cut the tissue or materials present between the jaw members 1002 and 1004.

[0172] Referring to FIG. 108-111, the actuation mechanism 1028 may include a rotatable drive nut 1038 and a threaded rotatable drive member 1040. The rotatable drive member 1040 may extend proximally from the piston movement member 1030. The piston movement member 1030 and the rotating drive member 1040 can be formed together in one piece. Alternatively, the piston movement member 1030 and the rotatable drive member 1040 can be formed separately and welded together. Other techniques for connecting the piston movement member 1030 and the rotating drive member 1040 can be used and are considered within the scope of this disclosure. The rotating drive nut 1038 may be operatively supported proximal of the shaft portion 1022 of the surgical gripper 1001 that extends proximal to the jaw members 1002 and 1004. The rotating drive nut 1038 may be rotated around a central axis extending through the proximal portion of the shaft 1022, e.g. as described above. The rotatable drive member 1040 may extend proximally from the piston movement member 1030 along the central axis through the rotatable drive nut 1038. The rotary drive nut 1038 and rotatable drive member 1040 may be disposed in a roofing arrangement such that rotation of the rotating drive nut 1038 around the central axis in one direction (e.g., clockwise) it can move the rotary drive element 1040 and the rotation of the rotational drive nut 1038 about the central axis in the opposite direction (e.g., counterclockwise) can retract the rotatable drive member 1040. The actuation mechanism and other appropriate startup mechanisms are described, for example in connection with HG. 64-82, FIG. 83-91 and 92-96.

[0173] Referring to FIG. 108-111, the surgical tool 1000 may include a rotary shaft 1042 disposed longitudinally through the shaft assembly 1003. The rotary shaft 1042 may include a rotatable drive head 1044 in the distal portion. The rotary drive nut 1038 may include an actuation switch 1046 for the opacifying system with rotatable drive head 1044 in such a way that, when connected, the rotary drive head 1044 may transmit rotational motions to the actuation switch 1046. The rotary drive shaft 1042 may be selectively moved axially between multiple positions discreet. For example, the rotary drive shaft 1042 may be expanded in the axial direction to bring the rotary drive head 1044 into operational engagement with the actuating switch 1046, as shown in FIG. 111. Alternatively,

[0174] Referring to FIG. 108-110, the surgical gripper 1001 is shown detached from the shaft assembly 1003. The proximal portion of the shaft 1022 of the surgical gripper 1001 is decoupled from the distal portion of the shaft 1020 in the shaft assembly 1003. As shown in FIG. 108, the proximal portion of the shaft 1022 of the surgical gripper 1001 may include a tapered end into the opacity with the funnel end of the distal portion 1020 of the shaft assembly 1003. The rotary drive shaft 1042 may include a distal distal portion that extends distally along a central axis passing through the rotating drive head 1044. and ends at its distal opening. The hollow distal portion may receive the proximal portion of the rotatable drive member 1040 as the surgical gripper 1001 is attached to the shaft assembly 1003. The rotatable drive member 1040 can rotate freely in the hollow distal portion of the rotating drive shaft 1042. As shown in FIG. 110, the surgical gripper 1001 is attached to the shaft assembly 1003 simply by inserting the proximal portion of the rotary drive element 1040 into the hollow portion of the rotary drive shaft 1042 and guiding the narrowed proximal end of the shaft 1022 of the surgical gripper 1001 in the concealing arrangement with the funnel end of the distal portion of the assembly shaft 1020. shaft 1003. As shown in FIG. 111, after the surgical gripper 1001 is connected to the shaft assembly 1003, the rotary drive shaft 1042 may be extended to bring the rotary drive head 1044 into the operative interface with the actuator switch 1046 for transmitting rotational motions to the rotatable drive nut 1038.

[0175] As shown in FIG. 108-110, the proximal portion of the shaft 1022 of the surgical gripper 1001 and the distal portion of the shaft 1020 of the shaft assembly 1003 may provide alignment elements to ensure that the surgical gripper 1001 and shaft assembly 1003 are properly aligned after attachment. In the embodiment, as shown in FIG. 108, the proximal portion of the shaft 1022 of the surgical gripper 1001 includes the key portion 1048 and the distal portion of the shaft 1020 of the shaft assembly 1003 may include a slot 1050 for receiving the key member. Other methods and techniques for setting the surgical gripper 1001 to the shaft assembly 1003 are considered within the scope of the present disclosure.

[0176] With reference to FIG. 114, the surgical gripper 1001 may include an actuating mechanism, wherein firing and closing are performed separately. This actuation mechanism and other suitable actuating mechanisms are described, for example, in connection with FIG. 83-91 and 92-96. In the exemplary embodiment as shown in FIG. 114, the surgical gripper 1001 includes a closing mechanism 1052 and a firing mechanism 1054 that are driven separately. The locking mechanism 1052 includes a closure drive 1056 and the firing mechanism 1054 includes a firing disk 1058. As described above, the surgical gripper 1001 may be removably attached to the shaft assembly 1003. As illustrated in FIG. 114,

[0177] As shown in FIG. 115, the surgical tool 1000 may include articulation of the articulation 1060 for articulation of the surgical gripper 1001 about the longitudinal axis of the "LT" tool. In this embodiment, articulation joint 1060 is positioned proximal to distal portion 1020 of shaft assembly 1003. Articulated joint 1060 connects distal portions 1020 of shaft assembly 1003. When proximal portion 1022 of surgical gripper 1001 is attached to distal portion 1020 of shaft assembly 1003, the combination The articulated portions of the distal portion 1020 of the shaft assembly 1003 will cause rotation of the surgical gripper 1003.

[0178] In an embodiment, as shown in FIG. 115, the articulation joint 1060 includes a proximal seat tube 1062 that is connected to the shaft assembly 1003 and defines a closer ball seat therein. See FIG. 115. As can be seen in FIG. 115, the proximal ball element 1064 includes a central channel that allows the rotary drive shaft 1042 to extend through it. In addition, the proximal ball element 1064 has four articulation channels thereof, which facilitate the passage of four further conductors 1066 through. As can also be seen in FIG. 115, the articulation joint 1060 further comprises an intermediate articulated tubular segment 1068 that has an intermediate ball seat formed therein. The intermediate ball socket is configured to allow the ball member 1070 to support it in the distal connection tube 1072. The cables 1066 extend through the cable ducts formed in the distal ball member 1070 and are attached thereto through the projections 1074. Another fastening element suitable for attaching the cables to the gripper ball 1070 are considered to be within the scope of the present disclosure [0179] With reference to FIG. 116-120, the surgical tool 900 may include a surgical gripper extending from the shaft assembly 903. The surgical gripper 901 may be configured to perform surgical operations in response to motions applied to it. The surgical gripper 901 may include a first jaw member Another fastening element suitable for attaching cables to the gripper ball 1070 is considered within the scope of the present disclosure. Referring to FIG. 116-120, the surgical tool 900 may include a surgical gripper extending from the shaft assembly 903. The surgical gripper 901 may be configured to perform surgical operations in response to motions applied to it. The surgical gripper 901 may include a first jaw member Another fastening element suitable for attaching cables to the gripper ball 1070 is considered within the scope of the present disclosure. Referring to FIG. 116-120, the surgical tool 900 may include a surgical gripper extending from the shaft assembly 903. The surgical gripper 901 may be configured to perform surgical operations in response to motions applied to it. The surgical gripper 901 may include a first jaw member to perform surgical operations in response to the driving motions applied to it. The surgical gripper 901 may include a first jaw member to perform surgical operations in response to the driving motions applied to it. The surgical gripper 901 may include a first jaw member

902, and a second jaw member 904. The first jaw member 902 may be movable relative to the second jaw member 904 between the first position and the second position. Alternatively, the first jug body 902 and the second jug body 904 may be movable relative to each other between the first position and the second position. The first position may be an open position and the second position may be a closed position.

[0180] With reference to FIG. 116-120, the first jaw member 902 may be rotatably movable relative to the second jaw member 904 between an open position and a closed position. As shown in FIG. 120, the first jaw member 902 may include mounting holes 906, and the second jaw member 904 may include mounting holes 908. The first jaw member 902 may be spaced relative to the second jaw member 904 such that the pivot or pin (not shown) is inserted to the fastening holes 906 of the first jaw member 902 and the fastening holes 908 of the second jaw member 904 to rotatably engage the first jaw member 902 into the second jaw member 904.

[0181] Referring to FIG. 116-120, surgical gripper 901 may be adapted to perform multiple functions. For example, surgical gripper 901 may include inclined surfaces for engaging tissue 910 for tissue cutting. Suitable tissue coupling surfaces 910 are described, for example, in connection with FIG. 132-142. The first jaw member 902 may include an inner surface 912 and the second jaw member 904 may include an interior surface 914. The first inner surface 912 and the second inner surface 914 may be configured to grip, displace, and / or manipulate the tissue and / or surgical tools such as needles. 915 for stitching tissue. This capture, handling, and / or handling functionality is described, for example, in connection with FIG. 153-168.

[0182] With reference to FIG. 116-120, surgical gripper 901 may also include electrodes 916 and / or another electrically active sealing surface of blood vessels during surgery. Electrodes 916 for supplying a radio frequency (RF) to a tissue fixed between the first jaw member 902 and the second jaw member 904 when in a closed position for welding / tissue protection that can be cut by moving the cutting element. Suitable electrodes 916 are described, for example, in connection with FIG. 6-10 and FIG. 153-168. The surgical gripper 901 may be detachably attached to the shaft assembly 903. The operator or surgeon may attach the surgical gripper 901 to the shaft assembly for surgical intervention. Suitable methods and mechanisms for releasably securing the surgical gripper 901 to the shaft assembly 903 are described, for example, in connection with FIG. 106-115.

