Robotic surgical tool for pluggable end-effectors

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 pluggable end effectors and a pair of spring latches. The two end effectors are moveable end effectors having a jaw portion, an off-center portion, and a base portion in one embodiment. The replaceable electrosurgical end effector cartridge may further include a fastener to rotatably couple the end effectors together.

主权项

1. A robotic surgical tool comprising:
a first pulley and a second pulley; a first receptacle coupled to the first pulley; a second receptacle coupled to the second pulley; a first end effector removably coupled to the first receptacle; a second end effector removably coupled to the second receptacle; a fastener rotatably fastening together the first and second end effectors at a first pivot axis; a shaft having a distal end to extend the first and second end effectors into a surgical site; an interface base coupled to a proximal end of the shaft, the interface base to couple to a robotic slave to control the first and second end effectors, the interface base including a first spool to control the first end effector and a second spool to control the second end effector; a first cable loop routed in the shaft between the first pulley and the interface base, the first cable loop coupled to the first pulley and having a first end wrapped around the first spool of the interface base in a first direction and a second end wrapped around the first spool in a second direction opposite the first direction to control the first end effector; and a second cable loop routed in the shaft between the second pulley and the interface base, the second cable loop coupled to the second pulley and having a first end wrapped around the second spool of the interface base in a first direction and a second end wrapped around the second spool in a second direction opposite the first direction to control the second end effector; wherein the first pulley and second pulley respectively rotate the first and second receptacles about a second pivot axis parallel to the first pivot axis and the first and second receptacles in turn rotate the first and second end effectors about the first pivot axis to open and close the jaws of the first and second end effectors, or to yaw the first and second end effectors together.