Surgical instrument with linear translation mechanism
A surgical instrument comprises a hand-held portion configured to be manipulated by a user and a pivoting portion operatively coupled to the hand-held portion. The pivoting portion is configured to pivot with respect to the hand-held portion according to first and second degrees of freedom. The pivoting portion includes an accessory drive motor, an accessory drive member configured to be driven by the accessory drive motor, a plurality of lead screws, a carriage including a central aperture axially extending through the carriage and configured to interface with and linearly translate along the plurality of lead screws, and a linear drive motor configured to rotate the plurality of lead screws to linearly translate the carriage relative to the hand-held portion with respect to a third degree of freedom. The accessory drive member extends through and is configured to move within the central aperture of the carriage.
1. A surgical instrument comprising:
a pivoting portion;
a shaft disposed in the pivoting portion;
a first drive motor disposed in the pivoting portion and being configured to rotate the shaft; and
a second drive motor disposed in the pivoting portion and being configured to linearly translate the shaft and wherein the second drive motor includes a rotor and a drive gear each defining an aperture extending therethrough to receive the shaft and to enable the shaft to freely rotate and linearly translate therethrough; and
wherein said drive gear is configured to cooperate with a driven gear that is fixed to one end of each of a plurality of leadscrews which enable linear translation of the shaft relative to the hand-held portion.
2. The surgical instrument of claim 1 , further comprising a hand-held portion configured to be manipulated by a user.
3. The surgical instrument of claim 2 , wherein the pivoting portion is operatively coupled to the hand-held portion and is configured to pivot with respect to the hand-held portion according to first and second degrees of freedom.
4. The surgical instrument of claim 2 , further comprising a nose tube being configured to operatively support an accessory.
5. The surgical instrument of claim 4 , wherein the first drive motor is configured to rotate the shaft to enable rotation of the accessory.
6. The surgical instrument of claim 4 , wherein the second drive motor is configured to linearly translate the shaft to enable linear translation of the nose tube and the accessory relative to the hand-held portion with respect to a third degree of freedom.
7. The surgical instrument of claim 4 , further comprising an intermediate unit disposed in the pivoting portion and cooperating with the rotor and drive gear and the nose tube to enable linear translation of the shaft and the nose tube.
8. The surgical instrument of claim 4 , further comprising a carriage that extends from the nose tube and is configured to linearly translate along the leadscrews.
9. The surgical instrument of claim 8 , wherein the carriage and the nose tube are separate components.
10. The surgical instrument of claim 8 , wherein the carriage includes a plurality of secondary apertures spaced radially from the central aperture and circumferentially and extending axially therethrough.
11. The surgical instrument of claim 10 , wherein the carriage is threaded to interface with threads on the leadscrews; and
wherein the secondary apertures of the carriage include the threads configured to engage the threads of the leadscrews.
12. The surgical instrument of claim 8 , wherein the nose tube comprises a flange extending radially to locate the carriage relative to the nose tube and a flanged bushing disposed in the nose tube and engaging the carriage.
13. The surgical instrument of claim 4 , further including a coupling assembly coupled to the nose tube being configured to support the accessory wherein the coupling assembly includes a connector having a bore to enable a shaft of the accessory to extend therethrough.
14. The surgical instrument of claim 4 , further comprising an internal bearing disposed within the nose tube being configured to support movement of a shaft of the accessory.
15. The surgical instrument of claim 14 , wherein the nose tube includes an interconnecting shaft having a first end coupled to the shaft and a second end being configured to couple to the shaft of the accessory; and
wherein each of the first and second ends of the interconnecting shaft has a double-D shaped opening such that the first end is configured to receive a mating end of the shaft and such that the second end is configured to receive a mating end of the shaft of the accessory.
16. The surgical instrument of claim 1 , wherein the second drive motor includes an electromagnetic coil being configured to rotate the rotor.
17. A surgical instrument comprising:
a pivoting portion;
a shaft disposed in the pivoting portion;
a carriage including a central aperture axially extending through said carriage, and said carriage being configured to linearly translate along the shaft;
a first drive motor disposed in the pivoting portion and being configured to rotate the shaft; and
a second drive motor disposed in the pivoting portion and being configured to linearly translate the shaft and wherein the second drive motor includes a rotor and a drive gear each defining an aperture extending therethrough to receive the shaft and to enable the shaft to freely rotate and linearly translate therethrough; and
wherein the shaft extends through and is configured to rotate within the central aperture.
18. The surgical instrument of claim 17 , further comprising:
an intermediate unit disposed in the pivoting portion and cooperating with the rotor and drive gear to enable linear translation of the shaft, the intermediate unit including a plurality of leadscrews;
wherein each of the plurality of leadscrews is threaded and comprises a driven gear at one end and wherein the drive gear is configured to cooperate with each of the driven gears to enable rotation of each of the leadscrews; and
wherein the carriage is configured to linearly translate along the leadscrews.
19. The surgical instrument of claim 18 , wherein the carriage includes a plurality of secondary apertures spaced radially from the central aperture and circumferentially and extending axially therethrough.
20. The surgical instrument of claim 19 , wherein the carriage is threaded to interface with threads on the leadscrews; and
wherein the secondary apertures of the carriage include the threads configured to engage the threads of the leadscrews.