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CN-121985913-A - System and subsystem for articulating a surgical instrument

CN121985913ACN 121985913 ACN121985913 ACN 121985913ACN-121985913-A

Abstract

A surgical instrument designed to operate with a robotic platform is disclosed. The surgical instrument assembly includes a shaft, an end effector, a knife firing subsystem for actuating a function of the end effector, an articulation subsystem actuatable to articulate the end effector, an articulation joint about which the end effector is articulated, a roll subsystem for rolling the shaft, and a housing coupled to the robotic platform. The articulation subsystem includes an articulation joint having a plurality of concentric discs and a center beam assembly. The distal end of the center beam assembly couples the plurality of concentric discs to the end effector. The proximal end of the center beam assembly couples the plurality of concentric discs to the shaft.

Inventors

  • W. C. Ryle
  • D Mario
  • P. Mubarak
  • J. Little Mozlum
  • J. Akbar
  • Z. Miller
  • J. FRANKLIN

Assignees

  • 西拉格国际有限公司

Dates

Publication Date
20260505
Application Date
20240718
Priority Date
20230721

Claims (20)

  1. 1. An articulation joint (300) for a surgical instrument (1000), comprising: a plurality of concentric discs (302), each concentric disc of the plurality of concentric discs (302) having a concentric central opening (304); A center beam assembly (306), the center beam assembly (306) including a proximal end (306A) and a distal end (306B), a portion of the center beam assembly (306) extending through the central opening (304) of each concentric disc (302), the plurality of concentric discs (302) nestably stacked on the center beam assembly (306), the center beam assembly (306) compressing the plurality of concentric discs (302), the distal end (306B) of the center beam assembly (306) configured to couple the plurality of concentric discs (302) to an end effector (200) of the surgical instrument (1000), and the proximal end (306A) of the center beam assembly (306) configured to couple the plurality of concentric discs (302) to a shaft (602) of the surgical instrument (1000).
  2. 2. The articulation joint (300) of claim 1, wherein each of the plurality of concentric discs (302) comprises: An articulation socket (308); An articulation pin (310), the articulation pin (310) protruding outwardly from the articulation socket (308); A first push coil opening (312A), the first push coil opening (312A) being defined through the articulation socket (308) and configured to receive a first push coil (508) through the first push coil opening (312A), and A first articulation cable opening (314A), the first articulation cable opening (314A) being defined through the articulation socket (308) and being configured to receive a first articulation cable (402) through the first articulation cable opening (314A).
  3. 3. The articulation joint (300) of claim 2, wherein each concentric disc (302) further comprises a second push coil opening (312B), the second push coil opening (312B) being defined through the articulation socket (308) and configured to receive a second push coil (510) through the second push coil opening (312B).
  4. 4. The articulation joint (300) of any of claims 2 to 3, wherein each concentric disc (302) further comprises: A second articulation cable opening (314B), the second articulation cable opening (314B) being defined through the articulation socket (308) and being configured to receive a second articulation cable (404) that passes through the second articulation cable opening (314B); A third articulation cable opening (314C), the third articulation cable opening (314C) being defined through the articulation socket (308) and being configured to receive a third articulation cable (406) through the third articulation cable opening (314C).
  5. 5. The articulation joint (300) of claim 4, wherein each concentric disc (302) further comprises: A fourth articulation cable opening (314D), the fourth articulation cable opening (314D) being defined through the articulation socket (308) and being configured to receive a fourth articulation cable (408) through the fourth articulation cable opening (314D).
  6. 6. The articulation joint (300) of any one of claims 2 to 5, wherein each concentric disc (302) further comprises: A rounded articulation pin proximal end (310A), and A hemispherical pin receiving opening (316), the hemispherical pin receiving opening (316) defined in the articulation socket (308).
  7. 7. The articulation joint (300) of claim 6, wherein each circular articulation pin proximal end (310A) pivotally engages in an adjacent pin receiving opening (316) of an adjacent concentric disc (302).
  8. 8. The articulation joint (300) of any one of claims 2 to 7, wherein the concentric disc openings (304) are defined in the articulation pin (310) of each concentric disc (302).
  9. 9. The articulation joint (300) of any one of claims 2 to 8, wherein the articulation socket (308) includes a socket plate (318) and a pin retention socket (320).
  10. 10. The articulation joint (300) of any one of claims 1 to 9, further comprising a fastener (322), the fastener (322) configured to couple the distal end (306B) of the center beam assembly (306) to the end effector (200).
  11. 11. The articulation joint (300) of any one of claims 1 to 10, wherein the distal end (306B) of the center beam assembly (306) includes a distal end retention disc (334), the distal end retention disc (334) defining a first articulation cable retention opening (334A) configured to retain a first articulation cable distal end (402A).
  12. 12. The articulation joint (300) according to any one of claims 1 to 11, wherein the articulation joint (300) has at least two degrees of freedom.
  13. 13. The articulation joint (300) of any one of claims 1 to 12, wherein the center beam assembly further comprises a center beam (328) extending through each of the concentric discs (302), a jack screw (330), and a second disc retaining bearing (332), the jack screw (330) being threadably coupled with the second disc retaining bearing (332) to adjust the compressive force of the center beam (328).
  14. 14. The articulation joint of any one of claims 1 to 12 wherein the center beam assembly further comprises a center beam (328), the center beam (328) further comprising a nitinol core (328A) and stainless steel (328B) wrapped around the nitinol core, the center beam (328) resiliently flexing in response to pivoting of at least one of the concentric discs.
  15. 15. The articulation joint of claim 14 wherein the stainless steel comprises a clockwise weave and a counterclockwise weave on the nitinol core.
  16. 16. The articulation joint (300) of any one of claims 1 to 15, wherein the distal end (306B) of the center beam assembly (306) is configured to abut a knife slider (236).
  17. 17. The articulation joint (300) of any one of claims 1 to 16, further comprising a plurality of pins (336), the plurality of pins (336) constraining rotational degrees of freedom between adjacent concentric discs (302) about a Roll Axis (RA).
  18. 18. The articulation joint (300 ') according to any one of claims 1-10 and 12-17, wherein the distal end (306B) of the center beam assembly (306) includes an integrally formed distal channel retainer (340'), the distal channel retainer (340 ') (1) defining at least one articulation cable retention opening (342') configured to retain a first articulation cable distal end, and (2) configured to be directly connected to an end effector (200) of the surgical instrument (1000).
  19. 19. The articulation joint (300) of any one of claims 1 to 10 and 12 to 17, wherein the distal end (306B) of the center beam assembly (306) includes a distal end retention disc (334 '), the distal end retention disc (334 ') defining a pair of first articulation cable retention openings (334A '), the pair of first articulation cable retention openings (334A ') being configured to retain and rewire a continuous articulation cable (400A ') so as to functionally separate the continuous articulation cable into a first articulation cable (404 ') and a second articulation cable (408 ').
  20. 20. The articulation joint (300) of claim 19, wherein the distal end retention disc (334 ') further defines a pair of second articulation cable retention openings (334C'), the pair of second articulation cable retention openings (334C ') configured to re-route the continuous articulation cable (400A').

