Robotically controlled surgical instrument
A surgical tool is disclosed. The surgical tool has a tool mounting portion having a tool mounting housing, a tool mounting plate, and a coupler to couple a shaft assembly with an articulation section to the tool mounting portion. An articulation mechanism is located within the tool mounting portion and is configured to receive a proximal end of the shaft assembly to articulate the articulation section of the shaft assembly. An interface mechanically and electrically couples the tool mounting portion to a manipulator.
1. A surgical tool for use with a manipulator, comprising:
a shaft assembly comprising an articulation section;
a tool mounting portion comprising a tool mounting housing, a tool mounting plate, and a coupler to couple the shaft assembly to the tool mounting portion;
an articulation mechanism configured to receive a proximal end of the shaft assembly to articulate the articulation section of the shaft assembly, wherein the articulation mechanism comprises:
a first pinion gear;
a first rack gear meshed with the first pinion gear, wherein the first rack gear comprises a proximal wall, a distal wall, and a first arcuate rack;
a second pinion gear; and
a second rack gear meshed with the second pinion gear, said second rack gear comprising:
a distal sleeve comprising a proximal wall and a distal wall, wherein the distal sleeve defines a longitudinal aperture; and
a second arcuate rack, wherein the first rack gear is slidably received within the second rack gear so that, upon rotation of the first pinion gear, the first rack gear is movable longitudinally relative to the second rack gear, and wherein a longitudinal gap is defined between the distal wall of the first rack gear and the proximal wall of the distal sleeve of the second rack gear;
a first articulation band and a second articulation band positioned through the aperture of the distal sleeve; and
an interface to mechanically and electrically couple the tool mounting portion to the manipulator.
2. The surgical tool of claim 1 , wherein the articulation mechanism is operative to articulate the articulation section of the shaft assembly.
3. The surgical tool of claim 2 , wherein the first pinion gear is rotatably coupled to a first rotatable body, wherein the first rotatable body is coupled to a first driven element adapted to rotatably couple to the interface, and wherein the first rack gear is connected to the first articulation band.
4. The surgical tool of claim 3 , wherein the second pinion gear is coupled to a second rotatable body, wherein the second rotatable body is coupled to a second driven element adapted to rotatably couple to the interface, and wherein the second rack gear is connected to the second articulation band.
5. The surgical tool of claim 1 , wherein the first articulation band and the second articulation band are attached to a distal end of the articulation section such that the articulation section articulates a first direction when the first rack gear moves longitudinally.
6. The surgical tool of claim 4 , further comprising a first bearing positioned between the first rotatable body and the first driven element and a second bearing positioned between the second rotatable body and the second driven element.
7. The surgical tool of claim 1 , wherein the second body portion of the second rack gear comprises a proximal wall that is at least substantially aligned with the proximal wall of the first body portion of the first gear rack when the surgical tool is in an unarticulated position.
8. The surgical tool of claim 1 , wherein the first and second articulation bands are attached to the articulation section of the shaft assembly.