Robotic surgical tool having a retraction mechanism
A robotic surgical tool is disclosed. The robotic surgical tool can comprise an end effector comprising a firing member; a drive system responsive to a motor-driven input; and a proximal housing comprising a retraction mechanism. The retraction mechanism can comprise a control responsive to a manual input. The control can be rotatable in a first direction through a retraction motion and rotatable in a second direction through a reset motion. The retraction mechanism can further comprise a clutch coupled to the control. The clutch can be configured to drivingly engage the drive system as the control rotates through the retraction motion to supply a proximal retraction stroke to a firing bar and drivingly disengaged from the drive system as the control rotates through the reset motion to prevent any displacement of the firing bar by the retraction mechanism until the control is reset for a subsequent retraction motion.
1. A robotic surgical tool, comprising:
an end effector comprising a first jaw, a second jaw, and a firing member movable longitudinally through the first jaw and the second jaw;
a drive system responsive to a motor-driven input, wherein the drive system comprises a firing bar operably coupled to the firing member, wherein the firing bar is movable distally through a closure stroke to close the first jaw and the second jaw, and wherein the firing bar is movable distally through a firing stroke to move the firing member through a portion of the first jaw and the second jaw;
a proximal housing comprising a retraction mechanism, wherein the retraction mechanism comprises:
a control responsive to a manual input, wherein the control is rotatable in a first direction through a retraction motion, and wherein the control is rotatable in a second direction through a reset motion; and
a clutch coupled to the control, wherein the clutch is configured to drivingly engage the drive system as the control rotates through the retraction motion to supply a proximal retraction stroke to the firing bar, and wherein the clutch is drivingly disengaged from the drive system as the control rotates through the reset motion to prevent any displacement of the firing bar by the retraction mechanism until the control is reset for a subsequent retraction motion.
2. The robotic surgical tool of claim 1 , wherein the retraction mechanism is movable between a disabled configuration and an enabled configuration, and wherein the motor-driven input is decoupled from the firing bar upon movement of the retraction mechanism from the disabled configuration to the enabled configuration.
3. The robotic surgical tool of claim 1 , further comprising an elongate shaft extending between the end effector and the proximal housing, wherein the firing bar is movably supported within the elongate shaft.
4. The robotic surgical tool of claim 1 , wherein the subsequent retraction motion of the control is configured to further retract the firing bar.
5. The robotic surgical tool of claim 1 , wherein the clutch comprises a pawl configured to pivot about a pivot pin.
6. The robotic surgical tool of claim 5 , wherein the retraction mechanism comprises a ratchet assembly.
7. The robotic surgical tool of claim 1 , wherein the control comprises a lever configured to pivot about a pivot pin.
8. The robotic surgical tool of claim 1 , wherein the closure stroke and the firing stroke are separate and distinct motions, and wherein the firing stroke is distal to the closure stroke.
9. The robotic surgical tool of claim 1 , further comprising an articulation joint, wherein the end effector is configured to articulate about the articulation joint, and wherein the firing bar is configured to extend through the articulation joint.
10. The robotic surgical tool of claim 9 , wherein the firing bar comprises a flexible firing bar extending through the articulation joint.
11. The robotic surgical tool of claim 1 , further comprising a staple cartridge installed in the end effector, wherein the staple cartridge comprises staples, and wherein the firing member is configured to fire the staples during the firing stroke.
12. The robotic surgical tool of claim 1 , wherein the drive system comprises a proximal end adapted to connect to a robotic tool driver, and wherein the motor-driven input comprises a linear motion applied to the proximal end of the drive system.
13. The robotic surgical tool of claim 1 , wherein the control comprises a pivotable crank.
14. The robotic surgical tool of claim 13 , wherein the firing member comprises:
a first cam configured to cammingly engage the first jaw; and
a second cam configured to cammingly engage the second jaw.
15. The robotic surgical tool of claim 14 , wherein the firing member comprises an I-beam.
16. The robotic surgical tool of claim 15 , wherein the firing member further comprises a cutting edge.
17. The robotic surgical tool of claim 1 , wherein the control comprises a multi-turn rotary retraction lever.
18. The robotic surgical tool of claim 17 , wherein the multi-turn rotary retraction lever is rotatable in the first direction through a plurality of repeated retraction motions, and wherein the multi-turn rotary retraction lever is rotatable in the second direction through the reset motion intermediate two successive retraction motions.
19. The robotic surgical tool of claim 1 , wherein the retraction mechanism is configured to drive unidirectional displacement of the firing bar.
20. The robotic surgical tool of claim 19 , wherein the retraction mechanism is configured to retract the firing member proximally.
21. The robotic surgical tool of claim 20 , wherein the clutch is configured to prevent manual application of distal advancement motions to the firing bar.