Systems and subsystems for rolling surgical instruments, including joint movement cables.

Abstract

A surgical instrument designed to operate in conjunction with a robotic platform is disclosed. The surgical instrument assembly includes a shaft, an end effector, a knife firing subsystem for activating the function of the end effector, an articulation subsystem actuated to articulate the end effector, an articulation joint around which the end effector articulates, a rolling subsystem for rolling the shaft, and a housing coupled to the robotic platform. A maypole tube is further provided, and when the end effector is rotated, one or more articulation cables can be wound around the maypole tube.

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This application claims the benefit and priority of U.S. Provisional Patent Application No. 63 / 515,020, filed on July 21, 2023 (Attorney Docket No. END9566USPSP1) and U.S. Provisional Patent Application No. 63 / 640,289, filed on April 30, 2024 (Attorney Docket No. END9566USPSP2), the disclosures of which are hereby expressly incorporated by reference herein. [[ID=⑨]]

[0002] (Field of the Invention) The present disclosure relates to surgical instruments and, in various configurations, to surgical stapling instruments, surgical cutting instruments designed to staple and cut tissue, and staple cartridges for use therewith.

Summary of the Invention

Means for Solving the Problems

[0003] The disclosed technology can be for systems, devices, and subsystems for surgical instruments for robotic surgery. The surgical instrument can have several subsystems that can be actuated independently to provide certain operations such as closing and opening of the stapler's end effector, articulation of the end effector, rolling of the end effector., and firing of staples within the end effector.

[0004] Note: In the original text, there is a tag

[0001] which is likely a typo in the original Japanese text as it's just a number without any context related to the patent content. I've left it as it is as per the instruction. Also, in the translation, the tag <⑨> is likely a mis - formatted tag in the original text, and I've translated it as

[0002] while keeping the original numbering format as much as possible.The disclosed technology describes a surgical instrument. The surgical instrument includes a shaft assembly, which includes a shaft assembly comprising a rotatable outer shaft configured to rotate about a roll axis, and a maypole tube housed within the outer shaft. The surgical instrument includes a launch rod extending within the maypole tube and configured to move a knife within an end effector. The surgical instrument includes one or more articular motion cables, each articular motion cable being operable to cause rotation of the end effector about (i) a pitch axis and at least one of a yaw axis, and (ii) to wrap around the maypole tube as the rotatable outer shaft rotates about the roll axis.

[0005] The disclosed technology describes a control device for adjusting the length of a cable, which may be one of several subsystems and / or subcomponents for a surgical instrument. The surgical instrument includes a cable and a shaft. The cable includes a section having an initial length defined between (i) a rotatable point of the cable that is rotatable with the shaft with respect to a rotationally constrained proximal point of the cable, and (ii) an initial tension at a zero-degree roll angle. The control device is configured to receive a non-zero-degree roll angle of the rotatable point of the cable that is rotated with the shaft with respect to the rotationally constrained proximal point of the cable. The control device is configured to determine a change in the length of the section of the cable relative to the initial length, which maintains the cable at the initial tension. The control device is configured to calculate a cable compensation length by multiplying the determined change in the length of the section of the cable by a coefficient. The control device is configured to send a signal for changing the length of the section of the cable based on the calculated cable compensation length.

[0006] The disclosed technology describes a surgical system. The surgical system includes a surgical instrument, including a housing. The surgical instrument includes a shaft assembly extending from the housing, comprising an outer shaft configured to rotate about a roll axis, and a Maypole tube housed within the outer shaft. The surgical instrument includes a cable, comprising a rotationally constrained point proximal to the housing and a rotatable point rotatable with respect to the outer shaft. The cable includes a length defined between the rotationally constrained point and the rotatable point at a zero-degree roll angle. The surgical system includes a control device for adjusting the length of the cable. The control device is configured to receive a non-zero-degree roll angle of the rotatable point of the cable relative to the rotationally constrained proximal point of the cable. The control device is configured to determine a change in the length of the cable relative to the length of the cable at a zero-degree roll angle, such that the cable is maintained at the same tension as the tension of the cable when it is at a zero-degree roll angle. The control device is configured to calculate a cable compensation length by multiplying the determined change in the length of the cable by a coefficient. The control device is configured to deliver a signal for changing the length of the cable based on the calculated cable compensation length. [Brief explanation of the drawing]

