Systems and subsystems for rolling surgical instruments

Abstract

A surgical instrument designed to operate with a robotic platform is disclosed. A surgical instrument assembly includes a shaft, an end effector, a knife firing subsystem for actuating a function of the end effector, an articulation subsystem actuatable to articulate the end effector, an articulation joint about which the end effector articulates, a rolling rotor system for rolling the shaft; and a housing coupled to the robotic platform. The rolling rotor system may include a shaft assembly and a shaft rolling disk assembly. The shaft assembly includes a rotatable outer shaft and an inner shaft. A shaft rolling disk assembly engages the housing and includes a shaft rolling disk and first and second helical gears. Rotation of the shaft rolling disk rotates the first helical gear, thereby rotating the second helical gear, thereby rotating the rotatable outer shaft.

Description

Cross-references to related applications

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

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

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

[0004] The disclosed technology describes a roller system, which can be one of several subsystems and / or sub-components of a surgical instrument. The roller system includes a shaft assembly comprising a rotatable outer shaft and an inner shaft. The roller system includes a shaft rolling disk assembly configured to engage a housing. The shaft rolling disk assembly includes a shaft rolling disk rotatably mounted on the housing housing. The shaft rolling disk assembly includes a first helical gear rotatable with the shaft rolling disk. The shaft rolling disk assembly includes a second helical gear meshing with the first helical gear and coupled to the rotatable outer shaft. Rotation of the shaft rolling disk rotates the first helical gear, which in turn rotates the second helical gear, which in turn rotates the rotatable outer shaft. The roller system can be combined with one or more of an end effector, articulated joint, cable articulated subsystem, firing subsystem, and housing for implementation in a surgical instrument.

[0005] The disclosed technology describes a roller system, which may be one of several subsystems and / or sub-components of a surgical instrument. The roller system includes a shaft assembly. The shaft assembly includes a rotatable outer shaft, an inner shaft, and a shaft roller disk assembly configured to engage a housing. The shaft roller disk assembly includes a shaft roller disk rotatably mounted on the housing, a first input winch rotatable with the shaft roller disk, a second input winch rotatable with the shaft roller disk, an output roller connected to the rotatable outer shaft, a first roller cable connecting the first input winch and the output roller, and a second roller cable connecting the second input winch and the output roller. Rotation of the shaft roller disk causes the first and second input winches to rotate, thereby causing: (i) the first roller cable to wind around the first input winch and the second roller cable to unwind from the second input winch, thereby causing the output roller to rotate in a first direction; or (ii) the first roller cable to unwind from the first input winch and the second roller cable to wind around the second input winch, thereby causing the output roller to rotate in a second direction.

[0006] The disclosed technology describes a surgical instrument. The surgical instrument includes a housing, an end effector, a connector to the end effector, a shaft assembly connecting the housing and the connector, and a shaft rolling disc assembly engaging the housing. The shaft assembly includes a rotatable outer shaft and an inner shaft. The shaft rolling disc assembly includes a shaft rolling disc rotatably mounted on the outer housing shell of the housing, a first helical gear rotatable with the shaft rolling disc, and a second helical gear meshing with the first helical gear and connected to the rotatable outer shaft. In use, rotation of the shaft rolling disc causes rotation of the first helical gear, which in turn causes rotation of the second helical gear, which in turn causes rotation of the rotatable outer shaft, thereby causing rotation of the connector and the end effector about the rolling axis. Attached Figure Description

