Fluid management system for robotic suturing and cutting systems

Abstract

Systems and subsystems for cutting and stapling tissue are disclosed. More specifically, the present disclosure relates to systems, devices, and subsystems for robotic surgical accessories. The disclosed techniques include a housing for a surgical instrument configured to engage with a robotic arm. The housing includes a first opening positioned to engage with at least a portion of a robotic arm, a second opening positioned proximal to a rod extending from within the housing; and a fluid management system positioned within the housing proximal to one of the first opening or the second opening, the fluid management system configured to retain or divert fluid within the housing.

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] The disclosed technology also includes a housing for surgical instruments configured to engage with a robotic arm. The housing includes: a first opening positioned to engage at least a portion of the robotic arm; a second opening positioned proximal to a rod extending from within the housing; and a fluid management system positioned within the housing, proximal to either the first or second opening. The fluid management system may be configured to retain or divert fluid within the housing.

[0006] The disclosed technology includes a surgical instrument comprising a housing, a closed subsystem engaging with an axis, an articulation subsystem capable of moving along the axis and independently of the closed subsystem, and a fluid management system positioned between the closed subsystem and the articulation subsystem and in contact with the axis.

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

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

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

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

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

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

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

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

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

[0016] Figure 6A Cross-sectional views of the end effector and closure subsystem according to various aspects of this disclosure are shown.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0050] Figures 18A to 18R Features for controlling fluid flow from the housing according to various aspects of this disclosure are shown. Figure 18A A fluid management cavity surrounded by walls is shown, and Figure 18B The absorbent material positioned inside the cavity is shown.

[0051] Figure 18C , Figure 18D , Figure 18E , Figure 18F and Figure 18G This disclosure shows aspects related to the present disclosure. Figure 18A Example design of the cavity wall described.

[0052] Figure 18H Example fluid management sleeves according to various aspects of this disclosure are shown, and Figure 18I A cross-sectional view showing the positioning of the sleeve is shown.

[0053] Figure 18J Example fluid management trap collars according to various aspects of this disclosure are shown, and Figure 18K It shows Figure 18J A cross-sectional view of the positioning of the collar. Figure 18L This is a similar example to a trap loop without a separately defined trap.

[0054] Figure 18M Example fluid management flexure collars according to various aspects of this disclosure are shown, and Figure 18N A cross-sectional view showing the positioning of the collar is shown.

[0055] Figure 18O An example fluid splitter housing according to various aspects of this disclosure is shown.

[0056] Figure 18P A fluid management bushing for a housing according to various aspects of this disclosure is shown.

[0057] Figure 18Q An example fluid management seal extension for a knife insert retainer according to various aspects of this disclosure is shown, and Figure 18R A cross-sectional view showing the positioning of the seal extension is shown. Detailed Implementation

[0058] 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. In particular, this disclosure provides a detailed discussion of closure subsystems, articulation systems, rolling subsystems, and transverse cutting subsystems that can be used with end effectors for closure, articulation, rolling, and firing devices. Throughout this disclosure, the term "firing" refers to the distal portion of the transverse cutting subsystem being advanced distally. The term "firing component" should be understood to mean cutting, suturing, or both.

[0059] Overview Switch to the attached image. Figure 1 This is a perspective view showing a surgical instrument 100 according to various aspects of the present disclosure. The housing 102 of the surgical instrument 100 may be attachable to a robotic arm including a plurality of output ends or rotatable disks that actuate disks or other disks on the surgical instrument 100. A proximal end 106 of the surgical instrument 100 may be attached to the robotic arm, and a distal end 108 of the surgical instrument 100 performs transverse incisions and sutures of patient tissue. The proximal end 106 of the surgical instrument 100 includes a tail cover 114. The surgical instrument may include one or more release buttons 104 that allow the device to be detached from the robotic arm.

[0060] Figure 2A From Figure 1The other side shown is a perspective view of the housing 102. The housing 102 may include a first portion 110 and a second portion 112. The housing 102 includes a series of disks (e.g., a first closure input disk 202, a second closure input disk 204, a first articulation input disk 402, a second articulation input disk 404, a roll input disk 602, and a transverse input disk 802). The disks include features that enable engagement with a rotational feature of a robotic arm 1100 and a sterile adapter positioned between the surgical instrument 100 and the robotic arm 1100, such that rotation of the disks actuates gears and other components of the closure subsystem 200, the articulation subsystem 400, the roll subsystem 600, and the transverse subsystem 800 described herein.

[0061] Figure 3A and Figure 3B The internal components of the housing 102 at the proximal end 106 of the surgical instrument 100 are shown. (See diagram.) Figure 3A As shown, housing 102 includes components of the closure subsystem 200, articulation subsystem 400, rolling subsystem 600, and transverse subsystem 800 described herein. As will be described in more detail herein, turntables (e.g., first closure input turntable 202, second closure input turntable 204, first articulation input turntable 402, second articulation input turntable 404, rolling input turntable 602, and transverse input turntable 802) may each be attached to components extending through housing 102 and rotatably engaging with corresponding components of the closure subsystem 200, articulation subsystem 400, rolling subsystem 600, and transverse subsystem 800. Thus, rotation of each individual turntable causes actuation of end effectors (rolling, closing or opening, articulation, firing pins, etc.), enabling a surgeon to perform surgical procedures via the robotic system.

[0062] Figure 3B The internal components of a surgical instrument 100 according to various aspects of this disclosure are shown, the instrument being shown without an outer housing 102. The closure subsystem 200 and the articulation subsystem 400 each utilize two different turntables (e.g., a first closure input turntable 202, a second closure input turntable 204, a first articulation input turntable 402, and a second articulation input turntable 404) to perform their respective actions, while the rolling subsystem 600 and the transverse cutting subsystem 800 each utilize only one turntable (e.g., a rolling input turntable 602 and a transverse cutting input turntable 802) to perform their respective actions. The use of two different turntables by the closure subsystem 200 and the articulation subsystem 400 has certain beneficial effects, including, but not limited to, providing additional force to increase the tissue compression capability of the closure subsystem 200, and increasing input torque and reducing clearance to increase the responsiveness of joint movements. Figure 2B This is an exploded view of the components within the proximal end 106 of the surgical instrument 100. (See diagram below.) Figure 2B As shown, the outer housing 102 may also include an intermediate housing 111, which may be disposed between the first portion 110 and the second portion 112 and helps to provide support for various components in the outer housing 102, as further described herein.

[0063] like Figure 4 As shown, the surgical instrument 100 includes an end effector 150 disposed at a distal end 108 of the surgical instrument 100. As shown, the end effector 150 includes an anvil 152 and a channel 156. As will be described in more detail herein, the anvil 152 is movable relative to the channel 156 to open and close the end effector 150. Furthermore, as will be described in more detail herein, the surgical instrument 100 includes a closing ring 226 and a closing tube 212, which can be actuated to open and close the anvil 152 relative to the channel 156. The anvil 152 can be opened by retracting the closing ring 226 from the anvil 152.

[0064] Figure 5A An end effector 150 in a closed configuration is illustrated. Figure 5B An end effector 150 in an open configuration is illustrated. The anvil 152 of the end effector 150 can be opened and closed by operation of a closing ring 226, which is coupled to the anvil 152 and slides proximally and distally via a closing tube 212. When the closing ring 226 slides distally, it closes the anvil 152. When the closing ring 226 slides proximally, it opens the anvil 152. The closing ring 226 can be moved between an open and closed position by actuating the closing tube 212. When the closing tube 212 slides proximally and distally, the closing tube 212, engaged with the closing ring 226, causes the closing ring 226 to also slide proximally and distally, thereby opening and closing the anvil 152.

[0065] like Figure 5A and Figure 5B As shown, the closing tube 212 can be actuated by the movement of the closing yoke 250 between an open position in which the anvil 152 is open and a closed position in which the anvil 152 is closed. The closing yoke 250 can slide axially in the proximal direction to open the anvil 152, and slide axially in the distal direction to close the anvil 152. In other words, when the closing yoke is in the open position, the distance X1 between the closing yoke 250 and the distal rolling bushing 252 (which remains stationary) will be less than the distance between the closing yoke and the distal rolling bushing when the closing yoke 250 is in the closed position and the distance between the closing yoke 250 and the distal rolling bushing 252 is X2. As will be described in more detail herein, the closing yoke 250 can be switched between the open and closed positions by the actuation of a number of gears.