[0007] [Figure 1] This 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 the end effector, articulated joint, and parts of the cable articulated subsystem, knife firing subsystem, and roll subsystem, based on the disclosed technology. [Figure 3] This is a schematic detail diagram of an end effector and joint motion coupling based on the disclosed technology. [Figure 4] This is a schematic exploded view of the distal end of a surgical instrument using the disclosed technology. [Figure 5] This is a schematic detail diagram of the knife based on the disclosed technology. [Figure 6]This is a schematic detail front view of the end effector based on the disclosed technology. [Figure 7] This is a schematic detail diagram of an end effector and articulated joint with the anvil removed, as described by the disclosed technology. [Figure 8A] This is a schematic side cross-sectional view of the distal end of a surgical instrument showing the anvil in the open position according to the disclosed technology. [Figure 8B] This is a schematic side cross-sectional view of the distal end of a surgical instrument, showing the anvil with the knife in a partially advanced gripping position, according to the disclosed technology. [Figure 8C] This is a schematic side cross-sectional view of the distal end of a surgical instrument, showing the anvil with the knife partially advanced in a clamped position, according to the disclosed technology. [Figure 8D] This is a schematic side cross-sectional view of the distal end of a surgical instrument, showing the anvil in the fully advanced clamped position according to the disclosed technology. [Figure 9A] This is a schematic side cross-sectional detail view of the distal end of a surgical instrument, showing the anvil in the open position, according to the disclosed technology. [Figure 9B] This is a schematic side cross-sectional detail view of the distal end of a surgical instrument, showing the anvil with the knife in a partially advanced gripping position, as disclosed by the technology. [Figure 9C] This is a schematic side cross-sectional detail view of the distal end of a surgical instrument, showing the anvil in a partially advanced clamped position with the knife, according to the disclosed technology. [Figure 9D] This is a schematic side cross-sectional view of the distal end of a surgical instrument, showing the anvil in the fully advanced clamped position, according to the disclosed technology. [Figure 10] This is a schematic exploded view of a joint motion device based on the disclosed technology. [Figure 11] This is a schematic elevation view of a jointed motion device based on the disclosed technology. [Figure 12] This is a schematic cross-sectional view of a jointed motion device cut along line 12-12 in Figure 11, according to the disclosed technology. [Figure 13]A schematic cross-sectional view of an articulating joint cut along line 13-13 of FIG. 11 according to the disclosed technology. [Figure 14] A schematic perspective detail view of the distal end of a surgical instrument showing an end effector that pivots vertically and horizontally with the anvil open according to the disclosed technology. [Figure 15] A schematic side detail view of the distal end of a surgical instrument showing an end effector that pivots vertically with the anvil closed according to the disclosed technology. [Figure 16] A schematic top detail view of the distal end of a surgical instrument showing an end effector that pivots horizontally with the anvil closed according to the disclosed technology. [Figure 17] A schematic exploded view of a surgical instrument showing a cable articulation subsystem, a knife firing subsystem, and a portion of a roll subsystem according to the disclosed technology. [Figure 18] A schematic top view of the proximal end of a surgical instrument showing a cable articulation subsystem, a knife firing subsystem, and a portion of a roll subsystem according to the disclosed technology. [Figure 19] A schematic perspective view of a shaft assembly, a differential, and a firing rod of a surgical instrument according to the disclosed technology. [Figure 20] A schematic side view of a firing subsystem showing an end effector pivoted vertically downward and an anvil in an open position according to the disclosed technology. [Figure 21] A schematic side view of a firing subsystem showing an end effector pivoted vertically upward and an anvil in an open position according to the disclosed technology. [Figure 22] A schematic side view of a firing subsystem showing an end effector pivoted vertically upward, an anvil in a clamped position, and a fully advanced knife according to the disclosed technology. [Figure 23] A schematic detailed view of the proximal end of a surgical instrument showing a portion of a knife firing subsystem according to