Systems and subsystems for closing surgical instruments

Abstract

Systems and subsystems for closing an end effector of a stapler are disclosed. More specifically, the present disclosure relates to systems, devices, and subsystems for robotic surgical accessories. The surgical instrument is a robotic accessory. In one embodiment, a surgical instrument includes a closure subsystem that moves independently of other subsystems that can operate independently of one another.

Description

Cross-reference 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 generally to systems, apparatuses, and subsystems for cutting and suturing tissue. More specifically, this disclosure relates to systems, apparatuses, and subsystems for robotic surgical accessories. 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, joint movement of the end effector, rolling of the end effector, and firing of pins within the end effector.

[0005] This disclosure describes a closure subsystem, which may be one of several subsystems of a surgical instrument. The closure subsystem includes a first closure input disk capable of engaging with the output end of a first closure robot. The closure subsystem includes a cam gear rotatably engaged with the first closure input disk. The closure subsystem includes 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. This 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] This disclosure describes a closure subsystem, which may be one of several subsystems of a surgical instrument. The closure subsystem includes a cam gear that includes a cam track. The closure subsystem includes 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 yoke pin extending into the cam track. The cam track is shaped to provide a non-linear travel 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 each have different curvatures. The constant-force region is shaped such that the yoke pin remains stationary as it travels through the constant-force region when the cam gear rotates.

[0007] This disclosure describes a closure subsystem, which may be one of several subsystems of a surgical instrument. The closure subsystem includes a first closure input disk capable of engaging with the output end of a first closure robot. The closure subsystem includes a cam gear rotatably engaged with the first closure input disk, the cam gear including a cam track. The closure subsystem includes 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 yoke pin extends into the cam track. The cam track is configured to provide a non-linear movement profile for the yoke pin, such that different movement profiles are provided along different segments of the cam track for translation of the closure tube.

[0008] 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

[0009] 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.

[0010] Figure 1 Surgical instruments according to various aspects of this disclosure are shown.

[0011] Figure 2 The housing at the proximal end of a surgical instrument according to various aspects of this disclosure is shown.

[0012] Figure 3 and Figure 4 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 5A and Figure 5B The internal components of a surgical instrument according to various aspects of this disclosure are shown, the surgical instrument being shown without a housing. Figure 5A Surgical instruments with a “lateral” joint motion subsystem are described according to various aspects of this disclosure. Figure 5B Surgical instruments with a “medial” joint motion subsystem are described according to various aspects of this disclosure.

[0014] Figure 6A yes Figure 5A Top view of the feature shown.

[0015] Figure 6B yes Figure 5B A top view of the feature section.

[0016] Figure 7A A side perspective view of a closed subsystem according to various aspects of this disclosure is shown.

[0017] Figure 7B This is a cross-sectional view taken along the longitudinal axis of the surgical instrument according to various aspects of this disclosure, and shows details of the manually closing handle.

[0018] Figure 7C This is a bottom perspective view of the manually closing handle according to various aspects of this disclosure.

[0019] Figure 7D This is a detailed view of the manually closed handle grip according to various aspects of this disclosure.

[0020] Figure 7E This is a detailed view of the manually closing handle clamp according to various aspects of this disclosure.

[0021] Figure 7F This is a detailed view of a closure subsystem having a manually closing handle according to various aspects of this disclosure.

[0022] Figure 8 and Figure 9 A top view of a closed subsystem according to various aspects of this disclosure is shown. Figure 8 A closed subsystem in an open configuration according to various aspects of this disclosure is shown, and Figure 9 A closed subsystem in a closed configuration is shown.

[0023] Figure 10A This is a top view of a closed cam gear according to various aspects of this disclosure.

[0024] Figure 10B This is a bottom view of the closed cam gear according to various aspects of this disclosure.

[0025] Figure 11 The components of a joint motion subsystem according to various aspects of this disclosure are shown.

[0026] Figure 12 This is a partial exploded view of a joint motion subsystem with an "outer" configuration according to various aspects of this disclosure.

[0027] Figure 13 This is an exploded view of a gear in a joint motion subsystem having an "outer" configuration according to various aspects of this disclosure.

[0028] Figure 14 and Figure 15 This is a top view of a component of an articulated motion subsystem having an "outer" configuration according to various aspects of this disclosure. Figure 14 The joint motion subsystem at 0 degrees of joint motion is shown. Figure 15 A joint motion subsystem that allows for complete joint movement in one direction is shown.

[0029] Figure 16 This is a perspective view of the joint motion subsystem in an "inner" configuration according to various aspects of this disclosure.

[0030] Figure 17 This is a partial exploded view of a joint motion subsystem with an "inner" configuration according to various aspects of this disclosure.

[0031] Figure 18 This is a perspective view of a portion of the "medial" joint motion subsystem according to various aspects of this disclosure.

[0032] Figure 19 This is a top cross-sectional view of the “medial” joint motion subsystem according to various aspects of this disclosure.

[0033] Figure 20 Components of a surgical instrument according to various aspects of this disclosure are shown, wherein an end effector is performing joint movement.

[0034] Figure 21 The articulation of an end effector relative to a shaft is shown according to various aspects of this disclosure.

[0035] Figures 22 to 24 The articulation of an end effector relative to a shaft is shown according to various aspects of this disclosure. Figure 22 An end effector that performs joint movement to the right is shown. Figure 23 An end effector without joint movement (i.e., straight) is shown, and Figure 24 An end effector that performs joint movement to the left is shown.

[0036] Figure 25Components of a surgical instrument according to various aspects of this disclosure are shown, wherein the anvil of the end effector is in the open position.

[0037] Figures 26 to 27 The components of a rolling rotor system according to various aspects of this disclosure are shown. Figure 26 It is a perspective view of the components of the roller rotor system, and Figure 27 This is a cross-sectional view of the components of the roller rotor system.

[0038] Figures 28 to 30 This is an end view of a bushing for a rolling rotor system according to various aspects of this disclosure. Figure 28 The rolling rotor system is shown in the first end position of the rolling motion. Figure 29 The image shows a roller system in the middle position of the roll, and Figure 30 The rolling rotor system is shown in the second end position of the rolling rotor.

[0039] Figure 31A and Figure 31B Alternative components of the roller rotor system according to various aspects of this disclosure are shown. Figure 31A It is a perspective view of the components of the roller rotor system, and Figure 31B This is a top sectional view of the components of the roller rotor system.

[0040] Figures 32A to 32D Examples of anti-backlash features for a worm gear follower engaging with a rotatable shaft, according to various aspects of this disclosure, are provided. Figure 32A An example of a shaft with two flat sections (or "flat portions") is shown. Figure 32B An example is shown of a shaft with a keyway and a worm gear follower with a corresponding key feature. Figure 32C An example is shown of a shaft with a keyway and a worm gear follower with a corresponding key feature. Figure 32D Examples of shafts and worm gear followers with corresponding steps or flanges are shown.

[0041] Figure 33A and Figure 33B Example backlash prevention features for worm gears according to various aspects of this disclosure are shown. Figure 33A This is a side sectional view of the anti-backlash feature in this example, and Figure 33B From Figure 33A A cross-sectional view viewed from the indicated direction.

[0042] Figure 34 The components of the cross-cut subsystem according to various aspects of this disclosure are shown.

[0043] Figure 35 The shaft closing and firing components of a surgical instrument according to various aspects of this disclosure are shown.

[0044] Figure 36 The shaft closure component is shown, with the anvil in the open position.

[0045] Figure 37 A shaft component of a surgical instrument according to various aspects of this disclosure is shown.

[0046] Figure 38 A transverse (e.g., firing) component of a surgical instrument according to various aspects of this disclosure is shown.

[0047] Figure 39 A shaft closing component of a surgical instrument according to various aspects of this disclosure is shown, wherein the anvil is in an open position.

[0048] Figure 40 A shaft closing component of a surgical instrument according to various aspects of this disclosure is shown, wherein the anvil is in a closed position.

