Robotic surgical tool with ultrasound cauterizing and cutting instrument

Abstract

A surgical instrument for enhancing robotic surgery generally includes an elongate shaft with an ultrasound probe, an end effector at the distal end of the shaft, and a base at the proximal end of the shaft. The end effector includes an ultrasound probe tip and the surgical instrument is generally configured for convenient positioning of the probe tip within a surgical site by a robotic surgical system. Ultrasound energy delivered by the probe tip may be used to cut, cauterize, or achieve various other desired effects on tissue at a surgical site. In various embodiments, the end effector also includes a gripper, for gripping tissue in cooperation with the ultrasound probe tip. The base is generally configured to removably couple the surgical instrument to a robotic surgical system and to transmit forces from the surgical system to the end effector, through the elongate shaft. A method for enhancing robotic surgery generally includes coupling the surgical instrument to a robotic surgical system, positioning the probe tip in contact with tissue at a surgical site, and delivering ultrasound energy to the tissue.

1 . A method of performing a robotic surgical procedure on a patient, the method comprising: 
 coupling a surgical instrument with a robotic surgical system, the surgical instrument having a distal end having an ultrasound probe tip;    positioning, with the robotic surgical system, the ultrasound probe tip in contact with tissue at a surgical site in the patient; and    delivering ultrasound energy to the tissue with the ultrasound probe tip.    
     
     
         2 . A method as in  claim 1 , wherein the distal end of the surgical instrument further includes a gripping member, the method further comprising: 
 transmitting at least one force from the robotic surgical system to the gripping member; and    moving the gripping member with the at least one force to hold a portion of the tissue between the gripping member and the ultrasound probe tip.    
     
     
         3 . A method as in  claim 2 , wherein the transmitting and moving steps further comprise transmitting the at least one force from an interface member on the robotic surgical system to a first rotatable shaft on the surgical instrument, the first rotatable shaft being coupled to a second rotatable shaft by a cable, the cable being coupled to an actuator rod, and the actuator rod being coupled to the gripping member, wherein the at least one force causes the first shaft, the second shaft and the cable to rotate, causing the actuator rod to move the gripping member.  
     
     
         4 . A method as in  claim 2 , further comprising releasing the portion of tissue after delivering a desired amount of ultrasound energy to the portion of tissue.  
     
     
         5 . A method as in  claim 1 , further comprising using the ultrasound probe tip to cut the tissue, cauterize the tissue, or both.