Manual drive functions for surgical tool having carriage architecture
A surgical tool comprising a drive housing having a first end and a second end, a spline extending between the first and second ends and being rotatably coupled to the first end at a drive input, a drive gear coupled to and rotatable with the spline, a carriage movably mounted to the spline and housing an activating mechanism operatively coupled to the drive gear such that rotation of the spline actuates the activating mechanism, and a bailout mechanism arranged at the second end. The bailout mechanism may include a lever that is movable relative to the spline, from a first position, where the spline is disengaged from the lever, to a second position, where the spline engages the lever such that rotation of the lever correspondingly rotates the spline.
1. A surgical tool, comprising:
a drive housing having a first end and a second end;
a spline extending between the first and second ends and being rotatably coupled to the first end at a drive input;
a drive gear coupled to and rotatable with the spline;
a carriage movably mounted to the spline and housing an activating mechanism operatively coupled to the drive gear such that rotation of the spline actuates the activating mechanism; and
a bailout mechanism arranged at the second end and including a lever, the lever being movable relative to the spline from a first position, where the spline is disengaged from the lever, to a second position, where the spline engages the lever such that rotation of the lever correspondingly rotates the spline.
2. The surgical tool of claim 1 , further comprising:
an instrument driver arranged at an end of a robotic arm and matable with the first end of the drive housing; and
a drive output provided by the instrument driver and matable with the drive input such that rotation of the drive output correspondingly rotates the drive input and thereby actuates the activating mechanism,
wherein the spline is engaged with the drive output when the lever is in the first position, and disengaged from the drive output by movement of the lever into the second position.
3. The surgical tool of claim 1 , further comprising:
an instrument driver arranged at an end of a robotic arm and matable with the first end of the drive housing; and
a drive output provided by the instrument driver and matable with the drive input such that rotation of the drive output correspondingly rotates the drive input and thereby actuates the activating mechanism,
wherein the spline remains engaged with the drive output as the lever moves between the first position and the second position.
4. The surgical tool of claim 1 , further comprising a manual drive gear provided at a proximal end of the spline and rotatable with the spline, wherein the manual drive gear is rotatable relative to the lever when the lever is in the first position, and wherein the manual drive gear rotationally engages the lever when the lever is moved to the second position.
5. The surgical tool of claim 4 , wherein the lever includes at least one gear tooth that engages a corresponding at least one gear tooth of the manual drive gear when the lever is moved into the second position.
6. The surgical tool of claim 4 , wherein the bailout mechanism further includes a spacer bar removably positioned under the manual drive gear when the lever is in the first position, the lever being movable into the second position upon removal of the spacer bar to thereby position the lever in rotational engagement with the manual drive gear.
7. The surgical tool of claim 6 , wherein the bailout mechanism further includes a removable cover and the spacer bar is attached to the removable cover, wherein the removable cover is mountable at the second end of the drive housing to enclose the lever with the spacer bar extending under the manual drive gear.
8. The surgical tool of claim 4 , wherein the lever includes a first bore section and a second bore section, the manual drive gear being freely rotatable relative to the lever when oriented in the first bore section of the lever, and the manual drive gear being rotatable with the lever when oriented in the second bore section of the lever.
9. The surgical tool of claim 8 , wherein the bailout mechanism further includes a biasing element that applies a biasing force on the lever to thereby urge the lever towards the second position.
10. The surgical tool of claim 9 , wherein the bailout mechanism further includes a removable cover mountable at the second end of the drive housing and having a retaining pin attached to the removable cover such that, when the removable cover is mounted on the drive housing, the retaining pin contacts and maintains the lever in the first position with the manual drive gear oriented in the first bore section of the lever.
11. The surgical tool of claim 10 , wherein, as the retaining pin moves away from the lever, the biasing element pushes the lever in a direction towards the second position to thereby orient the manual drive gear within the second bore section where the manual drive gear is rotatable with the lever.
12. The surgical tool of claim 11 , wherein the lever further comprises a ledge positioned proximate the second bore section to contact the manual drive gear when oriented within the second bore section, such that, as the biasing element translates the lever in the direction towards the second position with the manual drive gear oriented within the second bore section of the lever, the ledge contacts the manual drive gear to carry the manual drive gear and, thereby, to pull the spline connected to the manual drive gear, in the direction towards the second position.
13. The surgical tool of claim 12 , further comprising:
an elongate shaft extending distally from the carriage and penetrating the first end;
an end effector arranged at a distal end of the elongate shaft;
a firing rod operatively coupled to the activating mechanism to translate upon rotation of the drive gear, the firing rod extending through the elongate shaft; and
a cutting element provided at the end effector and operatively coupled to a distal end of the firing rod, wherein actuating the activating mechanism advances or retracts the cutting element, and wherein the activating mechanism includes an internally threaded gear arranged around a threaded portion of the firing rod, the internally threaded gear being meshed with the drive gear on the spline such that rotation of the spline causes axial translation of the firing rod, and the drive gear is axially longer than the internally threaded gear such that the drive gear remains meshed with the internally threaded gear when the spline is in the first and second positions.
14. The surgical tool of claim 1 , further comprising:
an elongate shaft extending distally from the carriage and penetrating the first end;
an end effector arranged at a distal end of the elongate shaft;
a firing rod operatively coupled to the activating mechanism to translate upon rotation of the drive gear, the firing rod extending through the elongate shaft; and
a cutting element provided at the end effector and operatively coupled to a distal end of the firing rod, wherein actuating the activating mechanism advances or retracts the cutting element.
15. The surgical tool of claim 14 , wherein the spline comprises a first spline, the drive gear comprises a first drive gear and the activating mechanism comprises a first activating mechanism, the surgical tool further comprising:
a second spline extending from the first end;
a second drive gear coupled to the second spline and rotatable with rotation of the second spline; and
a second activating mechanism housed in the carriage and operatively coupled to the second drive gear to open or close the jaws upon activation of the second activating mechanism,
wherein the first activating mechanism includes an internally threaded gear arranged around a threaded portion of the firing rod, the internally threaded gear being meshed with the first drive gear on the first spline such that rotation of the first spline causes axial translation of the firing rod.