Robotically powered surgical device with manually-actuatable reversing system

摘要

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.

主权项

1. 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 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 rotary control motions applied to the at least one selectively movable component portion; an elongate shaft assembly operably coupled to the surgical end effector, the elongate shaft assembly comprising at least one rotary drive shaft that is in operable communication with the at least one selectively movable component portion of the surgical end effector; a tool mounting portion operably coupled to the elongate shaft assembly, the tool mounting portion being configured to operably interface with the tool drive assembly when coupled thereto, said tool mounting portion comprising:
a driven element rotatably supported on said tool mounting portion and configured for driving engagement with a corresponding one of the at least one rotatable body portions of the tool drive assembly to receive corresponding rotary output motions therefrom; anda drive system, comprising:
a rotary drive gear in driving engagement with the driven element;a first rotary driven gear in meshing engagement with the rotary drive gear; anda second rotary driven gear movably mounted to the at least one rotary drive shaft of the elongate shaft assembly for movement into and out of meshing engagement with the first rotary driven gear;wherein the drive system is in operable engagement with the at least one rotary drive shaft to apply robotically-generated actuation motions thereto to cause said at least one rotary drive shaft to apply at least one said rotary control motion to the at least one selectively movable component portion, and wherein the surgical tool further comprises: a manually-actuatable reversing system operably interfacing with the elongate shaft assembly to selectively move the second rotary driven gear out of meshing engagement with the first rotary driven gear and apply manually-generated, rotary control motions to the second rotary driven gear and said at least one rotary drive shaft.