Robotically-controlled endoscopic accessory channel
First Claim
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1. A surgical device, comprising:
- an end effector configured to perform at least one surgical procedure in response to at least one rotary control motion applied thereto from a control unit of a robotic system, said end effector comprising;
an elongate channel operably coupled to an elongate shaft and operably supporting a surgical staple cartridge therein; and
an anvil movably supported relative to the elongate channel and movable between open and closed positions relative thereto in response to anvil control motions applied thereto andwherein said elongate shaft is coupled to said end effector and defines a shaft axis and is further configured to facilitate articulation of said end effector in two planes that are substantially perpendicular to the shaft axis upon manipulation of the control unit relative to said elongate shaft such that movement of the control unit is mimicked by said end effector,said elongate shaft defining at least one inner lumen therethrough and wherein said surgical device further comprises a rotary drive shaft operably extending through said lumen and operably interfacing with the control unit of the robotic system and at least one portion of the end effector to apply the at least one rotary control motion thereto upon rotation of said rotary drive shaft, said rotary drive shaft further configured to apply said anvil control motions to said anvil when said rotary drive shaft is axially translated along said shaft axis.
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Abstract
Devices and systems are provided for controlling movement of a working end of a surgical device by means of a robotic system. In one embodiment, systems and devices are provided for moving an end effector on a distal end of a surgical fastening device. Movement can include rotational movement of the end effector about an axis of the shaft, articulation of the end effector relative to the shaft, and actuation of an end effector, e.g., closing, firing, and/or cutting.
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Citations
11 Claims
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1. A surgical device, comprising:
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an end effector configured to perform at least one surgical procedure in response to at least one rotary control motion applied thereto from a control unit of a robotic system, said end effector comprising; an elongate channel operably coupled to an elongate shaft and operably supporting a surgical staple cartridge therein; and an anvil movably supported relative to the elongate channel and movable between open and closed positions relative thereto in response to anvil control motions applied thereto and wherein said elongate shaft is coupled to said end effector and defines a shaft axis and is further configured to facilitate articulation of said end effector in two planes that are substantially perpendicular to the shaft axis upon manipulation of the control unit relative to said elongate shaft such that movement of the control unit is mimicked by said end effector, said elongate shaft defining at least one inner lumen therethrough and wherein said surgical device further comprises a rotary drive shaft operably extending through said lumen and operably interfacing with the control unit of the robotic system and at least one portion of the end effector to apply the at least one rotary control motion thereto upon rotation of said rotary drive shaft, said rotary drive shaft further configured to apply said anvil control motions to said anvil when said rotary drive shaft is axially translated along said shaft axis. - View Dependent Claims (2, 3, 4, 5)
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6. A surgical device, comprising:
an end effector configured to perform at least one surgical procedure in response to at least one rotary control motion applied thereto from a control unit of a robotic system, said end effector comprising; a first end effector portion operably coupled to an elongate shaft; and a second end effector portion movably supported relative to the first end effector portion and movable between first and second positions relative thereto in response to second portion control motions applied thereto and wherein said elongate shaft is coupled to said end effector and defines a shaft axis and is further configured to facilitate articulation of said end effector in two planes that are substantially perpendicular to the shaft axis upon manipulation of the control unit relative to said elongate shaft such that movement of the control unit is mimicked by said end effector, said elongate shaft defining at least one inner lumen therethrough and wherein said surgical device further comprises a rotary drive shaft operably extending through said lumen and operably interfacing with the control unit of the robotic system and at least one of said first and second portions of the end effector to apply the at least one rotary control motion thereto upon rotation of said rotary drive shaft, said rotary drive shaft further configured to apply said second portion control motions to said second portion when said rotary drive shaft is axially translated along said shaft axis. - View Dependent Claims (7, 8, 9, 10, 11)
Specification