Systems and subsystems for rolling surgical instrument including articulation cable

Abstract

A surgical instrument designed to operate with a robotic platform is disclosed. A surgical instrument assembly includes a shaft, an end effector, a knife firing subsystem for actuating a function of the end effector, an articulation subsystem actuatable to articulate the end effector, an articulation joint about which the end effector articulates, a rolling rotor system for rolling the shaft; and a housing coupled to the robotic platform. A coiled tube is also provided around which one or more articulation cables may be wound when the end effector is rotated.

Description

Cross-references to related applications

[0001] This application claims the benefit and priority of U.S. Provisional Patent Application No. 63 / 515,020 (Attorney’s No. END9566USPSP1), filed July 21, 2023, and U.S. Provisional Patent Application Serial No. 63 / 640,289 (Attorney’s No. END9566USPSP2), filed April 30, 2024, the disclosures of which are expressly incorporated herein by reference. Background Technology

[0002] This disclosure relates to surgical instruments, and in various arrangements to surgical suturing and cutting instruments designed to suture and cut tissue, and staple cartridges used therewith. Summary of the Invention

[0003] The disclosed technology can be used in systems, devices, and subsystems of surgical instruments for robotic surgery. Surgical instruments may have several subsystems that can be independently actuated to provide specific actions, such as the closing and opening of the end effector of a suture device, joint movement of the end effector, rolling of the end effector, and firing of a staple within the end effector.

[0004] The disclosed technology describes a surgical instrument. The surgical instrument includes a shaft assembly comprising a rotatable outer shaft configured to rotate about a roll axis and a maypole tube housed within the outer shaft. The surgical instrument includes a firing lever extending within the maypole tube and configured to move a blade in an end effector. The surgical instrument includes one or more articulated motion cables, each articulated motion cable configured to: (i) be manipulated to cause rotation of the end effector about at least one of a pitch axis and a yaw axis, and (ii) wind around the maypole tube when the rotatable outer shaft rotates about the roll axis.

[0005] The disclosed technology describes a control device for adjusting the length of a cable, which may be one of multiple subsystems and / or sub-components for a surgical instrument. The surgical instrument includes a cable and a shaft. The cable includes: (i) a segment having an initial length defined between rotatable points of the cable, the rotatable points being rotatable with respect to a proximal point of rotationally restricted relative to the cable, and (ii) an initial tension at a zero roll angle. The control device is configured to receive a non-zero roll angle of the rotatable points of the cable that rotate with the shaft relative to the proximal point of rotationally restricted relative to the cable. The control device is configured to determine a length change of the cable segment relative to the initial length, the length change maintaining the cable at the initial tension. The control device is configured to calculate a cable compensation length by multiplying the determined length change of the cable segment by a coefficient. The control device is configured to deliver a signal to change the length of the cable segment based on the calculated cable compensation length.

[0006] The disclosed technology describes a surgical system. The surgical system includes a surgical instrument comprising a housing. The surgical instrument includes a shaft assembly extending from the housing and including an outer shaft (configured to rotate about a roll axis) and a coiled tube housed within the outer shaft. The surgical instrument includes a cable having a rotationally restricted point proximal to the housing and a rotatable point rotatable with the outer shaft. The cable includes a length defined between the rotationally restricted point and the rotatable point at a zero roll angle. The surgical system includes a control device for adjusting the length of the cable. The control device is configured to receive a non-zero roll angle of the rotatable point of the cable relative to the rotationally restricted proximal point of the cable. The control device is configured to determine a length change of the cable relative to the length of the cable at a zero roll angle, the length change maintaining the cable under the same tension as when the cable is at a zero roll angle. The control device is configured to calculate a cable compensation length by multiplying the determined length change of the cable by a coefficient. The control device is configured to deliver signals to change the length of the cable based on the calculated cable compensation length. Attached Figure Description

[0007] Figure 1 It is a schematic perspective view of a surgical system including surgical instruments based on the disclosed technology; Figure 2 The diagram shows schematic details of parts of the end effector, articulated joint, cable articulated subsystem, blade firing subsystem, and roller system according to the disclosed technology. Figure 3 These are schematic detail diagrams of the end effector and joint motion joint based on the disclosed technology; Figure 4It is a schematic exploded view of the distal end of a surgical instrument based on the disclosed technology; Figure 5 It is a schematic detail drawing of a knife based on the disclosed technology; Figure 6 This is a schematic front view of the end effector based on the disclosed technology; Figure 7 The diagram shows a schematic detail of an end effector and articulated joint according to the disclosed technology, wherein the anvil of the end effector is removed. Figure 8A It is a schematic side cross-sectional view of the distal end of a surgical instrument according to the disclosed technology, which depicts the anvil in the open position. Figure 8B It is a schematic side cross-sectional view of the distal end of a surgical instrument according to the disclosed technology, which depicts the anvil in the gripping position when the knife is partially advanced. Figure 8C It is a schematic side cross-sectional view of the distal end of a surgical instrument according to the disclosed technology, which depicts the anvil in a clamped position when the knife is partially advanced. Figure 8D It is a schematic side cross-sectional view of the distal end of a surgical instrument according to the disclosed technology, which depicts the anvil in the clamped position when the knife is fully advanced. Figure 9A It is a schematic side cross-sectional detail of the distal end of a surgical instrument according to the disclosed technology, which depicts the anvil in the open position. Figure 9B It is a schematic side cross-sectional detail of the distal end of a surgical instrument according to the disclosed technology, which depicts the anvil in the gripping position when the knife is partially advanced. Figure 9C It is a schematic side cross-sectional detail of the distal end of a surgical instrument according to the disclosed technology, which depicts the anvil in a clamped position when the knife is partially advanced. Figure 9D It is a schematic side cross-sectional view of the distal end of a surgical instrument according to the disclosed technology, which depicts the anvil in the clamped position when the knife is fully advanced. Figure 10 It is a schematic exploded view of the joint motion joint according to the disclosed technology; Figure 11 It is a schematic front view of a joint motion joint based on the disclosed technology; Figure 12 It is based on the disclosed technology relative to Figure 11 A schematic cross-sectional view of the joint motion joint cut along line 12-12 in the middle; Figure 13 It is based on the disclosed technology relative to Figure 11 A schematic cross-sectional view of the joint motion joint cut along line 13-13 in the middle; Figure 14 It is a schematic perspective detail of the distal end of a surgical instrument according to the disclosed technology, depicting an end effector that is vertically and laterally pivoted with the anvil open. Figure 15 It is a schematic side view detail of the distal end of a surgical instrument according to the disclosed technology, which depicts an end actuator that pivots vertically when the anvil is closed. Figure 16 It is a schematic top view detail of the distal end of a surgical instrument according to the disclosed technology, which depicts an end actuator that pivots laterally when the anvil is closed. Figure 17 It is a schematic exploded diagram of a surgical instrument based on the disclosed technology, which depicts parts of the cable joint motion subsystem, the knife firing subsystem, and the roller system. Figure 18 It is a schematic top view of the proximal end of a surgical instrument according to the disclosed technology, which depicts parts of the cable joint motion subsystem, the knife firing subsystem, and the roller system. Figure 19 It is a schematic perspective view of the shaft assembly, differential, and firing lever of a surgical instrument based on the disclosed technology; Figure 20 It is a schematic side view of the firing subsystem according to the disclosed technology, which depicts an end effector pivoting vertically downward and an anvil in the open position; Figure 21 It is a schematic side view of the firing subsystem according to the disclosed technology, which depicts an end effector pivoting vertically upward and an anvil in the open position; Figure 22 It is a schematic side view of the firing subsystem according to the disclosed technology, which depicts an end effector pivoting vertically upward, an anvil in a clamping position, and a fully advanced blade. Figure 23 It is a schematic detail of the proximal end of a surgical instrument based on the disclosed technology, which depicts a portion of the scalpel firing subsystem; Figure 24 This is a schematic exploded detail drawing of a rotary joint based on the disclosed technology; Figure 25 The schematic detail drawing of one side of the housing, based on the disclosed technology, depicts the rotating disk of the joining robot platform. Figure 26This is a schematic detail drawing of the other side of the casing based on the disclosed technology; Figure 27 It is a schematic exploded view of the casing based on the disclosed technology; Figure 28 The diagram shows a schematic detail of the housing based on the disclosed technology, in which the upper protective cover has been removed. Figure 29 It is a schematic perspective view of the housing according to the disclosed technology, in which its upper shield and intermediate frame have been removed; Figure 30 It is a schematic perspective view of the housing according to the disclosed technology, in which the upper shield, the middle frame, and certain subsystem components have been removed; Figure 31 This is a schematic detail drawing of the rotating disk assembly of the housing according to the disclosed technology; Figure 32 It is a schematic front view of the casing based on the disclosed technology; Figure 33 It is based on the disclosed technology relative to Figure 32 A schematic cross-sectional view of the shell cut along line 33-33; Figure 34 It is based on the disclosed technology relative to Figure 32 A schematic cross-sectional view of the shell cut open along line 34-34; Figure 35 It is based on the disclosed technology relative to Figure 32 A schematic cross-sectional view of the shell cut along line 35-35; Figure 36 It is based on the disclosed technology relative to Figure 32 A schematic cross-sectional view of the shell cut along line 36-36; Figure 37 It is a schematic top view of the housing according to the disclosed technology, in which the upper shield, the middle frame, and certain subsystem components have been removed; Figure 38 It is a schematic detailed perspective view of the middle section of an alternative surgical instrument based on the disclosed technology, showing a coiled tube surrounding the firing rod, wherein the outer shaft and upper shell of the housing are removed for clarity. Figure 39 It is a section cut along the roll axis according to the disclosed technology. Figure 38 A schematic cross-sectional view of an alternative surgical instrument, showing a coiled tube surrounding the firing lever and adjacent to the differential; Figure 40 It is based on the disclosed technology. Figure 38A schematic perspective view of the coiled tube, showing the articulated motion cable wound around the end effector as it rolls. Figure 41A It is based on the disclosed technology. Figure 38 A schematic perspective view of the intermediate section of an alternative surgical instrument, showing the coiled tube in dashed lines, and in which, for clarity, a portion of the housing and outer shaft are removed; Figure 41B It is based on the disclosed technology. Figure 38 A schematic front view of the middle section of an alternative surgical instrument, depicting the layout of the components in the handle and middle section. Figure 42A The diagram shows a schematic detail of the rigid coiled tube and the deflecting firing lever, based on the disclosed technology. Figure 42B This is a schematic detail of a compliant coil that deflects together with the firing lever according to the disclosed technology; Figure 43 It is a schematic depiction based on the transfer function modeling of the coiled cable length according to the disclosed technology; Figure 44 It is a schematic cross-sectional view of an articulated cable and coiled tube in which the roll angle of the cable is less than or equal to the no-contact angle, according to the disclosed technology. Figure 45 It is a schematic cross-sectional view of an articulated cable and coiled tube in which the roll angle of the cable is greater than the no-contact angle, according to the disclosed technology. Figure 46A It is a schematic cross-sectional view of an exemplary coiled and articulated cable according to the disclosed technology; Figure 46B It is based on the disclosed technology. Figure 46A A schematic side cross-sectional view of an exemplary coiled and joint movement cable, shown together with other components of a surgical instrument; Figure 47 Based on the use of the disclosed technology Figures 46A to 46B A schematic graphic depiction of the changes in joint movement cable length and roll angle of surgical instruments. Figure 48 It is a schematic graphical depiction of exemplary cable tension variation with roll and compensation percentage, based on the disclosed technology; and Figure 49 It is a schematic block diagram of the control device, robotic arm and surgical instruments based on the disclosed technology. Detailed Implementation

[0008] The following detailed description should be read in conjunction with the accompanying drawings, in which the same elements are labeled identically across the various drawings. The drawings (not necessarily drawn to scale) depict selected embodiments and are not intended to limit the scope of the invention. The detailed description illustrates the principles of the invention by way of example rather than limitation. This description will clearly enable those skilled in the art to make and use the invention, and describes several embodiments, adaptations, variations, alternatives, and uses of the invention, including those currently believed to be the best mode for carrying out the invention.

