Medical device drive system
A medical device system can include a surgical tool, and a one-way input, and a drive system operatively coupled to the surgical tool and the oneway input device. The drive system can be rotatable in a first direction to effectuate a first operation of the surgical tool, and rotatable in a second direction to effectuate a second the operation of the surgical tool. The one-way input device can be operable to rotate the rotatable drive system in the second direction but not the first direction.
1. A medical device system comprising:
a surgical tool;
a drive system operatively coupled to the surgical tool, the drive system being drivable in a first direction to advance the surgical tool along an axis, and drivable in a second direction to retract the surgical tool along the axis;
a roll drive system configured to turn the surgical tool about the axis, the roll drive system including a roll gear coupled to a roll drive train;
a roll lock system configured to selectively prevent rotation of the surgical tool about the axis, the roll lock system including a first roll lock arm sized and shaped to engage the roll gear, a second roll lock arm sized and shaped to engage the roll gear, and a roll lock input between the first roll lock arm and the second roll lock arm, the roll lock system having a first state in which the first roll lock arm and second roll lock arm are not engaged with the roll gear, and a second state in which the first roll lock arm and second roll lock arm are each engaged with the roll gear to prevent the roll drive system from turning the surgical tool, the roll lock input being actuatable to move the first roll lock arm and second roll lock arm away from the roll drive system to disengage the first roll lock arm and second roll lock arm from the roll gear; and
a one-way input device operatively coupled to the drive system, the one-way input device being operable to drive the drive system in the second direction but not the first direction.
2. The medical device system of claim 1 , wherein the one-way input device includes a ratchet device coupled to the drive system.
3. The medical device system of claim 1 , wherein the drive system is a rotary drive system that includes a drive gear operably coupled to a drive train that is operatively coupled to the surgical tool, and the one-way input device includes a first input gear that is operatively coupled to the drive gear.
4. The medical device system of claim 3 , wherein the one-way input device includes a manual input device operatively coupled to the first input gear with a ratchet mechanism.
5. The medical device system of claim 3 , further comprising a telerobotic surgical system operatively coupled to the drive gear.
6. The medical device system of claim 3 , further comprising a drive support, the drive gear and drive train coupled to the drive support, wherein the drive train includes:
a lead screw having a proximal portion coupled to the drive gear, a threaded portion, and a lead screw body extending from the proximal portion to the threaded portion, the lead screw body defining an axis;
a nut coupled to the threaded portion of the lead screw, the nut being rotationally fixed relative to the drive support and axially movable relative to the drive support; and
a drive tube coupled to the nut, the surgical tool being coupled to the drive tube.
7. The medical device system of claim 1 , wherein actuation of the drive system in the first direction closes the surgical tool, and actuation of the drive system in the second direction opens the surgical tool.
8. A surgical device drive system comprising:
a drive gear coupled to a drive train configured to interact with a surgical tool;
a system input gear coupled to the drive gear;
a control system coupled to the system input gear;
a manual input device including a manual input component, a manual input gear, and a ratchet mechanism, the manual input gear being coupled to the manual input component by the ratchet mechanism, and the manual input gear being operatively coupled to the drive gear;
wherein the drive train is operable in a first direction and a second direction, the control system being operable to drive the drive gear and drive train in the first direction and the second direction using the system input gear, and the manual input device being operable to drive the drive gear and drive train in the second direction, but not the first direction, using the manual input gear, wherein:
the drive gear includes a first gear element engaged with the system input gear and a second gear element engaged with the manual input gear;
the surgical device drive system is coupled to a surgical tool, and the drive train is configured to displace the surgical tool along an axis, the surgical device drive system further comprising a roll drive system configured to rotate the surgical tool around the axis, the roll drive system including a roll gear, a roll input gear operatively coupled to the roll gear, and a roll lock component configured to engage the roll gear or roll input gear to prevent rotation of the roll gear and roll input gear; and
the roll lock component includes a first roll lock arm sized and shaped to engage a tooth of the roll input gear, the roll drive system further comprising a second roll lock arm sized and shaped to engage a second tooth of the roll input gear, and a roll lock input sized and shaped to engage the first roll lock arm and second roll lock arm, the first roll lock arm and second roll lock arm being displaceable away from the roll input gear by the roll lock input to unlock the roll input gear and permit rotation of the surgical tool.