Automated reloading devices for replacing used end effectors on robotic surgical systems
First Claim
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1. An automated reloading system for replacing a used end effector that is attached to a tool portion of a robotic surgical system, comprising:
- an end effector support member configured to support at least one new end effector therein and defining a decoupling location for receiving and supporting the used end effector in a decoupling orientation while remaining coupled to the tool portion; and
a drive assembly adjacent said end effector support member, said drive assembly configured to apply a rotary decoupling motion to the used end effector when supported in said decoupling orientation and configured to apply a rotary coupling motion to the new end effector when the new end effector is in a loading orientation and the tool portion is positioned in loading engagement therewith.
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Abstract
An automated reloading system for replacing a used end effector is disclosed. Various embodiments include a drive assembly configured to apply a rotary decoupling motion to a used end effector and a rotary coupling motion to a new end effector. An end effector support member is configured to support the new end effector and support and receive the used end effector while defining a decoupling orientation.
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Citations
20 Claims
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1. An automated reloading system for replacing a used end effector that is attached to a tool portion of a robotic surgical system, comprising:
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an end effector support member configured to support at least one new end effector therein and defining a decoupling location for receiving and supporting the used end effector in a decoupling orientation while remaining coupled to the tool portion; and a drive assembly adjacent said end effector support member, said drive assembly configured to apply a rotary decoupling motion to the used end effector when supported in said decoupling orientation and configured to apply a rotary coupling motion to the new end effector when the new end effector is in a loading orientation and the tool portion is positioned in loading engagement therewith. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An automated reloading system for replacing a used end effector that is rotatably coupled to a tool portion of a robotic surgical system, comprising:
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a rotary drive assembly configured to selectively generate rotary drive motions; and a movable end effector support member defining at least two end effector support locations wherein; at least one of said end effector support locations operably supports a new end effector therein in a loading orientation wherein said new end effector is positioned to be operably coupled to the tool portion of the robotic surgical system; and another of said end effector support locations is configured to receive the used end effector therein, said movable end effector support member being selectively movable to move the used end effector received within said another of said end effector support locations into driving engagement with said rotary drive assembly such that an application of a rotary detachment motion from said rotary drive assembly to the used end effector causes the used end effector to rotatably decouple from the tool portion and when said movable end effector support member moves the new end effector into driving engagement with said rotary drive assembly, an application of a rotary attachment motion from said rotary drive assembly to the new end effector causes the new end effector to be rotatably coupled to the tool portion when the tool portion is positioned in loading engagement with the new end effector. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. An automated reloading system for replacing a used disposable loading unit that is attached to a tool portion of a robotic surgical system, comprising:
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means for supporting at least one new disposable loading unit in a loading orientation; means for supporting the used disposable loading unit in a decoupling orientation while remaining coupled to the tool portion; means for applying a decoupling rotary motion to the used disposable loading unit while the used disposable loading unit is in said decoupling orientation to decouple the used disposable loading unit from the tool portion; and means for applying a coupling rotary motion to the new disposable loading unit when the new disposable loading unit is in the loading orientation and when the tool portion is in loading engagement therewith to operably couple the new disposable loading unit to the tool portion. - View Dependent Claims (20)
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Specification