Intuitive Surgical Operations, Inc.

Todd J Radgowski

Craig Tsuji

A surgical instrument may comprise a chassis configured to be removably coupled with a surgical robotic manipulator and may comprise an elongate flexible shaft coupled to the chassis. The surgical instrument may also comprise a robotic actuation piece coupled to and rotatable relative to the chassis and a manual actuator coupled to and translatable relative to the chassis. A rack gear may be engaged with the manual actuator and with the robotic actuation piece. The rack gear may be movable by the robotic actuation piece and by the manual actuator to control an operation of the elongate flexible shaft.

Surgical instrument with commonly actuated robotic and manual features

A method for using a surgical instrument comprises actuating a movable valve member at a first time using robotic action and actuating the valve member at a second time using manual action. The instrument comprises the valve member, a robotic actuation piece, a chassis, a transport shaft coupled to the chassis, a cavity extending through the transport shaft, and a valve. The chassis is adapted to be mated with a robotic manipulator. The valve comprises the valve member, a manual button coupled thereto, and a valve channel. The valve member is configured to translate across the valve channel along an axis. Robotic actuation comprises rotating the robotic actuation piece around an axis perpendicular to the axis of the valve member. Manual action comprises translating the manual button parallel to the axis of the valve member. The robotic actuation piece remains engaged with the valve member during the manual action.

An instrument includes a chassis having a side adapted to be removably mated with a surgical robotic manipulator arm, a transport shaft coupled to the chassis, a valve including a valve channel and a movable valve member, a first robotic actuation piece, and a manual button. An auxiliary channel is defined in the chassis. A cavity extends through the transport shaft and intersects the auxiliary channel, which define an instrument axis. The valve channel intersects the auxiliary channel. The movable valve member translates across the valve channel along a valve member axis. The first robotic actuation piece is coupled to translate the movable valve member along the valve member axis and rotates about an actuation piece axis perpendicular to and offset from the valve member axis. The manual button is coupled to translate the movable valve member along the valve member axis and translates parallel to the valve member axis.

An instrument including an end effector at a distal end; an actuator mechanism at a proximal end, the actuator mechanism including a first valve, a robotic control coupled to the first valve, and a manual control coupled to the first valve is provided. The instrument may further include a transport shaft between the actuator mechanism and the end effector, the transport shaft including a cavity, coupled to the first valve, facilitating material transport along the transport shaft, the first valve having an actuating axis perpendicular to a rotational axis of the robotic control. A method for using an instrument as above is also provided.

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San Francisco, CA, United States of America

Todd J Radgowski