Robotic ultrasonic surgical device with articulating end effector

摘要

An apparatus for operating on tissue comprises an end effector, a shaft assembly, and an interface assembly. The end effector comprises an ultrasonic blade. The shaft assembly includes an articulation section operable to deflect the end effector away from the longitudinal axis. The interface assembly is operable to drive the end effector. The interface assembly comprises a base and a plurality of drive shafts. The base is configured to couple with a dock of a robotic control system. The drive shafts are oriented perpendicular to the longitudinal axis of the shaft assembly. A first drive shaft may be operable to rotate the shaft assembly relative to the base. A second drive shaft may be operable to drive the articulation section. A third drive shaft may be operable to drive a clamping arm to pivot toward the ultrasonic blade.

主权项

1. An apparatus for operating on tissue, the apparatus comprising:
(a) an end effector, wherein the end effector comprises an ultrasonic blade; (b) a shaft assembly, wherein the end effector is disposed at a distal end of the shaft assembly, wherein the shaft assembly defines a longitudinal axis, wherein the shaft assembly includes an articulation section operable to deflect the end effector away from the longitudinal axis; and (c) an interface assembly, wherein the interface assembly is configured to drive the end effector, wherein the interface assembly comprises:
(i) a base, wherein the base is configured to couple with a dock of a robotic control system,(ii) at least one eccentric cam,(iii) a plurality of drive shafts, wherein at least one of the drive shafts is operably coupled to the at least one eccentric cam to thereby rotate the at least one eccentric cam, wherein rotation of the at least one eccentric cam is operable to drive the articulation section, and(iv) a plurality of drive discs associated with the plurality of drive shafts, wherein the drive discs each comprise a respective pair of pins, wherein the pins are configured to couple with complementary drive features of a robotic control system.