[0066] Figure 6A This is a cross-sectional view of the end effector 150, showing the end effector 150, the closing ring 226, and the closing tube 212. The closing ring 226 can be coupled to the anvil 152 such that sliding the closing ring 226 proximally opens the anvil 152, and sliding the closing ring 226 distally closes the anvil. Thus, the closure subsystem 200 must be actuated between an open and closed position to change the anvil 152 between the open and closed positions. In other words, it is impossible to open or close the anvil 152 without actuating the other components of the closure subsystem 200.

[0067] Figure 6B This is a perspective view of the end effector, showing anvil 152, channel 156, a chamber mounted in channel 120, and closing ring 226. Anvil 152 includes a flange 260 that can extend outward at a proximal end of anvil 152. Figure 6C As shown, the anvil 152 also includes an anvil insert 264 positioned at a proximal end of the anvil 152. The anvil insert 264 is configured to contact one or more closure ring inserts 262 that extend inward from the closure ring 226 to open and close the anvil 152.

[0068] like Figure 6C As shown, the anvil 152 includes one or more anvil pins 159 that can extend into an opening 155 in the channel 156. In this example, the opening 155 is an elongated slot. Therefore, it should be understood that, in addition to pivoting within the opening 155 about its own axis, the anvil pin 159 also slides along the opening 155. Even though the pivot axis translates along the opening 155 with the anvil pin 159 and is not in a fixed position, this action can still be considered as "pivoting" as defined herein.

[0069] As the closing ring 226 translates distally in response to the advancement of the closing tube 212, the closing ring 226 translates relative to the anvil 152 to engage the anvil 152. The closing ring 226 engages the anvil 152 to translate the anvil 152 distally by contacting the anvil ramp 154 ​​and pivoting the anvil 152. As the anvil 152 continues to translate distally, the closing ring 226 closes the anvil 152. Once the end effector 150 is closed, the tissue captured between the anvil 152 and the channel 156 can be cut and sutured.

[0070] Once the tissue positioned in the end effector 150 has been cut and sutured, the anvil 152 can be opened to release the tissue. The end effector 150 can then be opened to replace the staple cartridge 120 with a new one. To open the end effector 150, the closure ring 226 can be translated proximally via the closure subsystem 200. As the closure ring 226 is translated proximally, one or more closure ring tabs 262 engage the anvil tabs 264 to pull the anvil 152 proximally. As the anvil 152 is translated proximally, the anvil 152 pivots away from the channel 156 to the open position.

[0071] Closed subsystem Figure 7A , Figure 7C , Figure 7D , Figure 7E and Figure 7I These are detailed diagrams of the closed subsystem 200 according to various aspects of this disclosure. Figure 7A and Figure 7D This is a top perspective view of the closed subsystem 200, and Figure 7C This is a bottom perspective view of the closed subsystem. The closed subsystem 200 includes a first closed input rotary table 202 and a second closed input rotary table 204 (e.g., ...). Figure 7C (As shown). The first closed input turntable 202 can be configured to engage with the first rotating feature of the robot arm, and the second closed input turntable 204 can be configured to engage with the second rotating feature of the robot arm. In this way, compared to the case with only a single input turntable, the robot arm can be configured to transmit a greater amount of force to the closure subsystem 200 to open and close the anvil 152.

[0072] A first closed input disc 202 can be connected to a first closed input rod 203 extending into the housing 102. The first closed input rod 203 can be further connected to a first closed spur gear 206. Therefore, when the first closed input disc 202 rotates, it will also cause the first closed input rod 203 and the first closed spur gear 206 to rotate. Similarly, a second closed input disc 204 can be connected to a second closed input rod 205 extending into the housing 102. The second closed input rod 205 can be further connected to a second closed spur gear 208. Therefore, when the second closed input disc 204 rotates, it will also cause the second closed input rod 205 and the second closed spur gear 208 to rotate. The first closed input rod 203 can be held in place by a first retaining clamp 218, and the second closed input rod 205 can be held in place by a second retaining clamp 220.

[0073] The first closed spur gear 206 and the second closed spur gear 208 can each rotatably engage with the closed cam gear 210. For example... Figure 8A and Figure 8BAs shown, the closed cam gear 210 includes a closed cam track 214, which can be configured to receive a yoke pin 216 that can be engaged with the closed yoke 250. When the closed cam gear 210 rotates, the closed cam track 214 causes the yoke pin 216 to slide proximally and distally, thereby causing the closed yoke 250 to slide proximally and distally. In other words, when the closed cam gear 210 rotates in a first direction, the closed cam track 214 guides the yoke pin 216 along the closed cam track 214 in a proximal or distal direction. Because the yoke pin 216 is engaged with the closed yoke 250, the movement of the yoke pin 216 proximally or distally causes the closed yoke 250 to move proximally or distally. As explained above, the movement of the closed yoke 250 causes the anvil 152 to open or close.

[0074] The closed cam track 214 may include a nonlinear track, which can be configured to have a changing motion profile as the closed cam gear 210 rotates. For example... Figure 8A and Figure 8B As shown, the cam track 214 may include a nonlinear profile. In some embodiments, the cam track 214 may be a logarithmic spiral. The cam track 214 is not necessarily perfectly logarithmic and in some cases may be represented by a higher-order polynomial, as some embodiments may include a nonlinear portion, a portion with a constant radius, and a portion connecting the nonlinear portion and the constant radius portion. These different portions can be created using splines. A novel aspect of this nonlinear cam track 214 design is that it can be shaped such that once the yoke 216 reaches the portion of the cam track 214 with the constant radius, the closed cam gear 210 rotates, but the yoke 216 does not move axially. This feature can provide benefits by taking into account robot errors and providing tolerances for them.

[0075] like Figure 8CAs shown, the closing cam track 214 may include a first zone 222 and a closing zone 224. The first zone 222 of the closing cam track 214 may be configured to compress tissue with the yoke pin 216 and subsequently the anvil 152 without inducing excessive force. On the other hand, the closing zone 224 of the closing cam track 214 may be configured to compress tissue downward with a force sufficient to hold the end effector 150 in place for cutting and / or suturing tissue. The final rotational position of the closing cam track 214 and the overall configuration of the other components of the closing subsystem 200 produce a closing load that meets the requirements of a particular application. In other words, once the yoke pin 216 reaches its final rotational position, the combination of the components of the closing subsystem 200 can move the anvil 152 to the closed position to close the tissue downward. However, it should be understood that, depending on the particular application, the first zone 222 and the closing zone 224 may be configured to include alternative percentages of the closing cam track 214. Furthermore, the slope of the closed cam track 214 at the first zone 222 and the closed zone 224 can vary to affect the speed and force of the opening and closing of the anvil 152. It should be understood that the cam track 214 is continuous, non-linear, and smooth; therefore, the slope of the different "zones" can vary. Figure 8C and Figure 8D This does not indicate the presence of breaks or discontinuities in certain sections of the cam track 214. Figure 8A The fully open configuration is shown, in which the yoke pin 216 is positioned within the cam track 214 such that the anvil 152 is fully open, thereby maximizing the amount of tissue that can be placed in the jaws (e.g., the anvil and channel) of the end effector 150. Figure 8B A fully closed configuration is shown, where the yoke pin 216 is within a constant radius portion of the cam track 214 (in this view, the yoke pin 216 is also at the very end of the cam track 214). The fully closed configuration indicates that the surgical instrument 100 is ready for firing (e.g., transverse incision and / or suturing). A partially open configuration may also be present. Figure 8A and Figure 8B The examples shown illustrate how the system can grasp the organization.

