Robotically powered surgical device with manually-actuatable reversing system

  • US 10,485,541 B2
  • Filed: 03/24/2016
  • Issued: 11/26/2019
  • Est. Priority Date: 06/28/2012
  • Status: Active Grant
First Claim
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1. A surgical tool for use with a robotic system that includes a tool drive assembly that includes a plurality of rotary output members that are selectively rotatable upon applications of inputs from an operator to a control unit of the robotic system, wherein said surgical tool comprises:

  • a surgical end effector comprising;

    a first jaw and a second jaw; and

    a firing member axially movable between a starting position and an ending position within said first and second jaws and wherein said surgical tool further comprises;

    an elongate shaft assembly operably coupled to said surgical end effector and comprising a firing shaft operably interfacing with said firing member to apply firing motions thereto;

    a tool mounting portion operably coupled to said elongate shaft assembly and configured for removable operable attachment to the tool drive assembly of the robotic system, wherein said tool mounting portion comprises;

    a firing drive system, comprising;

    a first rotary drive assembly configured for operable rotary engagement with a corresponding one of the rotary output members when said tool mounting portion is operably attached to the tool drive assembly of the robotic system;

    a second rotary drive assembly in operable engagement with said firing shaft and movable between a first engaged position, wherein said second rotary drive assembly is in operable engagement with said first rotary drive assembly such that rotation of the corresponding one of the rotary output members in a first actuation direction causes said second rotary drive assembly to apply rotary firing motions to said firing shaft in a first rotary direction, and a disengaged position, wherein said second rotary drive assembly is disengaged from said first rotary drive assembly while said first rotary drive assembly remains in operable rotary engagement with the corresponding one of the rotary output member; and

    a manually-actuatable control system configured to, upon actuation, move said second rotary drive assembly out of operable engagement with said first rotary drive assembly and apply additional rotary firing motions to said firing shaft while said first rotary drive assembly remains in operable rotary engagement with the corresponding one of the rotary output members.

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