Robotic surgical tool with manual release lever
A surgical tool includes a drive housing that houses drive cable capstans operatively coupled to corresponding drive inputs, an elongate shaft that extends from the drive housing, and an end effector operatively coupled to a distal end of the elongate shaft. A plurality of drive cables extend between the drive housing and the end effector, and each drive cable is associated with a corresponding one of drive cable capstans. A manual release assembly is coupled to the drive housing and includes a release lever that is manually movable between a stowed position, where the drive cable capstans are operatively coupled to the drive inputs, to an actuated position, where the drive cable capstans are disengaged from the plurality of drive inputs. Moving the release lever to the actuated position also rotates the drive cable capstans to manually articulate the end effector.
1. A surgical tool, comprising:
a drive housing that houses a plurality of drive cable capstans operatively coupled to a corresponding plurality of drive inputs;
an elongate shaft that extends from the drive housing;
an end effector operatively coupled to a distal end of the elongate shaft;
a plurality of drive cables extending between the drive housing and the end effector, wherein each drive cable is associated with a corresponding one of the plurality of drive cable capstans and rotation of the plurality of drive cable capstans correspondingly moves the plurality of drive cables to articulate the end effector; and
a manual release assembly coupled to the drive housing and including a release lever that is manually movable between a stowed position, where the plurality of drive cable capstans are operatively coupled to the corresponding plurality of drive inputs, and an actuated position, where the plurality of drive cable capstans are disengaged from the corresponding plurality of drive inputs,
wherein moving the release lever to the actuated position rotates the plurality of drive cable capstans to manually articulate the end effector.
2. The surgical tool of claim 1 , wherein the end effector includes opposing first and second jaws, and wherein moving the release lever to the actuated position moves at least one of the first and second jaws relative to the other and to an open position.
3. The surgical tool of claim 2 , wherein the release lever is manually movable back to the stowed position to move the at least one of the first and second jaws back to a closed position.
4. The surgical tool of claim 1 , wherein a chassis is positioned within the drive housing and the release lever is rotatably mounted to the chassis at a first pin, the manual release assembly further comprising:
a plurality of spur gears, each spur gear being coupled to a corresponding one of the plurality of drive cable capstans for rotation therewith;
a jaw release frame including a gear rack that provides one or more rack gears engageable with the plurality of spur gears; and
a second pin that movably couples the release lever to the jaw release frame.
5. The surgical tool of claim 4 , wherein the release lever is rotatable about the first pin to move between the stowed position and the actuated position, and wherein as the release lever moves toward the actuated position, the second pin slidingly engages a drive slot defined in the jaw release frame and moves the one or more rack gears into engagement with the plurality of spur gears.
6. The surgical tool of claim 5 , wherein the release lever provides teeth engageable with opposing teeth provided on the jaw release frame, and wherein as the release lever moves toward the actuated position, the teeth engage the opposing teeth and the jaw release frame thereby moves longitudinally to rotate the plurality of spur gears.
7. The surgical tool of claim 4 , wherein the chassis is an upper chassis and the drive housing further includes a lower chassis positioned therein, the manual release assembly further comprising:
one or more leg pins extending from the jaw release frame and engageable with the lower chassis to disengage the plurality of drive cable capstans from the plurality of drive inputs.
8. The surgical tool of claim 7 , wherein the lower chassis is compliantly coupled to the drive housing with one or more biasing elements that allow the upper chassis to move relative to the lower chassis.
9. The surgical tool of claim 1 , wherein the end effector is selected from the group consisting of forceps, a tissue grasper, a needle driver, scissors, an electro cautery tool, a stapler, a clip applier, and any combination thereof.