[0183] Referring to FIG. 116-120, the surgical gripper 901 may include an actuating mechanism. The actuating mechanism may comprise a closing mechanism for moving the first jaw member relative to the second jaw member. The actuating mechanism may include a firing mechanism for cutting the tissue being grasped between the first jaw member and the second jaw member. Closure and launching can be achieved by separate mechanisms that can be driven separately or simultaneously. Alternatively, closing and firing can be achieved with a single mechanism. Suitable locking mechanisms and corresponding firing mechanisms are described, for example, in connection with FIG. 64-82, FIG. 83-91 and 92-96.

[0184] As shown in FIG. 117, the actuation mechanism 920 is an example shown. Actuator 920 may include a piston member 918 similar to the axially movable member 3016 described above. The piston member 918 or its cam pin 924 may be received in the cam slot 922. The distal and proximal movement of the piston member 918 may cause the cam pin 924 to slide in the cam slot 922, which in turn causes the first jaw member 902 to rotate from the open position (e.g., proximal position of the piston member 918) to a closed (e.g., distal position, piston member 918). In embodiments in which the first 902 and second 904 jaw members are movable, both jaw members may include a cam slot 922 and the piston element 918 may form a pair of cam pins. The piston member 918 may include an I-beam member adapted to slip on the first jaw member 902 and a second jaw member 904 to close the first jaw member 902 and the second jaw member 904 and / or to provide a compressive force tending to push the first jaw member. 902 and the second jaw member 904 simultaneously. The piston member 918 may include a cutting blade 926. The cutting blade 926 may be attached to the piston member 918 and positioned so that it can be extended and retracted with the piston element 918. The cutting blade 926 may be extended to cut the tissue or material present. between the first jaw member 902 and the second jaw member 904.

[0185] Referring to FIG. 116-120, the first jaw member 902 may include an outer surface 928. The outer surface of the first jaw member 902 may include a first gripping portion 930. The second jaw member 904 may also include an outer surface 932. The outer surface 932 with the second jaw member 904 may include a second portion. the tissue gripping portion 934. The first tissue trapping portion 930 and the second tissue trapping portion 934 have a tissue grip by contact and temporarily adhere to the tissue. The first tissue catching portion 930 and the second tissue catching portion 934 may contact and cut the tissue, while the first jaw member 902 and the second jaw member 904 are movable relative to each other from the closed position to the open position.

[0186] In one embodiment, the surgical gripper 901 may be used during a surgical procedure to cut tissue. For example, the first catching portion 930 and the second handling portion 934 may contact and temporarily adhere to the first and second tissue portions (not shown), respectively, such that when the first jaw member 902 is moved relative to the second jaw member 904 from the position enclosed to an open position, the first portion of the tissue being separated from the second portion of the tissue along the frontal plane while maintaining the substantial regional structure and structural integrity of the vessels and nerves. The first gripping portion 930 and the second gripping portion 934 may be configured to to create a workspace during the surgical procedure by opening the separating (clipping) tissue layers when the first jaw member 902 is moved relative to the second jaw member 904. [0187] As shown in FIG. 121, the first gripping portion 930 and the second gripping portion 934 may be formed on distal portions of the outer surface 928 and 932 of the first and second jaw members 902 and 904 by using a sheath. In one embodiment, the first and second grip portions 930 and 934 are attached to the outer surfaces 928 and 932 of the respective jaws with glue. In one embodiment, the first and second grip portions 930 and 934 are press-fitted on distal portions of outer surface 928 and 932.

[0188] The first and second gripping portions 930 and 934 may include materials with a high coefficient of friction to grip the tissue when the tissue slides relative to the first and second jaw members 902 and 904 after displacement of the first and second jaw members 902, 904 relative to self in the open position thus separating (separating) the layers of tissue along the frontal planes, while it retains the basically local-regional tonal regencies preserving the structural and structural integrity of vessels and nerves. Examples of materials with a high coefficient of friction that can be used to form the first and second gripping portions 930 and 934 include, but are not limited to, silicone-based elastomers, styrene-based thermoplastic elastomers (TPE), polyisoprene,

[0189] The first and second gripping parts 930 and 934 may comprise a semi-rigid material sufficiently flexible to contour without shearing after contact with the tissue. The first and second gripping portions 930 and 934 may include non-sensitizing, biocompatible material. In one embodiment, the first and second gripping portions 930 and 934 may include material with high plasticity and low Young's modulus of strain, such as an elastomer. Examples of suitable elastomers include, but are not limited to, silicone-based elastomers, styrene-based thermoplastic elastomers (TPE), polyisoprene, low density polyethylene, polypropylene, sanoprene, silicone, polyurethane, natural rubber, isotype, liquid crystal polymer (LCP) ), etc.

[0190] Referring to FIG. 116-120, the first and second gripping portions 930 and 934 may include gripping members 936. Gripping members 936 may be flexible enough to contour without shearing after contact with the tissue. The gripping members 936 may be in the form of protrusions 938. In at least one embodiment, the gripping members 936 may be in the form of recesses 940.

[0191] Referring to FIG. 121-126, the gripping members 936 may be spatially disposed in the gripping pattern 942. The gripping pattern 942 may include a plurality of protrusions 938. The gripping pattern may include a plurality of recesses 940. In at least one embodiment, as illustrated in FIG. 127 gripping pattern 942 may include a plurality of alternating protrusions 938 and recesses 940. In one embodiment, as shown in FIG. 123, gripping pattern 942 may include four protrusions 938.

[0192] As shown in FIG. 128, the gripping pattern 942 may include a plurality of protrusions 940 spatially spaced on the circle. Other arrangements are possible and within the scope of the present disclosure. As shown in FIG. 122, the gripping pattern 942 may include a plurality of protrusions 938 spatially disposed in multiple rows, each row including a plurality of projections 938 aligned along row lengths. Each row may include alternating projections 938 and recesses 940.

[0193] Referring to FIG. 123-128, the grip pattern 942 may include vertical protrusions 938 that extend horizontally on the grip portion 930. As shown in FIG., The vertical protrusions 938 may extend in opposite directions. In certain embodiments, as shown in FIG. 124, protrusions 938 may extend in parallel rows. In at least one embodiment, as shown in FIG. 125, the gripping pattern 942 includes a first group of parallel protrusions 938a, and a second group of parallel protrusions 938b, the first group 938a being in an oblique arrangement with the second group 938b. In at least one embodiment, as shown in FIG. 125, the grip portion 930 may include a herringbone pattern.

[0194] Referring to FIG. 129-131, the gripping pattern 942 may define vertical projections 938 that extend horizontally on the gripping portion 930 in a non-linear fashion. For example, as shown in FIG. 129, non-linear projections 938 may extend in a zigzag manner. In certain embodiments, as shown in FIG. 130 and 131, non-linear projections 938 may extend in parallel rows. In certain embodiments, as shown in FIG. 130, and 131, non-linear projections 938 may extend in opposite directions.

[0195] With reference to HG. 132 through 137, the gripper 500 includes a first jaw member 502A and a second jaw member 502B. The first jaw member 502A is movable relative to the second jaw member 502B between the open position (FIGS 132 and 136) and the closed position (HG. 133, 134, and 137) to clamp the tissue between the first jaw member 502A and the second jaw member 502B. The first jaw member 502A includes inclined tissue contact surfaces 504A and 506A. The second jaw member 502B includes inclined tissue contact surfaces 504B and 506B. The first jaw member 502A includes a first positively inclined tissue contact surface 504A and a first negatively inclined tissue contact surface 506A.

[0196] W znaczeniu stosowanym tutaj, określenia "dodatnio nachylona" oraz "ujemnie nachylona" odnoszą się do kierunku, w którym powierzchnia stykowa tkanki nachylona jest względem korpusu elementu szczękowego zawierającego powierzchnię stykową tkanki oraz płaszczyzny zaciskania członu szczękowego. W odniesieniu HG. 138, pierwszy człon szczękowy 502A' oraz drugi człon szczękowy 502B' są pokazane w położeniu zamkniętym takim żeby zaciskać tkankę pomiędzy przeciwległymi członami szczękowymi 502A' oraz 502B'. To położenie zamknięte jest analogiczne do położenia zamkniętego pokazanego na FIG. 133, 134,135, 137, oraz 142. Pierwszy człon szczękowy 502A' zawiera pierwszy korpus szczęki 503A', pierwszy element chwytający tkanki 507A', oraz pierwszą płaszczyznę zaciskania 505A. Drugi człon szczękowy 502B' zawiera drugi korpus szczęki 503B', drugi element chwytający tkanki 507B', oraz drugą płaszczyznę zaciskania 505B. Ogólnie, elementy chwytające tkanki oraz płaszczyzny zaciskania członów szczękowych chwytaka są w przeciwległej orientacji gdy człony szczękowe są w położeniu zamkniętym takim jak aby zaciskać tkankę pomiędzy przeciwległymi członami szczękowymi.

[0197] The first jaw member 502A comprises a first positively inclined contact surface 504A 'to form an angle (a) relative to the first attachment plane 505A and a first engagement body 503A' around the circumference of the first tissue gripping member 507A 'of the first mouth member 502A'. The first jaw member 502A comprises a first negatively inclined contact surface 506A forming an angle (a) relative to the first attachment plane 505A and away from the first engagement body 503A 'at the circumference of the tissue gripping member 507A' of the first mouth member 502A.

[0198] Accordingly, as used herein, the term "positively inclined" is used to determine the contact surfaces of tissue that deviate from the crimping plane and incline the jaw member with the positively inclined contact surface from the jaw body at the periphery of the tissue gripping member. Similarly, the term "negatively inclined" as used herein is used to define tissue contact surfaces that diverge from the crimping plane and tilt toward the jaw body at the periphery of the tissue gripping element of the jaw member including the negatively inclined tissue contact surface.

[0199] In this way, the second jaw member 502B comprises a second positively inclined contact surface 504B 'forming an angle (a) relative to the second attachment plane 505B and a second jaw body 503B' at the circumference of the second tissue gripping member 507B 'of the second jaw member. 502B '. The second jaw member 502B 'comprises a second negatively inclined contact surface 506A forming an angle (a) relative to the second attachment plane 505B and in a direction away from the second engagement body 503B' at the circumference of the tissue gripping member 507B 'of the second jaw member 502B'.

