Surgical instrument with shiftable transmission
A surgical tool having an elongated shaft having a proximal end and distal end. A surgical end effector is located about the distal end. The surgical end effector has a plurality of effector mechanisms comprising a plurality of degree of freedoms. An effector body is located at the proximal end. The effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms. A transmission is coupled to the effector body.
1. A surgical tool comprising:
an elongated shaft having a proximal end and distal end;
a surgical end effector at the distal end of the shaft, the surgical end effector comprising a plurality of end effector components each associated with a unique mechanical degree of freedom, the plurality of end effector components comprising a first end effector component and a second end effector component; and
a drive mechanism at the proximal end of the shaft, the drive mechanism comprising a first motor interface and a transmission, the transmission comprising a shift mechanism movable between a first state and a second state, in the first state the first motor interface being coupled via the transmission to drive the first end effector component without driving the second end effector component, in the second state the first motor interface being coupled via the transmission to drive the second end effector component without driving the first end effector component.
2. The surgical tool of claim 1 , wherein:
the drive mechanism includes a second motor interface coupled to shift the shift mechanism between the first state and the second state.
3. The surgical tool of claim 1 , wherein:
the plurality of end effector components comprises a third end effector component; and
the shift mechanism is movable to a third state, in the first state and in the second state the first motor interface not driving the third end effector component, and in the third state the first motor interface being coupled via the transmission to drive the third end effector component without driving the first and second end effector components.
4. The surgical tool of claim 3 , wherein:
the drive mechanism includes a second motor interface coupled to shift the shift mechanism between the first state, the second state, and the third state.
5. The surgical tool of claim 1 , wherein the shift mechanism includes a rotatable camshaft, a first position of the camshaft corresponding to the first state, and a second position of the camshaft corresponding to the second state.
6. The surgical tool of claim 5 , wherein the drive mechanism further includes a second motor interface coupled to drive the camshaft.
7. The surgical tool of claim 1 , wherein:
the first end effector component is associated with a first end effector mechanical degree of freedom, and the second end effector component is associated with a second end effector mechanical degree of freedom; and
the drive mechanism comprises a second motor interface coupled to drive a third end effector mechanical degree of freedom, a third motor interface coupled to drive a fourth end effector mechanical degree of freedom, and a fourth motor interface coupled to drive a fifth end effector mechanical degree of freedom; and
the first, second, third, fourth, and fifth mechanical degrees of freedom of the end effector each being unique.
8. The surgical tool of claim 7 , wherein:
the plurality of end effector components comprises a third end effector component associated with a sixth end effector mechanical degree of freedom; and
the first, second, third, fourth, fifth, and sixth mechanical degrees of freedom of the end effector each being unique.
9. The surgical tool of claim 8 , further comprising:
the plurality of motor interfaces includes a fifth motor interface coupled to shift the shift mechanism between the first state and the second state.
10. The surgical tool of claim 9 , wherein the surgical end effector comprises a gripping device having a surgical tool, wherein the surgical end effector includes a wrist, the wrist being able to pitch, yaw, and roll the gripping device with respect to the proximal end of the elongated shaft.
11. The surgical tool of claim 10 , wherein:
the first end effector mechanical degree of freedom is for rolling the wrist;
the second end effector mechanical degree of freedom is for actuating the surgical tool;
the third end effector mechanical degree of freedom is for actuating the gripping device with high force relative to the sixth end effector mechanical degree of freedom;
the fourth end effector mechanical degree of freedom is for causing the wrist to yaw;
the fifth end effector mechanical degree of freedom is for causing the wrist to pitch; and
the sixth end effector mechanical degree of freedom is for actuating the gripping device with low force relative to the third end effector mechanical degree of freedom.
12. The surgical tool of claim 11 , wherein the shift mechanism includes a rotatable camshaft comprising a plurality of camshaft lobes.
13. The surgical tool of claim 12 , wherein the plurality of camshaft lobes comprises a pair of lobes for powering and locking each of the first, second, and third end effector mechanical degree of freedoms.
14. The surgical tool of claim 13 , wherein the transmission comprises a first gear train for driving the first end effector mechanical degree of freedom, a second gear train for driving the second end effector mechanical degree of freedom, and a third gear train for driving the third end effector mechanical degree of freedom.
15. The surgical tool of claim 14 ,
wherein the first gear train comprises:
a first input gear;
a first output gear ultimately coupled with the first input gear;
a first rocker arm moveably engaged with the camshaft for engaging and disengaging the first input gear with the first output gear; and
a first locker arm moveably engaged with the camshaft for locking and unlocking the first output gear;
wherein the second gear train comprises:
a second input gear;
a second output gear ultimately coupled with the second input gear;
a second rocker arm moveably engaged with the camshaft for engaging and disengaging the second input gear with the second output gear; and
a second locker arm moveably engaged with the camshaft for locking and unlocking the second output gear; and
wherein the third gear train comprises:
a third input gear;
a third output gear ultimately coupled with the third input gear;
a third rocker arm moveably engaged with the camshaft for engaging and disengaging the third input gear with the third output gear; and
a third locker arm moveably engaged with the camshaft for locking and unlocking the third output gear.
16. The surgical tool of claim 15 , wherein the first output gear is coupled to a main shaft extending along and rotatable about an axis, and wherein the second and third output gears are held within the main shaft and rotate with the main shaft about the axis.
17. The surgical tool of claim 16 , wherein the second output gear is coupled to an first output shaft that extends within the main shaft, wherein the third output gear is coupled to an second output shaft that extends within the main shaft.
18. The surgical tool of claim 15 , wherein the first, second, and third gear trains are arranged along a common axis that is parallel with the camshaft.
19. In a surgical device comprising a first motor interface, a transmission, and a surgical end effector comprising a first and a second component, a method comprising:
operating the transmission in a first state;
shifting the transmission from the first state to a second state;
operating the transmission in the second state; and
shifting the transmission from the second state to the first state;
the first state being one in which the transmission couples the first motor interface to the first component of the surgical end effector and decouples the first motor interface from the second component of the surgical end effector; and
the second state being one in which the transmission couples the first motor interface with the second component of the surgical end effector and decouples the first motor interface from the first component of the surgical end effector.
20. The method of claim 19 , further comprising driving at least one of a plurality of non-shiftable effector outputs of the surgical end effector using a non-shiftable motor.
21. The method of claim 19 , wherein shifting the transmission comprises driving a camshaft of the transmission using a second motor.
22. The method of claim 21 , wherein driving the camshaft comprises rotating the camshaft to sequentially engage one of a plurality of gear trains.
23. The method of claim 22 , wherein driving the camshaft causes a non-engaged gear train to become locked.
24. The method of claim 23 , wherein driving the camshaft comprises rotating the camshaft to move a plurality of rocker arms that engage a plurality of gear trains of the transmission.
25. The method of claim 19 , wherein a plurality of effector shiftable outputs includes a first shiftable output for actuating a roll end effector mechanical degree of freedom, and high force grip end effector mechanical degree of freedom, and a tool actuation end effector mechanical degree of freedom.
26. The method of claim 20 , wherein the plurality of non-shiftable effector outputs drive a yaw end effector mechanical degree of freedom, pitch end effector mechanical degree of freedom, and a low force grip end effector mechanical degree of freedom.