Robotic surgical assemblies and electromechanical instruments thereof
An actuation mechanism for actuating an electromechanical end effector includes a housing, and a shaft assembly extending distally from the housing. The shaft assembly includes a shaft, a longitudinal knife bar, a first hub, and a second hub. The shaft is axially movable relative to the housing and configured to be coupled to the electromechanical end effector. Rotation of a first screw of the housing moves the first hub to effect longitudinal movement of the shaft. The longitudinal knife bar is axially movable relative to the shaft and configured to be coupled to a knife blade of the electromechanical end effector. Rotation of a second screw of the housing moves the second hub to effect axial movement of the longitudinal knife bar.
1. An actuation mechanism for actuating an electromechanical end effector, the actuation mechanism comprising:
a housing;
a first drive member rotatably supported in the housing, the first drive member having a proximal end configured for receiving a rotary input through the housing;
a second drive member rotatably supported in the housing, the second drive member having a proximal end configured for receiving a rotary input through the housing; and
a shaft assembly extending distally from the housing and including:
a shaft axially movable relative to the housing and configured to be coupled to an electromechanical end effector;
a first hub operably coupled to the first drive member and coupled to the shaft such that the shaft is configured to move axially in response to movement of the first drive member, wherein the first hub includes:
a first portion having the shaft secured thereto; and
a second portion connected to the first portion and being operably coupled to the first drive member, wherein the first portion of the first hub is laterally offset from the second portion of the first hub;
a longitudinal knife bar axially movable relative to the shaft and configured to be coupled to a knife blade of the electromechanical end effector; and
a second hub operably coupled to the second drive member and coupled to the longitudinal knife bar such that the longitudinal knife bar is configured to move axially in response to movement of the second drive member, wherein the second hub includes:
a first portion having the shaft movably received therein, the first portion being connected to the longitudinal knife bar; and
a second portion connected to the first portion of the second hub and operably coupled to the second drive member, wherein the first portion of the second hub is laterally offset from the second portion of the second hub, wherein the second portion of the second hub is distal of the first portion of the second hub,
wherein the shaft defines a longitudinal axis that extends through the first portion of the first hub and the first portion of the second hub.
2. The actuation mechanism according to claim 1 , wherein the second portion of the first hub
is threadedly connected to the first drive member such that rotation of the first drive member axially moves the first hub to effect axial movement of the shaft.
3. The actuation mechanism according to claim 1 , wherein the first portion of the second hub:
is connected to the longitudinal knife bar.
4. The actuation mechanism according to claim 3 , wherein the second drive member is threadedly coupled to the second portion of the second hub such that rotation of the second drive member moves the second hub to effect axial movement of the longitudinal knife bar.
5. The actuation mechanism according to claim 1 , wherein the first drive member is a screw and the second drive member is a screw, and wherein a longitudinal axis of the first drive member is parallel to a longitudinal axis of the second drive member.
6. The actuation mechanism according to claim 1 , wherein the shaft includes a longitudinal slot formed therein, the first portion of the second hub having an inner surface that extends into the longitudinal slot to connect with the longitudinal knife bar such that the longitudinal knife bar moves axially with the second hub and relative to the shaft.
7. The actuation mechanism according to claim 1 , wherein the second portion of the first hub and the second portion of the second hub are laterally offset from one another and from the shaft.
8. The actuation mechanism according to claim 1 , wherein the shaft assembly further includes:
a plate fixed within the housing; and
a spring disposed between the plate and the first portion of the first hub to exert a distally-oriented bias on the first hub.
9. The actuation mechanism according to claim 1 , wherein the shaft assembly further includes a plate fixed within the housing, the plate defining a first recess therethrough having a distal end of the first drive member received therein, and a second recess therethrough having a distal end of the second drive member received therein.
10. An electromechanical surgical instrument for use with a robotic system, the electromechanical surgical instrument comprising:
an end effector including:
a pair of opposing jaw members configured to grasp tissue disposed therebetween; and
a knife blade movably disposable between the pair of opposing jaw members to sever the tissue disposed therebetween; and
an actuation mechanism including:
a housing;
a first drive member rotatably supported in the housing, the first drive member having a proximal end configured for receiving a rotary input through the housing;
a second drive member rotatably supported in the housing, the second drive member having a proximal end configured for receiving a rotary input through the housing; and
a shaft assembly extending distally from the housing and including:
a shaft axially movable relative to the housing and configured to be coupled to the end effector;
a first hub operably coupled to the first drive member and coupled to the shaft such that the shaft is configured to move axially in response to movement of the first drive member to effect at least one of an opening or a closing of the pair of opposing jaw members, wherein the first hub includes:
a first portion having the shaft secured thereto; and
a second portion connected to the first portion and being threadedly connected to the first drive member such that rotation of the first drive member moves the first hub to effect longitudinal movement of the shaft, wherein the first portion of the first hub is laterally offset from the second portion of the first hub;
a longitudinal knife bar axially movable relative to the shaft and configured to be coupled to the knife blade; and
a second hub operably coupled to the second drive member and coupled to the longitudinal knife bar such that the longitudinal knife bar is configured to move axially in response to movement of the second drive member to effect axial movement of the knife blade, wherein the second hub includes:
a first portion having the shaft movably received therein, the first portion being connected to the longitudinal knife bar; and
a second portion connected to the first portion of the second hub and operably coupled to the second drive member, wherein the first portion of the second hub is laterally offset from the second portion of the second hub, wherein the second portion of the second hub is distal of the first portion of the second hub.
11. The electromechanical surgical instrument according to claim 10 , wherein the second drive member is threadedly coupled to the second portion of the second hub such that rotation of the second drive member moves the second hub to effect axial movement of the longitudinal knife bar.
12. The electromechanical surgical instrument according to claim 10 , wherein the first drive member is a screw and the second drive member is a screw, and wherein a longitudinal axis of the first drive member is parallel to a longitudinal axis of the second drive member.
13. The electromechanical surgical instrument according to claim 10 , wherein
the first portion of the second hub is connected to the longitudinal knife bar.
14. An actuation mechanism for actuating an electromechanical end effector, the actuation mechanism comprising:
a housing;
a plurality of drive members rotatably supported in the housing, each of the plurality of drive members having a proximal end configured for receiving a rotary input through the housing; and
a shaft assembly extending distally from the housing and including:
a shaft axially movable relative to the housing and configured to be coupled to an electromechanical end effector;
a first hub operably coupled to a first drive member of the plurality of drive members and coupled to the shaft such that the shaft is configured to move axially in response to movement of the first drive member of the plurality of drive members in response to movement of the one of the plurality of drive members, wherein the first hub includes:
a first portion having the shaft secured thereto; and
a second portion connected to the first portion and being threadedly connected to the first drive member such that rotation of the first drive member moves the first hub to effect longitudinal movement of the shaft, wherein the first portion of the first hub is laterally offset from the second portion of the first hub;
a longitudinal knife bar axially movable relative to the shaft and configured to be coupled to a knife blade of the electromechanical end effector; and
a second hub operably coupled to a second drive member of the plurality of drive members and coupled to the longitudinal knife bar such that the longitudinal knife bar is configured to move axially in response to movement of the second drive member of the plurality of drive members, wherein the second hub includes:
a first portion having the shaft movably received therein, the first portion being connected to the longitudinal knife bar; and
a second portion connected to the first portion of the second hub and operably coupled to the second drive member, wherein the first portion of the second hub is laterally offset from the second portion of the second hub, wherein the second portion of the second hub is distal of the first portion of the second hub.