Surgical instrument with robotic and manual actuation features

Abstract

A surgical instrument may comprise a housing and a shaft a shaft extending within the housing. The shaft may include first and second ends. The shaft may be configured for rotation in response to either a robotic actuation of the shaft or a manual actuation of the shaft. The surgical instrument may also comprise a receiving member coupled to the first end of the shaft. The receiving member may be configured to releasably couple to a driver of a robotic manipulator to receive the robotic actuation from the driver to rotate the shaft and articulate an instrument component coupled to the shaft. The surgical instrument may also comprise a manual actuation component coupled to the second end of the shaft and extending from the housing. The manual actuation component may be configured to receive the manual actuation to rotate the shaft and articulate the instrument component coupled to the shaft.

1 - 20 . (canceled) 
     
     
         21 . A surgical instrument, comprising:
 a housing;   a shaft extending within the housing, the shaft including a first end and a second end, wherein the shaft is configured for rotation in response to either a robotic actuation of the shaft or a manual actuation of the shaft;   a receiving member coupled to the first end of the shaft, the receiving member configured to releasably couple to a driver of a robotic manipulator to receive the robotic actuation from the driver to rotate the shaft and articulate an instrument component coupled to the shaft; and   a manual actuation component coupled to the second end of the shaft and extending from the housing, wherein the manual actuation component is configured to receive the manual actuation to rotate the shaft and articulate the instrument component coupled to the shaft.   
     
     
         22 . The surgical instrument of  claim 21 ,
 wherein the receiving member is a rotatable receiving member; and   wherein the driver is a rotatable driver.   
     
     
         23 . The surgical instrument of  claim 21 ,
 wherein the manual actuation component is a handle including a handle portion extending approximately perpendicular to the shaft.   
     
     
         24 . The surgical instrument of  claim 21 ,
 wherein the instrument component includes a valve pinch arm.   
     
     
         25 . The surgical instrument of  claim 21 ,
 wherein the instrument component includes a gear.   
     
     
         26 . The surgical instrument of  claim 25 ,
 wherein the gear is concentric with the shaft.   
     
     
         27 . The surgical instrument of  claim 25 ,
 wherein the gear is non-concentric with the shaft.   
     
     
         28 . The surgical instrument of  claim 21 ,
 wherein the instrument component includes a spool concentric with the shaft.   
     
     
         29 . The surgical instrument of  claim 28 ,
 wherein the instrument component further includes a first cable coupled to a first spool portion of the spool such that rotation of the shaft in a first direction winds the first cable around the first spool portion.   
     
     
         30 . The surgical instrument of  claim 29 ,
 wherein the instrument component further includes a second cable coupled to a second spool portion of the spool such that rotation of the shaft in a second direction winds the second cable around the second spool portion.   
     
     
         31 . The surgical instrument of  claim 29 , further comprising an elongate member extending from the housing, wherein the rotation of the shaft in the first direction actuates the first cable to move the elongate member. 
     
     
         32 . The surgical instrument of  claim 21 , further comprising a spring coupled to the shaft to bias the rotation of the shaft.