Robotically-controlled motorized surgical instrument with an end effector
First Claim
1. A surgical instrument, comprising:
- a housing comprising a plurality of motors;
a modular shaft assembly extending distally from the housing, wherein the modular shaft assembly is detachably coupled to the housing;
an end effector extending distally from the modular shaft assembly, the end effector comprising;
a first jaw member configured to support a removable staple cartridge; and
a second jaw member movable relative to the first jaw member between an open position and a closed position;
an axially movable drive member in operable communication with the second jaw member; and
at least three rotary drive shafts in operable communication with the plurality of motors, wherein;
a first one of the at least three rotary drive shafts is in operable engagement with the axially movable drive member, wherein at least one rotational motion of the first one of the at least three rotary drive shafts causes the axially movable drive member to move the second jaw member relative to the first jaw member from the closed position to the open position;
a second one of the at least three rotary drive shafts is coupled to a first gear assembly, wherein a rotational motion of the second one of the at least three rotary drive shafts is operable to cause an articulation of the modular shaft assembly; and
a third one of the at least three rotary drive shafts is coupled to a second gear assembly, wherein a rotational motion of the third one of the at least three rotary drive shafts is operable to cause a rotation of the end effector.
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Accused Products
Abstract
A surgical tool for use with a surgical system is disclosed. The surgical tool comprises a housing containing three drive motors and three non-concentric rotatable output members, a modular shaft assembly comprising three rotatable drive shafts coupled to the three non-concentric rotatable output members, an end effector comprising a first jaw and a second jaw, and a motion conversion assembly. The motion conversion assembly is operably coupled to one of the drive motors and an axial drive assembly. The motion conversion assembly is configured to convert a rotational motion of one of the three rotatable drive shafts to an axial motion. The application of the axial motion to the axial drive assembly approximates the first jaw from an open position to a closed position and performs an actuation stroke within the end effector.
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Citations
20 Claims
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1. A surgical instrument, comprising:
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a housing comprising a plurality of motors; a modular shaft assembly extending distally from the housing, wherein the modular shaft assembly is detachably coupled to the housing; an end effector extending distally from the modular shaft assembly, the end effector comprising; a first jaw member configured to support a removable staple cartridge; and a second jaw member movable relative to the first jaw member between an open position and a closed position; an axially movable drive member in operable communication with the second jaw member; and at least three rotary drive shafts in operable communication with the plurality of motors, wherein; a first one of the at least three rotary drive shafts is in operable engagement with the axially movable drive member, wherein at least one rotational motion of the first one of the at least three rotary drive shafts causes the axially movable drive member to move the second jaw member relative to the first jaw member from the closed position to the open position; a second one of the at least three rotary drive shafts is coupled to a first gear assembly, wherein a rotational motion of the second one of the at least three rotary drive shafts is operable to cause an articulation of the modular shaft assembly; and a third one of the at least three rotary drive shafts is coupled to a second gear assembly, wherein a rotational motion of the third one of the at least three rotary drive shafts is operable to cause a rotation of the end effector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A surgical tool for use with a robotic system, the surgical tool comprising:
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a housing couplable to the robotic system, wherein the housing covers at least two drive motors and three non-concentric rotatable body members; a modular shaft assembly detachably coupled to the housing, wherein the modular shaft assembly comprises three rotary drive shafts coupled to the three non-concentric rotatable body members, wherein at least two of the rotary drive shafts are concentric with one another; an end effector extending distally from the modular shaft assembly, the end effector comprising; a first jaw member configured to support a removable staple cartridge; and a second jaw member movable relative to the first jaw member; and a motion conversion assembly positioned at least partially within the modular shaft assembly, wherein the motion conversion assembly is operably coupled to one of the at least two drive motors and an axial drive assembly, wherein the motion conversion assembly is configured to convert a rotational motion of one of the three rotary drive shafts to an axial motion, wherein application of the axial motion to the axial drive assembly causes approximation of the first and second jaw members from an open position to a closed position and advancement of a firing member within the end effector. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A surgical tool for use with a robotic system, the surgical tool comprising:
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a housing couplable to the robotic system; a modular shaft assembly detachably coupled to the housing; an end effector extending distally from the modular shaft assembly, the end effector comprising; a first jaw member configured to support a removable staple cartridge; and a second jaw member movable relative to the first jaw member from an open position to a closed position; a plurality of drive motors; a battery assembly coupled to the plurality of drive motors; camming means for camming the second jaw member relative to the first jaw member from the open position to the closed position; rotary input means for driving the camming means; and firing means distinct and independent from the camming means.
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18. A surgical instrument, comprising:
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a housing comprising a plurality of motors; a modular shaft assembly extending distally from the housing, wherein the modular shaft assembly is detachably coupled to the housing; an end effector extending distally from the modular shaft assembly, wherein the end effector comprises a first jaw and a second jaw; a longitudinally movable drive member; a first rotatable drive shaft in operable communication with one of the motors and in operable engagement with the longitudinally movable drive member, wherein rotational motion of the first rotatable drive shaft causes the longitudinally movable drive member to move the first jaw relative to the second jaw; a second rotatable drive shaft in operable communication with one of the motors and coupled to a first gear assembly, wherein rotational motion of the second rotatable drive shaft articulates the end effector; and a third rotatable drive shaft in operable communication with one of the motors and coupled to a second gear assembly, wherein rotational motion of the third rotatable drive shaft rotates the end effector.
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19. A surgical tool for use with a surgical system, the surgical tool comprising:
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a housing couplable to the surgical system, wherein the housing contains three drive motors and three non-concentric rotatable output members; a modular shaft assembly detachably coupled to the housing, wherein the modular shaft assembly comprises three rotatable drive shafts coupled to the three non-concentric rotatable output members, wherein at least two of the rotatable drive shafts are concentric with one another; an end effector extending distally from the modular shaft assembly, wherein the end effector comprises a first jaw and a second jaw; and a motion conversion assembly positioned within the modular shaft assembly, wherein the motion conversion assembly is operably coupled to one of the drive motors and an axial drive assembly, wherein the motion conversion assembly is configured to convert a rotational motion of one of the three rotatable drive shafts to an axial motion, wherein the application of the axial motion to the axial drive assembly approximates the first jaw from an open position to a closed position and performs an actuation stroke within the end effector.
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20. A surgical tool for use with a surgical system, the surgical tool comprising:
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a housing couplable to the surgical system; a modular shaft assembly detachably coupled to the housing; an end effector extending distally from the modular shaft assembly, wherein the end effector comprises a first jaw and a second jaw; a plurality of drive motors; a battery assembly configured to power the plurality of drive motors; camming means for camming the first jaw relative to the second jaw; rotary input means for driving the camming means; and firing means distinct and independent from the camming means.
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Specification