Surgical device with powered articulation wrist rotation

摘要

SURGICAL DEVICE WITH POWERED ARTICULATION WRIST ROTATION A surgical instrument for (10) treating tissue, the instrument (10) including a housing (14) and a shaft (16) with an articulating portion (18) and an end effector (12). The surgical instrument (10) including a first casing (504a) connected to and rotatable with the proximal end of said shaft (16) with an internal frame (504c) housed within the first casing (504a) and a plurality of posts (520) supported by the internal frame (504c) and connected on their distal ends to at least one drive wire (38a-b), and connected on their proximal ends to a threaded shaft (16); and a second casing (504b) connected to the first casing (504a) and rotatable therewith, said second casing (504b) housing the threaded shafts (16). The surgical instrument (10) includes a first electric motor (514) driving a first gear (516) interfacing with the threaded shafts (16) such that a first pair of the plurality of threaded shafts rotate in the same direction and cause the articulating portion (18) to articulate in a first plane. c~co