[0049] Figure 41 This is a cross-sectional view of the end effector portion of a surgical instrument according to various aspects of this disclosure. The end effector is in an open configuration.

[0050] Figure 42 This is a cross-sectional view of the end effector portion of a surgical instrument according to various aspects of this disclosure. The end effector is in a closed configuration.

[0051] Figure 43A The components and features of the housing or intermediate housing according to various aspects of this disclosure are shown.

[0052] Figure 43B The components and features of the housing according to various aspects of this disclosure are shown.

[0053] Figure 43C This is a perspective view of a portion of the transverse subsystem and the rolling rotor system according to various aspects of this disclosure, wherein the thrust block engages with the support portion of the housing. Detailed Implementation

[0054] 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 robotic accessory systems, such as existing systems that lack integration capabilities, i.e., cannot fully achieve closure, articulation, rolling, and firing via actuation of their designated robotic output ends. This surgical instrument includes a housing containing gear transmissions and other components necessary to achieve the closure, articulation, rolling, and firing features. Specifically, this disclosure provides a detailed discussion of closure subsystems, articulation subsystems, rolling subsystems, and transverse cutting subsystems capable of enabling the end effector of the device to close, articulate, roll, and fire. Throughout this disclosure, the term "firing" refers to the distal portion of the transverse cutting subsystem being advanced distally. The term "firing" should be understood to mean an action of cutting, suturing, or both.

[0055] Overview Switch to the attached image. Figure 1 This is a perspective view illustrating 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 multiple output ends or rotatable disks that actuate disks or other disks on the surgical instrument 100. Thus, the proximal end 106 of the surgical instrument 100 can be attached to a multi-purpose robot, and the distal end 108 of the surgical instrument 100 performs transverse incisions and sutures of patient tissue. The surgical instrument may include a release button 104 that allows the device to be detached from the robotic arm. As shown, the surgical instrument 100 may include more than one release button 104.

[0056] Figure 2 From and Figure 1 The diagram shows a perspective view of housing 102 from the opposite side. Housing 102 may include a first portion 110 and a second portion 112. 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 cross-cut input disk 802). These disks may have features that enable them to engage with rotating features of a robotic arm, such that rotation of these disks actuates gears and other components of the closure subsystem 200, articulation subsystem 400, roll system 600, and cross-cut subsystem 800 described herein. Figure 3 and Figure 4 The internal components of the housing 102 at the proximal end 106 of the surgical instrument 100 are shown. Further details regarding the features of the housing 102 are provided below, particularly with respect to Figures 56A to 63B.

[0057] Figure 5AThe internal components of a surgical instrument 100 according to various aspects of this disclosure are shown, the surgical instrument being shown without a housing 102. Figure 6A yes Figure 5A Top view of the feature shown. Figure 5B A surgical instrument 100 with a “medial” joint kinetic subsystem is described, which will be described in more detail below. Figure 6B yes Figure 5B (Top view of the feature section). These views highlight the different subsystems of the internal components, showing how the closure subsystem 200 and the articulation subsystem 400 each utilize two different discs (e.g., first closure input disc 202, second closure input disc 204, first articulation input disc 402, and second articulation input disc 404) to perform their respective actions, while the roller system 600 and the traverse subsystem 800 each utilize only one disc (e.g., roller input disc 602 and traverse input disc 802) to perform their respective actions. As will be described below, alternative embodiments utilize different numbers of inputs to realize the different subsystems (i.e., how many discs are rotated to achieve their actions). Utilizing two different discs for the closure subsystem 200 and the articulation subsystem 400 has certain advantages, including, but not limited to, providing additional closing force and providing antagonistic compression for the bushings of the articulation subsystem 400. Figure 5A A surgical instrument with a “lateral” joint motion subsystem 400 is described. Figure 5B A surgical instrument with a “medial” joint kinetic subsystem 400 is described. The differences between the medial and lateral systems are described in more detail below.

[0058] For example, such as Figure 1 and Figure 36 As shown, the surgical instrument 100 includes an end effector 150 disposed at the 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 may include a closing ring 226 and a closing tube 212, which can be actuated to close the anvil 152 relative to the channel 156. The lower channel 156 may receive a staple cartridge 120 (see [reference needed]) within a slot 162 therein. Figure 41 The anvil 152 can be opened by retracting the closing ring 226 from the anvil 152. The end effector 150 of the disclosed technology can be configured for cutting and suturing patient tissue. Figure 42 An end effector 150 in a closed configuration is also shown, while Figure 41An end effector 150 in an open configuration is shown. 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 can slide proximally and distally via a closing tube 212. When the closing ring 226 slides distally, it closes the anvil 152. The closing subsystem 200 can close the anvil 152 by moving the closing ring 226 distally and across the anvil ramp 154, thereby hinged closing the anvil 152. When the closing ring 226 slides proximally, it slides away from the anvil 152, thus allowing it to open. The anvil 152 can be biased into an open configuration (see [link to documentation]). Figure 41 The closing ring 226 can be moved between an open position and a closed position by actuating the closing tube 212. When the closing tube 212 slides proximally and distally, the closing tube 212, which engages with the closing ring 226, causes the closing ring 226 to also slide proximally and distally, thereby opening and closing the anvil 152.

[0059] 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 250 is in the open position, it will be closer to the side; and when the closing yoke 250 is in the closed position, it will be further to the distal side. 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. The anvil 152 can be actuated by a series of springs 172 (see...). Figure 35 ) is biased into an open configuration (see Figure 41 ).

[0060] Closed subsystem Now, referring to closed subsystem 200, Figure 7A A perspective view of the subsystem is provided, and Figure 8 and Figure 9 A side view of the subsystem is provided. The closure subsystem 200 includes a first closure input disk 202 and a second closure input disk 204. The first closure input disk 202 is configured to interact with a first rotational feature of the robot arm (e.g., Figure 2 The first closed robot output terminal 902 is engaged, and the second closed input disk 204 is configured to engage with the second rotating feature of the robot arm (e.g., Figure 2 The second closed robot output end 904 is engaged. In this way, the robot arm can be configured to transmit a greater amount of torque to the closed subsystem 200 than could be transmitted using only a single input disk, so that the anvil 152 opens or closes. Figure 2The schematic diagram also shows the robotic arm 1000.

[0061] The first closed input disc 202 is connected to a first closed input rod 203 extending into the housing 102. The first closed input rod 203 is further connected to a first closed spur gear 206. Therefore, when the first closed input disc 202 rotates, it also causes the first closed input rod 203 and the first closed spur gear 206 to rotate. Similarly, the second closed input disc 204 is connected to a second closed input rod 205 extending into the housing 102. The second closed input rod 205 is further connected to a second closed spur gear 208. Therefore, when the second closed input disc 204 rotates, it also causes its corresponding second closed input rod 205 and 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.

[0062] 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 8 and Figure 9 As shown, the closed cam gear 210 includes a cam track 214 that receives a yoke pin 216 that can be coupled to the closed yoke 250. When the closed cam gear 210 rotates, the cam track 214 allows 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 cam track 214 guides the yoke pin 216 along the cam track 214 in either the proximal or distal direction. Because the yoke pin 216 is coupled to 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 previously described, the movement of the closed yoke 250 causes the anvil 152 to open or close via the closing tube 212. Figure 39 This shows the anvil 152 in an open configuration and the closing yoke 250 positioned closer to the side, and Figure 40 The anvil 152 is shown in a closed configuration, with the closed yoke 250 slid further to the distal side. The closed yoke 250 may have wings 252 extending from it (see...). Figure 7A and Figure 36 The wing can travel along a corresponding track within the housing 102, allowing the closed yoke 250 to translate proximally and distally without rotating. Figure 8 and Figure 9As shown, the closing yoke 250 can be a complete or partial sleeve attached to the closing tube 212, such that translational movement of the yoke pin 216 extending from the closing yoke 250 causes translational movement of the closing tube 212. Therefore, the yoke pin 216 can be directly or indirectly connected to the closing tube 212, that is, directly connected to the closure or indirectly connected to the closure by means of the sleeve-shaped closing yoke 250.

