WRISTED SURGICAL INSTRUMENT CAPABLE OF MULTIPLE FUNCTIONS, WITHOUT REQUIRING EXTRA INPUTS

摘要

The present invention is generally related to the art of surgical instruments for use in minimally invasive surgery and more specifically to robotic laparoscopic surgery. According to one aspect of the invention, this articulated instrument is capable of producing a wrist-like motion, i.e. the end effector generally has three degrees of freedom. Additionally, it also has another degree of freedom for actuation of the end effector. The end effector has a configurable set of arms which are capable of performing a first function in a first mode and a second function in a second mode. This end effector also has the capability to dynamically switch between two modes of different functions (e.g.: scissor and grasper). These actions of switching back and forth between the different modes (e.g.: scissor and grasper) can be described as extra actions. These extra actions are achieved without increasing the number of inputs.

主权项

1. A surgical assembly comprising,
an end effector with a configurable set of arms, said set of arms capable of performing a first function in a first mode of operation, and capable of performing a second function in a second mode of operation, a set of input links capable of moving said set of arms through a first portion of range of motion and capable of moving said set of arms through a second portion of range of motion, such that the second portion of range of motion realizes a first extra action on part of said set of arms.