[0200] Referring again to FIG. 132-134, the first jaw member 502A includes a first jug body 503A and a first tissue catching member 507a, and the second jug body 502B includes a second jug body 503B and a second tissue catching member 507B. The first positively inclined contact surface of the tissue 504A of the first jaw member 502A is deflected from the first jaw body 503A on the circumference of the first tissue gripping member 507A. The first negatively inclined contact surface of the tissue 506A of the first jaw member 502A is tilted toward the first jaw body 503 a on the circumference of the first tissue gripping member 507A. The second positively inclined contact surface of the tissue 504B of the second jaw member 502B is biased away from the second jaw body 503B at the periphery of the second tissue gripping member 507B. The second negatively inclined contact surface of the tissue 506B of the second jaw member 502B is tilted toward the second jaw body 503B at the periphery of the second tissue grasping member 507B.

[0201] When the first jaw member 502A and the second jaw member 502B are in the closed position, e.g. to clamp the tissue between the first and second jaw members, the first positively inclined tissue contact surface 504A faces the second negatively inclined tissue contact surface 506B. When the first jug body 502A and the second jug body 502B are in the closed position, e.g. to clamp the tissue between the first and second jaw members, the first negatively inclined tissue contact surface 506A faces the second positively inclined tissue contact surface 504B.

[0202] As shown in FIG. 132-133 and 136-137, the first positively inclined tissue contact surface 504A and the first negatively inclined tissue contact surface 506A are located along substantially the entire length of the first jaw member 502a. The second positively inclined contact surface of tissue 504B and the second negatively inclined contact surface of tissue 506B are positioned along substantially the entire length of the second jaw member 502b.

[0203] The gripper 500 includes an I-beam member 508, which in some embodiments, can act as a closure member and / or tissue cutter. I-beam member 508 may operate in a similar manner to that described above with respect to the axial direction of the mobile member 3016 described above. I-beam member 508 can be dimensioned and configured to match, at least partially, within the channels of the first jaw member 502a, and the second jaw member 502b. The beam member I8 may functionally move along the channels in the first jaw member 502a and the second jaw member 502b, e.g., between the first, in the proximal direction of the retracted position correlating with the jaw members 502a and 502B being in the open position and the other, a distal advanced position correlated with jaw members 502a and 502b, being in the closed position. In this way, for example, the I-beam element 508 can be configured to allow the channels in the first and second jaw elements 502a and 502b to move in order to close the jaws by a cam action, and / or to move the cutting element and the first. and a second tissue gripping means 507A and 507B to cut the tissue clamped between the first and second jaw members 502a and 502b.

[0204] The movement in the first jaw member 502A relative to the second jaw member 502b between an open position (FIGS 132 and 136) and a closed position (FIGS 133, 134 and 137) to clamp the tissue between the first jaw member 502A and the second jaw member 502B can be actuated by means of a suitable closing actuator. The displacement of the I-beam member between the retracted position and the extended position can be actuated by means of a suitable closing actuating mechanism. Suitable closing actuating mechanisms and corresponding translation translation actuators are described, for example in connection with FIG. 64-82, FIG. 83-91 and 92-96.

[0205] Referring to FIG. 139 and 140, 510 the gripper consists of a first jaw member 512a and a second jaw member 512b. The first jaw member 512A is movable relative to the second jaw member 512b between an open position (FIGS. 139 and 140) and a closed position (not shown) to clamp the tissue between the first jaw member 512a and the second jaw member 512b. The first jaw member 512A comprises inclined contact surfaces of tissue 514A and 516A. The second jaw member 512B includes inclined contact surfaces 514B and 516B. The first jaw member 512A includes a first positively inclined tissue contact surface 514A and a first negatively inclined tissue contact surface 516a.

[0206] The first jaw member 512A includes a first jaw body 513A and a first tissue capture member 517a, and the second jaw member 512B includes a second jaw body 513B and a second tissue catching member 517B. A first positively advantageous inclined contact surface of tissue 514A of the first jaw member 512a is deflected from the first jaw body 513A on the periphery of the first tissue gripping member 517a. The first negatively inclined contact surface of the tissue 516a of the first jaw member 512A is inclined towards the first jaw body 513A on the circumference of the first tissue catching member 517a. The second positively inclined contact surface of the tissue 514B of the second jaw member 512b is deflected from the second jaw body 513B at the periphery of the second tissue gripping member 517B.

[0207] When the first jaw member 512A and the second jaw member 512B are in a closed position, e.g. to clamp the tissue between the first and second jaw members, the first positively inclined contact surface of tissue 514A is opposite the second negatively inclined tissue contact surface 516B. When the first jaw member 512A and the second jaw member 512B are in a closed position, e.g. to clamp the tissue between the first and second jaw members, the first negatively inclined contact surface of tissue 516A is opposite the second positively inclined tissue contact surface 514B.

[0208] The first positively inclined contact surface of tissue 514A is located along the proximal portion of the length of the first jaw member 512a. The second positively inclined contact surface of tissue 514B is disposed along the proximal portion of the length of the second jaw member 512b. The first negatively inclined contact surface of tissue 516A is located substantially along the entire length of the first jaw member 512a. The second negatively inclined contact surface of tissue 516B is located along substantially the entire length of the second jaw member 502b.

[0209] The gripper 510 includes an I-beam member 518, which in some embodiments, can act as a closure member and / or a tissue cutter. The I-beam element 518 may be dimensioned and configured to fit at least partially in the channels in the first jaw member 512a and the second jaw member 512b. The I-beam element 518 can slide along the channels in the channels in the first jaw member 512a and the second jaw member 512, e.g., between the first, in the proximal direction, the retracted position of the corresponding jaw members 512a and 512B being in the open position, and the other, a distal advanced position correlated with the jaw members 512A and 512B being in the closed position. In this way, for example,

[0210] Movement of the first jaw member 512a to the second jaw member 512b between an open position (FIGS. 139 and 140) and a closed position (not shown) to clamp the tissue between the first jaw member 512a and the second jaw member 512B can be actuated by closing actuating mechanism. The displacement of the I-beam member between the retracted position and the extended position can be actuated by means of a corresponding shifting actuating mechanism. Suitable closing actuating mechanisms and corresponding shifting actuating mechanisms are described, for example in connection with FIG. 64-82, FIG. 83-91 and 92-96.

[0211] The first jaw member 512A and the second jaw member 512B include a first distal textured portion 519A and a second distal textured portion 519B, respectively. The first distal textured portion 519A of the first jaw member 512A is positioned further and is directly adjacent to the proximal tissue gripping member 517a of the first jaw member 512a including the first positively inclined contact surface of tissue 514A. The first positively inclined contact surface of tissue 514A does not extend distally along the length of the first jaw member 512a in the first distal portion 519A. The second distal portion 519B of the second jaw member 512b is disposed further and immediately adjacent the proximal tissue gripping member 517B of the second jaw member 512b comprising the second positively inclined contact surface of the tissue 514B. The second positively inclined contact surface of tissue 514B does not distally extend along the second jaw member 512b in the second distal textured portion 519B. The first and second distal parts 519A and 519B of the first and second jaws 512A and 512B may be opposed and may allow the gripper 510 to grip, administer and / or manipulate surgical tools, such as tissue stapling needles, in addition to gripping tissue, e.g. during surgery section. This capture, feeding and / or handling functionality is described, for example in connection with FIG. 116-131 and 154-164.

[0212] The first jaw member 512A and the second jaw portion 512B include a first grip portion 521a and a second grip portion 521b, respectively. The first gripping portion 521A is located on the outwardly facing surface of the first jaw member 512a, and the second grip portion 521B is disposed on the outwardly facing surface of the second jaw member 512b. The grip portions 521A and 521B may act to facilitate the tissue sections as described, for example, in connection with FIG. 116-131 and 154164.

[0213] FIG. 141 is a perspective view of the gripper 510 'similar to the gripper 510 shown in FIG. 139 and 140, but including electrodes 522 located in the second tissue gripping element 517B of the second jaw member 516B and between the second positively inclined contact surface of tissue 514B and the second negatively inclined contact surface of tissue 516B. The electrodes 522 may be configured to deliver RF energy to the tissue clamped between the first jaw member 512a and the second jaw member 512b when it is in a closed position for welding / protecting the tissue that can be cut by translation of the I-beam 518 including the cutting member. Although FIG. 141 shows two electrodes 522, it is understandable, that the gripper according to the embodiments described herein may comprise at least one or more electrodes comprising any suitable shape and orientation as described, for example, in the description. The second jaw member 516B also includes a displaced electrode 524 at the distal end 525 configured to deliver RF energy to the tissue during section operations, e.g. In some embodiments, the first further textured portions 519A and second further textured portions 519B may also be configured with electrodes, e.g., to deliver RF energy to the tissue, during section operations. The electrode functionality is described, e.g. in connection with FIG. 154-164. The second jaw member 516B also includes a displaced electrode 524 at the distal end 525 configured to deliver RF energy to the tissue during section operations, e.g. In some embodiments, the first further textured portions 519A and second further textured portions 519B may also be configured with electrodes, e.g., to deliver RF energy to the tissue, during section operations. The electrode functionality is described, e.g. in connection with FIG. 154-164. The second jaw member 516B also includes a displaced electrode 524 at the distal end 525 configured to deliver RF energy to the tissue during section operations, e.g. In some embodiments, the first further textured portions 519A and second further textured portions 519B may also be configured with electrodes, e.g., to deliver RF energy to the tissue, during section operations. The electrode functionality is described, e.g. in connection with FIG. 154-164. in order to deliver RF energy to the tissue during section operations. The electrode functionality is described, e.g. in connection with FIG. 154-164. in order to deliver RF energy to the tissue during section operations. The electrode functionality is described, e.g. in connection with FIG. 154-164.

