Surgical systems including adapter assemblies for interconnecting electromechanical surgical devices and end effectors
An adapter assembly for selectively interconnecting an end effector and a surgical device includes a housing configured to connect to the surgical device, a shaft assembly extending from the housing, a cable drive assembly, and a coupling member. The cable drive assembly includes a cable supported in the housing. The coupling member is secured to the cable and configured to connect to the end effector. The coupling member is movable relative to the shaft assembly in response to movement of the cable.
1. An adapter assembly for selective connection to a housing of a
surgical device supporting a drive mechanism therein, the adapter assembly comprising:
an adapter housing configured to connect to the housing of the surgical device to mechanically couple the adapter assembly to the drive mechanism of the surgical device;
a shaft assembly extending from the housing and defining a longitudinal axis;
a cable drive assembly supported in the adapter housing and operable by the drive mechanism of the surgical device, the cable drive assembly including a capstan, a cable secured to the capstan, and a gear assembly that is actuatable to move the cable relative to the capstan, the gear assembly including a first gear and a second gear that are engaged with one another in the adapter housing to rotate the capstan;
a coupling member secured to the cable and configured to connect to an end effector, the coupling member spaced from a distal end of the shaft assembly and movable relative to the shaft assembly in response to movement of the cable, the coupling member supporting at least one coupler; and
a drive shaft supported in the shaft assembly and selectively rotatable with the at least one coupler about the longitudinal axis to impart a firing force on the end effector.
2. The adapter assembly of claim 1 , wherein the drive shaft is connected to a joint assembly, the joint assembly coupled to the coupling member and positioned to facilitate articulation of the coupling member relative to the shaft assembly.
3. The adapter assembly of claim 2 , wherein the joint assembly includes a drive pin rotatably coupled to the coupling member to transfer forces from the drive shaft through the coupling member.
4. The adapter assembly of claim 2 , wherein the joint assembly includes at least one joint having a universal joint configuration to facilitate rotation of the at least one coupler about the longitudinal axis and articulation of the at least coupler relative to the shaft assembly.
5. The adapter assembly of claim 4 , wherein the at least one joint includes a first joint and a second joint movable relative to the first joint.
6. The adapter assembly of claim 4 , wherein the joint assembly includes a joint housing that supports the at least one joint therein and extends between the coupling member and the shaft assembly.
7. The adapter assembly of claim 1 , further comprising a rotation mechanism operatively coupled to the adapter housing, wherein the rotation mechanism is configured to selectively lock rotational movement of the shaft assembly about the longitudinal axis.
8. The adapter assembly of claim 7 , wherein the rotation mechanism includes a locking ring coupled to the adapter housing and a locking blade, the locking blade engagable with the locking ring to lock rotational movement of the shaft assembly, the locking blade movable relative to the locking ring to enable the shaft assembly to rotate about the longitudinal axis.
9. The adapter assembly of claim 1 , wherein rotation of the gear assembly in a first direction causes the cable to tighten around the capstan, and rotation of the gear assembly in a second direction causes the cable to loosen from the capstan.
10. The adapter assembly of claim 1 , wherein the first gear rotates about a first axis and the capstan rotates about a capstan axis, the first axis and the capstan axis being coaxial.
11. The adapter assembly of 10 , wherein the second gear is a worm gear that rotates about a second axis that transverse to the first axis.
12. An adapter assembly for selective connection to a housing of a surgical device supporting a drive mechanism therein, the adapter assembly comprising:
an adapter housing configured to connect to the housing of the surgical device to mechanically couple the adapter assembly to the drive mechanism of the surgical device;
a shaft assembly extending from the housing and defining a longitudinal axis;
a cable drive assembly operable by the drive mechanism of the surgical device, the cable drive assembly including a plurality of capstans, a plurality of cables secured to the plurality of capstans, and a gear assembly supported in the adapter housing and actuatable to move the plurality of cables relative to the plurality of capstans, the gear assembly including a first gear assembly supported between the plurality of capstans;
a coupling member secured to the plurality of cables and configured to connect to an end effector, the coupling member spaced from a distal end of the shaft assembly and movable relative to the shaft assembly in response to movement of the plurality of cables, the coupling member supporting at least one coupler; and
a drive shaft supported in the shaft assembly and selectively rotatable with the at least one coupler about the longitudinal axis to impart a firing force on the end effector.
13. The adapter assembly of claim 12 , wherein the first gear assembly includes at least two capstan gears that are coaxially aligned with the plurality of capstans.
14. The adapter assembly of claim 13 , wherein the at least two capstan gears are driven by at least two worm gears to selectively rotate the at least two capstan gears relative to one another.
15. The adapter assembly of claim 14 , wherein a first capstan of the plurality of capstans rotates independent of a second capstan of the plurality of capstans.
16. The adapter assembly of claim 15 , wherein the first and second capstans are disposed in mirrored relation to one another about a plane defined between the first and second capstans.