Modular battery powered handheld surgical instrument with multi-function motor via shifting gear assembly
A modular handheld surgical instrument including a modular handle assembly, a modular ultrasonic transducer assembly and a modular shaft assembly is disclosed. The modular handle assembly includes a shift gear translatable between a first position and a second position, wherein when the shift gear is translated to the first position, the surgical instrument is configured to rotate a drive gear of a first shaft of the modular shaft assembly to perform at least one shaft actuation function and when the shift gear is translated to the second position, the surgical instrument is configured to rotate a torque gear of a second shaft of the modular shaft assembly to controllably torque an ultrasonic waveguide of the modular shaft assembly to an ultrasonic transducer of the modular ultrasonic transducer assembly to a predefined torque.
1. A surgical instrument, comprising:
a modular handle assembly, comprising:
a motor assembly comprising a motor and a motor gear; and
a shift gear translatable between a first position and a second position;
a modular ultrasonic transducer assembly coupled to the modular handle assembly, wherein the modular ultrasonic transducer assembly comprises:
an ultrasonic transducer; and
an ultrasonic transducer shaft extending distally from the ultrasonic transducer; and
a modular shaft assembly coupled to the modular ultrasonic transducer assembly and the modular handle assembly, wherein the modular shaft assembly comprises:
a first rotatable shaft extending distally along a shaft axis, wherein the first rotatable shaft comprises a drive gear;
an ultrasonic waveguide coaxially aligned with the first rotatable shaft about the shaft axis; and
a second rotatable shaft coaxially aligned with the first rotatable shaft and the ultrasonic waveguide about the shaft axis, wherein the second rotatable shaft comprises a torque gear; and
an ultrasonic generator;
wherein when the shift gear is translated to the first position, the motor gear is configured to rotate the drive gear via the shift gear, and wherein when the shift gear is translated to the second position, the motor gear is configured to rotate the torque gear via the shift gear, and wherein rotation of the torque gear causes rotation of the ultrasonic transducer shaft relative to the ultrasonic waveguide.
2. The surgical instrument of claim 1 , wherein the drive gear, upon rotation, is operable to perform at least one shaft actuation function comprising one or more than one of clamping, rotating, or articulating an actuation device.
3. The surgical instrument of claim 1 , wherein the torque gear, upon rotation, is operable to couple the ultrasonic waveguide to the ultrasonic transducer shaft or decouple the ultrasonic waveguide from the ultrasonic transducer shaft.
4. The surgical instrument of claim 1 , wherein the torque gear, upon rotation, is operable to controllably torque the ultrasonic waveguide to the ultrasonic transducer shaft.
5. The surgical instrument of claim 4 , wherein the torque gear is coupled to the second rotatable shaft via a slip-clutch subsystem, wherein the slip-clutch subsystem is configured such that the torque gear and the second rotatable shaft remain fixedly coupled until a predefined torque is reached and such that the torque gear slips about the second rotatable shaft after the predefined torque is reached to controllably torque the ultrasonic waveguide to the ultrasonic transducer shaft.
6. The surgical instrument of claim 5 , wherein the slip-clutch subsystem is further configured such that the torque gear slips about the second rotatable shaft at a higher predefined torque when decoupling the ultrasonic waveguide from the ultrasonic transducer shaft.
7. The surgical instrument of claim 4 , further comprising a motor circuit, wherein the motor circuit is configured to alter current supplied to the motor to controllably torque the ultrasonic waveguide to the ultrasonic transducer shaft.
8. The surgical instrument of claim 7 , further comprising a strain gauge configured to measure torque applied by the motor, and wherein the motor circuit is configured to limit current supplied to the motor based on the torque measured by the strain gauge.
9. The surgical instrument of claim 1 , wherein the shift gear is manually or electronically translatable between the first position and the second position.
