Closure subsystem for robotic suturing and cutting systems

Abstract

Systems and subsystems for cutting and stapling tissue are disclosed. More specifically, the present disclosure relates to systems, devices, and subsystems for robotic surgical attachments. The surgical instrument is a robotic attachment that includes a closure subsystem for the surgical instrument, the closure subsystem includes a first closure input disc engageable with the first closure robot output, a cam gear rotatably engageable with the first closure input disc, and a yoke pin coupled to the closure tube and movable from a first position to a second position in response to rotation of the cam gear. Movement of the yoke pin from the first position to the second position translates the closure tube distally onto an anvil ramp of the anvil.

Description

Cross-references to related applications

[0001] This application claims the benefit and priority of U.S. Provisional Application Serial No. 63 / 514,972 (Agent's File No. END9567USPSP1), filed July 21, 2023; U.S. Provisional Application Serial No. 63 / 515,001 (Agent's File No. END9568USPSP1), filed July 21, 2023; U.S. Provisional Application Serial No. 63 / 634,201 (Agent's File No. END9567USPSP2), filed April 15, 2024; and U.S. Provisional Application Serial No. 63 / 634,171 (Agent's File No. END9568USPSP2), filed April 15, 2024, the disclosures of which are expressly incorporated herein by reference. Technical Field

[0002] This disclosure relates in its entirety to systems, apparatuses, and subsystems for cutting and suturing tissue. More specifically, this disclosure relates to systems, apparatuses, and subsystems for robotic surgical attachments. Background Technology

[0003] Suturing is a critical aspect of many surgical procedures, such as gastrointestinal, thoracic, and gynecological surgeries. Robotic surgical systems have gained significant recognition in recent years due to their potential to enhance surgical precision and flexibility. However, the development of specialized surgical suturing instruments that can be seamlessly integrated into the surgical workflow of multi-purpose robots remains an unmet need for many surgeons. Summary of the Invention

[0004] The purpose of this design is to provide apparatus and methods that meet the aforementioned requirements. These designs may be systems, apparatuses, and subsystems of suture attachments for robotic surgery. These attachments may have several subsystems that can be independently actuated to provide specific actions, such as closure of the end effector of the suture, articulation of the end effector, rolling of the end effector, and firing of pins within the end effector.

[0005] The disclosed technology includes a closure subsystem for surgical instruments, comprising a first closure input disc capable of engaging with the output end of a first closure robot, a cam gear capable of rotatably engaging with the first closure input disc, and a yoke pin coupled to a closure tube and capable of moving from a first position to a second position in response to rotation of the cam gear. The movement of the yoke pin from the first position to the second position translates the closure tube distally onto the anvil ramp of the anvil.

[0006] The disclosed technology may include a closed subsystem comprising a cam gear and a yoke pin. The cam gear includes a cam track, and the yoke pin is coupled to a closed tube and is capable of moving from a first position to a second position in response to rotation of the cam gear. The yoke pin may extend into the cam track, and the cam track may be shaped to provide a non-linear motion profile for the yoke pin, and includes an open position, a high-speed compression region, a high-force region, and a constant-force region. The high-speed compression region, the high-force region, and the constant-force region may each have different curvatures, and the constant-force region may be shaped such that the yoke pin remains stationary as it passes through the constant-force region along the track with rotation of the cam gear.

[0007] Other aspects of this disclosure will become apparent after viewing the following detailed description in conjunction with the accompanying drawings. As will be understood and appreciated by those skilled in the art, additional features or manufacturing and usage steps may be included. Attached Figure Description

[0008] The foregoing and other aspects of the invention will be further discussed with reference to the following description and the accompanying drawings, in which similar numbers indicate similar structural elements and features in various figures. The drawings are not necessarily drawn to scale; rather, the focus is on illustrating the principles of the invention. The drawings depict one or more specific embodiments of the device of the invention by way of example only and not by way of limitation. It is anticipated that those skilled in the art will be able to conceive of and combine elements from the various drawings to better meet the needs of the user.

[0009] Figure 1 Surgical instruments according to various aspects of this disclosure are shown.

[0010] Figure 2A The housing at the proximal end of a surgical instrument according to various aspects of this disclosure is shown.

[0011] Figure 2B This is an exploded view of the components within the proximal end of a surgical instrument according to various aspects of this disclosure.

[0012] Figure 3A and Figure 3B The internal components of the housing at the proximal end of a surgical instrument according to various aspects of this disclosure are shown.

[0013] Figure 4 A perspective view of the end effector of a surgical instrument according to various aspects of this disclosure is shown.

[0014] Figure 5A A closed subsystem in a closed configuration according to various aspects of this disclosure is shown.

[0015] Figure 5B A closed subsystem in an open configuration is shown according to various aspects of this disclosure.

[0016] Figure 6A A cross-sectional view of the end effector and the closure subsystem according to various aspects of this disclosure is shown.

[0017] Figure 6B This is a perspective view of the end effector and the closing system according to various aspects of this disclosure.

[0018] Figure 6C This is a perspective view of the anvil based on various aspects of this disclosure.

[0019] Figure 6D It is a perspective view of the various aspects of this disclosure.

[0020] Figure 7A These are detailed diagrams of closed subsystems based on various aspects of this disclosure.

[0021] Figure 7B This is a perspective view of the housing according to various aspects of this disclosure.

[0022] Figure 7C This is another detailed diagram of a closed subsystem according to various aspects of this disclosure.

[0023] Figure 7D This is another detailed diagram of a closed subsystem according to various aspects of this disclosure.

[0024] Figure 7E It is a cross-sectional view taken vertically along the longitudinal axis of the surgical instrument according to various aspects of this disclosure, showing details of the manually closing handle.

[0025] Figure 7F This is a bottom perspective view of the manually closing handle according to various aspects of this disclosure.

[0026] Figure 7G This is a detailed view of the manually closed handle grip according to various aspects of this disclosure.

[0027] Figure 7H This is a detailed view of the manually closing handle clamp according to various aspects of this disclosure.

[0028] Figure 7I This is a detailed view of a closure subsystem having a manually closing handle according to various aspects of this disclosure.

[0029] Figure 8A This is a top view of the components of a closed subsystem in a first configuration according to various aspects of this disclosure, and Figure 8B This is a top view of the components of a closed subsystem in a second configuration according to various aspects of this disclosure.

[0030] Figure 8C and Figure 8DThis is a detailed drawing of the closed cam gear according to various aspects of this disclosure.

[0031] Figure 9 These are perspective views of surgical instruments based on various aspects of this disclosure, and Figure 10 These are exploded diagrams of surgical instruments according to various aspects of this disclosure.

[0032] Figure 11A and Figure 11B Detailed diagrams of the components of the joint motion subsystem according to various aspects of this disclosure are shown.

[0033] Figure 12A This illustrates a joint motion system with complete joint movement in one direction. Figure 12B The joint motion system at 0° of joint movement is shown, and Figure 12C A joint motion system with complete joint movement in another direction is shown.

[0034] Figure 13A These are detailed diagrams of the components of the joint motion subsystem according to various aspects of this disclosure.

[0035] Figure 13B This is an exploded view of the components of the joint motion subsystem according to various aspects of this disclosure.

[0036] Figure 14 This is a cross-sectional view of the components of the joint motion subsystem according to various aspects of the present invention.

[0037] Figures 15A to 15C Detailed diagrams of the joint motion subsystems according to various aspects of this disclosure are shown.

[0038] Figure 16A This is a detailed diagram of an alternative joint motion subsystem based on various aspects of this disclosure.

[0039] Figure 16B Based on all aspects of this disclosure Figure 16A An exploded view of the alternative joint motion subsystem.

[0040] Figure 16C Based on all aspects of this disclosure Figure 16A Detailed diagram of the articulation rack of the alternative articulation subsystem.

[0041] Figure 16D This is a cross-sectional view of an alternative joint motion subsystem taken horizontally along the longitudinal axis according to various aspects of this disclosure.

[0042] Figure 16E This is a detailed diagram of the joint motion bushing of an alternative joint motion subsystem according to various aspects of this disclosure.

[0043] Figure 16FThis is a detailed diagram of an alternative articulation subsystem of a housing for a surgical instrument in accordance with various aspects of this disclosure.

[0044] Figure 17A This is a detailed diagram of another alternative joint motion subsystem according to various aspects of this disclosure.

[0045] Figure 17B Based on all aspects of this disclosure Figure 17A An exploded diagram of another alternative joint motion subsystem.

[0046] Figure 17C It is a horizontal section taken along the longitudinal axis according to various aspects of this disclosure. Figure 17A A cross-sectional view of another alternative joint motion subsystem.

[0047] Figure 17D This is a detailed diagram of the articulation rack and drive teeth of another alternative articulation subsystem according to various aspects of this disclosure.

[0048] Figure 17E Based on all aspects of this disclosure Figure 17A Top perspective view of another alternative joint motion subsystem.

[0049] Figure 17F and Figure 17G This is a detailed diagram of the joint motion joint of the joint motion subsystem according to various aspects of this disclosure.

[0050] Figure 18A These are detailed diagrams of the components of the rolling subsystem according to various aspects of this disclosure.

[0051] Figure 18B This is a cross-sectional view of the components of a rolling subsystem according to various aspects of the present invention.

[0052] Figure 18C , Figure 18D and Figure 18E This is an end view of a bushing for a rolling system according to various aspects of this disclosure.

[0053] Figure 19A and Figure 19B Alternative components of the roller rotor system according to various aspects of this disclosure are shown. Figure 19A This is a perspective view of the components of the rolling subsystem according to various aspects of this disclosure, and Figure 19B This is a top cross-sectional view of the components of the rolling subsystem according to various aspects of this disclosure.

[0054] Figures 19C to 19F Examples of backlash features for a worm follower engaging a rotatable shaft, according to various aspects of this disclosure, are provided. Figure 19CAn example of a shaft having two flat sections (or "flat portions") according to various aspects of this disclosure is shown. Figure 19D Examples of a keyway shaft and a worm gear follower with corresponding key features according to various aspects of this disclosure are shown. Figure 19E Examples of a keyway shaft and a worm gear follower with corresponding key features according to various aspects of this disclosure are shown, and Figure 19F Examples of shafts and worm drives with corresponding steps according to various aspects of this disclosure are shown.

[0055] Figure 19G and Figure 19H An example backlash feature for a worm gear is shown according to various aspects of this disclosure. Figure 19G It is a side cross-sectional view according to various aspects of this disclosure, and Figure 19H Based on the various aspects of this disclosure Figure 19G A cross-sectional view in the direction shown.

[0056] Figure 19I This is a cross-sectional view of the rolling subsystem according to various aspects of the present invention.