[0214] Referring to FIG. The gripper 530 includes a first jaw member 532a and a second jaw member 532b shown in the closed tissue crimping position 545 between the jaw members. The first jaw member 532a includes a first positively inclined tissue contact surface 534A and a first negatively inclined tissue contact surface 536A. The second jaw member 532b includes the second positively inclined tissue contact surface 534B and the second negatively inclined tissue contact surface 536B. The tissue 545 physically contacts the sloped contact surface of tissue 534A, 534B, 536A and 536B. The physical contact between tissue 545 and the sloped contact surface of tissue 534A, 534B, 536A, 536B compresses tissue 545 between the first jaw portion 532a and the second jaw member 532b. As shown in FIG. 142, tissue clamping between the first jaw member 532a and the second jaw member 532b compresses tissue 545 between opposed contact surfaces of tissue 536A and 534B, and between mutually opposed tissue contact surfaces 534A, 536B that establishes a complicated deformation of tissue 545. Complicated strain increases clamping action 530 with tissue 545, which in turn improves binding / connection to tissue 545 and / or tissue intersection 545. Tissue 545 can be fused / connected, for example, by applying RF energy through electrodes 542 located in the tissue capture component of the second jaw member. 532b and between the second positively inclined contact surface of tissue 534B and the second negatively inclined contact surface of tissue 536B. Tissue 545 can be cut,

[0215] In some embodiments, the gripper may include a first jaw member comprising a first positively inclined tissue contact surface and a first negatively inclined tissue contact surface and a second jaw member comprising a second positively inclined tissue contact surface and a second negatively inclined tissue contact surface.

The inclined tissue contact surfaces may form an angle (a) relative to the mounting plane as described, for example, in connection with FIG. 138. The magnitude of the angle (a) between the contact surface and the crimping plane may be 5 degrees to 85 degrees, or any subsumed range, such as, for example, from 10 degrees to 80 degrees from 20 degrees to 70 degrees, from 30 degrees degrees up to 60 degrees, from 40 degrees to 50 degrees, from 25 degrees to 50 degrees, or from 30 degrees to 45 degrees.

[0216] In some embodiments, the inclined contact surfaces of the tissue may independently form an angle relative to the respective crimping planes. The angle formed by the inclined contact surfaces of the tissue may be substantially the same or different in a given gripper. For example, two opposed inclined tissue contact surfaces (e.g., a first positively inclined tissue contact surface and an opposite second negatively inclined tissue contact surface) can form a common angle (al) relative to the respective crimping planes and the other two opposed inclined tissue contact surfaces (on for example, the first negatively inclined tissue contact surface and the opposite second positively inclined tissue contact surface) can form a common angle (a2) relative to the respective mounting planes, whereby | at 1 * | at 2. [0217] In some embodiments, the slanted tissue contact surface may extend at a predetermined normal distance to a corresponding clamping plane coincident with the horizontal sloped contact portion of the jaw member tissue. For example, referring to FIG. 138, the first positively inclined contact surface of tissue 504A 'extends normal to the first clamping plane 505A and the second positively inclined contact surface of tissue 504B' extends normal to the second clamping plane 505B. Similarly, the first negatively inclined tissue contact surface 506A 'extends to a normal distance to the first clamping plane 505A and the second negatively inclined tissue contact surface 506B' extends over the normal distance to the second clamping plane 505B. In some embodiments, the inclined tissue contact surfaces can extend a distance of between 0.635 mm to 6.35 mm (0.025 inch to 0.25 inch) normal to a suitable clamping surface, or a sub-merger, such as, for example, 0.635 mm to 0.254 mm or 0.635 mm to 1.27 mm (0.025 in. to 0.01 in. and 0.025 in. to 0.05 in.).

[0218] While the inclined tissue contact surfaces shown in FIG. 132 through 142 are shown as flat surfaces, it should be noted that in some embodiments, the inclined contact surfaces of the tissue may be curved surfaces or a combination of flat surfaces and curved surfaces.

[0219] In some embodiments, the grippers comprising inclined tissue contact surfaces can be configured to be operatively coupled to robotic surgical systems, such as, for example, robotic surgical systems described in connection with, for example, FIGS. 1-45. In some embodiments, the grippers with inclined tissue contact surfaces can be configured to be operatively engageable with portable surgical devices, such as, for example, manual devices described in connection with FIG. 46-63.

[0220] The inclined tissue contact surfaces described in connection with FIG. 132 to 142 provide various advantages to grippers configured to grasp / clamp the tissue, connect / bind the tissue, cut off the tissue, or any combination of these activities. For example, in some embodiments, as shown in FIG. 132 through 142, the positively inclined contact surfaces are integral with the outer surfaces of the jaws (i.e. formed from one piece of material). Accordingly, the positively inclined contact surfaces provide a thicker structure of the jaw member in a thickness dimension (dimensioned T in FIGs. 141 and 142). The thicker structure of the jaw element increases the strength and stiffness of the jaws, which ensure better loading of the tissue gripping / clamping. In some embodiments, for example, the thicker structure of the jaw member provided by the preferably positively inclined contact surfaces can increase the moment of inertia of the jaw members by 20-30% relative to the jaw members covering the coplanar tissue contact surfaces. The increased moment of inertia can provide a better bonding zone for joining and cauterizing the tissue clamped in a gripper comprising sloped contact surfaces of the tissue, providing a more focused area for RF energy to enter and bind the tissue.

[0221] Each of the electrosurgical tools described herein can be powered using a current path / energy from a generator or other signal source (such as generator 3002) through wires, such as power wires 3012 and return 3014 (see FIGURE 6) via the assembly shaft for electrodes or electrodes. In the shaft assembly, current paths can be provided by wires that pass through the roller assembly. The conduits, however, must be configured to avoid bending, twisting or other deformation in various articulation connections and tool joints, including the articulation joint 3500 described herein. In the disclosed invention, the electrosurgical tool uses components of the shaft assembly as a current path to power the electrosurgical electrodes.

[0222] In the illustrated embodiments, the rotatable connector assembly is to be used to allow the rotary drive shaft or other internal component of the shaft assembly to provide a powered current path between the generator and the grabber and / or its electrode. The rotatable connector can be configured to maintain a connection between the supplied power path and the gripper despite rotation of the shaft and / or the gripper. In bipolar configurations, the return path may be formed by conductive shaft components and a gripper such as, for example, a shaft shell, I-beam member or other knife, parts of different jaw members, etc. as described herein [0223] FIG. 143-146 show one embodiment of the rotatable connector assembly 1100 installed in the gripper 550 and shaft assembly 560 as described herein with reference to FIG. 64-81. FIG. 143 is a cross-sectional view of one embodiment of the gripper 550 and a shaft assembly 560 illustrating an embodiment of the rotatable electrode assembly 1100. FIG. 144 is an exploded view of one embodiment of the gripper 550 and a shaft assembly 560 depicting a rotatable electrode assembly 1100 both installed on rotatable drive shaft 630 (indicated by reference numerals 1100 ', 1102', 11049 and dismantled (indicated by reference numbers 1100, 102,1104). 145 is a cross-sectional view of one embodiment of the gripper 550 and a shaft assembly 560 showing the rotatable electrode assembly 1100 with the rotary drive head 632 in a proximal position.

[0224] The rotatable electrode assembly 1100 may be located in the drive housing of the gripper 608 and may include an external contact 1102 and an inner contact 1103. The outer contact 1102 may be positioned around the inner wall of the gripper housing 608. In the illustrated embodiment and in similarly similar embodiments outer contact 1102 may be in the shape of a cylinder or other form of rotation. The external contact 1102 may be in electrical communication with one or more of the electrodes 1112 in the gripper 550 by one or more wires, such as wire 1110. The lead 1110 may be in physical contact with the external contact 1102 and may extend through the lower jaw member 602B to the electrode 1112 as shown. The wire 1110 may be attached to the electrode 1112 in any suitable manner including, e.g. with soldering or other similar connection. For example, a plurality of energized electrodes may be used with one wire 1110 directed to each electrode. In the illustrated embodiment, the wire 1110 can be insulated so as to avoid electrical communication with other parts of the gripper 550 and the shaft assembly 560.

[0225] The internal contact 1103 may be physically coupled to the rotary drive shaft 630, e.g., proximal to the engagement portion hex 634, as shown. The internal contact 1103 may be in electrical contact with the external contact 1102. For example, the internal contact 1103 may be in physical contact with the external contact 1102. In the illustrated embodiment and in similarly similar embodiments, the internal contact 1103 may maintain electrical contact with an external contact 1102, when the rotary drive shaft 630 and / or the gripper 560 rotates. For example, the external contact 1102 may be a form of rotation such that the internal contact 1103 is in physical contact with the contact 1102 when the rotary drive shaft 630 rotates.

[0226] In the illustrated embodiment and in functionally similar embodiments, the internal contact 1103 may also be a form of rotation. For example, as shown, the inner contact 1103 may include an annular brush 1104 and a grooved conductor 1106. The grooved conductor 1106 may be positioned around the rotary drive shaft 630 closer to the engagement portion hex 634. The grooved conductor 1106 may define the groove 1107 to receive the annular brush 1104. The annular brush 1104 may have a diameter larger than this groove 1107. In the embodiment shown and in functionally similar embodiments, the annular brush 1104 may define a gap 1105. For example, the gap 1105 may allow the diameter of the annular brush 1104 to expand and shrink. E.g, the diameter of the annular brush 1104 can be expanded to place it over the rest of the grooved conductor 1106 and in the gap 1107. Also, when the inner contact 1103 is placed in the outer contact 1102, its diameter can be shrunk. In this way, the tendency of the annular brush 1104 to take the original diameter may cause the annular brush 1104 to exert external force on the outer contact 1102 tending to retain the annular brush 1104 and outer contact 1102 in physical and electrical contact with each other.

