Medical instrument electrically energized using drive cables

Abstract

An electrically energized medical instrument uses one or more drive cables to both actuate mechanical components of a wrist mechanism or an effector and to electrically energize the effector. Electrical isolation can be achieved using an insulating main tube through which drive cables extend from a backend mechanism to the effector, an insulating end cover that leaves only the desired portions of the effector exposed, and one or more seals to prevent electrically conductive liquid from entering the main tube. Component count and cost may be further reduced using a pair of pulleys that are shared by four drive cables.

1 - 14 . (canceled) 
     
     
         15 . A method for operating a medical instrument comprising:
 actuating an effector on a distal end of a main tube through movement of one or more cables that are attached to the effector and extend through the main tube; and   electrically energizing the effector by applying a first electrical signal that one or more of the cables conducts through the main tube to the effector.   
     
     
         16 . The method of  claim 15 , wherein actuating the effector comprises using the one or more cables to change a pitch, a yaw, and a grip of the effector. 
     
     
         17 . The method of  claim 15 , further comprising:
 positioning the effector at a work site in a patient; and   applying a contact on the patient, wherein the first electrical signal cause a current to flow between the effector and the contact.   
     
     
         18 . The method of  claim 15 , further comprising using the effector when energized to perform a clinical function selected from the group consisting of desiccation, hemostasis, cutting, dissection, fulguration, incisions, tissue destruction, cauterizing, and vessel sealing. 
     
     
         19 . The method of  claim 15 , wherein actuating the effector comprises operating a control system that operates motors to move the one or more cables. 
     
     
         20 . The method of  claim 19 , further comprising:
 checking by the control system of a number of uses of an instrument including the effector; and   disabling use of the instrument if the number of uses indicates the instrument has been used.   
     
     
         21 - 30 . (canceled) 
     
     
         31 . The method of  claim 15 , wherein:
 the effector comprises an electrically conductive component mounted on a pivot;   the one or more cables includes a first cable that extends through the main tube and wraps around a portion of the conductive component in a manner such that pulling on the first cable rotates the electrically conductive component about the pivot; and   electrically energizing the effector comprises applying the first electrical signal through the first cable and through the portion of the conductive component around which the first cable wraps.   
     
     
         32 . The method of  claim 31 , wherein electrically energizing the effector further comprises operating a backend mechanism that is coupled to a proximal end of the main tube, wherein the backend mechanism comprises a mechanical system and an electrical system, the mechanical system operating to pull on the first cable for the actuation of the electrically conductive component and the electrical system operating to apply the electrical signal through the cable to energize the electrically conductive component. 
     
     
         33 . A method for operating a medical instrument comprising:
 actuating a movable effector at a distal end of the instrument by moving a drive element attached to the effector; and   electrically energizing the effector by applying a first electrical signal via the drive element to the effector.   
     
     
         34 . The method of  claim 33 , wherein energizing the effector performs a clinical function selected from the group consisting of desiccation, hemostasis, cutting, dissection, fulguration, incisions, tissue destruction, cauterizing, and vessel sealing. 
     
     
         35 . The method of  claim 33 , wherein:
 actuating the effector comprises operating a mechanical system in a backend of the instrument to pull on the drive element; and   electrically energizing the effector comprises operating an electrical system in the backend to apply the electrical signal through the drive element.   
     
     
         36 . The method of  claim 33 , wherein the effector comprises an electrically conductive component, and the drive element is an electrically conductive cable that wraps around the electrically conductive component in a manner such that pulling on the electrically conductive cable rotates the electrically conductive component.