[0057] Figure 20 Other components of the cross-cutting subsystem according to various aspects of this disclosure are shown.

[0058] Figure 21 The components of the cross-cut subsystem according to various aspects of this disclosure are shown.

[0059] Figures 22A to 22C The components of the transverse cutting subsystem during the progressive firing stroke are shown according to various aspects of this disclosure. Figure 22A The transverse subsystem in its original position is shown. Figure 22B The transverse subsystem in the first firing position is shown, and Figure 22C The transverse subsystem in the second firing position is shown.

[0060] Figure 23 A shaft closure component of a surgical instrument according to various aspects of this disclosure is shown. Detailed Implementation

[0061] Specific examples of the invention will now be described in detail with reference to the accompanying drawings, wherein like reference numerals indicate functionally similar or identical elements. These examples address many shortcomings associated with existing robot attachment systems, such as existing systems that do not provide integration capabilities, i.e., cannot fully achieve closure, articulation, rolling, and firing via actuation of their designated robot output ends. This surgical instrument includes a housing containing gear transmissions and other components necessary to achieve the closure, articulation, rolling, and firing features. In particular, this disclosure provides a detailed discussion of closure subsystems, articulation systems, rolling subsystems, and transverse cutting subsystems that can be used with end effectors for closure, articulation, rolling, and firing devices. Throughout this disclosure, the term “firing” means the distal portion of the transverse cutting subsystem that is advanced distally. The term “firing” should be understood to mean cutting, suturing, or both.

[0062] Overview Switch to the attached image. Figure 1 This is a perspective view showing a surgical instrument 100 according to various aspects of the present disclosure. The housing 102 of the surgical instrument 100 may be attachable to a robotic arm including a plurality of output ends or rotatable disks that actuate disks or other disks on the surgical instrument 100. A proximal end 106 of the surgical instrument 100 may be attached to the robotic arm, and a distal end 108 of the surgical instrument 100 performs transverse incisions and sutures of patient tissue. The proximal end 106 of the surgical instrument 100 includes a tail cover 114. The surgical instrument may include one or more release buttons 104 that allow the device to be detached from the robotic arm.

[0063] Figure 2A From Figure 1 The other side shown is a perspective view of the housing 102. The housing 102 may include a first portion 110 and a second portion 112. The housing 102 includes a series of disks (e.g., a first closure input disk 202, a second closure input disk 204, a first articulation input disk 402, a second articulation input disk 404, a roll input disk 602, and a transverse input disk 802). The disks include features that enable engagement with a rotational feature of the robotic arm 1100 and a sterile adapter positioned between the surgical instrument 100 and the robotic arm 1100, such that rotation of the disks actuates gears and other components of the closure subsystem 200, the articulation subsystem 400, the roll subsystem 600, and the transverse subsystem 800 described herein.

[0064] Figure 3A and Figure 3B The internal components of the housing 102 at the proximal end 106 of the surgical instrument 100 are shown. (See diagram.) Figure 3AAs shown, housing 102 includes components of the closure subsystem 200, articulation subsystem 400, rolling subsystem 600, and transverse subsystem 800 described herein. As will be described in more detail herein, discs (e.g., first closure input disc 202, second closure input disc 204, first articulation input disc 402, second articulation input disc 404, rolling input disc 602, and transverse input disc 802) may each be attached to components extending through housing 102 and rotatably engaging with corresponding components of the closure subsystem 200, articulation subsystem 400, rolling subsystem 600, and transverse subsystem 800. Thus, rotation of each individual disc causes actuation of end effectors (rolling, closing or opening, articulation, firing pins, etc.), thereby enabling a surgeon to perform surgical procedures via the robotic system.

[0065] Figure 3B The internal components of a surgical instrument 100 according to various aspects of this disclosure are shown, the instrument being shown without an outer housing 102. The closure subsystem 200 and the articulation subsystem 400 each utilize two different discs (e.g., a first closure input disc 202, a second closure input disc 204, a first articulation input disc 402, and a second articulation input disc 404) for their respective actions, while the rolling subsystem 600 and the transverse cutting subsystem 800 each utilize only one disc (e.g., a rolling input disc 602 and a transverse cutting input disc 802) for their respective actions. The use of two different discs by the closure subsystem 200 and the articulation subsystem 400 has certain beneficial effects, including, but not limited to, providing additional force to increase the ability of the closure subsystem 200 to compress tissue, and increasing input torque and reducing clearance to increase the responsiveness of joint movements. Figure 2B This is an exploded view of the components within the proximal end 106 of the surgical instrument 100. (See diagram below.) Figure 2B As shown, the outer housing 102 may also include an intermediate housing 111, which may be disposed between the first portion 110 and the second portion 112 and helps to provide support for various components in the outer housing 102, as further described herein.

[0066] like Figure 4 As shown, the surgical instrument 100 includes an end effector 150 disposed at a distal end 108 of the surgical instrument 100. As shown, the end effector 150 includes an anvil 152 and a channel 156. As will be described in more detail herein, the anvil 152 is movable relative to the channel 156 to open and close the end effector 150. Furthermore, as will be described in more detail herein, the surgical instrument 100 includes a closing ring 226 and a closing tube 212, which can be actuated to open and close the anvil 152 relative to the channel 156. The anvil 152 can be opened by retracting the closing ring 226 from the anvil 152.

[0067] Figure 5A An end effector 150 in a closed configuration is illustrated. Figure 5B An end effector 150 in an open configuration is illustrated. The anvil 152 of the end effector 150 can be opened and closed by operation of a closing ring 226, which is coupled to the anvil 152 and slides proximally and distally via a closing tube 212. When the closing ring 226 slides distally, it closes the anvil 152. When the closing ring 226 slides proximally, it opens the anvil 152. The closing ring 226 can be moved between an open and closed position by actuating the closing tube 212. When the closing tube 212 slides proximally and distally, the closing tube 212, engaged with the closing ring 226, causes the closing ring 226 to also slide proximally and distally, thereby opening and closing the anvil 152.

[0068] like Figure 5A and Figure 5B As shown, the closing tube 212 can be actuated by the movement of the closing yoke 250 between the open position and the closed position of the anvil 152. The closing yoke 250 can slide axially in the proximal direction to open the anvil 152, and slide axially in the distal direction to close the anvil 152. In other words, when the closing yoke is in the open position, the distance X1 between the closing yoke 250 and the distal rolling bushing 252 (which remains stationary) will be less than the distance between the closing yoke and the distal rolling bushing when the closing yoke 250 is in the closed position and the distance between the closing yoke 250 and the distal rolling bushing 252 is X2. As will be described in more detail herein, the closing yoke 250 can be switched between the open and closed positions by the actuation of a number of gears.

[0069] Figure 6A This is a cross-sectional view of the end effector 150, showing the end effector 150, the closing ring 226, and the closing tube 212. The closing ring 226 can be coupled to the anvil 152 such that sliding the closing ring 226 proximally opens the anvil 152, and sliding the closing ring 226 distally closes the anvil. Thus, the closure subsystem 200 must be actuated between an open and closed position to change the anvil 152 between the open and closed positions. In other words, it is impossible to open or close the anvil 152 without actuating the other components of the closure subsystem 200.

[0070] Figure 6B This is a perspective view of the end effector, showing anvil 152, channel 156, a chamber mounted in channel 120, and closing ring 226. Anvil 152 includes a flange 260 that can extend outward at a proximal end of anvil 152. Figure 6CAs shown, the anvil 152 also includes an anvil insert 264 positioned at a proximal end of the anvil 152. The anvil insert 264 is configured to contact one or more closure ring inserts 262 that extend inward from the closure ring 226 to open and close the anvil 152.

[0071] like Figure 6C As shown, the anvil 152 includes one or more anvil pins 159 that can extend into an opening 155 in the channel 156. In this example, the opening 155 is an elongated slot. Therefore, it should be understood that, in addition to pivoting within the opening 155 about its own axis, the anvil pin 159 also slides along the opening 155. Even though the pivot axis translates along the opening 155 with the anvil pin 159 and is not in a fixed position, this action can still be considered as "pivoting" as defined herein.

[0072] As the closing ring 226 translates distally in response to the advancement of the closing tube 212, the closing ring 226 translates relative to the anvil 152 to engage the anvil 152. The closing ring 226 engages the anvil 152 to translate the anvil 152 distally by contacting the anvil ramp 154 ​​and pivoting the anvil 152. As the anvil 152 continues to translate distally, the closing ring 226 closes the anvil 152. Once the end effector 150 is closed, the tissue captured between the anvil 152 and the channel 156 can be cut and sutured.

[0073] Once the tissue positioned in the end effector 150 has been cut and sutured, the anvil 152 can be opened to release the tissue. The end effector 150 can then be opened to replace the staple cartridge 120 with a new one. To open the end effector 150, the closure ring 226 can be translated proximally via the closure subsystem 200. As the closure ring 226 is translated proximally, one or more closure ring tabs 262 engage the anvil tabs 264 to pull the anvil 152 proximally. As the anvil 152 is translated proximally, the anvil 152 pivots away from the channel 156 to the open position.

[0074] Closed subsystem Figure 7A , Figure 7C , Figure 7D , Figure 7E and Figure 7I These are detailed diagrams of the closed subsystem 200 according to various aspects of this disclosure. Figure 7A and Figure 7D This is a top perspective view of the closed subsystem 200, and Figure 7C This is a bottom perspective view of the closed subsystem. The closed subsystem 200 includes a first closed input disk 202 and a second closed input disk 204 (e.g., ...). Figure 7C(As shown). The first closed input disk 202 can be configured to engage with the first rotating feature of the robot arm, and the second closed input disk 204 can be configured to engage with the second rotating feature of the robot arm. In this way, compared to the case with only a single input disk, the robot arm can be configured to transmit a greater amount of force to the closure subsystem 200 to open and close the anvil 152.

[0075] A first closed input disc 202 can be connected to a first closed input rod 203 extending into the housing 102. The first closed input rod 203 can be further connected to a first closed spur gear 206. Therefore, when the first closed input disc 202 rotates, it will also cause the first closed input rod 203 and the first closed spur gear 206 to rotate. Similarly, a second closed input disc 204 can be connected to a second closed input rod 205 extending into the housing 102. The second closed input rod 205 can be further connected to a second closed spur gear 208. Therefore, when the second closed input disc 204 rotates, it will also cause the second closed input rod 205 and the second closed spur gear 208 to rotate. The first closed input rod 203 can be held in place by a first retaining clamp 218, and the second closed input rod 205 can be held in place by a second retaining clamp 220.

