Electromechanical surgical system including linearly driven instrument roll
A surgical system includes a drive unit on a support. The drive unit includes motors or other actuators and a plurality of output elements arranged such that operation of each drive unit linearly translates a corresponding one of the output elements. A surgical device has an input subsystem carried at the proximal end of the shaft. The input subsystem includes linearly translatable input elements or pistons. The input and output elements are positioned such that operation of an actuator linearly translates an output element, causing linear translation of a corresponding input element. The input elements deliver linear motion to a rotary conversion system which converts the linear motion to rotary motion and delivers the rotary motion to a shaft of the surgical device, causing axial rolling of the surgical device or its distal end effector. A sterile drape is positionable between the input elements and the output elements.
1. A surgical system comprising:
a drive unit on a support, the drive unit comprising a plurality of actuators and a plurality of output elements, each actuator operable to linearly translate a corresponding one of the output elements;
a surgical device comprising
an elongate device shaft,
an input subsystem carried at a proximal end of the shaft, the input subsystem including a plurality of input elements each operatively associated with a linear-to-rotary conversion assembly, each input element linearly translatable;
wherein the surgical device is removably mounted relative to support to position each output element in a drive relationship with a corresponding input element; and
wherein operation of an actuator linearly translates an output element, causing linear translation of a corresponding input element and axial rotation of the elongate device shaft.
2. The surgical system of claim 1 , wherein each output element and its corresponding input element is linearly translatable along a common axis.
3. The surgical system of claim 1 , wherein each input element is mechanically engaged to its corresponding output element.
4. The surgical system of claim 1 , wherein each input element magnetically interfaces with its corresponding output element.
5. The surgical system of claim 1 , wherein the elongate device shaft is an outer shaft or an inner shaft extending through an outer shaft.
6. The surgical system of claim 1 , wherein each input element is not mechanically attached to its corresponding output element.
7. The surgical system of claim 1 , further including a sterile drape positionable between the input elements and the output elements.
8. The surgical system of claim 7 , wherein the input and output elements do not penetrate the drape.
9. The surgical system of claim 1 , wherein the conversion assembly includes a shaft having a cam surface, each of the input elements coupled to the shaft such that translation of each input element against the cam surface causes rotation of the shaft, the shaft and the device shaft arranged such that rotation of the shaft results in rotation of the device shaft.
10. The surgical system of claim 9 , wherein the cam surface is defined by a collar on the shaft.
11. The surgical system of claim 9 , wherein the cam surface is defined by a groove in the shaft.
12. The surgical system of claim 9 , wherein the shaft has a first end, and wherein the cam surface is a continuous curved surface encircling the shaft and having at least two apex sections, including a first apex section and a second apex section, the first apex section closer to the first end than a second apex end.
13. The surgical system of claim 12 , wherein the first and second apex sections are separated 180 degrees around the shaft.
14. The surgical system of claim 1 , wherein the conversion assembly includes a shaft and plurality of rack and pinion assemblies, each rack and pinion assembly including
a pinion mounted to the shaft, and
a rack that is engaged with the pinion such that linear translation of the rack produces rotation of the pinion and that includes one of the input elements,
wherein each rack is positioned relative to its corresponding pinion such that the racks move linearly relative to the shaft, the linear motion of each rack being out of phase with that of the other racks such that a collective motion of the racks causes continuous rotation of the shaft, and wherein the shaft and the device shaft arranged such that rotation of the shaft results in rotation of the device shaft.
15. The surgical system of claim 13 , wherein each rack and pinion assembly further includes a cam surface disposed on the rack and a follower carried by the pinion, the cam surface and follower shaped such that when teeth of the rack and pinion disengage during linear travel of the rack relative to the pinion in a first direction, contact between the cam and follower cause the relative motion of the rack and pinion to continue in the first direction despite the disengagement of the teeth.
16. A surgical system comprising:
a drive unit on a support, the drive unit comprising a plurality of actuators and a plurality of output elements, each drive unit operable to linearly translate a corresponding one of the output elements;
a first surgical device comprising
an elongate shaft having a distal articulation section, and a plurality of actuation elements extending through the shaft,
an input subsystem carried at a proximal end of the shaft, the input subsystem including a plurality of first input elements each operatively associated with a corresponding one of the actuation elements, each input element linearly translatable relative to the elongate shaft;
wherein the surgical device is removably mounted relative to the drive unit to position a first plurality of output elements in drive relationships with corresponding input elements;
wherein operation of an actuator linearly translates an output element, causing linear translation of a corresponding input element and engagement of an actuation member;
a second surgical device having a second shaft, the second surgical instrument further comprising a second input subsystem carried at a proximal end of the second shaft, at least one second actuation element for causing motion of a portion of the second surgical device, the second input subsystem including a plurality of second input elements each operatively associated with a corresponding one of the second actuation elements, each second input element linearly translatable relative to the second shaft;
wherein the second surgical device is removably mountable to position a second plurality of output elements in a drive relationship with corresponding second input elements, wherein the plurality of first input elements and the plurality of second input elements are not identical to one another.
17. The system of claim 15 , wherein output elements that are positioned to actuate a first function of the first instrument when it is positioned to be driven by the drive unit are positioned to actuation a second, different, function of the second instrument when the second instrument is positioned to be driven by the drive unit.
18. A surgical system comprising:
a drive unit on a support, the drive unit comprising a plurality of actuators and a plurality of output elements, each drive unit operable to linearly translate a corresponding one of the output elements;
a first surgical device comprising
an elongate tubular shaft having a distal articulation section, and a plurality of actuation elements extending through the shaft,
an input subsystem carried at a proximal end of the shaft, the input subsystem including a plurality of input elements each operatively associated with a corresponding one of the actuation elements, each input element linearly translatable relative to the elongate shaft;
wherein the surgical device is removably mounted relative to the drive unit to position a first plurality of output elements in drive relationships with corresponding input elements;
wherein operation of an actuator linearly translates an output element, causing linear translation of a corresponding input element and engagement of an actuation member;
the system further including an auxiliary device having second input elements, each operatively associated with an actuation element for a function of the auxiliary device, wherein the auxiliary device is removably mounted relative to the drive unit to position a second plurality of output elements in a drive relationships with corresponding second input elements, the first plurality different from the second plurality, the drive unit configured to allow the surgical device and auxiliary device to be driven by the drive unit at the same time.