[0063] The cam track 214 can be a non-linear track, configured to have a changing motion profile as the closed cam gear 210 rotates. Details of the cam track 214 are... Figure 10A The figure highlights a top view of a cam track 214 with an example nonlinear profile. In some embodiments, the cam track 214 can be a logarithmic spiral. The cam track 214 is not necessarily perfectly logarithmic and in some cases can be represented by a higher-order polynomial, as some embodiments may include nonlinear portions, portions with a constant radius, and portions connecting the nonlinear and constant-radius portions. 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.

[0064] See also Figure 10A The closed cam gear 210 shown may include a cam track 214 comprising a first zone 222 and a second zone 224. The first zone 222 of the cam track 214 may be configured to cause movement of the yoke pin 216, allowing the anvil 152 to compress tissue without significant force. Conversely, the second zone 224 of the cam track 214 may be configured to cause the anvil 152 to compress tissue with a force sufficient to hold the tissue in place within the end effector 150 for cutting and / or suturing. Furthermore, the slope of the cam track 214 at the first zone 222 and the second zone 224 can be varied to influence the speed and force at which the anvil 152 opens and closes. Thus, this variation in speed and force can be changed while keeping the input discs 202, 204 at the same speed. It should be understood that the cam track 214 is continuous, non-linear, and smooth; therefore… Figure 10A Describing different “zones” does not imply that there are interruptions or discontinuities in certain sections of the cam track 214. Figure 8 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 9A fully closed configuration is shown, in which the yoke pin 216 is located within a constant radius portion of the cam track 214 (in this view, the yoke pin 216 is also located 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 be present. Figure 8 and Figure 9 The examples shown illustrate how the system can grasp the organization.

[0065] See now Figure 10B This is a bottom view of the closed cam gear 210, showing different areas of the cam track 214 that provide different movement profiles for the yoke pin 216. (Reference) Figure 10B In this view, when the closed cam gear 210 rotates clockwise, the yoke pin 216 translates downwards in this view (relative to axis 604, downwards means towards the far side, see [reference]). Figure 7A These regions of the cam track 214 can provide different movement profiles depending on the position of the yoke pin 216 within the cam track 214. For example, Figure 10B The closed cam gear 210 has degree indicators for reference, marked upwards as 0°, leftwards as 90°, downwards as 180°, and rightwards as 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 home 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 39 ). Figure 10B 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 can extend from approximately 0° to approximately 90°. The high-speed compression region 274 has features that allow the yoke pin 216 to transition rapidly to the distal side while providing a small force (e.g., a closing force on the anvil 152, see...). Figure 39 The curvature of ). In Figure 10B 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 10B The closed cam gear 210 extends from approximately 90° to approximately 300°. This region provides a low-speed, high-force movement profile for the distal movement of the yoke pin 216. For example, the high-force region 278 can be part of the movement profile, which initiates a significant amount of compression on the tissue being cut and / or sutured. Figure 10BThe closing target 280 is located at approximately 300° on the closed cam gear 210. Any point beyond the closing target 280 can be considered "fully closed," meaning that the force and distal movement of the yoke pin 216 are considered to satisfy the requirements. 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 can help compensate for any positional errors of the robot (e.g., ...). Figure 2 The position error of the first closed robot output terminal 902 and / or the second closed robot output terminal 904 is provided with tolerance.

[0066] 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 Figure 7E (As shown in Figure 7I). 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 by 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.

[0067] like Figure 7E As shown in Figure 7I, 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 to and affix to the manual closure handle 234 and the housing 102. The manual closure handle clamp 238 may include one or more protruding features that snap into place when pushed into and attached 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.

[0068] 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.

[0069] 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.

[0070] Joint kinetic subsystem The surgical instrument 100 includes a joint motion subsystem 400. Figures 11 to 19 Detailed views of the proximal portion of the example joint motion subsystem 400 are provided. Views of the joint motion at the distal end of the surgical instrument 100 are also provided. Figures 20 to 24 As shown in the image. Figure 25 and Figure 36 A perspective view of the articulated portion of the distal end of the surgical instrument 100 is provided. See details. Figure 11 The articulation subsystem 400 includes an articulation rod 406 extending distally to a distal channel retainer 408. The proximal end 470 of the articulation rod 406 may include an attachment 407 that proximally constrains the articulation rod (e.g., constrained to a first articulation bushing 426 and a second articulation bushing 428). Figure 11 As shown, the attachment can be a hook, or as... Figure 16As shown, it can be a ring with pin 507. The distal end 472 of the articulation lever 406 can be connected to a distal channel retainer 408, which can pivot back and forth (e.g., left and right) to move or perform articulation of the end effector 150 of the surgical instrument 100. The attachment end 468 of the distal channel retainer 408 can be attached, for example, to the channel 156 of the end effector 150 to perform 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.

[0071] See you again Figure 11 The distal channel retainer 408 shown has an articulated lever 406 that can articulate the distal channel retainer 408 back and forth about the articulated joint 466 by pushing and pulling one side of the distal channel retainer 408. For this purpose, the distal channel retainer 408 may include a retaining pin 410, and the articulated lever 406 may have a lever hole 412 on the distal side that engages with the retaining pin 410. When the articulated lever 406 translates distally, it pushes the retaining pin 410 distally, thus articulating the distal channel retainer 408 about the articulated joint 466 in one direction, and when it translates proximally, it pulls the retaining pin 410 proximally, thus articulating the distal channel retainer 408 about the articulated joint 466 in the opposite direction. Figure 11 As shown, the rod hole 412 can be elliptical to accommodate the lateral translation of the retaining pin 410 as the distal channel retainer 408 rotates, since the articulated rod 406 moves only axially and is constrained by the shaft 604 within the rod groove 478. Figure 38 and Figure 40 A view of the rod groove 478 along the length of axis 604 is shown.

[0072] See now Figure 12This is a partially exploded view of the proximal portion of the articulation subsystem 400, which includes features adapted for the rolling function of the surgical instrument 100. As will be described in more detail below in conjunction with the roller system 600, the surgical instrument 100 includes a shaft 604 that is rollable (i.e., rotates back and forth) to improve access to the transverse incision site. 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 roller system 600) and the articulation of the end effector 150 (via the articulation subsystem 400) allows the end effector 150 to articulate with more degrees of freedom than simply by pivoting the distal channel retainer 408. An articulation rod 406 extends along the rotatable shaft 604, for example, within a rod groove 478. To accommodate the ability of the articulation rod 406 to rotate with the shaft 604, the articulation subsystem 400 includes one or more bushings (in contrast). Figure 12 and Figure 16 The one or more bushings allow the rotatable robot output end to move the joint motion subsystem 400 proximally and distally along the axis 604 (e.g., to move the joint motion rod 406), while also allowing the axis 604 to rotate within the joint motion subsystem 400. Figures 12 to 15 The articulation subsystem 400 includes a first rack 414, which is movable via a series of gear transmissions caused by the rotation of a first articulation input disk 402. The disk 402 is capable of engaging with a corresponding rotatable robot output end (e.g., Figure 2 The first joint of the robot output end 906 is engaged. Figure 2 The schematic diagram also shows a robotic arm 1000. The interior of the first rack 414 includes rack teeth 416 that facilitate axial translation of the first rack 414 (e.g., distal and proximal translation within the housing 102). The articulation subsystem 400 includes a second rack 418 movable via a series of gears caused by rotation of a second articulation input disk 404, which is capable of engaging with a corresponding rotatable robot output end (e.g., ...). Figure 2 The second joint of the robot is connected to the output end 908. Figure 2 The schematic diagram also shows a robotic arm 1000. The interior of the second rack 418 includes rack teeth 420 that enable axial translation of the second rack 418 (e.g., translation toward the distal and proximal sides within the housing 102).

