Torque-based transition between operating gears
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United States of America
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Mar 4, 2025
Grant Date -
Jun 30, 2022
app pub date -
Dec 30, 2020
filing date -
Dec 30, 2020
priority date (Note) -
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status (Latency Note)
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Abstract
A surgical tool configured to receive rotary inputs from a robotic surgical system. The surgical tool comprises a distal end effector comprising jaws for clamping tissue therebetween, an intermediate shaft portion coupled to the distal end effector, and a proximal housing coupled to the intermediate shaft portion. The proximal housing comprises an arrangement of rotary drives comprising a first rotary drive. The first rotary drive comprises an input shaft configured to receive a rotary input from the robotic surgical system, a transition nut slidably positioned on the input shaft, and an output gear. The first rotary drive further comprises a high-speed gear configured to selectively drive the output gear, a high-torque gear configured to selectively drive the output gear, and a spring arrangement configured to bias the transition nut along the input shaft from a high-speed operating state to a high-torque operating state upon obtaining a threshold torque.
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