End effector of a surgical robot manipulator

Abstract

To provide an end effector of a surgical robotic manipulator.SOLUTION: An end effector 12 of a surgical robotic manipulator has a removable cutting accessory 32. The cutting accessory comprises a cutting chip 50, and a shaft 42 extending along an axis. A drive member is configured to rotatably drive the shaft of the cutting accessory. An actuator is coupled to the drive member for rotatably driving the drive member. A clutch assembly is supported by the drive member, and is selectively rotatable relative to the drive member. The clutch assembly is configured to receive the shaft of the cutting accessory along an axis of the shaft for selectively locking the shaft to the drive member.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] [CROSS REFERENCE TO RELATED APPLICATIONS] This patent application is a continuation of U.S. Provisional Patent Application No. 61 / 798,7 filed March 15, 2013. This provisional patent application claims priority to and all benefit of US Provisional Patent Application No. 29, which is incorporated herein by reference. and are hereby incorporated herein by reference.

[0002] [Field of the Invention] The present invention relates to a surgical end effector in a surgical robotic manipulator. In particular, the end effector includes a tip tube (nose tube) and a and a cutting accessory removably engaged with the cutting tool. Summary of the Invention

[0003] The present invention relates to a surgical instrument comprising a cutting accessory having a working end and a shaft extending along an axis. The present invention also includes an end effector for a robotic manipulator for use in a cutting actuator. The actuator is configured to rotatably drive the shaft of the accessory. A clutch assembly is coupled to the drive member to rotatably drive the drive member. The clutch is supported by a movable member and is configured to be rotatable relative to the drive member. The switch assembly is adapted to selectively lock the shaft to the drive member of the cutting accessory. It is configured to receive the shaft along its axis.

[0004] The present invention includes an end effector for a surgical robotic manipulator. The end effector includes a shaft and a shroud rotatably connected to the shaft. The cutting accessory has a tip tube and a cover member. The groove and finger elements extend along the axis for releasable reception. A finger-like element is disposed between the shroud and the tip tube. The cutting accessory is attached to the tip tube along the axis. It is adapted to releasably engage the groove.

[0005] The present invention includes a surgical robotic manipulator. A distal tube extends along the axis for releasably receiving the accessory. The tip tube defines a slot. A finger element is supported on the tip tube. The finger elements have projections aligned with the slots and engage the cutting accessory. A locking collar is disposed adjacent the finger element and biased through the slot to lock the finger element. The finger element is rotatably supported on the end tube. The finger element is disposed between the tip tube and the locking collar. The locking collar is disposed in such a manner as to allow the projection to be pushed into the slot. , with notches selectively aligned with the finger elements.

[0006] The present invention includes an end effector for a surgical robotic manipulator. The end effector includes a cutting accessory and a tip tube extending along the axis. Such a tip tube releasably engages the cutting accessory and rotates the cutting accessory. The axial connector is supported by the tip tube. The axial connector releasably engages the cutting accessory along the axis to the tip tube. The drive connector is supported by the tip tube. The connecting body is configured to receive the cutting accessory so as to rotatably drive the cutting accessory. The actuator rotates the drive connector relative to the distal tube. The axial connection is connected to the drive connection. The axial connection can be moved to a locking position that holds the cutting accessory and to a disconnecting position. The cutting accessory is configured to be movable along the axis between a disengaged position to release the cutting accessory.

[0007] The present invention relates to a surgical robotic manipulator configured to rotatably drive a cutting accessory. The present invention also includes an end effector for the actuator. The end effector is configured to move along an axis. The axial connector is supported by the tip tube. The tip tube is adapted to lock the cutting accessory along the axis relative to the tip tube. The drive connector is rotatably supported by the tip tube. The actuator receives the cutting accessory along the axis and rotatably drives the cutting accessory. The actuator is configured to rotate the drive connector relative to the tip tube. The actuator is connected to the drive connection. The axial connection holds the cutting accessory. and a disengaged position that releases the cutting accessory. is.

[0008] The present invention relates to an end tube for a surgical robot manipulator. A cutting accessory is releasably engaged to the distal tube. The cutting tool includes a shroud that is rotatably connected to the shroud. An actuator is coupled to the cutting tool to rotate the cutting tool relative to the shroud. The axial connector is held in the tip tube. The axial connector is attached to the cutting accessory. Between an engagement position for engaging the shroud and a disengagement position for disengaging the shroud of the cutting accessory. The actuator is configured to be movable along the axis.

[0009] The present invention relates to a surgical robotic manipulator that is releasably engaged with an end effector. Also included is a cutting accessory having a shaft extending along an axis. The bur is fixed to the shaft. The shroud is attached to the shaft. and at least one finger element, the at least Another finger element extends from the body along the axis away from the bar and is attached to the end edge. The at least one finger element is configured to releasably engage the effector. The end effector has a flexibility relative to the body such that it flexes during engagement with the end effector.

[0010] The present invention also includes an end effector for a surgical robotic manipulator. The end effector includes a rotary drive member. The rotary drive member is connected to an actuator. The cut access is adapted to be connected to a distal end of the cut access hole and defines a lumen for receiving fluid. The sari is configured for releasable engagement with the rotary drive member and is adapted to engage the lumen of the rotary drive member. The drive connector is fixed relative to the rotary drive member. The actuator is adapted to engage the cutting accessory to drive the cutting accessory. A fluid delivery member is coupled to the rotary drive member to deliver fluid to the lumen of the rotary drive member. A first sealing element is provided to seal between the rotary drive member and the cutting accessory. a cutting accessory, the cutting accessory being rotatably connected to the rotary drive member and the cutting accessory, the cutting accessory being rotatably connected to the rotary drive member and the cutting accessory; A second sealing element is disposed between the drive connection and the fluid delivery member, The second sealing element provides a seal between the rotary drive member and the fluid delivery member. a rotary drive member for providing a seal between the rotary drive member and the fluid delivery member during relative rotation with the rotary drive member; The fluid delivery member is rotatably engaged to at least one of the material and the fluid delivery member.

[0011] The present invention relates to an end effector for a surgical robotic manipulator, the end effector comprising: Also included is an end effector with a cutting accessory configured to cut. An actuator is coupled to the cutting accessory for driving the cutting accessory. A tip tube extends along the axis and a lever is supported by the tip tube. The lever is configured to be pivotable relative to the tip tube between a pushed-in position and a released position. The sensor is supported by the distal tube. The sensor detects the pressure and release positions. The carriage member is configured to identify the position of the lever at the position where the carriage member is located. The carriage member is connected to the lever. The carriage member is arranged to position the lever in the pressed position and the released position. As the lever moves between the pressed and released positions, the sensor detects the force acting on the shaft. The sensor is configured to be movable along the axis.

[0012] The present invention relates to an end effector for a surgical robotic manipulator, the end effector comprising: Also included is an end effector with a cutting accessory configured to cut. An actuator is coupled to the cutting accessory for driving the cutting accessory. A tip tube extends along the axis. The tip tube is adapted to receive a cutting accessory. The handle can be rotated by the tip tube around its axis. The lever is connected to the handle around the pivot. The push-in position is configured to be rotatable about the pivot portion between the push-in position and the release position. The sensor is supported by a tip tube. The sensor is designed to distinguish between the position of the lever in the depressed and released positions. It is composed of:

[0013] The present invention relates to an end effector for a surgical robotic manipulator, the end effector having a distal end extending along an axis. The device also includes an end effector having a distal tube extending from the distal end of the device. The cutting accessory is releasably connected to the distal tube. When a cutting accessory is connected to the distal tube, the actuator drives the cutting accessory. The actuator is configured to be connected to the cutting accessory. The removable guard member (protector) is releasably connected to the cutting accessory. The first circuit is attached to the guard member and the second circuit is attached to the tip tube. Such a first circuit and a second circuit are configured to communicate with each other. It has been done.

[0014] The present invention provides a guard member that removably covers a portion of the cutting accessory to prevent the cutting accessory from being damaged. Also included is a method for incorporating the accessory into an end effector of a surgical robotic manipulator. The guard member holds the first circuit, the end effector includes a distal tube, and the distal tube A wire extends along the axis and carries the second circuit. The method includes providing a guard member over a portion of the cutting accessory. Insert the accessory into the tip tube along the axis of the tip tube and attach the cutting accessory to the tip. The method includes connecting the first circuit to the second circuit. The method includes removing the guard member from the cutting accessory. do.

[0015] The clutch assembly allows for quick and easy loading and unloading of the cutting accessory relative to the drive member. For example, a clutch assembly may be used to disconnect a cutting accessory. The accessory is inserted into the clutch assembly along its axis, attaching it to the tip tube. The drive member is supported by a clamp, which allows easy incorporation of cutting accessories into the drive member. The placement of the cutter assembly provides a wide line of sight to the cutting accessory at the surgical site. This configuration also allows for the end of the end effector closest to the surgical site to be Reduce the size or volume, thereby increasing access to the surgical site, e.g. Interference during entry of the cutting accessory into the site can be avoided.

[0016] The engagement of the grooves with the fingers allows the cutting accessory to be removed along the axis of the tip tube. In other words, the engagement of the grooves with the fingers locks the cutting arm. The accessory is axially locked to the tip tube. The cutting accessory can be releasably and accurately positioned relative to the tip tube.

[0017] The locking collar is adapted to selectively align the slots of the locking collar with the finger elements. The finger element is movable relative to the tip tube. The cutting accessory is biased through the slot to engage the tip. When the slot is aligned with the finger, the finger pushes into the slot. In this manner, the locking collar can secure the cutting accessory to the distal tube. Allows for quick and easy installation and removal.

[0018] The axial and drive connections allow proper alignment of the cutting accessory to the tip tube. Specifically, the axial connector and the drive connector are positioned relative to the tip tube. This provides precise axial positioning of the cutting accessory, thereby The surgical robot controls the end effector to precisely move the end effector during the surgical procedure. It is possible to do so.

[0019] The axial and drive connections allow for quick release of the cutting accessory from the tip tube. For example, the arrangement of the axial and drive connections allows for easy loading and unloading. This allows for one-handed assembly of the cutting accessory into the distal tube. The axial and drive connections can provide a repeatable connection. In this case, the axial and drive connections are stacked up. It can be reduced.

[0020] The location of the axial and drive connections provides visibility of the cutting accessory at the surgical site. This configuration also allows for a wider surgical line. Reduce the size or volume of the end of the vector, thereby improving access to the surgical site. For example, interference during entry of the cutting accessory into the surgical site can be avoided.

[0021] The lever allows for easy and reliable use of the end effector, e.g. in semi-autonomous operation In other words, the user can grab the lever and move it to the depressed position. This is detected by the sensor and ultimately allows the operation of the end effector. If the user releases the lever and moves it to the release position, For example, the sensor detects the release position of the lever and operation of the end effector is stopped. The handle can be rotated relative to the tip tube during operation of the end effector. This allows the user to comfortably maintain a grip on the lever during operation. become.

[0022] The arrangement of the first circuit relative to the guard member is such that the cutting accessory is connected to the distal tube. Advantageously, communication between the first circuit and the second circuit is provided. Once delivered, the guard member is removed.

[0023] Other advantages of the present invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings. If it is easily understood, it will be easily evaluated. [Brief description of the drawings]

