# US 10,478,186 B2 · Electrosurgical device with disposable shaft having rack and pinion drive > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,478,186 B2 - Document ID: US10478186B2 - Status: Granted - Kind: B2 - Application number: 15/642,840 - Filed: 2017-07-06 - Published: 2017-12-28 - Granted: 2019-11-19 - Earliest claimed: 2013-03-13 - Assignees: Ethicon, Inc. - Applicants: Ethicon LLC - Inventors: Shailendra K. Parihar; Barry C. Worrell; David T. Martin; William J. White; Gregory W. Johnson - Web page: https://patentgrep.com/patent/US10478186B2 ## CPC - A61B 17/07207: {the staples being applied sequentially} - A61B 17/320092: {with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw} - A61B 34/30: Surgical robots - A61B 18/1445: {at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod} - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2017/2903: {transferring rotary motion} - A61B 2017/2905: {flexible} - A61B 2017/2923: {Toothed members, e.g. rack and pinion} - A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft} - A61B 2017/320093: {additional movable means performing cutting operation} - A61B 2017/320094: {additional movable means performing clamping operation} - A61B 2017/320095: {with sealing or cauterizing means} - A61B 2017/320097: {with stapling means} - A61B 2018/1455: {having a moving blade for cutting tissue grasped by the jaws} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract An apparatus comprises an end effector, a shaft assembly, and an interface assembly. The end effector is coupled with the shaft assembly. The shaft assembly comprises a translating member extending through the shaft assembly. The interface assembly is operable to engage the shaft assembly and comprises a plurality of drive shafts and a rack. One of the drive shafts is operable to drive the rack along a path that is parallel to the longitudinal axis of the shaft assembly. A plurality of racks may be used to rotate the shaft assembly, articulate the shaft assembly, and/or drive the translating member through the shaft assembly to thereby actuate the end effector. ## Claims ### Claim 1 An apparatus for operating on tissue, the apparatus comprising: (a) a surgical end effector; (b) a shaft assembly, wherein the surgical end effector is coupled with the shaft assembly, wherein the shaft assembly defines a longitudinal axis, wherein the shaft assembly comprises a translating member extending through the shaft assembly, wherein the translating member is movable parallel to the longitudinal axis; and (c) an interface assembly structured and positioned to engage the shaft assembly, wherein the interface assembly comprises: (i) an elongate beam in communication with the translating member, (ii) a drive shaft, wherein the drive shaft is rotatable about a drive shaft axis, and (iii) a spur gear in communication with the drive shaft, wherein the spur gear is further in communication with the elongate beam, wherein gear teeth of the spur gear are structured and positioned to drive the elongate beam along a path that is parallel to the longitudinal axis of the shaft assembly. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the shaft assembly comprises a tube, wherein the tube defines a slot therein, wherein the elongate beam is structured and positioned to communicate with the translating member through the slot. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the interface assembly comprises a ring extending around the tube, wherein the elongate beam is secured to the ring. ### Claim 4 (depends on 3) The apparatus of claim 3, wherein the ring comprises a ring block extending into the slot, wherein the ring block is secured to the translating member. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the interface assembly comprises a rack secured to the elongate beam, wherein the spur gear is in communication with the rack. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the shaft assembly comprises an articulation section, wherein the elongate beam is structured and positioned to deflect the surgical end effector from the longitudinal axis at the articulation section. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the interface assembly comprises a base portion and a housing portion, wherein the drive shaft is integral with the base portion, wherein the elongate beam is integral with the housing portion. ### Claim 8 (depends on 7) The apparatus of claim 7, wherein the shaft assembly is integral with the housing portion. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein the drive shaft is secured to a drive disc having at least one coupling pin, wherein the at least one coupling pin is configured to couple with a dock of a robotic arm cart. ### Claim 10 (depends on 1) The apparatus of claim 1, wherein the drive shaft is positioned on one lateral side of the shaft assembly. ### Claim 11 (depends on 1) The apparatus of claim 1, wherein the drive shaft and the spur gear are coaxial. ### Claim 12 (depends on 1) The apparatus of claim 1, wherein the elongate beam includes a longitudinal beam axis, wherein the drive shaft axis and the longitudinal beam axis are orthogonal. ### Claim 13 (depends on 1) The apparatus of claim 1, wherein the elongate beam is a first elongate beam, wherein the interface assembly comprises a second elongate beam, wherein the spur gear is in communication with the second elongate beam. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein the spur gear is structured and positioned to simultaneously drive the first elongate beam in a first direction and the second elongate beam in a second direction. ### Claim 15 A method comprising: (a) rotating a drive shaft about a drive shaft axis; (b) in response to rotating the drive shaft about the drive shaft axis, rotating a spur gear in communication with the drive shaft; (c) in response to rotating the spur gear, driving an elongate beam using gear teeth of the spur gear along a path that is parallel to a longitudinal axis of a shaft assembly; (d) in response to driving the elongate beam along the path, moving a translating member of the shaft assembly parallel to the longitudinal axis; and (e) in response to moving the translating member of the shaft assembly parallel to the longitudinal axis, deflecting a surgical end effector from the longitudinal axis. ### Claim 16 (depends on 15) The method of claim 15, further comprising deflecting the surgical end effector from the longitudinal axis at an articulation section of the shaft assembly. ### Claim 17 (depends on 15) The method of claim 15, further comprising: (a) coupling the drive shaft with a dock of a robotic arm cart; and (b) actuating the robotic arm cart to rotate of the drive shaft. ### Claim 18 (depends on 15) The method of claim 15, further comprising rotating the spur gear about the drive shaft axis. ### Claim 19 An apparatus for operating on tissue, the apparatus comprising: (a) a surgical end effector; (b) a shaft assembly, wherein the surgical end effector is coupled with the shaft assembly, wherein the shaft assembly defines a longitudinal axis, wherein the shaft assembly comprises a translating member extending through the shaft assembly, wherein the translating member is movable parallel to the longitudinal axis; and (c) an interface assembly structured and positioned to engage the shaft assembly, wherein the interface assembly comprises: (i) a drive shaft, wherein the drive shaft is rotatable about a drive shaft axis, and (ii) a rack in communication with the drive shaft, wherein the rack is further in communication with the shaft assembly, wherein the drive shaft is structured and positioned to drive the rack along a path that is parallel to the longitudinal axis of the shaft assembly. ### Claim 20 (depends on 15) The method of claim 15, wherein after rotating the spur gear and before driving the elongate beam, the method further comprises converting the rotation of the spur gear to translation of a rack in communication with the elongate beam.