Surgical instrument steering input device
A surgical instrument includes: a distal movable component; a proximal drive assembly including a drive shaft, a capstan, and a plurality of splines; a first cable extending between the distal movable component and the drive shaft; and a second cable extending between the distal movable component and the capstan. The drive shaft includes a tapered projection, and the capstan includes a tapered bore in which the tapered projection of the drive shaft is received. The plurality of splines engage the tapered projection of the drive shaft with the tapered bore of the capstan.
1. A surgical instrument comprising:
a shaft having a proximal end portion and a distal end portion;
an end effector coupled to the distal end portion of the shaft;
a drive assembly coupled to the proximal end portion of the shaft, the drive assembly removably engageable with an external actuator device and configured to receive drive actuation force from the external actuator device, wherein the drive assembly comprises:
a drive shaft configured to be driven in rotation,
a capstan, and
a splined snap-fit connection mechanism between the drive shaft and the capstan;
a first cable portion wrapped around the drive shaft and operably coupled to the end effector; and
a second cable portion wrapped around the capstan and operably coupled to the end effector,
wherein the splined snap-fit connection mechanism comprises:
splined engagement features configured to engage each other so as to prevent relative rotation between the drive shaft and the capstan, and
a plurality of snap-fit elements to provide a snap-fit engagement between the drive shaft and the capstan so as to provide resistance to relative axial movement between the drive shaft and the capstan.
2. The surgical instrument of claim 1 , wherein:
the splined snap-fit connection mechanism further comprises a bore in the capstan; and
the plurality of snap-fit elements project from the drive shaft and are received in the bore.
3. The surgical instrument of claim 1 , wherein:
a snap-fit element of the plurality of snap-fit elements comprises an elastic portion and a lip projecting radially outward from the elastic portion.
4. The surgical instrument of claim 3 , wherein:
the elastic portion comprises an elongate stem.
5. The surgical instrument of claim 3 , wherein:
the elastic portion is biased radially outward.
6. The surgical instrument of claim 3 , wherein:
the lip comprises an upper beveled edge and a lower beveled edge.
7. The surgical instrument of claim 1 , wherein:
the surgical instrument further comprises a steering input;
the drive shaft comprises a rod and a support stem;
the rod is coupled to the steering input;
the support stem is coupled to the rod; and
the plurality of snap-fit elements are distributed diametrically around the support stem.
8. The surgical instrument of claim 1 , wherein:
the splined snap-fit connection mechanism comprises a bore in the capstan and a tapered projection extending from the drive shaft; and
the tapered projection is received in the bore of the capstan.
9. The surgical instrument of claim 8 , wherein:
the splined engagement features comprise a first set of splines on the tapered projection and comprises a second set of splines on the bore of the capstan.
10. The surgical instrument of claim 8 , wherein:
the plurality of snap-fit elements extend from the tapered projection.
11. The surgical instrument of claim 8 , wherein:
the bore of the capstan is tapered.
12. The surgical instrument of claim 1 , wherein:
the splined engagement features extend along a longitudinal axis of the drive shaft or the capstan; and
the plurality of snap-fit elements are arranged around the longitudinal axis.
13. A surgical instrument comprising:
a shaft having a proximal end portion and a distal end portion;
an end effector coupled to the distal end portion of the shaft;
a drive assembly coupled to the proximal end portion of the shaft, the drive assembly removably engageable with an external actuator device and configured to receive drive actuation force from the external actuator device, wherein the drive assembly comprises:
a drive shaft configured to be driven in rotation,
a capstan, and
means for inhibiting relative rotation of the drive shaft and the capstan;
means for inhibiting relative longitudinal motion of the drive shaft and the capstan,
a first cable portion wrapped around the drive shaft and operably coupled to the end effector; and
a second cable portion wrapped around the capstan and operably coupled to the end effector,
wherein the means for inhibiting the relative longitudinal motion of the drive shaft and the capstan project from the means for inhibiting the relative rotation of the drive shaft and the capstan, the means for inhibiting the relative longitudinal motion of the drive shaft and the capstan comprises a plurality of snap-fit elements projecting from the means for inhibiting the relative rotation of the drive shaft and the capstan.
14. The surgical instrument of claim 13 , wherein:
the capstan comprises a bore; and
the means for inhibiting the relative longitudinal motion of the drive shaft and the capstan project from the drive shaft into the bore.
15. The surgical instrument of claim 13 , wherein:
the surgical instrument further comprises a steering input;
the drive shaft comprises a rod and a support stem;
the rod is coupled to the steering input;
the support stem is coupled to the rod; and
the plurality of snap-fit elements are distributed diametrically around the support stem.
16. The surgical instrument of claim 13 , wherein:
the capstan comprises a bore; and
the means for inhibiting the relative longitudinal motion of the drive shaft and the capstan comprises a tapered projection extending from the drive shaft and received in the bore of the capstan.
17. The surgical instrument of claim 16 , wherein:
the means for inhibiting the relative longitudinal motion of the drive shaft and the capstan further comprises a first set of splines on the tapered projection and a second set of splines on the bore of the capstan.
18. The surgical instrument of claim 16 , wherein:
the bore of the capstan is tapered.
19. The surgical instrument of claim 16 , wherein:
the means for inhibiting the relative rotation of the drive shaft and the capstan extends along a longitudinal axis of the drive shaft or the capstan; and
the plurality of snap-fit elements are arranged around the longitudinal axis.