Robotic surgical system with removable motor housing

摘要

A robotic system. A housing is removably attachable to a tool interface portion of the robotic system and includes a drive system. In various arrangements, the drive system includes at least one onboard motor that is configured to generate a rotary control motion for application to a surgical end effector. A first drive assembly operably interfaces with portions of the tool interface portion to generate another rotary control motion for application to the surgical end effector.

主权项

1. A surgical system, comprising:
a robotic system including a tool interface portion, said tool interface portion including at least one rotary output member; a surgical end effector configured to perform a first action in response to a first actuation motion applied thereto and a second action in response to a second actuation motion applied thereto; a housing removably attachable to the tool interface portion of the robotic system; a latching arrangement for removably attaching said removable housing to said tool interface portion; and a drive system, comprising:
a first drive assembly operably interfacing with a corresponding one of the at least one rotary output members on the tool interface portion such that when said removable housing is operably attached to said tool interface portion, actuation of said corresponding one of said at least one rotary output members causes said first drive assembly to generate rotary control motion;a drive transmission operably interfacing with said first drive assembly to receive said rotary control motion therefrom, said drive transmission movable between a first position wherein said drive transmission applies said first actuation motion to said surgical end effector in response to said rotary control motion and a second position wherein said drive transmission applies said second actuation motion to said surgical end effector in response to said rotary control motion; andan onboard motor supported on said removable housing and operably interfacing with said drive transmission to selectively shift said drive transmission between said first and second positions.