Robotics tool bailouts
First Claim
Patent Images
1. A surgical tool, comprising:
- a housing having a plurality of motor-driven drive gears;
an elongate shaft extending distally from the housing;
an end effector coupled to a distal end of the elongate shaft;
at least first and second actuation assemblies, each actuation assembly being coupled to one of the plurality of motor-driven drive gears such that each of the motor-driven drive gears is configured to drive a corresponding actuation assembly, the first actuation assembly being configured to operate a first function of the end effector, and the second actuation assembly being configured to operate a second function of the end effector that is different than the first function; and
at least first and second bailout mechanisms, the first bailout mechanism being selectively engageable with the first actuation assembly and being configured to be manually driven to subsequently drive the first actuation assembly, and the second bailout mechanism being selectively engageable with the second actuation assembly and being configured to be manually driven to subsequently drive the second actuation assembly, the first bailout mechanism including a first one-way gear, the second bailout mechanism including a second one-way gear, each of the first and second one-way gears being configured to be rotatable in only one direction to drive the corresponding first and second actuation assembly.
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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.
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Citations
20 Claims
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1. A surgical tool, comprising:
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a housing having a plurality of motor-driven drive gears; an elongate shaft extending distally from the housing; an end effector coupled to a distal end of the elongate shaft; at least first and second actuation assemblies, each actuation assembly being coupled to one of the plurality of motor-driven drive gears such that each of the motor-driven drive gears is configured to drive a corresponding actuation assembly, the first actuation assembly being configured to operate a first function of the end effector, and the second actuation assembly being configured to operate a second function of the end effector that is different than the first function; and at least first and second bailout mechanisms, the first bailout mechanism being selectively engageable with the first actuation assembly and being configured to be manually driven to subsequently drive the first actuation assembly, and the second bailout mechanism being selectively engageable with the second actuation assembly and being configured to be manually driven to subsequently drive the second actuation assembly, the first bailout mechanism including a first one-way gear, the second bailout mechanism including a second one-way gear, each of the first and second one-way gears being configured to be rotatable in only one direction to drive the corresponding first and second actuation assembly. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 19)
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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 selectively manually moving a first bailout assembly of a plurality of bailout assemblies into engagement with a first actuation assembly of the plurality of actuation assemblies, each of the plurality of bailout assemblies being selectively manually movable into engagement with a single corresponding actuation assembly of the plurality of actuation assemblies, and manually rotating the first bailout assembly to retract the first actuation assembly and thereby reverse the corresponding function of the end effector while other bailout assemblies of the plurality of bailout assemblies remain stationary. - View Dependent Claims (14, 15, 16, 17, 18)
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20. A surgical tool, comprising:
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a housing having a plurality of motor-driven drive gears; an elongate shaft extending distally from the housing; an end effector coupled to a distal end of the elongate shaft; at least first and second actuation assemblies, each actuation assembly being coupled to one of the plurality of motor-driven drive gears such that each of the motor-driven drive gears is configured to drive a corresponding actuation assembly, the first actuation assembly being configured to operate a first function of the end effector, and the second actuation assembly being configured to operate a second function of the end effector that is different than the first function; and at least first and second bailout mechanisms, the first bailout mechanism being selectively engageable with the first actuation assembly and being configured to be manually driven to subsequently drive the first actuation assembly, and the second bailout mechanism being selectively engageable with the second actuation assembly and being configured to be manually driven to subsequently drive the second actuation assembly; wherein each of the first and second bailout mechanisms is configured to be in engagement with the corresponding first and second actuation assembly only during manual rotation of the first and second bailout mechanism.
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Specification