[0024] [Figure 1] FIG. 1 is a perspective view of a robotic system including a manipulator having an end effector for performing a surgical procedure on a patient. [Diagram 2] FIG. [Diagram 3] FIG. 2 is a perspective view of a portion of the end effector with a cutting accessory engaged thereto. [Figure 4] FIG. 4 is a perspective view of the end effector of FIG. 3 with the cutting accessory disengaged. [Diagram 5] FIG. 4 is a cross-sectional view taken along line 5 in FIG. [Figure 6] FIG. 6 is an enlarged view of a portion of FIG. [Figure 7] FIG. 2 is a perspective view of a cutting accessory. [Figure 8] FIG. 8 is a cross-sectional view taken along line 8 in FIG. 7. [Figure 9] FIG. 9 is an enlarged view of a portion of FIG. [Figure 10] FIG. 2 is a perspective view of a cutting accessory tool. [Figure 11] FIG. 1 is an exploded view of a tool including a shaft and an end piece. [Figure 12] FIG. [Figure 13] FIG. [Figure 14] FIG. [Figure 15] FIG. 2 is a perspective view of a shroud of the cutting accessory. [Figure 16] FIG. [Figure 17] FIG. 2 is a perspective view of a tip tube of the end effector. [Figure 18] FIG. [Figure 19] FIG. 18 is a cross-sectional view taken along line 19 in FIG. 17. [Figure 20] FIG. 6 is an enlarged view of a portion of FIG. [Figure 21] FIG. 21 is a cross-sectional view of FIG. 20 in which the tubular element of the axial connecting body is in a released position. [Figure 22] FIG. [Diagram 23] FIG. 13 is a partial exploded view of the axial connector with the tubular element disassembled from the tip tube. [Figure 24] 13A-13C are perspective views showing another embodiment of a cutting accessory and another embodiment of an axial connector supported on a tip tube. [Diagram 25] FIG. 25 is a cross-sectional view of a portion of the cutting accessory of FIG. 24. [Figure 26] FIG. 25 is an exploded view showing a portion of the axial connector and the tip tube of FIG. 24. [Figure 27] FIG. 25 is a partial exploded view of the axial connector of FIG. 24. [Figure 28] 25 is a cross-sectional view showing a portion of the axial connector and the tip tube of FIG. 24. [Figure 29] 25 is another cross-sectional view showing a portion of the axial connector and the tip tube of FIG. 24. [Diagram 30] FIG. 25 is a cross-sectional view of a cutting accessory incorporated into a portion of the tip tube of FIG. 24. [Diagram 31] FIG. 25 is a cross-sectional view of a cutting accessory incorporated into the tip tube of FIG. 24. [Diagram 32] FIG. 2 is a perspective view of a guard member for a cutting accessory. [Diagram 33] FIG. [Figure 34A] 4 is a cross-sectional view of an outer member of the guard member. FIG. [Figure 34B] 4 is a cross-sectional view of an inner member of the guard member. FIG. [Diagram 35] 1 is a perspective view of a cutting accessory and a guard member covering a portion of the cutting accessory. FIG. [Diagram 36] 36 is a cross-sectional view of the guard member and cutting accessory taken along line 28 of FIG. 35. [Figure 37] 36 is a cross-sectional view of the guard member and cutting accessory taken along line 29 in FIG. 35. [Figure 38] 13 is a cross-sectional view of the guard member engaging the axial connection to disengage the cutting accessory from the tip tube. FIG. [Figure 39] FIG. 2 is a perspective view of the drive system of the end effector. [Diagram 40] FIG. 40 is a cross-sectional view taken along line 32 in FIG. 39. [Diagram 41]FIG. 2 is a perspective view of a portion of the drive system. [Diagram 42] FIG. 1 is an exploded view of a portion of a drive system including a drive connection. [Diagram 43] FIG. 42 is a cross-sectional view taken along line 35 in FIG. 41. [Diagram 44] FIG. [Diagram 45] FIG. 43 is a cross-sectional view taken along line 37 in FIG. 42. [Figure 46] FIG. 2 is a perspective view of a socket-like element. [Figure 47] FIG. 13 is a perspective view of the wedge sleeve of the drive connection; [Figure 48] FIG. 13 is a perspective view of a portion of the clutch assembly of the drive connection; [Figure 49] FIG. 49 is an end view of a portion of the clutch assembly of the drive connection shown in FIG. 48. [Figure 50] FIG. 2 is a perspective view of a cage element of the clutch assembly; [Figure 51] FIG. 2 is a perspective view of a roller element of the clutch assembly. [Figure 52] FIG. 13 is a perspective view of a drive connection disposed within a socket-like element of the drive member; [Diagram 53] FIG. 53 is an end view of FIG. 52. [Figure 54] FIG. 54 is an end view of FIG. 53 showing the tool shaft engaged with the drive connection when the shaft is initially inserted into the drive connection. [Figure 55] FIG. 54 is an end view of FIG. 53 with the tool shaft engaged with the drive connection and the drive member imparting rotation to the shaft. [Figure 56] FIG. [Figure 57] FIG. 2 is an exploded view of a carriage member with a dynamic seal member. [Figure 58] FIG. 11 is a cross-sectional view of a carriage member engaged with a drive member. [Figure 59] FIG. 13 is a perspective view of a handle on a tip tube. [Figure 60] FIG. 2 is an exploded view of the handle and tip tube. [Figure 61] FIG. 2 is a cross-sectional view of the handle and tip tube. [Figure 62] FIG. [Figure 63] FIG. 4 is a partial exploded view of the lever and handle. [Figure 64] FIG. 2 is a partial exploded view showing a part of the grip detection mechanism according to the first embodiment. [Figure 65] FIG. 2 is a partial exploded view of the grip sensing mechanism and the handle. [Figure 66] FIG. 13 is a cross-sectional view of the grip sensing mechanism and handle with the lever in the released position. [Figure 67] 1 is a cross-sectional view of the grip detection mechanism and the handle with the lever in the pressed position. FIG. [Figure 68] 13 is a perspective view of a portion of the grip detection mechanism with the activator holder in a spaced position relative to the sensor holder. FIG. [Figure 69] FIG. 61 is a perspective view of FIG. 60 with the activator holder in a proximal position relative to the sensor holder. [Figure 70] FIG. 13 is a partially exploded view showing another embodiment of a grip sensing mechanism disassembled from a handle. [Figure 71] FIG. 63 is a partial exploded view of the grip sensing mechanism of FIG. [Figure 72] FIG. 63 is a perspective view showing a portion of the grip detection mechanism of FIG. 62 with the activator holder in a spaced position relative to the sensor holder. [Figure 73] 71 is another perspective view showing a portion of the grip detection mechanism of FIG. 70. [Figure 74] FIG. 13 is a cross-sectional view of the grip sensing mechanism and handle with the lever in the released position. [Figure 75] 1 is a cross-sectional view of the grip detection mechanism and the handle with the lever in the pressed position. FIG. [Figure 76] 13 is a perspective view of a portion of the grip detection mechanism with the activator holder in a spaced position relative to the sensor holder. FIG. [Figure 77] FIG. 77 is a perspective view of FIG. 76 with the activator holder in a proximal position relative to the sensor holder. [Figure 78] FIG. 13 is a perspective view of a portion of an end effector including a gearbox. [Figure 79] FIG. 79 is a cross-sectional view taken along line 71 in FIG. 78. [Figure 80] FIG. [Figure 81] FIG. 2 is a perspective view of the components of the gearbox; [Figure 82] FIG. 2 is a perspective view of the base of the gearbox; [Figure 83] FIG. 2 is a perspective view of the cover of the gearbox. [Figure 84] 1 is a cross-sectional view of a guard member having a wireless communication element. [Figure 85] FIG. 77 is a cross-sectional view of the guard member of FIG. 76 disposed on a distal tube. [Figure 86] FIG. 1 is a cross-sectional view of a cutting accessory with a wired communication element. [Figure 87] FIG. 2 is a perspective view of a shroud including a connector; [Figure 88] FIG. 2 is a perspective view of the end of a tip tube with a connector. [Figure 89] FIG. 89 is a cross-sectional view of the shroud of FIG. 86 connected to the tip tube of FIG. 88. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] [I. Overview] Referring to FIGS. 1 and 2, a robotic surgical manipulator 10 includes an end effector 1 The manipulator 10 is a part of a robot system 11. For example, For example, the robot system 11 is a surgical robot system as shown in FIGS. and configured to operate as further described below.

[0026] The end effector 12 may be configured, for example, as shown in FIGS. The effector 12 is equipped with a surgical instrument 14. The manipulator 10 is 4 to the patient 16. 10 is a surgical instrument for performing an intended medical / surgical procedure on a patient. The surgical instrument 14 is adapted to move to position and orient the surgical instrument 14 .

[0027] The robotic system 11 is adapted to be used in conjunction with a surgical navigation system 18. The surgical navigation system 18 is configured to The system is configured to monitor 16 positions. Based on this monitoring, the surgical navigation is The surgical instrument system 18 is adapted to position the surgical instrument 14 relative to the site on the patient where the surgical instrument 14 is to be applied. The placement of the equipment will be determined.

[0028] With further reference to FIGS. 1 and 2, the robotic system 11 includes a movable cart 20. The manipulator 10 includes a link that movably connects the end effector 12 to a cart 20. Specifically, the end effector 12 includes a coupling assembly 22. 22. The mounting fixture 36 is connected to the

[0029] The linkage assembly 22 may, for example, be a first four-bar parallel link assembly 24 and a second four-bar parallel link assembly 25. Each of the link assemblies 24, 26 has a four-bar link assembly 26. The position of each joint is set by an actuator 28. The actuator 24, 26, 26's housing is provided with a part number. 26 is provided associated with each of the link assemblies 24, 26.

[0030] A manipulator controller 30 (partially shown as a phantom box in FIG. 1) is referred to as the manipulator controller 30. The processor that is used for the manipulator control is mounted on the cart 20. The manipulator control device 30 is A control signal is generated that causes the actuator 28 to appropriately set the coupling of the link assemblies 24, 26. The manipulator controller 30 provides the link based on a number of input signals. These signals are used to determine the position of the link assemblies 24, 26. These data include signal data from the application system 18. This provides information regarding the position of the instrument 14 relative to the surgical site being performed.

[0031] The manipulator controller 30 controls the recoil based on the forces and torques acting on the surgical instrument 14. The force and torque are generated by selectively setting the position of the coupling of the link assemblies 24, 26. (No part number attached) The force / torque is measured by a force / torque sensor. The structure of the manipulator 10 equipped with the positioning device 30 is "semi-autonomous mode or manual boundary constraint mode". "A surgical manipulator capable of controlling a surgical instrument by either This is described in further detail in U.S. Provisional Patent Application No. 61 / 679,258. The contents are hereby incorporated by reference.

[0032] The robot system 11 can be operated in a manual mode. When the robot system 11 is operated in the manual mode, the robot system 11 The force and torque that the actuator applies to the end effector 12 to position the instrument 14. In response to this force and torque, the linkage assembly 22 This mimics the motion that may occur based on the applied forces and torques to mechanically manipulate the instrument 14. As the instrument 14 moves, the surgical robot system 11 and the surgical The navigation system 18 cooperates to determine whether such an instrument is within a defined boundary. The boundary is within the patient's body and the navigation system 18 determines the boundary by using the instrument 14. Based on this data, The robotic system 11 selectively controls the movement of the linkage assembly 22 and, therefore, the instrument 14. Specifically, the connection assembly 22 is configured to limit the extent to which the instrument 14 is moved outside of a defined boundary. This constrains the motion of the instrument 14 that produces the action. If the operator Upon application of force and torque resulting in advancement of the instrument 14 beyond the boundary, the linkage assembly 22 would not mimic this intended positioning of the instrument 14.

[0033] The robot system 11 can also be operated in a semi-autonomous mode. In order to operate the stem 11 in a semi-autonomous mode, a path of movement of the instrument 14 within the tissue is generated. At least the basics of this pathway are created before the surgical procedure begins. The joining assembly 22 will advance the instrument 14 based on this generated path. When the instrument 14 is operated in a semi-autonomous mode, the linkage assembly defines The system is designed to prevent the advancement of the technology beyond its established boundaries.

[0034] The surgical instrument 14 is adapted to control the operator to perform the intended medical / surgical procedure. In some embodiments, the surgical instrument 14 transmits an electrical signal to the patient. The power generating unit converts the energy into a form that acts on the The types of energy are mechanical energy, ultrasonic energy, thermal energy, RF energy, and EM energy. The surgical tool 14 may be a power generating unit, such as a power generating unit (PSU), a power generating unit (PSU), or a power generating unit (PSU). In the embodiment, the energy is delivered via an energy delivery device extending from the surgical instrument 14. In the exemplary embodiment shown, the surgical instrument 14 includes a cutting accessory 32 and a cutting accessory 33 for driving the cutting accessory 32. 2 and an actuator 34 connected to the actuator 34.

[0035] [II. Cutting accessories] The cutting accessory 32 is adapted to be removably engaged with the mount of the end effector 12. For example, FIGS. 3, 5, and 6 show the end effector 12 engaged with its base. FIG. 4 shows the cutting accessory 32 with the end not engaged. 1 illustrates the effector 12. The tool 38 is configured to remove tissue from a target tissue of a patient. As shown in the figure, the tool 38 is, for example, a bur (a cutting tool). As an alternative to a bur, tool 38 may be used for material cutting and / or material removal at the surgical site. The surgical tool may be any type of surgical tool for performing the removal.

[0036] 7-9, the cutting accessory 32 includes a tool 38 and a cutting tool coupled to the tool 38. Specifically, in one embodiment, A cutting accessory 32 including a shroud 40 according to the present invention is shown in Figures 7-9. 24-25, a cutting accessory 32 having a shroud 140 according to another embodiment is shown. As shown in.

[0037] 10-14, the tool 38 has a proximal or free end 44 and a distal a shaft 42 extending along a tool axis T between a distal end 46 and a The shroud 40, 140 is rotatably attached to the shaft 42. The tool 38 is typically 50-200 mm long. For example, tool 38 may have a length of 160 mm. The shaft 42 of the 8 typically has a diameter of 2.5 mm to 6.0 mm. , the shaft 42 may have a diameter of 4 mm.

[0038] The tool 38 includes a cutting tip 50 configured to cut target tissue of the patient 16. Specifically, end piece 48 has a cutting tip 50.

[0039] End piece 48 defines a cavity 52 that receives, for example, distal end 46 of shaft 42. The end pieces 48 may be attached in any manner, such as by friction fit, adhesive, snap ring elements, welding, etc. Alternatively, for example, the end piece 48 may be secured to the shaft 42 by 42. That is, the end piece 48 and the shaft 42 may be formed as a single unit. The electrodes may be formed together.

[0040] The end piece 48 defines a threaded portion 54 adjacent the tool 38. The threaded portion 54 is The end of the effector 12 is then inserted into the end of the instrument, along with debris, such as excised tissue, body fluids, and / or irrigation fluid. Create an Archimedes screw to push the effector 12 away from the side It is.

[0041] The illustrated tool 38 is, as previously described, a bar with a cutting tip. 50 is a cutting head 72. The cutting head 72 is not intended to deviate from the essence of the present invention. The microporous structure may be of any size, shape, and configuration.

[0042] The shroud 40, 140 is rotatably engaged with the tool 38 and rotates along the tool axis T. The shroud 40 is axially fixed relative to the tool 38. The shroud 40 rotates about the tool axis T. It is now possible.

[0043] 8 and 9, a bearing 56 is disposed between the tool 38 and the shroud 40, 140. and secured to the tool 38 and the shroud 40, 140 along the tool axis T. Specifically, the bearing 56 defines a bore 58 within which the shaft 42 is seated. and is adapted to be connected to the shaft 42 by a friction fit. That is, the inner diameter of the hole 58 and the outer diameter of the shaft 42 are the ratio of the inner diameter of the bearing 56 to the outer diameter of the shaft 42. The bearing 56 is sized and sized so that it is secured to the shaft 42 by a friction fit between the The friction fit is typically formed by pressing the bearing 56 against the shaft 42. The shroud 40, 140 receives the bearing 56 and is fitted with a friction pad. The shroud 40 is connected to the bearing 56 by a friction fit. 140 defines an inner surface 60, and the outer diameter of bearing 56 is friction-fitted against inner surface 60. do.

[0044] 15 and 16, the shroud 40 is generally cylindrical. 40 includes a body portion 62 having an inner surface 60, i.e., a base portion 62. Two fingers 64 extend from the body portion 62. The shroud 40 includes, for example, seven finger elements 64 extending from a body portion 62. The fingers 64 are spaced apart from one another in a circumferential direction about the tool axis T. , respectively, are tapered, i.e., inwardly inclined, tips 6 6. Finger elements 64 are flexible relative to body portion 62, as will be described further below. It is soft (flexible).

[0045] 24 and 25, the shroud 140 has an inner surface 160 and a The groove 161 typically extends circumferentially around the inner surface 160. do.

[0046] 32-38, the cutting accessory 32 includes a guard member 68. While the cutting accessory 32 is being held by the handle 300 and / or while being cut, When the cutting accessory 32 is attached to the end effector 12 but is not in use, Guard member 68 covers cutting tip 50. As will be explained further below, the guard Member 68 identifies parameters of cutting accessory 32 to manipulator controller 30. A component for identification, such as a memory chip or an RFID chip, that allows identification of the As will be described below, the guard member 68 is The cutting accessory 32 may be configured to facilitate engagement and disengagement of the cutting accessory 32 from the rotor 12.

[0047] The cutting accessory 32 is adapted to receive and deliver fluid to the surgical site during cutting. The liquid is typically introduced into the tool 38, e.g., the shaft 42 and the end piece 44. 8 to the surgical site. The fluid serves several functions: For example, the liquid can be used to cool the cutting tip and / or to cool and irrigate the surgical site. 5, which lubricates the interface between the cutting tip 50 and the tissue in contact with the cutting tip 50. This can reduce heat generation at the interface and remove the ablated tissue and / or bodily fluids. and / or to cool the shaft 42 of the tool 38 and the nose tube. The liquid can remove heat from the bearing 104 in the bearing 100. Alternatively, the liquid may be any suitable irrigation fluid without departing from the essence of the invention. , to cool and / or irrigate the surgical cutting accessory 32 and / or tissue at the surgical site. It may be of any kind.

