Surgical instrument apparatus, actuator, and drive
A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient is disclosed and includes an elongate manipulator having a distal end for receiving an end effector and including a plurality of control links extending through the manipulator operable to cause movement of the distal end in response to movement of the control links in a longitudinal direction. An actuator chassis is disposed at a proximal end of the manipulator and includes a plurality of actuators slidingly mounted within the actuator chassis for linear movement in the longitudinal direction. Each actuator is coupled to a control link and adjacently disposed about a curved periphery of the actuator chassis. An outwardly oriented portion couples a drive force to the actuator to cause movement of the control link.
1. A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient, the apparatus comprising:
an elongate manipulator having a distal end configured to support an end effector and including a plurality of control links extending through the manipulator and operatively engaged with the end effector, the manipulator defining a longitudinal axis; and
an actuator chassis disposed at a proximal end of the manipulator, wherein the actuator chassis defines a central longitudinal axis and an outer profile having a curved periphery portion and a flat portion, wherein an outer surface of the curved periphery portion extends in a uniform radius from the central longitudinal axis, and wherein the flat portion defines a plane extending parallel to the central longitudinal axis, the actuator chassis including:
a plurality of actuators slidingly mounted within the actuator chassis and configured to move linearly in a direction aligned with the longitudinal axis, wherein:
the actuators are adjacently radially disposed about and project from the curved periphery portion of the actuator chassis;
each actuator is coupled to a respective one of the control links; and
each actuator includes an outwardly oriented portion configured to couple a drive force to the actuator to cause movement of the control link,
wherein, when the flat portion of the actuator chassis of the surgical instrument apparatus is in abutting relation to another flat portion of another actuator chassis of another surgical instrument apparatus, the central longitudinal axis of the actuator chassis remains one of parallel and coaxial with the longitudinal axis of the manipulator.
2. The apparatus of claim 1 , wherein the plurality of actuators are mounted within slots extending longitudinally along the curved periphery portion and radially arranged about the curved periphery portion of the actuator chassis.
3. The apparatus of claim 1 , wherein the outwardly oriented portions of the plurality of actuators are each shaped to engage a corresponding drive coupling configured to couple the drive force to the actuator.
4. The apparatus of claim 3 , wherein each actuator includes an actuator coupling portion having a protrusion that extends outwardly beyond the curved periphery portion of the actuator chassis.
5. The apparatus of claim 4 , further comprising:
a drive chassis including a respective plurality of drive couplers configured to couple drive forces to the plurality of actuators, the drive couplers radially arranged about the curved periphery portion of the actuator chassis, each drive coupler including:
an open channel portion configured to receive a respective actuator protrusion when the actuator chassis is inserted into the drive chassis; and
a retaining portion configured to receive and retain the respective actuator protrusions when the drive chassis and the actuator chassis are rotated thorough an angle to cause the retaining portions to engage the respective actuator protrusions.
6. The apparatus of claim 1 , wherein the manipulator comprises at least one end effector control link configured to couple to an end effector, and wherein the actuator chassis comprises at least one end effector actuator coupled to the end effector control link to actuate movements of the end effector.
7. The apparatus of claim 6 , wherein the at least one end effector actuator is mounted within the actuator chassis to permit at least one of:
longitudinal movement configured to actuate opening or closing of an end effector; or
rotational movement configured to cause a corresponding rotation of the end effector.
8. The apparatus of claim 7 , wherein the at least one end effector actuator comprises a single end effector actuator configured to perform both the longitudinal movement and the rotational movement.
9. The apparatus of claim 6 , wherein the at least one end effector control link is routed along a central bore of the actuator chassis and the end effector actuator is mounted at a distal portion of the actuator chassis.
10. The apparatus of claim 1 , wherein at least a portion of a length of the manipulator is rigid.
11. The apparatus of claim 1 , wherein the actuator chassis defines a cylindrical profile.
12. A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient, the apparatus comprising:
an elongate manipulator including:
a tubular rigid portion having a distal end and a proximal end, the tubular rigid portion defining a longitudinal axis;
an end effector supported at the distal end of the tubular rigid portion; and
a plurality of control links extending through the tubular rigid portion, wherein at least one control link is connected to the end effector to effect actuation of the end effector; and
an actuator chassis disposed at the proximal end of the rigid tubular portion of the manipulator, wherein the actuator chassis defines a central longitudinal axis and a substantially D-shaped transverse cross-sectional profile including a curved periphery portion and a flat portion, wherein an outer surface of the curved periphery portion extends a uniform radius from the central longitudinal axis, and wherein the flat portion defines a plane extending parallel to the central longitudinal axis, the actuator chassis including:
a plurality of actuators slidingly mounted within the actuator chassis,
each actuator being coupled to a respective one of the plurality of control links and being configured to couple a drive force to at least one of the actuators to cause movement of the respective control link and effectuate actuation of the end effector,
wherein at least one actuator is radially disposed about and project from a curved periphery of the actuator chassis, and
wherein, when the flat portion of the actuator chassis of the surgical instrument apparatus is in abutting relation to another flat portion of another actuator chassis of another surgical instrument apparatus, the central longitudinal axis of the actuator chassis remains one of parallel and coaxial with the longitudinal axis of the tubular rigid portion of the manipulator.