the disclosed technology. [Figure 24]Schematic exploded detail view of a rotary joint according to the disclosed technology. [Figure 25] Schematic detail view of one side of a housing showing a rotary pack engaging a robot platform according to the disclosed technology. [Figure 26] Schematic detail view of another side of the housing according to the disclosed technology. [Figure 27] Schematic exploded view of the housing according to the disclosed technology. [Figure 28] Schematic detail view of the housing with its upper shroud removed according to the disclosed technology. [Figure 29] Schematic perspective view of the housing with its upper shroud and intermediate frame removed according to the disclosed technology. [[ID=十六]] [Figure 30] Schematic perspective view of the housing with its upper shroud, intermediate frame removed, and certain subsystem components removed according to the disclosed technology. [Figure 31] Schematic detail view of the rotary pack assembly of the housing according to the disclosed technology. [Figure 32] Schematic elevation view of the housing according to the disclosed technology. [Figure 33] Schematic cross-sectional view of the housing cut along line 33-33 of FIG. 32 according to the disclosed technology. [Figure 34] Schematic cross-sectional view of the housing cut along line 34-34 of FIG. 32 according to the disclosed technology. [Figure 35] Schematic cross-sectional view of the housing cut along line 35-35 of FIG. 32 according to the disclosed technology. [Figure 36] Schematic cross-sectional view of the housing cut along line 36-36 of FIG. 32 according to the disclosed technology. [Figure 37] Schematic top view of the housing with its upper shroud, intermediate frame removed, and certain subsystem components removed according to the disclosed technology. [Figure 38]This is a schematic detail perspective view of the intermediate section of an alternative surgical instrument, showing the maypole tube surrounding the firing rod, with the outer shaft and upper shell of the housing removed for clarity, according to the disclosed technology. [Figure 39] Figure 38 is a schematic detail cross-sectional view of an alternative surgical instrument, cut along the roll axis, showing a maypole tube surrounding the firing rod and in contact with the differential, according to the disclosed technology. [Figure 40] Figure 38 is a schematic detail perspective view of the maypole tube, showing the articulation cables that wrap around the end effector as it rolls, according to the disclosed technology. [Figure 41A] Figure 38 is a schematic detail perspective view of an intermediate section of an alternative surgical instrument, showing a maypole tube with the housing and part of the outer shaft removed for clarity, indicated by dashed lines, according to the technology of this disclosure. [Figure 41B] Figure 38 is a schematic elevation view of the intermediate section of an alternative surgical instrument, showing the layout of the handle and components within the intermediate section according to the disclosed technology. [Figure 42A] This is a schematic detail diagram of a rigid maypole tube and a deflection launch rod based on the disclosed technology. [Figure 42B] This is a schematic detail diagram of a flexible maypole tube that deflects along with the launch rod, based on the disclosed technology. [Figure 43] This is a schematic diagram of the transfer function modeling of the cable length after the maypole using the disclosed technology. [Figure 44] This is a schematic cross-sectional view of an articulated cable and a Maypole tube according to the disclosed technology, where the cable's roll angle is less than or equal to the non-contact angle. [Figure 45] This is a schematic cross-sectional view of an articulated cable and a Maypole tube according to the disclosed technology, where the cable's roll angle is greater than the non-contact angle. [Figure 46A] This is a schematic cross-sectional view of an exemplary maypole and articulation cable according to the disclosed technology. [Figure 46B]Figure 46A is a schematic side cross-sectional view of an exemplary maypole and articular movement cable, shown together with other components of a surgical instrument according to the disclosed technology. [Figure 47] These are schematic graphs showing the change in joint movement cable length versus roll angle when using the surgical instruments shown in Figures 46A and 46B, based on the disclosed technology. [Figure 48] This is a schematic graph illustrating the exemplary change in cable tension as a function of roll and compensation rate, as performed by the disclosed technology. [Figure 49] This is a schematic block diagram of a control device, robotic arm, and surgical instrument based on the disclosed technology. [Modes for carrying out the invention]

