Electromechanical surgical system
A surgical system includes a drive unit on a support. The drive unit includes motors or other actuators and a plurality of output elements arranged such that operation of each drive unit linearly translates a corresponding one of the output elements. A surgical device has actuation elements extending through an elongate shaft to a distal articulation section, and an input subsystem carried at the proximal end of the shaft. Linear translatable input elements or pistons of the input subsystem are each associated with a corresponding one of the actuation elements. The input and output elements are positioned such that operation of an actuator linearly translates an output element, causing linear translation of a corresponding input element and engagement of an actuation element. A sterile drape is positionable between the input elements and the output elements.
1. A surgical system comprising:
a drive unit on a support, the drive unit comprising a plurality of actuators and a plurality of output elements, each actuator operable to linearly translate a corresponding one of the output elements;
a surgical device comprising
an elongate shaft having a proximal end, and a plurality of actuation elements extending through the shaft,
an input subsystem carried at the proximal end of the shaft, the input subsystem including a plurality of input elements each operatively associated with a corresponding one of the actuation elements, each input element linearly translatable relative to the elongate shaft;
wherein the surgical device is removably mounted relative to the support to position each output element in a drive relationship with a corresponding input element; and
wherein operation of an actuator linearly translates an output element, causing linear translation of a corresponding input element and varying tension of an actuation element.
2. The surgical system of claim 1 , wherein each output element and its corresponding input element is linearly translatable along a common axis.
3. The surgical system of claim 1 , wherein varying tension of an actuation element causes bending of a portion of the elongate shaft.
4. The surgical system of claim 1 , wherein the surgical device is a surgical instrument having an end effector, and wherein varying of the tension of an actuation element opens or closes jaws of the end effector.
5. The surgical system of claim 3 , wherein the surgical device includes a lumen, wherein the system further includes a surgical instrument having a passively flexible portion disposed within the lumen, and wherein varying of the tension of an actuation element results in flexing of the passively flexible portion of the surgical instrument.
6. The surgical system of claim 1 , wherein each input element is mechanically engaged to its corresponding output element.
7. The surgical system of claim 1 , wherein each input element magnetically interfaces with its corresponding output element.
8. The surgical system of claim 7 , wherein each input element is axially spaced apart from its corresponding output element by a gap.
9. The surgical system of claim 1 , wherein each input element is not mechanically attached to its corresponding output element.
10. The surgical system of claim 1 , further including a sterile drape positionable between the input elements and the output elements.
11. The surgical system of claim 10 , wherein the input and output elements do not penetrate the drape.
12. The surgical system of claim 1 , wherein the elongate shaft has a longitudinal axis, and wherein the common axis is parallel to the longitudinal axis.
13. The surgical system of claim 1 , wherein the elongate shaft has a longitudinal axis, and wherein the linear translation of the corresponding input element is in a direction parallel to the longitudinal axis.
14. The surgical instrument of claim 1 , wherein each input element is linearly translatable in a direction parallel to the longitudinal axis.
15. The surgical system of claim 1 , wherein the elongate shaft has a longitudinal axis, and wherein operation of an actuator linearly translates an output element in a direction parallel to the longitudinal axis.
16. The surgical system of claim 15 , wherein each output element is configured such that operation of a corresponding actuator causes said output element to linearly translate in a direction parallel to the longitudinal axis.
17. The surgical system of claim 1 , wherein varying of the tension of an actuation element causes articulation of a portion of the surgical device.
18. The surgical system of claim 1 , wherein the device is a surgical instrument having an end effector.
19. The surgical system of claim 1 , wherein operation of an actuator linearly translates an output element to push a corresponding input element.
20. The surgical system of claim 1 , wherein operation of an actuator linearly translates an output element to pull a corresponding input element.