Decoupling instrument shaft roll and end effector actuation in a surgical instrument
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.
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.
2. The surgical assembly of claim 1 , wherein the end effector includes a jaw articulated by the actuation mechanism.
3. The surgical assembly of claim 1 , wherein the differential is configured such that rotation of the instrument shaft relative to the base results in substantially zero rotation of the drive shaft relative to the instrument shaft when the first input motion is zero.
4. The surgical assembly of claim 1 , wherein the differential includes:
a first cable drivingly coupling rotation of the drive shaft relative to the base to rotation of the instrument shaft relative to the base; and
a second cable drivingly coupled to the actuation source, the second cable being coupled to first and second pulley blocks having first and second pulleys, respectively, the first cable being engaged by the first and second pulleys.
5. The surgical assembly of claim 1 , wherein the differential includes:
a first cable drivingly coupling rotation of the drive shaft relative to the base to the actuation source; and
a second cable drivingly coupled to rotation of the instrument shaft relative to the base, the second cable being coupled to first and second pulley blocks having first and second pulleys, respectively, the first cable being engaged by the first and second pulleys.
6. The surgical assembly of claim 1 , wherein the differential comprises a planetary gear box including a sun gear, planet gears coupled to a carrier, and a ring gear.
7. The surgical assembly of claim 6 , wherein the first input motion rotates the carrier, the second input motion rotates the sun gear, and rotation of the ring gear is transferred to the drive shaft.
8. The surgical assembly of 7 , wherein the first input motion is transferred to the carrier through an input shaft, and wherein the sun gear rotates around the input shaft.
9. The surgical assembly of claim 8 , wherein the input shaft is oriented transverse to the instrument shaft.
10. The surgical assembly of claim 7 , further comprising a torsion spring coupled between the base and the carrier to return the drive shaft to a predetermined rotational position relative to the instrument shaft upon a disconnection between the actuation source and the carrier.