Description

System and subsystem for articulating a surgical instrument Cross Reference to Related Applications The present application claims the benefit and priority of U.S. provisional patent application Ser. No. 63/515,020 (attorney docket No. END9566USPSP 1) filed on 21, 2023 and U.S. provisional patent application Ser. No. 63/640,289 (attorney docket No. END9566USPSP 2) filed on 30, 2024, the disclosures of which are expressly incorporated herein by reference. Background The present disclosure relates to surgical instruments and, in various arrangements, to surgical stapling and severing instruments designed to staple and sever tissue and staple cartridges for use therewith. Disclosure of Invention The disclosed technology may be used in systems, devices, and subsystems of surgical instruments for robotic surgery. The surgical instrument may have several subsystems that can be independently actuated to provide specific actions, such as closure and opening of the end effector of the stapler, articulation of the end effector, roll of the end effector, and firing of staples within the end effector. The disclosed technology describes an articulation joint that may be one of several subsystems and/or subcomponents of a surgical instrument. The articulation joint includes a plurality of concentric discs, each of the plurality of concentric discs having a concentric central opening. The articulation joint includes a center beam assembly that includes a proximal end and a distal end. A portion of the center beam assembly extends through the center opening of each concentric disc. A plurality of concentric discs are nestably stacked on the center beam assembly, and the center beam assembly compresses the plurality of concentric discs. The distal end of the center beam assembly is configured to couple a plurality of concentric discs to an end effector of a surgical instrument. The proximal end of the center beam assembly is configured to couple the plurality of concentric discs to a shaft of a surgical instrument. The articulation joint may be combined with one or more of an end effector, an articulation subsystem, a firing subsystem, a rolling subsystem for implementation in a surgical instrument. The disclosed technology describes a cable articulation subsystem that may be one of several subsystems and/or sub-components of a surgical instrument. The cable articulation subsystem includes a joint that includes a distal end. The cable articulation subsystem includes at least three articulation cables. The distal end of each articulation cable is coupled to the joint distal end. The proximal end of each articulation cable is separately manipulable to cause rotation of the joint about at least one of a pitch axis and a yaw axis. The cable articulation subsystem may be combined with one or more of an end effector, an articulation joint, a firing subsystem, a rolling subsystem, and a housing for implementation in a surgical instrument. The disclosed technology describes a cable articulation system that may be one or more of several subsystems and/or subcomponents of a surgical instrument. The system includes a joint (300, 300') including a distal end (306B). The system includes a shaft assembly (600A). The system includes a housing (700) coupled to a shaft assembly (600A). The system includes at least three articulation cables (402, 404, 406). The distal end (402A, 404A, 406A) of each articulation cable (402, 404, 406) is coupled to the joint distal end (306B) and extends from the joint and through the shaft assembly (600A). The proximal end (402B, 404B, 406B) of each articulation cable (402, 404, 406) is movably mounted in the housing (700). The proximal end (402B, 404B, 406B) of each articulation cable (402, 404, 406) is separately manipulable to cause rotation of the joint (300) about at least one of a Pitch Axis (PA) and a Yaw Axis (YA). The disclosed technology describes a cable articulation subsystem that may be one of several subsystems and/or sub-components of a surgical instrument. The cable articulation subsystem includes a joint that includes a distal end. The cable articulation subsystem includes only two continuous articulation cables with a middle section of each continuous articulation cable mechanically anchored to the joint distal end to functionally separate each continuous articulation cable into a first articulation cable and a second articulation cable. The proximal end of each first articulation cable and each second articulation cable can be separately manipulated to cause rotation of the joint about at least one of the pitch axis and the yaw axis. Drawings FIG. 1 is a schematic perspective view of a surgical system including a surgical instrument in accordance with the disclosed technology; FIG. 2 is a schematic detail view of portions of an end effector, articulation joint, and cable articulation subsystem, knife firing subsystem, and roll subsystem in accordance with the disclosed techniques; FIG. 3 is