Detachable surgical tool configured as a finite state machine
Many embodiments of a surgical tool are set forth herein that can be employed for use in minimally invasive surgical procedures and in remote access surgical procedures. The surgical tool has multiple bodies with one or more detachable structural interfaces that can be established between one or more pairs of the bodies. Certain locks, interlocks, and/or joints can be present in the surgical tool and among the bodies in various embodiments in order to provide certain functionalities during use.
1 . A surgical tool, comprising:
a first body, a second body, and a third body, wherein said first body is at least a portion of a frame assembly, said second body is at least a portion of a shaft box assembly, and said third body is at least a portion of a handle assembly;
a detachable structural interface establishable between said first body and said second body;
a first lock establishable between said first body and said second body, said first lock being configured, upon its establishment, to maintain engagement between said first body and said second body;
a second lock establishable between said first body and said third body, said second lock being configured, upon its establishment, to retain the pose of said first body and said third body together;
an interlock establishable at said first lock, said interlock being configured, upon its establishment, to prevent disestablishment of said first lock; and
a joint disposed between said first body and said third body, said joint having at least two degrees of freedom;
wherein disestablishment of said second lock for articulating said third body and said joint causes establishment of said interlock for preventing disengagement between said first body and said second body, and said second lock is configured, upon its establishment, to retain the pose of said joint for disenabling the at least two degrees of freedom of said joint.
2 . The surgical tool as set forth in claim 1 , wherein, in a first state of the surgical tool, said detachable structural interface lacks establishment, said first lock lacks establishment, said second lock is established, and said interlock lacks establishment; and
wherein, in a second state of the surgical tool, said detachable structural interface is established, said first lock is established, said second lock lacks establishment, and said interlock is established.
3 . The surgical tool as set forth in claim 2 , wherein, in a third state of the surgical tool, said detachable structural interface is established, said first lock is established, and said interlock lacks establishment.
4 . The surgical tool as set forth in claim 2 , wherein the surgical tool is precluded from transitioning from its first state immediately to its second state via said second lock, and wherein the surgical tool is precluded from transitioning from its second state immediately to its first state via said interlock.
5 . The surgical tool as set forth in claim 1 , wherein the action of establishing said detachable structural interface prompts disestablish-ability of said second lock, and the action of disestablishing said detachable structural interface prompts establishment of said second lock.
6 . The surgical tool as set forth in claim 1 , further comprising:
a fourth body;
a second detachable structural interface establishable between said third body and said fourth body; and
a third lock establishable between said third body and said fourth body, upon its establishment said third lock maintains establishment of said second detachable structural interface.
7 . The surgical tool as set forth in claim 6 , wherein the action of establishing said first detachable structural interface prompts establishment of said third lock.
8 . The surgical tool as set forth in claim 6 , further comprising a fourth lock establishable between said second body and said fourth body, upon its establishment said fourth lock retains said second body and said fourth body together.
9 . The surgical tool as set forth in claim 8 , wherein the action of disestablishing said first detachable structural interface prompts establishment of said fourth lock.
10 . The surgical tool as set forth in claim 1 , wherein the surgical tool is a hand-held surgical tool.
11 . The surgical tool as set forth in claim 1 , wherein the surgical tool lacks electrical components among said first, second, and third bodies.
12 . The surgical tool as set forth in claim 1 , further comprising an electrical transmission member for effecting electrocautery via an end effector of the surgical tool.