[0048] 7 and 8, the shaft 42 of the tool 38 is configured to convey the fluid. The liquid is introduced into tool 3 as described further below. 8 through a hole 70 at the proximal end 44 and flows from the proximal end 44 to the distal end 46. It has become.

[0049] 9-14, the cutting head 72 has at least one hole 70 communicating with the bore 70 of the shaft 42. The cutting head 72 typically defines at least one port 74. The cavity 52 is defined between the bore 70 and the port 74. The port 74 directs fluid through the shaft 52. A cutting head 72 extends through a hole 70 in the port 42 for delivery to the surgical site. is designed to deliver fluids to the surgical site without splashing fluids on operating room staff. The port 74 extends at a designed angle relative to the tool axis T. To prevent cavitation at the surgical site, the fluid must be directed at approximately right angles to the surgical site. For example, port 74 typically extends at a 0° to 45° with respect to the tool axis T. The ports 74 are typically They have diameters ranging from 0.50 mm to 0.50 mm.

[0050] [III. End Effector] 17-31, the end effector 12 includes a cutting accessory 32. A distal tube 100 is provided that supports the cutting accessory 32 when engaged with the effector 12. The tip tube 100 defines a tip tube bore 102 and The shaft 42 of the cutting accessory 32 is received within the bore 102. The end tube 100 is releasably attached to the cutting accessory 32 within the tip tube bore 102. The cutting accessory 32 is adapted to engage and rotatably support the cutting accessory 32. Typically, For example, at least one bearing 104 shown in FIGS. 5, 6, and 20 is attached to the tip tube. The bearing 104 is disposed within the distal tube bore 102. and configured to rotatably support the shaft 42.

[0051] The tip tube 100 is fixed to the attachment 36. The distal end 106 along the end tube axis N, i.e., the terminus 106 and the proximal end of the tip tube 100 The distal end 108 of the distal tube 100 extends along a distal tube axis N. 100 includes a plurality of segments arranged along a distal tube axis N. Alternatively, the distal end tube 100 may be a distal end tube 102 having a distal end 104 of the present invention. Without departing from the above, the present invention may be formed from a single piece or may have any number of segments. It may be formed from

[0052] The end effector 12 axially engages the cutting accessory 32 to the end effector 12. and an axial connector 110, 150 configured to connect the cutting accessory 32 to the end face. and a drive connector 112 configured to rotatably engage the vector 12. Specifically, an axial connector 110 according to one embodiment is shown in FIGS. The axial connector 150 according to this embodiment is shown in FIGS. The three axial connectors 110 are spaced apart in an embodiment of the cutting accessory 32 that includes a shroud 40. The axial connector 150 of FIGS. 24-31 is configured to be releasably engaged with the shroud. 1. The cutting accessory 32 is configured to releasably engage an embodiment of the cutting accessory 32 that includes a loud 140. It is being done.

[0053] The axial connectors 110, 150 are connected to the end 106 and the drive connector 106 along the distal tube axis N. The axial connectors 110, 150 and the drive connector 112 are disposed between the The end tube is centered about the axis N.

[0054] As will be further described below, the axial connectors 110, 150 are attached to the tip tube 100. and supports the cutting accessory 32 along the tip tube axis N of the tip tube 10. 0. Also, as described further below, the drive connection The connector 112 receives the cutting accessory 32 along the distal tube axis N and The actuator 32 is configured to rotatably drive the accessory 32.

[0055] Typically, the axial connectors 110, 150 and the drive connector 112 are aligned along the distal tube axis N For example, the axial connectors 110 and 150 are spaced apart from each other along the distal end tube 10. 1, the drive connector 112 is disposed at the distal end 106 of the tip tube 100. 106 and the proximal end 108 along the distal tube axis N from the axial connectors 110, 150. Alternatively, the drive connection 112 and the axial connection 110, 150 are spaced apart from the tool shaft. The axial connectors 110, 150 and the distal connectors 110, 150 may be disposed adjacent to each other along the T. The body is adapted to releasably engage the cutting accessory 32 to the end effector 12. There are.

[0056] The axial connectors 110, 150 are supported by the distal tube 100 and are connected to the cutting actuator. The distal end tube 100 is attached to the distal end tube 100 along the distal end tube axis N. The axial connectors 110, 150 are spaced apart from the shroud 40 of the cutting accessory 32. The axial connectors 110 and 150 are arranged to be releasably engaged with each other along the distal tube axis N. 3 and defines a bore 57 for receiving the cutting accessory 32. The accessory 32 extends from the end 106 of the distal tube 100 through the axial connectors 110 and 150. The cutting accessory 32 is assembled to the tip tube 100 and extends to the drive connector 112. When engaged, the shroud 40 of the cutting accessory 32 is secured to the cutting tip 50, e.g. The tip tube is disposed between a first end 47 proximal to the bar and a second end 49 distal to the bar. The shaft 42 extends along the drive axis N from the distal end 49 of the shroud 40. Extending to the movable connector 112.

[0057] Referring to the axial connector 110 shown in FIGS. 19-21, the axial connector 110 is Typically, the distal end 106 of the tip tube 100 is connected to the extended position, i.e., as shown in FIG. 9 and 20, a locked position that holds the cutting accessory 32, and a retracted position, That is, between a disengaged position which releases the cutting accessory 32 as shown in FIG. The axial connectors 110, 150 are movable relative to the tube 10. is movable along the axis between a locked position and a disengaged position.

[0058] The axial connector 110 is, for example, a tubular element slidably held in the distal tube 100. (barrel element) 114, i.e., ring element 114. In other words, a cylindrical element The element 114 is retained in the distal tube 100 and moves the distal tube between the extended and retracted positions. Typically, the tubular element 114 is axially aligned with the tool axis T. The tubular element 114 is typically cylindrical and It is adapted to receive a tip tube 100 .

[0059] The cutting accessory 32 is engaged with the tip tube 100 and the axial connector 110 is in the locked position. At one time, the tubular element 114 extends radially around the shroud 40 and In other words, in the expanded position, In this case, the tubular element 114 is a part of the cutting accessory 32, e.g., a shroud of the cutting accessory 32. 40, thereby engaging the cutting accessory 32 with the tip tube 100. In the retracted position, the tubular element 114 is disengaged from the cutting accessory 32. This will release the cutting accessory 32 from the tip tube 100.

[0060] 18-23, the distal tube 100 supports an axial connector 110. The distal end tube 100 includes a guide portion 116. For example, the distal end tube 100 includes a guide portion 116. The tubular element 114 and the guide portion 116 are arranged such that the tubular element 114 The tubular element 11 is movable along the guide portion 116 between an extended position and a retracted position. 4 to guide portion 116.

[0061] For example, as shown in FIGS. 19-23, at least one engagement member 120 may include: The tubular element 114 and the guide portion 116 are engaged with each other. The guide portion 116 of the distal end tube 100 is connected to at least one passage 12. 2, and engagement member 120 moves along passageway 122 between the extended and retracted positions. The passage 122 extends longitudinally along the distal tube axis N. The distal end tube 100 shown in FIG. The axial direction of the groove 122 is different from that of the groove 122. The connector 110 may include any number of engaging members 120 and corresponding passages 122. Good too.

[0062] The engagement member 120 may be, for example, a tubular member for connecting the tubular element 114 to the guide portion 118. a spherical ball element engaged with element 114 and engaged in the passage of guide portion 116; The cylindrical element 114 typically has a recess 114 for receiving a semi-spherical ball element. The ball element is rotatable within the recess 124, and The ball element is fixed to the tubular element 114 along the tool axis T. That is, the guide portion 11 is provided so as to guide the movement of the cylindrical element 114 along the distal tube axis N. 6. As an alternative to ball elements, the engagement member 120 may be a cylindrical Any type of component that connects the element 114 to the guide portion, e.g., a pin, a flange etc.

[0063] 19-22, the axial connector 110 is an attachment connected to a tubular element 114. The biasing mechanism 126 may include a spring 126. The biasing mechanism 126 may be configured to bias the tubular element 114. The tubular element 114 is configured to bias the tubular element 114 toward the expanded position. 1. i.e., sufficient force to overcome the force provided by the biasing mechanism 126. In the retracted position, sufficient force is applied to the tubular element 114 toward the retracted position. As shown, for example, the biasing mechanism 126 can The biasing mechanism 126 is disposed within the bore 102 as shown in FIGS. The tip tube abuts against a bearing 104 in the tip tube hole 102, thereby rotating the tip tube axis N The biasing mechanism 126 shown is a coil spring. Alternatively, the biasing mechanism 126 can be any type of biasing mechanism.

[0064] 19-22, the biasing mechanism 126 and the tubular element 114 are coupled A plunger 128 is disposed between the biasing mechanism 126 and the tubular element 114 so that Specifically, the plunger 128 is disposed within the distal tube bore 102, and The tip tube is configured to slide relative to the tip tube in the tip tube hole. The engagement member 120, e.g., a ball element, is connected to the plunger 128 and the cylindrical element 114. , and the engagement member 120 is adapted to contact the plunger 128. The plunger 128 defines a tapered surface 130 that receives the engagement member 120. The biasing mechanism 126 abuts against the plunger 128 between the bearing 56 and the plunger 128. As an alternative to the plunger 128, the tubular element 114 and the biasing mechanism 126 may be , may be configured to be in direct contact with each other.

[0065] 19-22, the distal end tube 100 is The tip 106 defines a groove 132 or recess 132 adjacent the distal end 106. 19-21, the groove 132 is The distal end of the tube is defined in part by a tapered inclined surface 134 that tapers away from the distal end tube axis N. A sloped surface 136 extends from sloped surface 134 toward the distal end of tip tube 100. , tapered toward the distal tube axis N. When in the extended position, the tubular element 11 4 is typically disposed adjacent to groove 132, i.e., along tip tube axis N. A radius around at least a portion of the groove 132 that is at least partially aligned with the groove 132 It will be placed in the direction.

[0066] By using the axial connector 110, the tool 38 can be removed, i.e., simply The cutting accessory 32 is then manually engaged with the end effector 12 by the operator. The cutting tool 38 can be assembled into the end effector 12 by one-handed operation. That is, it can be performed by one hand of the operator. 38 is inserted into the distal tube hole 102, and the cutting tool 38 is moved along the distal tube hole 102. Applying pressure toward the tip tube 100 results in the cutting tool 38 moving toward the axial connection 110. 4. The end effector 12 is assembled by engaging the end effector 12 with the

[0067] Specifically, to assemble the cutting accessory 32 to the end effector 12, a tool 38 The shaft 42 is inserted into the distal tube hole 102. As the shaft 42 moves along the distal tube bore 102, it engages the bearing 10 within the distal tube bore 102. As previously mentioned, the finger elements 64 of the shroud 40 are inserted into the The shroud 40 is flexible relative to the main body 62. Typically, the shroud 40 is formed of the tubular element 114. As the finger elements 64 approach the inclined surface 136, they slide along the inclined surface 136. The tool deforms outward relative to the tool axis T.

[0068] As the shaft moves along the distal tube bore 102, the tips 66 of the finger elements 64 The finger abuts against the tubular element 114 and presses the tubular element 114 toward the retracted position. The tubular element 64 and the tubular element 114 are adapted to allow the cutting accessory 32 to engage the tip tube 100. The end tube 11 has an opposed surface 115 facing each other along the distal tube axis N. 5 are typically inclined. For example, the facing surface 115 of each finger element 64 is The finger elements 6 contact the distal tube 100 during engagement of the cutting accessory with the tip tube 100. 4, the shroud 40 is moved from the first end 47 to the second end 49 of the shroud 40. Each finger element 6 has a slope tapered radially inward in the direction toward the The four opposing faces 115 terminate at a second end of the shroud 40 .

[0069] As the tip 66 of the finger 64 approaches the groove 132, the tip 66 moves toward the tool axis T. 1 and moves inwardly into groove 132 of tip tube 100, and tubular element 114 is in the extended position. 3 to lock the cutting accessory 32 to the tip tube 100. The cutting accessory 32 is engaged with the distal tube 100 such that the axial connector 110 is in the extended position. As it does so, the axial connectors 110 will engage the fingers 64 .

[0070] The finger elements 64 may be, for example, grooves 13, as shown in Figs. 15 and 16, respectively. 2. Finger elements 64 typically include The finger elements 64 are spring biased toward a pre-deformed shape into the grooves 132. The inclined surface 136 is configured to elastically deform outwardly. The element 114 is slid along the tubular element 114 with the tip 66 in contact with the tubular element 114. 3, finger elements 64 may be deformed into grooves 132.

[0071] When the cutting accessory 32 engages the end effector 12, the bearings of the cutting accessory 32 56 abuts the distal end 106 of the tip tube 100. The axial connector 110 is When the bearing 56 of the accessory 32 abuts against the distal end 106 of the tip tube 100, the cutting access The tips 66 of the finger elements 64 are adapted to slide into the grooves 132 and engage the saliency 32. The snap fit aligns the cutting accessory 32 in place relative to the axial connector 110. and engaged with the tip tube 100, i.e., the bearing 56 is The abutment of the distal end 106 of the 100 can be confirmed by touch. The operator can feel, see, and sense that the tip 66 of the finger element 64 has entered the groove 132. Upon receiving audible and / or visual feedback, the operator is notified that the cutting accessory 32 is in the end effect state. 4. Verify that the rotor 12 is properly positioned and engaged with the axial connector 110. The finger elements 64, the sloped surface 136 of the tip tube 100, and the tubular element 114 are When the cutting accessory 102 engages the end effector 12, i.e., when the finger elements 64 When the tip 66 is engaged between the beveled surface 136 of the distal tube 100 and the tubular element 114, It is configured to retract the bearing 56 against the distal end 106 of the tip tube 100 .

[0072] When the tips 66 of the finger elements 64 are in the grooves 132, the biasing mechanism 126 prevents excessive force from Unless a tension is applied to the tubular element 114, the tension biases the tubular element 114 to the extended position. When the tip 66 of the tubular element 114 is in the groove 132 and the tubular element 114 is in the extended position, 4 pinches the finger elements 64 against the inclined surface 134 of the tip tube 100 and The guide 40 is attached to the tip tube 100 .

[0073] The tubular element 114 is retracted to release the cutting tool 38 from the end effector 12. 132. The fingers 64 are then moved to their original position, which disengages the tips 66 of the fingers 64 from the grooves 132. In this case, the operator applies a force to the tubular element 114 toward the retracted position, thereby causing the tubular element 114 to move in the retracted position. The tubular element 114 and the tip tube 100 are then moved to the retracted position. Opposing surfaces 138 configured to abut each other when the tubular element 114 moves to the retracted position. It defines the following.