[0008] The following detailed description should be read in reference to the drawings, where similar elements in different drawings are numbered identically. The drawings are not necessarily 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 as examples, not as limitations. This specification describes several embodiments, adaptations, modifications, alternatives, and uses of the invention, including those that are currently considered to be the best modes for carrying out the invention, which will make it clear to those skilled in the art that the invention can be made and used.

[0009] Numerous specific details are described in order to provide a complete understanding of the overall structure, function, manufacture, and use of the embodiments, as described in the specification and shown in the accompanying drawings. Well-known operations, components, and elements are not described in detail so as not to obscure the embodiments described herein. Readers will understand that the embodiments described and illustrated herein are non-limiting examples, and therefore certain structural and functional details disclosed herein may be representative and illustrative. Modifications and changes thereto may be made without departing from 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 “contains” and “containing”) are unrestricted linking verbs. As a result, a surgical system, device, or apparatus that “comprises,” “has,” “includes,” or “contains” one or more elements has one or more of those elements, but is not limited to having only one or more of those elements. Similarly, an element of a system, device, or apparatus that “comprises,” “has,” “includes,” or “contains” one or more features has one or more of those features, but is not limited to having only one or more of those features.

[0011] As used herein, the terms “about” or “approximately” for any number or range of numbers indicate a suitable dimensional tolerance that enables some or a set of components to function for the intended purpose described herein. More specifically, “about” or “approximately” may refer to a range of values ​​within ±20% of the enumerated values; for example, “about 90%” may refer to a range of values ​​between 71% and 99%.

[0012] The terms “proximal” and “distal” are used herein in reference to the robotic platform that operates the housing portion of the surgical instrument. “Proximal” refers to the portion closest to the robotic platform, and “distal” refers to the portion located further away from the robotic platform. For convenience and clarity, spatial terms such as “vertical,” “horizontal,” “up,” and “down” may also be used herein in reference to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be restrictive and / or absolute.

[0013] Furthermore, the use of “couple,” “coupled,” or similar phrases should not be interpreted as limiting to a specific number of components or a specific order of components unless the context clearly indicates otherwise.

[0014] Furthermore, when alternative examples of a particular form of a surgical instrument are described, and the same reference numbers as the aforementioned example are used to label the components of the alternative(s) examples, the structure and function of those components are the same unless otherwise specified.

[0015] Various exemplary devices and methods for performing laparoscopic and minimally invasive surgical procedures are provided. However, it will be readily apparent to the reader that the various methods and devices disclosed herein can be used in many surgical procedures and applications, including, for example, those related to incisional surgical procedures. By reading further into the “Modes for Carrying Out the Invention” section of this specification, the reader will further understand that the various instruments disclosed herein can be inserted into the body in any way, for example, through a pre-existing opening, through an incision or puncture hole formed in the tissue, etc. The working portion, or end-effector portion, of these instruments can be inserted directly into the patient’s body, or through an access device having a working passage through which the end-effector and elongated shaft of the surgical instrument can be advanced.

[0016] A surgical stapling system may comprise a shaft and an end effector extending from the shaft. The end effector comprises a first jaw and a second jaw. The first jaw comprises a staple cartridge. The staple cartridge is insertable into and removable from the first jaw, although other embodiments can be conceived in which the staple cartridge is not removable from the first jaw, or at least not easily replaceable from the first jaw. The second jaw comprises an anvil configured to deform staples ejected from the staple cartridge. The anvil is pivotable relative to the first jaw about a closing axis, although other embodiments can be conceived in which the first jaw is pivotable relative to the second jaw. The surgical stapling system further comprises an articulated joint configured to rotate, i.e., articulate, the end effector relative to the shaft. Other embodiments can be conceived in which the articulated joint is not included. In other words, other elements described herein may also be used in embodiments without articulated joints, without departing from the spirit and scope of this disclosure. Similarly, articulated joints may also be used in embodiments in which other elements described herein are omitted.

[0017] I. Overview of Surgical Instruments A surgical instrument 1000 is shown in Figure 1. As will be discussed in more detail below, the surgical instrument 1000 is configured to grasp, clamp, cut, and seal patient tissue. The surgical instrument 1000 comprises an end effector 200, an articulated joint 300, an articulated drive subsystem 400 (Figure 2) configured to articulate the end effector 200 around the articulated joint 300, a knife launch subsystem 500 (Figure 2) configured to move the end effector between various positions (e.g., open position, grasping position, and clamping position) to cut and staple patient tissue, a roll subsystem 600 configured to roll the end effector 200 around a roll axis, and a housing 700.

