Apparatus for endoscopic procedures
First Claim
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1. An electromechanical surgical system, comprising:
- an instrument housing;
an end effector configured to perform at least one function; and
a shaft assembly being arranged for selectively interconnecting the end effector and the instrument housing, the shaft assembly including;
at least one link for allowing articulation of the end effector;
first and second diametrically opposed articulation cables extending at least partially along the at least one link, wherein each articulation cable includes a distal end anchored to the at least one link, and a proximal end;
a first axially displaceable rack coupled to the proximal end of the first articulation cable;
a second axially displaceable rack coupled to the proximal end of the second articulation cable;
a spur gear operatively connecting the first and second racks to one another;
a clevis rotatably supporting the spur gear; and
a cable tensioning assembly including a screw operably coupled to the clevis such that rotation of the screw moves the clevis to adjust a tension in the first and second articulation cables.
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Abstract
An electromechanical surgical system having an instrument housing for connecting with a shaft assembly, a shaft assembly, and an end effector. The end effector is an articulating end effector and the system includes a cable tensioning system for tensioning the articulation cables. The system includes a clutch mechanism for preventing slippage of a drive cable.
1518 Citations
13 Claims
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1. An electromechanical surgical system, comprising:
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an instrument housing; an end effector configured to perform at least one function; and a shaft assembly being arranged for selectively interconnecting the end effector and the instrument housing, the shaft assembly including; at least one link for allowing articulation of the end effector; first and second diametrically opposed articulation cables extending at least partially along the at least one link, wherein each articulation cable includes a distal end anchored to the at least one link, and a proximal end; a first axially displaceable rack coupled to the proximal end of the first articulation cable; a second axially displaceable rack coupled to the proximal end of the second articulation cable; a spur gear operatively connecting the first and second racks to one another; a clevis rotatably supporting the spur gear; and a cable tensioning assembly including a screw operably coupled to the clevis such that rotation of the screw moves the clevis to adjust a tension in the first and second articulation cables. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An electromechanical surgical system, comprising:
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an instrument housing; an end effector configured to perform at least one function; and a shaft assembly arranged for selectively interconnecting the end effector and the instrument housing, the shaft assembly including; at least one rotatable drive member; at least one link for allowing articulation of the end effector; first and second diametrically opposed articulation cables extending at least partially along the at least one link, wherein each articulation cable includes a distal end anchored to the at least one link, and a proximal end being secured to a respective first and second axially displaceable rack, each rack being operatively connected to one another by a spur gear, the spur gear being attached to a clevis; and a threaded rod extending proximally from the first rack, wherein rotation of the at least one drive member of the shaft assembly imparts longitudinal movement to the threaded rod to move the first rack and articulate the end effector.
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13. An electromechanical surgical system, comprising:
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an instrument housing; an end effector configured to perform at least one function; and a shaft assembly arranged for selectively interconnecting the end effector and the instrument housing, the shaft assembly including; at least one link for allowing articulation of the end effector; and first and second diametrically opposed articulation cables extending at least partially along the at least one link, wherein each articulation cable includes a distal end anchored to the at least one link, and a proximal end being secured to a respective first and second axially displaceable rack, each rack being operatively connected to one another by a spur gear, the spur gear being attached to a clevis that is biased in a proximal direction.
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Specification