[0074] When the tubular element 114 is in the retracted position, the cutting tool 38 extends distally along the distal tube axis N. The finger elements 64 are typically cylindrical elements that can be moved away from the tube 100. 114 is configured to reside within groove 132 when in the retracted position, and cutting tool 38 As the finger 64 moves away from the distal tube 100, the tip 66 of the finger 64 contacts the inclined surface 1 34, the finger elements 64 are elastically deformed away from the tool axis T. become.

[0075] As previously described, the guard member 68 prevents the cutting accessory 3 from being pulled out of the end effector 12. Specifically, the guard member 68 is configured to engage and disengage the cylindrical member 2. In other words, the guard member 68 is configured to actuate the tubular element 114. 114 to the retracted position and engage the cutting accessory 32 with the tip tube 100. The device is configured to engage and disengage the actuator.

[0076] 32-34B, the guard member 68 is attached to the outer member 76. Specifically, the outer member 76 includes an inner member 78 having an aperture 80. and adapted to slidably receive inner member 78 within bore 80. The inner member 78 can be positioned within the bore 80 in an expanded position as shown in FIG. The pressure sensor is slidable between a compressed position in which the pressure sensor is pressed against the pressure sensor and a compressed position in which the pressure sensor is pressed against the pressure sensor.

[0077] Referring to FIG. 34A, the outer member 76 includes a body 82 and a flexible connection to the body 82. The flexible core 84 has a barb 86 that extends into the hole 80. Inner member 78 defines a slot 88 that receives barb 86.

[0078] Referring to FIG. 34B, the inner member 78 is configured as a body 90 and flexibly connected to the body 90. The inner member 78 is provided with a flexible core 92. The flexible core 92 holds the hook portion 90. The inner member 78 defines an inner shelf 94, which may be, for example, frusto-conical. It may be equipped with p97.

[0079] 35 and 36, the guard member 68 receives the cutting accessory 32. As previously mentioned, the guard member 68 is adapted to prevent the cutting accessory 32 from being pulled out of the cutter. It covers the cutting tip 50 of the accessory 32 .

[0080] When the cutting accessory 32 is positioned within the guard member 68, the shroud of the cutting accessory 32 The shroud 40 abuts against the shelf 94. The shroud 40 receives the tang 92 of the inner member 78. A groove 96 is defined.

[0081] The guard member 68 receives the cutting accessory 32 so that the shroud 40 abuts against the shelf 94. Upon insertion, the operator uses the inner member 78 to secure the cutting accessory 32 to the axial connector. Specifically, the shaft 42 of the cutting accessory 32 can be engaged with the While in the end tube bore 102, the user rotates the distal end tube along the distal tube axis T. Applying a force to the inner member 78 toward the tube 100 causes the shelf of the guard member 68 to 94 engages the shroud 40 with the axial connector 110. Once the shroud 40 is axially When the forward connector 100 is engaged with the guard member 68, the forward connector 100 is pulled along the forward tube axis T. By applying a force to the side away from the cutter 100, the guard member 68 is moved to the cutting accessory 3. It can be removed from 2.

[0082] For example, after a surgical procedure, the cutting accessory 32 may be disengaged from the axial connector 110. Thus, the guard member 68 is supported on the cutting accessory 32 with the shelf 94 abutting the shroud 40. With this arrangement, the tang 84 of the outer member 76 is positioned on the tubular element 114. 38, the outer member 76 is then fitted into the inner member 78. 3, the tubular element 114 is moved to a compressed position, which moves the tubular element 114 to a retracted position. do.

[0083] Specifically, the operator grasps the inner member 78 with one hand and the outer member 76 with the other hand. The operator then rotates the outer member 76 relative to the inner member 78 along the distal tube axis N. As shown in FIG. 38, this movement causes the core 84 of the outer member 76 to move. 3. Press against groove 98 of tubular element 114, thereby placing tubular element 114 in the retracted position. 3, disengaging the cutting accessory 32 from the tip tube 100.

[0084] As previously mentioned, when the guard member 68 is disposed on the cutting accessory 32, the inner member 78 The tangs 92 are frictionally engaged with the shroud 40. The outer member 76 is moved to the compressed position. When the distal end tube 14 is moved, the outer member 76 and the inner member 78 are moved toward the distal end tube 14 as shown in FIG. 10. Movement of the cutting accessory 100 along axis N away from the tip tube 100 thereby 32 can be removed from tip tube 100. During this movement, tang 92 and shroud Frictional engagement between the guard member 68 and the distal end tube 40 causes the guard member 68 to move away from the distal end tube 100. The cutting accessory 32 can be kept attached to the guard member 68 during transport. Cut.

[0085] As mentioned above, the axial connector 150 shown in FIGS. 24-31 is The axial connection 150 is adapted to receive the cutting accessory 32 having the axial connection 150. The axial connector 150 is supported by a guide portion 152 of the tip tube 100. The finger-like element 154 is supported by the guide portion 152, and the tubular element 156 is supported by the guide portion 152. Elements 156 guide the fingers 154 relative to the guide portion 152 as described further below. The tip tube is rotatable about its axis T so that it can be engaged and disengaged radially. There are.

[0086] Specifically, referring to FIGS. 26 and 27, the axial connector 150 is connected to the ring element 16. 2 and a locking member 153 having finger elements 154 extending from the ring element 162. Each of the finger elements 154 includes a protrusion 164. 1 shows a locking member 153 having finger elements 154, the locking member 153 being Any suitable number of finger elements 154 may be provided without departing from the essence.

[0087] 26, 28, and 29, the guide portion 152 receives a locking collar 158. As shown in FIGS. 26 and 27, the guide portion 152 has a pair of elongated holes. 27 and 28, each projection 164 of finger element 154 defines a projection 166. As shown, each is positioned to pass through a slot 166. 154 biases the projection 164 so as to pass through the slot 166 .

[0088] 26-29, the locking collar 158 is disposed within the guide portion 152 and The locking collar 158 is typically positioned radially inward of the finger elements 154. The casing 160 includes a cylindrical wall 168. The wall 168 may include finger elements, as described further below. The projections 164 of the element 154 are spaced apart from one another circumferentially about the wall 168. The recess defines a recessed notch 170.

[0089] The tubular element 156 is supported on the guide portion 152 and is fitted with a locking collar through the guide portion 152. Specifically, as best shown in FIG. 172 passes through the long hole 174 of the guide portion 152 and is connected to the tubular element 156 and the locking collar 1 58. As best seen in FIGS. 26, 27, and 29, the cylindrical Element 156 defines a recess 176 that receives ball element 172. 27, the locking collar 158 defines a groove 178 that receives the ball element 172. 27 and 28 show two ball elements 172, but the locking collar 1 58 may include any suitable number of ball elements 172 without departing from the essence of the present invention. It may be provided.

[0090] The tubular element 156 can be moved to a release position as shown in FIGS. 28 and 29 (not shown). The locking position can be rotated around the tip tube axis N. The slider 158 moves with the tubular element 156 between the locked position and the disengaged position. In this example, the tubular element 156 is aligned with the notch 170 of the locking collar 158 in a straight line with the finger element 154. 164. The finger elements 154 are positioned so as to be aligned with the projections 164. In response to the force, the cylindrical element 156 resiliently moves radially inward. is positioned to align the wall 168 of the locking collar 158 with the finger element 154. In such a position, the wall 168 moves radially inward in response to the forces acting on the projections 164. Preventing movement of finger elements 154 toward the front, i.e., locking finger elements 154 in place. become.

[0091] 30 and 31, the cutting accessory 32 includes a shaft 32a. The tip tube 38 is inserted into the tip tube hole 102 along the tip tube axis N. With the tubular element 156 in the disengaged position, That is, when the notch 170 of the locking collar 158 is aligned with the finger element 154, When the shroud 110 of the cutting accessory 32 reaches the projection 164, the shroud The fingers 154 are then pushed radially inward by the guides 140. The blade 140 presses the finger elements 154 radially inward, thereby causing the cutting accessory 32 can be seated against the tip tube 100 as shown in Figures 30 and 31. Specifically, when the cutting accessory 32 is seated against the distal tube 100, the cutting The bearing 56 of the accessory 32 abuts the distal end 106 of the tip tube 100. .

[0092] When the cutting accessory 32 is seated against the tip tube 100, the finger elements 154, e.g. For example, as shown in FIGS. 30 and 31, the guide portion 152 is elastically fitted in a long hole 166. The cutting accessory 32 is then biased toward the cutting edge 170 and engages the groove 178 in the shroud 140. When seated against the tip tube 100, the tubular element 156 is in a locked position, i.e. The wall 168 of the collar 158 is aligned with the finger elements 154 and extends radially inwardly. In such a position, the axial connector 150 is rotated to a position that prevents the element 154 from being pushed in. A cutting accessory 32 is axially locked to the tip tube.

[0093] Upon disassembly of the cutting accessory 32 from the tip tube 100, the tubular element 156 is in a disengagement position. i.e., aligning the notch 170 of the locking collar 158 with the finger element 154. In such a position, the cutting accessory 32 is pulled from the tip tube 100. When tensioned, the shroud 140 of the cutting accessory 32 slides the finger elements 154 into the notches 170. 3, by forcing the cutting accessory 32 radially inwardly from the tip tube 100. It becomes possible to remove it from the

[0094] Referring to FIG. 26, the guide portion 152 and the locking collar 158 are used to lock the tubular element 156. The device is configured to identify the location and release position through haptic feedback. In addition, the slot 174 of the guide portion 152 defines a detent 180 and the locking collar 158 The groove 178 has a shallow portion 182 and a deep portion 184. 174. A spring 188 is positioned within the guide portion 152. The ball element 172 is disposed between the guide portion 152 and the locking collar 158. It is biased into the stop 180 and shallow portion 182 .

[0095] Specifically, when tubular element 156 is in the disengaged position, ball element 172 engages detent 180. When the tubular element 156 is rotated toward the locking position, the flat portion 1 86 presses the locking collar 158 against the spring 188. The ball element 172 When a detent 180 is reached, the spring pushes the ball element 172 into another detent 180. The interaction of ball element 172 with detent 180 provides tactile feedback. The lock is provided to resiliently hold the tubular element 156 in the selected release or lock position. It becomes possible to do so.

[0096] 39 and 40, the cutting tool 38 is adapted to drive the cutting accessory 32. The illustrated drive system 200 includes a cutting The accessory 32 is configured to impart a rotational motion, for example to rotate a bar. Alternatively, the drive system 200 may provide any type of motion to the cutting accessory 32. For example, linear vibration for reciprocating saws, pinching motion for opposing blades, needle / catheter The actuator may be configured to provide linear motion for the actuator.

[0097] The drive system 200 includes a drive member 202, e.g. For example, a rotary drive member 202, an actuator 34 coupled to the drive member 202, and a cutting actuator 34. A drive connector 112 coupled to the drive member 202 for rotatable engagement with the accessory 32. The illustrated drive member 202 is rotatably mounted within the tip tube 100. Specifically, a bearing 204 is disposed between the drive member 202 and the tip tube 100. 2, and bearing 204 rotatably supports drive member 202 within tip tube 100. 44 and 45, the drive member 202 includes a shaft that receives a bearing 204. 2, defines a receiving surface 234. As will be further described below, the drive member 202 is rotated. The actuator 34 is connected to the drive member as shown in FIG. 34 is coupled to the drive connector 112 and connects the drive connector 112 to the tip tube 100. The mechanism is designed to rotate the device.

[0098] The drive connector 112 is supported by the tip tube 100 and is connected to the cutting accessory 32. The drive connector is adapted to receive a cutting accessory 32 to rotatably drive the drive connector. The connector 112 extends along the distal tube axis N and has a bore 20 for receiving the cutting accessory 32. It defines 7.

[0099] 41-43, the drive connector 112 includes a wedge sleeve 208 and a drive connector 112 rotatably supported by the wedge sleeve 208. The axial connector 110 includes a clutch assembly 210 disposed within the shaft 208. , away from the clutch assembly 210. Specifically, the axial connector 110 is The cutting tip 50 of the cutting accessory 32 is disposed between the cutter assembly 210 and the cutting tip 50 of the cutting accessory 32.

[0100] The clutch assembly 210 slides the shaft 42 of the tool 38 along the tip tube axis N. The clutch assembly 210 is configured to movably receive the drive member 20. 2 and is rotatable relative to the drive member 202, and further The shaft 42 is cut along the distal tube axis N to selectively lock the shaft 42 to the drive member 202. The accessory 32 is configured to receive the shaft 42. 2 engages the clutch assembly 210 with the tool 38. 0 and disengages the tool 38 from the clutch assembly 210. 210.

[0101] The wedge sleeve 208 and clutch assembly 210 separate the disconnect accessor from the drive member 202. In order to transmit rotation to the shaft 42 of the actuator 32, the drive member 202 is frictionally attached to the shaft 42. The clutch assembly 210 is configured to lock the disconnect actuator. This allows for the use of a relatively short shaft 42 for the cutting accessory 32. Such use of a relatively short shaft 42 increases the rigidity of the cutting accessory 32 and improves surgical accuracy. This improves process efficiency and is more economical due to the use of less material.

[0102] 48-55, the clutch assembly 210 includes a cage element 212. The cage element 212 has a hole and a circumferential groove around the cage element 212 so as to communicate with the hole. The roller elements 214 define a plurality of spaced apart slots 216. The cage elements 212 are each disposed on a pair of spaced apart edges that define each slot 216. The roller element 214 abuts both of the pair of edges 218 . The roller elements 214 extend through the slots and into the holes. and are adapted to receive the shaft 42 therebetween.

[0103] The roller element 214 is movable radially relative to the cage element 212. 220 rotates around the roller element 214 and the cage element 212, and causes the roller element 214 to move toward the cage element The roller element 214 is held in the slot 218 of the roller 212 and in contact with the edge 218. The roller element 214 defines a neck 222 configured to receive, for example, a spring 220. The clutch assembly 210 shown in Figures 48-55 has six slots 21 8 and 6 roller elements 214, the clutch assembly 210 The cutting accessory 3 may include any number of slots 218 and corresponding roller elements 214. When the two shafts 42 are disposed in the clutch assembly 210, the shafts 42 It will come into contact with each of the roller elements 213 .

[0104] 41-43, the drive member 202 may, for example, be engaged with a socket-like element 226. The clutch assembly 210 is secured between the drive member 202 and the socket-like element 226. The socket-like element 226 may, for example, define a lip 228 that supports the drive portion. The member 202 includes an end 230. The lip 228 and the end 230 define a cavity 228 therebetween. 43, the clutch assembly 210 defines a cavity 32. 3. The bearing 206 is disposed between the socket-like element 226 and the tip tube 100. The bearing 206 rotates the socket-like element 226 within the tip tube 100. 44 and 45, the socket-like element 226 supports the bearing. 206 defines a bearing surface 236 that receives the bearing surface 236 .