[0007] Figure 1 It is a schematic perspective view of a surgical system including surgical instruments based on the disclosed technology; Figure 2 These are schematic detail diagrams of parts of the end effector, articulated joint, cable articulated subsystem, blade firing subsystem, and roller system based on the disclosed technology. Figure 3 These are schematic detail diagrams of the end effector and joint motion joint based on the disclosed technology; Figure 4 It is a schematic exploded view of the distal end of a surgical instrument based on the disclosed technology; Figure 5 It is a schematic detail drawing of a knife based on the disclosed technology; Figure 6 This is a schematic front view of the end effector based on the disclosed technology; Figure 7 The diagram shows a schematic detail of an end effector and articulated joint according to the disclosed technology, wherein the anvil of the end effector is removed. Figure 8A It is a schematic side cross-sectional view of the distal end of a surgical instrument according to the disclosed technology, which depicts the anvil in the open position. Figure 8B It is a schematic side cross-sectional view of the distal end of a surgical instrument according to the disclosed technology, which depicts the anvil in the gripping position when the knife is partially advanced. Figure 8C It is a schematic side cross-sectional view of the distal end of a surgical instrument according to the disclosed technology, which depicts the anvil in a clamped position when the knife is partially advanced. Figure 8D It is a schematic side cross-sectional view of the distal end of a surgical instrument according to the disclosed technology, which depicts the anvil in the clamped position when the knife is fully advanced. Figure 9A It is a schematic side cross-sectional detail of the distal end of a surgical instrument according to the disclosed technology, which depicts the anvil in the open position. Figure 9B It is a schematic side cross-sectional detail of the distal end of a surgical instrument according to the disclosed technology, which depicts the anvil in the gripping position when the knife is partially advanced. Figure 9C It is a schematic side cross-sectional detail of the distal end of a surgical instrument according to the disclosed technology, which depicts the anvil in a clamped position when the knife is partially advanced. Figure 9D It is a schematic side cross-sectional view of the distal end of a surgical instrument according to the disclosed technology, which depicts the anvil in the clamped position when the knife is fully advanced. Figure 10 It is a schematic exploded view of the joint motion joint according to the disclosed technology; Figure 11 It is a schematic front view of a joint motion joint based on the disclosed technology; Figure 12 It is based on the disclosed technology relative to Figure 11 A schematic cross-sectional view of the joint motion joint cut along line 12-12 in the middle; Figure 13 It is based on the disclosed technology relative to Figure 11 A schematic cross-sectional view of the joint motion joint cut along line 13-13 in the middle; Figure 14It is a schematic perspective detail of the distal end of a surgical instrument according to the disclosed technology, depicting an end effector that is vertically and laterally pivoted with the anvil open. Figure 15 It is a schematic side view detail of the distal end of a surgical instrument according to the disclosed technology, which depicts an end actuator that pivots vertically when the anvil is closed. Figure 16 It is a schematic top view detail of the distal end of a surgical instrument according to the disclosed technology, which depicts an end actuator that pivots laterally when the anvil is closed. Figure 17 It is a schematic exploded diagram of a surgical instrument based on the disclosed technology, which depicts parts of the cable joint motion subsystem, the knife firing subsystem, and the roller system. Figure 18 It is a schematic top view of the proximal end of a surgical instrument according to the disclosed technology, which depicts parts of the cable joint motion subsystem, the knife firing subsystem, and the roller system. Figure 19 It is a schematic perspective view of the shaft assembly, differential, and firing lever of a surgical instrument based on the disclosed technology; Figure 20 It is a schematic side view of the firing subsystem according to the disclosed technology, which depicts an end effector pivoting vertically downward and an anvil in the open position; Figure 21 It is a schematic side view of the firing subsystem according to the disclosed technology, which depicts an end effector pivoting vertically upward and an anvil in the open position; Figure 22 It is a schematic side view of the firing subsystem according to the disclosed technology, which depicts an end effector pivoting vertically upward, an anvil in a clamping position, and a fully advanced blade. Figure 23 It is a schematic detail of the proximal end of a surgical instrument based on the disclosed technology, which depicts a portion of the scalpel firing subsystem; Figure 24 This is a schematic exploded detail drawing of a rotary joint based on the disclosed technology; Figure 25 The schematic detail drawing of one side of the housing, based on the disclosed technology, depicts the rotating disk of the joining robot platform. Figure 26 This is a schematic detail drawing of the other side of the casing based on the disclosed technology; Figure 27 It is a schematic exploded view of the casing based on the disclosed technology; Figure 28The diagram shows a schematic detail of the housing based on the disclosed technology, in which the upper protective cover has been removed. Figure 29 It is a schematic perspective view of the housing according to the disclosed technology, in which its upper shield and intermediate frame have been removed; Figure 30 It is a schematic perspective view of the housing according to the disclosed technology, in which the upper shield, the middle frame, and certain subsystem components have been removed; Figure 31 This is a schematic detail drawing of the rotating disk assembly of the housing according to the disclosed technology; Figure 32 It is a schematic front view of the casing based on the disclosed technology; Figure 33 It is based on the disclosed technology relative to Figure 32 A schematic cross-sectional view of the shell cut along line 33-33; Figure 34 It is based on the disclosed technology relative to Figure 32 A schematic cross-sectional view of the shell cut open along line 34-34; Figure 35 It is based on the disclosed technology relative to Figure 32 A schematic cross-sectional view of the shell cut along line 35-35; Figure 36 It is based on the disclosed technology relative to Figure 32 A schematic cross-sectional view of the shell cut along line 36-36; Figure 37 It is a schematic top view of the housing according to the disclosed technology, in which the upper shield, the middle frame, and certain subsystem components have been removed; Figure 38 This is a schematic perspective view of an alternative roller system for surgical instruments according to the disclosed technology, in which a portion of the housing is shown for context. Figure 39 It is based on the disclosed technology. Figure 38 A schematic perspective view of the alternative roller rotor system; Figure 40A It is based on the disclosed technology. Figure 38 A schematic exploded view of a portion of the shaft disk assembly of an alternative rolling rotor system; Figure 40B It is based on the disclosed technology. Figure 40A A schematic cross-sectional view of a portion of the shaft disk assembly; Figure 41 It is assembled according to the disclosed technology. Figure 40AA schematic front view of a portion of the shaft disk assembly, depicting the layout of the parts relative to each other; Figure 42A It is based on the disclosed technology. Figure 38 A schematic detail of the output roller of the alternative roller rotor system, in which the spring pin is disassembled and shown as being assembled with the outer shaft; Figure 42B It is based on the disclosed technology. Figure 38 A schematic detail of the output rollers of the alternative roller rotor system, shown assembled with the outer shaft; and Figure 43 It is a schematic detailed perspective view of the middle section of an alternative surgical instrument based on the disclosed technology, showing a coiled tube surrounding the firing rod, wherein the outer shaft and upper shell of the housing are removed for clarity. Detailed Implementation