[0227] Styk wewnętrzny 1103 może być w komunikacji elektrycznej z odpowiednią częścią składowa wału, tym samym dopełniając ścieżkę prądu od elektrody 1112 do generatora, takiego jak generator 3002 opisany tu powyżej w odniesieniu do FIG. 6 i/lub generator wewnętrzny. W przedstawionym przykładzie wykonania, styk wewnętrzny 1103, oraz w szczególności rowkowany przewodnik 1106, jest w fizycznym oraz elektrycznym kontakcie z owiniętą częścią składową przewodu 1114 zawiniętą wokół obrotowego wału napędowego 630. Owinięta część składowa przewodu 1114 może rozciągać się bliżej przez wał gdzie może być połączona bezpośrednio lub pośrednio do generatora. Jak tu opisano, owinięta część składowa przewodu 1114 może również działać jako sprężyna, aby zapewnić sztywność do obrotowego wału napędowego 630 wokół przegubu połączenia przegubowego, na przykład, jak tu opisano w odniesieniu do FIG. 31-31 oraz sprężyny 3612. W niektórych przykładach wykonania, obrotowy wał napędowy 630 może zawierać zewnętrzną izolowaną tuleję. Styk wewnętrzny 1103 może być w kontakcie elektrycznym z zewnętrzną izolowaną tuleją dodatkowo lub zamiast owiniętej części składowej przewodu 1114. Przykład izolowanej tulei 1166 jest opisany tu w odniesieniu do FIG. 151. Inny przykład potencjalnej izolowanej tulei stanowi człon ograniczający 3660 opisany tu powyżej w odniesieniu do FIG. 45.

[0228] In the illustrated embodiment, the current return path from the electrode 1112 can be provided by different components of the gripper 550 and shaft assembly 560 including, for example, jaw members 602A, 602B, gripper drive housing 608, and other shaft members extending closer. Accordingly, parts of the energized current path may be electrically insulated from other components of the gripper 550 and shaft assembly 560. For example, as described above, the wire 1110 between the outer contact 1102 and the electrode 1112 may be surrounded by an electrical insulator 1111 as shown. Also, the external contact 1102 and the internal contacts 103 can be insulated from the other components of the gripper 550 and the shaft assembly 560. For example, insulator 1118 may be arranged to electrically insulate outer contact 1102 from the drive housing of gripper 608. Insulator 1116 may be arranged to insulate outer contact 1102 and internal contact 1103 from rotatable drive shaft 630. Insulator 1118 may be an additional component or, in some embodiments , can be supplied as TEFLON or other insulating coating. As shown in FIG. 145-146, the insulator 1116 may extend closer, also insulating the wrapped cable component 1114 from both the rotary drive shaft 630 and other components of the shaft assembly 560 such as, for example, the gripper housing 608. The insulator 1118 may be an additional component or, in some embodiments, may be provided as TEFLON or other insulating coating. As shown in FIG. 145-146, the insulator 1116 may extend closer, also insulating the wrapped cable component 1114 from both the rotary drive shaft 630 and other components of the shaft assembly 560 such as, for example, the gripper housing 608. The insulator 1118 may be an additional component or, in some embodiments, may be provided as TEFLON or other insulating coating. As shown in FIG. 145-146, the insulator 1116 may extend closer, also insulating the wrapped cable component 1114 from both the rotary drive shaft 630 and other components of the shaft assembly 560 such as, for example, the gripper housing 608.

[0229] In the embodiment shown in FIG. 145-146, external contact 1102 may be extended closer and further such that an electrical contact between external contact 1102 and internal contact 1103 is held with rotatable drive shaft 630 and rotatable drive head 632 at various proximal and distal further positions. For example, in FIG. 145, the rotary drive shaft 630 and the rotary drive head 632 are pulled closer so that the male engagement portion hex 636 of the drive shaft of the head 632 is received by the portion connecting the hex shaft 609 of the gripper housing 608. In this position, the rotation of the rotary drive shaft 630 can cause rotation of the gripper housing 608 and gripper 550, as described herein. In addition, as shown in FIG. 145 the internal contact 1103 may be in physical and electrical contact with the external contact 1102. In FIG. 146, the rotary drive shaft 630 and the rotary drive head 632 are pushed further such that the engagement portion hex 634 of the rotary drive head 632 receives the threaded rotatable drive nut 606. In this position, the rotation of the rotary drive shaft 630 can cause rotation of the threaded rotatable drive nut 606 which in turn, causes rotation of the threaded rotatable drive member 604 and further and / or closer displacement of the I-beam 620 member. In addition, as shown in FIG. 146, internal contact 1103 may be in physical and electrical contact with external contact 1102. that the engaging portion hex 634 of the rotary drive head 632 receives the threaded rotatable drive nut 606. In this position, rotation of the rotary drive shaft 630 may cause rotation of the threaded rotatable drive nut 606 which in turn causes rotation of the threaded rotatable drive member 604 and further and / or a closer displacement of the I-beam 620 member. In addition, as shown in FIG. 146, internal contact 1103 may be in physical and electrical contact with external contact 1102. that the engaging portion hex 634 of the rotary drive head 632 receives the threaded rotatable drive nut 606. In this position, rotation of the rotary drive shaft 630 may cause rotation of the threaded rotatable drive nut 606 which in turn causes rotation of the threaded rotatable drive member 604 and further and / or a closer displacement of the I-beam 620 member. In addition, as shown in FIG. 146, internal contact 1103 may be in physical and electrical contact with external contact 1102. as shown in FIG. 146, internal contact 1103 may be in physical and electrical contact with external contact 1102. as shown in FIG. 146, internal contact 1103 may be in physical and electrical contact with external contact 1102.

[0230] FIG. 147-148 are cross-sectional views of one embodiment of the gripper 550 and the roller assembly 560 in which the longitudinal length of external contact 1108 is selected such that the rotary joint assembly 1100 alternately forms and interrupts an electrical connection delimited by the position of the longitudinal internal contact 1103. For example, in Fig. 147, a rotary drive shaft 630 and rotatable guide head 632 are positioned proximal so that the male Hex coupling portion 636 in the Hex shaft coupling portion 609 of the further shaft portion 608. As shown, the inner contact 1103 (in particular the brush ring 1104), may contact no contact 1102, but may contact the insulator 1108. In this way, the electrical connection between the electrode 1112 and the generator may not be completed,

Drive drive 630 and rotatable drive head 632 are positioned distally in contact with threaded drive nut 606, as shown in Fig. 148, internal contact 1103 can have electrical (and physical) contact with terminal 1102 of the current path between electrode 1112 and generator. The configuration shown in Figs. 147-148 can be useful in many different situations. For example, it may be desirable to power the electrodes 1112 when the jaw elements 602a, 602b are open. In the illustrated embodiment, the members of the jaws 602a, 602b are closed by a rotary drive shaft 630 when the shaft 630 is located at a distance (Fig. 148) and not when the shaft 630 is positioned proximal (Fig. 147). Accordingly, in the configuration shown in Figs. 147-148, the current path from the generator to the electrode 1112 is completed only then,

[0231] In some of the embodiments described herein, the end effector 550 may be removed from the drive housing of the effector 608 and, for example, may be interchangeable with other end effectors (not shown). Examples of the actuating mechanisms of the replaceable electrodes are here with reference to Figs. 106-115. In such embodiments, the conduit 1110 may include a post effector portion and a shaft portion connected by a connector assembly. Figs. 149-150 show one embodiment of a shaft assembly 560 showing configuration including a set of parts 1130,1132 and a connector assembly 1120. For example, as shown in Figs. 149-150, and as described here, the proximal part 603 of the jaw element 602b may be disposed in the drive housing 608 via a manipulator. The proximal portion 603 of the jaw member 602b is illustrated within the housing of the effector drive side 608 in FIG. 149 and separately from the drive side of the effector drive 608 in FIG. 150. The connector assembly 1120 may include an effector end of the lateral lead 1122 and lateral lead 1124 of the shaft. Suitable leads may be in physical and electrical contact with each other when proximal portion 603 is received at a distal portion of shaft 608 as shown in Fig. 149. In various embodiments, connector assembly 1120 may be configured to maintain electrical isolation of actuation of the current path. with other components of the gripper 550 and shaft 560. For example, the insulation 1126, 1128 can electrically isolate the lead connections 1122,1124. In the illustrated embodiment, in functionally similar embodiments, insulation 1126,

[0232] Fig. 151 is a cross-sectional view of an alternative embodiment of the gripper 1140 and roller 1142, showing another context in which the rotatable connector assembly 1147 can be used. The end effector 1140 may include jaw elements 1146A, 1146B, which may be similar to the jaws 3008A, 3008B, 602A, 602b, etc. described above. On

For example, the jaw members 1146A, 1146B can be actuated by an I-beam member 1156, which, in the illustrated embodiment, can include a cutting edge 1148 for cutting tissue between the jaw elements 1146A, 1146B. The I-beam member 1156 may be driven in the distal and proximal direction by rotating the shaft of the threaded element 1154 of the shaft element 1154. It may be rotated by means of the main drive shaft 1149. For example, the main drive shaft 1149 may be connected to the toothed wheel 1150. The gear 1150 may be be in mechanical communication with the toothed wheel 1152 connected to the I-shaft by a user 1154, as shown.

[0233] The end effector 1140 may include an electrode 1158 that may act in a similar manner to that of the electrode 1112 as described above. The insulated wire 1160 may be electrically connected to the electrode 1158 and may extend in a proximal direction to the outer contact 1162. The outer contact 1162 may be placed on the inner wall of the stem 1141 in a manner similar to that in contact 1102 in connection with the inner wall 1108 the drive housing of the internal contact manipulator 608 (e.g., a brush) may be positioned around the main drive shaft 1149 so that the brush 1164 is in electrical contact with the contacts 1162. The brush 1164 may also be electrically in contact with the conductive sleeve 1166 located around the main drive shaft. 1149.