[0076] See now Figure 8D This figure is a bottom view of the closed cam gear 210, showing different regions of the cam track 214 that can provide different motion profiles for the yoke pin 216. (Reference) Figure 8D In this view, when the closed cam gear 210 rotates clockwise, the yoke pin 216 translates downwards in the view (downwards is relative to the far side of axis 604, see [reference]). Figure 8A and Figure 8B These regions of the cam track 214 can provide different motion profiles depending on the position of the yoke pin 216 within the cam track 214. For example, Figure 8DThe closed cam gear 210 has degree indicators for reference, with the upper mark at 0°, the left mark at 90°, the lower mark at 180°, and the right mark at 270°. The cam track 214 may include an opening dead zone 270 existing between approximately -20° and approximately 0°. The opening dead zone 270 is the area beyond the open position 272, providing a degree of tolerance if the closed cam gear 210 is rotated beyond the open position 272. The open position 272, or the original position, may be a hard stop position, where the closing ring 226 is positioned proximally, thereby allowing the anvil 152 to fully open (see [link to relevant documentation]). Figure 5B ). Figure 8D The cam track 214 includes a high-speed compression region 274 positioned in the next portion of the cam track 214 beyond the open position 272. This high-speed compression region 274 extends from approximately 0° to approximately 90°. The high-speed compression region 274 has a curvature that allows the yoke pin 216 to transition rapidly distally while providing a small amount of force (e.g., clamping force on the anvil 152). This high-speed compression region 274 enables the surgical instrument 100 to grasp and position target tissue. Figure 8D The force transition region 276 is located at approximately 90° on the closed cam gear 210. Extending beyond the force transition region 276 is the high-force region 278. The high-force region 278 can... Figure 8D The closed cam gear 210 extends from approximately 90° to approximately 300°. This region provides a low-speed, high-force motion profile for the distal movement of the yoke pin 216. For example, the high-force region 278 could be the portion of the motion profile that begins to apply pressure to the cut and / or sutured tissue. Figure 8D The closing target 280 is located approximately 300° on the closed cam gear 210. Any point beyond the closing target 280 can be considered closed because the yoke pin 216 is considered satisfied in terms of force and distal motion. Extending beyond the closing target 280 and from approximately 300° to the end of the cam track 214 is the constant force region 282. Like the constant radius section described above, the constant force region 282 can be a segment of the cam track 214 in which the closed cam gear 210 rotates but the yoke pin 216 does not move axially. This helps to provide tolerance for any positional errors of the surgical robot 1100.

[0077] The closure subsystem 200 may also include a manual closure spur gear 230, which is coupled to a manual closure handle 234 extending through the housing 102 (e.g., Figure 7B and Figures 7E to 7I(As shown). For example, if the surgical robot is unable to open or close the anvil 152, the surgeon can use the manual closing handle 234. A manual closing spur gear 230 is rotatably coupled to a manual closing cam gear 232, which is connected 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. As will be understood, 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.

[0078] like Figures 7E to 7I As shown, in some examples, the manual closure handle 234 includes a manual closure handle grip 236 and a manual closure handle clamp 238. The manual closure handle grip 236 may extend beyond the outer portion of the housing 102, allowing a physician or surgeon to grasp the manual closure handle 236 and rotate it to open or close the anvil 152. The manual closure handle clamp 238 may be configured to extend through the manual closure handle grip 236 and into the housing 102 to attach the manual closure handle 234 to the housing 102. The manual closure handle clamp 238 may include one or more protruding features that, when pushed into the housing 102, can engage in place to attach the manual closure handle 234 to the housing 102. In other examples, the manual closure handle grip 236 and the manual closure handle clamp 238 may be integrated into a single component.

[0079] 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.

[0080] 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.

[0081] Joint kinetic subsystem Figure 9 It is a perspective view of surgical instrument 100, and Figure 10 This is an exploded perspective view of surgical instrument 100. As shown, surgical instrument 100 includes a chamber 120 containing staples configured to suture tissue. Surgical instrument 100 may also include a knife guide 158, a firing lever 820, and a firing rack 816, which enable the knife to cut tissue, as will be described in more detail herein. Furthermore, surgical instrument 100 includes a shaft 604 having a axial cavity 606. As will be described in more detail herein, shaft 604 may be disposed within a closed tube 212 and coupled to a worm follower 610, which enables shaft 604 and an end effector to rotate about a longitudinal axis 474 of surgical instrument 100.

[0082] Surgical instrument 100 includes a joint motion subsystem 400. For example... Figure 10 As shown, the surgical instrument 100 includes a first articulated lever 406A and a second articulated lever 407A, which can be configured to articulate the distal channel retainer 408 and the subsequent end effector 150 along a first direction and a second direction transverse to the longitudinal axis 474 of the surgical instrument 100. The first articulated lever 406A and the second articulated lever 407A can be configured to be at least partially disposed in a lever recess 478 disposed on either side of the shaft 604.

[0083] A view of the joint movement at the distal end of the surgical instrument 100. Figure 11A , Figure 11B , Figure 12A , Figure 12B and Figure 12C As shown in the figure, a detailed diagram of the proximal portion of the example joint motion subsystem 400 is shown in Figures 13A to 15CProvided in [the text]. The articulation subsystem 400 includes a first articulation rod 406A and a second articulation rod 407A, each extending distally to a distal channel retainer 408. The proximal ends of the first articulation rod 406A and the second articulation rod 407A may each include a hook (first articulation rod hook 405 and second articulation rod hook 409, such as...). Figure 10 , Figure 15A , Figure 15B and Figure 15C (as shown) or other attachments that constrain the articulated rods proximally (e.g., to the first articulated bushing 426 and the second articulated bushing 428). In some examples, the first articulated rod 406A and the second articulated rod 407A may each be pinned, bolted, welded, adhered, or otherwise attached to the first rack 414A and the second rack 418A, respectively. The distal ends of the first articulated rod 406A and the second articulated rod 407A may each be connected to a distal channel retainer 408, which may pivot back and forth (e.g., to the left and right) to move or perform articulation of the end effector 150 of the surgical instrument 100. The first articulated rod 406A may be attached to the distal channel retainer 408 via a first channel retainer pin 410, and the second articulated rod 407A may be attached to the distal channel retainer 408 via a second channel retainer pin 411. The attachment end 468 of the distal channel retainer 408 may, for example, be attached to the channel 156 of the end effector 150 to enable articulation of the end effector 150. The attachment end 468 may also include a band slot 484 for passing through a series of bands 826, which is described in more detail herein with respect to the transverse subsystem 800.

[0084] See now Figure 12A , Figure 12B and Figure 12C The first joint movement rod 406A and the second joint movement rod 407A can move the distal channel retainer 408 back and forth around the joint movement pivot point 466 by pushing or pulling the corresponding side of the distal channel retainer 408. Figure 12A An end effector 150 is illustrated when the joint moves to the first position. Figure 12B An end effector 150 is shown in a central position, and Figure 12C An end effector 150 in the second position is illustrated. To enable the end effector 150 to reciprocate articulated motion, the distal channel retainer 408 includes a first retainer pin 410 (e.g., ...). Figure 11BAs shown), the first articulated lever 406A includes a distal first rod hole 412 that engages the first retainer pin 410. Similarly, the distal channel retainer 408 includes a second retainer pin 411, and the second articulated lever 407A includes a distal second rod hole 413 that engages the second retainer pin 411. When the first articulated lever 406A translates proximally (e.g., Figure 12C When the arrow in the diagram is drawn (as shown), the first articulator lever 406A pulls the first retainer pin 410 proximally, and thus causes the distal channel retainer 408 to articulate in one direction about the articulation pivot point 466. The second articulator lever 407A can be translated distally to allow the channel retainer 408 to articulate about the articulation pivot point 466. Similarly, when the second articulator lever 407A is translated proximally (as shown by the arrow in the diagram), the first articulator lever 406A pulls the first retainer pin 410 proximally, and thus causes the distal channel retainer 408 to articulate in one direction about the articulation pivot point 466. Figure 12A When the arrow in the diagram is pointed out, the second articulator rod 407A pulls the second retainer pin 411 proximally, and thus causes the distal channel retainer 408 to articulate in the opposite direction about the articulation pivot point 466. The first articulator rod 406A can be translated distally to allow the channel retainer 408 to articulate about the articulation pivot point 466. The first articulator rod hole 412 and the second articulator rod hole 413 can each be elliptical, such as... Figure 11B As shown, this is to account for the lateral translation of the first retainer pin 410 and the second retainer pin 411 when the distal channel retainer 408 rotates, because the first articulator rod 406A and the second articulator rod 407A only move axially and are constrained to the shaft 604 within the rod groove 478. Figure 10 A view of the rod groove 478 along the length of axis 604 is shown. Note that in other examples, proximal and distal movements may be reversed. For example, Figure 12A The rotation shown can be achieved through any of the following: distal movement of the first joint movement rod 406A, proximal movement of the second joint movement rod 407A, or coordinated movement of the two joint movement rods 406A and 407A. This also applies to the entire range of motion of the joint.

[0085] See now Figure 13A and Figure 13B These are detailed and exploded views of the proximal portion of the joint motion subsystem 400, respectively. Additionally, Figure 14 It shows along Figure 13AThe image shows a cross-sectional view of the articulation subsystem 400 taken along line AA. The articulation subsystem 400 includes features adapted for the rolling function of the surgical instrument 100. As will be described in more detail below with respect to the rolling subsystem 600, the surgical instrument 100 includes a shaft 604 that is rollable, i.e., rotatable relative to the longitudinal axis 474 of the surgical instrument 100, to allow full-range articulation of the end effector 150. Specifically, the shaft 604 can be directly connected to the end effector 150, and thus the combination of the rolling of the shaft 604 (via the rolling subsystem 600) and the articulation of the end effector 150 (via the articulation subsystem 400) enables the end effector 150 to articulate with more degrees of freedom than simply by pivoting the distal channel retainer 408. This combination of articulation, rolling, and insertion of the surgical instrument 100 improves access to the surgical site.

[0086] First articulator 406A and second articulator 407A each extend along a rotatable axis 604, for example, within a rod recess 478. To accommodate the ability of the first articulator 406A and second articulator 407A to rotate with the axis 604, the articulation subsystem 400 includes bushings (i.e., first articulation bushing 426 and second articulation bushing 428) that allow the rotatable robot output to move the articulation subsystem 400 proximally and distally along the axis 604 (e.g., to move the first articulator 406A and second articulator 407A), while also allowing the axis 604 to rotate within the articulation subsystem 400. The articulation subsystem 400 includes a first rack 414A that can be moved via a series of transmissions by rotation of a first articulation input turntable 402, which can engage with a corresponding rotatable robot output. The interior of the first rack 414A includes a rack drive 416 (e.g., ...). Figure 15A , Figure 15B and Figure 15C As shown), this rack and pinion drive facilitates the axial translation of the first rack 414A (e.g., on the distal and proximal sides within the outer housing 102, such as...). Figure 15A and Figure 15C (As indicated by the arrow in the diagram). The articulation subsystem 400 includes a second rack 418A, which can be moved via a series of transmission devices by the rotation of the second joint motion input turntable 404, which can engage with a corresponding rotatable robot output component. The interior of the second rack 418A includes a rack and pinion drive 420 (as shown by the arrow in the diagram). Figure 15A , Figure 15B and Figure 15C As shown), this rack and pinion drive allows the second rack 418A to translate axially (e.g., as shown). Figure 15A and Figure 15CAs indicated by the arrows, on the distal and proximal sides within the outer housing 102.

[0087] To accommodate rotation of shaft 604, the articulation subsystem 400 includes a first articulation bushing 426 that rotates with shaft 604 and independently of the first rack 414A. In other words, rolling of shaft 604 will also cause the first articulation bushing 426 to roll, while the first rack 414A remains rotationally stable within the outer housing 102. The first articulation bushing 426 can slide from a first position to a second position along the longitudinal axis 474 of the rotatable shaft 604, thereby causing the first articulation lever 406A to move proximally and distally. The first rack 414A includes a first housing track surface 462 (e.g., ...). Figure 14 As shown), the first housing track surface moves axially within a corresponding track in the outer housing 102, thereby allowing the first rack 414A to slide axially but not rotatably. The first housing track surface 462 and the first bushing bearing surface 458 can be at 90° relative to each other. The articulation subsystem 400 includes a second articulation bushing 428 that can rotate with the shaft 604 and can rotate independently of the second rack 418A. In other words, rolling of the shaft 604 will also cause the second articulation bushing 428 to roll, while the second rack 418A remains rotationally stable within the outer housing 102. The second articulation bushing 428 can slide from a first position to a second position along the longitudinal axis 474 of the rotatable shaft 604, thereby allowing the second articulation rod 407A to move proximally and distally. The second rack 418A includes a second housing track surface 464 (as shown). Figure 14 As shown, the second housing track surface moves axially within a corresponding track in the outer housing 102, thereby allowing the second rack 418A to slide axially but not rotatably. The second housing track surface 464 and the second bushing bearing surface 460 can be at 90° relative to each other.

[0088] The articulation subsystem 400 includes a first articulation drive shaft 432 extending from a first articulation input disk 402 and including a first drive gear 430 that can be keyed to the first articulation drive shaft 432. Therefore, rotation of the corresponding robot output end relative to the first articulation input disk 402 causes the first drive gear 430 to rotate. The articulation subsystem 400 includes a first rack gear 434, which in some cases may be a hollow tubular gear sliding over the first articulation drive shaft 432, thereby providing mechanical advantages to the system while also saving space within the housing 102. The first rack gear 434 can be rotatably coupled to the first articulation drive shaft 432 by means of a first compound gear 442 having stepped teeth 444, one portion of which engages with the first drive gear 430, and the other portion of which engages with the first rack gear 434. Therefore, rotation of the first joint motion drive shaft 432 causes 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 surrounding the first joint motion drive shaft 432. Furthermore, the first rack gear 434 includes first rack gear teeth 446 that engage with the rack transmission 416 of the first rack 414A. Therefore, rotation of the first rack gear 434 causes the first rack 414A to translate proximally and distally to move the first joint motion bushing 426. With this configuration, clockwise rotation of the first input turntable 402 (when viewed from a perspective showing the surface of the first input turntable 402 configured to engage with the robot arm 1100 (e.g., when viewing the outward-facing surface of the first input turntable 402)) can move the first rack 414A proximally, and counterclockwise rotation of the first turntable 402 can move the first rack 414A distally.

[0089] Similarly, the articulation subsystem includes a second articulation drive shaft 438 extending from the second articulation input turntable 404 and including a second drive gear 436. Therefore, rotation of the corresponding robot output end relative to the second articulation input turntable 404 causes the second drive gear 436 to rotate. The articulation subsystem 400 includes a second rack gear 440, which in some cases may be a hollow tube gear sliding on the second articulation drive shaft 438. The second rack gear 440 can be rotatably coupled to the second articulation drive shaft 438 by means of a second compound gear 448 having stepped teeth 450, one portion of which engages with the second drive gear 436, and the other portion of which engages with the second rack gear 440. Therefore, rotation of the second joint motion drive shaft 438 causes the second drive gear 436 to rotate, rotation of the second drive gear 436 causes the second compound gear 448 to rotate, and rotation of the second compound gear 448 causes the second rack gear 440 to rotate around the second joint motion drive shaft 438. Furthermore, the second rack gear 440 includes second rack teeth 452 that engage with the rack transmission 420 of the second rack 418A. Therefore, rotation of the second rack gear 440 causes the second rack 418A to translate proximally and distally to move the second joint motion bushing 428. With this configuration, clockwise rotation of the second input turntable 404 (when viewed from a perspective showing the surface of the second input turntable 404 configured to engage with the robot arm 1100 (e.g., when viewing the outward-facing surface of the second input turntable 404)) can move the second rack 418A distally, and counterclockwise rotation of the second input turntable 404 can move the second rack 418A proximally.

[0090] Referring again to the articulated bushing and rack, the first rack 414A can engage with the first articulated bushing 426 in a manner that allows the first articulated bushing 426 to move proximally or distally, while the first articulated bushing 426 remains rotatable with the shaft 604. The first rack 414A includes a first bushing bearing surface 458 adjacent to the first articulated bushing 426. The first articulated bushing 426 includes a first rack recess 480 surrounding the periphery of the bushing, in which the first bushing bearing surface 458 extends. As the first articulated bushing 426 rotates, the first bushing bearing surface 458 can follow through the first rack recess 480. Therefore, the first bushing bearing surface 458 can be semi-circular. Similarly, the second rack 418A can engage with the second articulated bushing 428 in a manner that allows the second articulated bushing 428 to move proximally or distally, while the second articulated bushing 428 remains rotatable with the shaft 604. The second rack 418A includes a second bushing bearing surface 460 adjacent to the second articulated bushing 428. The second articulated bushing 428 includes a second rack groove 482 surrounding the periphery of the bushing, in which the second bushing bearing surface 460 extends. As the second articulated bushing 428 rotates, the second bushing bearing surface 460 can follow through the second rack groove 482. Therefore, the second bushing bearing surface 460 can be semi-circular.

[0091] See now Figure 15A , Figure 15B and Figure 15C They illustrate how the joint motion subsystem 400 is actuated by the movement of the first rack 414A and the second rack 418A. Figure 15B A joint motion subsystem 400 is shown in a state of joint motion stagnation (e.g., 0°). To move the first joint motion bushing 426, the first rack and pinion 434 can rotate in a first angular direction, and the first rack and pinion teeth 446 move via a first rack and pinion transmission 416 of the first rack 414A. Figure 15A As shown, when the first rack and pinion 434 rotates and moves the first rack 414A proximally, the first articulator hook 405 is pulled proximally, and the first articulator lever 406A is pulled proximally. The second articulator lever 407A can be extended by the robotic arm to allow the end effector 150 to move in a first direction, which in this example is to the right (e.g., ...). Figure 12A (As shown).

[0092] Figure 15CThis illustrates a situation where the first rack 414A has moved distally and the second rack 418A has moved proximally. The proximal movement of the second rack 418A causes the second articulator bushing 428 to translate proximally along the longitudinal axis 474 of shaft 604. Subsequently, the second articulator lever 407A will translate proximally, thereby pivoting the distal channel retainer 408, causing the end effector 150 to pivot in a second direction, in this example, to the left (e.g., ...). Figure 12C As shown ( Figures 12A to 12C End effector and Figures 15A to 15C Compared to a 180° rotation), the first articulator 406A can be extended by the robotic arm to allow the end effector 150 to move in a second direction. In this example, the first articulator 406A and the second articulator 407A actuate the end effector 150 only when induced to move proximally, thereby pulling the distal channel retainer 408 to pivot from left to right. In other words, in this example, the first articulator 406A and the second articulator 407A actuate the end effector 150 only when pulled. In other examples, the first articulator 406A and the second articulator 407A can be configured to work together in a push / pull relationship. For example, when one of the first articulator 406A and the second articulator 407A is pulled in the proximal direction, the other of the first articulator 406A and the second articulator 407A can be pushed in the distal direction, thereby increasing the force applied to induce the joint movement. That is, the first joint motion input turntable 402 and the second joint motion input turntable 404 can be used together to actuate the joint motion system, thereby increasing the force applied to the joint motion subsystem 400 to cause the end effector 150 to perform joint motion.

[0093] In some examples, the joint motion subsystem 400 described herein can achieve at least 60° of joint motion in any direction, such as ±5°, ±10°, ±15°, ±20°, ±25°, ±30°, ±35°, ±40°, ±45°, ±50°, ±55°, and ±60°, or any intermediate degree of reciprocating joint motion. It should be noted that... Figure 12B The connector 160, which holds the end effector 150 to the shaft 604, is exposed for visualization. The connector 160 may be concealed by a flexible sheath 174 to alleviate pinch points. The connector 160 described herein may include multiple articulated links connecting the closure tube 212 to the closure ring 226. This link system may be a boss / hole configuration providing pin connections. An external closure system may consist of the closure tube 212, which is pushed forward distally on two articulated links of the connector 160, thereby actuating the closure ring 226.

[0094] Now go to Figure 16A , Figure 16B , Figure 16C , Figure 16D , Figure 16E and Figure 16F This document describes an alternative example articulation subsystem 400. As shown, the articulation subsystem 400 may include a first inner rack 414B and a second inner rack 418B. For example, the first inner rack 414B may be at least partially positioned between a first rack gear 434 and a rotatable shaft 604, and the second inner rack 418B may be at least partially positioned between a second rack gear 440 and a rotatable shaft 604. In this way, the articulation subsystem 400 will have a more compact layout, and the forces applied by the first inner rack 414B and the second inner rack 418B can be distributed closer to the longitudinal axis, thereby reducing the torque forces on the first inner rack 414B and the second inner rack 418B.

[0095] The first inner rack 414B and the second inner rack 418B can each be pushed or pulled together in a push / pull relationship. For example, if the first inner rack 414B and the second inner rack 418B move axially toward each other, the end effector 150 will articulate in a first direction (e.g., to the right). If the first inner rack 414B and the second inner rack 418B move axially away from each other, the end effector will articulate in a second direction (e.g., to the left). In this way, the forces from the first articulation input dial 402 and the second articulation input dial 404 can work together to cause the end effector 150 to articulate in either the first or second direction.

[0096] Similar to the first rack 414A and the second rack 418, the first inner rack 414B and the second inner rack 418B can be configured to move the first articulated lever 406A and the second articulated lever 407A proximally and distally via the first articulated bushing 426 and the second articulated bushing 428, respectively. Because the first inner rack 414B and the second inner rack 418B are at least partially positioned adjacent to the first articulated bushing 426 and the second articulated bushing 428 about the rotatable axis 604, the first inner rack 414B and the second inner rack 418B can respectively push the first articulated bushing 426 and the second articulated bushing 428 without requiring a portion of the rack to extend outward and engage with the bushing. Figure 16C and Figure 16DAs shown, similar to the first rack 414 and the first articulated bushing 426, the first inner rack 414B includes a first bushing bearing surface 458 that engages with the first rack recess 480. Similarly, the second inner rack 418B includes a second bushing bearing surface 460 that engages with the second rack recess 482. Thus, the first inner rack 414B and the second inner rack 418B can be configured to move the first articulated bushing 426 and the second articulated bushing 428 proximally and distally, but remain independent of the rotation of the first articulated bushing 426 and the second articulated bushing 428.

[0097] like Figure 16E As shown, the first articulated bushing 426 and the second articulated bushing 428 may each include one or more bushing extensions 427 that protrude from the first articulated bushing 426 and the second articulated bushing 428 in a direction along the longitudinal axis. Thus, the bushing extensions 427 help prevent the first articulated bushing 426 and the second articulated bushing 428 from engaging when pushed or pulled proximally or distally.

[0098] like Figure 16F As shown, the first inner rack 414B and the second inner rack 418B may each have a housing track surface 415 that moves axially within the corresponding track 176B in the first portion 112 of the housing 102 and the track 176A of the intermediate housing 111, thereby allowing the first inner rack 414B to slide axially but not rotate. In other words, the housing track surfaces 415 of the first inner rack 414B and the second inner rack 418B are configured to slide along the tracks 176A and 176B of the first portion 112 of the housing 102 and the intermediate housing 111 disposed in the housing 102. Thus, any rotational force applied to the first inner rack 414B and the second inner rack 418B by the rolling subsystem 600 will not cause the first inner rack 414B and the second inner rack 418B to rotate within the housing 102.

[0099] Now go to Figure 17A , Figure 17B , Figure 17C , Figure 17D , Figure 17E , Figure 17F and Figure 17GAnother alternative example of the joint motion subsystem 400 will be shown and described below. As shown, the joint motion subsystem 400 may include a single inner rack 414C extending about a rotatable axis 604. A first tube drive tooth 446 may engage the single inner rack 414C on a first side, and a second tube drive tooth 452 may engage the single inner rack 414C on a second side. That is, the first tube drive tooth 446 and the second tube drive tooth 452 may engage the single inner rack 414C together. The single inner rack 414C may engage a single joint motion bushing 429 coupled to a single joint motion lever 403. That is, compared to the previous examples shown and described herein, Figures 17A to 17G The example articulation subsystem 400 shown may include a single articulation lever 403, which can be both pulled and pushed by a single articulation bushing 429 and a single inner rack 414C.

[0100] like Figure 17C As shown, a single inner rack 414C is separated from a single articulated bushing 429 by one or more bearings 425. The first bearing 425 is constrained distally by a flange 431, and the second bearing 425 is constrained proximally by a locking ring 433. This constraint allows movement of the single inner rack 414C to cause axial movement of the single articulated bushing 420. By including the bearings 425, the single inner rack 414C can rotate independently of the single articulated bushing 429, but is still configured to translate the single articulated bushing 429 (and therefore the single articulated rod 403) proximally and distally. Furthermore, because the first tube drive tooth 446 and the second tube drive tooth 452 engage together with the single inner rack 414C, it should be understood that forces from the first articulated input disc 402 and the second articulated input disc 404 can work together to translate the end effector 150 along a first direction and a second direction.

[0101] Now go to Figure 17F and Figure 17G The articulation subsystem 400 may include a blade guide 469, which may be positioned between the attachment end 468 and the proximal end of the shaft 604. The blade guide 469 may include a slot 471 similar to the slot 484 of the attachment end 468, which may facilitate guiding the band 826 during proximal and distal translation. The blade guide 469 may help prevent the band 826 from buckling, twisting, or otherwise becoming engaged during proximal or distal translation, thereby helping to ensure that the blade 166 can also be positioned further proximal and distally.

[0102] like Figure 17F and Figure 17GAs shown, the articulation subsystem 400 may include an articulation rod post 484 that can receive a single articulation rod 403. The articulation rod post 484 can connect the single articulation rod 403 to the attachment end 468 to cause the end effector 150 to articulate left and right when the single articulation rod 403 moves proximally and distally.

[0103] Fluid Management Surgical instrument 100 is designed to withstand the impact of bodily fluids and sterile saline traveling along and through the instrument's shaft 604 and housing 102. For example, a primary source of fluid may come from the impact step of removing stray nails and tissue from the end effector 150. The scrubbing nurse may then hold the surgical instrument 100 to allow drainage, but should control the fluid flow. Movement of fluid toward fluid-sensitive areas, such as components inside housing 102, can be accelerated by blown pressure and gravity. Figures 18A to 18R An example design for slowing down fluid motion is shown. Figures 18A to 18R Features for controlling fluid entry into and out of the housing 102 described herein, according to various aspects of this disclosure, are shown. For example, a first objective is to completely prevent fluid from entering the housing 102 (i.e., prevent entry; solutions for entry are shown in, for example...). Figure 18O , Figure 18P , Figure 18Q and Figure 18R If fluid does enter housing 102, the secondary objective is to keep the fluid within housing 102 (i.e., prevent outflow; solutions for outflow are shown in example). Figures 18A to 18N and Figures 18Q to 18R ).

[0104] Now go to Figure 18A This example illustrates certain fluid management cavities 1002 surrounded or defined by walls 1004. One way to prevent accidental fluid outflow is to modify the housing 102 (one or both of the first segment 110 or the second segment 112) to have walls 1004 to minimize liquid spillage from the bottom of the housing 102. In addition to providing structural ribs for the rest of the housing 102, those walls 1004 can be used to form spaces in the cavities 1002 to collect liquid into predetermined areas. The cavities 1002 can also contain material capable of retaining any fluid entering the cavities 1002. Figure 18BAn absorber 1006 is shown positioned in each of the cavities 1002. The absorber 1006 can be any type of material used to retain fluid. For example, the absorber 1006 can be a hydrophilic fiber component that has high wettability and does not expand significantly in size when absorbing fluid—such materials are suitable for attracting fluid and retaining it via surface tension within the fiber volume. These materials may include polyethylene, polystyrene, polyvinyl chloride, polytetrafluoroethylene, polydimethylsiloxane, polyester and polyurethane foams, meshes, fibers, etc.

[0105] Figures 18C to 18G This disclosure shows aspects related to the present disclosure. Figure 18A An example design of the wall of cavity 1002 is described. Figure 18C In this example, the wall 1004 defining each cavity 1002 includes a retaining feature 1008, and in this case, the retaining feature 1008 is a circularly undercut feature. The absorbent 1006 can be positioned within the cavity 1002 and held in place on the inner surface 1000 of the housing 102 by the circular retaining features 1008 of the adjacent walls 1004. Figure 18D In this example, the retaining feature 1008 is also an undercut feature, but it is a unidirectional undercut. When the absorber 1006 is inserted into the cavity 1002, the absorber 1006 slides down the ramp on one side of the retaining feature 1008 and locks in place on the inner surface 1000 of the housing 102 by the flat lower side of the undercut retaining feature 1008. Figure 18E In this housing, the retaining feature 1008 includes barbs such that once the absorber 1006 is inserted into the cavity 1002, the barbs hold the absorber 1006 in place on the inner surface 1000 of the housing 102. Figure 18F In this example, the retaining feature 1008 is a pin extending from the base of the cavity 1002. As can be seen, in this example, an insertion tool 1010 can be used to position the absorber 1006. The absorber 1006 is pushed onto the pin, which in this example is the retaining feature 1008, allowing the pin to slide through the hole 1007 in the absorber 1006. Once positioned, the insertion tool 1010 can be removed, and the pin will hold the absorber 1006 in place on the inner surface 1000 of the housing 102. Figure 18G In this example, the retaining feature 1008 is a rivet extending from the base of the cavity 1002. As can be seen, in this example, an insertion tool 1010 can be used to actuate the rivet to hold the absorber 1006 in place on the inner surface 1000 of the housing 102. As will be understood, Figures 18C to 18G Any of the examples shown can be used in combination with any of the other examples.

[0106] Figure 18HAn example fluid management sleeve 1012 according to various aspects of this disclosure is shown. The sleeve 1012 can be positioned such that it is close to a known area for fluid entry, which is the location where the nose 1034 of the housing 102 intersects the closed tube 212 (see [link]). Figure 2A Sleeve 1012 can be positioned on shaft 604 between closed yoke 250 and articulated bushing (first articulated bushing 526 in...). Figure 18I As shown in the cross-section, but sleeve 1012 can also be applied to the example shown with a first joint movement bushing 426 and a second joint movement bushing 428. Figure 18I The positioning of sleeve 1012 is shown. As will be understood, the corresponding articulator bushing described herein is designed to move proximally and distally to achieve articulation, and therefore, the length of sleeve 1012 is such that it is shorter than the distance between the closed yoke 250 and the farthest position of the corresponding articulator bushing. Sleeve 1012 can be secured to housing 102, for example, by using clamping plates 1014 positioned between grooves within housing 102. Sleeve 1012 may be made of a hydrophilic fiber component that has high wettability and does not expand significantly in size when absorbing fluid—such materials are adapted to attract fluid and retain it via surface tension within the fiber volume. These materials may include polyethylene, polystyrene, polyvinyl chloride, polytetrafluoroethylene, polydimethylsiloxane, polyester and polyurethane foams, mesh, fibers, etc.

[0107] Figure 18J An example fluid management trap collar 1016 according to various aspects of this disclosure is shown. The trap collar 1016 can be positioned such that it is close to a known area for fluid entry, which is the location where the nose 1034 of the housing 102 intersects the closing tube 212 (see Figure 3). The trap collar 1016 can be positioned on a shaft 604 between the closing yoke 250 and the articulated bushing (the first articulated bushing 526 is located on...). Figure 18K As shown in the cross-section, but the trap collar 1016 can also be applied to the example shown with a first articulated bushing 426 and a second articulated bushing 428. Figure 18K The positioning of the trap collar 1016 is shown. As will be understood, the corresponding articulated bushing described herein is designed to move proximally and distally to achieve articulation, and therefore, the length of the trap collar 1016 is such that it is shorter than the distance between the closing yoke 250 and the distalmost position of the corresponding articulated bushing. The trap collar 1016 may be made of an elastomeric material in which a volume of fluid can be retained and / or redirected to different locations within the housing 102. To capture the collected liquid, the trap collar 1016 surrounds the shaft 604. The stretching of the elastomeric material creates a seal on the shaft 604. Figure 18J and Figure 18K In the example shown, the trap collar has a defined trap 1080, wherein the width 1022 of the trap collar 1016 near the trap 1018 is greater than the width 1020 of the trap collar 1016 outside the position of the trap 1018. Fluid can collect in the trap 1018. Figure 18L It is a similar trap collar 1016, but it is cylindrical and does not have a separately defined trap 1018. The entire length of the trap collar 1016 can be regarded as the trap 1018.

[0108] Figure 18M An example fluid management flexure collar 1024 according to various aspects of this disclosure is shown. The flexure collar 1024 can be positioned such that it is close to a known area for fluid entry, which is the location where the nose 1034 of the housing 102 intersects the closed tube 212 (see Figure 3). The flexure collar 1024 can be positioned on a shaft 604 between the closed yoke 250 and the articulated bushing (the first articulated bushing 526 is located on...). Figure 18N As shown in the cross-section, but the flexural collar 1024 can also be applied to the example shown with a first articulatory bushing 426 and a second articulatory bushing 428. Figure 18N The positioning of the flexure collar 1024 is shown. As will be understood, the corresponding articulated bushings described herein are designed to move proximally and distally to achieve articulation. In this example, a single end of the flexure collar 1024 may be connected to a closed yoke 250 and a corresponding articulated bushing 426, 526, and the flexure collar 1024 may expand and contract (like an accordion) with the axial movement of the articulated bushings 426, 526. The flexure collar 1024 may have an accordion-like shape, thereby providing multiple traps 1025 to capture fluid.

[0109] Figure 18O An example fluid distributor 1030 for housing 102 according to various aspects of this disclosure is shown. Certain portions of housing 102 may have openings that allow fluid to flow into housing 102. One such opening includes one or more openings 1029 (also in...). Figure 2AOne or more unlocking bodies 1028 (shown in the diagram) help disengage the surgical instrument 100 from the robotic arm (not shown). These unlocking bodies 1028 are connected to a release hinge 1026, and the release hinge 1026 is connected to a release button 104. Thus, actuation of the release button 104 can move the unlocking bodies 1028. Therefore, a fluid diverter 1030 can be positioned to cover at least a portion of the unlocking bodies 1028 and a corresponding opening in the housing 102. The fluid diverter 1030 can be an elastomer that can be captured, glued, welded, etc., in place. When the unlocking bodies 1028 need to occupy the same space, the fluid diverter 1030 can be flipped or stretched to provide space for the unlocking bodies 1028. However, either position allows fluid to fill adjacent cavities (e.g., regarding...). Figure 18A The fluid flows into the cavity 1002 described, without exiting from the housing 102. Each unlocking body 1028 may have a channel 1032 that can divert fluid to an adjacent cavity.

[0110] Figure 18P A fluid management bushing 1038 for a housing according to various aspects of this disclosure is shown. The bushing 1038 can be positioned such that it is close to a known area for fluid inlet, which is the location where the nose 1034 of the housing 102 provides a pipe opening 1035 for the closed tube 212 (see [reference]). Figure 3A Example bushing 1038 functions like a conventional O-ring occupying the radial clearance between housing 102 and closed tube 212. Bushing 1038 can be positioned between adjacent flanges 1036 in the nose 1034 of housing 102. Bushing 1038 may also not be a standard O-ring, but may have bushing flange 1040 extending into the region between adjacent flanges 1036 in the nose 1034. Alternatively or otherwise, absorber ring 1042 may be positioned around closed tube 212 to prevent fluid movement through the nose 1034 of housing 102. Absorber ring 1042 may be similar to absorber 1006 described herein. O-rings may also be positioned at any point between closed tube 212 and shaft 604.

[0111] Figure 18Q An example fluid management seal extension 1044 for a knife insert retainer 838 is shown. Figure 18R A cross-sectional view showing the positioning of the seal extension 1044 according to various aspects of this disclosure is shown. The challenge with a simple O-ring is that it does not seal when there are discontinuities in the circular diameter of the shaft 604, such as the discontinuity of the slot 484 in the band 826, or the discontinuity of the rod groove 478 in the articulated movement rod 406. To accommodate this, a seal (e.g., a seal extending from the knife insert retainer 838) may include one or more seal extensions 1044 extending therefrom. Figure 18RWithin the band 826, there exists a C-shaped seal extension 1044 extending within the slot 484. The primary function of the knife insert retainer 838 is to provide a lateral solid boundary for the knife to minimize Euler buckling of the band 826. By adding a feature similar to the "C-shaped" seal extension 1044 to this section, the seal extension 1044 blocks the space where fluid can flow near the band 826.

[0112] Any closed subsystem 200, articulated subsystem 400, roller system 600, or transverse subsystem 800 described herein may be replaced by or combined with any closed subsystem 200, articulated subsystem 400, roller system 600, or transverse subsystem 800 described in U.S. Provisional Application No. 63 / 514,972 (Case No. END9567USPSP1) or U.S. Provisional Application No. 63 / 634,201 (Case No. END9567USPSP2), both of which are incorporated herein by reference in their entirety. Any of the end effectors 150 described herein may be replaced or combined with any end effector 150 described in U.S. Provisional Application No. 63 / 514,972 (Case No. END9567USPSP1) or U.S. Provisional Application No. 63 / 634,201 (Case No. END9567USPSP2), both of which are incorporated herein by reference in their entirety.

[0113] Terms and Conditions The examples of this disclosure may be implemented by any of the following numbered clauses: Clause 1: A housing (102) for a surgical instrument (100), the housing (102) being configured to engage with a robotic arm, the housing (102) comprising: a first opening (1029) positioned to engage at least a portion of the robotic arm; a second opening (1035) positioned proximal to a rod (212, 604) extending from within the housing; and a fluid management system positioned within the housing (102), proximal to either the first opening (1029) or the second opening (1035), the fluid management system being configured to retain or divert fluid within the housing (102).

[0114] Clause 2: The housing (102) according to Clause 1, wherein the fluid management system includes one or more walls (1004) that form a cavity (1002) within the housing (102) to retain or divert the fluid.

[0115] Clause 3: The housing (102) as described in Clause 2 further includes an absorbent (1006) positioned within the cavity (1002).

[0116] Clause 4: The housing (102) according to Clause 3, wherein the one or more walls (1004) include a retaining feature (1008) configured to secure the absorbent (1006) within the cavity (1002).

[0117] Clause 5: The housing (102) according to Clause 4, wherein the retaining feature (1008) is a circular undercut, the circular undercut being positioned such that the absorbent (1006) rests between the retaining feature (1008) and the inner surface (1100) of the housing (102).

[0118] Clause 6: The housing (102) according to Clause 4, wherein the retaining feature (1008) is a one-way ramp undercut, the one-way ramp undercut being positioned such that the absorber (1006) rests between the retaining feature (1008) and the inner surface (1100) of the housing (102).

[0119] Clause 7: The housing (102) according to Clause 4, wherein the retaining feature (1008) is a barb positioned on the inner surface (1100) of the housing (102).

[0120] Clause 8: The housing (102) according to Clause 4, wherein the retaining feature (1008) is a pin, and the absorber (1006) includes a hole (1007) sized to receive the pin through the hole (1007).

[0121] Clause 9: The housing (102) according to Clause 4, wherein the retaining feature (1008) is a rivet positioned to attach the absorber (1006) to the inner surface (1100) of the housing (102).

[0122] Clause 10: The housing (102) according to Clause 1, wherein the fluid management system includes a fluid splitter (1030) located near the first opening (1029).

[0123] Clause 11: The housing (102) according to Clause 10, wherein the fluid management system further includes one or more walls (1004) forming a cavity (1002) within the housing (102) to retain or divert the fluid, and wherein the fluid diverter (1030) includes a channel (1032) configured to divert fluid into the cavity (1002).

[0124] Clause 12: The housing (102) as described in Clause 11 further includes an absorbent (1006) positioned within the cavity (1002).

[0125] Clause 13: The housing (102) according to any one of Clauses 1 to 12 further includes an unlocking body (1028) located within an unlocking opening (1029) of the housing (102).

[0126] Clause 14: The housing (102) according to Clause 13 also includes a release button (104) connected to the unlocking body (1028) by a release hinge (1026), wherein the unlocking body (1028) is configured to be actuated by the release button (104).

[0127] Clause 15: The housing (102) according to Clause 13 or 14, wherein the fluid diverter (1030) comprises an elastomeric material and is configured to stretch with the unlocking body (1028).

[0128] Clause 16: The housing (102) according to any one of Clauses 1 to 15 further includes a nose (1034) located proximal to the rod (212, 604), wherein the fluid management system includes a bushing (1038) surrounding the rod (212, 604) and engaging the nose (1034).

[0129] Clause 17: The housing (102) according to any one of Clauses 1 to 15 further includes a nose (1034) located proximal to the rod (212, 604), wherein the fluid management system includes an absorption ring located proximal to the nose (1034).

[0130] Clause 18: The housing (102) according to any one of Clauses 1 to 17, wherein the surgical instrument (100) further comprises a knife insert retainer (838), wherein the rod (604) comprises a slot (824), and the knife insert retainer (838) comprises an elastomeric seal extension (1044) extending into the slot (824).

[0131] Clause 19: The housing (102) according to any one of Clauses 1 to 18, wherein the fluid management system includes a sleeve (1114) surrounding the rod (212, 604) and the sleeve contains absorbent material.

[0132] Clause 20: The housing (102) according to Clause 19, wherein the sleeve (1114) is connected to the housing (102) by a clamping plate (1114).

[0133] Clause 21: The housing (102) according to any one of Clauses 1 to 19, wherein the fluid management system includes a collar (1016, 1024) surrounding the rod (212, 604).

[0134] Clause 22: The housing (102) according to Clause 21, wherein the collar (1016) includes a trap (1018) for collecting fluid in the trap (1018).

[0135] Clause 23: The housing (102) according to Clause 22, wherein the collar (1024) includes a plurality of traps (1025) for collecting fluid in the plurality of traps (1025).

[0136] Clause 24: A surgical instrument (100) comprising: a housing (102); a closure subsystem (200) engaging with a shaft (604); an articulation subsystem (400) movable along the shaft (604) and independently of the closure subsystem (200); and a fluid management system positioned between the closure subsystem (200) and the articulation subsystem (400) and in contact with the shaft (604).

[0137] Clause 25: The surgical instrument (100) according to Clause 24, wherein the fluid management system includes a sleeve (1114) surrounding the shaft (604), the sleeve (1114) containing absorbent material.

[0138] Clause 26: The surgical instrument (100) according to Clause 25, wherein the sleeve (1114) is connected to the housing (102) by a clamping plate (1114).

[0139] Clause 27: Surgical instrument (100) according to any one of Clauses 24 to 26, wherein the fluid management system includes a collar (1016, 1024) surrounding the shaft (604).

[0140] Clause 28: The surgical instrument (100) according to Clause 27, wherein the collar (1016) includes a trap (1018) for collecting fluid in the trap (1018).

[0141] Clause 29: The surgical instrument (100) according to Clause 27, wherein the collar (1024) includes a plurality of traps (1025) for collecting fluid in the plurality of traps (1025).

[0142] Clause 30: A surgical instrument (100) according to any one of Clauses 27 to 29, wherein the collar (1016) is attached at a first end to the closure subsystem (200) and at a second end to the articular movement subsystem (400).

[0143] The invention is not limited to the described examples, the configurations and details of which may vary. The terms “distal” and “proximal” are used throughout the foregoing description and refer to position and orientation relative to the treating physician. Similarly, “distal” or “towards distal” refers to a position away from the physician or in a direction away from the physician. Likewise, “proximal” or “towards proximal” refers to a position close to the physician or in a direction toward the physician. Furthermore, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the / described” include plural references. Additionally, the use of the phrases “connected,” “connected,” or similar phrases should not be construed as limiting to a certain number of parts or a particular order of parts, unless the context clearly indicates otherwise.

[0144] As used herein, the term “about” or “approximately” for any numerical value or range indicates appropriate dimensional tolerances that allow a collection of parts or components to achieve the intended purpose as described herein. More specifically, “about” or “approximately” may refer to a range of ±20% of the enumerated values; for example, “about 90%” may refer to a range of values ​​from 71% to 99%.

[0145] 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 a different order than that described herein.

Claims

1. A housing (102) for a surgical instrument (100), the housing (102) being configured to engage with a robotic arm, the housing (102) comprising: A first opening (1029) is positioned to engage with at least a portion of the robotic arm; The second opening (1035) is located near the rod (212, 604) extending from the housing; and A fluid management system is located within the housing (102), near one of the first opening (1029) or the second opening (1035), and is configured to retain or divert fluid within the housing (102).

2. The housing (102) according to claim 1, wherein, The fluid management system includes one or more walls (1004) that form cavities (1002) within the housing (102) to retain or divert the fluid.

3. The housing (102) according to claim 2 further includes an absorbent (1006) positioned within the cavity (1002).

4. The housing (102) according to claim 3, wherein, The one or more walls (1004) include a retaining feature (1008) configured to secure the absorbent (1006) within the cavity (1002).

5. The housing (102) according to claim 4, wherein, The retaining feature (1008) is a circular undercut, which is positioned such that the absorbent (1006) rests between the retaining feature (1008) and the inner surface (1100) of the housing (102).

6. The housing (102) according to claim 4, wherein, The retaining feature (1008) is a one-way ramp undercut, which is positioned such that the absorber (1006) rests between the retaining feature (1008) and the inner surface (1100) of the housing (102).

7. The housing (102) according to claim 4, wherein, The retaining feature (1008) is a barb that is positioned on the inner surface (1100) of the housing (102).

8. The housing (102) according to claim 4, wherein, The retaining feature (1008) is a pin, and the absorber (1006) includes a hole (1007) sized to receive the pin passing through the hole (1007).

9. The housing (102) according to claim 4, wherein, The retaining feature (1008) is a rivet, which is positioned to attach the absorber (1006) to the inner surface (1100) of the housing (102).

10. The housing (102) according to claim 1, wherein, The fluid management system includes a fluid splitter (1030) located near the first opening (1029).

11. The housing (102) according to claim 10, wherein, The fluid management system further includes one or more walls (1004) that form a cavity (1002) within the housing (102) to retain or divert the fluid, and wherein the fluid diverter (1030) includes a channel (1032) configured to divert fluid into the cavity (1002).

12. The housing (102) according to claim 11 further includes an absorbent (1006) positioned within the cavity (1002).

13. The housing (102) according to any one of claims 1 to 12 further includes an unlocking body (1028) located within an unlocking opening (1029) of the housing (102).

14. The housing (102) according to claim 13 further includes a release button (104), the release button (104) being connected to the unlocking body (1028) by a release hinge (1026), wherein, The unlocking body (1028) is configured to be actuated by the release button (104).

15. The housing (102) according to claim 13 or 14, wherein, The fluid splitter (1030) comprises an elastomeric material and is configured to stretch with the unlocking body (1028).

16. The housing (102) according to any one of claims 1 to 15, further comprising a nose (1034) positioned proximal to the rod (212, 604), wherein, The fluid management system includes a bushing (1038) surrounding the rod (212, 604) and engaging with the nose (1034).

17. The housing (102) according to any one of claims 1 to 15, further comprising a nose (1034) positioned proximal to the rod (212, 604), wherein, The fluid management system includes an absorption ring located proximal to the nose (1034).

18. The housing (102) according to any one of claims 1 to 17, wherein, The surgical instrument (100) further includes a knife insert retainer (838), wherein the rod (604) includes a slot (824), and the knife insert retainer (838) includes an elastomeric seal extension (1044) extending into the slot (824).

19. The housing (102) according to any one of claims 1 to 18, wherein, The fluid management system includes a sleeve (1114) surrounding the rod (212, 604), the sleeve containing absorbent material.

20. The housing (102) according to claim 19, wherein, The sleeve (1114) is connected to the housing (102) by a clamping plate (1114).

21. The housing (102) according to any one of claims 1 to 20, wherein, The fluid management system includes collars (1016, 1024) surrounding the rod (212, 604).

22. The housing (102) according to claim 21, wherein, The collar (1016) includes a trap (1018) for collecting fluid in the trap (1018).

23. The housing (102) according to claim 21, wherein, The collar (1024) includes a plurality of traps (1025) for collecting fluid in the plurality of traps (1025).

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