10. A modular handheld surgical instrument, comprising:
a motor assembly comprising a motor and a motor gear;
a shift gear translatable distally and proximally between a first position and a second position;
a transducer assembly comprising an ultrasonic transducer shaft; and
a shaft assembly, comprising:
a first shaft extending distally along a shaft axis, wherein the first shaft comprises a drive gear;
an ultrasonic waveguide coaxially aligned inside the first shaft about the shaft axis; and
a second shaft coaxially aligned outside the first shaft and the ultrasonic waveguide about the shaft axis, wherein the second shaft comprises a torque gear coupled to the second shaft via a slip-clutch subsystem, wherein the slip-clutch subsystem is configured such that the torque gear does not slip about the second shaft until a predefined torque is reached to controllably torque the ultrasonic waveguide to the ultrasonic transducer shaft;
wherein when the shift gear is translated to the first position, the motor gear is configured to rotate the drive gear via the shift gear, and wherein when the shift gear is translated to the second position, the motor gear is configured to rotate the torque gear via the shift gear, and wherein rotation of the torque gear causes rotation of the ultrasonic transducer shaft relative to the ultrasonic waveguide.
11. The modular handheld surgical instrument of claim 10 , wherein the drive gear, upon rotation, is operable to perform at least one shaft actuation function comprising one or more than one of clamping, rotating, or articulating an actuation device.
12. The modular handheld surgical instrument of claim 10 , wherein the torque gear, upon rotation, is operable to couple the ultrasonic waveguide to the ultrasonic transducer shaft or decouple the ultrasonic waveguide from the ultrasonic transducer shaft.
13. The modular handheld surgical instrument of claim 10 , wherein the slip-clutch subsystem is further configured such that the torque gear slips about the second shaft at a higher predefined torque when decoupling the ultrasonic waveguide from the ultrasonic transducer shaft.
14. The modular handheld surgical instrument of claim 10 , wherein the slip-clutch subsystem is further configured such that the torque gear does not slip about the second shaft when decoupling the ultrasonic waveguide from the ultrasonic transducer shaft.
15. The modular handheld surgical instrument of claim 10 , wherein the shift gear is manually or electronically translatable between the first position and the second position.
16. A modular handheld surgical instrument, comprising:
a motor assembly comprising a motor and a motor gear;
a shift gear translatable distally and proximally between a first position and a second position;
a transducer assembly comprising an ultrasonic transducer shaft;
a shaft assembly, comprising:
a first shaft extending distally along a shaft axis, wherein the first shaft comprises a drive gear;
an ultrasonic waveguide coaxially aligned inside the first shaft about the shaft axis; and
a second shaft coaxially aligned outside the first shaft and the ultrasonic waveguide about the shaft axis, wherein the second shaft comprises a torque gear; and
a motor circuit, wherein the motor circuit is configured to alter current supplied to the motor to controllably torque the ultrasonic waveguide to the ultrasonic transducer shaft via the torque gear;
wherein when the shift gear is translated to the first position, the motor gear is configured to rotate the drive gear via the shift gear, and wherein when the shift gear is translated to the second position, the motor gear is configured to rotate the torque gear via the shift gear, and wherein rotation of the torque gear causes rotation of the ultrasonic transducer shaft relative to the ultrasonic waveguide.
17. The modular handheld surgical instrument of claim 16 , wherein the first shaft is selectively coupleable to at least two independent actuation devices, and wherein the drive gear, upon rotation, is operable to actuate the at least two independent actuation devices.
18. The modular handheld surgical instrument of claim 16 , further comprising a strain gauge configured to measure torque applied by the motor, and wherein the motor circuit is configured to limit current supplied to the motor based on the torque measured by the strain gauge.
19. The modular handheld surgical instrument of claim 16 , wherein the motor circuit is configured to alter current supplied to the motor such that the torque when coupling the ultrasonic waveguide to the ultrasonic transducer shaft, does not exceed a predefined torque.
20. The modular handheld surgical instrument of claim 19 , wherein the motor circuit is configured to alter current supplied to the motor such that the torque, when decoupling the ultrasonic waveguide from the ultrasonic transducer shaft, is a higher predefined torque.