Robotically powered surgical device with manually-actuatable reversing system
AssigneeCilag GmbH International
InventorFrederick E. Shelton, IV
Life of this patent
Estimating the term…
Abstract
A surgical tool for use with a robotic system that includes 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 robotically-generate output motions. A drive system is configured to interface with a corresponding portion of the tool drive assembly for receiving the robotically-generated output motions and applying the output motions to a drive shaft assembly which is configured to apply control motions to a surgical end effector operably coupled thereto. A manually-actuatable control system operably interfaces with the drive shaft assembly to facilitate the selective application of manually-generated control motions to the drive shaft assembly.
Claims17
A surgical device for use with a robotic system and a loading unit, wherein the robotic system comprises a plurality of rotary drivers, wherein the loading unit comprises an end effector including a first jaw and a second jaw, and wherein the surgical device comprises:
- an elongate shaft, wherein the loading unit is operably couplable to the elongate shaft;
- a firing driver rotatable in a first direction and a second direction opposite the first direction, wherein the firing driver is configured to provide a firing stroke to the loading unit based on the firing driver rotating in the first direction;
- an enclosure extending proximally from the elongate shaft, wherein the enclosure is removably coupleable to the robotic system;
- a first rotary actuator configured to be driven by a first rotary driver of the plurality of rotary drivers, wherein the first rotary actuator is configured to rotate the firing driver in the first direction and the second direction;
- a firing gear operably coupling the first rotary actuator and the firing driver;
- a second rotary actuator configured to be driven by a second rotary driver of the plurality of rotary drivers, wherein the elongate shaft is rotatable based on rotation of the second rotary actuator;
- and
- a manually-operable bailout configured to rotate the firing driver in the second direction, wherein the manually-operable bailout comprises a ratchet gear configured to engage and rotate the firing gear.
A surgical device for use with a robotic system including a plurality of rotary drivers, wherein the surgical device comprises:
- an elongate shaft;
- a loading unit removably coupleable to the elongate shaft, wherein the loading unit comprises an end effector including a first jaw and a second jaw;
- a rotatable driver rotatable in a first direction and a second direction opposite the first direction, wherein the rotatable driver is configured to effect a firing motion at the loading unit based on the rotatable driver rotating in the first direction;
- a housing extending proximally from the elongate shaft, wherein the housing is removably coupleable to the robotic system;
- a first rotary actuator configured to be driven by a first rotary driver of the plurality of rotary drivers, wherein the first rotary actuator is configured to rotate the rotatable driver in the first direction and the second direction;
- a firing gear operably coupling the first rotary actuator and the rotatable driver;
- a second rotary actuator configured to be driven by a second rotary driver of the plurality of rotary driver, wherein the elongate shaft is rotatable based on rotation of the second rotary actuator;
- and
- a manually-operable bailout configured to rotate the rotatable driver in the second direction, wherein the manually-operable bailout comprises a ratchet gear configured to engage and rotate the firing gear.
A surgical device for use with a robotic system and a loading unit, wherein the robotic system comprises a plurality of rotary drivers, wherein the loading unit comprises an end effector including a first jaw and a second jaw, and wherein the surgical device comprises:
- an elongate shaft, wherein the loading unit is operably couplable to the elongate shaft;
- a firing driver movable in an advancing direction and a reversing direction, wherein the firing driver is configured to effect a firing motion at the loading unit based on the firing driver moving in the advancing direction;
- an enclosure extending proximally from the elongate shaft, wherein the enclosure is removably coupleable to the robotic system;
- a first rotary actuator configured to be driven by a first rotary driver of the plurality of rotary drivers, wherein the first rotary actuator is configured to move the firing driver in the advancing direction and the reversing direction;
- a firing gear operably coupling the first rotary actuator and the firing driver;
- a second rotary actuator configured to be driven by a second rotary driver of the plurality of rotary drivers, wherein the elongate shaft is rotatable relative to the elongate shaft based on rotation of the second rotary actuator;
- and
- a manually-operable bailout configured to move the firing driver in the reversing direction, wherein the manually-operable bailout comprises a ratchet gear configured to engage and rotate the firing gear.
Dependencies are inferred from the claim text.