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Surgical device with powered articulation wrist rotation

  • US 8,968,312 B2
  • Filed: 11/05/2012
  • Issued: 03/03/2015
  • Est. Priority Date: 11/16/2011
  • Status: Active Grant
First Claim
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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.

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