FIELD: medicine.
SUBSTANCE: surgical instrument for application with a robotic system that includes a tool drive assembly operatively coupled to a robot system control unit that is controlled by the operator's input commands and configured to generate output motions, comprises a tool mounting portion, a rotary drive system, an elongated rod assembly, a surgical end effector and a rotary transmission. The tool mounting portion is designed to interact with a robot system portion. The rotary drive system is functionally supported by the tool mounting portion and interacts with the robot system tool drive assembly, taking output motions therefrom. The elongated rod assembly functionally extends from the tool mounting portion and includes a drive rod assembly that interacts functionally with the rotary drive system. The drive rod assembly is axially selectable between the first position and the second position. The surgical end effector is pivotally connected to the node of the elongated rod for selective rotation relative to it. The rotary transmission functionally interacts with the drive rod assembly and the surgical end effector such that when the drive rod assembly is in the first axial position, the communication of one of the rotary drive motions to the drive rod assembly by the rotary drive system in response to one of the output motions communicated by the tool drive assembly, acts on the rotary transmission, so that it communicates the first turning control motion to the surgical end effector, and when the drive rod assembly is in the second axial position, communication of the rotary drive motion to the drive rod assembly by the rotary drive system acts on the rotatry transmission, so that it communicates the second turning control motion to the surgical end effector. The surgical instrument contains: a handle assembly; a drive motor, functionally supported by the handle assembly; an elongated rod assembly operatively extending from the handle assembly and including a drive rod assembly operatively cooperating with the drive motor and configured to selectively move axially between the first position and the second position; a surgical end effector connected rotatably to the elongated rod assembly for selective rotation relative to it; and rotary transmission similar to the one that was previously mentioned. The rotary drive structure for a surgical instrument including a surgical end effector comprises a rotary drive system configured to generate rotary drive motions; a drive rod assembly operatively cooperating with the rotary drive system and configured to selectively move axially between the first position and the second position; and similar rotary transmission to the one that was previously mentioned.
EFFECT: obtaining of a surgical device capable of developing the range of forces necessary for efficient tissue cutting and stitching, and which can be used with various robotic surgical systems.
20 cl, 178 dwg
