Apparatus for endoscopic procedures
An electromechanical surgical system having an instrument housing for connecting with a shaft assembly, a shaft assembly, and an end effector. The end effector is an articulating end effector and the system includes a cable tensioning system for tensioning the articulation cables. The system includes a clutch mechanism for preventing slippage of a drive cable.
1. A shaft assembly for interconnecting a surgical instrument and an end effector, comprising:
an elongate body;
a neck assembly coupled to a distal end portion of the elongate body;
first and second racks longitudinally movable relative to the neck assembly; and
first and second articulation cables each having a proximal portion and a distal portion, the proximal portion of the first cable coupled to the first rack and the proximal portion of the second cable coupled to the second rack, the distal portion of each of the first and second cables anchored to the neck assembly such that longitudinal movement of the first and second racks effects an articulation of the neck assembly.
2. The shaft assembly according to claim 1 , further comprising:
a clevis disposed within the proximal neck housing; and
a spur gear rotatably supported in the clevis, wherein the first and second racks are operatively connected to one another by the spur gear such that longitudinal movement of the first rack in a first direction results in longitudinal movement of the second rack in a second direction, opposite the first direction.
3. The shaft assembly according to claim 2 , wherein the clevis is longitudinally movable relative to the proximal neck housing.
4. The shaft assembly according to claim 3 , wherein the clevis is biased in a proximal direction.
5. The shaft assembly according to claim 3 , further comprising an adjustment screw operably coupled to the clevis such that rotation of the adjustment screw moves the clevis to adjust a tension in the first and second articulation cables.
6. The shaft assembly according to claim 5 , wherein the adjustment screw is retained against axial displacement relative to the clevis.
7. The shaft assembly according to claim 5 , wherein the clevis defines a threaded opening in a proximal end thereof, and the adjustment screw has a threaded distal end threadedly engaged to the threaded opening.
8. The shaft assembly according to claim 5 , further comprising a biasing member interposed between a proximal head of the adjustment screw and a surface of the neck assembly.
9. The shaft assembly according to claim 5 , wherein the clevis is configured to move axially in response to a rotation of the adjustment screw.
10. The shaft assembly according to claim 1 , further comprising:
a threaded rod extending proximally from the first rack; and
a rotatable drive member coupled to the threaded rod, wherein the threaded rod is configured to translate the first rack in response to a rotation of the drive member.
11. The shaft assembly according to claim 1 , wherein the neck assembly includes:
a proximal neck housing;
a plurality of links connected to and extending in series from the proximal neck housing; and
a distal neck housing connected to and extending from a distal-most link of the plurality of links, the distal neck housing being configured to couple to an end effector.
12. The shaft assembly according to claim 11 , wherein the first and second racks are axially supported in the proximal neck housing, and the first and second cables extend longitudinally through the plurality of links.
13. The shaft assembly according to claim 12 , wherein the distal portion of each of the first and second cables is anchored to the distal neck housing.
14. An articulating shaft assembly for supporting a surgical end effector, comprising:
an elongate body;
an articulating neck assembly coupled to a distal end portion of the elongate body and including:
a proximal neck housing extending distally from the distal end portion of the elongate body;
a plurality of links coupled to the proximal neck housing; and
a distal neck housing coupled to a distal end portion of the plurality of links, the distal neck housing being configured to couple to an end effector;
first and second racks extending within and being longitudinally movable relative to the articulating neck assembly; and
first and second articulation cables each having a proximal portion and a distal portion, the proximal portion of the first cable coupled to the first rack and the proximal portion of the second cable coupled to the second rack, wherein the distal portion of each of the first and second cables is axially fixed to the distal neck housing such that longitudinal movement of the first and second racks effects an articulation of the distal neck housing relative to the proximal neck housing about the plurality of links.
15. The articulating shaft assembly according to claim 14 , further comprising:
a clevis disposed within the proximal neck housing; and
a spur gear rotatably supported by the clevis and disposed between and operably engaged to the first and second racks.
16. The articulating shaft assembly according to claim 15 , wherein the clevis is longitudinally movable relative to the proximal neck housing.
17. The articulating shaft assembly according to claim 16 , wherein the clevis is biased in a proximal direction.
18. The articulating shaft assembly according to claim 15 , further comprising an adjustment screw operably coupled to the clevis such that rotation of the adjustment screw moves the clevis to adjust a tension in the first and second articulation cables.
19. The articulating shaft assembly according to claim 18 , wherein the adjustment screw is rotatably supported in the proximal neck housing and retained against axial displacement relative to the proximal neck housing.
20. The articulating shaft assembly according to claim 18 , wherein the clevis defines a threaded opening in a proximal end thereof, and the adjustment screw has a threaded distal end threadedly engaged to the threaded opening.