Translating robotic surgical tools with integrated firing mechanisms
A robotic surgical tool includes a drive housing having first and second ends, a spline extending between the ends and including a drive gear that rotates with spline rotation, and a carriage mounted to the spline. A shaft extends from the carriage, penetrates the first end, and has an end effector arranged at a distal end. An activating mechanism is housed in the carriage and includes an input gear operatively coupled to the drive gear such that rotation of the drive gear correspondingly rotates the input gear, and a firing rod defining external threads threadably engageable with internal threads of the input gear. The firing rod is coupled to a knife at the end effector such that movement of the firing rod correspondingly moves the knife in the same direction. The drive gear is rotated to rotate the input gear and thereby move the firing rod and the knife.
1. A robotic surgical tool, comprising:
a drive housing having a first end and a second end;
at least one spline extending between the first and second ends and including a drive gear that rotates with rotation of the at least one spline;
a carriage movably mounted to the at least one spline;
an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof; and
an activating mechanism housed in the carriage and including:
an input gear operatively coupled to the drive gear such that rotation of the drive gear correspondingly rotates the input gear; and
a firing rod defining external threads threadably engageable with internal threads of the input gear, the firing rod being operatively coupled to a knife at the end effector such that longitudinal movement of the firing rod correspondingly moves the knife in the same direction,
wherein the drive gear is rotated to rotate the input gear and thereby longitudinally move the firing rod and the knife.
2. The robotic surgical tool of claim 1 , 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 drive housing 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.
3. The robotic surgical tool of claim 2 , wherein the shaft penetrates the instrument driver by extending through a central aperture defined longitudinally through the instrument driver.
4. The robotic surgical tool of claim 1 , wherein the carriage comprises at least a first layer and a second layer arranged in series, and wherein the drive gear is arranged between portions of the first and second layers and slidably disposed about the at least one second spline.
5. The robotic surgical tool of claim 1 , wherein the activating mechanism further includes an idler gear that interposes the drive gear and the input gear to transfer torque from the drive gear to the input gear via an intermeshed gearing arrangement.
6. The robotic surgical tool of claim 1 , wherein the activating mechanism further includes:
a channel retainer coupled to the carriage and bearing against a first side of the input gear; and
one or more thrust bearings housed within the carriage and bearing against a second side of the input gear,
wherein the channel retainer and the one or more thrust bearings secure the input gear axially in place.
7. The robotic surgical tool of claim 6 , further comprising a locking mechanism that axially fixes the channel retainer to the carriage.
8. The robotic surgical tool of claim 1 , wherein the internal threads of the input gear are defined on an elongate cylindrical body extending from the input gear, and wherein the firing rod extends within the elongate cylindrical body.
9. The robotic surgical tool of claim 1 , wherein the activating mechanism further includes a firing member that interposes the firing rod and the knife.
10. The robotic surgical tool of claim 1 , wherein the end effector is selected from the group consisting of a surgical stapler, a tissue grasper, surgical scissors, an advanced energy vessel sealer, a clip applier, a needle driver, a babcock including a pair of opposed grasping jaws, bipolar jaws, a suction irrigator, an endoscope, a laparoscope, and any combination thereof.
11. A method, comprising:
locating a robotic surgical tool adjacent a patient, the robotic surgical tool comprising:
a drive housing having a first end and a second end;
at least one spline extending between the first and second ends and including a drive gear that rotates with rotation of the at least one spline;
a carriage movably mounted to the at least one spline;
an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof; and
an activating mechanism housed in the carriage and including an input gear operatively coupled to the drive gear such that rotation of the drive gear correspondingly rotates the input gear, and a firing rod defining external threads threadably engageable with internal threads of the input gear;
rotating the at least one spline and the drive gear by actuating a drive input arranged at the first end and operatively coupled to the at least one spline; and
rotating the input gear with the drive gear and thereby longitudinally moving the firing rod and a knife located at the end effector and operatively coupled to the firing rod.
12. The method of claim 11 , further comprising:
mating an instrument driver with the drive housing at the first end, the instrument driver being arranged at an end of a robotic arm;
mating a drive output of the instrument driver with the drive input as the instrument driver is mated to the drive housing; and
actuating the drive output to rotate the drive input and thereby actuate the activating mechanism.
13. The method of claim 12 , wherein mating the instrument driver with the drive housing at the first end comprises extending the shaft and the end effector through a central aperture defined longitudinally through the instrument driver.
14. The method of claim 11 , wherein the activating mechanism further includes an idler gear that interposes the drive gear and the input gear, the method further comprising transferring torque from the drive gear to the input gear via the idler gear.
15. The method of claim 11 , wherein the activating mechanism further includes a channel retainer coupled to the carriage and bearing against a first side of the input gear, and one or more thrust bearings housed within the carriage and bearing against a second side of the input gear, the method further comprising:
axially securing the input gear between the channel retainer and the one or more thrust bearings.
16. The method of claim 15 , further comprising axially fixing the channel retainer to the carriage with a locking mechanism.
17. The method of claim 16 , further comprising assuming axial loading on the input gear and reducing rotational friction of the input gear with the one or more thrust bearings while the firing rod longitudinally moves.
18. The method of claim 11 , wherein the internal threads of the input gear are defined on an elongate cylindrical body extending from the input gear, and wherein the firing rod extends within the elongate cylindrical body.
19. The method of claim 11 , wherein the activating mechanism further includes a firing member that interposes the firing rod and the knife.