Drive interface for operably coupling a manipulatable surgical tool to a robot

CAFC
  • US 8,479,969 B2
  • Filed: 02/09/2012
  • Issued: 07/09/2013
  • Est. Priority Date: 01/10/2007
  • Status: Active Grant
First Claim
Patent Images

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 comprising;

    an elongated channel configured to operably support a surgical staple cartridge therein;

    an anvil that is selectively movable between a first open position and second closed positions relative to the elongated channel and wherein the surgical tool further comprises;

    an elongated shaft assembly operably coupled to said surgical end effector, said elongated shaft assembly comprising;

    a spine assembly including a distal end portion that is coupled to said elongated channel;

    a closure tube assembly movably supported on said spine assembly, said closure tube assembly comprising a distal end configured for operable interaction with said anvil; and

    at least one gear-driven portion, wherein one said gear driven portion is in operable communication with said closure tube assembly and wherein said surgical tool further comprises;

    a tool mounting portion operably coupled to said elongated shaft assembly, said tool mounting portion being configured to operably interface with the tool drive assembly when coupled thereto and operably supporting a proximal end of the spine assembly thereon, said tool mounting portion comprising;

    a driven element rotatably supported on said tool mounting portion and configured for driving engagement with a corresponding one of the at least one rotatable body portions of the tool drive assembly to receive corresponding rotary output motions therefrom; and

    a transmission assembly in operable engagement with said driven element and in meshing engagement with a corresponding one of said at least one gear-driven portions to apply actuation motions thereto to cause said corresponding one of said at least one gear driven portions to apply at least one control motion to said closure tube assembly.

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