End effector of a surgical robotic manipulator

• US 9,566,121 B2
• Filed: 03/15/2014
• Issued: 02/14/2017
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Stryker Corporation
• Original Assignee: Stryker Corporation
• Inventors: Staunton, Douglas Alan, Flatt, James
• Primary Examiner(s): Miles, Jonathan
• Application Number:
  US14/214,703
• Publication Number:
  US 20140276949A1
• Time in Patent Office: 1,067 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 17/1615 Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material
• CPC Class Codes: A61B 17/162 Chucks or tool parts which are to be held in a chuck
• CPC Class Codes: A61B 17/1622 Drill handpieces A61B17/1626, A61B17/1628 take precedence
• CPC Class Codes: A61B 17/1624 Drive mechanisms therefor
• CPC Class Codes: A61B 17/1626 Control means; Display units
• CPC Class Codes: A61B 17/32002 with continuously rotating, oscillating or reciprocating cutting instruments
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2017/00057 Light
• CPC Class Codes: A61B 2017/00367 Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
• CPC Class Codes: A61B 2017/0042 with special provisions for gripping
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00738 part of the tool being offset with respect to a main axis, e.g. for better view for the surgeon
• CPC Class Codes: A61B 2017/1651 for cooling
• CPC Class Codes: A61B 2090/0801 Prevention of accidental cutting or pricking
• CPC Class Codes: A61B 2090/0811 for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• CPC Class Codes: A61B 2217/007 with irrigation system
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 50/13 Trolleys, e.g. carts
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: F16D 1/0817 : with radial clamping due to rotation along an eccentric surface, e.g. arcuate wedging elements similar clutches F16D17/00; similar free-wheel clutches F16D41/06
• CPC Class Codes: F16D 1/116 : the interengaging parts including a continuous or interrupted circumferential groove in the surface of one of the coupling parts circlips for retaining hubs on shafts F16B21/18
• CPC Class Codes: F16D 15/00 : Clutches with wedging balls or rollers or with other wedgeable separate clutching members freewheels, freewheel clutches F16D41/00
• CPC Class Codes: F16D 2001/103 : the torque is transmitted via splined connections
• CPC Class Codes: F16J 15/3256 : comprising two casing or support elements, one attached to each surface, e.g. cartridge or cassette seals

Abstract

An end effector of a surgical robotic manipulator includes a removeable cutting accessory. The cutting accessory includes a cutting tip and a shaft extending along an axis. A drive member is configured to rotatably drive the shaft of the cutting accessory. An actuator is coupled to the drive member for rotatably driving the drive member. A clutch assembly is supported by and is selectively rotatable relative to the drive member and receives the shaft of the cutting accessory along the axis of the shaft for selectively locking the shaft to the drive member.

Claims

1. An end effector of comprising:

a nose tube;

a cutting accessory including a shaft extending along an axis;

an axial connector releasably locking said cutting accessory to said nose tube along said axis;

a drive member coupled to said cutting accessory to rotatably drive said shaft of said cutting accessory;

an actuator coupled to said drive member to rotatably drive said drive member;

a plurality of rollers disposed about said shaft of said cutting accessory to frictionally engage said shaft;

a cage extending along said axis and supporting said rollers in a spaced relationship from each other to receive said shaft of said cutting accessory; and

a wedge sleeve fixed to said drive member and rotatable with said drive member relative to said plurality of rollers, said wedge sleeve presenting contact surfaces configured to selectively contact said rollers to pinch said rollers against said shaft and rotationally lock said shaft to said drive member.

2. The end effector as set forth in claim 1 wherein said axial connector is disposed axially between said plurality of rollers and a cutting tip of said cutting accessory.

3. The end effector as set forth in claim 1 wherein said nose tube includes a terminal end and wherein said cutting accessory extends from said terminal end through said axial connector to said rollers.

4. The end effector as set forth in claim 1 wherein said cutting accessory includes a shroud rotatably coupled to said shaft and releasably engage with said axial connector.

5. The end effector as set forth in claim 4 wherein said shaft is releasably engaged with said rollers.

6. The end effector as set forth in claim 4 wherein said shaft presents an outer surface having a cylindrical cross-section releasably engaged with said rollers.

7. The end effector as set forth in claim 4 wherein said shaft has an outer surface having a cylindrical cross-section with constant outer diameter extending from said shroud to a free end and wherein said rollers releasably engage said outer surface.

8. The end effector as set forth in claim 1 wherein said shaft is releasably engage with said rollers.

9. The end effector as set forth in claim 8 wherein said shaft presents an outer surface having a cylindrical cross-section releasably engaged with said rollers.

10. The end effector as set forth in claim 8 wherein said shaft has an outer surface having a cylindrical cross-section with constant outer diameter extending along said axis and wherein said rollers releasably engage said outer surface.

11. The end effector as set forth in claim 1 wherein said cage defines a plurality of slots spaced circumferentially about said axis and said rollers are disposed in said slots.

12. The end effector as set forth in claim 1 further comprising a spring disposed about said rollers and configured to bias said rollers radially inwardly toward said shaft of said cutting accessory.

13. An end effector comprising:

a nose tube to receive a shaft of a cutting accessory;

an axial connector configured to releasably lock the cutting accessory to said nose tube;

a drive member to rotatably drive the shaft of the cutting accessory when the shaft is present in said nose tube;

an actuator coupled to said drive member to rotatably drive said drive member;

a plurality of rollers arranged to be disposed about the shaft of the cutting accessory to frictionally engage the shaft when the shaft is present in said nose tube;

a cage supporting said rollers in a spaced relationship from each other to receive the shaft of the cutting accessory; and

a wedge sleeve fixed to said drive member and rotatable with said drive member relative to said plurality of rollers, said wedge sleeve presenting contact surfaces configured to selectively contact said rollers to pinch said rollers against the shaft and rotationally lock the shaft to said drive member when the shaft is present in said nose tube.

14. The end effector as set forth in claim 13 wherein said axial connector is arranged to be disposed axially between said plurality of rollers and a cutting tip of the cutting accessory when the cutting accessory is releasably locked to said nose tube.

15. The end effector as set forth in claim 13 wherein said cage defines a plurality of slots and said rollers are disposed in said slots.

16. The end effector as set forth in claim 13 further comprising a spring disposed about said rollers and configured to bias said rollers radially inwardly.