Surgical instrument with shiftable transmission
A surgical tool having an elongated shaft having a proximal end and distal end. A surgical end effector is located about the distal end. The surgical end effector has a plurality of effector mechanisms comprising a plurality of degree of freedoms. An effector body is located at the proximal end. The effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms. A transmission is coupled to the effector body.
1. A surgical manipulator, comprising:
a motor unit comprising a plurality of motors; and
a surgical tool comprising a plurality of mechanisms individually actuatable by at least one of the plurality of motors of the motor unit,
wherein a total number of mechanisms of the plurality of mechanisms individually actuatable by at least one of the plurality of motors is greater than a total number of motors of the plurality of motors,
wherein a first mechanism of the plurality of mechanisms is discretely coupled to a first motor of the plurality of motors,
wherein a second mechanism and a third mechanism of the plurality of mechanisms are selectively coupled to a second motor of the plurality of motors, and
wherein a fourth mechanism of the plurality of mechanisms is discretely coupled to a third motor of the plurality of motors.
2. The surgical manipulator of claim 1 , comprising a transmission shiftable between a first position that engages the second mechanism of the plurality of mechanisms and a second position that engages the third mechanism of the plurality of mechanisms.
3. The surgical manipulator of claim 2 , wherein the transmission is shiftable between the first position, the second position, and a third position that engages a fifth mechanism of the plurality of mechanisms.
4. The surgical manipulator of claim 2 , comprising a shift motor dedicated to shifting the transmission between the first position that engages the second mechanism and the second position that engages the third mechanism.
5. The surgical manipulator of claim 1 , wherein the plurality of motors comprises five motors.
6. The surgical manipulator of claim 5 , wherein the second motor is a power motor configured to drive the second and third mechanisms of the plurality of mechanisms, wherein the motor unit comprises a shift motor configured to engage the power motor with the second and third mechanisms, wherein the first motor is a pitch motor and the first mechanism is a pitch mechanism, wherein the third motor is a yaw motor and the fourth mechanism is a yaw mechanism, and wherein a fifth motor of the motor unit is a grip motor that drives a fifth mechanism, the fifth mechanism being a grip mechanism.
7. The surgical manipulator of claim 1 , wherein the surgical tool comprises an effector, and wherein each mechanism of the plurality of mechanisms provides a degree of freedom for the effector of the surgical tool.
8. The surgical manipulator of claim 7 , wherein the degree of freedom provided by the plurality of mechanisms comprises a pitch degree of freedom, a yaw degree of freedom, and a roll degree of freedom.
9. The surgical manipulator of claim 7 , wherein the degree of freedom provided by the plurality of mechanisms comprises a low force degree of freedom and a high force degree of freedom.
10. The surgical manipulator of claim 9 , wherein the low force degree of freedom closes a clamp with a relatively lower force and a high force degree of freedom closes a clamp with a relatively higher force.
11. A surgical manipulator, comprising:
a motor unit comprising a first motor, a second motor, and a third motor; and
a surgical tool attachable to the motor unit and having an effector configured to treat a patient, the surgical tool comprising:
a first mechanism configured to actuate the effector, the first mechanism being discretely coupled with the first motor when the surgical tool is attached to the motor unit;
a second mechanism configured to actuate the effector, the second mechanism being selectively coupled with the second motor when the surgical tool is attached to the motor unit;
a third mechanism configured to actuate the effector, the third mechanism being selectively coupled with the second motor when the surgical tool is attached to the motor unit; and
a fourth mechanism configured to actuate the effector, the fourth mechanism being discretely coupled with the third motor when the surgical tool is attached to the motor unit.
12. The surgical manipulator of claim 11 , comprising a transmission shiftable between a first position that couples the second motor and the second mechanism and a second position that couples the second motor and the third mechanism.
13. The surgical manipulator of claim 12 , wherein the surgical tool comprises a fifth mechanism configured to actuate the effector, the fifth mechanism being selectively coupled with the second motor when the surgical tool is attached to the motor unit, and
wherein the transmission is shiftable between the first position, the second position, and a third position that couples the second motor and the fifth mechanism.
14. The surgical manipulator of claim 12 , comprising a shift motor dedicated to shifting the transmission between the first position and the second position.
15. The surgical manipulator of claim 11 , wherein the motor unit comprises a fourth motor, and wherein the surgical tool comprises:
a fifth mechanism configured to actuate the effector, the fifth mechanism being discretely coupled with the fourth motor when the surgical tool is attached to the motor unit.
16. The surgical manipulator of claim 11 , wherein the motor unit comprises a shift motor configured to selectively couple the second motor with the second mechanism and with the third mechanism.
17. The surgical manipulator of claim 11 , wherein the first mechanism is one of a pitch mechanism, a yaw mechanism, or a grip mechanism.
18. The surgical manipulator of claim 11 , wherein the second mechanism is one of a roll mechanism, a grip mechanism, or a tool actuation mechanism, and the third mechanism is another of the roll mechanism, the grip mechanism, or the tool actuation mechanism.
19. The surgical manipulator of claim 11 , wherein each of the first mechanism, the second mechanism, and the third mechanism provides a degree of freedom for the effector of the surgical tool.
20. The surgical manipulator of claim 19 , wherein the degree of freedom provided by the first mechanism, the second mechanism, and the third mechanism comprises a pitch degree of freedom, a roll degree of freedom, and one of a grip degree of freedom or a tool actuation degree of freedom.
21. The surgical manipulator of claim 19 , wherein the degree of freedom provided by the first mechanism, the second mechanism, and the third mechanism comprises at least a low force degree of freedom and a high force degree of freedom.