Decoupling instrument shaft roll and end effector actuation in a surgical instrument

摘要

Surgical assemblies and related methods are disclosed that provide for decoupling of instrument shaft roll and end effector actuation. A surgical assembly includes a base, an instrument shaft rotationally mounted to the base, an end effector supported at a distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion, a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism, and a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion. The differential combines the first and second input motions to generate an output motion that rotates the drive shaft. The first input motion is rotationally coupleable to an actuation source. The second input motion is coupled to rotation of the instrument shaft relative to the base.

主权项

1. A surgical assembly comprising:
a base; an instrument shaft rotationally mounted to the base and extending between a distal end and a proximal end; an end effector supported at the distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion; a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism; and a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion, the differential being configured to combine the first and second input motions to generate an output motion that rotates the drive shaft, the first input motion being rotationally coupleable to an actuation source and the second input motion being coupled to rotation of the instrument shaft relative to the base.