ROBOTICALLY-CONTROLLED ENDOSCOPIC ACCESSORY CHANNEL
First Claim
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1. A surgical device, comprising:
- an end effector configured to perform at least one surgical procedure in response to at least one control motion applied thereto from a control unit of a robotic system; and
an elongate shaft coupled to said end effector and configured to facilitate the transmission of said at least one control motion to said end effector from said robotic system, said elongate shaft defining a shaft axis and being further configured to facilitate articulation of said end effector in two planes that are substantially perpendicular to the shaft axis upon manipulation of the control unit relative to said elongate shaft such that movement of the control unit is mimicked by said end effector.
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Abstract
Devices and systems are provided for controlling movement of a working end of a surgical device by means of a robotic system. In one embodiment, systems and devices are provided for moving an end effector on a distal end of a surgical fastening device. Movement can include rotational movement of the end effector about an axis of the shaft, articulation of the end effector relative to the shaft, and actuation of an end effector, e.g., closing, firing, and/or cutting.
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Citations
23 Claims
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1. A surgical device, comprising:
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an end effector configured to perform at least one surgical procedure in response to at least one control motion applied thereto from a control unit of a robotic system; and an elongate shaft coupled to said end effector and configured to facilitate the transmission of said at least one control motion to said end effector from said robotic system, said elongate shaft defining a shaft axis and being further configured to facilitate articulation of said end effector in two planes that are substantially perpendicular to the shaft axis upon manipulation of the control unit relative to said elongate shaft such that movement of the control unit is mimicked by said end effector. - View Dependent Claims (2, 3, 4)
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5. An accessory channel for releasable attachment to an endoscope, the accessory channel comprising:
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an elongate tube having an inner lumen extending therethrough between proximal and distal ends thereof for receiving a tool; and a flexible neck extending from the distal end of the elongate tube and configured to flex to orient a tool extending through the elongate tube, said flexible neck configured to be operably coupled to at least a portion of a robotic system such that movement of the at least a portion of the robotic system is mimicked by the flexible neck. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An endoscopic system for use with a robotic system, comprising:
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an elongate sleeve configured to be disposed around an endoscope; and an accessory channel removably matable to the elongate sleeve, the accessory channel having an inner lumen extending therethrough between proximal and distal ends thereof for receiving a tool, a flexible portion formed on a distal portion thereof and being made flexible by a plurality of slits formed therein, the proximal end of the accessory channel being configured for operable attachment to at least a portion of said robotic system such that actuation of the at least a portion of the robotic system causes the flexible portion to articulate in at least one plane. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23)
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Specification