Surgical instrument and removable end effector apparatus

1. A surgical instrument apparatus comprising:

an elongate tubular body including a proximal end and a distal end and a bore extending through the tubular body;

an actuator link extending through the bore and configured to move longitudinally within the bore, the actuator link including a first end connected to an actuator at the proximal end of the tubular body and a second end terminating in a coupler, wherein the first end of the actuator link is connected to a slide mounted for longitudinal movement, wherein the actuator includes:

a first actuator; and

a second actuator;

wherein the first actuator is configured to cause the actuator link to selectively move between:

an extended state in which the coupler extends beyond the distal end of the tubular body to permit an end effector to be coupled to the coupler; and

a retracted state in which the coupler is retracted back into the distal end of the tubular body for operation of the surgical instrument; and

wherein:

the first actuator includes a leadscrew configured to rotate to cause longitudinal movement of the slide for causing the actuator link to move between the extended state and the retracted state,

when the actuator link is in the retracted state, the second actuator is configured to cause pushing and pulling movements of the actuator link, and wherein the coupler, when coupled to the end effector, is configured to cause movement of at least one moveable jaw of the end effector for performing surgical operations.

2. The apparatus of claim 1 further comprising a lever extending transversely with respect to the leadscrew for causing rotation of the leadscrew.

3. The apparatus of claim 1 wherein the second actuator comprises a linear actuator disposed for transverse movement with respect to the longitudinal movement of the slide, the linear actuator being coupled to the slide such that the transverse movement of the linear actuator causes longitudinal movement of the slide.

4. The apparatus of claim 3 wherein the second actuator is coupled to the slide via a pin slidingly received within an angled channel in the slide.

5. The apparatus of claim 1 wherein at least a portion of the tubular body comprises a manipulator responsive to movement of a plurality of control links extending along a length of the tubular body to cause movement of a distal end of the tubular body.

6. The apparatus of claim 1 wherein the coupler comprises a ball mounted at the second end of the actuator link, the ball having a diameter larger than a diameter of the actuator link and configured to be received within a socket disposed on an actuation rod of an end effector such that when the actuator link is retracted the ball causes a corresponding retraction of the end effector and subsequent pushing and pulling movement of the actuator link causes movement of the actuation rod of the end effector.

7. The apparatus of claim 6 wherein the tubular body comprises a threaded portion at the distal end and wherein the ball, when received within the socket, facilitates rotation of the end effector to cause a corresponding threaded portion of the end effector to engage the threaded portion at the distal end of the tubular body for coupling the end effector to the apparatus.

8. The apparatus of claim 7 wherein each of the tubular body and the end effector comprise respective wrench flats configured to receive a wrench for applying a tightening torque to the end effector.

9. The apparatus of claim 6 wherein the tubular body comprises a tapered bore for receiving a corresponding conical taper portion of the end effector, the tapered bore and conical taper being configured to provide a frictional retaining force for retaining the end effector in the tubular body when engaged.

10. The apparatus of claim 9 wherein at least one of the tubular body and the end effector is configured to provide opposing surfaces that can be levered apart using a tool to separate the conical taper and tapered bore when removing the end effector from the tubular body.