Surgical instrument with robotic and manual actuation features
A surgical instrument comprises a housing and a valve mounted in the housing. The valve is configured to control a flow of a fluid into or out of a surgical site in response to either a robotic actuation of the valve or a manual actuation of the valve. The valve comprises a valve shaft, a receiving member structurally coupled to the valve shaft, and a manual actuation component structurally coupled to the valve shaft and extending from the housing. The receiving member is configured to releasably couple to a driver of a robotic manipulator to receive the robotic actuation from the driver remotely controlled by a surgeon to adjust a state of the valve. The manual actuation component is configured to receive the manual actuation to adjust the state of the valve.
1. A surgical instrument, comprising:
a housing;
a fluid channel; and
a valve mounted in the housing;
wherein the valve is configured to control a flow of a fluid into or out of a surgical site in response to either a robotic actuation of the valve or a manual actuation of the valve and wherein the valve is positioned to control fluid flow within the fluid channel;
wherein the valve comprises:
a valve shaft,
a receiving member structurally coupled to the valve shaft, and
a manual actuation component structurally coupled to the valve shaft and extending from the housing;
wherein the receiving member is configured to releasably couple to a driver of a robotic manipulator to receive the robotic actuation from the driver remotely controlled by a surgeon to adjust a state of the valve; and
wherein the manual actuation component is configured to receive the manual actuation to adjust the state of the valve.
2. The surgical instrument of claim 1 , wherein the robotic actuation of the valve and the manual actuation of the valve both adjust the state of the valve in a same manner.
3. The surgical instrument of claim 1 , wherein rotation of the receiving member causes the valve shaft to control fluid flow by rotating to a first position to open the valve and to a second position to close the valve.
4. The surgical instrument of claim 1 , wherein the valve comprises a pinion gear coupled to the valve shaft.
5. The surgical instrument of claim 1 , wherein the robotic actuation comprises a rotary motion.
6. The surgical instrument of claim 1 , wherein the manual actuation comprises a rotary motion.
7. The surgical instrument of claim 1 , wherein the valve comprises at least one of an electrically operated valve and a magnetically operated valve.
8. The surgical instrument of claim 1 :
wherein the receiving member is a rotatable receiving member; and
wherein the driver is a rotatable driver.
9. The surgical instrument of claim 8 , wherein the rotatable receiving member comprises:
a plurality of inner pins that align with a first opening of the rotatable driver; and
a plurality of outer pins that align with a second opening of the rotatable driver.
10. The surgical instrument of claim 1 :
wherein the valve shaft is a cylindrical shaft comprising a flow channel; and
wherein the surgical instrument further comprises a seal wrapped around the cylindrical shaft to seal the flow channel.
11. The surgical instrument of claim 10 :
wherein the seal is a slanted seal; and
wherein the cylindrical shaft comprises a slanted channel to receive the seal and keep the seal in position as the valve is operated.
12. The surgical instrument of claim 1 , wherein the housing comprises a release lever at a side of the housing to release the surgical instrument from a robotic arm.