[0073] In order to accommodate the rotation of shaft 604, Figures 12 to 15The articulation subsystem 400 may include a first articulation bushing 426, which is rotatable with the shaft 604 and rotates independently of the first rack 414. In other words, rolling of the shaft 604 will also cause the first articulation bushing 426 to roll, while the first rack 414 remains rotationally stable within the housing 102. The first articulation bushing 426 may slide from a first position to a second position along the longitudinal axis 474 of the rotatable shaft 604, thereby allowing the articulation rod 406 to move proximally and distally. The first rack 414 may have a first housing track surface 462 that is axially movable within a corresponding track in the housing 102, thereby allowing the first rack 414 to slide axially but not rotate. The first housing track surface 462 and the first bearing surface 458 may be at 90° relative to each other. Figures 12 to 15 The articulation subsystem 400 includes a second articulation bushing 428 that is rotatable with the shaft 604 and rotates independently of the second rack 418. In other words, rolling of the shaft 604 will also cause the second articulation bushing 428 to roll, while the second rack 418 remains rotationally stable within the 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 articulation rod 406 to move proximally and distally. The second rack 418 may have a second housing track surface 464 that is axially movable within a corresponding track in the housing 102, thereby allowing the second rack 418 to slide axially but not rotate. The second housing track surface 464 and the second bearing surface 460 may be at 90° relative to each other.

[0074] Turn now Figure 12 and Figure 13 To describe the gear transmission mechanism of an exemplary articulation subsystem 400, the subsystem includes a first articulation drive shaft 432 extending from a first articulation input disk 402 and including a first drive gear 430. 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 driven by a first compound gear 442 having stepped teeth 444 (see Figure 5 and...). Figure 13The first joint motion drive shaft 432 is rotatably connected to the first joint motion drive shaft 432. A portion of the stepped teeth 444 engages with the first drive gear 430, and another portion of the stepped teeth 444 engages with the first rack gear 434. Therefore, rotation of the first joint motion drive shaft 432 causes rotation of the first drive gear 430, rotation of the first drive gear 430 causes rotation of the first compound gear 442, and rotation of the first compound gear 442 causes rotation of the first rack gear 434 about the first joint motion drive shaft 432. Furthermore, the first rack gear 434 includes first rack teeth 446 that engage with rack tooth portions 416 of the first rack 414. Therefore, rotation of the first rack gear 434 causes the first rack 414 to translate proximally and distally to move the first joint motion bushing 426.

[0075] Similarly, the subsystem may include a second joint motion drive shaft 438 extending from the second joint motion input disk 404 and including a second drive gear 436. Therefore, rotation of the corresponding robot output end relative to the second joint motion input disk 404 causes the second drive gear 436 to rotate. The joint motion subsystem 400 may include a second rack gear 440, which in some cases may be a hollow tubular gear sliding over the second joint motion drive shaft 438. The second rack gear 440 may be connected to a second compound gear 448 having stepped teeth 450 (see Figure 5 and...). Figure 13 The first rack gear 440 is rotatably connected to the second joint motion drive shaft 438. A portion of the stepped tooth 450 engages with the second drive gear 436, and another portion of the stepped tooth 450 engages with the second rack gear 440. Therefore, rotation of the second joint motion drive shaft 438 causes rotation of the second drive gear 436, which in turn causes rotation of the second compound gear 448, and rotation of the second compound gear 448 causes rotation of the second rack gear 440 around the second joint motion drive shaft 438. Furthermore, the first rack gear 440 includes second rack teeth 452 that engage with rack tooth portions 420 of the second rack 418. Therefore, rotation of the second rack gear 440 causes the second rack 418 to translate proximally and distally to move the second joint motion bushing 428.

[0076] See you again Figures 12 to 15The first rack 414 engages 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 axis 604. The first rack 414 includes a first bearing surface 458 abutting the first articulated bushing 426. The first articulated bushing 426 may include a first rack groove 480 surrounding the bushing periphery, into which the first bearing surface 458 extends. As the first articulated bushing 426 rotates, the first bearing surface 458 can travel through the first rack groove 480. Therefore, the first bearing surface 458 may be semi-circular. Similarly, the second rack 418 engages 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 axis 604. The second rack 418 may include a second bearing surface 460 adjacent to the second articulated bushing 428. The second articulated bushing 428 may include a second rack groove 482 surrounding the periphery of the bushing, into which the second bearing surface 460 extends. As the second articulated bushing 428 rotates, the second bearing surface 460 may travel through the second rack groove 482. Thus, the second bearing surface 460 may be semi-circular. To allow the bushing to rotate freely while remaining stable within the housing 102, the articulation subsystem 400 may include a first articulation bearing 422 surrounding the first articulated bushing 426, and the articulation subsystem 400 may include a second articulation bearing 424 surrounding the second articulated bushing 428.

[0077] See now for details. Figure 14 and Figure 15 These two figures illustrate the actuation of the joint motion subsystem 400 by the movement of the first rack 414 and the second rack 418. Figure 14 A joint motion subsystem 400 in a neutral (e.g., 0°) joint motion state is shown. In order to move the first joint motion bushing 426, the first rack gear 434 can rotate in a first angular direction, and the first rack gear teeth 446 move through the first rack teeth 416 of the first rack 414. Figure 15 The illustration shows the first rack and pinion 434 (i.e., the first rack and pinion tooth 446) rotating counterclockwise to move the first rack 414 distally. This distal movement of the first rack 414 causes the first articulator bushing 426 to translate distally along the longitudinal axis 474 of shaft 604. Subsequently, the articulator lever 406 translates distally, thereby pivoting the distal channel retainer 408, causing the end effector 150 to pivot, in this example, to the right. Figure 15In the same example shown, the second rack gear 440 (i.e., the second rack gear tooth 452) rotates clockwise to move the second rack 418 distally. This distal movement of the second rack 418 causes the second articulator bushing 428 to translate distally along the longitudinal axis 474 of shaft 604. If the rack gears 434 and 440 rotate in opposite directions, the articulator bushings 426 and 428 will move proximally along the longitudinal axis 474 of shaft 604, thereby pulling the articulator lever 406 and causing the end effector to pivot or perform articulation in the opposite direction.

[0078] Compared to Figures 12 to 15 The example articulated subsystem 400 shown can be referred to as an "outer" configuration, in which racks 414, 418 are located outside the gear transmission mechanism that moves racks 414, 418 along the longitudinal axis 474 of the rotatable shaft 604. For further illustration, in Figure 12 In the middle, the first rack gear 434 is positioned between the first rack 414 and the rotatable shaft 604 (see...). Figure 14 (The shaft in the middle); the second rack gear 440 is positioned between the second rack 418 and the rotatable shaft 604. Figures 16 to 19 An alternative design, which could be referred to as an "inner" configuration, is shown. Here, one or more racks 514, 518 are positioned inside the corresponding rack gears 434, 440. See now for details. Figure 16 The design shown, wherein the articulation subsystem 400 includes a first rack 514, which is movable via a series of gear transmissions caused by the rotation of a first articulation input disk 402, the disk 402 being capable of engaging with a corresponding rotatable robot output end (e.g., Figure 2 The first joint motion robot output end 906 is engaged. The outer surface of the first rack 514 includes rack teeth 516 that facilitate axial translation of the first rack 514 (e.g., translation distally and proximally along axis 604). Figure 18 The articulation subsystem 400 may include a second rack 518, which is movable via a series of gears caused by rotation of a second articulation input disk 404, the disk 404 being capable of engaging with a corresponding rotatable robot output end (e.g., Figure 2 The second joint motion robot output end 908 is engaged. The outer surface of the second rack 518 includes rack teeth 520 that enable axial translation of the second rack 518 (e.g., translation distally and proximally along axis 604). When two separate racks (i.e., the first rack 514 and the second rack 518) are present, the two racks are abutted along the length direction to form a hollow cylinder having a lumen 530 extending therethrough.

