Robotic surgical tool with replaceable carriage
A robotic surgical tool comprises a handle having a first end and a second end, a lead screw and at least one spline extendable between the first and second ends of the handle, and a carriage movably mountable to the lead screw at a carriage nut. The carriage includes an elevator layer and one or more additional layers removably coupled to the elevator layer. An elongate shaft may be provided that extends distally from the one or more additional layers and penetrates the elevator layer and the first end when the one or more additional layers are coupled to the elevator layer. An end effector may be arranged at a distal end of the elongate shaft.
1. A surgical tool, comprising:
a handle having a first end and a second end;
a lead screw and at least one spline extendable between the first and second ends;
a carriage including an elevator layer and one or more additional layers removably coupled to the elevator layer, wherein the elevator layer is movably mountable to the lead screw at a carriage nut;
an elongate shaft extending distally from the one or more additional layers and penetrating the elevator layer and the first end when the one or more additional layers are coupled to the elevator layer; and
an end effector arranged at a distal end of the elongate shaft.
2. The surgical tool of claim 1 , further comprising a cap removably coupled to the second end.
3. The surgical tool of claim 2 , wherein the cap comprises:
at least one spline coupling configured to receive an end of the at least one spline when the cap is coupled to the second end; and
a stage coupling configured to receive an end of the lead screw when the cap is coupled to the second end.
4. The surgical tool of claim 1 , further comprising:
a drive gear coupled to the at least one spline and rotatable with rotation of the at least one spline; and
an activating mechanism housed in the carriage and operatively coupled to the drive gear such that rotation of the drive gear correspondingly actuates the activating mechanism.
5. The surgical tool of claim 4 , wherein the drive gear and the activating mechanism are housed in the one or more additional layers of the carriage and operatively coupled together such that rotation of the drive gear correspondingly actuates the activating mechanism.
6. The surgical tool of claim 4 , further comprising:
a drive input arranged at the first end and operatively coupled to the at least one spline such that rotation of the drive input correspondingly rotates the at least one spline and the drive gear; and
an instrument driver arranged at an end of a robotic arm and matable with the handle at the first end, the instrument driver providing a drive output matable with the drive input such that rotation of the drive output correspondingly rotates the drive input and thereby actuates the activating mechanism.
7. The surgical tool of claim 1 , wherein the at least one spline extends through one or more spline passages defined in the elevator layer and the one or more additional layers.
8. The surgical tool of claim 7 , wherein an alignment table is used to align the one or more spline passages defined in the elevator layer with the one or more spline passages defined in the one or more additional layers.
9. The surgical tool of claim 1 , wherein one or more snaps extend from the one or more additional layers for engaging a corresponding one or more openings in the elevator layer.
10. The surgical tool of claim 9 , further comprising a shroud extending at least partially between the first and second ends and within which the carriage translates, wherein the one or more snaps are secured within the corresponding one or more openings when the elevator layer is positioned within the shroud.
11. The surgical tool of claim 9 , wherein the one or more snaps are biased radially inward for receipt within the corresponding one or more openings.
12. The surgical tool of claim 1 , wherein the at least one spline comprises a telescoping spline extending between the first end and the elevator layer, the surgical tool further comprising:
a torsion shaft matable with the telescoping spline;
a drive gear connected to the torsion shaft and housed in the one or more additional layers, the drive gear and the torsion shaft being rotatable with rotation of the at least one telescoping spline; and
an activating mechanism housed in the one or more additional layers and operatively coupled to the drive gear such that rotation of the drive gear correspondingly actuates the activating mechanism.
13. A surgical tool, comprising:
a handle having a first end and a second end;
a lead screw extending between the first and second ends;
a carriage including an elevator layer and one or more additional layers removably coupled to the elevator layer, wherein the elevator layer is movably mountable to the lead screw at a carriage nut;
at least one telescoping spline extendable between the first end and the elevator layer;
an elongate shaft extending distally from the one or more additional layers and penetrating the elevator layer and the first end when the one or more additional layers are coupled to the elevator layer; and
an end effector arranged at a distal end of the elongate shaft.
14. The surgical tool of claim 13 , further comprising:
a torsion shaft matable with the at least one telescoping spline;
a drive gear connected to the torsion shaft and housed in the one or more additional layers, the drive gear and the torsion shaft being rotatable with rotation of the at least one telescoping spline; and
an activating mechanism housed in the one or more additional layers and operatively coupled to the drive gear such that rotation of the drive gear correspondingly actuates the activating mechanism.
15. The surgical tool of claim 13 , wherein the at least one telescoping spline comprises a series of telescoping portions nestable within the first end.
16. The surgical tool of claim 13 , wherein the at least one telescoping spline comprises a series of telescoping portions nestable within the elevator layer.
17. The surgical tool of claim 13 , further comprising a shroud within which the lead screw and the at least one telescoping spline extend and within which the carriage translates, the shroud having an expandable portion that expands or contracts with translation of the elevator layer.