[0105] The drive connector 112 includes an inner wall 209 that receives a clutch assembly 210. and configured to selectively bias the roller element 214 against the shaft 42. Specifically, the wedge sleeve 208 defines an inner wall 209. The wedge sleeve 208 is secured to the drive member 202 and the socket as shown in FIGS. The wedge sleeve is disposed between the drive member 202 and the slot-shaped element 226. 208 is a member for fastening the driving member 2 by any method, for example, by press-fitting, welding, bonding, pinning, etc. It may be fixed at 02.

[0106] 47 and 52-55, the wedge sleeve 208 defines an aperture 238. 47 and 52-, and has a contact surface 240 disposed circumferentially about the hole 238. The contact surfaces 240 shown in Figure 55 are facets, i.e., flat surfaces. Generally, the osculating circle 240 is formed as the wedge sleeve 208 rotates relative to the clutch assembly 210. As the roller element 214 is being pressed against the contact surface 240, the roller element 214 is sandwiched between the contact surface 240 and the shaft 42 of the tool 38. For example, the contact surface 240 may have any shape sufficient to contact the distal end tube. It may be a circular arc surface centered on the axis N. The wedge sleeve 208 in FIG. 47 and FIG. 52-FIG. 55 has twelve contact surfaces 240, i.e., a dodecagon. The sleeve 208 may include any number of contact surfaces 240 .

[0107] The contact surface 240 is adapted to rotate as the wedge sleeve 208 rotates relative to the clutch assembly 210. 52 and 53, the roller element 214 is configured to contact the roller element 214. Prior to the shaft 42 of the tool 38 being inserted into the clutch assembly 210, the roller elements The element 214 is spaced from the contact surface 240. As shown in FIG. When initially inserted into the switch assembly 210, the roller elements 214 are The clutch assembly 210 rotates relative to the wedge sleeve 208. When rotated, the roller element 214 drives the shaft 42 of the tool 38, as shown in FIG. 200.

[0108] For example, when the actuator 34 drives the drive member 202, the drive member 202 moves in a wedge motion. The reed 208 is rotated relative to the clutch assembly 210. The wedge sleeve 208 engages the clutch assembly 210. When rotated relative to the clutch assembly 210, the contact surface 240 contacts the roller element 214. , the roller element 214 is sandwiched between the contact surface 240 and the shaft 42 of the tool 38 . 8 shaft 42 is rotatably locked to the driving member 202. The surface 240 frictionally engages the roller element 214 with the shaft 42 of the tool 38 . The clutch assembly 210 is self-engaging and self-disengaging. , the shaft 42 is simply inserted along the tip tube axis N. The clutch assembly 210 can be engaged. That is, the operator can The shaft 42 can be engaged with the clutch assembly 210 without causing any As previously mentioned, the axial connector 110 connects the cutting accessory 32 to the tip tube 100. The tip tube is held in an axial direction along the tip tube axis N.

[0109] The clutch assembly 210 is releasably engaged to the cylindrical outer surface 43 of the shaft 42 of the tool 38. Specifically, the shaft 42 is releasably connected to the drive connector 112. The outer surface 43 typically includes a cylindrical cross section that engages the shaft of the spool. The clutch assembly has a constant outer diameter extending from the shaft 40 to the free end 45. The reel 210 is designed to transmit rotational motion to the shaft 42 of the tool 38. The clutch assembly 210 does not need to have any flats or other features. The shaft 42 is typically proximal to the The shaft 42 is cylindrically shaped between the proximal end 44 and the distal end 46, i.e., along the entire length of the shaft 42. Therefore, in order to engage the shaft 42 with the clutch assembly 210, There is no need to specifically align the shaft 42 along the distal tube axis N. , the shaft 42 has a particular feature of the shaft 42 at a particular location along the tip tube axis N. 2. As a result, the clutch assembly 210 will engage without first being aligned with the clutch assembly 210.

[0110] A drive system including a drive member 202, a wedge sleeve 208, and a clutch assembly 210. The system allows for the use of a cutting accessory 32 with high rigidity, This reduces line of sight interference from the nozzle 32 and reduces the volume at the end of the tip tube 100. The small size increases surgical accessibility and, further, the axial connector 110 and When used together, this allows for precise axial positioning.

[0111] The drive system 200, in particular the drive member 202, the wedge sleeve 208, and the clutch assembly The use of the drive 210 is not limited to the end effector 12. The power system 200 may be implemented in any type of device. For example, a manual power tool. A hand-operated power tool, e.g., a hand-operated power tool (not shown), can be equipped with the drive system 200. For example, the tool may be a hand-operated power tool for surgery.

[0112] Drive system 200 is not limited to use with irrigated cutting accessories. For example, the drive system 200 may be used in conjunction with a solid cutting tool. One such type of cutting tool may, for example, have a shaft having a diameter of 2 mm. Cut.

[0113] The end effector 12 and cutting accessory 32 are configured to direct liquid between the end effector 12 and the cutting accessory 32. A fluid delivery path L is defined through the cutting accessory 32 to the surgical site. One embodiment of the path L is shown in FIGS. 5 and 6, and other embodiments of the liquid delivery path L are 31. The bore 242, i.e., lumen 242, of the drive member 202, the tool 38 The holes in the nozzle 72 and the ports in the cutting head 72 define a fluid delivery path L.

[0114] 43-45, as will be further described below, the drive member 202 is The drive member 202 includes a nipple 244 configured to receive a tool shaft. The drive member 202 includes a nipple 244 and a bore 242 extending from the nipple 244 along the T and through the drive member 202. As previously mentioned, the drive member 202 includes a cut-off accessor 242 disposed within the bore 242 of the drive member 202. 32. That is, the cutting accessory 32 is releasably engaged with the shaft 42 of the cutting accessory 32. The drive member 202 is adapted to deliver liquid from the nipple 244 to the shaft 42. During cutting, liquid is delivered from nipple 244 into bore 242 of drive member 202 to drive Through the hole 242 in the member 202 and the hole 70 in the shaft 42, the port 74 in the cutting head 72 This will result in leakage into the surgical site.

[0115] 5 and 6, the stationary seal member 2, also referred to herein as the first seal element, 46 is disposed within the bore of the drive member 202. The stationary seal member 246 is When the reel 32 is received within the bore of the drive member 202, the drive member 202 and the cutting accessory To prevent liquid from leaking between the drive member 202 and the shaft 42 of the cutoff actuator 32, It seals the gap between the closure 32 and the fitting 32.

[0116] The stationary seal member 246 defines an aperture 248. The stationary seal member 246 is secured to the tool 38. When the shaft 42 is inserted into the hole 248, the hole 248 is configured to seal the exterior of the shaft 42. 43-45, the drive member 202 is configured with a stationary seal member 246. The stationary seal member 246 defines a pocket 250 for receiving a cutting accessory. 32 is slidably received within bore 248 along distal tube axis N. Specifically, The drive member 202 defines a pocket 250. The stationary seal member 246 is 2 and the cutting accessory 32 to seal between the driving member 202 and the cutting accessory 32. 32 and is rotatably fixed thereto.

[0117] The stationary seal member 246 is adapted to seal the drive member 202 and the shaft 42 of the cutting accessory 32 together. and the stationary seal member 246 is connected to the drive member 202 and the cutoff access. It is "static" in that it creates a stationary seal between the sari 32 and the The stationary seal member 246 may be made of, for example, a high temperature elastomeric material, such as autoclay. The material is silicone or Viton® which has good mechanical properties.

[0118] 5-6 and 56-58, the end effector 12 includes a carriage portion. The carriage member 252 includes a fluid delivery member. and configured to couple to the drive member 202 to deliver fluid to the bore 242 of the drive member 202. The carriage member 252 is adapted to be removably engaged with the drive member 202. Specifically, the carriage member 252 is removably attached to the nipple 244. The carriage member 252 is configured to connect to the rest of the end effector 12. The device is configured to deliver fluid, electricity, and / or data to a portion of the device. When the ridge member 252 is connected to the nipple 244, the carriage member 252 transports the liquid. The fluid is then in communication with a fluid delivery pathway L that is configured to deliver the fluid to the body delivery pathway L.

[0119] 5 and 6, a housing 254 is attached to the tip tube 100. The housing 254 is an empty space that removably receives the carriage member 252. The carriage member 252 and the cavity 256 may be, for example, a carriage. The member 252 is configured to be retained within the cavity 256 by a friction fit. Alternatively or additionally, the carriage member 252 and the cavity 256 may The slits 256 may have any type of feature for selectively retaining the slits 256 within the slits 256 .

[0120] The carriage member 252 may, for example, be configured to deliver liquid to the bore 242 of the drive member 202. , engages nipple 244 of drive member 202. Carriage member 252 is a liquid supply source. (not shown), the liquid source delivers liquid to the carriage member 252. The liquid supply source is controlled by, for example, the manipulator control device 30. A peristaltic pump is typically used. Tubing (not shown) typically transports the carriage member 252 through a Connected to a power source.

[0121] 56-58, the carriage member 252 is adapted to engage the nipple 22 of the drive member 202. 44 and a dynamic seal member 258, also referred to herein as the second seal element. The dynamic seal member 258 defines a bore 260 that receives the nipple 244. When the carriage member 252 is coupled to the drive member 202, the dynamic seal member 258 is disposed around the nipple 244 between the nipple 244 and the carriage member 252. The dynamic sole 258 is, for example, Teflon® impregnated polyamide.

[0122] The dynamic seal member 258 is adapted to move during relative rotation between the drive member 202 and the carriage member 252. The drive member 202 and the carriage member 252 are sealed to each other. The dynamic seal member 25 is rotatably engaged with at least one of the carriage members 252. 8 is typically held stationary on the carriage member 252 and the nipple 244 is As the moving member 202 rotates, it rotates relative to the dynamic seal member 258 . The dynamic seal member 258 moves as the nipple 224 rotates relative to the carriage member 252. The nipple 224 is configured to provide a seal between the nipple 224 and the carriage member 252. In fact, the dynamic seal member 258 is retained within the carriage member 252. The dynamic seal member 258 is adapted to seal the carriage member 252 when the carriage member 252 is disengaged from the drive member 202. It will move with the carriage member 252.

[0123] The drive member 202 extends along the distal tube axis N. The stationary seal member 246 is The dynamic seal member 258 extends about the tube axis N. When connected to the moving member 202, it extends about the distal tube axis N. 246 and dynamic seal member 258 when the carriage member is coupled to the drive member 202. , spaced apart from one another along the tip tube axis N. The stationary seal members 246 are driven along the axis. It is disposed between the dynamic connector 112 and the dynamic seal member 258 .

[0124] The carriage member 252 includes, for example, a data communication connector (not shown) and The housing 254 transmits data to the end effector 12 and receives data from the end effector. 1 and 2. The connector 12 has a corresponding data communication connector (not shown) for communication therewith. For example, the end effector 12 may store data in an NVRAM chip, as described further below. The information can be transmitted from the tag or RFID reader to the manipulator control device 30. For example, a method for transmitting data to a data communication connector and transmitting data from a data communication connector. To achieve this, the flex circuit is connected to the data communication connector of the carriage member 252. The flex circuit may, for example, be connected to at least a portion of the tubing and / or wiring, and The carriage member 252 extends along at least a portion of the piping and / or wiring. The data communication connector and the corresponding data communication connector on the housing are Data communication connectors, e.g., pins / corresponding sockets, plugs / receptacles, etc. Good too.

[0125] Alternatively, in the embodiment shown in FIG. 31, the shaft 42 of the cutting accessory 32 , extending through the drive connector 112 to the dynamic seal member 258 of the carriage member 252. Such a configuration may eliminate the need for a stationary seal member.

[0126] 59-62 and 70, the end effector 12 includes a handle 300 rotatably coupled to the tip tube 100. The handle 300 is supported by the tip tube 100 for rotation about a tip tube axis N. The handle 300 defines a bore 302 that receives the tip tube 100. The handle 300 is adapted to be grasped by an operator's hand to move the end effector 12 using the force / torque sensor 408 as previously described. The handle 300 typically has an ergonomic shape that conforms to the contours of the operator's hand. The handle 300 in FIGS. 59-62 is configured to be rotatably coupled to ... tube The handle 300 can be selectively locked by the tip tube 100 to selectively prevent rotation of the handle 300 relative to the tip tube 100 about axis N. The handle 300 in FIG. 70 is always freely rotatable about the tip tube 100.

[0127] 68 and 69, a sleeve 304 is connected to the distal tube 100. The sleeve 304 defines a threaded portion 306 having a central axis that coincides with the distal tube axis N. The sleeve 304 is fixed along the tip tube axis N with respect to the tip tube 100. It is fixed in the axial direction.

[0128] 67 and 68, the handle 300 is attached to the distal tube. 100. The sleeve 304 has an inner surface defining a threaded portion 310 which engages with a groove 306 in the sleeve 304 to couple to the inner surface of the sleeve 304. The sleeve 304 is typically attached to the distal end of the tip tube 100. Alternatively, it may be located anywhere along the tip tube 100. A bushing 312 may be disposed between the tip tube 100 and the sleeve 304. The bushing 312 is disposed between the tip tube 100 and the sleeve 304. It can be rotated relative to one another.

[0129] Referring to FIG. 61, a handle 300 is rotatably connected to the distal tube 100. As shown, a bushing 314 is disposed between the tip tube 100 and the handle 300. The receiver 314 is spaced from the sleeve 304 and is typically disposed along the length of the tip tube 100. The handpiece 302 is disposed between the sleeve 304 and the distal end 106 of the tip tube 100. An inner surface 308 of the bearing 300 engages a bushing 314. The bushing 314 may be, for example, a friction fit. The handle 300 is secured to the tip tube 100 by a bushing 308. 314. Alternatively, for example, the bushing 314 may be secured by a friction fit. A bushing 314 is fixed to the inner surface 308 of the handle 300 and is rotatable with the tip tube 100. may be engaged with

[0130] The handle 300 provides a sixth passive axis. The handle 300 can transmit motion with five degrees of freedom (DOF), and the handle 300 is It is configured to be passive, i.e., the handle 300 is limited in its motion about the sixth degree of freedom. That is, the rotation around the tip tube axis N is transmitted. Any torque applied to handle 300 will rotate handle 30 relative to tip tube 100. Referring to FIG. 3, the handle 300 is attached to the remainder of the end effector 12. For example, the distal tube 100 can be moved along the x-axis, y-axis, and x-axis. The handle 300 is designed to transmit rotational motion around the y-axis. is passive and does not transmit rotation about the z-axis to the tip tube 100. It looks like this.

[0131] 64-67, the handle 300 and the tip tube 100 are 00 to the tip tube 100. For example, the tip tube 100 may have a circumferential extension around the tip tube 100. The handle 300 defines teeth 318 that engage the teeth 318 and the handle 30 10 to the distal tube 100. The tip tube 100 includes, for example, a circumferential ring element 322 having teeth 318. is.