[0009] This document sets forth numerous specific details to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments described in the specification and illustrated in the figures. Well-known operations, components, and elements have not been described in detail to avoid obscuring the embodiments described in the specification. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and thus will recognize that the specific structural and functional details disclosed herein may be representative and illustrative. Variations and changes may be made to these embodiments without departing from the scope of the claims.

[0010] The terms “comprise” (and any form of “comprise” such as “comprises” and “comprising”), “have” (and any form of “have” such as “has” and “having”), “include” (and any form of “include” such as “includes” and “including”), and “contain” (and any form of “contain” such as “contains” and “containing”) are open-ended copulas. Therefore, a surgical system, apparatus, or device that “comprises,” “has,” “includes,” or “contains” one or more elements has, but is not limited to, having only those elements. Similarly, the elements of a system, apparatus, or device that “comprises,” “has,” “includes,” or “contains” one or more features have, but are not limited to, having only those features.

[0011] As used herein, the term “about” or “approximately” for any numerical value or range indicates appropriate dimensional tolerances that allow a collection of parts or components to achieve the intended purpose as described herein. More specifically, “about” or “approximately” may refer to a range of ±20% of the enumerated values; for example, “about 90%” may refer to a range of 71% to 99% of the values.

[0012] The terms "proximal" and "distal" are used herein with reference to the robotic platform in which the housing portion of the surgical instrument is manipulated. The term "proximal" refers to the portion closest to the robotic platform, while the term "distal" refers to the portion furthest from the robotic platform. It should also be understood that, for the sake of brevity and clarity, spatial terms such as "vertical," "horizontal," "upper," and "lower" may be used in conjunction with accompanying drawings. However, surgical instruments are used in many orientations and orientations, and these terms are not restrictive and / or absolute.

[0013] Furthermore, the use of the phrases “connected,” “connected,” or similar should not be interpreted as limited to a certain number of parts or a particular order of parts, unless the context clearly indicates otherwise.

[0014] In addition, in cases where alternative examples of certain aspects of surgical instruments are described, in instances where the same reference numerals are used to label components in the alternative examples as in the previously described examples, those components are identical in structure and function, unless otherwise stated.

[0015] Various exemplary apparatuses and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily understand that the various methods and apparatuses disclosed herein can be used in a wide range of surgical procedures and applications, including, for example, in combination with open surgery. Continuing to refer to this specific embodiment, the reader will further understand that the various instruments disclosed herein can be inserted into the body in any manner, such as through natural cavities, through incisions or puncture holes formed in tissues, etc. The working portion or end effector portion of the instrument can be inserted directly into the patient's body or through an access device having a working channel through which the end effector and elongated shaft of the surgical instrument can be advanced.

[0016] A surgical suturing system may include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. The staple cartridge is insertable into and removable from the first jaw; however, other embodiments are contemplated in which the staple cartridge cannot be removed from the first jaw or at least can be easily replaced from the first jaw. The second jaw includes an anvil configured to deform staples ejected from the staple cartridge. The anvil is pivotable about a closed axis relative to the first jaw; however, other embodiments are contemplated in which the first jaw is pivotable relative to the second jaw. The surgical suturing system also includes an articulation joint configured to allow the end effector to rotate or articulate relative to the shaft. Other embodiments without an articulation joint are contemplated. In other words, other elements described herein may be employed in embodiments where an articulation joint is not provided without departing from the spirit and scope of this disclosure. Similarly, an articulation joint may be employed in embodiments where other elements described herein are omitted.

[0017] I. Overview of Surgical Instruments Surgical instruments 1000 are shown Figure 1 As discussed in more detail below, the surgical instrument 1000 is configured to grasp, clamp, cut, and seal patient tissue. The surgical instrument 1000 includes an end effector 200, a joint motion joint 300, and a joint motion drive subsystem 400 configured to enable the end effector 200 to perform joint movements around the joint motion joint 300. Figure 2 The knife firing subsystem 500 is configured to move the end effector between various positions (e.g., open position, gripping position, and clamping position) and to cut and suture patient tissue. Figure 2 The components include a rolling rotor system 600 and a housing 700, which are configured to enable the end effector 200 to roll about the rolling axis.

[0018] II. Overview of End Actuators The end effector 200 includes a first jaw 202 and a second jaw 204, both jaws being movable between an open position and a closed position. For clarity, the first jaw 202 is also used interchangeably herein with "jaw 202" (which is also referred to in the art as "channel"), and the second jaw 204 is used interchangeably with "anvil 204". The jaws 202 and the anvil 204 may be elongated. The jaws 202 define an elongated channel 208 for receiving the staple cartridge 210. The anvil 204 has a proximal end 204A, a distal end 204B, and a ramp surface 216 defined at the proximal end 204A, which will be referred to below in relation to... Figure 4 and Figures 9A to 9D A more detailed description follows. The jaws 202 and the anvil 204 are pivotally connected via a pivot pin 212 extending through the jaws 202 and the anvil 204. (See attached image.) Figure 7 As shown, one or more biasing springs 214 extend between the jaws 202 and the anvil 204 to bias the anvil 204 to an open position. The ramp surface 216 is visible via a bean-shaped opening 222 (which may be formed as part of the manufacturing process of the ramp surface 216), the bean-shaped opening having a first lateral end 216A and a second lateral end 216B. In other words, the bean-shaped opening may have lateral ends 222A, 222B (… Figure 3 (The area is open.) For example... Figure 3 As shown, the slope surface 216 forms the lower surface of the bean-shaped opening 222. The slope surface 216 can be arc-shaped. For example, as... Figure 4 and Figures 9A to 9DAs specifically shown, the slope surface may be inclined upward at a first angle 218 and taper arc-shaped to a substantially horizontal second angle 220 in the distal direction. For example, the slope surface may include a single-radius curve, a series of multi-radius curves, a series of multi-radius curves with a series of inflection points, and / or may be linearly inclined.

[0019] The anvil 204 also defines a longitudinally extending upper knife channel 224 ( Figure 8A (etc.). For example... Figure 6 As specifically shown, the upper tool channel 224 includes a centrally located cylindrical upper tool channel portion 226 and at least one lateral upper tool channel wing 228 extending away from the upper tool channel portion 226. Although the term "cylindrical" is used, the channel portion 226 does not necessarily resemble a perfect cylinder.

[0020] II.1. End effector and firing subsystem The surgical instrument 1000 also includes a scalpel firing subsystem 500, which is operable to close the anvil 204 during the closing stroke. After the end effector 200 closes, the scalpel firing subsystem 500 ( Figure 2 and Figure 17 It can be operated to cut and suture patient tissue captured between the staple cartridge 210 (which is held by jaws 202) and the anvil 204 during the firing stroke using staples from the staple cartridge 210.

[0021] The knife firing subsystem 500, explained in further detail below, includes a knife 206. The knife 206 is coupled to or integral with a knife slide 236. The knife slide 236 is the non-cutting element of the knife 206 and is also referred to as an I-beam. The knife slide 236 includes an upper knife tab 238 and a lower knife tab 246. The upper knife tab 238 includes a centrally located cylindrical upper knife tab portion 240 and at least one upper knife tab lateral wing 242 extending away from the upper knife tab portion 240. Although the term "cylindrical" is used, the tab portion does not necessarily resemble a perfect cylinder. In some embodiments, the upper knife tab 238 includes a pair of lateral wings 242 configured to slidably straddle the upper knife channel 224 to move the anvil 204 between an open position, a gripping position, and a clamping position. Each lateral wing 242 may include an inclined surface 242A of the engagement anvil ramp surface 216. An upper blade portion 240 defines an upper blade opening 244 configured to receive a barrel-shaped crimp connected to the center cable 512, which is described in more detail below. A lower blade 246 includes a centrally located cylindrical lower blade portion 248 and at least one lower blade lateral wing 250 extending away from the lower blade portion 248. Although the term "cylindrical" is used, the lower blade portion 248 need not resemble a perfect cylinder. In some embodiments, the lower blade 246 includes a pair of lateral wings 250. The lower blade portion 248 defines a lower blade opening 252 configured to receive a barrel-shaped crimp connected to the center cable 514, which will be described in more detail below.

[0022] The staple cartridge 210 includes a cartridge body. In use, the cartridge is positioned on a first side of the tissue to be sutured, within the channel 208 of the jaws 202; and the anvil 204 is positioned on a second side of the tissue. The anvil 204 is moved toward the cartridge 210 to compress and clamp the tissue against the platform of the cartridge 210. Staples, removably stored in the cartridge body, can then be deployed into the tissue. The cartridge body includes staple cavities defined within the cartridge body, in which staples are removably stored. In some embodiments, the staple cavities are arranged in six longitudinal rows. In some embodiments, three rows of staple cavities are positioned on a first side of the lower blade channel 230, and three rows of staple cavities are positioned on a second side of the lower blade channel 230.

[0023] Special Reference Figure 6The lower cutter channel 230 includes a centrally located cylindrical lower cutter channel portion 232 and at least one laterally extending lower cutter channel wing 234 extending away from the lower cutter channel portion 232. Although the term "cylindrical" is used, the channel portion 232 does not necessarily resemble a perfect cylinder. Other arrangements of the nail cavity and nails are also possible. For example, in some embodiments, the lower cutter channel 230 may be defined within the jaws 202.

[0024] The nail is supported by a nail driver within the cartridge. The driver is movable between a first or non-firing position and a second or firing position to eject the nail from the nail chamber. The driver is retained within the cartridge by a retainer extending around the bottom of the cartridge and including a resilient member configured to grip the cartridge and hold the retainer to the cartridge. The driver is movable between its non-firing position and its firing position via a slider 236. More specifically, the knife slider 236 is movable between a proximal position adjacent to the proximal end and a distal position adjacent to the distal end. A portion of the knife slider 236 (e.g., see...) Figures 8C to 8D The engagement chamber slide 210A slides below the driver and lifts the driver and the nail supported thereon toward the anvil 204. The blade 206 is intended to be positioned at least partially proximal to the ramp surface such that the nail is in a second or firing position (i.e., ejected) prior to the blade 206.