[0076] The first closed spur gear 206 and the second closed spur gear 208 can each rotatably engage with the closed cam gear 210. For example... Figure 8A and Figure 8B As shown, the closed cam gear 210 includes a closed cam track 214, which can be configured to receive a yoke pin 216 that can be engaged with the closed yoke 250. When the closed cam gear 210 rotates, the closed cam track 214 causes the yoke pin 216 to slide proximally and distally, thereby causing the closed yoke 250 to slide proximally and distally. In other words, when the closed cam gear 210 rotates in a first direction, the closed cam track 214 guides the yoke pin 216 along the closed cam track 214 in a proximal or distal direction. Because the yoke pin 216 is engaged with the closed yoke 250, the proximal or distal movement of the yoke pin 216 causes the closed yoke 250 to move proximally or distally. As explained above, the movement of the closed yoke 250 causes the anvil 152 to open or close.

[0077] The closed cam track 214 may include a nonlinear track, which can be configured to have a changing motion profile as the closed cam gear 210 rotates. For example... Figure 8A and Figure 8BAs shown, the cam track 214 may include a nonlinear profile. In some embodiments, the cam track 214 may be a logarithmic spiral. The cam track 214 is not necessarily perfectly logarithmic and in some cases may be represented by a higher-order polynomial, as some embodiments may include a nonlinear portion, a portion with a constant radius, and a portion connecting the nonlinear portion and the constant radius portion. These different portions can be created using splines. A novel aspect of this nonlinear cam track 214 design is that it can be shaped such that once the yoke 216 reaches the portion of the cam track 214 with the constant radius, the closed cam gear 210 rotates, but the yoke 216 does not move axially. This feature can provide benefits by taking into account robot errors and providing tolerances for them.

[0078] like Figure 8C As shown, the closing cam track 214 may include a first zone 222 and a closing zone 224. The first zone 222 of the closing cam track 214 may be configured to compress tissue with the yoke pin 216 and subsequently the anvil 152 without inducing excessive force. On the other hand, the closing zone 224 of the closing cam track 214 may be configured to compress tissue downward with a force sufficient to hold the end effector 150 in place for cutting and / or suturing tissue. The final rotational position of the closing cam track 214 and the overall configuration of the other components of the closing subsystem 200 produce a closing load that meets the requirements of a particular application. In other words, once the yoke pin 216 reaches its final rotational position, the combination of the components of the closing subsystem 200 can move the anvil 152 to the closed position to close the tissue downward. However, it should be understood that, depending on the particular application, the first zone 222 and the closing zone 224 may be configured to include alternative percentages of the closing cam track 214. Furthermore, the slope of the closed cam track 214 at the first zone 222 and the closed zone 224 can vary to affect the speed and force of the opening and closing of the anvil 152. It should be understood that the cam track 214 is continuous, non-linear, and smooth; therefore, the slope of the different "zones" can vary. Figure 8C and Figure 8D This does not indicate the presence of breaks or discontinuities in certain sections of the cam track 214. Figure 8A The fully open configuration is shown, in which the yoke pin 216 is positioned within the cam track 214 such that the anvil 152 is fully open, thereby maximizing the amount of tissue that can be placed in the jaws (e.g., the anvil and channel) of the end effector 150. Figure 8B A fully closed configuration is shown, where the yoke 216 is within a constant radius portion of the cam track 214 (in this view, the yoke 216 is also at the very end of the cam track 214). The fully closed configuration indicates that the surgical instrument 100 is ready for firing (e.g., transverse incision and / or suturing). A partially open configuration may also be present. Figure 8A and Figure 8BThe examples shown illustrate how the system can grasp the organization.

[0079] See now Figure 8D This figure is a bottom view of the closed cam gear 210, showing different regions of the cam track 214 that can provide different motion profiles for the yoke pin 216. (Reference) Figure 8D In this view, when the closed cam gear 210 rotates clockwise, the yoke pin 216 translates downwards in the view (downwards is relative to the far side of axis 604, see [reference]). Figure 8A and Figure 8B These regions of the cam track 214 can provide different motion profiles depending on the position of the yoke pin 216 within the cam track 214. For example, Figure 8D The closed cam gear 210 has degree indicators for reference, with the upper mark at 0°, the left mark at 90°, the lower mark at 180°, and the right mark at 270°. The cam track 214 may include an opening dead zone 270 existing between approximately -20° and approximately 0°. The opening dead zone 270 is the area beyond the open position 272, providing a degree of tolerance if the closed cam gear 210 is rotated beyond the open position 272. The open position 272, or the original position, may be a hard stop position, where the closing ring 226 is positioned proximally, thereby allowing the anvil 152 to fully open (see [link to relevant documentation]). Figure 5B ). Figure 8D The cam track 214 includes a high-speed compression region 274 positioned in the next portion of the cam track 214 beyond the open position 272. This high-speed compression region 274 extends from approximately 0° to approximately 90°. The high-speed compression region 274 has a curvature that allows the yoke pin 216 to transition rapidly distally while providing a small amount of force (e.g., clamping force on the anvil 152). This high-speed compression region 274 enables the surgical instrument 100 to grasp and position target tissue. Figure 8D The force transition region 276 is located at approximately 90° on the closed cam gear 210. Extending beyond the force transition region 276 is the high-force region 278. The high-force region 278 can... Figure 8D The closed cam gear 210 extends from approximately 90° to approximately 300°. This region provides a low-speed, high-force motion profile for the distal movement of the yoke pin 216. For example, the high-force region 278 could be the portion of the motion profile that begins to apply pressure to the cut and / or sutured tissue. Figure 8DThe closing target 280 is located approximately 300° on the closed cam gear 210. Any point beyond the closing target 280 can be considered closed because the yoke pin 216 is considered satisfied in terms of force and distal motion. Extending beyond the closing target 280 and from approximately 300° to the end of the cam track 214 is the constant force region 282. Like the constant radius section described above, the constant force region 282 can be a segment of the cam track 214 in which the closed cam gear 210 rotates but the yoke pin 216 does not move axially. This helps to provide tolerance for any positional errors of the surgical robot 1100.

[0080] The closure subsystem 200 may also include a manual closure spur gear 230, which is coupled to a manual closure handle 234 extending through the housing 102 (e.g., Figure 7B and Figures 7E to 7I (As shown). For example, if the surgical robot is unable to open or close the anvil 152, the surgeon can use the manual closing handle 234. A manual closing spur gear 230 is rotatably coupled to a manual closing cam gear 232, which is connected via a key to a closing cam gear 210. In this way, rotation of the manual closing handle 234 will cause rotation of both the manual closing spur gear 230 and the manual closing cam gear 232, thereby causing the closing cam gear 210 to rotate and open or close the anvil 152. It should be understood that the manual closing handle 234 provides the surgeon with the ability to open and close the anvil 152 when the surgical instrument 100 is disconnected from the surgical robot, or the ability to control the opening or closing of the anvil 152 when connected to the surgical robot.

[0081] like Figures 7E to 7I As shown, in some examples, the manual closure handle 234 includes a manual closure handle grip 236 and a manual closure handle clamp 238. The manual closure handle grip 236 may extend beyond the outer portion of the housing 102, allowing a physician or surgeon to grasp the manual closure handle 236 and rotate it to open or close the anvil 152. The manual closure handle clamp 238 may be configured to extend through the manual closure handle grip 236 and into the housing 102 to attach the manual closure handle 234 to the housing 102. The manual closure handle clamp 238 may include one or more protruding features that, when pushed into the housing 102, can engage in place to attach the manual closure handle 234 to the housing 102. In other examples, the manual closure handle grip 236 and the manual closure handle clamp 238 may be integrated into a single component.

[0082] The manual closing handle 236 can be, for example but not limited to, received by a protrusion of the manual closing spur gear 230 within a groove formed in the manual closing handle 236 (e.g.) Figure 7E and Figure 7F (As shown) to be attached to the manual closing spur gear 230. The manual closing handle 236 may include an engagement surface 237 that can be aligned with a corresponding engagement surface of the manual closing spur gear 230 to transmit force from the manual closing handle 236 to the manual closing spur gear 230 during rotation. For example, the protrusion of the manual closing spur gear 230 and the groove of the manual closing handle 236 may be hexagonal heads or other similar features.

[0083] Although not shown, in some examples, the manual closing handle 236 may include geometry that limits the travel of the manual closing handle 236 at a predetermined location or provides resistance to its travel, such that the manual closing handle 236 stops or at least decelerates at a position corresponding to the desired opening and closing position of the anvil 152. Alternatively or additionally, the manual closing handle 236 or the manual closing handle clamp 238 may include markings, colors, protrusions, grooves, etc., indicating the position of the anvil 152. In some examples, the manual closing handle 236 or the manual closing handle clamp 238 may include transparent features that reveal indicators at certain rotational positions to indicate the status. Furthermore, the manual closing handle 230 and / or the closing subassembly 200 may include torque-limiting features to prevent excessive torque on the closing subassembly 200.

[0084] Joint kinetic subsystem Figure 9 It is a perspective view of surgical instrument 100, and Figure 10 This is an exploded perspective view of surgical instrument 100. As shown, surgical instrument 100 includes a chamber 120 containing staples configured to suture tissue. Surgical instrument 100 may also include a knife guide 158, a firing lever 820, and a firing rack 816, which enable the knife to cut tissue, as will be described in more detail herein. Furthermore, surgical instrument 100 includes a shaft 604 having a axial cavity 606. As will be described in more detail herein, shaft 604 may be disposed within a closed tube 212 and coupled to a worm follower 610, which enables shaft 604 and an end effector to rotate about a longitudinal axis 474 of surgical instrument 100.

[0085] Surgical instrument 100 includes a joint motion subsystem 400. For example... Figure 10As shown, the surgical instrument 100 includes a first articulated lever 406A and a second articulated lever 407A, which can be configured to articulate the distal channel retainer 408 and the subsequent end effector 150 along a first direction and a second direction transverse to the longitudinal axis 474 of the surgical instrument 100. The first articulated lever 406A and the second articulated lever 407A can be configured to be at least partially disposed in a lever recess 478 disposed on either side of the shaft 604.