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0047] like Figure 43 As shown, alternative rolling rotor systems can be implemented similarly to those described in other examples disclosed herein. For example, this subsystem may include a similar shaft assembly 600A, wherein an inner shaft 604 is rotatably fixed to a rotatable outer shaft 602 (the rotatable outer shaft 602 in...). Figure 43 The inner shaft 604 is hidden to depict the coiled tube 608. Therefore, rotation of the outer shaft 602 will cause rotation of the inner shaft 604. The inner shaft 604 may include a support channel 605 to support, guide, and / or rotatably constrain the articulation cables 402, 404, 406, 408, particularly when the shaft assembly 600A rolls. The inner shaft may also include a reduced-diameter transition section 604A around which the articulation cables 402, 404, 406, 408, discussed in more detail below, may be partially wound without tangling. Although referenced... Figure 43Examples are discussed in detail, but those skilled in the art will understand that, for example... Figure 19 The inner shaft 604 can also be implemented in an equivalent manner (these details can also be found in...). Figure 19 (See the clam shell half of the inner shaft 604).

[0048] VII. Overview of the housing disk assembly and its integration with the surgical instrument subsystem Now the main focus is on Figures 23 to 35 The housing 700 is configured to engage with a robotic platform 2000 controlled by a clinician. For control of the aforementioned subsystems 400, 500, and 600, corresponding proximal mechanisms for docking with the robotic platform are provided. More specifically, the housing housing, comprising an upper shield 700A, a lower frame 700B, and a middle frame 700C, accommodates at least: (1) a plurality of articulation disk assemblies 702, 704, 706, and 708 for articulation of the end effector 200; (2) a axial rolling disk assembly 710 for rotating the outer shaft 602; (3) a firing disk assembly for translating the knife 206; and (4) a near-field radio frequency identification (RFID) plate 724 for transmitting information about the surgical instruments 1000 to the robotic platform 2000.

[0049] VII.1. Shell and Joint Motion Subsystem In addition to the above, the housing includes four articulated disc assemblies 702, 704, 706, and 708, provided that four articulated cables 402, 404, 406, and 408 are used in the surgical instrument described herein. The first articulated disc assembly 702 cooperates with the first articulated cable 402. Similarly, the second articulated disc assembly 704 cooperates with the second articulated cable 404, the third articulated disc assembly 706 cooperates with the third articulated cable 406, and the fourth articulated disc assembly 708 cooperates with the first articulated cable 408. In use, the first joint motion cable 402 is wound around and unwound from the first joint motion disk assembly 702, the second joint motion cable 404 is wound around and unwound from the second joint motion disk assembly 704, the third joint motion cable 406 is wound around and unwound from the third joint motion disk assembly 706, and the fourth joint motion cable 408 is wound around and unwound from the first joint motion disk assembly 708.

[0050] The first articulated disc assembly 702 includes a first articulated disc 702A, a first winch 702B, and a first torsion spring 702C. The first articulated disc 702A is provided on the outside of the lower frame 700B and directly engages the robot platform 2000. The first winch 702B is coupled to the first articulated disc 702A and winds the first articulated cable 402 around it. The first winch 702B is rotatably attached to a first pivot pin 726 (which is integral with the first articulated disc 702A). The first winch 702B is biased in the retraction direction by the first torsion spring 702C to maintain a minimum tension level in the first articulated cable 402, such as when disengaged from the robot platform 2000. Since the first articulated disc assembly 702 does not include any gear mechanism, the diameter of the first winch 702B determines the achieved mechanical advantages.

[0051] In use, and for example, rotation of the first winch 702B via the first articulation disc 702A in a first direction by the robot platform 2000 causes the first articulation cable 402 to wind around the first winch 702B, which causes the end effector 200 to pivot upward and to the left about the articulation joint 300. As previously discussed, this upward movement of the end effector 200 is compensated for by the differential 520 in the knife firing subsystem. Rotation in the opposite direction by the first articulation disc 702A unwinds the first articulation cable 402, so that the end effector 200 returns to a position substantially coaxial with the shaft assembly 600A (e.g., coaxial with the roll axis RA).

[0052] The second articulated disc assembly 704 includes a second articulated disc 704A, a second winch 704B, and a second torsion spring 704C. The second articulated disc 704A is provided on the outside of the lower frame 700B and directly engages the robot platform 2000. The second winch 704B is coupled to the second articulated disc 704A and winds the second articulated cable 404 around it. The second winch 704B is rotatably attached to a second pivot pin 728 (which is integral with the second articulated disc 704A). The second winch 704B is biased in the retraction direction by the second torsion spring 704C to maintain a minimum tension level in the second articulated cable 404. Since the second articulated disc assembly 704 does not include any gear mechanism, the diameter of the second winch 704B determines the achieved mechanical advantages.