[0025] In addition to the above, the slider 236 also moves distally and proximally via the firing lever 502. The firing lever 502 is configured to apply an indirect force to the slider 236 via push coils 508, 510 that directly engage the slider 236 (discussed in more detail below), and push the slider 236 toward the distal end of the end effector 200. As the firing lever 502 advances distally, the slider 236 straddles the lower blade passage 230 and the upper blade passage 224. At the start of the stroke, the upper blade protrusion 238 rides along the anvil ramp surface 216. Specifically, as particularly in Figures 8A to 8D and Figures 9A to 9D As shown in the sequence, the distal movement of the slider 236 causes the inclined surface 242A of the upper blade to slide along the anvil ramp surface 216. This movement first forces the anvil 204 to close to a position where compressive force is applied to the tissue sufficiently to grip it (referred to as the gripping position) (e.g., Figure 8B and Figure 9B The slider 236 continues to move upward along the ramp surface 216 (see, for example, see...). Figure 8C and Figure 9C This causes compressive force to be applied to the tissue (referred to as the clamping position). When the anvil ramp surface 216 transitions to its substantially horizontal angled surface 218 (e.g., see...), Figure 8D and Figure 9DWhen the upper blade 238 slides within the upper blade channel 224, it can drive the suturing and transverse cutting of the tissue.

[0026] III. Overview of Housing and Shaft Assembly The surgical instrument 1000 also includes a housing 700 and a shaft assembly 600A extending from the housing 700. The housing is configured to engage with a robotic platform 2000. In some embodiments, the housing 700 may be configured as a handle (e.g., it may include a gripper for a clinician). The shaft assembly 600A includes a rotatable outer shaft 602 and an inner shaft 604, the outer shaft 602 being rotatably mounted to the housing about a rotary joint 606 (which may include one or more bearings). The inner shaft 604 is rotatably secured to the outer shaft 602 and is configured such that the articular motion cables 402, 404, 406, 408, discussed in more detail below, can be partially wound around it without tangling. As discussed in more detail below, housing 700 also includes: (1) a firing disc assembly 712, which is part of a knife firing subsystem 500 operable to close end effector 200, firing pin and transverse tissue cutting; (2) a set of articulated disc assemblies 702, 704, 706, 708, which is part of an articulated subsystem 400 operable to articulate end effector 200 relative to shaft assembly 600A; and (3) a shaft rolling disc assembly 710, which is part of a rolling rotor system 600 configured to roll outer shaft 602.

[0027] IV. Overview of the Joint Motion Subsystem IV.1. Joint Kinetic Joint refer to Figure 10 The articulation joint 300 includes multiple concentric discs 302 and a central beam assembly 306. Each concentric disc also includes a concentric central opening 304. The central beam assembly 306 has a proximal end 306A and a distal end 306B. Figure 12 and Figure 13 As shown, a portion of the central beam assembly 306 extends through the central opening 304 of each concentric disk 302, and the central beam assembly 306 applies a compressive force to the concentric disks 302. The concentric disks 302 can be nested and stacked on the central beam assembly 306 such that adjacent concentric disks 302 abut against each other. Figure 7 As shown, the distal end 306B of the central beam assembly 306 connects a plurality of concentric discs 302 to the proximal end of the end effector 200 of the surgical instrument 1000 (via one or more fasteners 322). Figure 10As shown, the distal end 306B includes a distal end retaining disc 334 that defines a plurality of cable retaining openings 334A. Furthermore, the proximal end 306A of the center beam assembly 306 includes a second disc retaining bearing 332 that is nested within and / or coupled to the shaft assembly 600A to engage the concentric disc 302 to the shaft assembly 600A. In some embodiments, the distal end 306B of the center beam assembly 306 abuts the knife slide 236.

[0028] like Figure 10 , Figure 12 and Figure 13 As specifically shown, each concentric disc 302 includes an articular movement socket 308, an articular movement pin 310 protruding outward from the articular movement socket 308, a first push coil opening 312A defined through the articular movement socket 308 and configured to receive a first push coil 508 passing therethrough, a second push coil opening 312B defined through the articular movement socket 308 and configured to receive a second push coil 510 passing therethrough, and a second push coil opening 312B defined through the articular movement socket 308 and configured to receive a second push coil 510 passing through therethrough. Multiple joint motion cable openings 314A-314D (e.g., first joint motion cable opening 314A, second joint motion cable opening 314B, third joint motion cable opening 314C, and fourth joint motion cable opening 314D) passing through the corresponding joint motion cables 402, 404, 406, 408 (e.g., first joint motion cable 402, second joint motion cable 404, third joint motion cable opening 406, and fourth joint motion cable opening 408), and discussed in more detail below. Figure 12 and Figure 13 As shown, the concentric disc opening 304 is defined in the articulated pin 310 of each concentric disc 302. In some embodiments, three articulated cable openings 314A, 314B, 314C are provided to correspond to three articulated cables 402, 404, 406, while in other embodiments, four articulated cable openings 314A, 314B, 314C, 314D are provided to correspond to four articulated cables 402, 404, 406, 408.

[0029] Each concentric disc 302 also includes a proximal end 310A of a circular articulated pin and a hemispherical pin receiving opening 316 defined in an articulated socket 308. For example... Figure 12 and Figure 13Specifically shown, the proximal end 310A of each circular articulated pin pivotally engages in an adjacent pin receiving opening 316 of an adjacent concentric disc 302, except for the proximal end 310A that engages with the second disc retaining bearing 332. The proximal end 310A of the articulated pin and the pin receiving opening 316 mate in a manner similar to that of a rotary bearing. Furthermore, the articulated socket 308 includes a socket disc 318 and a pin retaining socket 320. A pair of pins 336 are used to provide a rotational connection about the main axis of the shaft assembly 600A from one disc 302 to the next. In other words, the pins constrain the rotational degrees of freedom of the adjacent concentric discs 302 about the roll axis RA of the device 1000. In an alternative embodiment, this feature may be integral with the disc 302, rather than, for example... Figure 10 The individual pin 336 is shown in the image.

[0030] Special Reference Figure 10 The distal end 306B of the center beam assembly 306 includes a first disc retainer bearing 324 defining a plurality of gap pockets 326. The center beam assembly 306 also includes a center beam 328 extending through each of the concentric discs 302, a jack screw 330, and a second disc retainer bearing 332. The jack screw 330 is threadedly connected to the second disc retainer bearing 332 to adjust the compressive force of the center beam 328 (i.e., it can be used to adjust the preload of the articulation joint 300). The center beam assembly 326 holds the discs 302 together and also acts on the firing load, such that it does not act on the articulation cables (discussed in more detail below).

[0031] The center beam 328 also includes a nickel-titanium core 328A and a stainless steel 328B wound on the nickel-titanium core, which allows the center beam 328 to elastically flex in response to the pivoting of one, some, or all of the concentric discs 302. The wound stainless steel 328B has a clockwise and counterclockwise weave to prevent it from unwinding.

[0032] The aforementioned articulated joint 300 forms part of the cable articulated subsystem 400, which allows the end effector 200 to move precisely 360 degrees around the articulated joint 300 with at least two degrees of freedom. In some embodiments, and as required by the roller system 600 and the need to limit the amount of winding of the articulated cables 402, 404, 406, 408, the articulated joint is allowed to roll approximately 320 degrees throughout the system. The cable articulated subsystem 400 also includes a plurality of articulated cables 402, 404, 406, 408, each articulated cable having distal ends 402A, 404A, 406A, 408A connected to the distal end 306B of the central beam assembly 306, and proximal ends 402B, 404B, 406B, 408B. More specifically, each distal end 402A, 404A, 406A, 408A may include a crimp portion that engages a cable retention opening 334A of the distal end retaining disc 334 to retain its positioning.

[0033] IV.2. Joint movement cables Each articulation cable 402, 404, 406, 408 comprises a stainless steel material with clockwise and counterclockwise braids to prevent unwinding. In other embodiments, other materials may be used, such as polymer yarns and / or filaments, various metal cables (e.g., tungsten), and combinations thereof. Each articulation cable can be independently manipulated to cause rotation of the articulation joint 300 and the end effector 200 about at least one of the pitch axis PA and the yaw axis YA.

[0034] In some embodiments, three articulated motion cables may be provided instead of the four cables 402, 404, 406, 408 depicted herein. However, the four articulated motion cables 402, 404, 406, 408 (as shown) spaced approximately ninety degrees circumferentially apart provide load distribution. Additionally, in alternative embodiments, the three-articulated motion cable configuration and the fourth-articulated motion cable configuration may be asymmetrically spaced relative to each other.

[0035] The shaft assembly 600A and the housing 700 also form part of the cable joint motion subsystem 400. More specifically, each joint motion cable 402, 404, 406, 408 extends from the joint motion joint 300 and passes through the shaft assembly 600A to reach the housing 700. The proximal ends 402B, 404B, 406B, 408B of each joint motion cable (402, 404, 406) are movably mounted in the housing 700, which causes the aforementioned rotation of the joint motion joint 300 and the end effector 200. In some embodiments, housing 700 includes articulated disc assemblies 702, 704, 706, 708 having rotatable winches 702B, 704B, 706B, 708B (discussed in more detail below), with corresponding proximal ends 402B, 404B, 406B, 408B of articulated cables 402, 404, 406, 408 wound around these winches. Figure 35 and Figure 36 As shown, winches 702B, 704B, 706B, and 708B can be vertically offset from each other (for example, winches 702B and 704B can be located near one portion 700A of housing 700, and winches 706B and 708B can be located near another portion 700B of housing 700).

[0036] Joint motion cables 402, 404, 406, and 408 are guided through shaft assembly 600A, such that they are positioned between outer shaft 602 and inner shaft 604, allowing joint motion cables 402, 404, 406, and 408 to partially wind around it without tangling. Inner shaft 604 also prevents joint motion cables 402, 404, 406, and 408 from interfering with other components extending along the center of device 1000 (through inner shaft 604).

[0037] IV.3. Connection / Operation of Joint Motion Joints and Joint Motion Cables Articulation cables 402, 404, 406, and 408 are guided and connected to end effector 200 via articulation joint 300, such that their proximal movement (via winding around winches 702B, 704B, 706B, and 708B) causes end effector 200 to pivot about articulation joint 300 in a predetermined manner. For example, actuation of the first articulation cable 402 in the proximal direction causes articulation of end effector 200 upward and to the left; actuation of the second articulation cable 404 in the proximal direction causes rotation of end effector 200 upward and to the right; actuation of the third articulation cable 406 in the proximal direction causes rotation of end effector 200 downward and to the left; and actuation of the fourth articulation cable 408 in the proximal direction causes rotation of end effector 200 downward and to the right. Similarly, simultaneous movement of two articulation cables will result in mixed movement of end effector 200. For example, the movement of both the first joint motion cable 402 and the second joint motion cable 404 at the same rate causes only an upward pivot of the end effector 200 (i.e., the rotation has almost no horizontal component). As those skilled in the art will understand, this configuration provides the aforementioned precise 360-degree movement of the end effector about the joint motion joint 300 with at least two degrees of freedom and approximately 320 roll degrees.