[0079] Figure 48A and Figure 43BThis illustrates how the one or more racks 514, 518 interact with the housing and / or intermediate housing. As mentioned above, the rack system in the “inner” embodiment may have two racks 514, 518 adjacent to each other, or in a preferred embodiment may include a single rack 514 having a lumen extending therethrough, within which an articulated bushing 526 is positioned. Figure 43B An example of a single rack 514 is shown, having a first housing track surface 562A at the top and a first housing track surface 562B at the bottom. See now. Figure 43A The figure depicts an intermediate housing 102A, which can be an insert positioned within the outer shell of housing 102. The intermediate housing 102A can add additional structural support to components of a subsystem of the surgical instrument 100. Figure 43A The location of support 178 is shown, which provides structural support for the transverse and / or roller portions of surgical instrument 100. Figure 43A The track 176 is particularly highlighted, which will receive a portion of the rack 514 (e.g., relative to...). Figure 18 The first housing track surface 562 and / or the second housing track surface 564 discussed are such that the one or more racks 514, 518 can be translated relative to the housing 102 toward the proximal and distal sides. Figure 43B This is a cross-sectional view showing the interaction between rack 514 and track 176. Figure 43B Two tracks are shown, namely upper track 176A and lower track 176B, which correspond to upper shell track surface 562A and lower shell track surface 562B, respectively.

[0080] although Figure 16 Two separate racks are shown (i.e., first rack 514 and second rack 518, as indicated by the lines shown along the length direction), but it is conceivable and, in most cases preferred, that the entire rack system may be a single “shoulder” sliding onto a first articulated bushing (described below as first articulated bushing 526). In this case, only the “first rack” (e.g., first rack 514) will exist in this embodiment, having a lumen 530 extending through it to engage with the first articulated bushing 526 (see [link to previous section]). Figure 17 In this specific embodiment, the outer surface of the first rack 514 includes rack teeth 520 that enable axial translation of the first rack 514 (e.g., translation distally and proximally along axis 604); the rack teeth 520 are positioned relative to the first rack teeth 516. Figure 43B An example of this specific implementation with a single rack 518 is shown in the cross-sectional view.

[0081] In order to accommodate the rotation of shaft 604, Figure 16The illustrated articulation subsystem 400 includes a first articulation bushing 526 that is rotatable with shaft 604 and rotates independently of the first rack 514 (and the second rack 518, if present). In other words, rolling of shaft 604 will also cause the first articulation bushing 526 to roll, while the first rack 514 remains rotationally stable within housing 102. The first articulation bushing 526 can slide from a first position to a second position along the longitudinal axis 474 of the rotatable shaft 604, thereby allowing the articulation lever 406 to move proximally and distally. The first rack 514 may have a first housing track surface 562 that is axially movable within a corresponding track in housing 102, thereby allowing the first rack 514 to slide axially but not rotate. If a second rack 518 is present, the second rack 518 may have a first housing track surface 564 adjacent to the first housing rack surface 562, which moves axially within a corresponding track in the outer housing 102, thereby enabling the second rack 518 to slide axially but not rotate. Figure 43A and Figure 43B The tracks 176A and 176B in which the rack 514 can travel are shown. As shown, the top and bottom of the first rack 514 may have first housing track surfaces 562, which are in... Figure 18 The first housing track surfaces are marked as 562a and 562b. If a second rack 518 is present, the top and bottom of the second rack 518 may have second housing track surfaces 564, which are located in... Figure 18 The second housing track surfaces 564a and 564b are marked in the middle. Similarly, these track surfaces 562 and / or 564 can travel within housing 102 (see again). Figure 43A and Figure 43B ).

[0082] and Figures 12 to 15 The "outer" design shown is different. Figures 16 to 19 The example shown illustrates only a single first joint motion bushing 526. The shape of this first joint motion bushing 526 is... Figure 19The first articulated bushing 526 slides onto the shaft 604. A first rack 514 (and a second rack 518, if present) are fixed relative to the first articulated bushing 526 via a first articulated bearing 522 and a second articulated bearing 524. The first articulated bearing 522 is distally constrained by a flange 528, and the second articulated bearing 524 is proximally constrained by a locking ring 568. Under this constraint, movement of the first rack 514 and / or the second rack 518 allows axial movement of the first articulated bushing 526, as described herein. The distal ends of the first rack 514 (and the second rack 518) have a first bearing surface 558 abutting the flange 528, and the proximal ends of the first rack 514 (and the second rack 518) have a second bearing surface 560. Figure 19 It can be seen that the one or more racks 514, 518 themselves do not need to contact the first joint moving bushing 526, and disengaging the one or more racks 514, 518 from the first joint moving bushing 526 can reduce wear on those parts. Instead, the one or more racks 514, 518 can contact the corresponding bearings 522, 524, and the bearings 522, 524 contact the first joint moving bushing 526.

[0083] Regarding the relative movement of rack gears 434, 440 and their corresponding racks in each design, the movement of rack gears 434, 440 (or the movement of the first joint motion input disc 402 and / or the second joint motion input disc 404 that initially causes the rack gear movement) can be used to share the load and / or generate antagonistic compression at the bushing. Figure 14 and Figure 15 Taking the view in the middle or the "outer" configuration as an example, the surgical instrument 100 can produce antagonistic compression of the articular movement bushings 426, 428. For example, rack gears 434, 440 can maintain a force that compresses the articular movement bushings 426, 428 toward each other. Maintaining this antagonistic compression reduces the backlash between the rack gear teeth 446, 452 and the corresponding rack teeth 416, 420. Figures 16 to 19 In the "inner" configuration, the first rack 514 and the second rack 518 share the load and function independently. However, this does not preclude... Figures 16 to 19 The examples shown use antagonistic options to reduce backlash, or in some examples, allow one of the two discs to act as a joint motion brake by counteracting the torque of the other disc.

[0084] The proximal end 470 of the articulation rod 406 may include a hook 407 or other attachment that proximally restrains the articulation rod 406 between the articulation bushings 426, 428, such as... Figures 12 to 15As shown. In other examples, the proximal end 470 of the articulation rod 406 may be coupled to the first articulation bushing 526 via one or more pins 507 (see Figure 1). Figure 19 Pin 507 can attach articulated rod 406 to flange 528. As mentioned above relative to the outer configuration, the inner configuration is designed such that movement of the first articulated bushing 526 achieves articulation of end effector 150 (see...). Figures 22 to 24 ). Figure 19 This illustrates how the articulation of rack gears 434, 440 applies force to each rack 514, 518 to move the first articulated bushing 526. To move the first articulated bushing 526, the first rack gear 434 can rotate in a first angular direction, and the first rack gear teeth 446 move through the first rack tooth portion 516 of the first rack 514. The distal movement of the first rack 514 (via...) Figure 19 The first rack gear 434 rotates clockwise, causing the first articulated bushing 426 to translate distally along the longitudinal axis 474 of shaft 604. Subsequently, the articulated lever 406 translates distally, thereby pivoting the distal channel holder 408, causing the end effector 150 to pivot, in this example, to the right. The first rack gear 434 can rotate in a second angular direction (opposite to the first angular direction described above), and the first rack gear teeth 446 move through the first rack tooth portion 516 of the first rack 514. Subsequently, the articulated lever 406 translates proximally, thereby pivoting the distal channel holder 408, causing the end effector 150 to pivot, in this example, to the left. When the second rack 518 and the second rack gear 440 are used, the rotation will be opposite to that of the first rack 514 and the first rack gear 434. For example, if the first rack gear 434 rotates clockwise to move the first rack 514 distally, the second rack gear 440 rotates counterclockwise to move the second rack 518 distally. Therefore, in this example, the first rack gear 434 and the second rack gear 440 work together to share the load, thereby providing greater articulation force to the end effector 150.