[0132] The locking member 320 is aligned with the teeth 318 along the distal tube axis N. Member 320 may, for example, be a set screw that threads into a threaded access hole 324 in handle 300. The set screw advances and retreats while threading into the access hole 324. This allows for engagement and disengagement with teeth 318 .

[0133] 63-77, the end effector 12 includes grip sensing mechanisms 400, 45. 0. The grip detection mechanism 400 according to one embodiment is shown in FIGS. Another embodiment of the grip detection mechanism 450 is shown in FIGS. When the robot 11 is operated in the manual mode, the grip detection mechanisms 400, 450 When the grip detection mechanism 400, 450 is released by the operator, e.g. If the operator inadvertently releases his or her grip on the end effector 12, the cutting arm may Operable to prevent movement and manipulation of accessory 32. During this time, the manipulator 10 continues to operate the grip detection mechanisms 400 and 450. As long as the cutting accessory 32 is in the ON position, the cutting accessory 32 can be moved and the actuator 34 The cutting accessory 32 can be powered to operate the cutting accessory 32. Once the grip detection mechanisms 400, 450 are released, the manipulator 10 is ready to use the cutting access. This prevents the actuator 34 from moving and prevents the actuator 34 from operating. If the operator's hands are not gripping the handle 300 of the end effector 12, the cutting arm The movement or driving, for example, rotation, of the accessory 32 is reliably prevented.

[0134] The grip sensing mechanisms 400 , 450 are typically supported on the handle 300 . The grip detection mechanisms 400 and 450 detect when the operator grips the handle 300. The actuator is configured to be actuated by manual engagement of the actuator.

[0135] Grip detection mechanism 400, 450 The handle 300 includes a lever 402, or trigger 402, movably mounted to the handle 300, and a sensor 408 that is actuated in response to movement of the lever 402. In other words, the sensor 408 is supported by the tip tube 100 and is configured to identify the position of the lever 402 in the gripping and release positions. Referring to FIG. 66, the handle 300 defines a slot 404, and the lever 402 is disposed within the slot 404.

[0136] 66-67 and 74-75, the lever 402 is typically The lever 402 is pivotally attached to the handle 300. When the user grabs the handle 300, the handle 300 is rotated relative to the handle 300. The bar 402 is supported by the distal tube 100, for example by a pin 406. and is pinned to the handle 300 between the pressed position and the released position. The lever 402 can be rotated about a pin 406. Alternatively, the lever 402 can be For example, the tip tube 302 may be slidably moved along the handle 300, i.e., along the axis of the tip tube. For example, the distal end tube may be configured such that the distal end tube is oriented transversely to the handle 300 with respect to the distal end tube axis N. The recess may be configured to be pushed inwardly.

[0137] When the lever 402 is pivoted to a depressed position relative to the handle 300, the sensor In the first state, the sensor 408 detects the manipulator 10 may move the end effector 12 and the actuator 34 may control the cutting actuation. Instruct the manipulator control device 30 that the accessory 32 may be operated to drive the accessory 32. When the lever 402 is pivoted to the release position relative to the handle 300, In the second state, the sensor 408 detects the position of the manipulator. that the actuator 10 should not move the end effector 12, and that the actuator 3 4 cannot be operated to drive the cutting accessory 32. It is set to 0.

[0138] Typically, an actuator is provided to actuate the sensor 408 between a first state and a second state. An activator 410 is coupled to the lever 402. The activator 410 is in a depressed position. and configured to communicate with a sensor 408 in response to movement of the lever 402 between the release and release positions. It has been made.

[0139] The activator 410 is configured such that actuation of the lever 402 results in movement of the activator 410. 402. As shown in FIG. Thus, the lever 402 activates the sensor 40 in response to the pivoting of the lever 402 relative to the handle 300. 8, the activator 410 is operated to translate the activator 410 with respect to the are possibly linked.

[0140] The sensor 408 is, for example, an inductive sensor, and the activator 410 is, for example, However, the sensor 408 may be any type of indicator member. The activator may be a sensor, such as a Hall effect sensor, a capacitive sensor, etc. It should be understood that any suitable type of actuation of lever 402 may be used. That is, movement of the lever 402 to the depressed position causes movement of the magnet relative to the Hall effect sensor. Alternatively, the sensor 408 and the actuator The detector 410 may be of any type, e.g., a light emitting diode (LED), a proximity It may be a light sensor activated by a sensor or the like.

[0141] 64-65 and 71, the grip detection mechanism 400, 450 includes a sensor A sensor holder 412 supports 408, and a carriage supports activator 410. The sensor holder includes a member 414, i.e., an activator holder 414. The activator holder 412 defines a notch for receiving the sensor 408. 414 defines a notch that receives the activator 410. At least one of the lever 402 and the activator holder 414 is connected to the lever 402. It is also configured to move in response to the actuation of lever 402.

[0142] 64-77, the sensor holder 412 and the activator holder 41 4 is connected to the tip tube 100, and includes a sensor holder 412 and an activator At least one of the holders 414 is movable relative to the other along the tip tube bore 102. For example, referring to FIG. 64 and FIG. 71, the sensor holder 412 and the adapter The activator holders 414 each slidably receive a tip tube 100. The sensor holder 412 is secured to the distal tube 100. The activator holder 414 is attached to the side facing the sensor holder 412 or the sensor holder 412. Attach the tip tube 100 along the tip tube hole 102 on the side away from the sensor holder 412. Alternatively, the activator holder 414 can be moved relative to the distal tube. 100, and the sensor holder 412 is fixed to the side facing the activator holder 414. or move away from the activator holder 414 relative to the distal tube hole 102. Alternatively, the activator holder 414 and the sensor holder 41 2 are connected to the tip tube hole 102 toward or away from each other. It may be movable.

[0143] 66-69 and 74-77, the activator holder 414 is As shown in Figures 66, 68, 74, and 76, a septum is provided along the distal tube 100. 67, 69, 75, and 77, the tip tube 100 is spaced apart from the sensor holder 412. The activator holder 414 can be moved to the separated position on the opposite side. At least one biasing mechanism 420 is provided for biasing the activator holder 4. 14 and the sensor holder 412. For example, FIG. As shown at 71, three biasing mechanisms 420 are attached to the activator holder 414 and the sensor. The biasing mechanism 420 is disposed between the activator holder 412 and the 14 is biased along the distal tube axis N toward a position spaced from the sensor holder 412. The biasing mechanism 420 shown in Figures 67 and 68 is configured as a coil spring. Alternatively, the biasing mechanism 420 can be any type of spring.

[0144] With further reference to FIGS. 64, 65, and 71, the support member 422 is 412 and the activator 414 support a biasing mechanism 420. For example, three support members 420 support three biasing mechanisms 420. are arranged around the support member 422, and the sensor holder 412 and the activator holder The support member 422 is configured to be held between the support member 414 and the support member 422. The material 422 extends between the sensor holder 412 and the activator holder 414. At least one of the sensor holder 412 and the activator holder 414 has a support portion. For example, the activator holder 414 is configured to slide along the material 422. 4, defines a bore 420 that slidably receives a post member 422. The post member 422 is The sensor holder 412 and the activator holder 414 are arranged around the tip tube axis N. are arranged in a straight line.

[0145] 64 and 65, a pusher member 420 is pivotally connected to the lever 402. and coupled to the activator holder 414. The pushing member 420 is in the pushing position. activator holder 414 toward the adjacent position in response to actuation of lever 402 toward the The lever 402 is configured to move the lever 402 and the pushing member 420. The pusher member 420 is pinned to the pusher member 420 by a pin 424 passing therethrough. It is pivotable relative to lever 402 about pin 424 .

[0146] 64 and 65, a sleeve 426 is attached to the activator holder 414. The activator holder 41 is disposed adjacent to the distal end tube 100 and slidably receives the distal end tube 100. 4 is connected to lever 420 and determines the position of the lever in the gripping and releasing positions. As shown by the sensor 408, the movement of the lever 420 between the gripped and released positions Accordingly, it is movable along the distal tube axis N relative to the sensor 408 .

[0147] The activator holder 414 extends annularly around the tip tube axis N. Furthermore, when the lever 420 moves between the gripping position and the release position, the distal tube 100 The pushing member 420 includes a fork-shaped element 428. The fork-shaped element 428 receives the sleeve 426 and is pivotably attached to the sleeve 426. The pusher member 420 pushes the distal tube 1 in response to the operation of the lever 402. 00, the pushing member 420 moves the sleeve 426, abuts against the activator holder 414 and moves the activator holder 414 This will result in the following:

[0148] 66 and 67, the pushing member 420 is at an acute angle to the lever 402. 402 toward the proximal end 108 of the tip tube 100, transversely with respect to the tip tube axis N. When the lever 402 is actuated, that is, when the lever 402 is moved to the pressed position, When moved, lever 402 pushes in pusher member 420, pushing sleeve 426 into the distal tube. 100 toward the proximal end of the distal end tube 426 along the distal end tube axis N. The tamper evacuation mechanism 420 biases the tamper evacuation mechanism 414 into a proximal position. If the pressing force of the sleeve 402 exceeds the biasing force of the biasing mechanism 420, the activator holder The operator moves the lever 414 to the adjacent position along the distal tube axis N. Upon releasing the bar 402, the biasing mechanism 420 urges the activator holder 414 to the spaced position. 426. The activator holder 414 is biased against the sleeve 426. The tip tube 100 is pushed toward the distal end of the tip tube 100. Movement of the sleeve 426 toward the distal end 106 causes the pusher member 420 to pivot, thereby , pushing lever 402 back into the released position.

[0149] As previously mentioned, another embodiment of a grip sensing mechanism 450 is shown in FIGS. 70 and 71, the grip detection mechanism 450 includes a sleeve 452. The sleeve 452 is connected to the lever 402 and is connected to the actuator. The sensor holder 414 and the sensor holder 412 are connected to at least one of the sensor holder 414 and the sensor holder 412. For example, As shown in FIG. 70, the sleeve 452 slidably engages the tip tube 100. At the same time, it abuts against the actuator holder 414 .

[0150] A pusher member 456 is provided for pushing the lever 402 to transfer the motion of the lever 402 to the sleeve 452. 02 and a sleeve 452. The sleeve 452 receives a pusher member 456. The lever 402 has a lip 454 that is secured to the lever 456. The lever 402 has a hole 458 that receives the lever 456. It is defined.

[0151] 74-77, when the lever 402 is actuated, i.e., the lever 402 When the lever 402 is moved to the pushed-in position, the lever 402 pushes the lever 456, and the carriage member 452 is slid along tip tube axis N toward the proximal end of tip tube 100. The carriage member 452 supports the activator holder 414 against the bias of the biasing mechanism 420. In other words, the pushing of the carriage member 452 causes the biasing mechanism 420 to The bias is overcome and the activator holder 414 is moved along the distal tube axis N to the proximal position. When the operator releases the lever 402, the biasing mechanism 420 activates the activator The activator holder 414 is biased to the separated position, and the activator holder 414 is 4, pushing the carriage member 452 toward the distal end 106 of the tip tube 100. Movement of the carriage member 452 toward the distal end 106 of the tip tube 100 causes the lever 456, thereby pushing lever 402 back to the released position. become.

[0152] As described above, the handle 300 is configured to rotate around the distal tube axis N. The lever 402 is supported rotatably by the end tube 0. The rotating part P is connected to the handlebar so as to be rotatable around the tip tube axis N. In other words, the lever 402 is fixed together with the handle 300, i.e. That is, the unit rotates around the tip tube axis N. 414 is rotatably supported by the tip tube 100 and is rotatably supported around the tip tube axis N. 300.

[0153] 78-83, the gear box 500 drives the actuator 34 as a drive member. 202. The gear box 500 moves the actuator 34 away from the tool axis T. In other words, the actuator 34 is offset from the carrier that supplies the liquid to the tool 38. The tool axis T is offset to provide access to the edge member 252. In this case, the actuator 34 is offset toward the manipulator 10. As a result, the center of gravity of the end effector 12 moves toward the manipulator 10. The inertia of the actuator 10 is reduced, improving the ergonomic handling of the end effector. The movement of the center of gravity of the end effector 12 causes the force / torque of the manipulator 10 to change. The performance of the lux sensor can be improved.

[0154] The gearbox 500 includes a housing 502 and is supported within the housing 502. The at least one gear 504 may be provided on the support 502. The gear 504 may be a The actuator 34 is adapted to transmit rotation to the drive member 202 so that the actuator The illustrated gear box 500 is in communication with the actuator 34 and the drive member 202. 2, the gear box 500 includes a single gear 504, and the motor and the drive member 202 and Alternatively, the actuator 34 may include a drive It is directly engaged with the member 202 and is arranged in axial alignment with the driving member 202. In such an embodiment, the actuator 34 may deliver irrigation fluid to the drive member. It is possible to insert a cannula that reaches

[0155] Referring to FIG. 79, the housing 502 holds the actuator 34 and the drive member 202. The actuator 34 includes an output shaft 506 and a drive member 202. The housing 502 includes an input portion 508 and an output shaft 42 and an input The output shaft 42 of the actuator 34 engages a gear 510. For example, the gear 510 is fixed to the output shaft 42, but the output shaft The gear 510 may be formed on the gear 50 within the housing 502. It is screwed onto 4.

[0156] An input portion 508 of the drive shaft 42 is engaged with a gear 504. An idler gear 512 is fixed to the input portion 508 of the drive member 202. 2 is threadedly engaged with a gear 504 within the housing 502.

[0157] 80, 82, and 83, the housing 502 includes a base 514 and a The base 514 includes a cover 516 attached to the base 514. The base 514 defines a cavity 518. The cavity 516 receives the gear 504 and is adapted to receive the input portion 508 of the drive shaft 42. and adapted to receive the output shaft 506 of the actuator 34. Referring to FIG. 81, an idler shaft 520 is disposed within the housing 502 and connected to gear 506. In other words, the gear 504 idles within the housing 502. and is driven by the output shaft 506 of the actuator 34.

[0158] The actuator 34 is typically a motor. For example, the motor may be an electric motor. , brushless motor, Hall-less motor, DC permanent magnet motor Alternatively, for example, the actuator 34 may be a brushed motor, an AC motor, It may be a pneumatic motor, a fluid pressure motor, or the like.

[0159] [IV. Identification of Cutting Accessories] 84-89, the cutting accessory 32 and / or the guard member 68 may include a first The tip tube 100 includes a second circuit 600, e.g., an identification element 600. The first circuit 600 and the second circuit 606 are configured to communicate with each other. It is composed of:

[0160] The identification element 600 may be, for example, a wireless data element 600 as shown in FIG. 84-FIG. 2 or wired data element 604 as shown in Figures 86-89. The element 600 is configured to communicate with the end effector 12 to identify the cutting accessory 32. For example, the identification element 600 may be configured to identify the cutting action to the end effector 12. Identify accessory type, size, manufacturer, life data, and / or other parameters. This can be done.