[0038] V. Overview of the firing subsystem Main Reference Figure 2 , Figures 8A to 8D , Figures 9A to 9D , Figure 17 and Figure 23 The blade firing subsystem 500 includes the aforementioned blade 206, the aforementioned slider 236, a firing lever 502 that drives the blade 206 and / or slider 236, a first pusher 504, and a second pusher 506. The firing lever 502 includes a firing lever rack 530 and is driven by a firing disc assembly 712, which will be described in more detail below. The first pusher 504 has a first pusher distal end 504A connected to the slider 236 and a first pusher proximal end 504B connected to the firing lever 502. Similarly, the second pusher has a second pusher distal end 506A connected to the slider 236 and a second pusher proximal end 506B connected to the firing lever 502. The distal ends 504A and 506A are connected to corresponding upper and lower portions of the slider 236 (e.g., upper blade protrusion 238 and lower blade protrusion 246), which allows the blade 206 to be uniformly pushed at its end. In some implementations, the proximal ends 504B and 506B of push rods 504 and 506 are connected to the firing lever via differential 520, which will be discussed in more detail below.

[0039] The knife firing subsystem 500 is constructed in a manner that enables articulated movement of the end effector 200 while still allowing the knife 206 to function correctly. For this purpose, the first push rod 504 includes a first flexible section 508, and the second push rod 506 includes a second flexible section 510. For example... Figures 20 to 22 As specifically shown, flexible sections 508 and 510 pass through the articulated joint 300 via corresponding push coil openings 312A and 312B, and push rods 504 and 506 engage corresponding tab openings 244 and 252 in the slider 236. More specifically, the first flexible section 508 includes a first push coil 508, and a first center cable 512 extends through the first push coil 508 to engage the slider 236 via a barrel crimp, and the second flexible section 510 includes a second push coil 510, and a second center cable 514 extends through the second push coil 510 to engage the slider 236 via a barrel crimp. The push coils 508 and 510 provide sufficient stability for the push rods 504 and 506 to deliver the firing force to the blade 206 without being too stiff to impede articulation at the joint 300. Cables 512 and 514, which engage the slider 236 as described above (see, for example...) Figure 8A ) to prevent coils 508 and 510 from stretching and / or elongating, and to serve as retraction cables when rods 504 and 506 retract toward the proximal end of surgical instrument 1000.

[0040] Continue to refer to Figures 20 to 22 The push rods 504 and 506 as a whole do not bend and / or extend through the articulated joint 300 during use, and therefore do not need to be flexible. Therefore, the proximal section of each push rod 504 and 506 includes rigid rods 516 and 518. As used, the term "rigid" refers to a structure less flexible than the described push coils 508 and 510 and cables 512 and 514. Specifically, the first push rod 504 includes a first rigid rod 516 coaxially and paralleled with the first push coil 508 and the first center cable 512, and the second push rod 506 includes a second rigid rod 518 coaxially and paralleled with the second push coil 510 and the second center cable 514.

[0041] In addition to the above, depending on how the end effector 200 pivots about the articulated joint 300, the bending radii of the first push coil 508 and the second push coil 510 may be different. For example, in Figure 21In the configuration shown (i.e., when the end effector 200 pivots upward), the first push coil 508 has a smaller radius of curvature than the second push coil 510, resulting in the second push coil 510 extending a greater amount through the articulated joint 300 than the first push coil 508. A differential 520 is provided to account for these different radii of curvature, as well as any differences in the load balancing, thereby ensuring a uniform distribution of the striking force delivered to the push rods 504, 506.

[0042] More specifically, the differential 520 connects the proximal end 504B of the first pushrod and the proximal end 506B of the second pushrod to the firing lever 502, and the differential 520 allows relative axial movement between the first pushrod 504 and the second pushrod 506 (e.g., as shown in the image). Figures 20 to 21 (As depicted). The differential 520 includes a first rack 522 connected to a first push rod 504, a second rack 524 connected to a second push rod 506, a pinion rod 526 connected to a firing lever 502, and a pinion 528 rotatably mounted on the pinion rod 526 and meshing with the first rack 522 and the second rack 524.

[0043] In addition to the above, such as Figures 20 to 21 As specifically illustrated, the first rack 522 and the second rack 524 are capable of moving relative to each other in opposite axial directions in response to the rotation of the slider 236 about the pitch axis PA, to take into account the aforementioned different bending radii of the actuating coils 508 and 510.

[0044] In addition, such as Figure 22 As shown, the first rack 522 and the second rack 524 are each capable of moving in the same axial direction (e.g., the first axial direction) in response to the movement of the firing lever 502 in the first axial direction under the action of the firing force. As discussed above, this firing force is delivered to the knife 206 by actuating the coils 508, 510, which closes the anvil 204 to a gripping position and / or a clamping position. Figures 9A to 9D As depicted in the sequence, the movement of the actuating coils 508 and 510 distally causes them to respectively straddle the central upper blade passage portion 226 of the upper blade passage 224 and the central lower blade passage portion 232 of the lower blade passage 224. Further movement of the firing lever 502 in the first axial direction causes the blade 206 to continue moving to fire the pin and transcribe the tissue, as discussed above. The retraction of the blade 206 and the opening of the anvil are achieved by moving the firing lever 502 in the opposite second direction. Figure 21 and Figure 22 As shown, due to the independent cable joint motion system 400 and the knife firing system 500, the knife 206 and the slider 236 can be oriented and translated without being parallel to the orientation and movement of the firing lever 502.

[0045] To allow the roll of the outer shaft 602 (which will be discussed in more detail below), the differential 520 is mounted in the shaft assembly 600A and coupled to the firing lever 502, allowing it to rotate about the roll axis RA. Therefore, the pinion lever 526 is axially constrained relative to the firing lever 502 and can rotate freely relative to it.

[0046] VI. Overview of Roller Systems Now turning to the roller rotor system 600, which includes the aforementioned shaft assembly 600A, rotary joint 606, and shaft roller disc assembly 710, will be discussed in more detail below. As discussed in the preceding paragraphs, the rotatable nature of the differential 520 is also a feature of the roller rotor system. Shaft assembly 600A includes the previously discussed rotatable outer shaft 602 and inner shaft 604. Figure 19 As shown in the exploded view, the inner shaft 604 can be designed as a split clamshell, interconnected and housing certain components of the surgical instrument 1000, such as the differential 520 and the distal portion of the firing lever 502. Additionally, the clamshell inner shaft 604 may provide support for certain portions of the actuating coils 508, 510. The inner shaft 604 is fixedly coupled to the outer shaft 602, causing them to rotate in tandem. The outer shaft 602 is coupled to the housing via a rotary joint 606, which may include one or more bearings (see, for example...). Figure 24 and Figure 27 The bearing engages with the housing 700 and allows relative rotation between the outer shaft 604 and the housing 700 when the actuation shaft rolls the disc assembly, as will be described in more detail below. One or both of the shafts 602 and 604 are provided with various channels for cables 402, 404, 406, 408, push rods 504, 506, differential 520, etc. to ride over. Furthermore, lugs are rotatably fixed to the outer shaft and configured to indicate when the outer shaft 602 is in its original position by bottoming out a cavity on the housing.

[0047] VI.1. Coiled Tube Now go to Figures 38 to 40 An alternative example of the roller system 600 is shown. This example is similar to the roller system 600 and shaft assembly 600A previously described, but incorporates a coiled tube 608 concentrically positioned with the firing lever 502 to separate the articulated motion cables 402, 404, 406, 408 from the firing lever 502. As used herein, the term "maypole / maypoling" is used to describe the action of coiling the articulated motion cables 402, 404, 406, 408 around the firing lever 502 or another tube (such as the coiled tube 608 described herein) when the outer shaft 602 is rolled (e.g., up to approximately 320 degrees in a clockwise or counterclockwise direction). Figure 40This concept is illustrated. As those skilled in the art will understand, if the articulation cables 402, 404, 406, 408 are coiled around the translating firing lever 502, one or more of the cables 402, 404, 406, 408 may become caught on the firing lever 502, resulting in malfunction of the surgical instrument 1000 and / or damage to the articulation cables 402, 404, 406, 408.

[0048] Therefore, as Figures 38 to 41B As shown, alternative rolling rotor systems can be implemented similarly to those described in other examples disclosed herein. For example, the subsystem may include a similar shaft assembly 600A, wherein an inner shaft 604 is rotatably fixed to a rotatable outer shaft 602 (the rotatable outer shaft 602 in...). Figure 38 (The inner shaft 604 is hidden to depict the coiled tube 608). Therefore, rotation of the outer shaft 602 will cause rotation of the inner shaft 604. The inner shaft 604 may include a support channel 605 to support, guide, and / or rotatably constrain the joint motion cables 402, 404, 406, 408, particularly when the shaft assembly 600A rolls. The inner shaft may also include a transition section 604A with a reduced diameter, around which the joint motion cables 402, 404, 406, 408, discussed in more detail below, may be partially wound without tangling. Although referenced... Figure 38 Examples are discussed in detail, but those skilled in the art will understand that, for example... Figure 19 The inner shaft 604 can also be implemented in an equivalent manner (these details can also be found in...). Figure 19 (See the clam shell half of the inner shaft 604).

[0049] The coiled tube 608 is provided between (1) the helical gear 710C (discussed in more detail below) in the coiled sections of the articulation cables 402, 404, 406, 408 and the transition section 604A of the inner shaft 604 (where they are unconstrained in rotation), and (2) between the outer shaft 602 and the firing rod 502 in the radial direction (e.g., the outer shaft 602, the coiled tube 608, and the firing rod 502 may be concentric with each other, wherein the coiled tube 608 is housed within the outer shaft 602). Since articulation is performed using cables 402, 404, 406, 408, and because the housing 700 is connected to the robot platform 2000, it is important that they have unconstrained sections so that the surgical instrument 1000 can roll. The coiled tube 608 completely surrounds the portion of the firing lever 502 extending within this section and, as discussed above, separates the articulated motion cables 402, 404, 406, and 408 from the firing lever 502. Furthermore, the proximal end 608A of the coiled tube 608 ( Figure 41A and Figure 41BThe extension tube 502 into the housing 700 and may be flared (i.e., having an increased diameter in the direction away from the end effector 200) helps prevent the teeth of the firing rod 502 from getting stuck on the winding tube 608 during translation of the firing rod 502 (as discussed in other sections). The winding tube 608 is rotationally disengaged from its adjacent and / or adjacent components, meaning it is neither locked to a rotating reference frame (e.g., when the outer shaft 602 rotates) nor to a static reference frame (e.g., the housing 700 when the outer shaft 602 rotates). Figure 39 and Figures 41A to 41B As specifically shown, in the coiling section, articulation cables 402, 404, 406, and 408 are disposed between the outer shaft 602 and the coiling tube 608, and are unrestricted in rotation along the entire length of the coiling tube 608.

