Surgical instrument including a drive assembly movable in a non-motorized mode of operation
A surgical instrument comprising a shaft, an end effector, a housing, a drive assembly, and a manually-driven actuator is disclosed. The end effector comprises a first jaw and a second jaw rotatable relative to the first jaw between an open position and a clamped position. The housing comprises a rotary input movable by a motor. The drive assembly is operably engaged with the rotary input. The drive assembly is movable by the motor in a motorized mode of operation to transition the second jaw toward the clamped position. The drive assembly is movable in a non-motorized mode of operation by the manually-driven actuator to permit a transition of the second jaw toward the open position to release tissue between the first jaw and the second jaw.
1. A surgical instrument, comprising:
a shaft;
an end effector extending distally from said shaft, wherein said end effector comprises:
a first jaw; and
a second jaw rotatable relative to said first jaw between an open position and a clamped position;
a housing extending proximally from said shaft;
a motor configured to generate at least one motion to effectuate said end effector;
a primary power source configured to supply a first power to operate said surgical instrument;
a secondary power source configured to supply a second power to operate said surgical instrument;
a drive assembly movable by the motor to transition the second jaw toward the clamped position; and
a manually-driven actuator mechanically engaged with the drive assembly, wherein said manually-driven actuator is configured to transmit a manual motion that yields a corresponding non-motorized motion in the drive assembly that permits a non-motorized opening of said second jaw.
2. The surgical instrument of claim 1 , further comprising a surgical robot system.
3. The surgical instrument of claim 1 , wherein actuation of said motor is configured to move said second jaw between said open position and said clamped position.
4. A surgical instrument, comprising:
a shaft;
an end effector extending distally from the shaft, wherein the end effector comprises:
a first jaw; and
a second jaw rotatable relative to the first jaw between an open position and a clamped position;
a housing extending proximally from the shaft, the housing comprising a rotary input movable by a motor;
a drive assembly operably engaged with the rotary input, wherein the drive assembly is movable by the motor in a motorized mode of operation to transition the second jaw toward the clamped position; and
a manually-driven actuator, wherein the drive assembly is movable in a non-motorized mode of operation by the manually-driven actuator to permit a transition of the second jaw toward the open position to release tissue between the first jaw and the second jaw.
5. The surgical instrument to claim 4 , wherein the drive assembly is movable in the non-motorized mode of operation in a non-motorized motion resulting from a corresponding manual motion of the manually-driven actuator.
6. The surgical instrument of claim 4 , wherein the housing comprises an opening, and wherein a manual motion of the manually-driven actuator is transmitted to the drive assembly through the opening.
7. The surgical instrument to claim 4 , wherein the manually-driven actuator is manually rotatable in the non-motorized mode of operation to yield a non-motorized motion of the drive assembly.
8. The surgical instrument to claim 4 , wherein the manually-driven actuator is positioned proximal to the end effector and distal to the rotary input.
9. A surgical instrument, comprising:
a shaft;
an end effector extending distally from the shaft, wherein the end effector comprises:
a first jaw; and
a second jaw rotatable relative to the first jaw between an open position and a clamped position;
a housing extending proximally from the shaft, the housing comprising a rotary input movable by a motor;
a drive assembly operably engaged with the rotary input, wherein the drive assembly is movable by the motor in a motorized mode of operation to transition the second jaw toward the clamped position; and
a hand-rotatable actuator, wherein the drive assembly is movable by a manual rotation of the hand-rotatable actuator in a non-motorized mode of operation to permit a non-motorized opening of the second jaw to release tissue between the first jaw and the second jaw.
10. The surgical instrument of claim 9 , wherein the housing comprises an opening, and wherein the hand-rotatable actuator extends through the opening.
11. The surgical instrument to claim 9 , wherein the hand-rotatable actuator is manually rotatable to yield a non-motorized motion of the drive assembly.
12. The surgical instrument to claim 9 , wherein the hand-rotatable actuator is positioned proximal to the end effector and distal to the rotary input.
13. A surgical instrument, comprising:
a shaft;
an end effector extending distally from the shaft, wherein the end effector comprises:
a first jaw; and
a second jaw rotatable relative to the first jaw between an open position and a clamped position;
a housing extending proximally from the shaft, the housing comprising a rotary input movable by a motor;
a rod assembly operably engaged with the rotary input, wherein the rod assembly is movable by the motor in a motorized mode of operation to transition the second jaw toward the clamped position, and wherein the rod assembly comprises:
a distal rod portion operably coupled to the end effector;
a proximal rod portion; and
a retraction linkage assembly pivotally coupled between the proximal rod portion and the distal rod portion; and
a manual-bailout actuator, wherein the distal rod portion is retractable in a non-motorized mode of operation by a manual actuation of the manual-bailout actuator to permit a non-motorized opening of the second jaw.
14. The surgical instrument of claim 13 , wherein the housing comprises an opening, and wherein the manual-bailout actuator extends through the opening.
15. The surgical instrument of claim 13 , wherein the manual-bailout actuator is pinned to the proximal rod portion.
16. The surgical instrument of claim 13 , wherein the retraction linkage assembly includes a distal retraction link that is pinned to the manual-bailout actuator and the distal rod portion.
17. The surgical instrument of claim 13 , wherein the manual-bailout actuator is positioned proximal to the distal rod portion and distal to the rotary input.