Robotic electrosurgical device with disposable shaft

Abstract

An apparatus includes an interface assembly and a shaft assembly. The interface assembly is for use with a robotic system and includes a first drive assembly. The first drive assembly includes a first slot having a distal recess and a transverse recess. The shaft assembly is removably couplable with the interface assembly and includes an end effector and a first coupling feature. The first drive assembly of the interface assembly actuates the end effector of the shaft assembly. The first coupling feature is couplable with the first slot of the first drive assembly to longitudinally fix the shaft assembly relative to the interface assembly.

1 .- 20 . (canceled) 
     
     
         21 . An apparatus, the apparatus comprising:
 (a) an interface assembly, wherein the interface assembly comprises:
 (i) a base comprising a mounting plate configured to couple with a robotic arm, 
 (ii) a first drive assembly comprising a first drive shaft configured to rotate relative to the base about a first axis, and 
 (iii) a second drive assembly comprising a second drive shaft configured to rotate relative to the base about a second axis; and 
   (b) a coupling assembly configured to selectively couple a shaft assembly with the interface assembly, wherein the coupling assembly comprises:
 (i) a first coupling body operatively coupled with the first drive assembly such that the first drive assembly is configured to rotate the first coupling body about a longitudinal axis, wherein the first coupling body defines a first opening extending along the longitudinal axis, wherein the first opening is dimensioned to receive and couple with the shaft assembly, and 
 (ii) a second coupling body operatively coupled with the second drive assembly such that the second drive assembly is configured to translate the second coupling body along the longitudinal axis, wherein the second coupling body defines a second opening extending along the longitudinal axis, wherein the second opening is dimensioned to receive and couple with the shaft assembly. 
   
     
     
         22 . The apparatus of  claim 21 , wherein the interface assembly further comprises a third drive assembly comprising a third drive shaft configured to rotate relative to the base about a third axis. 
     
     
         23 . The apparatus of  claim 22 , wherein the coupling assembly further comprises a third coupling body and a fourth coupling body, wherein the third coupling body defines a third opening extending along the longitudinal axis, wherein the fourth coupling body defines a fourth opening extending along the longitudinal axis, wherein the third drive shaft is configured to simultaneously translate the third coupling body and the fourth coupling body in opposite directions along the longitudinal axis. 
     
     
         24 . The apparatus of  claim 23 , wherein the first coupling body is distal relative to the second coupling body. 
     
     
         25 . The apparatus of  claim 24 , wherein both the third coupling body and the fourth coupling body are distal relative to the second coupling body. 
     
     
         26 . The apparatus of  claim 25 , wherein the shaft comprises a first coupling feature configured to couple the shaft with the first coupling body, wherein the third coupling body defines a pathway dimensioned to receive the first coupling feature of the shaft such that the first coupling feature is configured to slide through the third opening in order to couple with the first coupling body. 
     
     
         27 . The apparatus of  claim 26 , wherein the shaft comprises a second coupling feature configured to couple the shaft with the second coupling body, wherein the third coupling body defines a second pathway dimensioned to receive the second coupling feature of the shaft such that the second coupling feature is configured to slide through the third opening in order to couple with the first coupling body. 
     
     
         28 . The apparatus of  claim 21 , wherein the first coupling body comprises a gear configured to mesh with the first drive assembly. 
     
     
         29 . The apparatus of  claim 28 , wherein the gear of the first coupling body comprises a helical gear. 
     
     
         30 . The apparatus of  claim 29 , wherein the first drive assembly comprises a corresponding helical gear configured to mesh with the helical gear of the first coupling body. 
     
     
         31 . The apparatus of  claim 21 , wherein the second coupling body associates with a rack. 
     
     
         32 . The apparatus of  claim 31 , wherein the rack comprises a semi-circular bracket that houses a portion of the second coupling body. 
     
     
         33 . The apparatus of  claim 21 , wherein the first axis is perpendicular to the longitudinal axis. 
     
     
         34 . The apparatus of  claim 21 , wherein the second axis is perpendicular to the longitudinal axis. 
     
     
         35 . The apparatus of  claim 21 , wherein the first axis and the second axis extend parallel to each other. 
     
     
         36 . An apparatus, the apparatus comprising:
 (a) an interface assembly, wherein the interface assembly comprises:
 (i) a base comprising a mounting plate configured to couple with a robotic arm, 
 (ii) a first drive assembly comprising a first drive shaft configured to rotate relative to the base about a first axis, and 
 (iii) a second drive assembly comprising a second drive shaft configured to rotate relative to the base about a second axis; and 
   (b) a coupling assembly configured to selectively couple a shaft assembly with the interface assembly, wherein the coupling assembly comprises:
 (i) a rotating coupling body operatively coupled with the first drive assembly such that the first drive assembly is configured to rotate the rotating coupling body about a longitudinal axis, wherein the first coupling body defines a first through hole extending along the longitudinal axis, wherein the first through hole is dimensioned to receive and couple with the shaft assembly such that rotation of the rotating body drives corresponding rotation of the shaft assembly, and 
 (ii) a translating coupling body operatively coupled with the second drive assembly such that the second drive assembly is configured to translate the translating coupling body along the longitudinal axis, wherein the second translating body defines a second opening extending along the longitudinal axis, wherein the second opening is dimensioned to receive and couple with the shaft assembly such that translation of the translating body drives corresponding translation of a portion of the shaft assembly. 
   
     
     
         37 . The apparatus of  claim 36 , wherein the coupling assembly further comprises an articulating body defining a third opening, wherein the third opening is dimensioned to receive and couple with the shaft assembly such that translation of the articulating body drives articulation of the shaft assembly. 
     
     
         38 . The apparatus of  claim 37 , wherein the articulation body is proximal relative to both the rotating coupling body and the translating coupling body. 
     
     
         39 . The apparatus of  claim 37 , wherein the third opening extends along the longitudinal axis. 
     
     
         40 . An apparatus, the apparatus comprising:
 (a) an interface assembly, wherein the interface assembly comprises:
 (i) a base comprising a mounting plate configured to couple with a robotic arm, 
 (ii) a first drive assembly comprising a first drive shaft configured to rotate relative to the base about a first axis, and 
 (iii) a second drive assembly comprising a second drive shaft configured to rotate relative to the base about a second axis; and 
   (b) a coupling assembly configured to selectively couple a shaft assembly with the interface assembly, wherein the coupling assembly comprises:
 (i) a rotating coupling body operatively coupled with the first drive assembly such that the first drive assembly is configured to rotate the rotating coupling body about a longitudinal axis, wherein the first coupling body defines a first opening extending along the longitudinal axis, wherein the first opening is dimensioned to receive and couple with the shaft assembly such that rotation of the rotating body drives corresponding rotation of the shaft assembly, 
 (ii) a first translating coupling body operatively coupled with the second drive assembly, wherein the first translating body defines a second opening extending along the longitudinal axis, wherein the second opening is dimensioned to receive and couple with the shaft assembly, and 
 (iii) a second translating coupling body operatively coupled with the second drive assembly, wherein the second translating body defines a third opening extending along the longitudinal axis, wherein the third opening is dimensioned to receive and couple with the shaft assembly; 
 wherein the second drive shaft is rotatable in a first rotational direction to simultaneously drive translation of the first translating body and the second translating body in opposite directions.