[0050] like Figure 40 The diagram is schematically depicted (omitting other elements to show how the articulation cables 402, 404, 406, 408 are coiled around the coiled tube 608). In use, as the end effector 200 rolls, the articulation cables 402, 404, 406, 408 are wound around the coiled tube 608, thus keeping them mechanically isolated from other moving parts of the surgical instrument 1000 (e.g., the firing lever 502). Because the coiled tube 608 is loosely clamped between its adjacent parts of the surgical instrument 1000, frictional forces allow the coiled tube 608 to rotate relative to the housing 700 (which is rotationally static) and the outer shaft 602 and inner shaft 604 (whose rotation causes the articulation cables 402, 404, 406, 408 to be wound around the coiled tube) as the articulation cables 402, 404, 406, 408 are wound around the coiled tube. By making the coiled tube 608 unpredictable, the effect of friction between the coiled tube 608 and the articulated motion cables 402, 404, 406, 408 on the rolling rotor system can be minimized.

[0051] When employed, it is desirable to minimize the diameter of the coiled tube 608 as much as possible. This provides various benefits, such as minimizing the amount of material wound around the coiled tube 608, which reduces friction. It also limits the amount of axial length consumed during winding, which minimizes the amount of compensation required by the articulated motion subsystem 400 (discussed in more detail in section VIII.1).

[0052] In addition to the aforementioned challenge that the teeth may get stuck on the coil tube 608 when the firing lever 502 translates, the firing lever 502 will also experience slight radial deflection due to the eccentric load from the pinion 712C (discussed in more detail below) and the compression / buckling load. Figure 42A and Figure 42BExaggerated deformation of the firing lever 502 is depicted. Friction / cable resistance between cables 402, 404, 406, 408 and the coiled tube 608 is also noteworthy, especially when one or more of cables 402, 404, 406, 408 are used to articulate the end effector 200 while they are simultaneously wound around the coiled tube 608 (e.g., when the end effector 200 has been rolled by the roller system 600).

[0053] Therefore, in addition to the above, and referring to Figures 41A to 42B To address the above design considerations, the coiled tube 608 can be implemented as follows.

[0054] exist Figure 42A An example is depicted in which (as described above) the deflection of the firing lever is exaggerated for illustrative purposes. In this example, the coil 608 is formed of a rigid material and is dimensioned such that its inner diameter ID provides sufficient clearance to the outer diameter of the firing lever 502 to allow for radial deflection, creating a restraint condition at the end of the coil 608.

[0055] exist Figure 42B Another example is depicted where (as described above) the deflection of the firing lever is exaggerated for illustrative purposes. In this example, the coil 608 is formed of a compliant material with a minimal clearance to the outer diameter of the firing lever 502. This construction allows the coil 608 to deflect together with the firing lever 502 without creating a binding condition at the end of the coil 608.

[0056] in addition, Figure 42A and Figure 42B The two exemplary coiled tubes 608 shown may be formed with a lubricating additive that reduces friction between the coiled tube 608 and the firing lever 502 and also allows for smoother cable movement during joint movement as the joint motion cables 402, 404, 406, 408 are wound around the coiled tube 608.

[0057] VII. Overview of the housing disk assembly and its integration with the surgical instrument subsystem Now the main focus is on Figures 23 to 35The housing 700 is configured to engage with a robotic platform 2000 controlled by a clinician. For control of the aforementioned subsystems 400, 500, and 600, corresponding proximal mechanisms for docking with the robotic platform are provided. More specifically, the housing housing, comprising an upper shield 700A, a lower frame 700B, and a middle frame 700C, accommodates at least: (1) a plurality of articulation disk assemblies 702, 704, 706, and 708 for articulation of the end effector 200; (2) a axial rolling disk assembly 710 for rotating the outer shaft 602; (3) a firing disk assembly for translating the knife 206; and (4) a near-field radio frequency identification (RFID) plate 724 for transmitting information about the surgical instruments 1000 to the robotic platform 2000.

[0058] VII.1. Shell and Joint Motion Subsystem In addition to the above, the housing includes four articulated disc assemblies 702, 704, 706, and 708, provided that four articulated cables 402, 404, 406, and 408 are used in the surgical instrument described herein. The first articulated disc assembly 702 cooperates with the first articulated cable 402. Similarly, the second articulated disc assembly 704 cooperates with the second articulated cable 404, the third articulated disc assembly 706 cooperates with the third articulated cable 406, and the fourth articulated disc assembly 708 cooperates with the first articulated cable 408. In use, the first joint motion cable 402 is wound around and unwound from the first joint motion disk assembly 702, the second joint motion cable 404 is wound around and unwound from the second joint motion disk assembly 704, the third joint motion cable 406 is wound around and unwound from the third joint motion disk assembly 706, and the fourth joint motion cable 408 is wound around and unwound from the first joint motion disk assembly 708.

[0059] The first articulated disc assembly 702 includes a first articulated disc 702A, a first winch 702B, and a first torsion spring 702C. The first articulated disc 702A is provided on the outside of the lower frame 700B and directly engages the robot platform 2000. The first winch 702B is coupled to the first articulated disc 702A and winds the first articulated cable 402 around it. The first winch 702B is rotatably attached to a first pivot pin 726 (which is integral with the first articulated disc 702A). The first winch 702B is biased in the retraction direction by the first torsion spring 702C to maintain a minimum tension level in the first articulated cable 402, such as when disengaged from the robot platform 2000. Since the first articulated disc assembly 702 does not include any gear mechanism, the diameter of the first winch 702B determines the achieved mechanical advantages.

[0060] In use, and for example, rotation of the first winch 702B via the first articulation disc 702A in a first direction by the robot platform 2000 causes the first articulation cable 402 to wind around the first winch 702B, which causes the end effector 200 to pivot upward and to the left about the articulation joint 300. As previously discussed, this upward movement of the end effector 200 is compensated for by the differential 520 in the knife firing subsystem. Rotation in the opposite direction by the first articulation disc 702A unwinds the first articulation cable 402, so that the end effector 200 returns to a position substantially coaxial with the shaft assembly 600A (e.g., coaxial with the roll axis RA).

[0061] The second articulated disc assembly 704 includes a second articulated disc 704A, a second winch 704B, and a second torsion spring 704C. The second articulated disc 704A is provided on the outside of the lower frame 700B and directly engages the robot platform 2000. The second winch 704B is coupled to the second articulated disc 704A and winds the second articulated cable 404 around it. The second winch 704B is rotatably attached to a second pivot pin 728 (which is integral with the second articulated disc 704A). The second winch 704B is biased in the retraction direction by the second torsion spring 704C to maintain a minimum tension level in the second articulated cable 404. Since the second articulated disc assembly 704 does not include any gear mechanism, the diameter of the second winch 704B determines the achieved mechanical advantages.

[0062] In use, and for example, rotation of the second winch 704B via the second articulation disc 704A from the robot platform 2000 in the first direction causes the second articulation cable 404 to wind around the second winch 704B, resulting in the end effector 200 pivoting upward and to the right about the articulation joint 300. As previously discussed, this upward movement of the end effector 200 is compensated for by the differential 520 in the knife firing subsystem. Rotation in the opposite direction by the second articulation disc 704A unwinds the second articulation cable 404, allowing the end effector 200 to return to a position substantially coaxial with the shaft assembly 600A (e.g., coaxial with the roll axis RA).

[0063] The third articulated disc assembly 706 includes a third articulated disc 706A, a third winch 706B, and a third torsion spring 706C. The third articulated disc 706A is provided on the outside of the lower frame 700B and directly engages the robot platform 2000. The third winch 706B is coupled to the third articulated disc 706A and winds the third articulated cable 406 around it. The third winch 706B is rotatably attached to a third pivot pin 730 (which is integral with the third articulated disc 706A). The third winch 706B is biased in the retraction direction by the third torsion spring 706C to maintain a minimum tension level in the third articulated cable 406. Since the third articulated disc assembly 706 does not include any gear mechanism, the diameter of the third winch 706B determines the achieved mechanical advantages.

[0064] In use, and for example, rotation of the third winch 706B via the third articulation disc 706A from the robot platform 2000 in the first direction causes the third articulation cable 406 to wind around the third winch 706B, which causes the end effector 200 to pivot downward and to the left about the articulation joint 300. As previously discussed, this downward movement of the end effector 200 is compensated for by the differential 520 in the knife firing subsystem. Rotation in the opposite direction by the third articulation disc 706A unwinds the third articulation cable 406, allowing the end effector 200 to return to a position substantially coaxial with the shaft assembly 600A (e.g., coaxial with the roll axis RA).

[0065] The fourth articulated disc assembly 708 includes a fourth articulated disc 708A, a fourth winch 708B, and a fourth torsion spring 708C. The fourth articulated disc 708A is provided on the outside of the lower frame 700B and directly engages the robot platform 2000. The fourth winch 708B is coupled to the fourth articulated disc 708A and winds the third articulated cable 408 around it. The fourth winch 708B is rotatably attached to a fourth pivot pin 732 (which is integral with the fourth articulated disc 708A). The fourth winch 708B is biased in the retraction direction by the fourth torsion spring 708C to maintain a minimum tension level in the third articulated cable 408. Since the fourth articulated disc assembly 708 does not include any gear mechanism, the diameter of the fourth winch 708B determines the achieved mechanical advantages.

[0066] In use, and for example, rotation of the fourth winch 708B via the fourth articulation disc 708A from the robot platform 2000 in the first direction causes the fourth articulation cable 408 to wind around the fourth winch 708B, which causes the end effector 200 to pivot downward and to the right about the articulation joint 300. As previously discussed, this downward movement of the end effector 200 is compensated for by the differential 520 in the knife firing subsystem. Rotation in the opposite direction by the fourth articulation disc 708A unwinds the fourth articulation cable 408, allowing the end effector 200 to return to a position substantially coaxial with the shaft assembly 600A (e.g., coaxial with the roll axis RA).

[0067] Of course, and as discussed above, the synchronized movement of various combinations of disk assemblies 702, 704, 706, and 708 enables clinicians (via the robotic platform 2000) to position the end effector 200 in any orientation.

[0068] In addition, such as Figure 37 As specifically shown, the housing 700 (e.g., the lower frame 700B, such as...) Figure 37 As shown, a plurality of static redirection sections 714, 716, 718, and 720 may be provided, each static redirection section having a surface that engages with the corresponding joint motion cables 402, 404, 406, and 408 to redirect them within the housing 700. These redirection sections 714, 716, 718, and 720 ensure the proper guidance of the joint motion cables 402, 404, 406, and 408.

[0069] VII.2. Housing and Roller System In addition to the above, the shaft rolling disk assembly 710 includes a shaft rolling disk 710A, a first helical gear 710B, and a second helical gear 710C. The shaft rolling disk 710A is provided on the outside of the lower frame 700B, integral with the fifth pivot pin 734, and directly engages with the robot platform 2000. The first helical gear 710B is coaxial with and rotatable with the shaft rolling disk 710A. The second helical gear 710C meshes with the first helical gear 710B and is connected to the rotatable outer shaft 602.

