Surgical instrument with rotary drive selectively actuating multiple end effector functions
Surgical instruments having a rotary drive that can selectively actuate multiple end effector functions are described herein. In at least one embodiment, a surgical instrument includes a shaft, an end effector coupled to the shaft, a rotatable drive shaft coaxially disposed within an inner lumen of the shaft, and a plurality of selectively engageable clutches configured to transfer torque from the rotatable drive shaft to the end effector. Each of the clutches is configured to convert the rotation of the drive shaft into one of a plurality of movements of the end effector relative to the outer shaft.
1. A surgical instrument, comprising:
an outer shaft;
an end effector coupled to the outer shaft;
a rotatable drive shaft coaxially disposed within an inner lumen of the outer shaft;
a plurality of output shafts; and
a plurality of selectively engageable clutches configured to transfer torque directly from the rotatable drive shaft to the end effector, wherein each of the plurality of selectively engageable clutches is configured to convert rotation of the drive shaft to a corresponding one of the plurality of output shafts to convert rotation of the drive shaft into one of a plurality of movements of the end effector relative to the outer shaft.
2. The surgical instrument of claim 1 , wherein the plurality of movements of the end effector includes rotation of the end effector relative to the outer shaft.
3. The surgical instrument of claim 2 , wherein the plurality of movements of the end effector includes actuation of a function of the end effector.
4. The surgical instrument of claim 3 , wherein the end effector comprises first and second jaws configured to grasp tissue therebetween, and wherein actuation of the end effector function comprises moving the first and second jaws between an open configuration and a closed configuration.
5. The surgical instrument of claim 1 , wherein each clutch includes an electromagnet.
6. The surgical instrument of claim 5 , wherein each clutch is in a disengaged state in the absence of current flow to the respective electromagnet.
7. The surgical instrument of claim 1 , further comprising a non-rotating elongate member coaxially disposed within an inner lumen of the rotatable drive shaft.
8. The surgical instrument of claim 7 , wherein each clutch includes an electromagnet disposed along the non-rotating elongate member.
9. The surgical instrument of claim 8 , wherein each clutch further comprises a permanent magnet disposed around the rotatable drive shaft configured to translate proximally and distally relative to the rotatable drive shaft.
10. A surgical instrument, comprising:
an outer shaft;
an end effector coupled to the outer shaft;
a rotatable drive shaft coaxially disposed within an inner lumen of the outer shaft; and
a plurality of selectively engageable clutches configured to transfer torque directly from the rotatable drive shaft to the end effector, wherein each of the plurality of clutches is configured to convert rotation of the drive shaft into one of a plurality of movements of the end effector relative to the outer shaft,
wherein the plurality of selectively engageable clutches comprises a first clutch and a second clutch, wherein the plurality of end effector movements comprises a first end effector movement and a second end effector movement, wherein the drive shaft drives the first end effector movement when the first clutch is drivingly engaged with the drive shaft, wherein the drive shaft drives the second end effector movement when the second clutch is drivingly engaged with the drive shaft, wherein the surgical instrument further comprises a first lockout and a second lockout, wherein the first lockout is configured to lockout the second end effector movement when the first clutch is drivingly engaged with the drive shaft, and wherein the second lockout is configured to lockout the first end effector movement when the second clutch is drivingly engaged with the drive shaft.
11. A surgical instrument, comprising:
an outer shaft;
an end effector coupled to the outer shaft;
a rotatable drive shaft coaxially disposed within an inner lumen of the outer shaft;
a plurality of selectively engageable clutches configured to transfer torque directly from the rotatable drive shaft to the end effector, wherein each of the plurality of clutches is configured to convert rotation of the drive shaft into one of a plurality of movements of the end effector relative to the outer shaft; and
a plurality of lockouts, wherein each lockout is configured to prevent one of the end effector movements when the corresponding clutch is in its disengaged state,
wherein each clutch includes an electromagnet, and
wherein each clutch is in a disengaged state in the absence of current flow to the respective electromagnet.
12. A surgical instrument, comprising:
an outer shaft;
an end effector coupled to the outer shaft;
a rotatable drive shaft coaxially disposed within an inner lumen of the outer shaft;
a first output drive;
a second output drive;
a first selectively engageable clutch disposed along a distal portion of the rotatable drive shaft that is configured to transfer torque directly from the rotatable drive shaft to the first output drive to cause a first movement of the end effector; and
a second selectively engageable clutch disposed along a portion of the rotatable drive shaft that is proximal to the first clutch, the second clutch being configured to transfer torque directly from the rotatable drive shaft to the second output drive to cause a second movement of the end effector.
13. The surgical instrument of claim 12 , further comprising a third selectively engageable clutch disposed along a portion of the rotatable drive shaft that is proximal to the second clutch, the third clutch being configured to transfer torque from the drive shaft to cause a third movement of the end effector.
14. The surgical instrument of claim 12 , wherein the first movement is actuation of an end effector function.
15. The surgical instrument of claim 14 ,
wherein the end effector comprises first and second jaws configured to grasp tissue therebetween; and
wherein actuation of the end effector function comprises moving the first and second jaws between an open configuration and a closed configuration.
16. The surgical instrument of claim 14 , wherein the second movement is rotation of the end effector.
17. The surgical instrument of claim 12 , wherein each clutch includes an electromagnet.
18. The surgical instrument of claim 17 , wherein each electromagnet is disposed along a non-rotating elongate member coaxially disposed within an inner lumen of the drive shaft.
19. The surgical instrument of claim 17 , wherein each clutch further comprises a permanent magnet disposed around the rotatable drive shaft and configured to translate proximally and distally relative thereto.
20. A surgical instrument, comprising:
an outer shaft;
an end effector coupled to the outer shaft;
a rotatable drive shaft coaxially disposed within an inner lumen of the outer shaft;
a first selectively engageable clutch disposed along a distal portion of the rotatable drive shaft that is configured to transfer torque directly from the drive shaft to cause a first movement of the end effector;
a second selectively engageable clutch disposed along a portion of the rotatable drive shaft that is proximal to the first clutch, the second clutch being configured to transfer torque directly from the drive shaft to cause a second movement of the end effector; and
a third selectively engageable clutch disposed along a portion of the rotatable drive shaft that is proximal to the second clutch, the third clutch being configured to transfer torque from the drive shaft to cause articulation of the end effector,
wherein the first movement is actuation of an end effector function, and
wherein the second movement is rotation of the end effector.
21. A shaft assembly for use with a surgical instrument, wherein the shaft assembly comprises:
an outer shaft;
an articulation joint;
an end effector coupled to the outer shaft by way of the articulation joint;
a rotatable drive shaft coaxially disposed within the outer shaft;
a first output drive shaft configured to actuate a first function of the shaft assembly;
a second output drive shaft configured to actuate a second function of the shaft assembly;
a first clutch configured to selectively couple and decouple the rotatable drive shaft and the first output drive shaft, wherein the first output drive shaft is configured to actuate the first function of the shaft assembly upon application of rotational motions to the rotatable drive shaft when the rotatable drive shaft and the first output drive shaft are coupled by way of the first clutch; and
a second clutch configured to selectively couple and decouple the rotatable drive shaft and the second output drive shaft, wherein the second output drive shaft is configured to actuate the second function of the shaft assembly upon application of rotational motions to the rotatable drive shaft when the rotatable drive shaft and the second output drive shaft are coupled by way of the second clutch.