DECOUPLING INSTRUMENT SHAFT ROLL AND END EFFECTOR ACTUATION IN A SURGICAL INSTRUMENT

• Main Authors: MURPHY TODD, BURBANK WILLIAM, ZABINSKI JOHN W, BRISSON GABRIEL F, DACHS II GREGORY W
• Format: Patent
• Language: English; Korean
• Published: 14.05.2018
• Subjects: DIAGNOSIS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MEDICAL OR VETERINARY SCIENCE; SURGERY

기구 샤프트 감김과 단부 작동기 작동의 해제를 제공하는 수술 조립체 및 관련된 방법이 개시된다. 수술 조립체는 베이스, 베이스에 장착되어 회전되는 기구 샤프트, 기구 샤프트의 원단부에서 지지되며 회전 동작에 의해 구동되는 작동 메커니즘을 포함하는 단부 작동기, 작동 메커니즘과 연결되어 회전되며 작동 메커니즘에 회전 동작을 제공하도록 구성된 구동 샤프트, 및 구동 샤프트에 연결되어 회전되며 제1 인풋 동작과 제2 인풋 동작을 수용하는 단차를 포함한다. 단차는 제1 인풋 동작과 제2 인풋 동작을 조합해서 구동 샤프트를 회전시키는 아웃풋 동작을 생성한다. 제1 인풋 동작은 작동 기원에 회전 연결될 수 있다. 제2 인풋 동작은 베이스에 대한 기구 샤프트의 회전에 연결된다. Surgical assemblies and related methods are disclosed that provide for decoupling of instrument shaft roll and end effector actuation. A surgical assembly comprises: an actuation assembly including a main shaft motor, a main shaft encoder, a first motor, and a first encoder; a rotatable main shaft rotationally mounted to the actuation assembly and extending between a distal end and a proximal end, the rotatable main shaft being drivingly coupled to the main shaft motor, the main shaft encoder configured to measure an angular orientation of the rotatable main shaft. The assembly further comprises an end effector supported at the distal end of the rotatable main shaft and including a first actuation mechanism driven by a first rotational motion; a first drive shaft rotationally coupled with the first actuation mechanism and configured to provide the first rotational motion to the first actuation mechanism, the first drive shaft being drivingly coupled to the first motor, the first encoder configured to measure an angular orientation of the first drive shaft. The assembly comprises as well a controller including at least one processor and a storage subsystem storing instructions executable by the at least one processor to cause the at least one processor to: monitor orientation of the rotatable main shaft via the main shaft encoder; monitor orientation of the first drive shaft via the first encoder; and control operation of the first motor and the main shaft motor to simultaneously (a) rotate the rotatable main shaft relative to the actuation assembly, and rotate the first drive shaft to control articulation of the first actuation mechanism independent of the rotation of the rotatable main shaft relative to the actuation assembly.