[0086] A view of the joint movement at the distal end of the surgical instrument 100. Figure 11A , Figure 11B , Figure 12A , Figure 12B and Figure 12C As shown in the figure, a detailed diagram of the proximal portion of the example joint motion subsystem 400 is shown in Figures 13A to 15C Provided in [the text]. The articulation subsystem 400 includes a first articulation rod 406A and a second articulation rod 407A, each extending distally to a distal channel retainer 408. The proximal ends of the first articulation rod 406A and the second articulation rod 407A may each include a hook (first articulation rod hook 405 and second articulation rod hook 409, such as...). Figure 10 , Figure 15A , Figure 15B and Figure 15C (as shown) or other attachments that constrain the articulated rods proximally (e.g., to the first articulated bushing 426 and the second articulated bushing 428). In some examples, the first articulated rod 406A and the second articulated rod 407A may each be pinned, bolted, welded, adhered, or otherwise attached to the first rack 414A and the second rack 418A, respectively. The distal ends of the first articulated rod 406A and the second articulated rod 407A may each be connected to a distal channel retainer 408, which may pivot back and forth (e.g., to the left and right) to move or perform articulation of the end effector 150 of the surgical instrument 100. The first articulated rod 406A may be attached to the distal channel retainer 408 via a first channel retainer pin 410, and the second articulated rod 407A may be attached to the distal channel retainer 408 via a second channel retainer pin 411. The attachment end 468 of the distal channel retainer 408 may, for example, be attached to the channel 156 of the end effector 150 to enable articulation of the end effector 150. The attachment end 468 may also include a band slot 484 for passing through a series of bands 826, which is described in more detail herein with respect to the transverse subsystem 800.

[0087] See now Figure 12A , Figure 12B and Figure 12CThe first joint movement rod 406A and the second joint movement rod 407A can cause the distal channel retainer 408 to move back and forth around the joint movement pivot point 466 by pushing or pulling the corresponding side of the distal channel retainer 408. Figure 12A An end effector 150 is illustrated when the joint moves to the first position. Figure 12B An end effector 150 is shown in a central position, and Figure 12C An end effector 150 in the second position is illustrated. To enable the end effector 150 to reciprocate articulated motion, the distal channel retainer 408 includes a first retainer pin 410 (e.g., ...). Figure 11B As shown), the first articulated lever 406A includes a distal first rod hole 412 that engages the first retainer pin 410. Similarly, the distal channel retainer 408 includes a second retainer pin 411, and the second articulated lever 407A includes a distal second rod hole 413 that engages the second retainer pin 411. When the first articulated lever 406A translates proximally (e.g., ... Figure 12C When the first articulation lever 406A pulls the first retainer pin 410 proximally (as indicated by the arrow in the diagram), the distal channel retainer 408 is articulated about the articulation pivot point 466 in one direction. The second articulation lever 407A can be translated distally to allow the channel retainer 408 to articulate about the articulation pivot point 466. Similarly, when the second articulation lever 407A is translated proximally (as indicated by the arrow in the diagram), the first articulation lever 406A pulls the first retainer pin 410 proximally, and thus causes the distal channel retainer 408 to articulate about the articulation pivot point 466. Figure 12A When the arrow in the diagram is pointed out, the second articulator rod 407A pulls the second retainer pin 411 proximally, and thus causes the distal channel retainer 408 to articulate in the opposite direction about the articulation pivot point 466. The first articulator rod 406A can be translated distally to allow the channel retainer 408 to articulate about the articulation pivot point 466. The first articulator rod hole 412 and the second articulator rod hole 413 can each be elliptical, such as... Figure 11B As shown, this is to account for the lateral translation of the first retainer pin 410 and the second retainer pin 411 when the distal channel retainer 408 rotates, because the first articulator rod 406A and the second articulator rod 407A only move axially and are constrained to the shaft 604 within the rod groove 478. Figure 10 A view of the rod groove 478 along the length of axis 604 is shown. Note that in other examples, proximal and distal movements may be reversed. For example, Figure 12A The rotation shown can be achieved through any of the following: distal movement of the first joint movement rod 406A, proximal movement of the second joint movement rod 407A, or coordinated movement of the two joint movement rods 406A and 407A. This also applies to the entire range of motion of the joint.

[0088] See now Figure 13A and Figure 13B These are detailed and exploded views of the proximal portion of the joint motion subsystem 400, respectively. Additionally, Figure 14 It shows along Figure 13A The image shows a cross-sectional view of the articulation subsystem 400 taken along line AA. The articulation subsystem 400 includes features adapted for the rolling function of the surgical instrument 100. As will be described in more detail below with respect to the rolling subsystem 600, the surgical instrument 100 includes a shaft 604 that is rollable, i.e., rotatable relative to the longitudinal axis 474 of the surgical instrument 100, to allow full-range articulation of the end effector 150. Specifically, the shaft 604 can be directly connected to the end effector 150, and thus the combination of the rolling of the shaft 604 (via the rolling subsystem 600) and the articulation of the end effector 150 (via the articulation subsystem 400) enables the end effector 150 to articulate with more degrees of freedom than simply by pivoting the distal channel retainer 408. This combination of articulation, rolling, and insertion of the surgical instrument 100 improves access to the surgical site.

[0089] The first articulator 406A and the second articulator 407A each extend along the rotatable shaft 604, for example, within a rod recess 478. To accommodate the ability of the first articulator 406A and the second articulator 407A to rotate with the shaft 604, the articulation subsystem 400 includes bushings (i.e., a first articulation bushing 426 and a second articulation bushing 428) that allow the rotatable robot output end to move the articulation subsystem 400 proximally and distally along the shaft 604 (e.g., to move the first articulator 406A and the second articulator 407A), while also allowing the shaft 604 to rotate within the articulation subsystem 400. The articulation subsystem 400 includes a first rack 414A that can be moved via a series of transmissions by rotation of a first articulation input disk 402, which can engage with a corresponding rotatable robot output end. The interior of the first rack 414A includes a rack drive 416 (e.g., ...). Figure 15A , Figure 15B and Figure 15C As shown), this rack and pinion drive facilitates the axial translation of the first rack 414A (e.g., on the distal and proximal sides within the outer housing 102, such as...). Figure 15A and Figure 15C (As indicated by the arrow in the diagram). The articulation subsystem 400 includes a second rack 418A, which can be moved via a series of transmission devices through the rotation of a second articulation input disk 404, which can engage with a corresponding rotatable robot output end. The interior of the second rack 418A includes a rack and pinion drive 420 (as shown by the arrow in the diagram). Figure 15A , Figure 15B and Figure 15C As shown), this rack and pinion drive allows the second rack 418A to translate axially (e.g., as shown). Figure 15A and Figure 15C As indicated by the arrows, on the distal and proximal sides within the outer housing 102.

[0090] To accommodate rotation of shaft 604, the articulation subsystem 400 includes a first articulation bushing 426 that is rotatable with shaft 604 and rotatable independently of the first rack 414A. In other words, rolling of shaft 604 will also cause the first articulation bushing 426 to roll, while the first rack 414A remains rotationally stable within the outer housing 102. The first articulation bushing 426 can slide from a first position to a second position along the longitudinal axis 474 of the rotatable shaft 604, thereby causing the first articulation lever 406A to move proximally and distally. The first rack 414A includes a first housing track surface 462 (e.g., ...). Figure 14 As shown), the first housing track surface moves axially within a corresponding track in the outer housing 102, thereby allowing the first rack 414A to slide axially but not rotatably. The first housing track surface 462 and the first bushing bearing surface 458 can be at 90° relative to each other. The articulation subsystem 400 includes a second articulation bushing 428 that can rotate with the shaft 604 and can rotate independently of the second rack 418A. In other words, rolling of the shaft 604 will also cause the second articulation bushing 428 to roll, while the second rack 418A remains rotationally stable within the outer housing 102. The second articulation bushing 428 can slide from a first position to a second position along the longitudinal axis 474 of the rotatable shaft 604, thereby allowing the second articulation rod 407A to move proximally and distally. The second rack 418A includes a second housing track surface 464 (as shown). Figure 14 As shown), the second housing track surface moves axially within a corresponding track in the outer housing 102, thereby allowing the second rack 418A to slide axially but not rotatably. The second housing track surface 464 and the second bushing bearing surface 460 can be at 90° relative to each other.

[0091] The articulation subsystem 400 includes a first articulation drive shaft 432 extending from a first articulation input disk 402 and including a first drive gear 430 that can be keyed to the first articulation drive shaft 432. Therefore, rotation of the first articulation input disk 402 by the corresponding robot output end causes the first drive gear 430 to rotate. The articulation subsystem 400 includes a first rack gear 434, which in some cases may be a hollow tubular gear sliding over the first articulation drive shaft 432, thereby providing mechanical advantages to the system while also saving space within the housing 102. The first rack gear 434 can be rotatably coupled to the first articulation drive shaft 432 by means of a first compound gear 442 having stepped teeth 444, one portion of which engages with the first drive gear 430, and the other portion of which engages with the first rack gear 434. Therefore, rotation of the first joint motion drive shaft 432 causes the first drive gear 430 to rotate, rotation of the first drive gear 430 causes the first compound gear 442 to rotate, and rotation of the first compound gear 442 causes the first rack gear 434 to rotate around the first joint motion drive shaft 432. Furthermore, the first rack gear 434 includes first rack gear teeth 446 that engage with the rack transmission 416 of the first rack 414A. Therefore, rotation of the first rack gear 434 causes the first rack 414A to translate proximally and distally to move the first joint motion bushing 426. With this configuration, clockwise rotation of the first input disk 402 (when viewed from a perspective showing the surface of the first input disk 402 configured to engage with the robot arm 1100 (e.g., when viewing the outward-facing surface of the first input disk 402)) causes the first rack 414A to move proximally, and counterclockwise rotation of the first disk 402 causes the first rack 414A to move distally.

[0092] Similarly, the articulation subsystem includes a second articulation drive shaft 438 extending from the second articulation input disk 404 and including a second drive gear 436. Therefore, rotation of the corresponding robot output end relative to the second articulation input disk 404 causes the second drive gear 436 to rotate. The articulation subsystem 400 includes a second rack gear 440, which in some cases may be a hollow tube gear sliding on the second articulation drive shaft 438. The second rack gear 440 can be rotatably coupled to the second articulation drive shaft 438 by means of a second compound gear 448 having stepped teeth 450, one portion of which engages with the second drive gear 436, and the other portion of which engages with the second rack gear 440. Therefore, rotation of the second articulation drive shaft 438 causes the second drive gear 436 to rotate, rotation of the second drive gear 436 causes the second compound gear 448 to rotate, and rotation of the second compound gear 448 causes the second rack gear 440 to rotate about the second articulation drive shaft 438. Furthermore, the second rack gear 440 includes second rack teeth 452 that engage with the rack drive 420 of the second rack 418A. Therefore, rotation of the second rack gear 440 causes the second rack 418A to translate proximally and distally to move the second joint motion bushing 428. With this configuration, clockwise rotation of the second input disk 404 (when viewed from a perspective showing the surface of the second input disk 404 configured to engage with the robot arm 1100 (e.g., when viewing the outward-facing surface of the second input disk 404)) causes the second rack 418A to move distally, and counterclockwise rotation of the second input disk 404 causes the second rack 418A to move proximally.