[0053] In use, and for example, rotation of the second winch 704B via the second articulation disc 704A from the robot platform 2000 in the first direction causes the second articulation cable 404 to wind around the second winch 704B, which causes the end effector 200 to pivot upward and to the right about the articulation joint 300. As previously discussed, this upward movement of the end effector 200 is compensated for by the differential 520 in the knife firing subsystem. Rotation in the opposite direction by the second articulation disc 704A unwinds the second articulation cable 404, allowing the end effector 200 to return to a position substantially coaxial with the shaft assembly 600A (e.g., coaxial with the roll axis RA).

[0054] The third articulated disc assembly 706 includes a third articulated disc 706A, a third winch 706B, and a third torsion spring 706C. The third articulated disc 706A is provided on the outside of the lower frame 700B and directly engages the robot platform 2000. The third winch 706B is coupled to the third articulated disc 706A and winds the third articulated cable 406 around it. The third winch 706B is rotatably attached to a third pivot pin 730 (which is integral with the third articulated disc 706A). The third winch 706B is biased in the retraction direction by the third torsion spring 706C to maintain a minimum tension level in the third articulated cable 406. Since the third articulated disc assembly 706 does not include any gear mechanism, the diameter of the third winch 706B determines the achieved mechanical advantages.

[0055] In use, and for example, rotation of the third winch 706B via the third articulation disc 706A from the robot platform 2000 in the first direction causes the third articulation cable 406 to wind around the third winch 706B, which causes the end effector 200 to pivot downward and to the left about the articulation joint 300. As previously discussed, this downward movement of the end effector 200 is compensated for by the differential 520 in the knife firing subsystem. Rotation in the opposite direction by the third articulation disc 706A unwinds the third articulation cable 406, allowing the end effector 200 to return to a position substantially coaxial with the shaft assembly 600A (e.g., coaxial with the roll axis RA).

[0056] The fourth articulated disc assembly 708 includes a fourth articulated disc 708A, a fourth winch 708B, and a fourth torsion spring 708C. The fourth articulated disc 708A is provided on the outside of the lower frame 700B and directly engages the robot platform 2000. The fourth winch 708B is coupled to the fourth articulated disc 708A and winds the third articulated cable 408 around it. The fourth winch 708B is rotatably attached to a fourth pivot pin 732 (which is integral with the fourth articulated disc 708A). The fourth winch 708B is biased in the retraction direction by the fourth torsion spring 708C to maintain a minimum tension level in the third articulated cable 408. Since the fourth articulated disc assembly 708 does not include any gear mechanism, the diameter of the fourth winch 708B determines the achieved mechanical advantages.

[0057] In use, and for example, rotation of the fourth winch 708B via the fourth articulation disc 708A from the robot platform 2000 in the first direction causes the fourth articulation cable 408 to wind around the fourth winch 708B, which causes the end effector 200 to pivot downward and to the right about the articulation joint 300. As previously discussed, this downward movement of the end effector 200 is compensated for by the differential 520 in the knife firing subsystem. Rotation in the opposite direction by the fourth articulation disc 708A unwinds the fourth articulation cable 408, allowing the end effector 200 to return to a position substantially coaxial with the shaft assembly 600A (e.g., coaxial with the roll axis RA).

[0058] Of course, and as discussed above, the synchronized movement of various combinations of disk assemblies 702, 704, 706, and 708 enables clinicians (via the robotic platform 2000) to position the end effector 200 in any orientation.

[0059] In addition, such as Figure 37 As specifically shown, the housing 700 (e.g., the lower frame 700B, such as...) Figure 37 As shown, a plurality of static redirection sections 714, 716, 718, and 720 may be provided, each having a surface that engages with a corresponding joint motion cable 402, 404, 406, or 408 to redirect it within the housing 700. These redirection sections 714, 716, 718, and 720 ensure the proper guidance of the joint motion cables 402, 404, 406, and 408.

[0060] VII.2. Housing and Roller System In addition to the above, the shaft rolling disk assembly 710 includes a shaft rolling disk 710A, a first helical gear 710B, and a second helical gear 710C. The shaft rolling disk 710A is provided on the outside of the lower frame 700B, integral with the fifth pivot pin 734, and directly engages with the robot platform 2000. The first helical gear 710B is coaxial with and rotatable with the shaft rolling disk 710A. The second helical gear 710C meshes with the first helical gear 710B and is connected to the rotatable outer shaft 602.

[0061] In use, and for example, rotation of the first helical gear 710B via the axis rolling disk 710A by the robot platform 2000 in a first direction causes the second helical gear 710C to rotate, thereby causing the outer shaft 602 to roll (e.g., clockwise about the roll axis RA), as discussed in more detail above. Rotation of the first helical gear in the opposite second direction causes the outer shaft 602 to roll in the opposite direction (e.g., counterclockwise about the roll axis RA).

[0062] In other examples, and refer to Figures 38 to 42B Alternative rolling systems include alternative shaft rolling disk assemblies 710', which can be used in conjunction with the currently described surgical instrument 1000 to roll the outer shaft 602 of the shaft assembly 600A. For example, in Figure 38 The example depicted replaces the previously described gear mechanism in the shaft-rolling disc assembly 710 with a double winch and cable arrangement. This cable system enables the torque and positioning required to meet the functional requirements of the surgical instrument 1000 to be achieved within the limited space of the housing 700. Furthermore, it is worth noting that the cable system offers certain advantages over other systems, such as lower production costs and higher tolerances, as well as the absence of backlash.