10. A method of operating a surgical tool, comprising:
positioning the surgical tool adjacent a patient for operation, the surgical tool including:
a drive housing that houses a plurality of drive cable capstans operatively coupled to a corresponding plurality of drive inputs;
an elongate shaft that extends from the drive housing;
an end effector operatively coupled to a distal end of the elongate shaft;
a plurality of drive cables extending between the drive housing and the end effector, wherein each drive cable is associated with a corresponding one of the plurality of drive cable capstans and rotation of the plurality of drive cable capstans correspondingly moves the plurality of drive cables to articulate the end effector; and
a manual release assembly coupled to the drive housing and including a release lever;
manually moving the release lever from a stowed position, where the plurality of drive cable capstans are operatively coupled to the corresponding plurality of drive inputs, to an actuated position, where the plurality of drive cable capstans are disengaged from the corresponding plurality of drive inputs; and
rotating the plurality of drive cable capstans to manually articulate the end effector as the release lever is moved to the actuated position.
11. The method of claim 10 , further comprising manually moving the release lever back to the stowed position and thereby re-engaging the plurality of drive cable capstans with the corresponding plurality of drive inputs.
12. The method of claim 10 , wherein the end effector includes opposing first and second jaws, and wherein rotating the plurality of drive cable capstans to manually articulate the end effector comprises moving the first and second jaws to an open position.
13. The method of claim 12 , further comprising moving the release lever back to the stowed position and thereby moving the first and second jaws back to a closed position.
14. The method of claim 10 , wherein the manual release assembly further includes a jaw release frame including a gear rack that provides one or more rack gears, and a plurality of spur gears, each spur gear being coupled to a corresponding one of the plurality of drive cable capstans for rotation therewith, and wherein manually moving the release lever from the stowed position to the actuated position comprises:
rotating the release lever about a first pin that couples the release lever to a chassis positioned within the drive housing; and
moving the one or more rack gears into meshed engagement with the plurality of spur gears.
15. The method of claim 14 , wherein the release lever is movably coupled to the jaw release frame at a second pin positioned within a drive slot defined by the jaw release frame, and wherein moving the one or more rack gears into meshed engagement with the plurality of spur gears comprises:
slidingly engaging the second pin within the drive slot; and
driving the second pin against an inner profile of the drive slot and thereby forcing the jaw release frame to move the one or more rack gears into meshed engagement with the plurality of spur gears.
16. The method of claim 15 , wherein the release lever provides teeth and the jaw release frame provides opposing teeth, and wherein manually moving the release lever from the stowed position to the actuated position comprises:
engaging the teeth against the opposing teeth; and
moving the jaw release frame longitudinally via engagement between the teeth and the opposing teeth and thereby rotating the plurality of spur gears.
17. The method of claim 15 , wherein the chassis is an upper chassis and the drive housing further includes a lower chassis positioned therein, and wherein driving the second pin against an inner profile of the drive slot further comprises:
engaging one or more leg pins extending from the jaw release frame against the lower chassis; and
disengaging the plurality of drive cable capstans from the plurality of drive inputs as the one or more leg pins are driven against the lower chassis.
18. The method of claim 17 , wherein the lower chassis is compliantly coupled to the drive housing with one or more biasing elements, the method further comprising:
manually moving the release lever back to the stowed position and thereby allowing spring force of the one or more biasing elements to move the lower chassis back toward the upper chassis; and
re-engaging the plurality of drive cable capstans with the corresponding plurality of drive inputs.
19. A method of cleaning a surgical tool, the surgical tool including a drive housing that houses a plurality of drive cable capstans operatively coupled to a corresponding plurality of drive inputs, an elongate shaft that extends from the drive housing, an end effector having opposing first and second jaws and being operatively coupled to a distal end of the elongate shaft, a plurality of drive cables extending between the drive housing and the end effector, wherein each drive cable is associated with a corresponding one of the plurality of drive cable capstans, and a manual release assembly coupled to the drive housing and including a release lever that is manually movable between a stowed position and an actuated position, the method comprising:
manually moving the release lever from a stowed position, where the plurality of drive cable capstans are operatively coupled to the corresponding plurality of drive inputs, to an actuated position, where the plurality of drive cable capstans are disengaged from the corresponding plurality of drive inputs;
rotating the plurality of drive cable capstans as the release lever is moved to the actuated position and thereby manually moving the first and second jaws to an open position; and
cleaning the first and second jaws.