Laparoscopic suturing instrument with multi-drive sequenced transmission

摘要

An apparatus comprises a body, a shaft assembly, an end effector assembly, and a drive assembly. The body may include a handpiece with an integral motor. The shaft assembly may include two pairs of concentric shafts. The end effector assembly may include arms that selectively grasp and release a suturing needle. The drive assembly is operable to drive the end effector assembly via the shaft assembly. The drive assembly is operable to convert a single rotary input into at least two rotary outputs. In some versions, the drive assembly comprises a plurality of shaft assemblies that include an input shaft, a first output shaft, a second output shaft, and a third output shaft. The drive assembly is operable to selectively rotate and hold the shaft assemblies in accordance with a predetermined sequence, such as to perform tissue suturing through a trocar in a minimally invasive surgical procedure.

主权项

1. An apparatus, comprising:
(a) a body; (b) a shaft assembly extending distally from the body; (c) an end effector assembly positioned at a distal end of the shaft assembly, wherein the end effector assembly is operable to perform a surgical procedure; and (d) a drive assembly comprising:
(i) an input shaft,(ii) a first output shaft,(iii) a second output shaft,(iv) a third output shaft, and(v) at least one rotary cam, wherein the drive assembly is operable to convert a single rotary input into at least two rotary outputs, wherein the drive assembly is operable to selectively drive each of the at least two rotary outputs via the at least one rotary cam, wherein the drive assembly is further operable to selectively hold at least one of the outputs stationary while rotating at least one of the other outputs via the at least one rotary cam, wherein the shaft assembly is operable to communicate rotation from the at least two rotary outputs to the end effector assembly, wherein the first, second, and third output shafts are in communication with the end effector via the shaft assembly, wherein the drive assembly is operable to selectively rotate or hold the first, second, and third output shafts in a predetermined sequence in response to rotation of the input shaft in a first input rotation direction, wherein the first output shaft is operable to rotate in a first output rotation direction and then in a second output rotation direction in response to continued rotation of the input shaft in the first input rotation direction, wherein the first output rotation direction and the second output rotation direction are opposite.