[0063] Special Reference Figures 39 to 40B The alternative shaft rolling disc assembly 710' includes a shaft rolling disc 710A', a pair of input winches 710B1' and 710B2', an output roller 710C', a rolling shaft 711A1', a rolling restraining ring 711A2', a first pair of locating pins 711A3', a second pair of locating pins 711A4', and a pair of rolling cables 711B' with crimped ends (see, for example, see...). Figure 39 ), multiple spring pins 711C', and a pair of positioning rods 711D'.

[0064] The robot engagement section 710A1' of the rotating disk 710A' can be configured to be substantially the same as those described in other examples of this application to work with the robot platform 2000. A splined shaft 710A2' extends from the robot engagement section 710A1' and includes a plurality of splines 710A3' arranged radially around the splined shaft.

[0065] The input winch 710B' includes a first input winch 710B1' and a second input winch 710B2'. The winches 710B' are mounted on a splined shaft 710A2' and clamp a roll restraining ring 711A2' in the axial direction of the splined shaft 710A2'. In some examples, the second input winch 710B2' may extend partially beyond the farthest end of the splined shaft A2'. Additionally, each input winch 710B' includes a radial groove 710B3' defined in the outer circumference of the winch 710B' and a recess 710B4' associated with (and not extending parallel to) the groove 710B3'. The roll shaft 711A1' provides rotatable mounting of the shaft roll disc 710A', input winches 710B', roll restraining ring 711A2', and locating pins 711A3', 711A4' to the housing 700.

[0066] Especially as Figure 40B and Figure 41 As shown, the paired locating pins 711A3' and 711A4' are respectively sandwiched radially between the spline shaft 710A2' and the first winch 710B1' or the second winch 710B2'. Furthermore, the paired locating pins 711A3' and 711A4' are respectively accommodated in a recess defined by the spline 710A3' and an internal recess defined by the first winch 710B1' or the second winch 710B2' (see...). Figure 40B Especially as Figure 40B As shown, the paired locating pins 711A3' and 711A4' can be aligned in either the full-pitch orientation FP or the half-pitch orientation HP. The locating pins 711A3' and 711A4' rotatably connect the input winch 710B' to the shaft rolling disc 710A', such that rotation of the shaft rolling disc 710A' causes rotation of the input winch 710B'. Furthermore, they allow for precise positioning of components and tensioning of the rolling cable 711B' during assembly (discussed in more detail below).

[0067] The output drum 710C' is laterally offset and transverse to the orientation of the coaxially aligned input winch 710B'. The output drum 710C' includes a cylindrical shaft 710C1' that engages the outer shaft 602 of the roller system 600 via a spring pin 711C', a pair of radial grooves 710C2' defined in the cylindrical shaft 710C1', a pair of recesses 710C3' each associated with (and not extending parallel to) the respective groove 710C2', a pair of roll-limiting tabs 710C4', and a pair of positioning slots 710C5'. The output drum 710C' drives the rotation of the outer shaft 602. The roll-limiting tabs 710C4' limit the output winch 710C4' to rotate approximately 320 degrees clockwise and counterclockwise during winch rotation by engaging with one or more tabs disposed on the roll-limiting ring 711A2'. The corresponding tabs are arranged on the roller (which has a predetermined diameter ratio) so that the tabs come into contact with each other after rotating a certain amount by the roller shaft 711A1'.

[0068] The ends of each cable 711B' are attached via recesses 710C3' and 710B4' to (1) the output winch 710C and (2) a pair of input winches 710B', these recesses being designed to mate with barrel-shaped crimps to allow the use of pre-crimped cables 711B'. Each input winch 710B' has a single cable 711B' around which it is wound and attached to one end of the output drum 710C'. The first cable 711B1' and the second cable 711B2 are wound in opposite directions around (1) the output drum 710C' and (2) the first input winch 710B1' (in the case of the first cable 711B1') and the second input winch 710B2' (in the case of the second cable 711B2') to drive the outer shaft 602 to roll clockwise and counterclockwise.

[0069] With this arrangement, rotation of the shaft-rolling disc 710A' in a first rotational direction pulls the first cable 711B1' to drive the output roller 710C' in the first rotational direction (about an axis perpendicular to the axis of rotation of the shaft-rolling disc). This causes (1) the first cable 711B1' to wind around the first input winch 710B1' and unwind from the output roller 710C', and (2) the second cable 711B' to wind around the output roller 710C' and unwind from the second input winch 710B2'. As those skilled in the art will understand, rotation of the shaft-rolling disc 710A' in the opposite second rotational direction pulls the second cable 711B2' to drive the output roller 710C' in the opposite second rotational direction, which causes the opposite winding / unwinding of the cable 711B' described in the preceding sentence. In some examples, the output drum diameter and the input winch diameter have a ratio of approximately 2 to 1, which requires two rotations of the input winch 710B' to make the output drum 710C' rotate one full revolution.

