ROTARY DRIVE ARRANGEMENTS FOR SURGICAL INSTRUMENTS
First Claim
1. A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to generate output motions, said surgical tool comprising:
- a tool mounting portion configured operably interface with a portion of the robotic system;
a rotary drive system operably supported by the tool mounting portion and interfacing with the tool drive assembly of the robotic system to receive output motions therefrom;
an elongate shaft assembly operably extending from the tool mounting portion and including a drive shaft assembly that operably interfaces with the rotary drive system, the drive shaft assembly being selectively axially movable between a first position and a second position;
a surgical end effector rotatably coupled to the elongate shaft assembly for selective rotation relative thereto; and
a rotary transmission operably interfacing with the drive shaft assembly and the surgical end effector such that when the drive shaft assembly is in the first axial position, application of one of the rotary drive motions to the drive shaft assembly by the rotary drive system in response to one of the output motions applied thereto by the tool drive assembly causes the rotary transmission to apply a first rotary control motion to the surgical end effector and when the drive shaft assembly is in the second axial position, application of the rotary drive motion to the drive shaft assembly by the rotary drive system causes the rotary transmission to apply a second rotary control motion to the surgical end effector.
5 Assignments
0 Petitions
Accused Products
Abstract
A rotary drive arrangement for a surgical instrument that includes a surgical end effector. In one form, the rotary drive arrangement includes a drive shaft assembly that is selectively axially movable between a first position and a second position. A rotary transmission operably interfaces with the drive shaft assembly such that when the drive shaft assembly is in the first axial position, application of one of the rotary drive motions to the drive shaft assembly causes the rotary transmission to apply a first rotary control motion to the surgical end effector and when the drive shaft assembly is in the second axial position, application of the rotary drive motion to the drive shaft assembly causes the rotary transmission to apply a second rotary control motion to the surgical end effector.
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Citations
20 Claims
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1. A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to generate output motions, said surgical tool comprising:
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a tool mounting portion configured operably interface with a portion of the robotic system; a rotary drive system operably supported by the tool mounting portion and interfacing with the tool drive assembly of the robotic system to receive output motions therefrom; an elongate shaft assembly operably extending from the tool mounting portion and including a drive shaft assembly that operably interfaces with the rotary drive system, the drive shaft assembly being selectively axially movable between a first position and a second position; a surgical end effector rotatably coupled to the elongate shaft assembly for selective rotation relative thereto; and a rotary transmission operably interfacing with the drive shaft assembly and the surgical end effector such that when the drive shaft assembly is in the first axial position, application of one of the rotary drive motions to the drive shaft assembly by the rotary drive system in response to one of the output motions applied thereto by the tool drive assembly causes the rotary transmission to apply a first rotary control motion to the surgical end effector and when the drive shaft assembly is in the second axial position, application of the rotary drive motion to the drive shaft assembly by the rotary drive system causes the rotary transmission to apply a second rotary control motion to the surgical end effector. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A surgical instrument, comprising:
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a handle assembly; a drive motor operably supported by the handle assembly; an elongate shaft assembly operably extending from the handle assembly including a drive shaft assembly operably interfacing with the drive motor and being selectively axially movable between a first position and a second position; a surgical end effector rotatably coupled to the elongate shaft assembly for selective rotation relative thereto; and a rotary transmission operably interfacing with the drive shaft assembly and the surgical end effector such that when the drive shaft assembly is in the first axial position, application of a rotary drive motion to the drive shaft assembly by the drive motor causes the rotary transmission to apply a first rotary control motion to the surgical end effector and when the drive shaft assembly is in the second axial position, application of the rotary drive motion to the drive shaft assembly by the drive motor causes the rotary transmission to apply a second rotary control motion to the surgical end effector. - View Dependent Claims (8, 9, 10)
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11. A rotary drive arrangement for a surgical instrument including a surgical end effector, the rotary drive arrangement comprising:
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a rotary drive system configured to generate rotary drive motions; a drive shaft assembly operably interfacing with the rotary drive system and being selectively axially movable between a first position and a second position; and a rotary transmission operably interfacing with the drive shaft assembly and the surgical end effector such that when the drive shaft assembly is in the first axial position, application of one of the rotary drive motions to the drive shaft assembly by the rotary drive system causes the rotary transmission to apply a first rotary control motion to the surgical end effector and when the drive shaft assembly is in the second axial position, application of the rotary drive motion to the drive shaft assembly by the rotary drive system causes the rotary transmission to apply a second rotary control motion to the surgical end effector. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification