Patent RU-2641977-C2 (RU)
Inventor: SHELTON FREDERIK E IV
IPC: A61B17/072
Filed: 2013-06-21
Granted: 2018-01-23
Abstract: FIELD: medicine. 
     SUBSTANCE: surgical instrument for use with a robotic system including a tool drive assembly operatively connected to a robotic system control unit controlled by the operator's input commands and configured to robotically generate output motions, the surgical instrument comprising a drive system, a drive shaft assembly and a manually activated control system. The drive system is configured to interact with the corresponding part of the robot system drive tool assembly to receive robotically generated output motions from it. The drive shaft assembly interacts functionally with the drive system and is configured to receive robotically generated output motions from the drive system and communicate control movement to the surgical end effector interacting functionally with the drive shaft assembly. The manually activated control system interacts functionally with the drive shaft assembly to selectively disengage the drive system from the drive shaft assembly and to communicate the rotary manually-generated control movements to the drive shaft assembly. In the second embodiment, the aforementioned surgical instrument comprises a surgical end effector, an elongated rod assembly, an instrument mounting portion and a manually activated reversing system. The surgical end effector comprises at least one component part configured to selectively move between the first and second positions with respect to at least one of the other component parts thereof in response to the communicated control movement of the component being selectively movable. The elongated rod assembly is operatively connected to the surgical end effector. The elongated rod assembly comprises at least one portion driven by gears that is in functional communication with at least one component part of the surgical end effector configured to selectively move. The instrument mounting portion is functionally connected to the elongated rod assembly. The instrument mounting portion is configured to functionally interact with the drive assembly when connected to it. The instrument mounting portion contains a driven element and a drive system. The driven element is rotatably supported on the instrument mounting portion and is operatively engaged with a respective one of the at least one pivotable body portion of the instrument drive assembly to receive the corresponding rotatary output movements therefrom. The drive system is functionally engaged with at least one part driven by gears to communicate the robotically generated starting motions thereto, whereby the corresponding one of at least one part driven by gears communicates at least one control movement to the component, made with a possibility of selective movement. A manually activated reversing system is functionally associated with the elongated rod assembly for selective disengagement of the drive system from at least one part driven by gears and for communication of the manually generated rotary control movements of this at least one part driven by gears. In the third embodiment, the above surgical instrument comprises a rotary drive system, a rotary drive shaft assembly, and a manually activated reversing system. The rotary drive system is configured to interact with the corresponding part of the robot system drive tool assembly to receive robotically generated rotary output motions from it. The rotary drive shaft assembly interacts functionally with the rotary drive system and is configured to receive robotically generated rotary output motions from the rotary drive system and communicate rotary drive movement to the surgical end effector interacting functionally with the rotary drive shaft assembly. The manually activated reversing system interacts functionally with the rotary drive shaft assembly to selectively disengage the drive system from the rotary drive shaft assembly and to communicate manually generated rotary drive movements to the rotary drive shaft assembly. 
     EFFECT: application of the group of inventions will allow to develop a range of efforts necessary for efficient cutting and suturing of the tissue. 
     20 cl, 178 dwg