Actuator apparatus for operating a surgical instrument
A coupler apparatus for coupling electrical signals between an actuator and an end effector is disclosed. The end effector is disposed at a distal end of an elongate articulated positioner and used to position the end effector for performing surgical operations. The articulated positioner has a central lumen and the apparatus includes an elongate body sized to be slidingly received within the central lumen of the articulated positioner, at least a portion of the body being operable to flex during movement of the articulated positioner. The apparatus also includes a plurality of electrical conductors extending through the body, and a plurality of proximal electrical contacts disposed at a proximal end of the body for removably connecting each of the electrical conductors to respective electrical signal lines at the actuator.
1. An actuator apparatus for operating a surgical instrument comprising an elongate articulated positioner, a coupler, and an end effector, the actuator apparatus comprising:
a mechanical interface configured to at least partially receive and retain an elongate body of the coupler, the mechanical interface being separable from the coupler such that the mechanical interface is configured to removably receive a proximal end of the elongate body, the elongate body configured to be enclosed by the elongate articulated positioner, a distal end of the elongate body connected to the end effector, the mechanical interface further configured to cause actuation of at least one of the elongate articulated positioner, the coupler, or the end effector; and
a plurality of actuator electrical contacts configured to make electrical contact with a respective coupler electrical contact of a plurality of coupler electrical contacts on the elongate body when the mechanical interface receives the coupler.
2. The actuator apparatus of claim 1 , wherein the mechanical interface is further configured to transmit a rotational torque to rotate the elongate body, and wherein the plurality of actuator electrical contacts are further configured to maintain electrical connection with each of the respective coupler electrical contacts during rotation of the elongate body.
3. The actuator apparatus of claim 2 , wherein the mechanical interface comprises a plurality of gears configured to cause rotation of the mechanical interface.
4. The actuator apparatus of claim 3 , wherein the plurality of gears comprises a gear train and a linear rack gear being configured to drive the gear train.
5. The actuator apparatus of claim 1 , wherein the actuator electrical contacts are disposed within a central opening of the mechanical interface.
6. The actuator apparatus of claim 5 , wherein the mechanical interface further comprises one or more surface features in the central opening, and wherein the one or more surface features are configured to engage one or more keyed surfaces of the elongate body of the coupler to prevent rotation of the coupler.
7. The actuator apparatus of claim 1 , wherein the mechanical interface comprises:
an opening configured to receive and retain the proximal end of the elongate body; and
a spool with an electrical conductor wound around the spool, the electrical conductor connected to at least one electrical contact of the plurality of actuator electrical contacts.
8. The actuator apparatus of claim 7 , wherein the spool is configured to be rotated.
9. The actuator apparatus of claim 8 , wherein a portion the electrical conductor is configured to be wound up on the spool or released from the spool during the rotation of the spool.
10. The actuator apparatus of claim 8 , wherein the mechanical interface further comprises a geared drive mechanism, and wherein the spool comprises a geared interface configured to be in contact with the geared drive mechanism such that the geared drive mechanism is configured to cause rotation of the spool.
11. The actuator apparatus of claim 1 further comprising a control link actuator configured to receive and actuate a control link to cause actuation of the end effector.
12. A system comprising:
the actuator apparatus of claim 1 ; and
the coupler comprising the elongate body coupled to the mechanical interface of the actuator apparatus, the elongate body connected to the end effector.
13. The system of claim 12 further comprising:
the elongate articulated positioner including a central lumen in which the elongate body is positioned, the end effector positioned at the distal end of the elongate articulated positioner.