US-12616468-B2 - Articulation subsystems for robotic stapling and cutting systems

US12616468B2US 12616468 B2US12616468 B2US 12616468B2US-12616468-B2

Abstract

The present disclosure relates to systems, devices, and subsystems for robotic surgeries. The surgical instrument is a robotic attachment that includes an articulation subsystem comprising a rotatable shaft, a distal channel retainer coupled to an end effector that is pivotable about an articulation pivot point, an articulation bushing slidable between a proximal position and a distal position, an articulation rod extending distally from the articulation bushing and coupled at a distal end to the distal channel retainer; and a rack movable with respect to the longitudinal axis of the rotatable shaft. Movement of the rack with respect to the longitudinal axis imparts an axial force onto the articulation bushing moving the articulation bushing between the proximal position and the distal position. Movement of the articulation bushing between the distal position and the proximal position actuates the articulation rod causing the distal channel retainer to pivot about the articulation pivot point.

Inventors

CHRISTOPHER BATTY
Robert Jason Simms
Jonathan Von Stein
Maria Lupp
Jason Bryant

Assignees

CILAG GMBH INTERNATIONAL

Dates

Publication Date: 20260505
Application Date: 20240717

Claims (20)

1 . An articulation subsystem for a surgical instrument comprising: a rotatable shaft having a longitudinal axis; a distal channel retainer coupled to an end effector, the distal channel retainer being pivotable about an articulation pivot point; an articulation bushing slidable between a proximal position and a distal position along the longitudinal axis of the rotatable shaft; an articulation rod extending distally from the articulation bushing and coupled at a distal end to the distal channel retainer; a rack movable with respect to the longitudinal axis of the rotatable shaft; and a rack gear engaged with the rack, rotation of the rack gear moving the rack with respect to the longitudinal axis, wherein the rack is positioned at least partially between the rack gear and the rotatable shaft, wherein movement of the rack with respect to the longitudinal axis imparts an axial force onto the articulation bushing moving the articulation bushing between the proximal position and the distal position, and wherein movement of the articulation bushing between the distal position and the proximal position actuates the articulation rod causing the distal channel retainer to pivot about the articulation pivot point.
2 . The articulation subsystem according to claim 1 , wherein the articulation bushing is rotationally independent of the rack.
3 . The articulation subsystem according to claim 1 further comprising: an articulation input puck engageable with an articulation robotic output; an articulation drive shaft extending from the articulation input puck and comprising a drive gear; and a compound gear engaged with the drive gear and the rack gear, wherein rotation of the articulation input puck rotates the rack gear, moving the rack with respect to the longitudinal axis.
4 . The articulation subsystem according to claim 3 , wherein the rack gear is a tube gear, and the articulation drive shaft is positioned within the rack gear.
5 . The articulation subsystem according to claim 3 , wherein the rack gear is a first rack gear, the articulation subsystem further comprising: a second rack gear engaged with the rack, rotation of the first rack gear and the second rack gear together moving the rack with respect to the longitudinal axis.
6 . The articulation subsystem according to claim 5 , wherein the first rack gear and the second rack gear simultaneously rotate in opposite directions to cause the rack to move with respect to the longitudinal axis.
7 . The articulation subsystem according to claim 5 , wherein the rack is positioned at least partially between the second rack gear and the rotatable shaft.
8 . The articulation subsystem according to claim 5 , wherein the articulation bushing is a first articulation bushing, the rack is a first rack, and the articulation rod is a first articulation rod, the articulation subsystem further comprising: a second articulation bushing slidable between a second proximal position and a second distal position along the longitudinal axis of the rotatable shaft; and a second rack movable with respect to the longitudinal axis of the rotatable shaft, wherein movement of the second rack with respect to the longitudinal axis imparts an axial force onto the second articulation bushing to move the second articulation bushing between the second proximal position and the second distal position, wherein movement of the second articulation bushing between the second distal position and the second proximal position actuates a second articulation rod causing the distal channel retainer to pivot about the articulation pivot point.
9 . The articulation subsystem according to claim 8 , wherein movement of the first articulation bushing from the distal position to the proximal position actuates the distal channel retainer in a first direction, and wherein movement of the second articulation bushing from the second distal position to the second proximal position actuates the distal channel retainer in a second direction.
10 . The articulation subsystem according to claim 8 , the articulation subsystem further comprising a second rack gear engaged with the second rack, rotation of the second rack gear moving the second rack with respect to the longitudinal axis.
11 . The articulation subsystem according to claim 10 further comprising: a second articulation input puck engageable with a second articulation robotic output; a second articulation drive shaft extending from the second articulation input puck and comprising a second drive gear; and a proximal compound gear engaged with the second drive gear and the second rack gear, rotation of the second articulation input puck rotates the second rack gear moving the second rack with respect to the longitudinal axis.
12 . The articulation subsystem according to claim 11 , wherein the first rack is positioned at least partially on a side of the first rack gear opposite the rotatable shaft and the second rack is positioned at least partially on a side of the second rack gear opposite the rotatable shaft.
13 . The articulation subsystem according to claim 11 , wherein the second rack gear is a tube gear, and the second articulation drive shaft is positioned within the second rack gear.
14 . The articulation subsystem according to claim 8 , wherein the second rack is positioned at least partially between the second rack gear and the rotatable shaft.
15 . The articulation subsystem according to claim 1 , wherein the articulation rod is slidable through a rod groove in the rotatable shaft.
16 . The articulation subsystem according to claim 1 , wherein the rack gear is a first rack gear, the articulation subsystem further comprising: a second rack gear engaged with the rack, rotation of the first rack gear and the second rack gear together moving the rack with respect to the longitudinal axis, wherein the first rack gear and the second rack gear simultaneously rotate in opposite directions to cause the rack to move with respect to the longitudinal axis, and wherein rack is positioned at least partially between the second rack gear and the rotatable shaft.
17 . An articulation subsystem for a surgical instrument comprising: a rotatable shaft having a longitudinal axis; an articulation rod extending along the rotatable shaft and rotationally coupled to the rotatable shaft; an articulation bushing slidable from a first position to a second position along the longitudinal axis of the rotatable shaft, the articulation bushing being rotationally coupled to the rotatable shaft; 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 articulation bushing; a second rack movable with respect to the longitudinal axis of the rotatable shaft, the second rack being rotationally independent of the rotatable shaft and the articulation bushing; and a rack gear engaged with at least one of the first rack or the second rack, wherein the first rack or the second rack is positioned at least partially between the rack gear and the rotatable shaft, wherein rotation of the 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 articulation bushing moving the articulation bushing from the first position to the second position.
18 . The articulation subsystem according to claim 17 , wherein movement of the articulation bushing from the first position to the second position causes an end effector of the surgical instrument to pivot about an articulation pivot point.
19 . The articulation subsystem according to claim 17 , wherein the rack gear is rotationally engaged with an articulation input puck, the articulation input puck being engageable with an articulation robotic output.
20 . The articulation subsystem according to claim 17 , wherein the first rack and the second rack are integral.