[0070] The arrangement of winch 710B, cable 711B', and drum 710C' for rolling alleviates the challenges of limited space, fixed gear ratios, and torque requirements resulting from flexibility in aspects such as cable length, drum diameter, and mechanism efficiency. To tension cable 711B', the paired pins 711A3' and 711A4' in the input winch 710B' can be pushed downwards into two corresponding groove pairs on the splined shaft 710A2', as... Figure 40B As illustrated, one pair (e.g., the first pair 711A3') mates with the splined shaft 710A2' at full pitch FP, and another pair (e.g., the second pair 711A4') mates with half pitch. Thus, when the cable 711B' is pulled, the system can be clamped to the input winch 710B' in various increments (e.g., 1 mm increments or 0.5 mm increments), depending on how much tension can be applied to the cable 711B'. As a non-limiting example, for stainless steel or tungsten cables (depending on the duty cycle), this can provide a 5N preload or a 10N preload to keep the cable system always taut.

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

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

[0073] IX. Terms The disclosed technology described herein can be further understood in accordance with the following terms: Clause 1. A shaft rolling rotor system (600) comprising: a shaft assembly (600A) including: a rotatable outer shaft (602); and an inner shaft (604); and a shaft rolling disk assembly (710), the shaft rolling disk assembly (710) being configured to engage a housing (700) and including: a shaft rolling disk (710A) rotatably mounted on the housing housing (700A). On the rotatable outer shaft (602), there is a first helical gear (710B) capable of rotating together with the shaft rolling disk (710A); and a second helical gear (710C) meshing with the first helical gear (710B) and connected to the rotatable outer shaft (602), wherein the rotation of the shaft rolling disk (710A) causes the first helical gear to rotate, which in turn causes the second helical gear (710C) to rotate, thereby causing the rotatable outer shaft (602) to rotate.

[0074] Clause 2. The shaft roller rotor system according to Clause 1 further includes: one or more bearings (606) configured to engage the housing (700) and allow rotation of the rotatable outer shaft (602) relative to the housing (700).

[0075] Clause 3. The shaft roller system according to any one of Clauses 1 to 2, wherein the inner shaft (604) is rotatably fixed to the outer shaft (602).

[0076] Clause 4. The shaft roller system (600) according to any one of Clauses 1 to 3, wherein the inner shaft (604) includes a plurality of support channels (605), each support channel (605) being configured to rotatably constrain joint motion cables (402, 404, 406, 408).

[0077] Clause 5. The shaft rolling rotor system (600) according to any one of Clauses 1 to 4, wherein the shaft rolling disk (710A) is configured to rotate the rotatable outer shaft (602) by approximately 320 degrees.

[0078] Clause 6. A shaft rolling rotor system (600) comprising: a shaft assembly (600A) including: a rotatable outer shaft (602); and an inner shaft (604); and a shaft rolling disk assembly (710'), the shaft rolling disk assembly (710') being configured to engage a housing (700) and including: a shaft rolling disk (710A') rotatably mounted on the housing (700); and a first input winch (710B1'). The first input winch (710B1') is rotatable together with the shaft rolling disk (710A'); the second input winch (710B2') is rotatable together with the shaft rolling disk (710A'); the output roller (710C') is connected to the rotatable outer shaft (602); and the first rolling cable (711B1') is connected to the first input winch (710B1'). 1') and the output drum (710C'); and a second rolling cable (711B2'), the second rolling cable (711B2') connecting the second input winch (710B2') and the output drum (710C'), wherein the rotation of the shaft rolling disc (710A) causes the first input winch (710B1') and the second input winch (710B2') to rotate, thereby causing: (i) the first rolling cable (711B1') to rotate around the first input winch (710C') and the output drum (710C'); wherein the rotation of the shaft rolling disc (710A) causes the first input winch (710B1') and the second input winch (710B2') to rotate, thereby causing: (i) the first rolling cable (711B1') to rotate around the first input winch (710C') and the output drum (710C'); (ii) The first rolling cable (711B1') is wound around the first input winch (710B2'), and the second rolling cable (711B2') is disconnected from the second input winch (710B2'), thereby causing the output drum (710C') to rotate in the first direction, or (ii) the first rolling cable (711B1') is disconnected from the first input winch (710B1'), and the second rolling cable (711B2') is wound around the second input winch (710B2'), thereby causing the output drum (710C') to rotate in the second direction.

[0079] Clause 7. The shaft roller system (600) according to Clause 6, wherein the first roller cable (711B1') and the second roller cable (711B2') (i) are wound around the output roller (710C') in opposite directions, and (ii) are wound around the corresponding input winches (710B1', 710B2') of the first roller cable (711B1') and the second roller cable (711B2') in opposite directions.

[0080] Clause 8. The shaft rolling rotor system (600) according to any one of Clauses 6 to 7 further includes a roll restraint ring (711A2') sandwiched between the first input winch (710B1') and the second input winch (710B2').

[0081] Clause 9. The shaft rolling rotor system (600) according to any one of Clauses 6 to 8 further includes: a first pair of locating pins (711A3'); and a second pair of locating pins (711A4'), wherein the shaft rolling disc (710A') includes a splined shaft (710A2'), the first pair of locating pins (711A3') is clamped between the first input winches (710B1'), and the second pair of locating pins (711A4') is clamped between the second input winches (710B2').

