DECOUPLING INSTRUMENT SHAFT ROLL AND END EFFECTOR ACTUATION IN A SURGICAL INSTRUMENT
First Claim
1. A surgical assembly comprising:
- a base;
an instrument shaft rotationally mounted to the base and extending between a distal end and a proximal end;
an end effector supported at the distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion;
a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism; and
a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion, the differential being configured to combine the first and second input motions to generate an output motion that rotates the drive shaft, the first input motion being rotationally coupleable to an actuation source and the second input motion being coupled to rotation of the instrument shaft relative to the base.
1 Assignment
0 Petitions
Accused Products
Abstract
Surgical assemblies and related methods are disclosed that provide for decoupling of instrument shaft roll and end effector actuation. A surgical assembly includes a base, an instrument shaft rotationally mounted to the base, an end effector supported at a distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion, a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism, and a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion. The differential combines the first and second input motions to generate an output motion that rotates the drive shaft. The first input motion is rotationally coupleable to an actuation source. The second input motion is coupled to rotation of the instrument shaft relative to the base.
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Citations
22 Claims
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1. A surgical assembly comprising:
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a base; an instrument shaft rotationally mounted to the base and extending between a distal end and a proximal end; an end effector supported at the distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion; a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism; and a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion, the differential being configured to combine the first and second input motions to generate an output motion that rotates the drive shaft, the first input motion being rotationally coupleable to an actuation source and the second input motion being coupled to rotation of the instrument shaft relative to the base. - View Dependent Claims (2, 3, 4, 5, 6, 7, 10)
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- 8. The surgical assembly of 7, wherein the first input motion is transferred to the carrier through an input shaft, and wherein the sun gear rotates around the input shaft.
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11. A method of decoupling rotation of a surgical instrument shaft from rotation of a drive shaft drivingly coupled with a mechanism of an end effector, the method comprising:
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generating a first input motion associated with a desired end effector configuration; rotating the surgical instrument shaft relative to a base, the surgical instrument shaft extending between a proximal end adjacent to the base and a distal end that supports the end effector; generating a second input motion in response to the rotation of the surgical instrument shaft relative to the base; combining the first and second input motions to generate an output motion; and rotating the drive shaft in response to the output motion. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification