Robotic endocutter drivetrain with bailout and manual opening
First Claim
1. A surgical tool, comprising:
- a housing;
an elongate shaft extending distally from the housing and having an end effector with opposed jaws on a distal end thereof;
a rack that is longitudinally translatable relative to the housing to cause corresponding longitudinal translation of a knife assembly through the opposed jaws; and
a crossover gear that is movable between a first position and a second position, wherein in the first position the crossover gear is coupled to a rotary input and engaged with the rack such that the rotary input causes the crossover gear to rotate thereby causing longitudinal translation of the rack, and in the second position the crossover gear is uncoupled from the rotary input and engaged with the rack such that manual rotation of the crossover gear causes longitudinal translation of the rack.
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Accused Products
Abstract
Various embodiments of tool assemblies are provided having at least one rotary input coupling and at least one linear input coupling for allowing either a rotary output or a linear output (e.g., from a tool driver on a surgical robot) to activate at least one mechanism of the tool assembly. For example, mechanisms of the tool assembly can include a clamping assembly, a firing assembly, an articulation assembly, and a roll assembly. The clamping assembly can open and close jaws of an end effector, the firing assembly can translate a knife assembly through the end effector to fire staples and cut tissue, the articulation assembly can articulate the end effector, and the roll assembly can rotate the elongate shaft and/or the end effector.
585 Citations
11 Claims
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1. A surgical tool, comprising:
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a housing; an elongate shaft extending distally from the housing and having an end effector with opposed jaws on a distal end thereof; a rack that is longitudinally translatable relative to the housing to cause corresponding longitudinal translation of a knife assembly through the opposed jaws; and a crossover gear that is movable between a first position and a second position, wherein in the first position the crossover gear is coupled to a rotary input and engaged with the rack such that the rotary input causes the crossover gear to rotate thereby causing longitudinal translation of the rack, and in the second position the crossover gear is uncoupled from the rotary input and engaged with the rack such that manual rotation of the crossover gear causes longitudinal translation of the rack. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method, comprising:
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rotating a mechanical rotary input connected to a crossover gear positioned in a housing of a surgical tool to rotate the crossover gear, the crossover gear being engaged with a rack such that rotation of the crossover gear causes the rack to translate in a distal direction and advance a knife assembly through an end effector of the surgical tool; disconnecting the crossover gear from the mechanical rotary input; and manually rotating the crossover gear to cause the rack to translate independent of the mechanical rotary input. - View Dependent Claims (9, 10, 11)
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Specification