[0070] In use, and for example, rotation of the first helical gear 710B via the axis rolling disk 710A by the robot platform 2000 in a first direction causes the second helical gear 710C to rotate, thereby causing the outer shaft 602 to roll (e.g., clockwise about the roll axis RA), as discussed in more detail above. Rotation of the first helical gear in the opposite second direction causes the outer shaft 602 to roll in the opposite direction (e.g., counterclockwise about the roll axis RA).

[0071] VII.3. Casing and Firing Subsystem In addition to the above, the firing disc assembly includes a firing disc 712A, a drive gear 712A1, a gear train 712B, and a driven gear or pinion 712C. The firing disc 712A is provided on the outside of the lower frame 700B, integral with the sixth pivot pin 736, and directly engages the robot platform 2000. The drive gear 712A1 rotates directly with the firing disc 712A. Figure 23 As specifically shown, the gear train 712B is rotatable together with the firing disc 712A and the drive gear 712A1. In some embodiments, the gear train 712B includes a first idler gear 712B1 meshing with the drive gear 712A1, a second idler gear 712B2 coaxially and rotatably attached to the first idler gear 712B1, and a third idler gear 712B3 meshing with the second idler gear 712B2. A pinion 712C coaxially and rotatably attached to the third idler gear 712B3. Furthermore, the pinion 712C meshes with the rack 530 of the firing lever 502 to achieve its translational movement (thereby firing and retracting the blade 206, as discussed above).

[0072] In use, and for example, the rotation of the firing disc 712A by the robot platform 2000 causes the drive gear 712A1 to rotate, which in turn drives the gear train 712B to rotate the pinion 712C. Depending on the direction of rotation of the firing disc 712A, the firing lever 502 moves in a distal direction (i.e., toward the end effector 200) to close the anvil 204 and / or the firing blade 206, or moves in a proximal direction (i.e., toward the rear of the housing 700) to retract the blade 206 and / or open the anvil 204.

[0073] VIII. Operation Algorithm Figure 49 This is an example control device 1110 for controlling a robotic arm 1200 and a surgical device 1000 via a handle 700. As shown, the control device 1110 may include a processor 1112; an input / output device 1114; and a memory 1116 including an operating system (OS) 1118, a storage device 1120 (which may be any suitable data repository), and a program 1122. The input / output device may be configured to receive and output commands to control the robotic arm 1200 and the surgical device 1000. The control device 1110 may include a user interface (U / I) 1124 for receiving user input data (e.g., from physicians, technicians, etc.), such as data indicating clicks, scrolling, taps, presses, joystick movements, or typing on an input device capable of detecting tactile input. The control device 1110 may include a display.

[0074] The control device 1110 may include a peripheral interface, which may include hardware, firmware, and / or software capable of communicating with various peripheral devices, such as media drives (e.g., disk, solid-state, or optical disc drives), other processing devices, or any other input source used in conjunction with the present technology. The peripheral interface may include serial ports, parallel ports, general purpose input and output (GPIO) ports, gaming ports, universal serial bus (USB), micro USB ports, high-definition multimedia (HDMI) ports, video ports, audio ports, and Bluetooth. ™ Ports, WiFi ports, Near Field Communication (NFC) ports, other similar communication interfaces, or any combination thereof, for communicating with other devices via wired or wireless connections or networks (whether local area networks or wide area networks, private networks or public networks, as known in the art). The power supply can be configured to provide appropriate alternating current (AC) or direct current (DC) to power the components.

[0075] The processor (1112) may include one or more of an application-specific integrated circuit (ASIC), programmable logic device, microprocessor, microcontroller, digital signal processor, coprocessor, or combinations thereof, capable of executing stored instructions and operating on stored data. The memory 1116 may include one or more suitable types of memory (e.g., volatile or non-volatile memory, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), disk, optical disk, floppy disk, hard disk, removable magnetic tape, flash memory, redundant array of independent disks (RAID), etc.) for storing files including an operating system 1118, application programs 1122 (including, for example, web browser applications, widget or gadget engines, and / or other applications where necessary), executable instructions, and data. One, some, or all of the processing techniques described herein may be implemented as a combination of executable instructions and data within the memory 1116.

[0076] Processor 1112 may be one or more known processing devices, such as those from Intel. ™ Manufactured Pentium ™ Series, by AMD ™ Turion manufactured ™ Series, or by ARM ™ Manufacturing Cortex ™ Series or SecurCore ™Microprocessors, etc. Processor 1112 can be configured as a single-core or multi-core processor that executes parallel processes simultaneously. For example, processor 1112 can be a single-core processor configured with virtual processing technology. Those skilled in the art will understand that other types of processor arrangements providing the capabilities disclosed herein can be implemented.

[0077] Control device 1110 may include one or more storage devices 1120 configured to store information used by processor 1112 (or other components) to perform at least some of the functions disclosed herein. As an example, control device 1110 may include memory 1116 containing instructions that enable processor 1112 to execute one or more applications, network communication processes, and any other type of application or software known to be available on a computer system. Alternatively, instructions, application programs, or other software may be stored in external storage devices and / or accessible from remote memory via a network. The one or more storage devices may be volatile or non-volatile, magnetic, semiconductor, magnetic tape, optical, removable, non-removable, or other types of storage devices or tangible computer-readable media.

[0078] Control device 1110 may include memory 1116 containing instructions, when executed by processor 1112, to perform one or more processes consistent with the functionality disclosed herein. Methods, systems, and articles of art consistent with the disclosed embodiments are not limited to separate programs or computers configured to perform specific tasks. For example, control device 1110 may include memory 1116, which may include one or more programs 1122 performing one or more functions of the disclosed techniques. For example, control device 1110 may access one or more programs 1122, which, when executed, perform at least one function disclosed herein. One or more programs 1122 may be configured to receive input from a user (e.g., a physician, technician, etc.) and cause control device 1110 to output one or more control signals to robotic arm 1200. One or more programs 1122 may be configured to cause user interface 1124 to display images indicating functions or conditions associated with robotic arm 1200.

[0079] The memory 1116 of the control device 1110 may include one or more memory devices storing data and instructions for performing one or more methods and features disclosed herein. The memory 1116 may include software components that, when executed by the processor 1112, perform one or more processes consistent with the processes disclosed herein. The control device 1110 may include any number of hardware and / or software applications executed to facilitate any operation. One or more I / O interfaces 1114 may be used to receive or collect data and / or user instructions from a variety of input devices. Received data may be processed by one or more computer processors 1112 and / or stored in one or more memory devices as needed in various specific implementations of the disclosed technology.

[0080] While the control device 1110 for implementing the techniques described herein has been described above, those skilled in the art will understand that other functionally equivalent techniques may be employed. For example, as is known in the art, some or all of the functionality implemented via executable instructions may also be implemented using firmware and / or hardware devices such as application-specific integrated circuits (ASICs), programmable logic arrays, state machines, etc. Furthermore, the control device 1110 may include more or fewer components than those illustrated and / or described above.

[0081] As those skilled in the art will understand, the control device 1110 described above can be implemented within the robot platform 2000 or any other structure (e.g., a computing system separate from the robot platform 2000).

[0082] Furthermore, the control unit 1110 communicates with one or more sensors 1300 integrated with the surgical instrument 1000 or a disk encoder 1300 integrated with the robot platform 2000. For example, the one or more sensors 1300 may include one or more magnetic rotary position encoders configured to identify the rotational position of the motor 1202 of the robot arm 1200, the shaft assembly 600A (e.g., the roll angle of the outer shaft 602), and / or the end effector 200 of the surgical instrument 1000. In some examples, the magnetic rotary position encoder may be coupled to the processor 1112. The sensors 1300 may also include current, speed, and other forms of position sensors required to perform the following processes.

[0083] VIII.1. Cable compensation during coiling Cable-driven medical devices (such as endoscopic cutters, e.g., 2-DOF suture devices) require an axis to roll relative to the cable. In the surgical instrument 1000 currently described, the outer axis 602 rolls relative to articular motion cables 402, 404, 406, 408. When this occurs, and as discussed above, the cable undergoes a torsional and coiling motion around a central tube, known as coiling. Some applications (such as the surgical instrument 1000 currently described) cause the cable to coil around a central tube, which may be fixed or non-fixed. This type of motion results in cable stretching because the distance between the fixed surface the cable leaves in the proximal shank (e.g., shank 700) and the surface through which the cable enters the axis (e.g., the outer axis 602) that rotates with the roll changes with the roll. When this occurs, the cable experiences unintended stretching, resulting in an increase in cable tension proportional to the cable stiffness. For polymer cables or fishing lines, the stiffness is low, making the increase in cable tension during the roll insignificant. For metal cables (such as tungsten or stainless steel), the increase in cable tension is not insignificant. For example, a 320-degree roll results in a stretch greater than 1.5 mm in a stainless steel cable. This equates to an increase in cable tension of 70-90 Newtons (N), approximately one-third of the available tension. In other words, when the articulated motion cables 402, 404, 406, and 408 are wound around the coil tube 608, they would be proportionally stretched if not compensated.

[0084] To substantially eliminate cable stretching and its equivalent cable tension rise, the currently disclosed technology includes a control system comprising a control device 1110 operable to perform the process described in the following paragraphs to release cables 402, 404, 406, 408 (via, for example, cable motor 1202) in proportion to the roll angle, thereby compensating for roll. In the context of this disclosure, compensation means that when the roll rotor system 500 rolls, the articulated motion cables 402, 404, 406, 408 are "released" to prevent over-tensioning of the articulated motion cables 402, 404, 406, 408, even while maintaining the current articulation angle at the articulated motion joint 300, so as not to over-tighten the articulated motion cables 402, 404, 406, 408. Furthermore, to adjust the behavior of the articulated motion joint 300 during winding, a partial compensation factor between approximately 80% and 90% of the idealized compensation length can be used to adjust the total variable cable compensation length (discussed in more detail below). This partial compensation coefficient is adjustable to impart both "hard" (i.e., higher tension in the cable) and "soft" (i.e., lower tension in the cable) behavior to the articulated joint 300 during roll, while also preventing tension loss through incomplete compensation. The partial compensation coefficient also simplifies the coiling kinematics model by allowing the controller to ignore the effects of friction and cable flattening (i.e., changes in cable diameter) during coiling.

[0085] As discussed above in section VI.1, the surgical instrument 1000 currently described includes a configuration employing a coiled section that allows articulation cables 402, 404, 406, 408 to be wound around an axis (e.g., coiled tube 608) when the surgical instrument 1000 is rolled (e.g., in a clockwise or counterclockwise direction up to 320 degrees). It should be noted that while the foregoing description focuses on coiling, as it relates to coiled tube 608, the following also applies to scenarios where articulation cables 402, 404, 406, 408 are coiled around another axis (e.g., firing lever 502) and various other cable-driven medical instruments (this currently does not compensate for cable stretching during coiling).

