Robotics tool bailouts
First Claim
Patent Images
1. A surgical tool, comprising:
- a housing;
an elongate shaft extending distally from the housing;
an end effector disposed at a distal end of the elongate shaft; and
a plurality of actuation assemblies coupled to a plurality of motor-driven drive gears, each of the motor-driven drive gears being configured to drive a corresponding actuation assembly, each of the actuation assemblies being configured to operate a function of the end effector, anda bailout mechanism configured to manually drive at least two of the plurality of actuation assemblies simultaneously to reverse the corresponding functions of the end effector.
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Accused Products
Abstract
Methods and devices are provided for robotic surgery, and in particular for retracting and/or bailing out robotic tools. For example, surgical tools, methods, and systems are provided having bailout assemblies for selectively bailing out one or more functions of an end effector of a surgical tool. Surgical tools, methods, and systems are also provided with bailout assemblies for simultaneously bailing out a plurality of functions of an end effector of a surgical tool.
15 Citations
19 Claims
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1. A surgical tool, comprising:
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a housing; an elongate shaft extending distally from the housing; an end effector disposed at a distal end of the elongate shaft; and a plurality of actuation assemblies coupled to a plurality of motor-driven drive gears, each of the motor-driven drive gears being configured to drive a corresponding actuation assembly, each of the actuation assemblies being configured to operate a function of the end effector, and a bailout mechanism configured to manually drive at least two of the plurality of actuation assemblies simultaneously to reverse the corresponding functions of the end effector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A surgical bailout method, comprising:
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selectively actuating a plurality of motors in a tool driver of a robotic arm to selectively drive a plurality of drive gears disposed within a housing of a surgical tool, each of the plurality of drive gears driving an actuation assembly extending through an elongate shaft of the surgical tool to thereby actuate a function of an end effector of the tool; and actuating a bailout assembly to simultaneously counter rotate at least two of the plurality of actuation assemblies to reverse the corresponding functions of the end effector. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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Specification