13. The apparatus of claim 12 , wherein the plurality of actuators are mounted within slots extending longitudinally along the curved periphery portion and radially arranged about the curved periphery portion of the actuator chassis.
14. The apparatus of claim 12 , wherein the outwardly oriented portions of the plurality of actuators are each shaped to engage a corresponding drive coupling configured to couple the drive force to the actuator.
15. The apparatus of claim 12 , wherein each actuator includes an actuator coupling portion having a protrusion that extends outwardly beyond the curved periphery portion of the actuator chassis.
16. The apparatus of claim 15 , further comprising:
a drive chassis including a respective plurality of drive couplers configured to couple drive forces to the plurality of actuators, the drive couplers radially arranged about the curved periphery portion of the actuator chassis, each drive coupler including:
an open channel portion configured to receive a respective actuator protrusion when the actuator chassis is inserted into the drive chassis; and
a retaining portion configured to receive and retain the respective actuator protrusions when the drive chassis and the actuator chassis are rotated thorough an angle to cause the retaining portions to engage the respective actuator protrusions.
17. The apparatus of claim 12 , wherein the actuator chassis defines a flat portion.
18. A surgical instrument system for performing a surgical procedure within a body cavity of a patient, the surgical instrument system comprising:
a first instrument apparatus defining a longitudinal axis, the first instrument apparatus including:
an elongate manipulator;
an end effector supported at the distal end of the elongate manipulator; and
a plurality of control links extending through the elongate manipulator, wherein at least one control link is connected to the end effector to effect actuation of the end effector; and
an actuator chassis disposed at a proximal end of the elongate manipulator, wherein the actuator chassis defines a central longitudinal axis and an outer profile having a curved periphery portion and a flat portion, wherein an outer surface of the curved periphery portion extends a uniform distance from the central longitudinal axis, and wherein the flat portion defines a plane extending parallel to the central longitudinal axis, the actuator chassis including:
a plurality of actuators slidingly mounted within the actuator chassis and configured to move linearly in a direction aligned with the longitudinal axis of the first instrument apparatus, wherein the actuators are adjacently radially disposed about and project from the curved periphery portion of the actuator chassis; and
a second instrument apparatus defining a longitudinal axis, the second instrument apparatus including:
an elongate manipulator;
an end effector supported at the distal end of the elongate manipulator; and
a plurality of control links extending through the elongate manipulator, wherein at least one control link is connected to the end effector to effect actuation of the end effector; and
an actuator chassis disposed at a proximal end of the elongate manipulator, wherein the actuator chassis defines a central longitudinal axis and an outer profile having a curved periphery portion and a flat portion, wherein an outer surface of the curved periphery portion extends a uniform distance from the central longitudinal axis, and wherein the flat portion defines a plane extending parallel to the central longitudinal axis, the actuator chassis including:
a plurality of actuators slidingly mounted within the actuator chassis and configured to move linearly in a direction aligned with the longitudinal axis of the second instrument apparatus, wherein the actuators are adjacently radially disposed about and project from the curved periphery portion of the actuator chassis;
wherein, the first instrument apparatus and the second instrument apparatus are adjacent to one another whereby the flat portion of the actuator chassis of the first instrument apparatus is adjacent the flat portion of the actuator chassis of the second instrument apparatus, and
wherein, the flat portion of the actuator chassis of the first instrument apparatus is in abutting relation to the flat portion of the actuator chassis of the second instrument apparatus:
the central longitudinal axis of the actuator chassis of the first instrument apparatus remains one of parallel and coaxial with the longitudinal axis of the first instrument apparatus;
the central longitudinal axis of the actuator chassis of the second instrument apparatus remains one of parallel and coaxial with the longitudinal axis of the second instrument apparatus; and
the central longitudinal axis of the actuator chassis of the first instrument apparatus remains parallel with the central longitudinal axis of the second instrument apparatus.
19. The surgical instrument system of claim 18 , wherein each actuator includes an outwardly oriented portion configured to couple a drive force to the actuator to cause movement of the respective control link; and wherein the outwardly oriented portions of each of the plurality of actuators are shaped to engage a corresponding drive coupling configured to couple the drive force to the actuator.
20. The surgical instrument system of claim 19 , wherein an actuator coupling portion of each actuator includes a protrusion that extends outwardly beyond the curved periphery portion of the actuator chassis.
21. The surgical instrument system of claim 19 , wherein the actuator chassis of each of the first instrument apparatus and the second instrument apparatus defines a substantially D-shaped transverse cross-sectional profile.