Robotic stapling and cutting systems and methods
AssigneeCilag GmbH International
InventorsMARIA LUPP, Christopher Batty, Raffaele Definis, Jonathan Von Stein
Life of this patent
Estimating the term…
Abstract
Systems and subsystems for cutting and stapling tissue 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 a closure subsystem, an articulation subsystem, a roll subsystem, and a transection subsystem that are operable independently of each other.
Claims20
An articulation subsystem for a surgical instrument, comprising:
- an end effector;
- a rotatable shaft comprising a longitudinal axis;
- a first articulation rod operably engaged at a distal end to the end effector;
- a first rack movable with respect to the longitudinal axis of the rotatable shaft, wherein movement of the first rack with respect to the longitudinal axis imparts an axial force onto the first articulation rod moving the first articulation rod from a first proximal position to a first distal position or from the first distal position to the first proximal position;
- a second articulation rod operably engaged at a distal end to the end effector;
- and
- a second rack movable with respect to the longitudinal axis of the rotatable shaft in a direction opposite the first rack, wherein movement of the second rack with respect to the longitudinal axis imparts an axial force onto the second articulation rod moving the second articulation rod from a second proximal position to a second distal position or from the second distal position to the second proximal position, and wherein the first rack and the second rack move in opposing directions to push or pull the first articulation rod and the second articulation rod to articulate the end effector.
A method of operating an articulation subsystem of a surgical instrument, the method comprising:
- engaging a first articulation input puck with a first articulation robotic output;
- engaging a second articulation input puck with a second articulation robotic output;
- and
- rotating the first articulation robotic output and the second articulation robotic output to cause the first articulation input puck and the second articulation input puck to rotate,
- rotation of the first articulation input puck causes movement of a first rack with respect to a longitudinal axis of a rotatable shaft, the movement of the first rack imparting an axial force onto a first articulation rod to move the first articulation rod between a first proximal position and a first distal position or from the first distal position to the first proximal position,
- rotation of the second articulation input puck causes movement of a second rack with respect to the longitudinal axis of the rotatable shaft, the movement of the second rack imparting an axial force onto a second articulation rod to move the second articulation rod between a second proximal position and a second distal position or from the second distal position to the second proximal position;
- and
- moving, via the rotation of the first articulation input puck and the second articulation input puck, the first rack and the second rack in opposing directions to articulate an end effector.
Dependencies are inferred from the claim text.