[0234] It should be noted that the rotating assembly 1100 of the electrode can be used by any of the gripper and / or embodiment of the roller assembly described herein. For example, Fig. 152 is a cross-sectional view of one embodiment of the gripper and shaft of Figs. 83-91 illustrating another exemplary assembly of the rotating pad assembly 1100 in this external contact 1102 of the internal contact 1103 as described herein.

[0235] Figures 153-168 show various embodiments of electrosurgical manipulator 700 comprising proximal tissue processing zone 706 and distal tissue processing zone 708. The proximal tissue processing zone 706 uses different electrodes and cutting edges for tissue treatment, e.g., as described above herein with respect to the gripper 3000 shown in Figs. 6-10. The treatment provided by the proximal tissue processing zone 706 may include, e.g., clamps, mouth, weave, coagulation, welding, etc. of the tissue, the distal tissue treatment zone 708 may also include one or more electrodes 742 and may be used to apply tissue treatment and, in some embodiments, for performing other surgical tasks such as capturing and manipulating the suturing needle and / or other surgical tools.

[0236] Fig. 153 shows one embodiment of the gripper 700. The end effector 700 may be used for various surgical instruments, including those described herein. As illustrated, the end effector 700 includes a first jaw member 720 and a second jaw member 710. The first jaw member 720 may move relative to the second jaw member 720.

102 of the jaw member 1004 between the open position (shown in Figs. 153-156) and the closed position (shown in Figs. 166 and 165). For example, the members of the jaws 720, 710 may be pivotally connected at a pivot point 702. The jaw members 710, 720 may be curved relative to the longitudinal axis of the "LT" tool, as shown in the drawing. In some embodiments, the jaw members 710, 720 may be instead of straight as shown in relation to the jaw members 3008A, 3008B shown in Figs. 6-8. In use, the end effector 700 may be transferred from an open position to a closed position for grasping the tissue between the jaws 720, 710. Tissue closed between jaws 720, 710 may be fastened or gripped along parts of the jaw members 710,720 for the use of one or more tissue treatments,

[0237] The proximal tissue processing zone 706 of the gripper 700 may treat the tissue in a similar manner to that described above with respect to the gripper 3000. The tissue between the jaws 720, 710 in the proximal area of treatment may be secured in place, for example, through teeth 734a, 734b. See, e.g., Figures 154-159. In the proximal tissue processing zone 706, the jaw members 720, 710, corresponding longitudinal channels 812, 810 can be defined in the I-beam member 820 (Figs. 155 and 159) can extend distally and proximately inside the longitudinal channels 812, 810, e.g. as described above, relative to the gripper 3000 and the axially movable member 3016. In some embodiments, the distal and proximal expression of the I-section member 820 may also be transient jaws 720, 710 between open and closed positions. E.g, the I-beam element 820 may include a flange positioned in contact with the cam surfaces of the respective jaws 720, 710, similar to the manner in which the contact flanges 3016A, 3016B of the cams 3026A, 3026B in the embodiment described with reference to Figs. 6-10. The I-beam member 820 may also define a distal-directed cutting member 822 that can cut the tissue between the jaws 720, 710 when the I-section member 820 progresses toward the distal end. In some embodiments, the jaw members 720, 710 may include tissues, contact surfaces 730A, 730B, 732a, 732b, similar to the surface of the contact tissue 504A, 504B, 506A, 506B described hereinabove with reference to Figs. 132-137. 3016B contact surfaces of cams 3026A, 3026B in the embodiment described with reference to Figs. 6-10. The I-beam member 820 may also define a distal-directed cutting member 822 that can cut the tissue between the jaws 720, 710 when the I-section member 820 progresses toward the distal end. In some embodiments, the jaw members 720, 710 may include tissues, contact surfaces 730A, 730B, 732a, 732b, similar to the surface of the contact tissue 504A, 504B, 506A, 506B described hereinabove with reference to Figs. 132-137. 3016B contact surfaces of cams 3026A, 3026B in the embodiment described with reference to Figs. 6-10. The I-beam member 820 may also define a distal-directed cutting member 822 that can cut the tissue between the jaws 720, 710 when the I-section member 820 progresses toward the distal end. In some embodiments, the jaw members 720, 710 may include tissues, contact surfaces 730A, 730B, 732a, 732b, similar to the surface of the contact tissue 504A, 504B, 506A, 506B described hereinabove with reference to Figs. 132-137.

[0238] The proximal tissue treatment zone 706 may additionally include different electrodes and / or current paths to provide electrosurgical (RF) and / or other energy to the tissue. The second jaw member 710 may include supply electrodes 848 disposed around the channel 810. See e.g. Figures 153-155 and 157. The power electrode 848 may be electrically connected to a generator for supplying RF energy, such as the generator 3002 described above. For example, the power electrode 848 may be in connection with one or more connector wires 846. The network conductor 846 may extend in the distal direction by means of the shaft assembly to the tool connection 302 and / or the handle 2500 and ultimately to the generator, such as generator 3002 or internal generator as described herein. Electrode

103

The power supply 848 may be electrically isolated from other end effectors 700. For example, referring to Fig. 10, the power electrode (visible on either side of channel 810 through 848a and 848b) may be placed on insulating layer 844 (again indicated on each side of the channel). 810 through 844a, 844b). The insulating layer 844 can be made of any suitable insulating material, e.g. ceramic, Teflon, etc. In some embodiments, the insulating layer 844 can be used as a coating for the jaw member 810. The power electrode 848 may operate in conjunction with a return pathway for applying bipolar high frequency energy to the tissue, such as the tissue 762 shown in Fig. 159. The current supplied by the feed electrodes 848 can flow through the tissue 762 and return to the generator via the return path. The return path may include various electrically conductive end effectors 700. For example, in some embodiments, the return channel may comprise the stems of the first and second jaws 720, 710, tissues, the contact surfaces of the I-beam member 820 730A, 730B, 732a, 732b, etc. [0239] In the illustrated embodiments, the power electrode 848 is offset from the return path. For example, the power electrode 848 is set such that when the jaw members 720, 710 are in the closed position shown in Fig. 159, the electrode 848 is not in electrical contact (e.g., physical contact) with the conductive parts of the gripper 700 that can be used. and the return path for the RF current. E.g, the first jaw member 720 may include an opposing member 878 (designated in Fig. 159, like 878a and 878b, on either side of the conduit 812) opposite the electrode 848, such that when closing the jaws 720, 710, the electrode 848 is in direct contact with the element opposite 878, and not from any other end effectors 700. The counter-member 878 can be electrically insulated. In this way, it may be possible to close the jaws 720, 710 without shorting the feed electrode 848 with the return path. In some embodiments of the invention, the opposing member 878 may be selectively insulated. For example, the opposing member 878 may include an opposite positive temperature coefficient (PTC) of the body, as described above, which is conductive below the temperature threshold (e.g. about 100 ° C) and insulating at higher temperatures. In this way, the opposing member 878 may be part of the return path, but only up to its temperature exceeds the threshold temperature. For example, if the power electrode 848 was to be electrically shorted to an opposing member 878 containing PTC or similar material.

[0240] Further treatment of the tissue zone 708 can determine the distal gripping surfaces 790A, 790b located on the jaws 710, 720, respectively. The distal gripping surface 790A, 790b may be located remotely from the proximal treatment zone 706. The distal gripping surfaces 790A, 790b may, in some embodiments, be configured to grasp and hold the tissues. For example, further gripping surfaces 790A, 790b may include grip elements 741 to increase friction between gripping surfaces 790A, 790b and tissue and / or surgical tools as described

104 below. The gripping means 741 may include any suitable structure defined by the surfaces 790A, 790b, a friction-increasing coating acting on surfaces 790A, 790b, etc.

[0241] In some embodiments, the further tissue treatment zone 708 may also be configured to use unipolar and / or bipolar electrosurgical energy (e.g., RF). For example, the surface 790A may be and / or may comprise a further power electrode 742. For example, the surface 790A itself may be made of a conductive material, and hence a further power electrode 742. In some embodiments, as described herein, the power electrode 742 may include a conductive material coupled from the insulating layer 845. The insulating layer 845 may have a dielectric layer and / or a coating applied to the jaw member 710. The further power electrode 742 may be in electrical contact with a generator such as the generator 3002 described above and / or an internal generator. In some embodiments, a further power electrode 742 may be in electrical contact with the feeding electrode 848 of the proximal tissue processing zone 706. In this way, the further power electrode 742 may be energized when the proximal power electrode 848 is live. In some embodiments, further supply electrode 742 may be powered independently of the proximal power electrode 848. For example, further power electrode 742 may be connected to the generator via a special power line (not shown).