[0093] Referring again to the articulated bushing and rack, the first rack 414A can engage with the first articulated bushing 426 in a manner that allows the first articulated bushing 426 to move proximally or distally, while the first articulated bushing 426 remains rotatable with the shaft 604. The first rack 414A includes a first bushing bearing surface 458 adjacent to the first articulated bushing 426. The first articulated bushing 426 includes a first rack groove 480 surrounding the periphery of the bushing, in which the first bushing bearing surface 458 extends. As the first articulated bushing 426 rotates, the first bushing bearing surface 458 can pass along a track through the first rack groove 480. Therefore, the first bushing bearing surface 458 can be semi-circular. Similarly, the second rack 418A can engage with the second articulated bushing 428 in a manner that allows the second articulated bushing 428 to move proximally or distally, while the second articulated bushing 428 remains rotatable with the shaft 604. The second rack 418A includes a second bushing bearing surface 460 adjacent to the second articulated bushing 428. The second articulated bushing 428 includes a second rack groove 482 surrounding the periphery of the bushing, in which the second bushing bearing surface 460 extends. When the second articulated bushing 428 rotates, the second bushing bearing surface 460 can pass along a track through the second rack groove 482. Therefore, the second bushing bearing surface 460 can be semi-circular.

[0094] See now Figure 15A , Figure 15B and Figure 15C They illustrate how the joint motion subsystem 400 is actuated by the movement of the first rack 414A and the second rack 418A. Figure 15B A joint motion subsystem 400 is shown in a state of joint motion stagnation (e.g., 0°). To move the first joint motion bushing 426, the first rack and pinion 434 can rotate in a first angular direction, and the first rack and pinion teeth 446 move via a first rack and pinion transmission 416 of the first rack 414A. Figure 15A As shown, when the first rack and pinion 434 rotates and moves the first rack 414A proximally, the first articulator hook 405 is pulled proximally, and the first articulator lever 406A is pulled proximally. The second articulator lever 407A can be extended by the robotic arm to allow the end effector 150 to move in a first direction, which in this example is to the right (e.g., ...). Figure 12A (As shown).

[0095] Figure 15CThis illustrates a situation where the first rack 414A has moved distally and the second rack 418A has moved proximally. The proximal movement of the second rack 418A causes the second articulator bushing 428 to translate proximally along the longitudinal axis 474 of shaft 604. Subsequently, the second articulator lever 407A will translate proximally, thereby pivoting the distal channel retainer 408, causing the end effector 150 to pivot in a second direction, in this example, to the left (e.g., ...). Figure 12C As shown ( Figures 12A to 12C End effector and Figures 15A to 15C Compared to a 180° rotation), the first articulator 406A can be extended by the robotic arm to allow the end effector 150 to move in a second direction. In this example, the first articulator 406A and the second articulator 407A actuate the end effector 150 only when induced to move proximally, thereby pulling the distal channel retainer 408 to pivot from left to right. In other words, in this example, the first articulator 406A and the second articulator 407A actuate the end effector 150 only when pulled. In other examples, the first articulator 406A and the second articulator 407A can be configured to work together in a push / pull relationship. For example, when one of the first articulator 406A and the second articulator 407A is pulled in the proximal direction, the other of the first articulator 406A and the second articulator 407A can be pushed in the distal direction, thereby increasing the force applied to induce the joint movement. That is, the first joint motion input disk 402 and the second joint motion input disk 404 can be used together to actuate the joint motion system, thereby increasing the force applied to the joint motion subsystem 400 to cause the end effector 150 to perform joint motion.

[0096] In some examples, the joint motion subsystem 400 described herein can achieve at least 60° of joint motion in any direction, such as ±5°, ±10°, ±15°, ±20°, ±25°, ±30°, ±35°, ±40°, ±45°, ±50°, ±55°, and ±60°, or any intermediate degree of reciprocating joint motion. It should be noted that... Figure 12B The connector 160, which holds the end effector 150 to the shaft 604, is exposed for visualization. The connector 160 may be concealed by a flexible sheath 174 to alleviate pinch points. The connector 160 described herein may include multiple articulated links connecting the closure tube 212 to the closure ring 226. This link system may be a boss / hole configuration providing pin connections. An external closure system may consist of the closure tube 212, which is pushed forward distally on two articulated links of the connector 160, thereby actuating the closure ring 226.

[0097] Now go to Figure 16A , Figure 16B , Figure 16C , Figure 16D , Figure 16E and Figure 16F This document describes an alternative example articulation subsystem 400. As shown, the articulation subsystem 400 may include a first inner rack 414B and a second inner rack 418B. For example, the first inner rack 414B may be at least partially positioned between a first rack gear 434 and a rotatable shaft 604, and the second inner rack 418B may be at least partially positioned between a second rack gear 440 and a rotatable shaft 604. In this way, the articulation subsystem 400 will have a more compact layout, and the forces applied by the first inner rack 414B and the second inner rack 418B can be distributed closer to the longitudinal axis, thereby reducing the torque forces on the first inner rack 414B and the second inner rack 418B.

[0098] The first inner rack 414B and the second inner rack 418B can each be pushed or pulled together in a push / pull relationship. For example, if the first inner rack 414B and the second inner rack 418B move axially toward each other, the end effector 150 will articulate in a first direction (e.g., to the right). If the first inner rack 414B and the second inner rack 418B move axially away from each other, the end effector will articulate in a second direction (e.g., to the left). In this way, the forces from the first articulation input disk 402 and the second articulation input disk 404 can work together to cause the end effector 150 to articulate in either the first or second direction.

[0099] Similar to the first rack 414A and the second rack 418, the first inner rack 414B and the second inner rack 418B can be configured to move the first articulated lever 406A and the second articulated lever 407A proximally and distally via the first articulated bushing 426 and the second articulated bushing 428, respectively. Because the first inner rack 414B and the second inner rack 418B are at least partially positioned adjacent to the first articulated bushing 426 and the second articulated bushing 428 about the rotatable axis 604, the first inner rack 414B and the second inner rack 418B can respectively push the first articulated bushing 426 and the second articulated bushing 428 without requiring a portion of the rack to extend outward and engage with the bushing. Figure 16C and Figure 16DAs shown, similar to the first rack 414 and the first articulated bushing 426, the first inner rack 414B includes a first bushing bearing surface 458 that engages with the first rack recess 480. Similarly, the second inner rack 418B includes a second bushing bearing surface 460 that engages with the second rack recess 482. Thus, the first inner rack 414B and the second inner rack 418B can be configured to allow the first articulated bushing 426 and the second articulated bushing 428 to move proximally and distally, respectively, while remaining independent of the rotation of the first articulated bushing 426 and the second articulated bushing 428.

[0100] like Figure 16E As shown, the first articulated bushing 426 and the second articulated bushing 428 may each include one or more bushing extensions 427 that protrude from the first articulated bushing 426 and the second articulated bushing 428 in a direction along the longitudinal axis. Thus, the bushing extensions 427 help prevent the first articulated bushing 426 and the second articulated bushing 428 from engaging when pushed or pulled proximally or distally.

[0101] like Figure 16F As shown, the first inner rack 414B and the second inner rack 418B may each have a housing track surface 415 that moves axially within the corresponding track 176B in the first portion 112 of the housing 102 and the track 176A of the intermediate housing 111, thereby allowing the first inner rack 414B to slide axially but not rotate. In other words, the housing track surfaces 415 of the first inner rack 414B and the second inner rack 418B are configured to slide along the tracks 176A and 176B of the first portion 112 of the housing 102 and the intermediate housing 111 disposed in the housing 102. Thus, any rotational force applied to the first inner rack 414B and the second inner rack 418B by the rolling subsystem 600 will not cause the first inner rack 414B and the second inner rack 418B to rotate within the housing 102.

[0102] Now go to Figure 17A , Figure 17B , Figure 17C , Figure 17D , Figure 17E , Figure 17F and Figure 17GAnother alternative example of the joint motion subsystem 400 will be shown and described below. As shown, the joint motion subsystem 400 may include a single inner rack 414C extending about a rotatable axis 604. A first tube drive tooth 446 may engage the single inner rack 414C on a first side, and a second tube drive tooth 452 may engage the single inner rack 414C on a second side. That is, the first tube drive tooth 446 and the second tube drive tooth 452 may engage the single inner rack 414C together. The single inner rack 414C may engage a single joint motion bushing 429 coupled to a single joint motion lever 403. That is, compared to the previous examples shown and described herein, Figures 17A to 17G The example articulation subsystem 400 shown may include a single articulation lever 403, which can be both pulled and pushed by a single articulation bushing 429 and a single inner rack 414C.

[0103] like Figure 17C As shown, a single inner rack 414C is separated from a single articulated bushing 429 by one or more bearings 425. The first bearing 425 is constrained distally by a flange 431, and the second bearing 425 is constrained proximally by a locking ring 433. This constraint allows movement of the single inner rack 414C to cause axial movement of the single articulated bushing 420. By including the bearings 425, the single inner rack 414C can rotate independently of the single articulated bushing 429, but is still configured to translate the single articulated bushing 429 (and therefore the single articulated rod 403) proximally and distally. Furthermore, because the first tube drive tooth 446 and the second tube drive tooth 452 engage together with the single inner rack 414C, it should be understood that forces from the first articulated input disc 402 and the second articulated input disc 404 can work together to translate the end effector 150 along a first direction and a second direction.

[0104] Now go to Figure 17F and Figure 17G The articulation subsystem 400 may include a blade guide 469, which may be positioned between the attachment end 468 and the proximal end of the shaft 604. The blade guide 469 may include a slot 471 similar to the slot 484 of the attachment end 468, which may facilitate guiding the band 826 during proximal and distal translation. The blade guide 469 may help prevent the band 826 from buckling, twisting, or otherwise becoming engaged during proximal or distal translation, thereby helping to ensure that the blade 166 can also be positioned further proximal and distally.

[0105] like Figure 17F and Figure 17GAs shown, the articulation subsystem 400 may include an articulation rod post 484 that can receive a single articulation rod 403. The articulation rod post 484 can connect the single articulation rod 403 to the attachment end 468 to cause the end effector 150 to articulate left and right when the single articulation rod 403 moves proximally and distally.

