Robotically controlled surgical instrument
First Claim
Patent Images
1. A surgical tool for use with a robotic surgical system, the surgical tool comprising:
- a shaft assembly comprising an articulation section;
a tool mounting portion comprising a tool mounting housing, a tool mounting plate, and a coupler to couple the shaft assembly to the tool mounting portion;
an articulation mechanism configured to receive a proximal end of the shaft assembly to articulate the articulation section of the shaft assembly;
an interface to mechanically and electrically couple the tool mounting portion to the robotic surgical system;
a battery located within the tool mounting portion; and
a radio frequency (RF) generation circuit comprising at least one electrical contact, wherein the RF generation circuit is operable to generate an RF drive signal and to provide the RF drive signal to the at least one electrical contact;
wherein the articulation mechanism comprises;
a first cam portion;
a second cam portion;
a first arm operably coupled to the first cam portion; and
a second arm operably coupled to the second cam portion; and
wherein the surgical tool further comprises;
a first articulation band operably coupled to the first arm and the shaft assembly, wherein the first articulation band is configured to articulate the articulation section in a first direction based on the first cam portion acting on the first arm; and
a second articulation band operably coupled to the second arm and the shaft assembly, wherein the second articulation band is configured to articulate the articulation section in a second direction based on the second cam portion acting on the second arm.
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Accused Products
Abstract
A surgical tool is disclosed. The surgical tool has a tool mounting portion having a tool mounting housing, a tool mounting plate, and a coupler to couple a shaft assembly having an articulation section to the tool mounting portion. An articulation mechanism is located within the tool mounting portion and is configured to receive a proximal end of the shaft assembly to articulate the articulation section of the shaft assembly. The articulation mechanism has a cam mechanism operative to articulate the articulation section of the shaft assembly. An interface mechanically and electrically couples the tool mounting portion to a manipulator.
2533 Citations
17 Claims
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1. A surgical tool for use with a robotic surgical system, the surgical tool comprising:
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a shaft assembly comprising an articulation section; a tool mounting portion comprising a tool mounting housing, a tool mounting plate, and a coupler to couple the shaft assembly to the tool mounting portion; an articulation mechanism configured to receive a proximal end of the shaft assembly to articulate the articulation section of the shaft assembly; an interface to mechanically and electrically couple the tool mounting portion to the robotic surgical system; a battery located within the tool mounting portion; and a radio frequency (RF) generation circuit comprising at least one electrical contact, wherein the RF generation circuit is operable to generate an RF drive signal and to provide the RF drive signal to the at least one electrical contact; wherein the articulation mechanism comprises; a first cam portion; a second cam portion; a first arm operably coupled to the first cam portion; and a second arm operably coupled to the second cam portion; and wherein the surgical tool further comprises; a first articulation band operably coupled to the first arm and the shaft assembly, wherein the first articulation band is configured to articulate the articulation section in a first direction based on the first cam portion acting on the first arm; and a second articulation band operably coupled to the second arm and the shaft assembly, wherein the second articulation band is configured to articulate the articulation section in a second direction based on the second cam portion acting on the second arm. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A surgical tool for use with a robotic surgical system, the surgical tool comprising:
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an elongate shaft comprising an articulation section; a tool mounting portion comprising a tool mounting housing, a tool mounting plate, and a coupler configured to operably couple the elongate shaft to the tool mounting portion; an articulation system configured to receive a proximal end of the elongate shaft to articulate the articulation section of the elongate shaft; an interface configured to operably couple the tool mounting portion to the robotic surgical system; a battery positioned on the tool mounting portion; and a radio frequency (RF) generation circuit located within the tool mounting portion, the RF generation circuit operable to generate an RF drive signal; wherein the articulation system comprises; a first cam portion; a second cam portion; a first arm operably coupled to the first cam portion; and a second arm operably coupled to the second cam portion; and wherein the surgical tool further comprises;
a first articulation band operably coupled to the first arm and the elongate shaft, wherein the first articulation band is configured to articulate the articulation section in a first direction based on the first cam portion acting on the first arm; anda second articulation band operably coupled to the second arm and the elongate shaft, wherein the second articulation band is configured to articulate the articulation section in a second direction based on the second cam portion acting on the second arm. - View Dependent Claims (10, 11)
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12. A surgical tool for use with a robotic surgical system, the surgical tool comprising:
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an elongate shaft; and a housing extending proximally from the elongate shaft, wherein the housing comprising; a control system configured to control a function of the surgical tool; a battery; and a radio frequency (RF) generation circuit operable to generate an RF drive signal; wherein the elongate shaft comprises an articulation section, and wherein the control system comprises an articulation system, and wherein the articulation system comprises; a first cam portion; a first arm operably coupled to the first cam portion; and a first articulation band operably coupled to the first arm and the elongate shaft; a second cam portion; a second arm operably coupled to the second cam portion; and a second articulation band operably coupled to the second arm and the elongate shaft. - View Dependent Claims (13, 14, 15, 16, 17)
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Specification