Wristed robotic tool with replaceable end-effector cartridges

摘要

In one embodiment of the invention, a replaceable electrosurgical end effector cartridge is provided to couple to a mechanical wrist of a surgical instrument for a robotic surgical system. The replaceable electrosurgical end effector cartridge includes two end effectors, a fastener to rotatably couple the two end effectors together, and a cam mechanism. At least one of the two end effectors is a moveable end effector having a jaw portion, an off-center portion, and a base portion. The cam mechanism is coupled to the base portion of the at least one moveable end effector to pivot it about the fastener to open and close the jaw portion of the at least one moveable end effector with respect to the other.

主权项

1. A robotic surgical tool comprising:
a pair of end effectors rotatingly coupled together at a pivot point, a first end effector of the pair of end effectors being moveable about the pivot point to open and close relative to a second end effector of the pair of end effectors; a cam mechanism, including a drive pin within at least one linear cam slot, the cam mechanism coupled to an end of at least the first end effector to pivot the first end effector about the pivot point, the cam mechanism to translate a linear motion of the drive pin into the pivotal motion of the first end effector; an actuation mechanism to couple to the cam mechanism to control the pivotal motion of the first end effector about the pivot point; a shaft having a distal end to extend the pair of end effectors into a surgical site; and an interface base coupled to a proximal end of the shaft, the interface base to couple to a robotic slave, the interface base including a first spool to control at least the first end effector.