[0085] Figure 20 A surgical instrument is shown that allows for right-handed joint movement. Figure 21 Detailed views of the joint moving parts of the surgical instrument 100 are provided. Figure 22 An end effector 150 is shown that performs joint movement to the right. Figure 23 An end effector 150 without joint movement is shown, and Figure 24An end effector 150 for leftward joint movement is shown. In some examples, the joint motion subsystem 400 described herein can achieve at least 60° of joint movement in either direction, such as ±5°, ±10°, ±15°, ±20°, ±25°, ±30°, ±35°, ±40°, ±45°, ±50°, ±55°, ±60°, or any degree of back-and-forth joint movement in between. It should be noted that... Figures 22 to 24 The connector 160, which holds the end effector 150 on the shaft 604, is shown exposed for visualization. The connector 160 may be fitted with a flexible sheath 174 (see [link to relevant documentation]). Figure 1 The closure is designed to reduce pinch points. The connector 160 described herein may include multiple articulated links connecting the closing tube 212 to the closing ring 226. This link system may be a boss / hole configuration providing a pin connection. An external closure system may consist of the closing tube 212, which is pushed forward distally on two articulated links of the connector 160, thereby actuating the closing ring 226.

[0086] Roller system Surgical instrument 100 includes a roller system 600. Figures 26 to 32D Detailed views of the proximal portion of the example roller rotor system 600 are provided, while the more distal portion of the example roller rotor system 600 is shown in... Figure 37 For details, please refer to [the relevant source]. Figure 26 The rolling rotor system 600 includes a series of gears that allow shaft 604 to rotate about its longitudinal axis 474. Shaft 604 can be directly connected to end effector 150, and therefore the rolling of shaft 604 enables end effector 150 to roll a single joint motion plane to any orthogonal position. Shaft 604 includes a shaft cavity 606 extending therethrough, and a distal portion of the transverse subsystem 800 extends through shaft cavity 606. The transverse subsystem 800 is described in more detail below.

[0087] The roller rotor system 600 includes components capable of operating with a corresponding rotatable robot output end (e.g., Figure 2 The rolling input disk 602 is connected to the rolling robot output end 910. Figure 2The schematic diagram also shows a robotic arm 1000. A roll input disk 602 is rotatably engaged with a worm gear 608 extending therefrom, such that rotation of the roll input disk 602 causes rotation of the worm gear 608. Since the roll input disk 602 is positioned perpendicular to the length of the surgical instrument 100, and therefore perpendicular to the shaft 604, the roll rotor system 600 includes a worm gear follower 610 that engages with the worm gear 608. The worm gear follower 610 is coupled to the shaft 604, thereby allowing the shaft 604 to rotate. To keep the worm gear follower 610 correctly positioned relative to the worm gear 608, the roll rotor system 600 may include a stabilizing plate 612 surrounding the shaft 604 distal to the worm gear follower 610. The stabilizing plate 612 is 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 rolling rotor system 600 may also include a rolling bearing 614 and a rolling bearing plate 616, with the rolling bearing 614 positioned between the stabilizing plate 612 and the rolling bearing plate 616.

[0088] 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 provide feedback on the positioning of the rotatable shaft 604. For example, the rolling stop bushing 618 may include a stop 620 positioned thereon that contacts a housing tab 626 positioned on the housing body 102. The rolling rotor system 600 may 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 may 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.

[0089] In some examples, and such as Figure 27As shown, the roller system 600 may further include a follower bushing 622 having a follower bushing stop 624 extending therefrom. In this example, the follower bushing 622 may be positioned between the shaft 604 and the roller stop bushing 618. The shaft 604 and the follower bushing 622 may be directly coupled to each other, and the roller stop bushing 618 and the follower bushing 622 may rotate relative to each other. The roller system 600 may roll the shaft 604 to a first position in which the roller stop bushing 618 contacts the housing tab 626, and the follower bushing 622 contacts the roller stop bushing 618 on a first side (see [link]). Figure 28 Then, the rotator system 600 rotates the shaft 604 until the follower bushing 622 contacts the rolling stop bushing 618 on the other side, and then pushes the rolling stop bushing 618 circumferentially (see...). Figure 29 Continue rotating until the rolling stop bushing 618 contacts the housing tab 626 and the follower bushing 622 contacts the rolling stop bushing 618 on the second opposite side (see...). Figure 30 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 37 The figure shows the distal portion of the roller system 600, and the view shows how the rod groove 478 of the shaft 604 extends along the length of the shaft 604. A joint rod 406 can extend through the rod groove 478 of the shaft 604, and therefore rotation of the roller system 600 relative to the shaft 604 causes the joint rod 406 to rotate.

[0090] Figure 31A and Figure 31B The various aspects shown in this disclosure are as follows Figure 26 and Figure 27 The optional component of the roller rotor system 600 shown. Figure 31A This is a perspective view of the components of the roller rotor system 600. In the illustrated embodiment, Figure 26 The stabilizing plate 612 shown has been replaced by a thicker 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 relevant documentation]). 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 handling (to stop deflection) and better shares the load with the housing 102. The thrust block 712 can engage with the support 178, such as... Figure 43C The support member 178 is shown. Figure 31A The diagram shows additional components that may be included in alternative designs, including a roll bearing 714 (which can be coupled with...). Figure 26The rolling bearing 614 in the middle is basically similar to the rolling bearing plate 716 (which can be used with the rolling bearing 614 in the middle). Figure 26 The rolling bearing plate 616 in the middle is basically similar to that in the middle. Figure 31A In this section, the bearing plate 716 is thicker than the rolling bearing plate 616 to further increase the robustness and load distribution at this component. Figure 31A Roll stop bushing 718 is also shown, which may be substantially similar to roll stop bushing 618. Figure 31B This is a top cross-sectional view of the components of the rolling rotor system 600. The subsystem may include a first locking ring 752 and a second locking ring 754. The locking rings 752 and 754 may be positioned such that they secure the worm gear follower 610 and the rolling stop bushing 718 together. A stop 720 for the rolling stop bushing 718 is also shown; the stop 720 may be substantially similar to the stop 620 described above.

[0091] refer to Figure 27 As shown in the figure, the interior of the worm gear follower 610 may not be perfectly circular, and similarly, the outer surface of the shaft 604 may not be perfectly circular. Instead, the worm gear follower 610 and the shaft 604 may have corresponding backlash prevention 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 perform roll correction and / or calibration by rolling the shaft 604 from one mechanical calibration position to another (see Figure 100). Figures 28 to 30 (Discussion on the rotational constraints of the roller rotor system 600). Therefore, reducing the backlash can help ensure accurate calibration. Figures 32A to 32D The specific implementation shown provides an example of such back gap prevention features. Figure 32A It is also shown in Figure 27 A detailed view of the system is shown. Here, the internal region of the worm gear follower 610 (i.e., the portion that engages with the shaft 604) includes one or more gear flats 756. The gear flats 756 are used to ensure that the worm gear 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 gear 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 758B 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 7A ).

[0092] The one or more gear flat sections 756 may be milled, broached, or otherwise formed in the worm gear follower 610. Therefore, sharp angles between the flat sections and the curved sections may be impossible or undesirable, for example, because sudden angles may be locations of stress fracture. Therefore, a transition is made between the one or more gear flat sections 756 and the curved sections to provide clearance between the worm gear follower 610 and the shaft 604 at certain locations. Figure 32A 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.

[0093] Figures 32B to 32D Additional or alternative backlash prevention features are shown for the worm gear follower 610 and shaft 604. Figure 32B In this configuration, the worm gear follower 610 includes a key 762 that engages with a keyway 734 in the shaft 604. Alternatively, the shaft 604 may include a key while the worm gear follower 610 includes a keyway. In some examples, the key / keyway may be used in conjunction with one of other backlash prevention features (e.g., the first shaft flat portion 758A and the first gear flat portion 756A), as shown. Figure 32C The example shown also includes key 762 and keyway 734, but keyway 734 extends completely through the wall of shaft 604. Figure 32DIn 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.

[0094] Figure 33A and Figure 33B Example backlash prevention features for worm gear 608 according to various aspects of this disclosure are shown. The foregoing disclosure discusses reducing backlash at the connection between shaft 604 and 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 gear 608. Figure 33A The placement of the input disk 602, input shaft 605, and worm gear 608 is shown, while the top... Figure 33B The cross-sectional view illustrates an exemplary backlash prevention feature. An input shaft 605 extends at least partially through a worm gear 608. The input shaft 605 includes a flat section 772 positioned to correspond to a worm drive flat section 770 of the worm gear 608. This planar-to-planar feature is similar to a coupling. Figure 32A The gear flat portion 756 and shaft flat portion 758 are discussed.