[0242] The return path of electrical energy provided by the further power electrode 742 may also include any suitable conductive end effector, including, for example, a jaw member 710, a jaw member 720, a I-section member 820, etc. In some embodiments, the further gripping surface 790b may also be a further return electrode 748 that may be part of a return path from a further feed electrode 742. For example, the further return electrode 748 may be in electrical contact with the jaw member 720, which may be electrically connected to a generator such as a generator 3000. The distal return electrode 748 may be formed in any suitable manner. For example, surface 790b may be conductive, thereby forming electrodes 748. In some embodiments, the conductive material may be used at 790 b on the surface, the conductive material constituting the electrodes 748. [0243] In the illustrated embodiments, the further power electrode 742 is not displaced. For example, a further power electrode 742 is adapted to the return electrode 748. Accordingly, the end effector 700 may be configured such that a further power electrode 742 does not contact the return electrode 748 when the jaw members 720,710 are in the closed position. For example, the gap 780 may be between the further supply electrode 742 and the distant return electrode 748 when the jaw elements 720, 710 are in the closed position. The gap 780 is visible in Figs. 160, 161,162, 163, 164 and 165. [0243] In the illustrated embodiments, the further power electrode 742 is not shifted. For example, a further power electrode 742 is adapted to the return electrode 748. Accordingly, the end effector 700 may be configured such that a further power electrode 742 does not contact the return electrode 748 when the jaw members 720,710 are in the closed position. For example, the gap 780 may be between the further supply electrode 742 and the distant return electrode 748 when the jaw elements 720, 710 are in the closed position. The gap 780 is visible in Figs. 160, 161,162, 163, 164 and 165. [0243] In the illustrated embodiments, the further power electrode 742 is not shifted. For example, a further power electrode 742 is adapted to the return electrode 748. Accordingly, the end effector 700 may be configured such that a further power electrode 742 does not contact the return electrode 748 when the jaw members 720,710 are in the closed position. For example, the gap 780 may be between the further supply electrode 742 and the distant return electrode 748 when the jaw elements 720, 710 are in the closed position. The gap 780 is visible in Figs. 160, 161,162, 163, 164 and 165. The end effector 700 may be configured such that the further power electrode 742 does not contact the return electrode 748 when the jaw members 720,710 are in the closed position. For example, the gap 780 may be between the further supply electrode 742 and the distant return electrode 748 when the jaw elements 720, 710 are in the closed position. The gap 780 is visible in Figs. 160, 161,162, 163, 164 and 165. The end effector 700 may be configured such that the further power electrode 742 does not contact the return electrode 748 when the jaw members 720,710 are in the closed position. For example, the gap 780 may be between the further supply electrode 742 and the distant return electrode 748 when the jaw elements 720, 710 are in the closed position. The gap 780 is visible in Figs. 160, 161,162, 163, 164 and 165.

[0244] In various embodiments of the invention, gap 780 can be produced as a result of the dimensions (e.g., thickness) of various tissue components closer to tissue processing zone 706. For example, when the counter-member 878 and the proximal power electrode 848 can extend in the LT-axis direction such that when the electrode 848 and the element 878 are in physical contact with each other (e.g., when the jaw members 720, 710 are in the closed position) the distant gripping surfaces 790A, B are not physically in contact with each other. Any suitable combination of the opposing member 878, power electrode 848, and the insulating layer 844 can be used to provide this result.

[0245] Referring now to Figs. 160, 163 and 164, the insulating layer 844 and the insulation layer 845 can be solid (e.g., forming a continuous insulation layer). Likewise, the proximal power electrode 848 and the further power electrode 742 may be continuous (form continuous electrodes). Opposed member 878 is also an illustration. As shown, the electrode 848 (e.g., the portion of the continuous electrode proximal zone 706) is thicker than the electrode 742. Accordingly, when the electrode 848 contacts the counter element 878, the thickness of the electrode 848 can prevent further gripping surfaces 790A, B of contacting with each other, thus creating a gap 780. Fig. 161 shows an alternative embodiment of the gripper 700, in which the electrode 742 and the electrode 848 are of the same thickness. The thickness of the opposite member 878 is, however, so chosen,

[0246] In some embodiments, the distal power electrode 742 may extend in the distal direction to the distal edge portion 886 of the crack member 710. For example, Fig. 153 shows a distal portion of the electrode 744. The distal portion 744 of the electrode can be used by the practitioner to apply electrosurgical energy to the tissue that is not necessarily between the jaw members 720, 710. In some embodiments, the distal portion of the electrode 744 can be used to provide bipolar and / or unipolar cauterization. In bipolar embodiments, the distal portion of the electrode 744 may use a return path similar to the return paths described herein. In some embodiments, suitable jaw members may include external cavities and / or projections 800, 802, similar to the projections described herein with reference to Figs. 116-131. The recesses and / or protrusions 800, 802 may be conductive and may provide possible return paths for the current transmitted through the distal portion of the electrode 744. In some embodiments, where the distal portion 744 of the electrode is present, the insulating layer 845 may extend in the distal direction under the distal the electrode portion as shown in Fig. 164.

[0247] It should be noted that the length of the individual tissue treatment zones 706, 708 may vary for different embodiments. For example, in Fig. 165, shows an embodiment in which the distal tissue treatment zone 708 is relatively shorter than zone 708, shown in other Figures. For example, in Fig. 165, the distal tissue treatment zone 708 extends proximally at a smaller distance from the distal tip of the gripper 700 than the zones 708 depicted elsewhere.

[0248] In some embodiments, the distal tissue treatment zone 708 can be used as a general surgical catcher. For example, the distal flanks 790A, B may be used to catch and manipulate the tissue. Furthermore, in some embodiments, the distal catch surfaces 790A, B can be used to catch and manipulate artificial surgical instruments such as needles, clamps, staples, etc. For example, Figs. 160, 161, 162 and 163 show the surgical instrument 896 fixed between distal surgical instruments. gripping surfaces 790A, B. In Figs. 160, 161 and 162, the surgical instrument 896 has a round cross-section (e.g., a suture needle). In Fig. 163, the surgical instrument 896 has a non-circular cross-section (e.g., a drawn end of a suture needle, a clamp, etc.).

as shown in the drawing, the insulating layer 845 defines a distal portion 843 that extends over a portion of the distal end 886 of the jaw member 710. The distal portion 843, e.g., can be located under the distal portion of the electrode 744.

[0250] Fig. 166 shows an embodiment of a jaw element 710, as shown in Fig. 167, with installed electrodes 742,848. As shown, the proximal feed electrode may include regions 850A, 850B, 850C. Regions 850A and 850B are located on either side of channel 810. Region 850C is positioned distal to the most distal portion of channel 810, Fig. 168 shows an alternative embodiment where third

107 region 850c is omitted. Correspondingly, the first and second regions 850A, 850B of the electrodes 848 extend in the distal direction to the distal supply electrode 742.

Non-limiting examples [0251] In various embodiments, a surgical tool may include a gripper and a shaft assembly interlocked proximal to the gripper. The gripper comprises a first jaw member, a second jaw member, a closing mechanism adapted to move the first jaw member relative to the second jaw member between an open position and a closed position. The shaft assembly includes an articulated joint adapted to independent articulation of the gripper in vertical and horizontal direction. The surgical instrument also includes at least one active electrode disposed on at least one of the first jaw member and the second jaw member. The at least one active electrode is adapted to deliver RF energy to the tissue, closed between the first jaw member and the second jaw member in the closed position. [0252] In various embodiments, the surgical tool may comprise a gripper and a shaft assembly coupled proximal to the gripper. The gripper comprises a first jaw member, a second jaw member and a closing mechanism adapted to move the first jaw member relative to the second jaw member, between the open position and the closed position. The shaft assembly includes a rotary head joint adapted to independently rotate the gripper. The surgical tool includes at least one active electrode disposed on at least one of the first jaw member and a second jaw member. The at least one active electrode is adapted to deliver RF energy to the tissue,

[0253] The surgical instrument may include a gripper, comprising a first jaw member, a second jaw member, and a closure mechanism adapted to move the first jaw member relative to the second jaw member between an open position and a closed position. The surgical instrument further comprises a proximal shaft assembly for a surgical gripper, the surgical gripper being adapted to rotate relative to the shaft assembly and a rotating drive shaft adapted to transmit rotational motions. The rotary drive shaft is selectively movable in the axial direction between the first position and the second position relative to the shaft assembly, the rotary drive shaft being adapted to apply rotational movements to the closing mechanism, when in the first axial position and wherein the rotary drive shaft is adapted to apply rotational movements to the gripper when in the second axial position. In addition, the surgical tool closure mechanism includes an I-beam member adapted to be translated in the axial direction to form the first jaw member cam towards the second jaw member. The I-beam member is connected to a threaded rotatable drive member connected to the rotating nut

The rotation movements of the rotating drive nut actuate the translations of the threaded rotatable drive member and the I-beam in the axial direction. The drive shaft is adapted to engage the rotary drive nut to transmit rotation movements to the rotating drive nut. Furthermore, the first jaw member and the second jaw member comprise channels adapted to be slidably engaged with the I-beam member so that the rotational movements of the rotating drive nut initiate the I-beam translation in the canals between the proximal recessed position and the distal extended position.

[0254] The surgical tool may include a gripper, comprising a first jaw member, a second jaw member, and a first actuating mechanism adapted to move the first jaw member relative to the second jaw member between an open position and a closed position. The surgical instrument further comprises a shaft assembly proximal to a surgical gripper and a rotating drive shaft adapted to transmit rotational movements. The rotary drive shaft is selectively movable between the first position and the second position relative to the shaft assembly, the rotary drive shaft being adapted to couple and selectively transmit rotational movements to the first actuation mechanism when in the first position and wherein the rotary drive shaft is adapted to disconnection from the starting mechanism, when in the second position. Furthermore, the first actuating mechanism comprises an I-beam member adapted to be translated in the axial direction to form a first right jaw member towards the second jaw member, an I-beam member connected to a threaded rotatable drive member connected to the rotating drive nut, the rotatable drive shaft being adapted to coupling with a rotary drive nut for transferring rotary movements to a rotatable drive nut, and wherein the rotational movements of the rotating drive nut actuate the translation of the threaded rotatable drive member and the I-beam in the axial direction. In addition, the first jaw member and the second jaw member include channels adapted for sliding engagement with an I-beam member,

[0255] The surgical instrument may comprise a gripper comprising a first jaw member, a second jaw member, wherein the first jaw member is movable relative to the second jaw member between an open position and a closed position. The surgical instrument also includes first and second actuating mechanisms, and a clutch member, adapted to selectively couple and transmit rotational motion to respectively the first or second actuating mechanism. In addition, the first actuating mechanism comprises an I-beam member adapted to be translated in the axial direction to form the first jaw member cam towards the second member.

A jaw member, an I-component member connected to a threaded rotatable drive member coupled to a rotatable drive nut, wherein the coupling member is adapted to engage a rotatable drive nut to transmit rotational motions to the rotating drive nut, and wherein the rotation movements of the rotating drive nut actuate the threaded translation. a rotary drive element and an I-beam in the axial direction. In addition, the first jaw member and the second jaw member comprise channels adapted to be slidably engaged with the I-beam member, the rotational movements being a rotational drive nut of the I-beam translation drive in the channels between the proximal retracted position and the distal extended position.