[0086] Based on this disclosure and with reference to Figure 39 The coiling length (L) is the fixed surface in the proximal handle 700 from which (1) cables 402, 404, 406, 408 leave (i.e., along the cable, at an exemplary point P1 proximal to or inside the handle 700, which is restricted / limited in rotation) and the surface inside the outer shaft 602 into which the cable re-enters (which rotates with the outer shaft 602) (e.g., Figure 38 and Figure 39 The exemplary point P2 shown is the distance between the joint motion cables 402, 404, 406, 408 and the inner shaft 604. The area along the coil length (L) is also referred to as a coil section or region, where a segment of cables 402, 404, 406, 408 extends along or through it. Furthermore, for a given cable diameter (d) and a given center / coil tube diameter (D) around which cables 402, 404, 406, 408 can be coiled, the roll angle (…) can be… B A trigonometric relationship is defined between the cable position (d) and the differential displacement that each cable needs to undergo in order to maintain tension in the cable (also referred to herein as “initial tension”) before coiling. Additionally, before coiling, each cable is located at a cable position (R), which is the radial distance from the center of the coil tube 608 to the center of the cable. Some parameters (such as cable position (R), cable diameter (d), and coil tube diameter (D)) are known constants, while other inputs (such as roll angle (D)) are... B The roll angle can be obtained by the control device 1110 in any suitable manner (e.g., by one of the sensors / encoders 1300). More specifically, the roll angle ( B The value can be measured via a disc encoder and divided by the rolling gear ratio between the rolling disc 710A and the outer shaft 602.

[0087] For the purpose of brevity, the joint movement cable 402 is described herein as an example of the operation of the control device 1110. Those skilled in the art will understand that the following concepts are equivalent to any and all cables coiled in a similar manner implemented in the surgical instrument 1000. Figure 43 The transfer function modeling of the coiling system described herein is conceptually depicted. When the coiling action occurs in three-dimensional space, with cable 402 wound in a helical shape around tube 608, assuming cable 402 maintains the same tension as the initial tension throughout the coiling (i.e., it is not stretched), cable 402 can be triangulated in two-dimensional space using a right triangle, where one side is the tube length (L), one side is the two-dimensional projected length (K), and the hypotenuse is the total coiling length of cable 402 (M). t This can be defined by the following equation: t = 2M n + S wrap (1) Where M n It is the length of the inlet cone and the outlet cone (i.e., the portion of cable 402 that is not wound around the coiled tube 608), and S wrap It is the length of the cable 402 wound around the coil tube 608.

[0088] The coiling system described here is also determined by the following two equations: (2) (3) in a It is the helix radius when cable 402 is coiled around coiled tube 608, and γ is the no-contact angle. In some cases, the two-dimensional projected length (K) is the radius (or diameter) of the winding loop (which is the distance between the center of the coiled tube and the center of one of the cables) multiplied by the winding angle. B The result of the sine is discussed in more detail below. The no-contact angle is the maximum angle at which cable 402 can roll to the coiled tube 608 without contacting it, since cable 402 is initially spaced apart from the coiled tube 608 before coiling (at cable position (R)). Therefore, two different cases are possible (cable 402 contacts the coiled tube 608, which is referred to herein as the "winch effect," or it does not contact the coiled tube), both of which are determined by a different set of equations. The so-called "winch effect" is the effect of the increase in cable tension proportional to the winding angle of the cable around the sliding surface or pulley.

[0089] Figure 53 (which is a schematic cross-sectional view of cable 402 and coil 608 without the winch effect) shows... |B|The case where γ is less than or equal to γ ​​(referred to as Case I in this document). In other words, cable 402 is not rolled to a sufficiently large angle such that the helical shape of the coiled cable 402 causes the cable to contact the coil tube 608. Case I is determined by the following equation: (4) (5) exist Figure 45 (It is shown in the schematic cross-sectional view of cable 402 and coiled tube 608 under the condition of winch effect) |B| Another case, greater than γ (referred to herein as Case II). In other words, cable 402 is rolled (by means of its rotational relationship with the outer shaft 602) to a sufficiently large angle such that the helical shape of the coiled cable 402 causes the cable to contact the coiled tube 608. Case II is determined by the following equation: (6) (7) (8) in θ This is the projected two-dimensional winch angle, which corresponds to the roll angle of the axis (e.g., outer axis 602) minus the no-contact angle γ. In practice, it is the winding angle around the coil tube. It should be noted that in this system, cables 402, 404, 406, and 408 do not immediately begin winding around the coil tube 608. In other words, a certain roll of the axis must occur before winding begins, and the no-contact area is defined by the length (L) of the winding section, the diameter of the coil tube 608, and the diameter of the cable 402.

[0090] Based on the above, the coil transfer function is determined by the following three equations: (9) (10) (11) in L is the idealized length variation (L) of the joint motion cable 402 (or equivalently, the length of a segment of the joint motion cable 402 in the coiled region), to account for its coiling as the outer shaft 602 is rolled, such that the tension in the cable 402 remains constant. In the context of the currently described system utilizing the surgical instrument 1000, control device 1110, and robot platform 2000, the necessary length variation in the joint motion cable 402 can be calculated using the constants, inputs, and equations discussed above. L). Once calculated, this value can be used by the control device 1110 and / or the robot platform 2000 to unwind the articulated motion disk assembly 702 from the winch 702B via the robot motor 1202 of the robot arm 1200, equal to the change in length (L). The cable length (L). As those skilled in the art will understand, this unwinding can be dynamically accomplished as the outer shaft 602 rolls and the articulated cable 402 coils. In other words, with the roll angle... B The length of the cable unwound by the articulated disc assembly 702 can be changed to maintain the desired tension in the cable 402.

[0091] Figures 46A to 47 An example of coil compensation modeling according to this disclosure is depicted. Of course, the dimensions shown are exemplary and are not intended to limit the spirit and scope of this disclosure in any way. Referring to Figure 56, utilizing… Figures 46A to 46B The exemplary dimensions of the surgical instruments shown illustrate the coil transfer function (relative to different) B of The graph shows the cable tension (L). Approximately 1.8 mm of cable tension exists during 360-degree axis roll. Ideally, extending the cable by 1.8 mm would maintain constant tension. Depending on the material used for the joint motion cable 402, this 1.8 mm may or may not be significant. It should also be noted that this transfer function can be approximated using a linear polynomial, whose coefficients can be configured based on experimental data (also known as a mapping).

[0092] Although the above considers ideal conditions, those skilled in the art will understand that this coiling relationship will also vary with friction between the cable and the surface it is coiled around. Since friction is difficult to measure / predict and varies over time, such effects can be eliminated by using partial compensation methods, where the idealized kinematics can be multiplied by a fixed coefficient less than 1; or by eliminating such effects through a relationship of coefficients that vary with roll, thus adapting compensation to different wrist behaviors while preventing tension loss in cable 402 through intentional undercompensation. For example, experimental tests have shown that, with 85% compensation, such partial compensation methods reduce the uncompensated tension variation from 30N to 40N to closer to 10N, while still maintaining sufficient residual tension to counteract frictional effects and prevent cable 402 from slackening. Therefore, the process described herein can be achieved by adjusting the determined length variation of the cable ( L) is multiplied by a coefficient between 0 and 1 to further calculate the cable compensation length. L').

[0093] Figure 48Other exemplary cable tension variations with roll and compensation percentage are graphically depicted, and the effect of the coiling of the compensating joint motion cable 402 on cable tension is illustrated. As shown, cable tension decreases with a more aggressive compensation factor.

[0094] IX. Terms The disclosed technology described herein can be further understood in accordance with the following terms: Clause 1. A surgical instrument (1000) comprising: a shaft assembly (600A) including: a rotatable outer shaft (602) configured to rotate about a roll axis (RA); and a coiled tube (608) housed within the outer shaft; a firing lever (502) extending within the coiled tube (608) and configured to move a knife (206) in an end effector (200); and one or more articulation cables (402, 404, 406, 408), each articulation cable (402, 404, 406, 408) 408) is configured to: (i) be operable to cause rotation of the end effector (200) about at least one of the pitch axis (PA) and yaw axis (YA), and (ii) be wound around the coil tube (608) when the rotatable outer shaft (602) rotates about the roll axis (RA).

[0095] Clause 2. The surgical instrument (1000) according to Clause 1 further includes: a shaft rolling disc assembly (710) comprising: a rotatable shaft rolling disc (710A); a first helical gear (710B) rotatable together with the shaft rolling disc (710A); and a second helical gear (710C) meshing with the first helical gear (710B) and coupled to the outer shaft (602), wherein rotation of the shaft rolling disc (710A) causes the first helical gear (710B) to rotate, which in turn causes the second helical gear (710C) to rotate, which in turn causes the outer shaft (602) to rotate about the rolling axis (RA).

[0096] Clause 3. The surgical instrument (1000) according to Clause 1 further includes: a spool-rolling disc assembly (710'), the spool-rolling disc assembly (710') comprising: a rotatable spool-rolling disc (710A'); a first input winch (710B1'), the first input winch (710B1') being rotatable with the spool-rolling disc (710A'); and a second input winch (710B2'), the second input winch (710B2') being rotatable with the spool-rolling disc (710A'). The shaft and the rotating disc (710A') rotate together; the output roller (710C') is connected to the outer shaft (602); the first rotating cable (711B1') is connected to the first input winch (710B1') and the output roller (710C'); and the second rotating cable (711B2') is connected to the second input winch (710A'). B2') and the output roller (710C'), wherein the rotation of the shaft rolling disc (710A) causes the first input winch (710B1') and the second input winch (710B2') to rotate, which causes: (i) the first rolling cable (711B1') to wind around the first input winch (710B1') and the second rolling cable (711B2') to unwind from the second input winch (710B2'), thereby causing the output roller The output drum (710C') and the outer shaft (602) rotate about the rolling axis (RA) in a first direction, or (ii) the first rolling cable (711B1') is detached from the first input winch (710B1') and the second rolling cable (711B2') is wound around the second input winch (710B2'), thereby causing the output drum (710C') and the outer shaft (602) to rotate about the rolling axis (RA) in a second direction.

[0097] Clause 4. The surgical instrument (1000) according to any one of Clauses 1 to 3, wherein the coiled tube (608) completely surrounds at least a portion of the firing lever (502).

[0098] Clause 5. The surgical instrument (1000) according to any one of Clauses 1 to 4 further includes a housing (700) configured to engage a robotic platform (2000), wherein the proximal end (608A) of the coiled tube (608) is disposed in the housing (700).

[0099] Clause 6. The surgical instrument (1000) according to Clause 5, wherein the proximal end (608A) is flared.

[0100] Clause 7. The surgical instrument (1000) according to any one of Clauses 5 to 6 further includes an inner shaft (604) rotatably fixed to the outer shaft (602), the coiled tube (608) extending from the housing (700) to the inner shaft (604).

