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Robotically-controlled surgical instrument with selectively articulatable end effector

  • US 9,301,759 B2
  • Filed: 02/09/2012
  • Issued: 04/05/2016
  • Est. Priority Date: 03/23/2006
  • Status: Active Grant
First Claim
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1. A surgical tool for use with a robotic system that has 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 provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly, said surgical tool comprising:

  • a surgical end effector configured to perform a surgical procedure in response to control motions applied thereto from the robotic system;

    an elongated shaft assembly operably coupled to said surgical end effector and defining a longitudinal tool axis, said elongated shaft assembly having an articulation joint operably supported therein configured to enable said surgical end effector to be selectively articulated about a first tool articulation axis relative to the longitudinal tool axis and about a second tool articulation axis relative to said longitudinal tool axis; and

    a tool mounting portion operably coupled to said elongated shaft assembly and configured to operably interface with the tool drive assembly of the robotic system, said tool mounting portion operably supporting a transmission arrangement comprising an articulation transmission configured to apply articulation control motions to said articulation joint in response to said at least one rotary output motion applied thereto from the tool drive assembly, said articulation transmission comprising;

    an articulation control member movably supported within said tool mounting portion and being selectively movable in a plurality of directions in response to actuation motions applied thereto from an articulation drive assembly operably interfacing with the tool drive assembly of the robotic system, said articulation control member comprising an articulation control ring movably supported on a ball-shaped member supported within said tool mounting portion such that said articulation control ring is capable of rotary movement thereon in said plurality of directions; and

    a plurality of articulation elements coupled to said surgical end effector and being operably attached to said articulation control member such that movement of said articulation control member is transferred to said surgical end effector by at least two of said articulation elements.

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