Robotic endocutter drivetrain with bailout and manual opening
Various embodiments of tool assemblies are provided having at least one rotary input coupling and at least one linear input coupling for allowing either a rotary output or a linear output (e.g., from a tool driver on a surgical robot) to activate at least one mechanism of the tool assembly. For example, mechanisms of the tool assembly can include a clamping assembly, a firing assembly, an articulation assembly, and a roll assembly. The clamping assembly can open and close jaws of an end effector, the firing assembly can translate a knife assembly through the end effector to fire staples and cut tissue, the articulation assembly can articulate the end effector, and the roll assembly can rotate the elongate shaft and/or the end effector.
1. A surgical tool, comprising:
a housing;
an elongate shaft extending distally from the housing and having an end effector with opposed jaws on a distal end thereof;
a rack that is longitudinally translatable relative to the housing to cause corresponding longitudinal translation of a knife assembly through the opposed jaws; and
a crossover gear that is movable between a first position and a second position, wherein in the first position the crossover gear is coupled to a rotary input and engaged with the rack such that the rotary input causes the crossover gear to rotate thereby causing longitudinal translation of the rack, and in the second position the crossover gear is uncoupled from the rotary input and engaged with the rack such that manual rotation of the crossover gear causes longitudinal translation of the rack.
2. The surgical tool of claim 1 , wherein the crossover gear is configured to be manually rotated when the crossover gear is in the second position thereby allowing manual control of translation of the rack.
3. The surgical tool of claim 1 , wherein the crossover gear is configured to be manually moved between the first position and the second position.
4. The surgical tool of claim 1 , wherein the crossover gear is movable to a third position where the crossover gear is disengaged from the rack thereby preventing translation of the rack by the crossover gear.
5. The surgical tool of claim 4 , further comprising a bailout lever on the housing, the bailout lever being configured to pivot to cause the crossover gear to move into the third position.
6. The surgical tool of claim 5 , wherein the bailout lever includes a ratchet feature that engages the rack such that movement of the bailout lever is effective to cause proximal longitudinal translation of the rack.
7. The surgical tool of claim 1 , further comprising a transmission shaft disposed within the housing and configured to be rotated by the rotary input, the transmission shaft causing a pinion gear, which is positioned between the transmission shaft and the crossover gear, to rotate when the transmission shaft is in a first engagement position and the crossover gear is in the first position.
8. A method, comprising:
rotating a mechanical rotary input connected to a crossover gear positioned in a housing of a surgical tool to rotate the crossover gear, the crossover gear being engaged with a rack such that rotation of the crossover gear causes the rack to translate in a distal direction and advance a knife assembly through an end effector of the surgical tool;
disconnecting the crossover gear from the mechanical rotary input; and
manually rotating the crossover gear to cause the rack to translate independent of the mechanical rotary input.
9. The method of claim 8 , further comprising decoupling the surgical tool from the mechanical rotary input.
10. The method of claim 9 , further comprising pivoting a lever on the housing of the surgical tool to decouple the crossover gear from the rack.
11. The method of claim 10 , further comprising pivoting the lever thereby causing the lever to advance the rack in a proximal direction and retract the knife assembly.