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. In one example, the surgical instrument described herein includes an articulation subsystem for a surgical instrument. The articulation subsystem comprises a rotatable shaft having a longitudinal axis and a distal channel retainer coupled to an end effector, the distal channel retainer being pivotable about an articulation pivot point. The articulation subsystem further comprises an articulation bushing slidable between a proximal position and a distal position along the longitudinal axis of the rotatable shaft and an articulation rod extending distally from the articulation bushing and coupled at a distal end to the distal channel retainer. The articulation subsystem further comprises a rack movable with respect to the longitudinal axis of the rotatable shaft, wherein movement of the rack with respect to the longitudinal axis imparts an axial force onto the articulation bushing moving the articulation bushing between the proximal position and the distal position. Furthermore, movement of the articulation bushing between the distal position and the proximal position actuates the articulation rod causing the distal channel retainer to pivot about the articulation pivot point. The disclosed technology includes 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 rotationally coupled to the rotatable shaft, and 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 can be rotationally coupled to the rotatable shaft. The articulation subsystem can further include a first rack movable with respect to the longitudinal axis of the rotatable shaft with the first rack being rotationally independent of the rotatable shaft and the first articulation bushing. The articulation subsystem can further include a first rack gear engaged with the first rack. Rotation of the first rack gear can move the first rack with respect to the longitudinal axis and movement of the first rack with respect to the longitudinal axis can impart 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. It is expected that those of skill in the art can conceive of and combine elements from multiple figures to better suit the needs of the user. FIG. 1 sho