[0161] 84-85, the wireless data element 602 may be, for example, a radio frequency identification (RFID). ) elements, such as RFID chips, RFID tags, etc. Element 602 is attached to guard member 68. Alternatively, wireless data element 602 may be For example, the cutting tool 30 may be held by a cutting accessory 32 within a shroud. For example, the wireless data element 602 is connected to the inner surface 160 of the shroud 140 of FIGS. It may be continued.

[0162] Referring to FIG. 85, a second circuit 606, for example a wireless reader such as an RFID reader. (Wireless reader) 606 is attached to the distal tube 100. The wireless reader 606 For example, the coil may be a wired coil that acts as an antenna. The bearing is wound with a thermocouple wire which additionally acts as a temperature sensor for the bearing in the tube. It may be possible.

[0163] The wireless reader 606 is adapted to receive signals from the wireless data element 602. The line reader 606 is connected to the manipulator controller 30 and transmits the wireless data element 60 2 to the manipulator controller 30, thereby The data / signals are used by the controller 30 to control the cutting accessory 32 according to the parameters. As shown in FIG. 85, the signal / The data can be communicated to the manipulator controller 30. For example, the flex circuit 61 4 or wires etc. are connected to the wireless reader 606 to deliver signals / data.

[0164] Referring to FIG. 86, the wired data element 604 may be, for example, a non-volatile random access This memory is similar to the memory (NVRAM) of the cutting accessory 32 The nozzle is held within a shroud 40.

[0165] 86 and 87, one of the finger elements 64 of the shroud 40 may be, for example, The connectors connected to the wired data element 604 by flex circuits, wires, etc., not shown. 87, the distal tube 100 is connected to a cutting accessor 610. When the tip tube 100 is connected to the reel 32, the reel 32 is configured to connect to the connector 610. The cutting accessory 32 and / or the tip tube 10 are connected to a corresponding connector 612. 0 indicates that the connector 610 is connected to the distal tube 100 when the cutting accessory 32 is engaged with the distal tube 100. Align shroud 40 with tip tube 100 so that it is aligned with 612. The sensor may include alignment features (not shown) configured to

[0166] Referring to FIG. 89, a connection 612 transmits signals / data from the wireless communication element 602 to the manipulator. connected to the manipulator controller 30 so as to transmit the This allows the manipulator control device 30 to control the cutting access using the signal / data. The end effector 12 can be operated by the parameters of the actuator 32. As shown, signals / data can be communicated to the manipulator controller 30. For example, a flex circuit 616 or wires etc. may be connected to the connection 612 to carry signals / data. It has become possible to do so.

[0167] Next, the method of assembling the cutting accessory 32 into the distal tube 100 is as follows: This includes identifying the cutting accessory 32 to the controller 30. For example, In the embodiment of Figs. 84-85 where the circuit is attached to the guard member 68, the method further comprises: First, the cutting accessory 32 is provided with a guard member 68 that covers a part of the cutting accessory 32. Specifically, the guard member 68 is adapted to protect the cutting tip 50 of the cutting accessory 32. It covers.

[0168] This method, as previously described, involves moving the cutting accessory 32 along the tip tube axis N to the tip tube. 100 and connecting the cutting accessory 32 to the distal tube 100. The method includes causing a first circuit to communicate with a second circuit 606. Specifically, when the cutting accessory 32 is inserted into the distal tube 100, the first circuit 6 00 reaches within close enough range to enable wireless communication with the second circuit 606. become.

[0169] After the cutting accessory 32 is connected to the distal tube 100, the guard member 68 is removed. At this time, the first circuit 600 and the second circuit 606 are placed aside. Since the communication between the first circuit and the second circuit 606 is completed, the first circuit is no longer placed near the second circuit 606. There is no need to do so.

[0170] Although the present invention has been described in an illustrative manner, it should be understood that the terminology used is for purposes of explanation and not for purposes of limitation. In light of the above teachings, many variations and modifications of the present invention are possible, and the present invention may be practiced in ways other than those specifically described. The following describes aspects of the technical ideas that can be grasped from the above embodiments. [Aspect 1] a cutting accessory including a cutting tip and a shaft extending along an axis; a drive member configured to rotatably drive a shaft of the cutting accessory; and an actuator coupled to the drive member to rotatably drive the drive member; a clutch assembly supported by and configured to be selectively rotatable relative to the drive member, the clutch assembly configured to receive the shaft of the cutting accessory along the axis so as to selectively lock the shaft to the drive member; 1. An end effector of a surgical robot manipulator comprising: [Aspect 2] The end effector of embodiment 1, further comprising an axial connection disposed away from the clutch assembly and configured to releasably lock the cutting accessory to the tip tube along the axis. [Aspect 3] 3. The end effector of claim 2, wherein the axial connection is disposed between the clutch assembly and a cutting tip of the cutting accessory. [Aspect 4] the tip tube having a terminal end along the axis; The end effector of any one of aspects 2 to 3, wherein the cutting accessory extends from the terminal end through the axial connection to the clutch assembly. [Aspect 5] An end effector according to any one of aspects 2 to 4, wherein the axial connecting body extends along the axis and defines a hole for receiving the cutting accessory. [Aspect 6] The end effector of any one of aspects 1-5, wherein the clutch assembly defines a bore extending along the axis and receiving the cutting accessory. [Aspect 7] The end effector of any one of aspects 2-5, wherein the cutting accessory includes a shaft and a shroud rotatably coupled to the shaft and releasably engaged with the axial connecting body. [Aspect 8] 8. The end effector of claim 7, wherein the shaft is configured to releasably engage the clutch assembly. [Aspect 9] An end effector according to any one of claims 7 to 8, wherein the shaft includes an outer surface having a cylindrical cross-section that releasably engages the clutch assembly. [Aspect 10] the shaft includes an outer surface having a cylindrical cross-section of a constant outer diameter extending from the shroud to a free end; 9. The end effector of claim 7 or 8, wherein the clutch assembly is configured to releasably engage the outer surface. [Aspect 11] the cutting accessory includes a bar; the shroud extends along the axis between a first end proximal to the bar and a second end distal to the bar; 9. The end effector of claim 7 or 8, wherein the shaft is configured to extend from a distal end of the shroud to the clutch assembly. [Aspect 12] the cutting accessory includes a shaft and a bar; 7. The end effector of any one of aspects 1-6, wherein the shaft is configured to releasably engage the clutch assembly. [Aspect 13] 13. The end effector of embodiment 12, wherein the shaft includes an outer surface having a cylindrical cross-section that is releasably engaged with the clutch assembly. [Aspect 14] the shaft includes an outer surface having a cylindrical cross-section of a constant outer diameter extending from the bar to a free end; 13. The end effector of claim 12, wherein the clutch assembly is configured to releasably engage the outer surface. [Aspect 15] the clutch assembly includes a cage element defining a plurality of slots extending along and spaced circumferentially about the axis, and a plurality of roller elements disposed within the plurality of slots, 15. An end effector according to any one of aspects 1-14, wherein the roller elements are spaced apart from one another and configured to receive a shaft of the cutting accessory therebetween. [Aspect 16] 16. The end effector of embodiment 15, wherein the plurality of roller elements are configured to be radially movable relative to the cage element. [Aspect 17] a contact surface rotatably mounted to the drive member and defining an aperture for receiving the clutch assembly; 17. The end effector of embodiment 16, wherein the contact surface is configured to selectively bias the plurality of roller elements against the shaft. [Aspect 18] a cutting accessory including a shaft and a shroud rotatably coupled to the shaft; a distal end tube extending along an axis for releasably receiving the cutting accessory; a groove and finger elements disposed between the shroud and the tip tube, the finger elements being flexible relative to the shroud and configured to engage the groove to releasably lock the cutting accessory to the tip tube along the axis; 1. An end effector of a surgical robot manipulator comprising: [Aspect 19] 19. The end effector of embodiment 18, further comprising an axial connector disposed along the tip tube to releasably lock the finger element within the groove. [Aspect 20] An end effector as described in aspect 19, wherein the axial connection body is configured to move the finger elements radially relative to the axis of the tip tube. [Aspect 21] the axial connector includes a tubular element supported on the tip tube; 21. The end effector of claim 19 or 20, wherein the tubular element is configured to be movable relative to the tip tube to selectively engage the finger element within the groove. [Aspect 22] the axial connector includes a ball element; 22. The end effector of claim 21, wherein the ball element is connected to the tip tube and attached to the tubular element along the axis of the tip tube. [Aspect 23] The end effector of any one of aspects 18 to 22, further comprising a drive connection supported on the tip tube and configured to receive the cutting accessory so as to rotatably drive the cutting actuator. [Aspect 24] 24. The end effector of claim 23, wherein the shaft of the cutting actuator is configured to be releasably engaged with the drive connection. [Aspect 25] the shaft includes an outer surface having a cylindrical cross-section of a constant outer diameter extending from the shroud to a free end; 25. The end effector of claim 24, wherein the drive connection is configured to releasably engage the outer surface. [Aspect 26] 26. The end effector of any one of aspects 23-25, wherein the drive connector is spaced apart from the axial connector along the axis of the tip tube. [Aspect 27] 27. The end effector of any one of aspects 18-26, wherein the groove and the finger elements are positioned radially relative to one another relative to an axis of the tip tube. [Aspect 28] a tip tube extending along an axis for releasably receiving a cutting accessory, the tip tube defining a slot; a finger supported on said tip tube, said finger having a projection aligned with said slot and biased to pass through said slot to engage said cutting accessory; a locking collar rotatably supported on the tip tube adjacent the finger element, the finger element being disposed between the tip tube and the locking collar, the locking collar having a notch selectively aligned with the finger element to allow the protrusion to be forced into the slot; 1. An end effector of a surgical robot manipulator comprising: [Aspect 29] the locking collar has a wall defining the notch; An end effector as described in aspect 28, wherein the locking collar is configured to be rotatable about the axis of the tip tube between a locked position in which the wall abuts the finger element and a disengaged position in which the notch is aligned straight with the finger element. [Aspect 30] The end effector of aspect 28 or 29, further comprising a tubular element supported by the tip tube and rotatably attached to the locking collar to move the locking collar between the locked position and the disengaged position. [Aspect 31] 31. The end effector of embodiment 30, further comprising a ball element extending from the tubular element to the locking collar and rotatably attached to the tubular element and the locking collar about the axis of the tip tube. [Aspect 32] the tip tube is disposed between the tubular element and the locking collar and defines a second slot between the tip tube and the locking collar; An end effector according to aspect 30, wherein the tubular element engages the locking collar through the second elongated hole. [Aspect 33] 33. The end effector of embodiment 32, wherein the second slot defines a detent for indicating locked and unlocked positions of the tubular element. [Aspect 34] A cutting accessory; a tip tube extending from a shaft, the tip tube configured to releasably engage and rotatably support the cutting accessory; an axial connector supported by the tip tube and configured to releasably lock the cutting accessory to the tip tube along the axis; a drive connection supported by the tip tube and configured to receive the cutting accessory so as to rotatably drive the cutting accessory; an actuator coupled to the drive connection to rotate the drive connection relative to the tip tube; Equipped with An end effector of a surgical robot manipulator, wherein the axial connection body is configured to be movable along the axis between a locked position that retains the cutting accessory and a disengaged position that releases the cutting accessory. [Aspect 35] the tip tube includes a terminal end along the axis; 35. The end effector of claim 34, wherein the cutting accessory extends from the terminal end through the axial connection to the drive connection. [Aspect 36] An end effector according to aspect 34 or 35, wherein the axial connecting body extends along the axis and defines a hole for receiving the cutting accessory. [Aspect 37] 37. The end effector of any one of aspects 34-36, wherein the drive connection defines a bore extending along the axis and receiving the cutting accessory. [Aspect 38] An end effector according to any one of aspects 34 to 37, wherein the cutting accessory includes a shaft and a shroud rotatably connected to the shaft and releasably engaged with the axial connecting body. [Aspect 39] 39. The end effector of embodiment 38, wherein the shaft is configured to be releasably engaged with the drive connection. [Aspect 40] 40. An end effector according to embodiment 39, wherein the shaft includes an outer surface having a cylindrical cross-section that is releasably engaged with the drive connection. [Aspect 41] the shaft includes a cylindrical outer surface having a cylindrical cross section of a constant outer diameter extending from the shroud to a free end; 40. The end effector of embodiment 39, wherein the drive connection is configured to releasably engage the outer surface. [Aspect 42] the cutting accessory includes a bar; the shroud extends along the axis between a first end proximal to the bar and a second end distal to the bar; 39. The end effector of embodiment 38, wherein the shaft extends from a distal end of the shroud to the drive connection. [Aspect 43] 1. An end effector of a surgical robotic manipulator configured to rotationally drive a cutting accessory, comprising: a tip tube extending along the axis; an axial connector carried by the tip tube, the axial connector configured to lock the cutting accessory relative to the tip tube along the axis; a drive connection rotatably supported by the tip tube, the drive connection configured to receive the cutting accessory along the axis and to rotatably drive the cutting accessory; an actuator coupled to the drive connection to rotate the drive connection relative to the tip tube; Equipped with The end effector, wherein the axial connection body is configured to be movable along the axis between a locked position that retains the cutting accessory and a disengaged position that releases the cutting accessory. [Aspect 44] the tip tube includes a terminal end along the axis; 44. The end effector of claim 43, wherein the axial connection is disposed along the axis between the terminal end and the drive connection. [Aspect 45] An end effector as described in embodiment 44, wherein the axial connecting body defines a hole extending along the axis to receive the cutting accessory. [Aspect 46] The drive connector is Cutting Accessories 46. ​​The end effector of embodiment 45, further comprising a hole extending along the axis to receive the end effector. [Aspect 47] 47. The end effector of claim 46, wherein the axial connection and the drive connection are disposed about the axis. [Aspect 48] a tip tube extending along the axis; a cutting accessory including a shroud releasably engaged with the tip tube and a cutting tool rotatably coupled to the shroud; an actuator coupled to the cutting tool to rotate the cutting tool relative to the shroud; an axial connector carried by the tip tube and configured to be movable along the axis between an engagement position for engaging the shroud of the cutting accessory and a disengagement position for disengaging the shroud of the cutting accessory; 1. An end effector of a surgical robot manipulator comprising: [Aspect 49] the axial connector includes a ring element; An end effector as described in aspect 48, wherein the ring element is configured to extend radially around the shroud so as to clamp the shroud against the tip tube when the cutting accessory is engaged to the tip tube and the axial connecting body is in the engaged position. [Aspect 50] the shroud includes a base rotatably coupled to the cutting tool and a plurality of finger elements extending from the base; An end effector as described in aspect 48 or 49, wherein the axial connecting body is configured to engage the plurality of finger elements when the cutting accessory is engaged to the tip tube and the axial connecting body is in the engaged position. [Aspect 51] An end effector as described in aspect 50, wherein the plurality of finger elements are configured to be flexible relative to the base. [Aspect 52] An end effector as described in aspect 50, wherein the tip tube defines a recess that receives the plurality of finger elements when the cutting accessory is engaged to the tip tube. [Aspect 53] 53. An end effector according to embodiment 52, wherein each of the plurality of finger elements defines a protrusion configured to engage the recess. [Aspect 54] 55. The end effector of any one of aspects 48 to 54, further comprising a spring disposed between the tip tube and the ring element, the spring configured to bias the axial connector toward the engaged position. [Aspect 55] An end effector described in any one of aspects 48 to 54, wherein the axial connecting body and the cutting accessory shroud include opposing surfaces that face each other along the axis when the cutting accessory is engaged with the tip tube. [Aspect 56] 1. A cutting accessory releasably engaged to a distal tube of an end effector of a surgical robotic manipulator, comprising: A shaft extending along an axis; A bar fixed to the shaft; a shroud comprising a body rotatably coupled to the shaft and at least one finger element, the at least one finger element extending from the body along the axis away from the bar and configured to releasably engage the tip tube; Equipped with A cutting accessory, wherein the at least one finger element is configured to be flexible relative to the body so as to flex during engagement with the tip tube. [Aspect 57] the shroud extends along the axis between a first end proximal to the bar and a second end distal to the bar; the at least one finger element has a beveled surface; A cutting accessory as described in embodiment 56, wherein the beveled surface tapers radially inward in a direction from the first end toward the second end so as to contact the tip tube and deflect the finger element during engagement of the cutting accessory to the tip tube. [Aspect 58] 58. The cutting accessory of claim 57, wherein the beveled surface terminates at a second end of the shroud. [Aspect 59] 59. The cutting accessory of embodiment 58, further comprising a protrusion extending from the at least one finger element at the second end, the protrusion being configured to engage the tip tube. [Aspect 60] 57. The cutting accessory of embodiment 56, further comprising a protrusion extending from the at least one finger element, the protrusion configured to engage the tip tube. [Aspect 61] A cutting accessory according to any one of aspects 56-60, wherein the at least one finger element includes a plurality of finger elements spaced apart from one another in a ring shape about the axis. [Aspect 62] 62. The cutting accessory of any one of aspects 56-61, wherein the shroud defines a hole for receiving the shaft. [Aspect 63] 63. The cutting accessory of any one of aspects 56-62, further comprising a bearing disposed in the bore and coupled to the shaft and the shroud. [Aspect 64] a rotational drive member configured to be coupled to the actuator and defining a lumen for receiving a fluid; a cutting accessory configured to be releasably engageable with the rotational drive member, the cutting accessory defining a lumen in communication with a lumen of the rotational drive member; a drive connection coupled to the rotational drive member for engaging the cutting accessory to drive the cutting accessory; a fluid delivery member coupled to the rotary drive member to deliver fluid to the rotary drive member; a first sealing element within a lumen of the rotary drive member, the first sealing element rotatably mounted to the rotary drive member and the cutting accessory so as to seal between the rotary drive member and the connecting accessory; and a second sealing element disposed between and sealing the drive connection and the fluid delivery member, the second sealing element rotatably engaging at least one of the rotary drive member and the fluid delivery member to seal between the rotary drive member and the fluid delivery member during relative rotation of the rotary drive member and the fluid delivery member; 1. An end effector of a surgical robot manipulator comprising: [Aspect 65] 65. An end effector according to embodiment 64, wherein the fluid delivery member is removably engaged to the rotational drive member. [Aspect 66] The rotary drive member extends along an axis; An end effector according to one of aspects 64 or 65, wherein the first sealing element and the second sealing element extend around the axis and are spaced apart from each other along the axis. [Aspect 67] An end effector as described in embodiment 66, wherein the first sealing element is configured to slidably receive the cutting accessory along the axis. [Aspect 68] the drive connection is disposed about the shaft; 68. The end effector of claim 66 or 67, wherein the first seal element is disposed along the axis between the drive connection and the second seal element. [Aspect 69] the rotary drive member having a nipple releasably received by the fluid delivery member; An end effector according to any one of aspects 64 to 68, wherein the second sealing element is disposed around the nipple, between the nipple and the fluid delivery member. [Aspect 70] 70. The end effector of any one of aspects 64-69, wherein the second sealing element is retained on the fluid delivery member. [Aspect 71] a cutting accessory configured to cut tissue of a patient; an actuator coupled to the cutting accessory to drive the cutting accessory; a tip tube extending along the axis; a lever supported by the tip tube and configured to be pivotable relative to the tip tube between a depressed position and a released position; a sensor supported by the tip tube and configured to identify a position of the lever in the depressed and released positions; a carriage member coupled to the lever, the carriage member configured to be movable relative to the sensor along the axis in response to movement of the lever between the depressed position and the released position to indicate to the sensor the position of the lever in the depressed position and the released position; 1. An end effector of a surgical robot manipulator comprising: [Aspect 72] the carriage member extends annularly about the axis of the tip tube; 72. The end effector of embodiment 71, wherein the lever is configured to slide along the tip tube as it moves between the depressed position and the released position. [Aspect 73] 73. The end effector of embodiment 71 or 72, further comprising a pusher member pivotally connected to the lever and the carriage member. [Aspect 74] 74. The end effector of any one of aspects 71-73, further comprising an activator configured to communicate with the sensor to indicate a position of the lever in the depressed position and the released position. [Aspect 75] the sensor is fixed relative to the tip tube; The end effector of embodiment 74, wherein the activator is fixed relative to the carriage member. [Aspect 76] a handle supported by the tip tube for rotation about an axis of the tip tube; The lever is pivotally connected to the tip tube about a pivot portion, 76. The end effector of any one of aspects 71 to 75, wherein the pivot portion is fixed relative to the handle about the axis of the tip tube. [Aspect 77] 77. An end effector according to embodiment 76, wherein the carriage member is rotatably supported by the tip tube and configured to rotate together with the handle about the tip tube. [Aspect 78] a cutting accessory configured to cut tissue of a patient; an actuator coupled to the cutting accessory to drive the cutting accessory; a distal tube extending along an axis and configured to receive the cutting accessory; a handle supported by the tip tube for rotation about an axis of the tip tube; a lever connected to the handle around a pivot part and configured to be pivotable around the pivot part between a pressed position and a released position, the pivot part being fixed to the handle around the axis; a sensor supported by the tip tube and configured to identify the position of the lever in the depressed and released positions; 1. An end effector of a surgical robot manipulator comprising: [Aspect 79] 79. The end effector of embodiment 78, wherein the handle is axially fixed to the tip tube along the axis of the tip tube. [Aspect 80] a carriage member coupled to the lever; An end effector as described in aspect 78 or 79, wherein the carriage member is configured to be movable along the axis relative to the sensor in response to movement of the lever between the depressed position and the released position so as to indicate to the sensor the position of the lever at the depressed position and the released position. [Aspect 81] the carriage member extends annularly about the axis of the tip tube; 81. The end effector of embodiment 80, wherein the lever is configured to slide along the tip tube as it moves between the depressed position and the released position. [Aspect 82] 82. The end effector of embodiment 80 or 81, further comprising a pusher member pivotally connected to the lever and the carriage member. [Aspect 83] 83. The end effector of any one of aspects 80-82, further comprising an activator configured to communicate with the sensor to indicate a position of the lever in the depressed position and the released position. [Aspect 84] the sensor is fixed relative to the tip tube; The end effector of embodiment 83, wherein the activator is fixed relative to the carriage member. [Aspect 85] a tip tube extending along the axis; a cutting accessory releasably coupled to the distal tube for cutting tissue of a patient; an actuator coupled to the cutting accessory when the cutting accessory is coupled to the tip tube to drive the cutting accessory; a removable guard member releasably coupled to the cutting accessory so as to cover a portion of the cutting accessory; a first circuit and a second circuit configured to communicate with each other, the first circuit being attached to the guard member and the second circuit being attached to the tip tube; 1. An end effector of a surgical robot manipulator comprising: [Aspect 86] the first circuit is a radio frequency identification circuit, 86. The end effector of embodiment 85, wherein the second circuit is a radio frequency identification reader. [Aspect 87] An end effector as described in embodiment 85, wherein the first circuit includes identification data identifying parameters of the cutting accessory. [Aspect 88] 1. A method of assembling a cutting accessory to an end effector of a surgical robotic manipulator using a guard member that removably covers a portion of the cutting accessory, the guard member carrying a first circuit, the end effector including a tip tube that extends along an axis and carries a second circuit, the method comprising: providing the cutting accessory with the guard member covering a portion of the cutting accessory; inserting the cutting accessory into the tip tube along an axis of the tip tube and connecting the cutting accessory to the tip tube; placing the first circuit in communication with the second circuit; removing the guard member from the cutting accessory; The method includes: [Aspect 89] the first circuit is a radio frequency identification circuit; 89. The method of embodiment 88, wherein the second circuit is a radio frequency identification reader. [Aspect 90] 89. The method of embodiment 88, wherein the first circuit has identification data identifying parameters of the cutting accessory.

