Surgical instrument with rotary drive selectively actuating multiple end effector functions
A surgical instrument comprising an end effector is disclosed. The end effector is rotatable about a longitudinal axis and articulatable about an articulation axis. The surgical instrument further comprises an actuator configured to rotate and articulate the end effector.
1. A surgical instrument, comprising:
an end effector;
a rotatable drive shaft coupled to the end effector; and
an actuator coaxially disposed about the drive shaft adjacent to a proximal end thereof, wherein the actuator is configured to rotate about a longitudinal axis of the drive shaft and is also configured to rotate about a second axis transverse to the longitudinal axis of the drive shaft, and wherein the actuator is configured such that rotation about the longitudinal axis of the drive shaft effects a first movement of the end effector and rotation about the second axis effects a second movement of the end effector.
2. The surgical instrument of claim 1 , wherein the first movement is rotation of the end effector about the longitudinal axis of the drive shaft.
3. The surgical instrument of claim 2 , wherein clockwise rotation of the actuator about the longitudinal axis of the drive shaft effects clockwise rotation of the end effector about the longitudinal axis, and wherein counter-clockwise rotation of the actuator about the longitudinal axis of the drive shaft effects counter-clockwise rotation of the end effector about the longitudinal axis.
4. The surgical instrument of claim 2 , wherein the second movement is articulation of the end effector.
5. The surgical instrument of claim 4 , wherein rotation of the actuator in a first direction about the second axis effects articulation of the end effector in the first direction, and wherein rotation of the actuator in a second direction about the second axis effects articulation of the end effector in the second direction.
6. The surgical instrument of claim 1 , wherein the actuator is ring-shaped.
7. The surgical instrument of claim 1 , wherein the actuator is configured to rotate less than about 10 degrees in either direction about the longitudinal axis of the drive shaft and less than about 10 degrees in either direction about the second axis.
8. The surgical instrument of claim 1 , wherein the actuator includes a permanent magnet coupled thereto.
9. The surgical instrument of claim 8 , further comprising a Hall Effect sensor configured to detect a position of the permanent magnet relative thereto.
10. The surgical instrument of claim 1 , further comprising an offset mass ring selectively engageable to the drive shaft, wherein the offset mass ring provides tactile feedback to the user of the surgical instrument when the offset mass ring is engaged with and rotated by the drive shaft.
11. The surgical instrument of claim 10 , further comprising a clutch configured to be electrically actuated to engage the offset mass ring to the drive shaft.
12. The surgical instrument of claim 1 , wherein the actuator is biased to return to a central position upon release by a user.
13. A surgical instrument, comprising:
an end effector;
a rotatable drive shaft coupled to the end effector;
an offset mass ring disposed about the drive shaft; and
a clutch configured to selectively lock the offset mass ring relative to the drive shaft such that the offset mass ring rotates with the drive shaft to create haptic feedback for a user of the surgical instrument.
14. The surgical instrument of claim 13 , wherein the clutch includes a permanent magnet disposed about the drive shaft, wherein the permanent magnet is movable between an unactuated position and an actuated position, wherein the permanent magnet is translatable between its unactuated position and its actuated position, and wherein the permanent magnet is configured to rotate with the drive shaft.
15. The surgical instrument of claim 14 , wherein the clutch includes an electromagnet disposed within an inner lumen of the drive shaft.
16. The surgical instrument of claim 15 , wherein the electromagnet is configured to, upon actuation in a first state, effect translation of the permanent magnet toward its unactuated position in which the permanent magnet is not operably engaged with the offset mass ring, and upon actuation in a second state, effect translation of the permanent magnet toward its actuated position in which the permanent magnet is operably engaged with the offset mass ring to cause the offset mass ring to rotate with the drive shaft.
17. A surgical instrument, comprising:
an end effector rotatable about a longitudinal axis and articulatable about an articulation axis, wherein the articulation axis is transverse to the longitudinal axis;
an actuator rotatable about the longitudinal axis in a first rotation direction and a second rotation direction which is opposite to the first direction and tiltable about a transverse axis in a first tilt direction and a second tilt direction, wherein the transverse axis is transverse to the longitudinal axis;
means for:
rotating the end effector in the first rotation direction when the actuator is rotated in the first rotation direction;
rotating the end effector in the second rotation direction when the actuator is rotated in the second rotation direction;
articulating the end effector in the first tilt direction when the actuator is tilted in the first tilt direction; and
articulating the end effector in the second tilt direction when the actuator is tilted in the second tilt direction.
18. The surgical instrument of claim 17 , wherein the articulation axis and the transverse axis are parallel.
19. The surgical instrument of claim 17 , wherein the transverse axis does not move when the actuator is rotated in the first and second rotation directions.
20. The surgical instrument of claim 17 , wherein the longitudinal axis does not move when the actuator is tilted in the first and second tilt directions.