[0106] Roller system Surgical instrument 100 includes a roller system 600. Figure 18A , Figure 18B , Figure 18C , Figure 18D and Figure 18E Detailed diagrams of the proximal portion of the example rolling subsystem 600 are provided. See details. Figure 18A and Figure 18B The rolling subsystem 600 includes a series of gears that allow the shaft 604 to rotate distally along the longitudinal axis 474 of the surgical instrument 100. The shaft 604 can be directly connected to the end effector 150, and therefore the rolling of the shaft 604 enables the end effector 150 to roll a single joint motion plane to any orthogonal position. The shaft 604 includes a shaft lumen 606 extending therethrough, and the distal portion of the transverse cutting subsystem 800 extends through the shaft lumen 606. The transverse cutting subsystem 800 is described in more detail below.

[0107] The rolling subsystem 600 includes a rolling input disk 602 that engages with a corresponding rotatable robot output end. The rolling input disk 602 is rotatably engaged with a worm gear 608 extending therefrom, such that rotation of the rolling input disk 602 rotates the worm gear 608 clockwise or counterclockwise. Since the rolling input disk 602 is positioned perpendicular to the length of the surgical instrument 100, and therefore perpendicular to the shaft 604, the rolling subsystem 600 includes a worm gear follower 610 that engages with the worm 608. The worm gear follower 610 is coupled to the shaft 604, thereby allowing the shaft 604 to rotate. To keep the worm follower 610 positioned correctly relative to the worm gear 608, the rolling subsystem 600 includes a stabilizing plate 612 surrounding the shaft 604 distal to the worm follower 610. The stabilizing plate 612 can be positioned in a corresponding slot within the housing 102 to prevent the stabilizing plate 612 from sliding axially along the shaft 604, while also providing lateral alignment of the shaft 604 within the housing 102. The roller system 600 may also include a roller bearing 614 and a roller bearing plate 616, with the roller bearing 614 positioned between the stabilizing plate 612 and the roller bearing plate 616.

[0108] In some examples, the rolling rotor system 600 includes a rolling stop bushing 618 that engages with a rotatable shaft 604. The rolling stop bushing 618 may be coupled to a worm gear follower 610 and / or shaft 604 and provides feedback on the positioning of the rotatable shaft 604. For example, the rolling stop bushing 618 includes a stop 620 positioned thereon that can contact a housing tab 626 positioned on the outer housing 102. The rolling subsystem 600 can roll the shaft 604 to a first position where the rolling stop bushing 618 contacts the housing tab 626 on a first side, and then roll the shaft 604 to a second position where the rolling stop bushing 618 contacts the housing tab 626 on a second opposite side. The robot output end actuating the rolling rotor system 600 can use the hard stop at the housing tab 626 to determine a reference or 0° rotation of the shaft 604. This example can provide rotations greater than 300° for axis 604, such as greater than 305°, greater than 310°, greater than 315°, greater than 320°, greater than 325°, greater than 330°, greater than 335°, greater than 340°, greater than 345°, greater than 350°, greater than 355° or more.

[0109] In some examples, the rolling subsystem 600 does not include the housing insert 626 and allows the rolling subsystem 600 to continue rolling indefinitely. In this configuration, the control of the robotic arm 1100 can be programmed to determine the initial position and can be configured to track and accurately determine the position of the rolling subsystem 600 and / or the end effector 150 at any given point of rotation.

[0110] In some examples, the rolling subsystem 600 may also include a follower bushing 622 (e.g. Figure 18C , Figure 18D and Figure 18E (As shown), the follower bushing has a follower bushing stop 624 extending therefrom. In this example, the follower bushing 622 can be positioned between the shaft 604 and the rolling stop bushing 618. The shaft 604 and the follower bushing 622 can be directly coupled to each other, and the rolling stop bushing 618 and the follower bushing 622 can rotate relative to each other. The rolling subsystem 600 can roll the shaft 604 to a first position in which the rolling stop bushing 618 contacts the housing insert 626, and the follower bushing 622 contacts the rolling stop bushing 618 at a first side (see...). Figure 18C Then, the rolling subsystem 600 can rotate the shaft 604 until the follower bushing 622 contacts the rolling stop bushing 618 on the other side (see...). Figure 18DAnd then continue to rotate by circumferentially pushing the rolling stop bushing 618 until the rolling stop bushing 618 contacts the housing insert 626 and the driven bushing 622 contacts the rolling stop bushing 618 on the second opposite side (see...). Figure 18E This example using the follower bushing 622 allows for a greater degree of rotation, such as greater than 360°, or in some cases, approximately 320° in either direction (e.g., a total of 640°). Brief Reference Figure 10 The figure shows the distal portion of the rolling subsystem 600, and the view shows how the rod groove 478 of the shaft 604 extends along the length of the shaft 604. A first articulated rod 406A can extend through the rod groove 478 of the shaft 604, and rotating the shaft 604 by the rolling subsystem 600 can thus rotate the articulated rod 406A.

[0111] Figure 19A and Figure 19B It shows aspects of this disclosure, relative to Figures 18A to 18E The components of the rolling subsystem 600 shown, and alternative components of the rolling subsystem. Figure 19A This is a perspective view of the components of the roller rotor system 600. In the illustrated embodiment, the stabilizing plate 612 includes a thick thrust block 712. The thrust block 712 is positioned near the proximal end of the shaft 604 to counteract the axial force on the shaft 604 caused by the distal movement of the closed tube 212 (see [link to diagram]). Figure 1 Providing a more robust thrust block 712 (including a thickness 711 greater than 1.0 cm or greater than 1.5 cm) provides better load conditions (to stop deflection) and better shares the load with the housing 102. The thrust block 712 includes a support 178 (such as...) Figure 19I The support 178 shown is joined to the support member 713. (As shown) Figure 19I As shown, the support 178 is located inside the housing 102 and distributes the load applied to the support 178 from the thrust block 712 (and other components) to the housing 102. Figure 19A The diagram shows additional components that may be included in alternative designs, including those that can be substantially similar. Figure 18A The rolling bearing 614 and the rolling bearing 714 in the middle, and can be substantially similar to Figure 18A Rolling bearing plate 616 and rolling bearing plate 716 (in Figure 19A In this section, the bearing plate 716 is thicker than the rolling bearing plate 616 to further increase the robustness and load distribution of this component. Figure 19A Roll stop bushing 718 is also shown, which is substantially similar to roll stop bushing 618. Figure 19BThis is a top cross-sectional view of the components of the rolling subsystem 600. The rolling subsystem 600 includes a first locking ring 752 and a second locking ring 754. The locking rings 752 and 754 are positioned such that they secure the worm gear follower 610 and the rolling stop bushing 718 together. A stop 730 for the rolling stop bushing 718 is also shown; the stop 720 may be substantially similar to the stop 620 described above.

[0112] See Figure 19C For reference, as shown in the figure, the interior of the worm follower 610 may not be perfectly circular, and similarly, the outer surface of the shaft 604 may not be perfectly circular. Instead, the worm follower 610 and the shaft 604 may have corresponding anti-backlash features. Reducing backlash in the gear drive of the surgical instrument 100 is desirable to improve accuracy and ensure proper calibration. For example, the robot can be positioned and / or calibrated by rolling the shaft 604 from one mechanical calibration position to another (see [reference needed] for a discussion of the rotational constraints of the rolling subsystem 600). Figures 18C to 18E Therefore, reducing the backlash can help ensure accurate calibration. Figures 19C to 19F The implementation shown provides an example of such a backlash feature.

[0113] Figure 19C This is a detailed view of the worm follower 610. Here, the internal region of the worm follower 610 (i.e., the portion engaging with the shaft 604) includes one or more gear flats 756. The gear flats 756 serve to ensure that the worm follower 610 constrains the shaft 604 so that they rotate together. These one or more gear flats 756 are positioned to abut and / or contact one or more corresponding shaft flats 758 on the outer surface of the shaft 604. In the example shown, the worm follower 610 includes a first gear flat 756A and a second gear flat 756B, and the rotatable shaft 604 includes (i) a first shaft flat 758A positioned corresponding to the first gear flat 756A and (ii) a second shaft flat 758A positioned corresponding to the second gear flat 756B. Having more than one flat can further limit the backlash between the two components. In some specific embodiments, the first gear flat 756A may coincide with a portion of the receiving groove 478 of the shaft 604 (e.g., see...). Figure 10 ).

[0114] One or more gear flat portions 756 may be milled, broached, or formed into the worm follower 610, and therefore, a tight bend between the flat portion and the curved section may be impossible or undesirable, for example, because a steep bend may be a location of stress fracture. Thus, the transition between one or more gear flat portions 756 and the curved section provides clearance between the worm follower 610 and the shaft 604 at certain locations. Figure 19C Two such gaps are shown and labeled as first gap 761A and second gap 761B. The first end of the first gear flat portion 756A is rounded and rotates inward to converge at singularity 760. The first end of the second gear flat portion 756B is rounded and rotates inward to converge at singularity 760. The portion of the worm gear follower 610 located between the first gear flat portion 756A and singularity 760 is separated from the rotatable shaft 604 by the aforementioned first gap 761A. The portion of the worm gear follower 610 located between the second gear flat portion 756B and singularity 760 is separated from the rotatable shaft 604 by the second gap 761B. Singularity 760 contacts the rotatable shaft 604 to provide circumferential control of the shaft 604 within the worm gear follower 610.

[0115] Figures 19D to 19F Additional or alternative backlash features for the worm gear follower 610 and shaft 604 are shown. Figure 19D In this configuration, the worm gear follower 610 includes a key 762 that engages with a keyway 734 in the shaft 604. Alternatively, the key may be included by the shaft 604, while the keyway is included by the worm gear follower 610. In some examples, the key / keyway may be used in conjunction with one of other backlash prevention features, as shown, such as the first shaft flat portion 758A and the first gear flat portion 756A. Figure 19E The example shown also includes key 762 and keyway 734, but keyway 734 extends completely through the wall of shaft 604. Figure 19F In this embodiment, the worm gear follower 610 has a different wall thickness, which is measured at the inner surface of the worm gear follower 610 in contact with the shaft 604. The worm gear follower 610 has a first portion with a first wall thickness 767A and a second portion with a second wall thickness 767B, where the first wall thickness 767A is thicker than the second wall thickness 767B. This change in the inner wall geometry forms a gear step 766. Similarly, the rotatable shaft 604 has a first portion with a first wall thickness 769A and a second portion with a second wall thickness 769B, where the first wall thickness 769A is thicker than the second wall thickness 769B. This change in the inner wall geometry of the shaft 604 forms a shaft step 768. The gear step 766 is sized and positioned to engage with the shaft step 768 to reduce backlash when the worm 608 actuates the worm gear follower 610. It is also conceivable that the worm gear follower 610 and the shaft 604 are inseparably connected, such as by welding or adhesive, although implementations that manufacture such a connection may require additional manufacturing steps.