[0082] Clause 10. The shaft roller rotor system (600) according to any one of Clauses 6 to 9 further includes: a first recess (710B4') defining the first input winch (710B3') and receiving a first crimped end of the first roller cable (711B1'); and a second recess (710C3') defined in the output roller (710C') and receiving a second crimped end of the first roller cable (711B1').

[0083] Clause 11. The shaft roller rotor system (600) according to any one of Clauses 6 to 10 further includes: one or more spring pins (711C') that connect the output roller (710C') and the outer shaft (602) together.

[0084] Clause 12. The shaft roller system (600) according to any one of Clauses 6 to 11, wherein the inner shaft (604) is rotatably fixed to the outer shaft (602).

[0085] Clause 13. The shaft roller system (600) according to any one of Clauses 6 to 12, wherein the inner shaft (604) includes a plurality of support channels (605), each support channel (605) being configured to rotatably constrain joint motion cables (402, 404, 406, 408).

[0086] Clause 14. The shaft rolling rotor system (600) according to any one of Clauses 6 to 13, wherein the shaft rolling disk (710A) is configured to rotate the rotatable outer shaft (602) by approximately 320 degrees.

[0087] Clause 15. A surgical instrument (1000) comprising: a housing (700); an end effector (200); a connector (300) coupled to the end effector (200); a shaft assembly (600A) coupling the housing (700) and the connector (300) and including: a rotatable outer shaft (602); and an inner shaft (604); and a shaft rolling disc assembly (710) engaging the housing (700) and including: a shaft rolling disc (710A) rotatably mounted on the outer housing shell (700A) of the housing (700). On the 700B: a first helical gear (710B), which is rotatable together with the shaft rolling disk (710A); and a second helical gear (710C), which meshes with the first helical gear (710B) and is connected to the rotatable outer shaft (602), wherein the rotation of the shaft rolling disk (710A) causes the first helical gear to rotate, which in turn causes the second helical gear (710C) to rotate, which in turn causes the rotatable outer shaft (602) to rotate, thereby causing the connector (300) and the end actuator (200) to rotate about the rolling axis.

[0088] Clause 16. The surgical instrument (1000) according to Clause 15, wherein the inner shaft (604) is rotatably fixed to the outer shaft (602).

[0089] Clause 17. The surgical instrument (1000) according to any one of Clauses 15 to 16 further includes a plurality of articular motion cables (402, 404, 406, 408), wherein the inner shaft (604) includes a plurality of support channels (605), each support channel (605) rotatably constraining one of the plurality of articular motion cables (402, 404, 406, 408).

[0090] Clause 18. The surgical instrument (1000) according to Clause 17, wherein the inner shaft (604) includes a diameter-reduced transition section (604A) configured to allow the joint movement cables (402, 404, 406, 408) to partially wind around the diameter-reduced transition section (604A).

[0091] Clause 19. The surgical instrument (1000) according to any one of Clauses 15 to 18 further includes a firing lever extending through the outer shaft (602) and the inner shaft (604).

[0092] Clause 20. The surgical instrument (1000) according to any one of Clauses 15 to 19, wherein the axially rotating disk (710A) is configured to rotate the end effector (200) by approximately 320 degrees.

[0093] The above embodiments are cited by way of example, and the invention is not limited to the specific details shown and described above. Rather, the scope of the invention includes combinations and sub-combinations of the various features described and shown above, as well as variations and modifications thereof, which will occur to those skilled in the art upon reading the above description and are not disclosed in the prior art.

Claims

1. A shaft-rolling rotor system (600), comprising: Shaft assembly (600A), the shaft assembly (600A) comprising: Rotatable outer shaft (602); and Inner shaft (604); and A rotating disc assembly (710) is configured to engage a housing (700) and includes: A rotating disc (710A) is rotatably mounted on the outer shell (700A, 700B) of the housing (700); A first helical gear (710B) is rotatable together with the shaft-rolling disk (710A); and The second helical gear (710C) meshes with the first helical gear (710B) and is connected to the rotatable outer shaft (602). The rotation of the axial rolling disk (710A) causes the first helical gear to rotate, which in turn causes the second helical gear (710C) to rotate, thereby causing the rotatable outer shaft (602) to rotate.

2. The shaft roller rotor system (600) according to claim 1 further includes: One or more bearings (606) are configured to engage the housing (700) and allow rotation of the rotatable outer shaft (602) relative to the housing (700).

3. The shaft roller rotor system (600) according to any one of claims 1 to 2. in, The inner shaft (604) is rotatably fixed to the outer shaft (602).

4. The shaft rolling rotor system (600) according to any one of claims 1 to 3, wherein, The inner shaft (604) includes a plurality of support channels (605), each support channel (605) being configured to rotatably constrain joint motion cables (402, 404, 406, 408).

5. The shaft rolling rotor system (600) according to any one of claims 1 to 4, wherein, The axial rolling disk (710A) is configured to rotate the rotatable outer shaft (602) by approximately 320 degrees.

