US 12,734,003 B2 · Robotic surgical tool with motor mounted to translating carriage

Abstract

A robotic surgical tool includes a drive housing having opposing first and second ends, a carriage arranged within the drive housing, a shaft extending from the carriage, a firing rod extending within the shaft and defining external threads, an end effector arranged at an end of the shaft and including a knife coupled to the firing rod such that movement of the firing rod moves the knife, and an activating mechanism coupled to the carriage. The activating mechanism including a motor mounted to the carriage and operable to rotate a drive gear, and a driven gear engageable with the drive gear such that rotation of the drive gear rotates the driven gear and actuates the activating mechanism. The driven gear defines internal threads and is rotatably mounted to the firing rod at the external threads such that rotation of the driven gear longitudinally moves the firing rod and the knife.

Claims20

Dependent claims

A robotic surgical tool, comprising:

a drive housing having opposing first and second ends;
a carriage arranged within the drive housing and axially translatable between the first and second ends;
an elongate shaft extending from the carriage and penetrating the first end;
a firing rod extending within the shaft and defining external threads;
an end effector arranged at a distal end of the shaft and including a knife operatively coupled to the firing rod such that longitudinal movement of the firing rod correspondingly moves the knife in the same direction;
and
an activating mechanism coupled to the carriage and including:
a motor mounted to the carriage and operable to rotate a drive gear;
and
a driven gear engageable with the drive gear such that rotation of the drive gear causes the driven gear to rotate,
wherein the driven gear defines internal threads and is rotatably mounted to the firing rod at the external threads such that rotation of the driven gear longitudinally moves the firing rod and the knife.

8 more elements

A robotic surgical tool, comprising:

a drive housing having opposing first and second ends;
a carriage arranged within the drive housing and axially translatable between the first and second ends;
a closure tube extending from the carriage and penetrating the first end;
an end effector arranged at a distal end of the closure tube and including opposing jaws;
and
an activating mechanism coupled to the carriage and including:
a motor mounted to the carriage and operable to rotate a drive gear;
and
a driven gear engageable with the drive gear such that rotation of the drive gear causes the driven gear to rotate,
wherein the driven gear is operatively coupled to the closure tube such that rotating the driven gear correspondingly moves the closure tube axially to close or open the opposing jaws.

7 more elements

A method, comprising:

locating a robotic surgical tool adjacent a patient, the robotic surgical tool comprising:
a drive housing having opposing first and second ends;
a carriage arranged within the drive housing and axially translatable between the first and second ends;
an elongate shaft extending from the carriage and penetrating the first end;
a firing rod extending within the shaft and defining external threads;
an end effector arranged at a distal end of the shaft and including a knife operatively coupled to the firing rod such that longitudinal movement of the firing rod correspondingly moves the knife in the same direction;
and
an activating mechanism coupled to the carriage and including a motor mounted to the carriage and operable to rotate a drive gear, and a driven gear arranged to engage the drive gear such that rotation of the drive gear causes the driven gear to rotate;
operating the motor to drive the drive gear and thereby rotating the driven gear
with the drive gear, the driven gear defining internal threads and being rotatably mounted to the firing rod at the external threads;
and
longitudinally moving the firing rod and the knife as the driven gear rotates.

9 more elements

Dependencies are inferred from the claim text.

Robotic surgical tool with motor mounted to translating carriage

Life of this patent

Robotic surgical tool with motor mounted to translating carriage

Life of this patent

Abstract

Claims20