US-12616467-B2 - Systems and subsystems for articulating a surgical instrument

US12616467B2US 12616467 B2US12616467 B2US 12616467B2US-12616467-B2

Abstract

Systems and subsystems for articulating an end effector of a stapler are disclosed. More specifically, the present disclosure relates to systems, devices, and subsystems for attachments for robotic surgeries. The surgical instrument is a robotic attachment. The surgical instrument includes an articulation subsystem that moves independently of other subsystems that are operable independently of each other.

Inventors

CHRISTOPHER BATTY
Raffaele DEFINIS
Robert Jason Simms
Jonathan Von Stein

Assignees

CILAG GMBH INTERNATIONAL

Dates

Publication Date: 20260505
Application Date: 20240717

Claims (14)

1 . An articulation subsystem for a surgical instrument comprising: a rotatable shaft having a longitudinal axis; an articulation rod extending along the longitudinal axis of the rotatable shaft and being rotationally coupled to the rotatable shaft; a first articulation bushing slidable from a first position to a second position along the longitudinal axis of the rotatable shaft, the first articulation bushing being rotationally coupled to the rotatable shaft; a first rack comprising first rack gearing, the first rack movable with respect to the longitudinal axis of the rotatable shaft, the first rack being rotationally independent of the rotatable shaft and the first articulation bushing; a first rack gear comprising first teeth engageable with the first rack gearing; a second rack comprising second rack gearing, the second rack movable with respect to the longitudinal axis of the rotatable shaft, the second rack and first rack together forming a cylinder with a lumen therethrough; and a second rack gear comprising second teeth engageable with the second rack gearing, the second rack gearing positioned diametrically opposite the first rack gearing on an outer surface of the cylinder, wherein rotation of the second rack gear moves the second rack with respect to the longitudinal axis, wherein rotation of the first rack gear moves the first rack with respect to the longitudinal axis, and wherein movement of the first rack with respect to the longitudinal axis imparts an axial force onto the first articulation bushing moving the first articulation bushing from the first position to the second position.
2 . The articulation subsystem according to claim 1 , wherein the second rack is positioned between the second rack gear and the rotatable shaft.
3 . The articulation subsystem according to claim 1 , wherein the first rack and the second rack are integral.
4 . The articulation subsystem according to claim 3 , wherein the first articulation bushing comprises a distal flange, and the first rack is axially constrained distally by the distal flange.
5 . The articulation subsystem according to claim 4 , wherein the first articulation bushing is axially constrained proximally by a locking ring.
6 . The articulation subsystem according to claim 3 further comprising a first articulation bearing, wherein the first rack comprises a first bearing surface, and the first articulation bearing is disposed between the first bearing surface and the first articulation bushing.
7 . The articulation subsystem according to claim 6 , wherein the first bearing surface is semicircular.
8 . The articulation subsystem according to claim 6 , wherein the first rack comprises a first housing track surface slidable within a track in an outer housing.
9 . An articulation subsystem for a surgical instrument comprising: a rotatable shaft having a longitudinal axis; an articulation rod extending along the longitudinal axis of the rotatable shaft and being rotationally coupled to the rotatable shaft; a first articulation bushing slidable from a first position to a second position along the longitudinal axis of the rotatable shaft, the first articulation bushing being rotationally coupled to the rotatable shaft; a first rack comprising a first articulation bearing surface, the first rack being movable with respect to the longitudinal axis of the rotatable shaft, and being rotationally independent of the rotatable shaft and the first articulation bushing; a first rack gear engaged with the first rack; and a first articulation bearing disposed between the first bearing surface of the first rack and the first articulation bushing, wherein rotation of the first rack gear moves the first rack with respect to the longitudinal axis, and wherein movement of the first rack with respect to the longitudinal axis imparts an axial force onto the first articulation bushing moving the first articulation bushing from the first position to the second position.
10 . The articulation subsystem according to claim 9 , wherein the first bearing surface is semicircular.
11 . The articulation subsystem according to claim 9 , wherein the first rack comprises a first housing track surface slidable within a track in an outer housing.
12 . The articulation subsystem according to claim 9 , wherein the first articulation bearing enables the first articulation bushing to rotate independent of the first rack.
13 . The articulation subsystem according to claim 12 further comprising a second articulation bearing, wherein the first articulation bearing is positioned proximate a distal end of the first rack, and the second articulation bearing is positioned proximate a proximal end of the first rack.
14 . The articulation subsystem according to claim 13 , wherein the first articulation bearing is constrained distally by a flange of the first articulation bushing, and the second articulation bearing is constrained proximally by a locking ring.

