Robotically-controlled motorized surgical instrument with an end effector
First Claim
1. A surgical tool for use with a robotic system, the surgical tool comprising:
- a shaft;
an end effector extending distally from the shaft, the end effector comprising;
a first jaw member; and
a second jaw member movable relative to the first jaw member about a pivot from a closed position to an open position in response to at least one axial motion;
an articulation joint disposed proximal to the pivot, wherein the end effector is rotatable relative to the shaft about the articulation joint;
a motor configured to generate at least one rotational motion; and
a motion conversion assembly operably coupled to the motor and the second jaw member, wherein the motion conversion assembly is configured to convert the at least one rotational motion to the at least one axial motion.
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Accused Products
Abstract
A surgical tool configured for operation in connection with a robotic system. The surgical tool includes a shaft and an end effector extending distally from the shaft. The end effector comprises a first jaw member and a second jaw member movable relative to the first jaw member from a closed position to an open position in response to at least one axial motion. In addition, the surgical tool includes a motor configured to generate at least one rotational motion and a motion conversion assembly operably coupled to the motor and the second jaw member, wherein the motion conversion assembly is configured to convert the at least one rotational motion to the at least one axial motion.
4232 Citations
13 Claims
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1. A surgical tool for use with a robotic system, the surgical tool comprising:
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a shaft; an end effector extending distally from the shaft, the end effector comprising; a first jaw member; and a second jaw member movable relative to the first jaw member about a pivot from a closed position to an open position in response to at least one axial motion; an articulation joint disposed proximal to the pivot, wherein the end effector is rotatable relative to the shaft about the articulation joint; a motor configured to generate at least one rotational motion; and a motion conversion assembly operably coupled to the motor and the second jaw member, wherein the motion conversion assembly is configured to convert the at least one rotational motion to the at least one axial motion. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A surgical tool for use with a robotic system, the surgical tool comprising:
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a shaft; an end effector extending distally from the shaft, the end effector comprising; a first jaw member; and a second jaw member movable relative to the first jaw member about a pivot from an open position to a closed position; an articulation ioint disposed proximal to the pivot, wherein the end effector is rotatable relative to the shaft about the articulation ioint; closure camming means for camming the second jaw member relative to the first jaw member from the open position to the closed position; rotary input means for driving the closure camming means; and staple firing means distinct and independent from the closure camming means.
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8. A surgical tool for use with a robotic system, the surgical tool comprising:
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a shaft; an end effector extending distally from the shaft, the end effector comprising; a first jaw member; and a second jaw member movable relative to the first jaw member about a pivot between an open position and a closed position; an articulation joint disposed proximal to the pivot, wherein the end effector is rotatable relative to the shaft about the articulation joint; a motor; an axially movable drive member in operable communication with the second jaw member; and a rotary drive shaft in operable communication with the motor, wherein the rotary drive shaft is in operable engagement with the axially movable drive member, and wherein at least one rotational motion of the rotary drive shaft causes the axially movable drive member to move the second jaw member relative to the first jaw member from the closed position to the open position. - View Dependent Claims (9, 10, 11, 12, 13)
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Specification