Motor interface for parallel drive shafts within an independently rotating member

• US 8,640,788 B2
• Filed: 11/12/2010
• Issued: 02/04/2014
• Est. Priority Date: 11/13/2009
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Dachs, Gregory W. II, Murphy, Todd E., Burbank, William A., Schena, Bruce Michael, McDonald, William A. II
• Primary Examiner(s): Nash, Brian D
• Application Number:
  US12/945,461
• Publication Number:
  US 20110118754A1
• Time in Patent Office: 1,180 Days
• Field of Search: 173/164, 173/213, 173/216
• US Class Current: 173/164
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/072 for applying a row of staples in a single action , e.g. the staples being applied simultaneously
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/115 Staplers for performing anastomosis in a single operation
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/07214 Stapler heads
• CPC Class Codes: A61B 2017/2902 characterized by features of the actuating rod
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: H04W 84/12 WLAN [Wireless Local Area Networks]

Abstract

Mechanisms, assemblies, systems, tools, and methods incorporating the use of an offset drive shaft within an independently rotating member are provided. An example mechanism includes a base and a main shaft mounted to rotate relative to the base, a first drive shaft mounted inside the main shaft, and a first drive feature engaged with the first drive shaft. The main shaft includes a proximal end, a distal end, and a main shaft rotational axis defined therebetween. The first drive shaft is offset from the main shaft rotational axis. A first drive feature rotational axis is defined for the first drive feature and is fixed relative to the base as the main shaft rotates. The first drive feature rotates the first drive shaft.

Claims

1. A mechanism comprising:

a surgical instrument base;

a surgical instrument main shaft mounted to rotate relative to the surgical instrument base and comprising a proximal end, a distal end, and a main shaft rotational axis defined between the proximal and distal ends of the surgical instrument main shaft and about which the surgical instrument main shaft rotates;

a first drive shaft mounted inside the surgical instrument main shaft and offset from the main shaft rotational axis; and

a first drive feature engaged with the first drive shaft, wherein

a first drive feature rotational axis about which the first drive feature rotates is defined for the first drive feature and is fixed relative to the surgical instrument base as the surgical instrument main shaft rotates, and

wherein the first drive feature rotates the first drive shaft independent of rotation of the surgical instrument main shaft.

2. The mechanism of claim 1, wherein the main shaft rotational axis and the first drive feature rotational axis are coincident.

3. The mechanism of claim 1, wherein the engagement between the first drive feature and the first drive shaft permits an axial movement of the first drive shaft relative to the surgical instrument base.

4. The mechanism of claim 1, wherein the first drive feature is engaged with the first drive shaft through an opening in the surgical instrument main shaft.

5. The mechanism of claim 4, wherein the first drive shaft comprises a second drive feature that protrudes through the opening in the surgical instrument main shaft and engages the first drive feature.

6. The mechanism of claim 5, wherein:

the second drive feature comprises external gear teeth; and

the first drive feature comprises an internal ring gear.

7. The mechanism of claim 1, further comprising a second drive feature, wherein:

a second drive feature rotational axis about which the second drive feature rotates is defined for the second drive feature;

the second drive feature is engaged with the surgical instrument main shaft; and

the second drive feature rotational axis remains fixed relative to the surgical instrument base as the second drive feature rotates the surgical instrument main shaft.

8. The mechanism of claim 7, further comprising:

a second drive shaft mounted inside the surgical instrument main shaft and offset from the main shaft rotational axis; and

a third drive feature engaged with the second drive shaft, wherein

a third drive feature rotational axis about which the third drive feature rotates is defined for the third drive feature,

the third drive feature rotational axis is fixed relative to the surgical instrument base as the surgical instrument main shaft rotates, and

the third drive feature rotates the second drive shaft.

9. The mechanism of claim 1, further comprising

a second drive shaft mounted inside the surgical instrument main shaft and offset from the main shaft rotational axis;

and

a second drive feature engaged with the second drive shaft, wherein

a second drive feature rotational axis about which the second drive feature rotates is defined for the second drive feature,

the second drive feature rotational axis is fixed relative to the surgical instrument base as the surgical instrument main shaft rotates, and

the second drive feature rotates the second drive shaft.

10. The mechanism of claim 9, wherein the second drive feature is engaged with the second drive shaft through an opening in the surgical instrument main shaft.

11. The mechanism of claim 1, wherein the surgical instrument main shaft comprises a recess configured to interface with a bearing supporting the first drive shaft, and the mechanism further comprises the bearing supporting the first drive shaft.

12. The mechanism of claim 11, further comprising a retaining ring to retain the bearing supporting the first drive shaft.

13. The mechanism of claim 1, further comprising an end effector coupled with the distal end of the surgical instrument main shaft and to the first drive shaft, wherein:

the end effector is rotated by a rotation of the surgical instrument main shaft; and

a rotation of the first drive shaft relative to the surgical instrument main shaft actuates the end effector.

14. The mechanism of claim 1, further comprising:

a control cable drive feature coupled with the surgical instrument base; and

a control cable engaged with the control cable drive feature, the control cable being routed within the surgical instrument main shaft between the proximal and distal ends of the surgical instrument main shaft.

15. The mechanism of claim 14, further comprising an end effector coupled with the control cable, wherein a motion of the control cable actuates the end effector.