[0256] The surgical tool may include a replaceable gripper, a handle assembly, and a shaft assembly. The exchangeable gripper comprises a first jaw member comprising a first electrode and a second jaw member comprising a second electrode. The first jaw member is movable relative to the second jaw member, between the first position and the second position. The handle assembly is proximal to said gripper. The shaft assembly extends between the handle assembly and the replaceable gripper. The shaft assembly includes a rotating drive shaft adapted for the transmission of rotational movements. The rotary drive shaft is selectively axially movable relative to the shaft assembly with a large number of discreet positions. The coupling system can detachably attach the replaceable gripper to the shaft assembly, [0257] The surgical tool may include a replaceable tip and shaft assembly. The exchangeable tip may include a first jaw member comprising a first electrode, a second jaw member comprising a second electrode, a closing mechanism adapted to move the first jaw member relative to the second jaw member between a first position and a second position, and an actuator drive adapted to drive the closing mechanism. The shaft assembly extends proximally to the exchangeable gripper and includes a rotary drive shaft adapted to transmit rotational motions to the actuation drive. The tacking system can detachably attach the replaceable gripper to the shaft assembly. a closing mechanism adapted to move the first jaw member relative to the second jaw member between a first position and a second position, and an actuation drive adapted to drive the closing mechanism. The shaft assembly extends proximally to the exchangeable gripper and includes a rotary drive shaft adapted to transmit rotational motions to the actuation drive. The tacking system can detachably attach the replaceable gripper to the shaft assembly. a closing mechanism adapted to move the first jaw member relative to the second jaw member between a first position and a second position, and an actuation drive adapted to drive the closing mechanism. The shaft assembly extends proximally to the exchangeable gripper and includes a rotary drive shaft adapted to transmit rotational motions to the actuation drive. The tacking system can detachably attach the replaceable gripper to the shaft assembly.

[0258] The surgical tool may comprise a replaceable gripper and a shaft assembly. The gripper comprises a first jaw member comprising a first electrode, a second jaw member comprising a second electrode, a closing mechanism adapted to move the first jaw member relative to the second jaw member, between the first position and the second position, and a non-actuating drive adapted to drive the closing mechanism. The shaft assembly extends proximally to the exchangeable gripper and comprises a rotary drive shaft adapted to transmit rotational motions. The removable gripper is detachably connected to the roller assembly. The rotating drive shaft is selectively axially extended to functionally engage and transmit rotational motions to the actuation drive.

[0259] The surgical gripper may include a first jaw member and a second jaw member. The first jaw member marks the outer surface of its distal portion. The other jaw member marks the outer surface of its distal portion. The first jaw member is movable relative to the second jaw member between the first position and the second position. At least one of the outer surfaces of the first and second jaw members includes a tissue catching portion.

[0260] The surgical tool may include a surgical gripper, a handle assembly, and a drive shaft. The surgical gripper comprises a first jaw member defining an outer surface at its distal portion and a second jaw member defining an outer surface in its distal portion. The first jaw member is movable relative to the second jaw member between the first position and the second position. At least one of the outer surfaces of the first and second jaw members includes a tissue catching portion. The handle assembly is proximal to said gripper. The drive shaft extends between said surgical gripper and said grip arrangement and is adapted to move the first jaw member relative to the second jaw member, between the first position,

[0261] The surgical tool may include an actuation system, a surgical gripper, and a shaft assembly. The actuating system is for selectively generating a plurality of control movements. The surgical gripper is operatively connected to said actuation system and comprises a first jaw member and a second jaw member. The first jaw member marks the outer surface at its distal portion. The second jaw member marks the outer surface on its distal part. The first jaw member is movably supported with respect to the second jaw member between the open position and the closed position in response to the closing movements generated by the replaceable actuating system. At least one of the outer surfaces of the first and second jaw members comprises a portion adhered to the tissue.

[0262] The gripper may comprise a first jaw member and a second jaw member. The first jaw member is movable relative to the second jaw member between the open position and the closed position. The first jaw member comprises a first positively inclined surface in contact with the tissue. The second jaw member includes a second positively inclined surface in contact with the tissue. At least one of the first jaw member and the second jaw member includes at least one active electrode positioned on the jaw member adjacent to the positively inclined surface in contact with the tissue. The at least one active electrode is adapted to deliver RF energy to the tissue positioned between the first jaw member and the second jaw member when in the closed position.

[0263] The gripper may include a first jaw member and a second jaw member. The first jaw member is movable relative to the second jaw member between the open position and the closed position. The first jaw member comprises a first positively inclined surface in contact with the tissue and a first negatively inclined surface in contact with the tissue. The second jaw member has a second inclined surface in contact with the tissue and a second negatively inclined surface in contact with the tissue. The first positively inclined surface in contact with the tissue abuts the second negatively inclined surface in contact with the tissue when the first and second jaw members are in the closed position.

[0264] The gripper can include a first jaw member and a second jaw member. The first jaw member is movable relative to the second jaw member between the open position and the closed position. The first jugular portion includes a first proximal portion that contacts the tissue, a first distal textured portion, proximal to the first proximal tissue-contacting portion, a first positively inclined tissue-contacting surface along the first proximal tissue-engaging portion, and at least one first. an electrode located in the first proximal part in contact with the tissue, in the vicinity of the first positively inclined surface in contact with the tissue. The second jaw member has a second proximal part in contact with the tissue, a second textured distal portion adjacent the second proximal tissue-contacting portion, a second positively inclined surface in contact with the tissue, along the second proximal tissue-contacting portion and at least one second electrode in the second proximal portion in contact with the tissue adjacent to the other positively; inclined surface in contact with the tissue. The at least one first electrode and the at least one second electrode are in a bipolar configuration for supplying RF energy to the tissue positioned between the first jaw member and the second jaw member in the closed position. located along the second proximal part in contact with the tissue and at least one second electrode located in the second proximal part in contact with the tissue adjacent to the second positively inclined surface in contact with the tissue. The at least one first electrode and the at least one second electrode are in a bipolar configuration for supplying RF energy to the tissue positioned between the first jaw member and the second jaw member in the closed position. located along the second proximal part in contact with the tissue and at least one second electrode located in the second proximal part in contact with the tissue adjacent to the second positively inclined surface in contact with the tissue. The at least one first electrode and the at least one second electrode are in a bipolar configuration for supplying RF energy to the tissue positioned between the first jaw member and the second jaw member in the closed position.

[0265] The surgical tool may comprise a gripper. The gripper may include first and second ridge members, a shaft assembly, a rotary drive shaft, a first electrical contact, and a second electrical contact. The first and second jug members can rotate relative to each other from the open position to the closed position. The electrode is placed on the first jaw member. The shaft assembly extends proximally from the gripper, is at least partially hollow and defines the inner wall. The rotating drive shaft extends proximally within the shaft assembly. The first electrical contact is connected to the inner wall of the shaft assembly and arranged around at least a portion of the drive shaft. The second electrical contact is connected to and rotary with the drive shaft.

[0266] Surgical grippers for use with a surgical tool may include a first jaw member and a second jaw member. The second jaw member may rotate relative to the first jaw member from a first open position to a closed position, wherein the first and second jug members are substantially parallel to each other in the closed position. The second jaw element includes a displaced proximal feed electrode and a distal feed electrode. The offset proximal feed electrode is arranged to contact an opposed member to the first jaw member when the first and second jaw members are in the closed position. The distal feed electrode is located distally to the displaced proximal electrode and is aligned with the conductive surface of the first jaw member when the first and second jaw members are in the closed position. When the first and second jug members are in the closed position, the proximal feed electrode contacts the opposing member, and the distal feed electrode does not contact the conductive surface of the first jaw member.

[0267] A surgical gripper for use with a surgical tool may include first and second jaw members rotating from a first open position to a closed position. The first and second jaw members define the proximal tissue treatment area and the distal tissue treatment area. The second jugular member comprises, in the proximal region of tissue treatment, a shifted proximal feed electrode positioned in such a way that when the jaw members are in the closed position, the proximal feed electrode is in physical contact with the first jaw member and is not in electrical contact with the first member. the jaw member. The second jaw member further comprises, in the region of distal tissue treatment, a distal supply electrode positioned in such a way, that when the jaw members are in the closed position, the distal supply electrode is aligned with the conductive surface of the first jaw member. When the jaw members are in the closed position, the jaw members define the physical gap between the distal feed electrode and the conductive surface of the first jaw member.

[0268] The devices disclosed herein may be designed to be removed after one use or may be designed to be used repeatedly. However, in any case, the device may be regenerated for reuse after at least one use. The regeneration may comprise any combination of steps of dismantling the device, cleaning or replacing individual elements, and then reassembling. In particular, the device may be dismantled and any number of individual elements or parts of the device may be selectively replaced or removed in any combination.

113 surgery. Those skilled in the art will be aware that the regeneration of the device may include a number of different techniques for disassembling, cleaning / replacing elements and reassembling. The use of such techniques, as well as the resulting regenerated device, is within the scope of the present application.

[0269] Although the present invention has been described herein in connection with certain disclosed exemplary embodiments made, it is possible to apply many modifications and variations to these exemplary embodiments. For example, it is possible to use different types of grippers. In addition, if matenals have been disclosed for some of the components, other materials may be used. The foregoing description and the following claims are intended to cover all such modifications and variations.

Ethicon LLC, Porto ^ yKo Agent,

114

ΕΡ 2 866 708 BI Ζ-15678/17

147 members in 8 offices

This recordMember, by publication datePriority claim

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Priority claims
Document	Office	Kind	Date
201213536417	United States of America	A	2012-06-28
201213536417	United States of America	A	2012-06-28
137342648	–	–	–
201213536417	–	–	–
US201213536417	–	–	–

Members147

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Electrode connections for rotary driven surgical tools

Abstract

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Priority claims5

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