[0095] 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 a series of gears proximally that allow the system to fire a firing rack 816 distally. Because surgical instrument 100 may have rolling features (e.g., via a rolling rotor system 600), the proximal portion of the transverse cutting subsystem 800 (e.g., the portion with gear drive and firing rack 816, see [link to relevant documentation]) also includes a rolling feature. Figures 34 to 37 It is not rotatable, but the distal end (e.g., firing lever 820, band 826, etc., see below) Figure 38 and Figure 37It can rotate along with the rolling of shaft 604. See now for details. Figure 34 The transverse cutting subsystem 800 includes a transverse cutting input disk 802, which can be connected to a corresponding rotatable robot output (e.g., Figure 2 The cross-cutting robot output end 912 is connected. Figure 2 The schematic diagram also shows a robotic arm 1000. A 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, directly or indirectly via gear transmission, causes distal translation of the firing rack 816, thereby causing the firing of spikes 126 and / or blades 166 in the end effector. Although not visible in the figure (as they are located inside the chamber 120), the position of spikes 126 is as follows... Figure 41 As shown. Figure 41 and Figure 42 A slider 122 is also shown, which can be used to eject nails from the chamber 120.

[0096] 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 cross-cutting or cutting force by providing a mechanical advantage after the cross-cutting input disc 802. The cross-cutting subsystem 800 includes a cross-cutting spur gear 806 coupled to the cross-cutting drive shaft 804, such that rotation of the cross-cutting drive shaft 804 also rotates the cross-cutting spur gear 806. The cross-cutting subsystem 800 may include a cross-cutting ramp gear 808 that rotatably engages with the cross-cutting spur gear 806, meaning that rotation of the cross-cutting spur gear 806 in a first direction results in a corresponding rotation of the cross-cutting ramp gear 808 in the opposite direction. The cross-cutting ramp gear 808 may have a larger diameter than the cross-cutting 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. Figure 5A and Figure 6A Also shown is a key receiver 830, which is rotatably coupled to a gear drive of a cross-cutting subsystem 800 to manually retract the firing rack 816 and thus the blade 166. Figure 43C A similar key receiver 830A is shown in the figure. The blade 166 can be held in the closed, unfired "home" position by means of a leaf spring 168 (see Figure 160). Figure 42 ).

[0097] The cross-cutting subsystem 800 may include a speed gear 812 that rotatably engages with the cross-cutting spur gear 811, meaning that rotation of the spur gear shaft 810 in a first direction results in a corresponding rotation of the speed gear 812 in the opposite direction. The speed gear 812 may have a larger diameter than both the spur gear shaft 810 and the cross-cutting spur gear 808. Figure 34 The transverse spur gear 806, transverse ramp gear 808, transverse ramp spur gear 811 and speed gear 812 shown are all spur gears.

[0098] 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.

[0099] 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 may have a firing rod 820 rotatably coupled to the distal end of the firing rack 816, such that the firing rod 820 can rotate independently of the firing rack 816. The rotatable connection between the firing rod 820 and the firing rack 816 may include a T-shaped tab 822 on the proximal end of the firing rod 820, which engages with a slot 824 on the firing rack 816. The tab / slot connection allows the firing rod 820 to rotate freely, but also axially constrains the firing rod 820 to the firing rack 816. An example of this connection between the firing rod 820 and the firing rack 816 is shown in Figure 38 and Figure 41 middle.

[0100] See Figure 38 and Figure 41 It provides a detailed view of certain distal components of the transverse cutting subsystem 800, the distal end of the firing lever 820 being connectable 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 push the blade 166 through tissue. The surgical instrument 100 may include a blade insert retainer 838 that protects the straps 826 (see [link to documentation]). Figure 35 ). Figure 21The distal side of band 826 is further shown. Surgical instrument 100 may include a blade guide 158 at joint 160, which allows the end effector 150 to perform articulation as described herein. Band 826 may pass through blade guide 158, and blade guide 158 provides lateral support to guide the laminate through any angle of articulation. Band 826 may also pass through a slot 484 in the attachment end 468 of distal channel retainer 408.

[0101] 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 / 515,001 (Case No. END9568USPSP1) or U.S. Provisional Application No. 63 / 634,171 (Case No. END9568USPSP2), 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 / 515,001 (Case No. END9568USPSP1) or U.S. Provisional Application No. 63 / 634,171 (Case No. END9568USPSP2), both of which are incorporated herein by reference in their entirety.

[0102] 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) directly or indirectly connected 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).

[0103] 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).

[0104] Clause 3: The closed subsystem (200) according to Clause 2, wherein the cam track (214) comprises a first zone (222) and a second zone (224), wherein the rotation of the cam gear (210) provides a non-linear movement profile to the yoke pin (216) through the first zone (222) and the second zone (224).

[0105] Clause 4: The closed subsystem (200) according to Clause 3, wherein the cam gear (210) provides faster distal movement of the yoke pin (216) by rotation of the first zone (222) than by rotation of the cam gear (210) by rotation of the second zone (224), and the cam gear (210) by rotation of the second zone (224) provides greater mechanical advantage to the yoke pin (216) than by rotation of the cam gear (210) by rotation of the first zone (222).

[0106] Clause 5: The closed subsystem (200) according to Clause 3 or 4, wherein the cam track (214) has a polynomial shape and includes a nonlinear portion and a constant radius portion.

[0107] Clause 6: The closed subsystem (200) as described in Clause 3 or 4, wherein the cam track (214) is a logarithmic spiral.

[0108] Clause 7: The closed subsystem (200) according to Clause 1 further includes a second closed input disk (204) capable of engaging with the second closed robot output (904), wherein the cam gear (210) is rotatably engaged with the second closed input disk (204).

[0109] Clause 8: The closed subsystem (200) according to Clause 7 further includes: a first input rod (203) extending from the first closed input disk (202); a first spur gear (206) positioned on the first input rod (203) and rotatably engaged with the cam gear (210) and 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) positioned on the second input rod (205) and rotatably engaged with the second closed input disk (204).

[0110] Clause 9: The closed subsystem (200) according to Clause 1 further includes a closed yoke (250), wherein the yoke pin (216) extends from the closed yoke (250) and moves together with the yoke pin (216).

[0111] Clause 10: The closed subsystem (200) according to Clause 9 further includes a rotatable shaft (604) disposed within the closed yoke (250), the rotatable shaft (604) rotating independently of the closed yoke (250).

[0112] Clause 11: The closure subsystem (200) according to any one of the preceding clauses 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).

[0113] Clause 12: The closure subsystem (200) according to Clause 11, 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).

[0114] Clause 13: A closed subsystem comprising: a cam gear (210) including a cam track (214); and a yoke (216) coupled to a closed tube (212) and capable of moving 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 movement 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 it travels through the constant-force region (282) when the cam gear (210) rotates.

[0115] Clause 14: A closed subsystem comprising: a first closed input disk (202) capable of engaging with a first closed robot output (902); a cam gear (210) rotatably engaged with the first closed input disk (202), the cam gear (210) including a cam track (214); and a yoke (216) directly or indirectly coupled to a closed tube (212) and capable of moving 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 configured to provide a non-linear movement profile of the yoke (216) such that different movement profiles are provided along different sections of the cam track (214) for translation of the closed tube (212).

[0116] Clause 15: The closed subsystem (200) according to Clause 14, wherein the cam track (214) includes an open position (272), a high-speed compression region (274), a high-force region (278), and a constant-force region (282).

[0117] Clause 16: The closed subsystem (200) according to Clause 15, wherein the high-speed compression region (274), the high-force region (278) and the constant-force region (282) each have different curvatures.