Description

CROSS REFERENCE TO RELATED APPLICATIONS The present application claims the benefit of, and priority to, U.S. Provisional Application Ser. No. 63/514,972 filed on Jul. 21, 2023, U.S. Provisional Application Ser. No. 63/515,001 filed on Jul. 21, 2023, U.S. Provisional Application Ser. No. 63/634,201 filed on Apr. 15, 2024, and U.S. Provisional Application Ser. No. 63/634,171 filed on Apr. 15, 2024, the disclosures of which are expressly incorporated herein by reference. FIELD OF INVENTION The present disclosure generally relates to systems, devices, and subsystems for cutting and stapling tissue. More specifically, the present disclosure relates to systems, devices, and subsystems for attachments for robotic surgeries. BACKGROUND Stapling is a crucial aspect of many surgical procedures, such as gastrointestinal, thoracic, and gynecological surgeries. Robotic surgical systems have gained significant recognition in recent years due to their potential to enhance surgical precision and dexterity. However, the development of a dedicated surgical stapling instrument that integrates seamlessly into the surgical workflow of a multi-purpose robot remains an unmet need for many surgeons. SUMMARY It is an object of the present designs to provide devices and methods to meet the above-stated needs. The designs can be for systems, devices, and subsystems for stapling attachments for robotic surgeries. The attachments can have several subsystems that can be independently actuated to provide a specific action, such as closing of an end effector of the stapler, articulation of the end effector, rolling of the end effector, and firing of the staples within the end effector. The instant disclosure describes an articulation subsystem, which can be one of a number of subsystems for a surgical instrument. The articulation subsystem includes a rotatable shaft having a longitudinal axis. The articulation subsystem includes a distal channel retainer coupled to an end effector, the distal channel retainer being pivotable about an articulation joint. The articulation subsystem includes a first articulation bushing slidable from a first position to a second position along the longitudinal axis of the rotatable shaft. The articulation subsystem includes an articulation rod extending distally from the first articulation bushing and coupled at a distal end to the distal channel retainer. The articulation subsystem includes a first rack movable with respect to the longitudinal axis of the rotatable shaft. Movement of the first rack with respect to the longitudinal axis imparts an axial force onto the first articulation bushing moving the first articulation bushing from the first position to the second position. Movement of the first articulation bushing from the first position to the second position actuates the articulation rod causing the distal channel retainer to pivot about the articulation joint. The instant disclosure describes an articulation subsystem, which can be one of a number of subsystems for a surgical instrument. The articulation subsystem includes a rotatable shaft having a longitudinal axis. The articulation subsystem includes an articulation rod extending along the longitudinal axis of the rotatable shaft and being rotationally coupled to the rotatable shaft. The articulation subsystem includes a first articulation bushing slidable from a first position to a second position along the longitudinal axis of the rotatable shaft, the first articulation bushing being rotationally coupled to the rotatable shaft. The articulation subsystem includes a first rack movable with respect to the longitudinal axis of the rotatable shaft, the first rack being rotationally independent of the rotatable shaft and the first articulation bushing. The articulation subsystem includes a first rack gear engaged with the first rack. Rotation of the first rack gear moves the first rack with respect to the longitudinal axis. Movement of the first rack with respect to the longitudinal axis imparts an axial force onto the first articulation bushing moving the first articulation bushing from the first position to the second position. Other aspects of the present disclosure will become apparent upon reviewing the following detailed description in conjunction with the accompanying figures. Additional features or manufacturing and use steps can be included as would be appreciated and understood by a person of ordinary skill in the art. BRIEF DESCRIPTION OF THE DRAWINGS The above and further aspects of this invention are further discussed with reference to the following description in conjunction with the accompanying drawings, in which like numerals indicate like structural elements and features in various figures. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating principles of the invention. The figures depict one or more implementations of the inventive devices, by way of example only, not by way of limitation. I