End effector of a surgical robotic manipulator including a grip sensing mechanism for manual operation of the end effector

An end effector for use with a surgical robotic manipulator and a cutting accessory for cutting tissue of a patient, the end effector comprising:

• an actuator for driving the cutting accessory;
• a nose tube extending along an axis and configured for receiving the cutting accessory;
• a mounting fixture configured for coupling the end effector to the surgical robotic manipulator;
• a handle supported about the axis of the nose tube;
• a lever coupled to the handle being moveable between a depressed position and a released position;
• and
• a sensor supported by and fixed relative to the nose tube, the sensor configured to sense the lever in the depressed position and the released position, wherein the actuator is activated for driving the cutting accessory in response to the sensor sensing the lever in the depressed position;
• a carriage coupled to the lever and moveable relative to the sensor in response to movement of the lever between the depressed position and the released position;
• and
• an activator fixed relative to the carriage, the activator being configured to interact with the sensor, and wherein the activator is moveable relative to the sensor between a first position and a second position in response to movement of the lever between the depressed position and the released position;
• and
• wherein the handle is configured to rotate relative to the nose tube and about the axis of the nose tube.

A surgical robotic system for driving a cutting accessory comprising:

• a surgical robotic manipulator comprising a linkage assembly;
• an end effector coupled to the surgical robotic manipulator, the end effector comprising:
• a handle;
• an actuator disposed within the handle for driving the cutting accessory;
• a nose tube coupled to the handle and extending along an axis and configured for receiving the cutting accessory;
• a mounting fixture configured for coupling the end effector to the linkage assembly of the surgical robotic manipulator;
• a lever supported by the handle and being moveable relative to the handle between a depressed position and a released position;
• a carriage coupled to and extending annularly about the nose tube, the carriage configured to slide along the axis of the nose tube in response to movement of the lever;
• a sensor coupled to the nose tube;
• and
• an activator disposed on the carriage and being moveable along the axis of the nose tube and moveable relative to the sensor between a first position and a second position in response to movement of the lever between the depressed position and the released position,
• wherein the activator is configured to interact with the sensor to identify whether the lever is in the depressed position or the released position;
• and
• wherein, in response to the lever being in the depressed position, the activator is in the first position and the sensor is spaced from the activator by a first distance such that the activator interacts with the sensor to cause activation of the actuator;
• and
• wherein, in response to the lever being in the released position, the activator is in the second position and the sensor is spaced from the activator by a second distance to cause deactivation of the actuator.