[0118] Clause 17: The closed subsystem (200) according to Clause 15 or 16, wherein the constant force region (282) is shaped such that the yoke pin (216) remains stationary as it travels through the constant force region (282) when the cam gear (210) rotates.

[0119] Clause 18: A closed subsystem (200) according to any one of the preceding clauses, wherein the movement of the yoke (216) from the first position to the second position translates the closed tube (212) distally onto the anvil ramp (154) of the anvil (152).

[0120] Clause 19: The closed subsystem (200) according to Clause 14, wherein the cam track (214) includes a first zone (222) and a closed zone (224).

[0121] Clause 20: The closed subsystem (200) according to Clause 19, wherein the cam gear (210) provides faster distal movement of the yoke pin (216) by rotation through the first region (222) than 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) than the rotation of the cam gear (210) through the first region (222).

[0122] Clause 21: The closed subsystem (200) according to Clause 19 or 20, wherein the cam track (214) has a polynomial shape and includes a nonlinear portion and a constant radius portion.

[0123] Clause 22: A closed subsystem (200) according to any one of Clauses 19 to 21, wherein the cam track (214) is a logarithmic spiral.

[0124] Clause 23: The closed subsystem (200) according to any one of the preceding clauses further includes: a first input rod (203) extending from the first closed input disk (202); and 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).

[0125] Clause 24: The closure subsystem (200) according to any one of the preceding clauses further includes a second closure input disk (204) capable of engaging with the output end of the second closure robot, wherein the cam gear (210) is rotatably engaged with the second closure input disk (204).

[0126] Clause 25: The closed subsystem (200) according to Clause 24 further includes: 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).

[0127] Clause 26: The closed subsystem (200) according to Clause 25, wherein the second spur gear (208) rotates in the opposite direction to the first spur gear (206).

[0128] Clause 27: The closed subsystem (200) according to Clause 26, wherein the second spur gear (208) and the first spur gear (206) are configured to rotate simultaneously to share the mechanical load for the distal translation of the yoke pin (216).

[0129] Clause 28: A closed subsystem (200) according to any one of the preceding clauses, wherein the yoke pin (216) extends from a closed yoke (250) connected to the closed tube (212).

[0130] Clause 29: The closed subsystem (200) according to Clause 28, wherein the closed yoke (250) translates together with the yoke pin (216).

[0131] Clause 30: The closed subsystem (200) according to Clause 28 or 29, wherein the closed yoke (250) is a sleeve that at least partially covers the circumferential surface of the closed tube (212).

[0132] Clause 31: A closed subsystem (200) according to any one of Clauses 28 to 30, wherein the closed yoke (250) includes a wing (252) extending therefrom, the wing (252) being capable of traveling through a corresponding track in the housing (102) to allow the closed yoke (250) to be rotationally constrained and capable of translation.

[0133] Clause 32: The closed subsystem (200) according to any one of the preceding clauses further includes a rotatable shaft (604) disposed within the closed tube (212), the rotatable shaft (604) rotating independently of the closed tube (212).

[0134] Clause 33: A surgical instrument (100) comprising a closure subsystem (200) as described in Clause 32 and an articular motion subsystem (400) configured to rotate the rotatable axis (604).

[0135] The invention is not necessarily limited to the described examples, the configurations and details of which may vary. The terms “distal” and “proximal” are used throughout the foregoing description to refer to the location and orientation relative to the attachment to the robotic arm. Thus, “distal” or “towards distal” refers to a position or orientation away from the robotic arm (i.e., towards the patient). Similarly, “proximal” or “towards proximal” refers to a position or orientation close to the robotic arm or towards the robotic arm. 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.

[0136] As used herein, the term “about” or “approximately” for any numerical value or range indicates appropriate dimensional tolerances that allow a collection of parts or components to achieve the intended purpose as described herein. More specifically, “about” or “approximately” may refer to a range of ±20% of the enumerated values; for example, “about 90%” may refer to a range of 71% to 99% of the values.

[0137] The use of the terms "cross-cut" or "cross-cutting subsystem" is not intended to limit any particular use of the described components. The term "cross-cut" is used because the exemplary embodiment shown in the figures includes a blade 166 that cross-cuts tissue upon firing, and the same feature can also be used to drive the nail 126. Some specific embodiments may not include the blade 166 at the end, and therefore the system may be used only for suturing. The subsystems described herein (including the cross-cutting subsystem) may also be valid in those examples where only suturing is required. Therefore, the terms "cross-cut" and "cross-cutting subsystem" can be understood to refer to the firing or driving of components of the end effector, whether those components are blades, nails, or both.

[0138] 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, comprising: The first closed input disk (202) is capable of engaging with the output end (902) of the first closed robot; A cam gear (210) is rotatably engaged with the first closed input disk (202), the cam gear (210) including a cam track (214). and A yoke pin (216), which is directly or indirectly connected to the 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), extends into the cam track (214). The cam track (214) is configured to provide a non-linear movement profile for the yoke (216), such that different movement profiles are provided for the translation of the closed tube (212) along different sections of the cam track (214).

2. The closed subsystem (200) according to claim 1, wherein, The cam track (214) includes an open position (272), a high-speed compression region (274), a high-force region (278), and a constant-force region (282).

3. The closed subsystem (200) according to claim 2, wherein, The high-speed compression region (274), the high-force region (278), and the constant-force region (282) each have different curvatures.

4. The closed subsystem (200) according to claim 2 or 3, wherein, The constant force region (282) is shaped such that when the cam gear (210) rotates, the yoke pin (216) remains stationary as it travels through the constant force region (282).

5. The closed subsystem (200) according to any one of the preceding claims, wherein, The movement of the yoke pin (216) from the first position to the second position translates the closed tube (212) distally onto the anvil ramp (154) of the anvil (152).

6. The closed subsystem (200) according to claim 1, wherein, The cam track (214) includes a first zone (222) and a closed zone (224).

7. The closed subsystem (200) according to claim 6, wherein, The rotation of the cam gear (210) through the first region (222) provides a faster distal movement of the yoke pin (216) than 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) than the rotation of the cam gear (210) through the first region (222).

8. The closed subsystem (200) according to claim 6 or 7, wherein, The shape of the cam track (214) is polynomial and includes a nonlinear part and a constant radius part.

9. The closed subsystem (200) according to any one of claims 6 to 8, wherein, The cam track (214) is a logarithmic spiral.

10. The closed subsystem (200) according to any one of the preceding claims further comprises: A first input lever (203) extends from the first closed input disk (202); and 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).

11. The closed subsystem (200) according to any one of the preceding claims 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).

12. The closed subsystem (200) according to claim 11, further comprising: 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).

13. The closed subsystem (200) according to claim 12, wherein, The second spur gear (208) rotates in the opposite direction to the first spur gear (206).

14. The closed subsystem (200) according to claim 12 or 13, wherein, The second spur gear (208) and the first spur gear (206) are configured to rotate simultaneously to share the mechanical load for the distal translation of the yoke pin (216).

15. The closed subsystem (200) according to any one of the preceding claims, wherein, The yoke pin (216) extends from the closed yoke (250) connected to the closed tube (212).

16. The closed subsystem (200) according to claim 15, wherein, The closed yoke (250) translates together with the yoke pin (216).

17. The closed subsystem (200) according to claim 15 or 16, wherein, The closed yoke (250) is a sleeve that at least partially covers the circumferential surface of the closed tube (212).

18. The closed subsystem (200) according to any one of claims 15 to 17, wherein, The closed yoke (250) includes a wing (252) extending therefrom, which is capable of traveling through a corresponding track in the housing (102) to allow the closed yoke (250) to be rotationally constrained and to be able to translate.

19. The closed subsystem (200) according to any one of the preceding claims further includes a rotatable shaft (604) disposed within the closed tube (212), the rotatable shaft (604) rotating independently of the closed tube (212).

20. A surgical instrument (100) comprising a closure subsystem (200) according to claim 19 and an articulation subsystem (400) configured to rotate the rotatable axis (604).

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