[0101] Clause 8. The surgical instrument (1000) according to Clause 7, wherein the inner shaft (604) includes one or more support channels (605) that rotatably constrain the one or more joint motion cables (402, 404, 406, 408).

[0102] Clause 9. The surgical instrument (1000) according to any one of Clauses 1 to 8, wherein one or joint motion cable (402, 404, 406, 408) is unrestricted in rotation in a region of the surgical instrument (1000) that (i) surrounds the coiled tube (608) and (ii) extends substantially the entire length of the coiled tube (608).

[0103] Clause 10. The surgical instrument (1000) according to any one of Clauses 1 to 9, wherein the coiled tube (608) comprises a rigid material.

[0104] Clause 11. The surgical instrument (1000) according to any one of Clauses 1 to 9, wherein the coiled tube (608) comprises a flexible material.

[0105] Clause 12. The surgical instrument (1000) according to any one of Clauses 1 to 11, wherein the coiled tube (608) comprises a lubricating additive material.

[0106] Clause 13. A control device (1110) for adjusting the length of a cable (402) of a surgical instrument (1000), the surgical instrument including the cable and a shaft (602), the cable including: (i) a segment having an initial length (L) defined between rotatable points (P2) of the cable, the rotatable points (P2) being rotatable with respect to a rotationally restricted proximal point (P1) of the cable with respect to the shaft, and (ii) an initial tension at a zero roll angle, the control device being configured to receive a non-zero roll angle (L) of the cable at the rotatable point (P2) of the cable rotating with respect to the rotationally restricted proximal point (P1) with respect to the shaft. B ); determine the length change of the segment of the cable (402) relative to the initial length (L) ( L), the length change ( L) holding the cable (402) under the initial tension; by changing the determined length of the segment of the cable (402) L) multiply by a coefficient to calculate the cable compensation length; and deliver a signal based on the calculated cable compensation length to change the length of the section of the cable.

[0107] Clause 14. The control device (1110) according to Clause 13, wherein the coefficient is between 0 and 1.

[0108] Clause 15. The control device (1110) according to Clause 14, wherein the coefficient is between approximately .5 and .85.

[0109] Clause 16. A surgical system comprising: a surgical instrument (1000), the surgical instrument (1000) including: a housing (700); a shaft assembly (600A) extending from the housing (700) and including: an outer shaft (602) configured to rotate about a roll axis (RA); and a coiled tube (608) housed within the outer shaft; and a cable (402) including rotation proximal to the housing (700). The cable (402) has a restricted point (P1) and a rotatable point (P2) that can rotate with the outer shaft (602), the cable (402) having a length (L) defined between the rotationally restricted point (P1) and the rotatable point (P2) at a zero roll angle; and a control device (1110) for adjusting the length of the cable, the control device (1110) being configured to: receive a non-zero roll angle (L) of the rotatable point (P2) of the cable (402) relative to the rotationally restricted proximal point (P1) of the cable (402). B ); Determine the length change (L) of the cable (402) relative to the length of the cable (402) at the zero roll angle. L), the length change ( L) keep the cable (402) under the same tension as when the cable (402) is at the zero roll angle; by changing the determined length of the cable (402) L) is multiplied by a coefficient to calculate the cable compensation length; and a signal is delivered based on the calculated cable compensation length to change the length of the cable.

[0110] Clause 17. The surgical system according to Clause 16, wherein the control device (1110) includes a robot platform (2000), the housing (700) includes a disk assembly (702) connected to the robot platform (2000), and the disk assembly (702) is configured to receive the signal to change the length of the cable (402) by unwinding the cable (402) from the disk assembly (702).

[0111] Clause 18. The surgical system according to any one of Clauses 16 to 17, wherein the coefficient is between 0 and 1.

[0112] Clause 19. The surgical system pursuant to Clause 18, wherein the coefficient is between approximately .5 and .85.

[0113] Clause 20. A surgical system according to any one of Clauses 16 to 19, wherein the surgical instrument (1000) includes a firing lever (502), and the coiled tube (608) completely surrounds at least a portion of the firing lever (502).

[0114] The above embodiments are cited by way of example, and the invention is not limited to the specific details shown and described above. Rather, the scope of the invention includes combinations and sub-combinations of the various features described and shown above, as well as variations and modifications thereof, which will occur to those skilled in the art upon reading the above description and are not disclosed in the prior art.

Claims

1. A surgical instrument (1000), comprising: Shaft assembly (600A), the shaft assembly (600A) comprising: A rotatable outer shaft (602) configured to rotate about a roll axis (RA); and A coiled tube (608) is housed within the outer shaft; A firing lever (502) extending within the coiled tube (608) and configured to move the blade (206) in the end effector (200); and One or more articulation cables (402, 404, 406, 408), each articulation cable (402, 404, 406, 408) being configured to: (i) be operable to cause rotation of the end effector (200) about at least one of the pitch axis (PA) and yaw axis (YA), and (ii) be wound around the coil tube (608) when the rotatable outer shaft (602) rotates about the roll axis (RA).

2. The surgical instrument (1000) according to claim 1 further comprises: A shaft-rolling disc assembly (710) comprising: Rotatable shaft rolling disc (710A); A first helical gear (710B) is rotatable together with the shaft-rolling disk (710A); and The second helical gear (710C) meshes with the first helical gear (710B) and is connected to the outer shaft (602). The rotation of the axial rolling disk (710A) causes the first helical gear (710B) to rotate, which in turn causes the second helical gear (710C) to rotate, which in turn causes the outer shaft (602) to rotate about the rolling axis (RA).

3. The surgical instrument (1000) according to claim 1 further comprises: A shaft-rolling disc assembly (710'), the shaft-rolling disc assembly (710') comprising: Rotatable shaft rolling disc (710A'); The first input winch (710B1') is capable of rotating together with the shaft rolling disk (710A'); The second input winch (710B2') is capable of rotating together with the shaft rolling disk (710A'); Output roller (710C'), which is connected to the outer shaft (602); The first rolling cable (711B1') connects the first input winch (710B1') and the output drum (710C'); and The second rolling cable (711B2') connects the second input winch (710B2') and the output drum (710C'). The rotation of the axial rolling disk (710A) causes the first input winch (710B1') and the second input winch (710B2') to rotate, which in turn causes: (i) The first rolling cable (711B1') is wound around the first input winch (710B1'), and the second rolling cable (711B2') is disconnected from the second input winch (710B2'), thereby causing the output roller (710C') and the outer shaft (602) to rotate about the rolling axis (RA) in a first direction, or (ii) The first rolling cable (711B1') is disconnected from the first input winch (710B1'), and the second rolling cable (711B2') is wound around the second input winch (710B2'), thereby causing the output drum (710C') and the outer shaft (602) to rotate about the rolling axis (RA) in the second direction.

4. The surgical instrument (1000) according to any one of claims 1 to 3, wherein, The coiled tube (608) completely surrounds at least a portion of the firing rod (502).

5. The surgical instrument (1000) according to any one of claims 1 to 4 further includes a housing (700) configured to engage a robotic platform (2000), wherein the proximal end (608A) of the coiled tube (608) is disposed in the housing (700).

6. The surgical instrument (1000) according to claim 5, wherein the proximal end (608A) is flared.

7. The surgical instrument (1000) according to any one of claims 5 to 6 further includes an inner shaft (604) rotatably fixed to the outer shaft (602), the coiled tube (608) extending from the housing (700) to the inner shaft (604).

8. The surgical instrument (1000) according to claim 7, wherein the inner shaft (604) includes one or more support channels (605) that rotatably constrain the one or more joint motion cables (402, 404, 406, 408).

9. The surgical instrument (1000) according to any one of claims 1 to 8, wherein the one or more articular motion cables (402, 404, 406, 408) are unrestricted in rotation in a region of the surgical instrument (1000), the region (i) surrounding the coiled tube (608) and (ii) extending substantially the entire length of the coiled tube (608).

10. The surgical instrument (1000) according to any one of claims 1 to 9, wherein the coiled tube (608) comprises a rigid material.

11. The surgical instrument (1000) according to any one of claims 1 to 9, wherein the coiled tube (608) comprises a flexible material.

12. The surgical instrument (1000) according to any one of claims 1 to 11, wherein the coiled tube (608) comprises a lubricating additive material.

13. A control device (1110) for adjusting the length of a cable (402) of a surgical instrument (1000), the surgical instrument including the cable and a shaft (602), the cable comprising: (i) a segment having an initial length (L) defined between rotatable points (P2) of the cable, the rotatable points (P2) being rotatable with respect to a rotatably limited proximal point (P1) of the cable, and (ii) an initial tension at a zero roll angle, the control device being configured to: The non-zero roll angle of the rotatable point (P2) that receives the cable from the rotationally restricted proximal point (P1) relative to the cable and rotates with the axis is ( ). B ); Determine the length change of the segment of the cable (402) relative to the initial length (L). L), the length change ( L) Hold the cable (402) under the initial tension; By varying the determined length of the segment of the cable (402) L) is multiplied by a coefficient to calculate the cable compensation length; and Signals are delivered based on the calculated cable compensation length to change the length of the cable segment.

14. The control device (1110) according to claim 13, wherein, The coefficient is between 0 and 1.

15. The control device (1110) according to claim 14, wherein, The coefficient is between approximately 0.5 and 0.

85.

16. A surgical system comprising: Surgical instrument (1000), said surgical instrument (1000) comprising: Housing (700); A shaft assembly (600A) extending from the housing (700) and comprising: Outer shaft (602), said outer shaft (602) being configured to rotate about a roll axis (RA); and A coiled tube (608) is housed within the outer shaft; and A cable (402) comprising a rotationally restricted point (P1) near the housing (700) and a rotatable point (P2) capable of rotating with the outer shaft (602), the cable (402) having a length (L) defined between the rotationally restricted point (P1) and the rotatable point (P2) at a roll angle of zero degrees; and A control device (1110) for adjusting the length of the cable, the control device (1110) being configured to: The non-zero roll angle of the rotatable point (P2) of the receiving cable (402) relative to the rotationally restricted proximal point (P1) of the cable. B ); Determine the length change of the cable (402) relative to the length (L) of the cable (402) at the zero roll angle. L), the length change ( L) The cable (402) is kept under the same tension as when the cable (402) is at the zero roll angle; By varying the determined length of the cable ( L) is multiplied by a coefficient to calculate the cable compensation length; and The signal is delivered to change the length of the cable based on the calculated cable compensation length.

17. The surgical system of claim 16, wherein, The control device (1110) includes a robot platform (2000), the housing (700) includes a disk assembly (702) connected to the robot platform (2000), and the disk assembly (702) is configured to receive the signal to change the length of the cable (402) by unwinding the cable (402) from the disk assembly (702).

18. The surgical system according to any one of claims 16 to 17, wherein, The coefficient is between 0 and 1.

19. The surgical system of claim 18, wherein, The coefficient is between approximately 0.5 and 0.

85.

20. The surgical system according to any one of claims 16 to 19, wherein, The surgical instrument (1000) includes a firing lever (502), and the coiled tube (608) completely surrounds at least a portion of the firing lever (502).

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