[0116] Figure 19G and Figure 19HAn example backlash feature for the worm gear 608 according to various aspects of this disclosure is shown. The above disclosure discusses reducing backlash at the connection between the shaft 604 and the worm gear follower 610, but another potential backlash point in the rolling rotor system 600 lies at the location where the rolling input disc 602 and its corresponding input shaft 605 engage with the worm 608. Figure 19G The placement of the input disk 602, input shaft 605, and worm gear 608 is shown, while Figure 19H The top cross-sectional view shows an example backlash feature. The input shaft 605 extends at least partially through the worm 608. The input shaft 605 includes a flat section 772, which is positioned to correspond to the worm drive flat section 770 of the worm 608. The flat section feature on this flat section is similar to that regarding... Figure 19C The discussed gear flat portion 756 and shaft flat portion 758 help to reduce backlash in the system.

[0117] crosscutting subsystem Surgical instrument 100 includes a transverse cutting subsystem 800. This subsystem may be referred to as a transverse cutting subsystem because actuation of the system results in tissue cutting via a cutting mechanism of the end effector 150, which is described in more detail below. The transverse cutting subsystem 800 includes, proximally, a series of gears that allow the system to fire a firing rack 816 distally. Because surgical instrument 100 includes, for example, a rolling feature via a rolling subsystem 600, the proximal portion of the transverse cutting subsystem 800 (e.g., having a transmission mechanism and firing rack 816, see [link to rolling subsystem])... Figure 20 It is not rotatable, but the distal end (e.g., firing lever 820, band 826, etc., see below) Figure 21 It can rotate together with the rolling of axis 604.

[0118] See now for details. Figure 20 The cross-cutting subsystem 800 includes a cross-cutting input disk 802 that can engage with a corresponding rotatable robot output end. The cross-cutting input disk 802 is rotatably engaged with a cross-cutting drive shaft 804 extending therefrom, such that rotation of the cross-cutting input disk 802 rotates the cross-cutting drive shaft 804. Rotation of the cross-cutting drive shaft 804 causes distal or proximal translation of the firing rack 816 directly or indirectly via a transmission mechanism, which results in the firing of the pin 126 and / or the blade 166 in the end effector.

[0119] Because the distal translation of the firing rack 816 is used to translate the distal blade 166, a relatively high degree of force is required for this distal translation. The force required to push the blade 166 forward can be significant, as it can include the accumulation of forces required to cut tissue, drive pins, and interact with any friction. Therefore, this disclosure provides a series of gear drives that increase the tracing or cutting force by providing a mechanical advantage after the tracing input disc 802. The tracing subsystem 800 includes a tracing spur gear 806 coupled to the tracing drive shaft 804, such that rotation of the tracing drive shaft 804 also rotates the tracing spur gear 806. The tracing subsystem 800 includes a tracing ramp gear 808 rotatably engaged with the tracing spur gear 806, meaning that rotation of the tracing spur gear 806 in a first direction causes a corresponding rotation of the tracing ramp gear 808 in the opposite direction. The tracing ramp gear 808 may have a larger diameter than the tracing spur gear 806. A spur gear shaft 810 may be connected to and extend from a transverse spur gear 808 such that the spur gear shaft 810 rotates as the transverse spur gear 808 rotates. A transverse spur gear 811 may be connected to the spur gear shaft 810 such that when the spur gear shaft 810 rotates, the transverse spur gear 811 may be rotated.

[0120] The cross-cutting subsystem 800 includes a speed gear 812 rotatably engaged with the cross-cutting spur gear 811, meaning that rotation of the spur gear shaft 810 in a first direction causes a corresponding rotation of the speed gear 812 in the opposite direction. The speed gear 812 may have a larger diameter than the spur gear shaft 810 and the cross-cutting spur gear 808. The cross-cutting spur gear 806, the cross-cutting spur gear 808, the cross-cutting spur gear 811, and the speed gear 812 may each be a spur gear.

[0121] The cross-cutting subsystem 800 includes a firing gear 814 whose rotation is dependent on a gear transmission mechanism; for example, the rotation of the firing gear 814 ultimately depends on the rotation of the cross-cutting input disk 802. In an example with a speed gear 812, the firing gear 814 can rotate with the speed gear 812. The firing gear 814 engages with the teeth 818 of the firing rack 816, such that rotation of the firing gear 814 causes the firing rack 816 to translate distally. It should be understood that gear size variations in the cross-cutting subsystem 800 can increase the linear velocity of the firing rack 816.

[0122] As described above, the firing rack 816 can be rotationally stable within the housing 102, but since the more distal end of the cross-cutting subsystem 800 must rotate with the rolling feature of the rolling rotor system 600, the distal portion of the cross-cutting subsystem 800 can rotate independently of the firing rack 816. The cross-cutting subsystem 800 includes a firing lever 820 rotatably coupled to the distal end of the firing rack 816, allowing the firing lever 820 to rotate independently of the firing rack 816. A rotatable connector between the firing lever 820 and the firing rack 816 includes a T-shaped tab 822 on the proximal end of the firing lever 820 that engages with a slot 824 on the firing rack 816. This tab / slot connection allows the firing lever 820 to rotate freely but also axially constrains it to the firing rack 816. An example of this connection between the firing lever 820 and the firing rack 816 is shown in Figure 20 and Figure 21 It should be understood that the T-shaped insert may alternatively be on the firing rack 816, and the slot may be on the firing lever 820.

[0123] See Figure 22A , Figure 22B , Figure 22C and Figure 23 These provide detailed views of certain distal components of the transverse cutting subsystem 800, the distal end of which of the firing lever 820 can be coupled to a series of straps 826 extending distally toward the end effector 150. These straps provide a degree of flexibility to the firing mechanism while also providing axial stiffness to propel the blade 166 through tissue. The surgical instrument 100 includes a cover 832 protecting the straps 826. Figure 22C The distal side of band 826 is further shown. Surgical instrument 100 includes a knife guide 158 that allows the end effector 150 to perform articulation as described herein. Band 826 passes through knife guide 158, and knife guide 158 provides lateral support to guide the laminate through any angle of articulation. Band 826 also passes through a band slot 484 of attachment end 468 of distal channel retainer 408.

[0124] See Figure 22A , Figure 22B and Figure 22C The cross-cutting subsystem 800 may have a final firing length that corresponds to the length of the staple cartridge 120 within the end effector 150. For example, if the staple cartridge 120 provides a 35mm cut / stitch, the cross-cutting subsystem 800 may be configured to translate the firing rack 816 by a maximum of 35mm. Figure 22C As shown. It should be understood that a certain degree of tolerance can be established based on the delivery time of the staple cartridge 120 for 35mm staples.

[0125] The end effector 150 may include an anvil 152. A channel 156 may receive a staple cartridge 120 within a slot 162 therein. The staple cartridge 120 may include a plurality of staples 126. A slider 122 may be driven distally (e.g., Figure 22C (As shown) Passing through the chamber 120 to drive the nail 126 into the anvil 152. The slider 122 can be pushed distally via the blade 166 at the end of the band 826. Thus, the blade 166 can act both as a firing member to push the slider 122 distally and as a tracing member to cut tissue. The blade 166 can be held in a closed, non-firing position by a leaf spring 168 (as shown). Figure 23 (As shown). If the slider 122 is not present, the leaf spring 168 can bias the blade 166 to the locked position, and the leaf spring 168 will prevent the blade 166 from moving forward as it travels distally forward. The anvil 152 may include a proximal anvil ramp 154. The closure subsystem 200 can close the anvil 152 by moving the closure ring 226 distally and across the anvil ramp 154, thereby hinged closing the anvil 152.

[0126] Figure 20 Two hard stop features of the firing rack 816 are also shown. The more distal hard stop is 819, and the more proximal hard stop is 821. These hard stops 819, 821 are present at the position where the teeth 818 of the firing rack 816 terminate, thereby providing mechanical blocking to prevent the firing rack 816 from over-firing (i.e., the proximal hard stop 821 prevents the firing rack 816 from over-extending) or over-retracting (i.e., the distal hard stop 819 prevents the firing rack 816 from over-retracting).

[0127] In some examples, the end effector 150 may have a safety mechanism in place to prevent attempts to fire an exhausted magazine or to prevent firing the blade 166 in the absence of the slider 122. For example, the blade 166 may be biased toward the channel 156, and the slider 122 is required for the blade 166 to travel distally. Figure 23 As shown, if the slider 122 is not present (indicator compartment 120 is exhausted or compartment 120 is not present), the blade 166 will bend toward the channel 156, and then the locking feature 170 on the blade 166 can contact the locking wall 124 on the channel 156 to stop the distal movement of the blade 166.

[0128] To help prevent the end effector 150 from moving when the scalpel 166 is fired by the transverse cutting subsystem 800, the surgical instrument 100 can be configured to rotate the first articulation input disc and the second articulation input disc 404 and apply opposing forces to each other. In this way, the articulation subsystem 400 can be effectively locked to prevent distal movement of the scalpel 166 and the blade 826 from causing the articulation subsystem 400 to move when the transverse cutting subsystem 800 is fired. This can be achieved by a control mechanism of the robotic arm 1100 that rotates the first articulation input disc and the second articulation input disc 404 in directions that generate opposing forces on each other. For example, if the articulation subsystem 400 includes two racks 414, 418, then method 1200 can include rotating the first articulation input disc 402 and the second articulation input disc 404 in opposite directions. On the other hand, if the articulation subsystem 400 includes a single rack 414C, then method 1200 can include rotating the first articulation input disc 402 and the second articulation input disc 404 in the same direction. This prevents the joint motion subsystem 400 from causing the end effector 150 to move approximately.

[0129] Any closed subsystem 200, articulated subsystem 400, roller system 600, or transverse subsystem 800 described herein may be replaced by or combined with any closed subsystem 200, articulated subsystem 400, roller system 600, or transverse subsystem 800 described in U.S. Provisional Application No. 63 / 514,972 (Case No. END9567USPSP1) or U.S. Provisional Application No. 63 / 634,201 (Case No. END9567USPSP2), both of which are incorporated herein by reference in their entirety. Any of the end effectors 150 described herein may be replaced or combined with any end effector 150 described in U.S. Provisional Application No. 63 / 514,972 (Case No. END9567USPSP1) or U.S. Provisional Application No. 63 / 634,201 (Case No. END9567USPSP2), both of which are incorporated herein by reference in their entirety.

