Shiftable drive interface for robotically-controlled surgical tool

CAFC
  • US 8,616,431 B2
  • Filed: 02/09/2012
  • Issued: 12/31/2013
  • Est. Priority Date: 06/04/2007
  • Status: Active Grant
First Claim
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1. A tool mounting device for coupling a surgical end effector configured to selectively perform at least two actions in response to control motions applied thereto to a tool drive assembly of a robotic system that is operatively coupled to a control unit of the robotic system, said tool mounting device comprising:

  • a tool mounting portion configured for operable attachment to the tool drive assembly of the robotic system;

    an elongated shaft assembly having a proximal end portion operably supported on said tool mounting portion and a distal end portion operably interfacing with said surgical end effector to apply said control motions thereto; and

    a transmission arrangement operably supported on said tool mounting portion such that when said tool mounting portion is attached to the tool drive assembly, said transmission arrangement is configured to operably interface with a rotatable driven element of the tool drive assembly to receive a rotary output motion therefrom, said transmission arrangement communicating with the control unit of the robotic system and being responsive to actuation motions therefrom to move between first and second positions such that when said transmission arrangement is in said first position, an application of said rotary output motion thereto by said rotatable driven element of the tool drive assembly causes a first one of said control motions to be applied to a portion of said surgical end effector through said elongated shaft assembly and when said transmission arrangement is in said second position, said application of said rotary output motion thereto by said rotatable driven element of the tool drive assembly causes a second one of said control motions to be applied to another portion of said surgical end effector through said elongated shaft assembly.

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