Activating and rotating surgical end effectors
Various surgical tools are provided with multi-axis articulation joints and with the ability to rotate distal to the joint. In one embodiment, a surgical tool is provided having an elongate shaft with an end effector disposed at a distal end of the elongate shaft. The end effector can have first and second jaws configured to grasp tissue and a sled or cutting element configured to advance through the jaws and cut tissue therein. A multi-axis articulation joint can be formed on the shaft or between the shaft and the end effector. The joint can allow articulation of the end effector in multiple directions. The end effector can be configured to rotate distal to the multi-axis articulation joint about a longitudinal axis of the elongate shaft. Methods for allowing rotation and articulation of the end effector are also provided.
1. A surgical tool, comprising:
an elongate shaft;
an end effector coupled to a distal end of the elongate shaft, the end effector including first and second jaws movable between an open position in which the first and second jaws are spaced apart from one another, and a closed position in which the first and second jaws are configured to engage tissue therebetween;
a joint coupled between the elongate shaft and the end effector, the joint being configured to allow multi-axis articulation of the end effector relative to the elongate shaft;
a plurality of articulation members extending distally through the elongate shaft, at least one of the plurality of articulation members being offset from a central longitudinal axis of the elongate shaft;
a first rotary driver having a first flexible torque transmission tube, the first rotary driver extending distally through the elongate shaft, the first rotary driver being operatively connected to the end effector such that rotation of the first rotary driver is configured to move the first and second jaws between the open and closed positions, and the first flexible torque transmission tube extending through the joint; and
a linear pull cable extending distally through the elongate shaft and the joint, the linear pull cable being at least partially disposed within the first flexible torque transmission tube.
2. The surgical tool of claim 1 , wherein the first flexible torque transmission tube extends through a center of the joint.
3. The surgical tool of claim 1 , further comprising a second rotary driver coupled to the end effector such that rotation of the second rotary driver is configured to advance a cutting element through the end effector.
4. The surgical tool of claim 1 , wherein the plurality of articulation members are configured to translate longitudinally along the elongate shaft to articulate the end effector.
5. The surgical tool of claim 4 , wherein the plurality of articulation members comprises a first articulation cable, a second articulation cable, and an articulation tube.
6. The surgical tool of claim 1 , further comprising a rotation shaft extending through the elongate shaft and operatively connected to the joint such that rotation of the rotation shaft causes rotation of the joint and corresponding rotation of the end effector relative to the elongate shaft.
7. The surgical tool of claim 1 , wherein a proximal end of the elongate shaft is coupled to a housing that is configured to couple to a plurality of motors on a tool driver of a surgical system.
8. The surgical tool of claim 1 , wherein the first rotary driver includes a proximal gear positioned proximal of the joint, and a distal gear positioned distal of the joint, the proximal and distal gears being configured to translate a rotational force from the first rotary driver across the joint.
9. The surgical tool of claim 1 , wherein linear actuation of the linear pull cable is configured to move the first and second jaws between the open and closed positions.
10. The surgical tool of claim 1 , wherein the linear pull cable is coaxial with the first flexible torque transmission tube through the joint.
11. A robotic tool, comprising:
a housing having a plurality of gear assemblies, each of the plurality of gear assemblies being configured to couple to at least one motor on a tool driver of a surgical robot;
an elongate shaft extending distally from the housing;
an end effector having first and second jaws pivotably coupled to a distal end of the elongate shaft, the end effector being rotatable about a longitudinal axis thereof;
a multi-axis articulation joint coupled between the elongate shaft and the end effector and configured to allow multi-axis articulation of the end effector; and
a plurality of rotatory drive actuators extending through the elongate shaft and configured to actuate at least closing of the first and second jaws, the plurality of rotary drive actuators including a first flexible torque transmission tubing and a second flexible torque transmission tubing coaxial with one another such that the first flexible torque transmission tubing is disposed within the second flexible torque transmission tubing, the first and second torque transmission tubing extending through a center of the articulation joint.
12. The robotic tool of claim 11 , wherein the plurality of rotatory drive actuators comprise non-concentric actuators.
13. The robotic tool of claim 11 , further comprising a sled disposed within the end effector and configured to advance distally through at least one of the first and second jaws to eject at least one staple into tissue engaged between the first and second jaws, wherein at least one of the plurality of rotatory drive actuators is configured to actuate advancement of the sled.
14. The robotic tool of claim 13 , wherein the plurality of rotatory drive actuators comprise a first flexible torque transmission tubing and a second flexible torque transmission tubing concentric with one another and extending through a center of the articulation joint, the first flexible torque transmission tubing being configured to actuate closing of the first and second jaws, the second flexible torque transmission tubing being configured to actuate advancement of the sled.
15. The robotic tool of claim 11 , further comprising a first articulation cable, a second articulation cable, and an articulation tube that extend distally through the elongate shaft and that are coupled to the articulation joint.
16. A surgical method, comprising:
actuating a first motor on a tool driver of a surgical robot to cause an actuation shaft extending through a shaft of a tool coupled to the tool driver to rotate and thereby cause opposed jaws on an end effector of the tool to close, the actuation shaft extending offset from a central longitudinal axis of the shaft, and the rotary force being transferred across an articulation joint that allows multi-axial articulation of the end effector through rotation of at least first and second torque transmission tubes extending coaxially with one another through the articulation joint such that one of the first or second torque transmission tubes is disposed within the other; and
actuating a second motor on the tool driver to rotate a rotation actuation shaft extending through the shaft of the tool to thereby cause rotation of the end effector relative to the shaft and distal of the articulation joint.
17. The surgical method of claim 16 , further comprising actuating an additional motor on the tool driver to articulate at least one articulation member extending through the shaft of the tool, which thereby causes articulation of the end effector relative to the shaft.
18. The surgical method of claim 16 , further comprising actuating an additional motor on the tool driver to cause a second actuation shaft extending through the shaft to rotate and thereby cause a cutting element disposed within the opposed jaws to advance to cut tissue grasped between the opposed jaws, the actuation shaft extending offset from the central longitudinal axis of the shaft.
19. The surgical method of claim 16 , further comprising actuating an additional motor on the tool driver to cause at least one articulation cable to translate longitudinally along the shaft and thereby cause the end effector to articulate about the articulation joint.