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US 12,616,467 B2Granted
Systems and subsystems for articulating a surgical instrument
AssigneeCilag GmbH International
InventorsChristopher Batty, Raffaele Definis, Robert Jason Simms, Jonathan Von Stein
Life of this patent
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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.
Claims14
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.
8 more elements
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.
6 more elements
Dependencies are inferred from the claim text.