Surgical device with powered articulation wrist rotation
First Claim
1. An endoscopic surgical instrument for treating tissue, comprising:
- a housing having a shaft extending therefrom, the shaft including at least an articulating portion and an end effector;
a first casing connected to and rotatable with a proximal end of the shaft;
an internal frame housed within the first casing;
a plurality of posts supported by the internal frame and connected on their distal ends to at least one drive wire;
a second casing connected to the first casing and rotatable therewith;
a first pair of threaded shafts housed within the second casing, each threaded shaft of the first pair of threaded shafts being connected to a respective proximal end of a post of the plurality of posts;
a first electric motor driving a first gear, the first gear interfacing with the first pair of threaded shafts such that the first pair of threaded shafts rotate in the same direction as one another;
a second electric motor driving a second gear, the second gear configured to cause the shaft of the housing and the first and second casings to rotate about a common axis;
wherein driving the first gear in a first direction causes the articulating portion of the shaft to articulate in a first plane.
1 Assignment
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Accused Products
Abstract
A surgical instrument for treating tissue, the instrument including a housing and a shaft with an articulating portion and an end effector. The surgical instrument including a first casing connected to and rotatable with the proximal end of said shaft with an internal frame housed within the first casing and a plurality of posts supported by the internal frame and connected on their distal ends to at least one drive wire, and connected on their proximal ends to a threaded shaft; and a second casing connected to the first casing and rotatable therewith, said second casing housing the threaded shafts. The surgical instrument includes a first electric motor driving a first gear interfacing with the threaded shafts such that a first pair of the plurality of threaded shafts rotate in the same direction and cause the articulating portion to articulate in a first plane.
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Citations
15 Claims
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1. An endoscopic surgical instrument for treating tissue, comprising:
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a housing having a shaft extending therefrom, the shaft including at least an articulating portion and an end effector; a first casing connected to and rotatable with a proximal end of the shaft; an internal frame housed within the first casing; a plurality of posts supported by the internal frame and connected on their distal ends to at least one drive wire; a second casing connected to the first casing and rotatable therewith; a first pair of threaded shafts housed within the second casing, each threaded shaft of the first pair of threaded shafts being connected to a respective proximal end of a post of the plurality of posts; a first electric motor driving a first gear, the first gear interfacing with the first pair of threaded shafts such that the first pair of threaded shafts rotate in the same direction as one another; a second electric motor driving a second gear, the second gear configured to cause the shaft of the housing and the first and second casings to rotate about a common axis; wherein driving the first gear in a first direction causes the articulating portion of the shaft to articulate in a first plane. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification