Apparatus for endoscopic procedures
An electromechanical surgical system includes a hand-held surgical instrument; an end effector; and a shaft assembly for selectively interconnecting the end effector and the surgical device. The shaft assembly includes a transmission housing; an outer tubular body; a distal neck housing for interconnecting a rotatable drive member of the surgical instrument and a rotation receiving member supported in the end effector, wherein the distal neck housing includes at least one gear system configured to convert a rotational input of the rotatable drive member into at least two output forces to the end effector; and an articulating neck assembly interconnecting the tubular body and the distal neck housing. The articulating neck assembly enables off-axis articulation of the distal neck assembly, and wherein the rotatable drive member extends through the articulating neck assembly.
1. A shaft assembly configured to selectively connect to an end effector, the shaft assembly including:
a drive shaft; and
a distal neck assembly including:
an outer tubular housing; and
a gear box configured to convert rotational input of the drive shaft into a first output or a second output, the gear box including:
a first planetary gear assembly; and
a lock member slidably disposed in the gear box, the lock member configured to slide between an engaged position in which the lock member engages with the first planetary gear assembly, which directs the first output of the gear box, and a disengaged position in which the lock member is disengaged from the first planetary gear assembly, which directs the second output of the gear box, wherein the first output directs a firing of an end effector and the second output directs a rotation of an end effector.
2. The shaft assembly of claim 1 , wherein the first planetary gear assembly includes:
a first sun gear non-rotatably supported on a distal portion of the drive shaft;
a first ring gear rotatably disposed about the first sun gear and supported in the outer tubular housing; and
a first planet gear interposed between the first sun gear and the first ring gear, such that the first planetary gear engages the first sun gear and the first ring gear.
3. The shaft assembly of claim 2 , wherein the gear box further includes a carrier rotatably supported in the outer tubular housing of the distal neck assembly, the carrier including a stem extending therefrom, the first planet gear rotatably supported on the stem of the carrier.
4. The shaft assembly of claim 3 , wherein the gear box further includes a crown gear non-rotatably supported on the stem of the carrier, the crown gear having a plurality of teeth disposed radially around an outer rim thereof, the plurality of teeth extending from a distal surface of the crown gear, such that rotation of the crown gear results in rotation of the carrier and the first planet gear.
5. The shaft assembly of claim 4 , wherein the outer tubular housing includes a first tooth extending radially inward therefrom and the lock member includes a second tooth.
6. The shaft assembly of claim 5 , wherein in the engaged position the second tooth of the lock member is engaged with the plurality of teeth of the crown gear and the first tooth of the outer tubular housing, such that rotation of the crown gear and the carrier are inhibited.
7. The shaft assembly of claim 5 , wherein in the disengaged position the second tooth of the lock member is disengaged from the plurality of teeth of the crown gear, such that rotation of the first sun gear rotates the crown gear and the carrier.
8. The shaft assembly of claim 5 , wherein the locking member includes a locking collar having:
a plurality of radially outward extending teeth engaged with the first tooth of the outer tubular housing; and
a plurality of distally facing teeth extending radially inward.
9. The shaft assembly of claim 5 , wherein the locking member includes a locking pin translatably supported in the distal neck assembly, the locking pin movable from a proximal position to a distal position, the locking pin having a body portion and a third tooth disposed at a distal end thereof.
10. The shaft assembly of claim 9 , wherein in the distal position the locking pin is disengaged from the crown gear and engaged with the first ring gear, such that the crown gear is rotatable.
11. The shaft assembly of claim 9 , wherein in the proximal position the locking pin is engaged with the crown gear, such that the crown gear and the carrier are not rotatable.
12. The shaft assembly of claim 9 , wherein in the proximal position the third tooth of the locking pin engages the plurality of teeth of the crown gear and the body portion of the locking pin engages the first tooth of the outer tubular housing.
13. The shaft assembly of claim 3 , wherein the gear box further includes a second planetary gear assembly, the second planetary gear assembly including:
a second sun gear non-rotatably supported on and extending from the carrier; and
a second planet gear engaged with the second sun gear.
14. The shaft assembly of claim 13 , wherein the first ring gear includes an annular flange extending distally beyond the second planetary gear assembly, the annular flange non-rotatably engaging the end effector such that rotation of the first ring gear results in rotation of the end effector.
15. A shaft assembly configured to selectively connect to an end effector, the shaft assembly including:
a drive shaft; and
a distal neck assembly including:
an outer tubular housing; and
a gear box configured to convert rotational input of the drive shaft into a first output or a second output, the gear box including:
a first planetary gear assembly; and
a lock member slidably disposed in the gear box, the lock member configured to slide between an engaged position in which the lock member engages with the first planetary gear assembly, which directs the first output of the gear box, and a disengaged position in which the lock member is disengaged from the first planetary gear assembly, which directs the second output of the gear box,
wherein the distal neck assembly further includes a shift cable coupled to the lock member, such that proximal translation of the shift cable slides the lock member into the engaged position, and distal translation of the shift cable slides the lock member into the disengaged position.
16. A shaft assembly configured to selectively connect to an end effector, the shaft assembly including:
a drive shaft; and
a distal neck assembly including:
an outer tubular housing; and
a gear box configured to convert rotational input of the drive shaft into a first output or a second output, the gear box including:
a first planetary gear assembly; and
a lock member slidably disposed in the gear box, the lock member configured to slide between an engaged position in which the lock member engages with the first planetary gear assembly, which directs the first output of the gear box, and a disengaged position in which the lock member is disengaged from the first planetary gear assembly, which directs the second output of the gear box,
wherein the gear box further includes a biasing member such that the lock member is biased into one of the engaged position or the disengaged position.