6. A shaft-rolling rotor system (600), comprising: Shaft assembly (600A), the shaft assembly (600A) comprising: Rotatable outer shaft (602); and Inner shaft (604); and A rotating disc assembly (710') is configured to engage a housing (700) and includes: A rotating disc (710A') is rotatably mounted on the housing (700); The first input winch (710B1') is capable of rotating together with the shaft rolling disk (710A'); The second input winch (710B2') is capable of rotating together with the shaft rolling disk (710'); Output roller (710C'), the output roller (710C') is connected to the rotatable outer shaft (602); The first rolling cable (711B1') connects the first input winch (710B1') and the output drum (710C'); and The second rolling cable (711B2') connects the second input winch (710B2') and the output drum (710C'). The rotation of the axial rolling disk (710A) causes the first input winch (710B1') and the second input winch (710B2') to rotate, thereby causing: (i) The first rolling cable (711B1') is wound around the first input winch (710B1'), and the second rolling cable (711B2') is disconnected from the second input winch (710B2'), thereby causing the output drum (710C') to rotate in the first direction, or (ii) The first rolling cable (711B1') is disconnected from the first input winch (710B1'), and the second rolling cable (711B2') is wound around the second input winch (710B2'), thereby causing the output drum (710C') to rotate in the second direction.

7. The shaft-rolling rotor system (600) according to claim 6, wherein, The first roll cable (711B1') and the second roll cable (711B2') (i) are wound around the output drum (710C') in opposite directions, and (ii) are wound around the corresponding input winches (710B1', 710B2') of the first roll cable (711B1') and the second roll cable (711B2') in opposite directions.

8. The shaft rolling rotor system (600) according to any one of claims 6 to 7 further includes a rolling restraint ring (711A2') sandwiched between the first input winch (710B1') and the second input winch (710B2').

9. The shaft roller rotor system (600) according to any one of claims 6 to 8, further comprising: First pair of locating pins (711A3'); and The second pair of locating pins (711A4'), among which... The rotating disc (710A') includes a splined shaft (710A2'). The first pair of locating pins (711A3') are clamped between the first input winch (710B1'), and The second pair of locating pins (711A4') are clamped between the second input winches (710B2').

10. The shaft rolling rotor system (600) according to any one of claims 6 to 9, further comprising: A first recess (710B4') defines the first input winch (710B3'), and the first recess (710B4') receives a first crimped end of the first roll cable (711B1'). and The second recess (710C3') is defined in the output roller (710C') and receives the second crimped end of the first rolling cable (711B1').

11. The shaft rolling rotor system (600) according to any one of claims 6 to 10, further comprising: One or more spring pins (711C') connect the output roller (710C') and the outer shaft (602) together.

12. The shaft rolling rotor system (600) according to any one of claims 6 to 11, wherein, The inner shaft (604) is rotatably fixed to the outer shaft (602).

13. The shaft rolling rotor system (600) according to any one of claims 6 to 12, wherein, The inner shaft (604) includes a plurality of support channels (605), each support channel (605) being configured to rotatably constrain joint motion cables (402, 404, 406, 408).

14. The shaft rolling rotor system (600) according to any one of claims 6 to 13, wherein, The axial rolling disk (710A) is configured to rotate the rotatable outer shaft (602) by approximately 320 degrees.

15. A surgical instrument (1000), comprising: Housing (700); End effector (200); Connector (300), which is connected to the end effector (200). A shaft assembly (600A) that connects the housing (700) and the connector (300) and includes: Rotatable outer shaft (602); and Inner shaft (604); and A rotating disc assembly (710) engages with the housing (700) and includes: A rotating disc (710A) is rotatably mounted on the outer shell (700A, 700B) of the housing (700); A first helical gear (710B) is rotatable together with the shaft-rolling disk (710A); and The second helical gear (710C) meshes with the first helical gear (710B) and is connected to the rotatable outer shaft (602). The rotation of the axial rolling disk (710A) causes the first helical gear to rotate, which in turn causes the second helical gear (710C) to rotate, which in turn causes the rotatable outer shaft (602) to rotate, thereby causing the connector (300) and the end actuator (200) to rotate about the rolling axis.

16. The surgical instrument (1000) according to claim 15, wherein, The inner shaft (604) is rotatably fixed to the outer shaft (602).

17. The surgical instrument (1000) according to any one of claims 15 to 16 further comprises a plurality of joint movement cables (402, 404, 406, 408), wherein, The inner shaft (604) includes a plurality of support channels (605), each support channel (605) rotatably constraining one of the plurality of joint motion cables (402, 404, 406, 408).

18. The surgical instrument (1000) according to claim 17, wherein, The inner shaft (604) includes a reduced-diameter transition section (604A) configured to allow the joint motion cables (402, 404, 406, 408) to partially wind around the reduced-diameter transition section (604A).

19. The surgical instrument (1000) according to any one of claims 15 to 18 further includes a firing lever extending through the outer shaft (602) and the inner shaft (604).

20. The surgical instrument (1000) according to any one of claims 15 to 19, wherein, The axial rolling disk (710A) is configured to rotate the end effector (200) by approximately 320 degrees.

Images