Robotically-controlled surgical end effector system

  • US 8,783,541 B2
  • Filed: 02/09/2012
  • Issued: 07/22/2014
  • Est. Priority Date: 05/20/2003
  • Status: Active Grant
First Claim
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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 at least one component portion that is selectively movable between first and second positions relative to at least one other component portion thereof in response to control motions applied at least to said selectively movable component portion;

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

    an axially movable portion in operable communication with said at least one selectively movable component portion of said surgical end effector;

    a rotatable member operably coupled with said axially movable portion such that rotation of said rotatable member causes said axially movable portion to move axially relative thereto; and

    a closure clutch assembly selectively movable between a neutral disengaged position and an engaged first closure drive position wherein said closure clutch assembly is in driving engagement with said rotatable member and wherein the surgical tool further comprises;

    a transmission arrangement in operable engagement with at least one of said at least one rotatable body portions supported on the tool drive assembly and in operable engagement with said closure clutch assembly to selectively move said closure clutch assembly between said neutral disengaged position and said engaged first closure drive position and apply rotary actuation motions thereto when in said engaged first closure drive position; and

    a sensor arrangement communicating with said control unit for providing a signal thereto when said selectively movable component portion is in said second position.

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