[0130] Terms and Conditions The examples of this disclosure may be implemented by any of the following numbered clauses: Clause 1: A closure subsystem (200) for a surgical instrument (100) comprising: a first closure input disc (202) capable of engaging with a first closure robot output (902); a cam gear (210) rotatably engaged with the first closure input disc (202); and a yoke (216) coupled to a closure tube (212) and capable of moving from a first position to a second position in response to rotation of the cam gear (210), wherein the movement of the yoke (216) from the first position to the second position translates the closure tube (212) distally onto an anvil ramp (154) of an anvil (152).

[0131] Clause 2: The closed subsystem (200) according to Clause 1, wherein the cam gear (210) includes a cam track (214) and the yoke pin (216) is positioned within the cam track (214).

[0132] Clause 3: The closed subsystem (200) according to Clause 2, wherein the cam track (214) includes a first region (222) and a closed region (224), wherein the rotation of the cam gear (210) provides a non-linear motion profile to the yoke pin (216) through at least a portion of the first region (222) and the closed region (224).

[0133] Clause 4: The closed subsystem (200) according to Clause 3, wherein the rotation of the cam gear (210) through the first region (222) provides a faster distal movement of the yoke pin (216) compared to the rotation of the cam gear (210) through the closed region (224), and the rotation of the cam gear (210) through the closed region (224) provides a greater mechanical advantage to the yoke pin (216) compared to the rotation of the cam gear (210) through the first region (222).

[0134] Clause 5: A closed subsystem (200) according to any one of Clauses 2 to 4, wherein the cam track (214) is polynomial in shape and includes a nonlinear portion and a constant radius portion.

[0135] Clause 6: A closed subsystem (200) according to any one of Clauses 3 to 5, wherein the cam track (214) is a logarithmic spiral.

[0136] Clause 7: The closed subsystem (200) according to Clause 2, wherein the cam track (214) is shaped to provide a non-linear motion profile for the yoke pin (216) and includes an open position (272), a high-speed compression region (274), a high-force region (278), and a constant-force region (282).

[0137] Clause 8: The closed subsystem (200) according to Clause 7, wherein the constant force region (282) is shaped such that the yoke pin (216) remains stationary as the cam gear (210) rotates through the constant force region (282) along the track.

[0138] Clause 9: The closed subsystem (200) according to any one of Clauses 1 to 8 further includes a second closed input disk (204) capable of engaging with the output end of the second closed robot, wherein the cam gear (210) is rotatably engaged with the second closed input disk (204).

[0139] Clause 10: The closed subsystem (200) according to Clause 9 further includes: a first input rod (203) extending from the first closed input disk (202); a first spur gear (206) connected to the first input rod (203) and rotatably engaged with the cam gear (210), the first spur gear (206) being rotatable by rotation of the first closed input disk (202); a second input rod (205) extending from the second closed input disk (204); and a second spur gear (208) connected to the second input rod (205) and rotatably engaged with the cam gear (210), the second spur gear (208) being rotatable by rotation of the second closed input disk (204).

[0140] Clause 11: The closed subsystem (200) according to any one of Clauses 1 to 10 further includes a closed yoke (250), wherein the yoke pin (216) extends from the closed yoke (250), and the closed yoke (250) moves together with the yoke pin (216).

[0141] Clause 12: The closed subsystem (200) according to Clause 11 further includes a rotatable shaft (604) disposed within the closed yoke (250), the rotatable shaft (604) rotating independently of the closed yoke (250).

[0142] Clause 13: The closure subsystem (200) according to any one of Clauses 1 to 12 further includes a manual closure handle (234) and a manual closure spur gear (230), the manual closure spur gear (230) being rotatable by rotation of the manual closure handle (234) and configured to cause rotation of the cam gear (210).

[0143] Clause 14: The closing subsystem (200) according to Clause 13, wherein rotation of the manual closing handle (234) causes rotation of the cam gear (210) to open or close the end actuator.

[0144] Clause 15: The closure subsystem (200) according to Clause 13 or 14, wherein the manual closure handle (234) includes a manual closure handle grip (236) engaging with the manual closure spur gear (230) and a manual closure handle clamp (238) configured to secure the manual closure handle (234) to the housing of the surgical instrument (100).

[0145] Clause 16: A closed subsystem comprising: a cam gear (210) including a cam track (214); and a yoke (216) coupled to a closed tube (212) and movable from a first position to a second position in response to rotation of the cam gear (210), the yoke (216) extending into the cam track (214), wherein the cam track (214) is shaped to provide a non-linear motion profile of the yoke (216) and includes an open position (272), a high-speed compression region (274), a high-force region (278), and a constant-force region (282), wherein the high-speed compression region (274), the high-force region (278), and the constant-force region (282) each have different curvatures, and wherein the constant-force region (282) is shaped such that the yoke (216) remains stationary as the cam gear (210) rotates through the constant-force region (282) along the track.

[0146] Clause 17: The closure subsystem according to Clause 16 further includes a closure input disk capable of engaging with the output end of the closure robot, the closure input disk being rotatably engaged with the cam gear, wherein rotation of the closure input disk causes rotation of the cam gear.

[0147] Clause 18: The closure subsystem according to Clause 17, wherein the cam gear includes a first cam gear, and the closure input disk includes a first closure input disk, and the closure subsystem further includes a second closure input disk capable of engaging with a second closure robot output, wherein the cam gear is rotatably engaged with the second closure input disk.

[0148] Clause 19: A closed subsystem according to any one of Clauses 16 to 18, wherein the rotation of the cam gear through the high-speed compression region provides a faster distal movement of the yoke pin compared to the rotation of the cam gear through the high-force region.

[0149] Clause 20: A closed subsystem according to any one of Clauses 16 to 19, wherein rotation of the cam gear through the high-force region provides a greater mechanical advantage to the yoke pin than rotation of the cam gear through the high-speed compression region.

[0150] The invention is not limited to the described examples, the configurations and details of which may vary. The terms “distal” and “proximal” are used throughout the foregoing description and refer to position and orientation relative to the treating physician. Similarly, “distal” or “towards distal” refers to a position away from the physician or in a direction away from the physician. Likewise, “proximal” or “towards proximal” refers to a position close to the physician or in a direction toward the physician. Furthermore, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the / described” include plural references. Additionally, the use of the phrases “connected,” “connected,” or similar phrases should not be construed as limiting to a certain number of parts or a particular order of parts, unless the context clearly indicates otherwise.

[0151] 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 values ​​from 71% to 99%.

[0152] In describing the example embodiments, terminology is used for clarity. Therefore, not all possible combinations are listed, and such variations are generally obvious to those skilled in the art and are intended to fall within the scope of the following claims. Without departing from the scope and spirit of the invention, each term is intended to be contemplated for its broadest meaning as understood by those skilled in the art, and includes all technical equivalents that operate in a similar manner to achieve a similar purpose. It should also be understood that reference to one or more steps of the method does not exclude the presence of additional method steps or intermediate method steps between those expressly identified steps. Similarly, without departing from the scope of the disclosed technology, some steps of the method may be performed in an order different from that described herein.

Claims

1. A closed subsystem (200) for a surgical instrument (100), comprising: The first closed input disk (202) can be engaged with the output end of the first closed robot; A cam gear (210) is rotatably engaged with the first closed input disk (202); and A yoke pin (216), which is connected to a closed tube (212) and is capable of moving from a first position to a second position in response to rotation of the cam gear (210), The movement of the yoke pin (216) from the first position to the second position moves the closed tube (212) to the distal side onto the anvil ramp (154) of the anvil (152).

2. The closed subsystem (200) according to claim 1, wherein, The cam gear (210) includes a cam track (214), and the yoke pin (216) is positioned within the cam track (214).

3. The closed subsystem (200) according to claim 2, wherein, The cam track (214) includes a first region (222) and a closed region (224), wherein the rotation of the cam gear (210) provides a nonlinear motion profile to the yoke pin (216) through at least a portion of the first region (222) and the closed region (224).

4. The closed subsystem (200) according to claim 3, wherein, Compared to the rotation of the cam gear (210) through the closed zone (224), the rotation of the cam gear (210) through the first zone (222) provides a faster distal movement of the yoke pin (216), and compared to the rotation of the cam gear (210) through the first zone (222), the rotation of the cam gear (210) through the closed zone (224) provides a greater mechanical advantage to the yoke pin (216).

5. The closed subsystem (200) according to any one of claims 2 to 4, wherein, The cam track (214) has a polynomial shape and includes a nonlinear part and a constant radius part.

6. The closed subsystem (200) according to any one of claims 2 to 5, wherein, The cam track (214) is a logarithmic spiral.

7. The closed subsystem (200) according to claim 2, wherein, The cam track (214) is shaped to provide a non-linear motion profile for the yoke (216) and includes an open position (272), a high-speed compression region (274), a high-force region (278), and a constant-force region (282).

8. The closed subsystem (200) according to claim 7, wherein, The constant force region (282) is shaped such that the yoke pin (216) remains stationary as the cam gear (210) rotates through the constant force region (282) along the track.

9. The closed subsystem (200) according to any one of claims 1 to 8 further includes a second closed input disk (204) capable of engaging with the output end of the second closed robot, wherein, The cam gear (210) is rotatably engaged with the second closed input disk (204).

10. The closed subsystem (200) according to claim 9, further comprising: A first input lever (203) extends from the first closed input disk (202); A first spur gear (206) is connected to the first input rod (203) and rotatably engaged with the cam gear (210). The first spur gear (206) is capable of rotating by the rotation of the first closed input disk (202). The second input lever (205) extends from the second closed input disk (204); and The second spur gear (208) is connected to the second input rod (205) and rotatably engaged with the cam gear (210). The second spur gear (208) is capable of rotating by the rotation of the second closed input disk (204).

11. The closed subsystem (200) according to any one of claims 1 to 10, further comprising a closed yoke (250), wherein, The yoke pin (216) extends from the closed yoke (250), and the closed yoke (250) moves together with the yoke pin (216).

12. The closed subsystem (200) according to claim 11 further includes a rotatable shaft (604) disposed within the closed yoke (250), the rotatable shaft (604) rotating independently of the closed yoke (250).

13. The closure subsystem (200) according to any one of claims 1 to 12 further includes a manual closure handle (234) and a manual closure spur gear (230), the manual closure spur gear (230) being rotatable by rotation of the manual closure handle (234) and configured to cause rotation of the cam gear (210).

14. The closed subsystem (200) according to claim 13, wherein, The rotation of the manual closing handle (234) causes the cam gear (210) to rotate, thereby opening or closing the end actuator.

15. The closed subsystem (200) according to claim 13 or 14, wherein, The manual closing handle (234) includes a manual closing handle grip (236) that engages with the manual closing spur gear (230) and a manual closing handle clamp (238) configured to secure the manual closing handle (234) to the housing of the surgical instrument (100).

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