Surgical systems with robotic surgical tool having pluggable end-effectors

摘要

In one embodiment of the invention, a replaceable electrosurgical end effector cartridge is provided to couple to a mechanical wrist of a surgical instrument for a robotic surgical system. The replaceable electrosurgical end effector cartridge includes two pluggable end effectors and a pair of spring latches. The two end effectors are moveable end effectors having a jaw portion, an off-center portion, and a base portion in one embodiment. The replaceable electrosurgical end effector cartridge may further include a fastener to rotatably couple the end effectors together.

主权项

1. A robotic surgical system comprising:
a robotic surgical tool having an electrical connector to couple to an electrical generator to receive electrical current, the robotic surgical tool further comprising:
an interface base coupled to the electrical connector, the interface base having a first control spool and a second control spool,a shaft having a first end coupled to the interface base,a first rotatable receptacle and a second rotatable receptacle,a first pluggable moveable end effector detachably coupled to the first rotatable receptacle, the first pluggable moveable end effector formed of a conductive material and responsive to a first control cable wrapped around the first control spool,a second pluggable moveable end effector detachably coupled to the second rotatable receptacle, the second pluggable moveable end effector formed of a conductive material and responsive to a second control cable wrapped around the second control spool;a pivot pin rotatably coupling the first and second pluggable moveable end effectors together, wherein the pivot pin maintains the rotatable coupling between the first and second pluggable moveable end effectors upon their detachment from the first and second rotatable receptacles; anda first wire having a first end coupled to the electrical connector and a second end to electrically couple to the first pluggable moveable end effector, the first wire to couple current to tissue through the first pluggable moveable end effector.