Rotatable linear actuation mechanism
A surgical instrument includes an end effector, a shaft assembly proximally extending from the end effector, and at least one translatable rack gear assembly coupled with the shaft assembly. The shaft assembly includes at least one elongate member connected to a select one or both of the end effector and the shaft assembly. The at least one translatable rack gear assembly includes a rack gear, an anchor longitudinally adjustable relative to the rack gear, and an insert received within the anchor. The anchor is coupled with the at least one elongate member such that adjustment of the anchor relative to the rack gear longitudinally moves the insert and the at least one elongate member for adjusting tension of the at least one elongate member.
1 . A surgical instrument, comprising:
(a) an end effector;
(b) a shaft assembly proximally extending from the end effector and defining a longitudinal axis, wherein the shaft assembly includes a first elongate member connected to a select one or both of the end effector and the shaft assembly; and
(c) a first actuator operatively connected to the shaft assembly, including:
(i) a first driven portion configured to be translatably driven by a first drive portion, and
(ii) a first adjustable coupling configured to selectively couple the first elongate member in tension relative to the first driven portion in a select one of a first proximal position and a first distal position, wherein the first elongate member coupled in the first distal position has relatively less tension, and wherein the first elongate member coupled in the first proximal position has relatively more tension,
wherein the first driven portion has a conduit longitudinally extending therethrough, and wherein the first adjustable coupling includes an anchor received within the conduit, and wherein the anchor is configured to be longitudinally adjusted relative to the driven portion.
2 . The surgical instrument of claim 1 , further comprising an acoustic waveguide, wherein the acoustic waveguide extends through the first driven portion.
3 . The surgical instrument of claim 1 , wherein the first driven portion is configured to be longitudinally driven by the first drive portion.
4 . The surgical instrument of claim 1 , wherein the first driven portion has a first rack gear.
5 . The surgical instrument of claim 1 , wherein the first adjustable coupling further includes an insert received within the anchor, wherein the first elongate member is coupled with the insert such that adjustment of the anchor relative to the first driven portion is configured to longitudinally move the insert and the first elongate member for adjusting tension of the first elongate member.
6 . The surgical instrument of claim 5 , wherein the insert includes a body extending within the shaft assembly, the body having an end portion and a channel extending inwardly and longitudinally through the end portion of the body, wherein the channel is configured to receive the first elongate member.
7 . The surgical instrument of claim 6 , wherein the channel is sized to correspond to the first elongate member to maintain coupling of the first elongate member relative to the body of the insert.
8 . The surgical instrument of claim 6 , wherein the insert includes an opening extending through the body to the channel.
9 . The surgical instrument of claim 5 , wherein the insert includes a flange, wherein the flange is recessed within the anchor.
10 . The surgical instrument of claim 9 , wherein the flange is an arcuate flange, wherein the arcuate flange is curved to correspond to an exterior surface of the anchor.
11 . The surgical instrument of claim 1 , wherein the first driven portion includes an interior threading, wherein the anchor includes an exterior threading that corresponds with the interior threading of the first driven portion such that rotation of the anchor relative to the first driven portion is configured to translate the anchor relative to the first driven portion.
12 . The surgical instrument of claim 1 , wherein the first driven portion and the anchor are rotatable relative to each other, wherein the first driven portion includes a plurality of first flat surfaces and the anchor includes a plurality of second flat surfaces such that the plurality of first and second flat surfaces are respectively configured for grasping during rotation of the first driven portion relative to the anchor.
13 . The surgical instrument of claim 1 , wherein the shaft assembly includes an articulation section configured to articulate from a straight configuration to an articulated configuration to thereby deflect the end effector relative to the longitudinal axis, wherein the first elongate member is an articulation band configured to drive movement of the articulation section.
14 . The surgical instrument of claim 1 , wherein the first elongate member is a drive band configured to drive movement of the end effector.
15 . The surgical instrument of claim 1 , further comprising:
(a) a second actuator operatively connected to the shaft assembly, including:
(i) a second driven portion configured to be translatably driven by a second drive portion, and
(ii) a second adjustable coupling configured to selectively couple the second elongate member in tension relative to the second driven portion in a select one of a second proximal position and a second distal position, wherein the second elongate member coupled in the second distal position has relatively less tension, and wherein the second elongate member coupled in the second proximal position has relatively more tension.
16 . The surgical instrument of claim 15 , further comprising an acoustic waveguide, wherein the acoustic waveguide extends through the first and second driven portions.
17 . A surgical instrument, comprising:
(a) an end effector;
(b) a shaft assembly proximally extending from the end effector and defining a longitudinal axis, wherein the shaft assembly includes a first elongate member connected to a select one or both of the end effector and the shaft assembly; and
(c) a first actuator operatively connected to the shaft assembly, including:
(i) a first driven portion configured to be translatably driven by a first drive portion, and
(ii) a first adjustable coupling configured to selectively couple the first elongate member in tension relative to the first driven portion in a select one of a first proximal position and a first distal position, wherein the first elongate member coupled in the first distal position has relatively less tension, and wherein the first elongate member coupled in the first proximal position has relatively more tension,
wherein the first driven portion has a first rack gear.
18 . A surgical instrument, comprising:
(a) an end effector;
(b) a shaft assembly proximally extending from the end effector and defining a longitudinal axis, wherein the shaft assembly includes a first elongate member connected to a select one or both of the end effector and the shaft assembly;
(c) a first actuator operatively connected to the shaft assembly, including:
(i) a first driven portion configured to be translatably driven by a first drive portion, and
(ii) a first adjustable coupling configured to selectively couple the first elongate member in tension relative to the first driven portion in a select one of a first proximal position and a first distal position, wherein the first elongate member coupled in the first distal position has relatively less tension, and wherein the first elongate member coupled in the first proximal position has relatively more tension; and
(d) a second actuator operatively connected to the shaft assembly, including:
(i) a second driven portion configured to be translatably driven by a second drive portion, and
(ii) a second adjustable coupling configured to selectively couple the second elongate member in tension relative to the second driven portion in a select one of a second proximal position and a second distal position, wherein the second elongate member coupled in the second distal position has relatively less tension, and wherein the second elongate member coupled in the second proximal position has relatively more tension.
19 . The surgical instrument of claim 18 , wherein the first driven portion has a first rack gear.
20 . The surgical instrument of claim 19 , wherein the second driven portion has a second rack gear.