Apparatus for endoscopic procedures
An electromechanical surgical system having an instrument housing for connecting with a shaft assembly, a shaft assembly, and an end effector. The end effector is an articulating end effector and the system includes a cable tensioning system for tensioning the articulation cables. The system includes a clutch mechanism for preventing slippage of a drive cable.
1. An electromechanical surgical system, comprising:
an instrument housing;
an end effector configured to perform at least one function; and
a shaft assembly being arranged for selectively interconnecting the end effector and the instrument housing, the shaft assembly including:
at least one link for allowing articulation of the end effector;
first and second diametrically opposed articulation cables extending at least partially along the at least one link, wherein each articulation cable includes a distal end anchored to the at least one link, and a proximal end;
a first axially displaceable rack coupled to the proximal end of the first articulation cable;
a second axially displaceable rack coupled to the proximal end of the second articulation cable;
a spur gear operatively connecting the first and second racks to one another;
a clevis rotatably supporting the spur gear; and
a cable tensioning assembly including a screw operably coupled to the clevis such that rotation of the screw moves the clevis to adjust a tension in the first and second articulation cables.
2. The electromechanical surgical system according to claim 1 , wherein the shaft assembly further includes:
a threaded rod extending proximally from the first rack; and
at least one rotatable drive member coupled to the threaded rod, wherein rotation of the at least one drive member of the shaft assembly imparts longitudinal movement to the threaded rod and to move the first rack and articulate the end effector.
3. The electromechanical surgical system according to claim 2 , wherein the shaft assembly further includes a distal neck housing supported at a distal end of the at least one link.
4. The electromechanical surgical system according to claim 2 , wherein rotation of the threaded rod translates the first rack to axially displace the first articulation cable to articulate the end effector.
5. The electromechanical surgical system according to claim 1 , wherein the clevis is axially slidable relative to the screw of the cable tensioning assembly.
6. The electromechanical surgical system according to claim 5 , wherein axial displacement of the clevis results in axial displacement of the spur gear and, in turn, the first rack and the second rack.
7. The electromechanical surgical system according to claim 1 , wherein the clevis is biased in a proximal direction.
8. The electromechanical surgical system according to claim 1 , wherein the clevis is connected to the screw to axially displace the clevis upon a rotation of the screw.
9. The electromechanical surgical system according to claim 1 , further comprising a clutch mechanism attached to at least one rotatable drive member of the shaft assembly, the clutch mechanism having a plunger member with camming surfaces and a coupling member with camming surfaces.
10. The electromechanical surgical system according to claim 9 , wherein the clutch mechanism includes a biasing member engaged with the plunger member to press the plunger member against the coupling member so that the camming surfaces of the plunger member are in engagement with the camming surfaces of the coupling member.
11. The electromechanical surgical system according to claim 9 , wherein the clutch mechanism includes a coupler defining an angled inner-annular surface for mating with an angled outer annular profile of the plunger member.
12. An electromechanical surgical system, comprising:
an instrument housing;
an end effector configured to perform at least one function; and
a shaft assembly arranged for selectively interconnecting the end effector and the instrument housing, the shaft assembly including:
at least one rotatable drive member;
at least one link for allowing articulation of the end effector;
first and second diametrically opposed articulation cables extending at least partially along the at least one link, wherein each articulation cable includes a distal end anchored to the at least one link, and a proximal end being secured to a respective first and second axially displaceable rack, each rack being operatively connected to one another by a spur gear, the spur gear being attached to a clevis; and
a threaded rod extending proximally from the first rack, wherein rotation of the at least one drive member of the shaft assembly imparts longitudinal movement to the threaded rod to move the first rack and articulate the end effector.
13. An electromechanical surgical system, comprising:
an instrument housing;
an end effector configured to perform at least one function; and
a shaft assembly arranged for selectively interconnecting the end effector and the instrument housing, the shaft assembly including:
at least one link for allowing articulation of the end effector; and
first and second diametrically opposed articulation cables extending at least partially along the at least one link, wherein each articulation cable includes a distal end anchored to the at least one link, and a proximal end being secured to a respective first and second axially displaceable rack, each rack being operatively connected to one another by a spur gear, the spur gear being attached to a clevis that is biased in a proximal direction.