Claims

1. A cutting accessory; a tip tube extending from a shaft, the tip tube configured to releasably engage and rotatably support the cutting accessory; an axial connector supported by the tip tube and configured to releasably lock the cutting accessory to the tip tube along the axis; a drive connection supported by the tip tube and configured to receive and rotatably drive the cutting accessory along the axis; an actuator coupled to the drive connection to rotate the drive connection relative to the tip tube; Equipped with An end effector of a surgical robot manipulator, wherein the axial connection body is configured to be movable along the axis between a locked position that retains the cutting accessory and a disengaged position that releases the cutting accessory.

2. the tip tube includes a terminal end along the axis; The end effector of claim 1 , wherein the cutting accessory extends from the terminal end through the axial connection to the drive connection.

3. The end effector of claim 1 or 2, wherein the axial connection body extends along the axis and defines a bore for receiving the cutting accessory.

4. The end effector of any one of claims 1 to 3, wherein the drive connection defines a bore extending along the axis and receiving the cutting accessory.

5. The end effector of any one of claims 1 to 4, wherein the cutting accessory includes a shaft and a shroud rotatably coupled to the shaft and releasably engaged to the axial connection.

6. The end effector of claim 5 , wherein the shaft is configured to be releasably engaged with the drive connection.

7. The end effector of claim 6 , wherein the shaft includes an outer surface having a cylindrical cross-section that is releasably engaged with the drive connection.

8. the shaft includes a cylindrical outer surface having a cylindrical cross section of a constant outer diameter extending from the shroud to a free end; The end effector of claim 6 , wherein the drive connection is configured to releasably engage the outer cylindrical surface.

9. the cutting accessory includes a bar; the shroud extends along the axis between a first end proximal to the bar and a second end distal to the bar; The end effector of claim 5 , wherein the shaft extends from a distal end of the shroud to the drive connection.

10. 1. An end effector of a surgical robotic manipulator configured to rotationally drive a cutting accessory, comprising: a tip tube extending along the axis; an axial connector carried by the tip tube, the axial connector configured to lock the cutting accessory relative to the tip tube along the axis; a drive connection rotatably supported by the tip tube, the drive connection configured to receive the cutting accessory along the axis and to rotatably drive the cutting accessory; an actuator coupled to the drive connection to rotate the drive connection relative to the tip tube; Equipped with The end effector, wherein the axial connection body is configured to be movable along the axis between a locked position that retains the cutting accessory and a disengaged position that releases the cutting accessory.

11. the tip tube includes a terminal end along the axis; The end effector of claim 10 , wherein the axial connection is disposed along the axis between the terminal end and the drive connection.

12. The end effector of claim 11 , wherein the axial connection defines a bore extending along the axis for receiving the cutting accessory.

13. The end effector of claim 12 , wherein the drive connection defines a bore extending along the axis for receiving the cutting accessory.

14. The end effector of claim 13 , wherein the axial connection and the drive connection are disposed about the axis.

15. 1. A surgical robotic system, comprising: A surgical robotic manipulator; a cutting accessory for cutting tissue of a patient; an end effector coupleable with the surgical robotic manipulator, handle, an actuator disposed within the handle and coupled to the cutting accessory to drive the cutting accessory; a tip tube coupled to the handle and extending along an axis; and an axial connector disposed about a distal end of the tip tube and supported by the tip tube to releasably lock the cutting accessory to the tip tube along the axis, the axial connector being movable along the axis between a locked position that retains the cutting accessory and a disengaged position that releases the cutting accessory; an end effector including: A surgical robot system comprising:

16. the tip tube includes a terminal end along the axis; 16. The surgical robotic system of claim 15, wherein the cutting accessory extends from the terminal end through the axial connection to a drive connection, the drive connection being rotatably supported by the tip tube and configured to receive and rotatably drive the cutting accessory along the axis.

17. The surgical robotic system of claim 16 , wherein the cutting accessory includes a shaft and a shroud rotatably coupled to the shaft and releasably engaged to the axial connection.

18. the cutting accessory includes a bar; the shroud extends along the axis between a first end proximal to the bar and a second end distal to the bar; The surgical robotic system of claim 17 , wherein the shaft extends from a distal end of the shroud to the drive connection.

19. The surgical robot system of any one of claims 15 to 18, wherein the end effector further comprises a mount configured to couple the handle to the surgical robot manipulator.

20. 1. A surgical robotic system, comprising: A surgical robotic manipulator; a cutting accessory for cutting tissue of a patient; an end effector coupleable with the surgical robotic manipulator, handle, an actuator disposed within the handle and coupled to the cutting accessory to drive the cutting accessory; a tip tube coupled to the handle and extending along an axis; and a drive connection rotatably supported by the tip tube and configured to receive and rotatably drive the cutting accessory along the axis; and an axial connector disposed about a distal end of the tip tube, supported by the tip tube, and configured to lock the cutting accessory relative to the tip tube along the axis, the axial connector being movable along the axis between a locked position that retains the cutting accessory and a disengaged position that releases the cutting accessory; an end effector including: A surgical robot system comprising:

21. the tip tube includes a terminal end along the axis; The surgical robotic system of claim 20 , wherein the cutting accessory extends from the terminal end through the axial connection to the drive connection.

22. 22. The surgical robotic system of claim 20 or 21, wherein the cutting accessory includes a shaft and a shroud rotatably coupled to the shaft and releasably engaged to the axial connection.

23. the cutting accessory includes a bar; the shroud extends along the axis between a first end proximal to the bar and a second end distal to the bar; The surgical robotic system of claim 22 , wherein the shaft extends from a distal end of the shroud to the drive connection.

24. The surgical robot system of any one of claims 20 to 23, wherein the end effector further comprises a mount configured to couple the handle to the surgical robot manipulator.

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