[0018] II. Overview of End Effectors The end effector 200 comprises a first jaw 202 and a second jaw 204 movable between an open position and a closed position. For clarity, the first jaw 202 is used interchangeably with the “jaw 202” (also referred to as the “channel” in the art) herein, and the second jaw 204 is used interchangeably with the “anvil 204”. The jaw 202 and the anvil 204 may be elongated in form. The jaw 202 defines an elongated channel 208 for receiving a staple cartridge 210. The anvil 204 has a proximal end 204A, a distal end 204B, and an inclined surface 216 defined on the proximal end 204A, which will be described in more detail below with respect to Figures 4 and 9A-9D. The jaw 202 and the anvil 204 are pivotably coupled via pivot pins 212 extending through the jaw 202 and the anvil 204. As shown in Figure 7, one or more biasing springs 214 extend between the jaws 202 and the anvil 204 to bias the anvil 204 to the open position. The inclined surface 216 may be visible through a bean-shaped opening 222 (which may be formed as part of the manufacturing process for creating the inclined surface 216) having a first lateral end 216A and a second lateral end 216B. In other words, the bean-shaped opening may open at its lateral ends 222A, 222B (Figure 3). As shown in Figure 3, the inclined surface 216 forms the lower surface of the bean-shaped opening 222. The inclined surface 216 may be formed in an arc shape. For example, as shown particularly in Figures 4 and 9A-9D, it may be inclined upward at a first angle 218 and tapered in an arc shape to a second angle 220 that is substantially horizontal distally. The inclined surface may include, for example, a single radius curve, a series of multiple radius curves, a series of multiple radius curves having a series of inflection points, and / or may be linearly inclined.

[0019] The anvil 204 further defines an upper knife channel 224 (e.g., Figure 8A) that extends in the longitudinal direction. In particular, as shown in Figure 6, the upper knife channel 224 includes a centrally located cylindrical upper knife channel portion 226 and at least one lateral upper knife channel wing 228 that extends away from the upper knife channel portion 226. Although the term “cylindrical” is used, the channel portion 226 does not need to resemble a perfect cylinder.

[0020] II.1. End Effector and Launch Subsystem The surgical instrument 1000 further comprises a knife launch subsystem 500 that is operable to close the anvil 204 during a closing stroke. After the end effector 200 is closed, the knife launch subsystem 500 (Figures 2 and 17) is operable during the launch stroke to cut and staple the patient tissue captured between the staple cartridge 210 (held by the jaws 202) and the anvil 204 with staples from the staple cartridge 210.

[0021] The knife launch subsystem 500 includes a knife 206, which is described in more detail below. The knife 206 is coupled to or integrated with the knife thread 236. The knife thread 236 is the non-cutting element of the knife 206 and is also called the I-beam. The knife thread 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 need to resemble a perfect cylinder. In some embodiments, the upper knife tab 238 includes a pair of lateral wings 242 configured to slide within the upper knife channel 224 in order 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 that engages with the anvil inclined surface 216. The upper knife tab portion 240 defines an upper knife tab opening 244 configured to receive a barrel crimp coupled to a central cable 512, which will be described in more detail below. The lower knife tab 246 includes a centrally located cylindrical lower knife tab portion 248 and at least one lower knife tab lateral wing 250 extending away from the lower knife tab portion 248. Although the term “cylindrical” is used, the lower knife tab portion 248 does not need to resemble a perfect cylinder. In some embodiments, the lower knife tab 246 includes a pair of lateral wings 250. The lower knife tab portion 248 defines a lower knife tab opening 252 configured to receive a barrel crimp coupled to a central cable 514, which will be described in more detail below. The staple cartridge 210 comprises a cartridge body. For use, the staple cartridge is positioned within the channel 208 of the jaws 202 on the first side of the tissue to be stapled, and the anvil 204 is positioned on the second side of the tissue. The anvil 204 is moved toward the staple cartridge 210 to compress and clamp the tissue against the deck of the staple cartridge 210. Staples, which are removably stored within the cartridge body, can then be deployed into the tissue. The cartridge body includes a defined staple cavity, within which the staples are removably stored. In some embodiments, the staple cavity is arranged in six longitudinal rows. In some embodiments, three rows of staple cavities are positioned on the first side of the lower knife channel 230, and three rows of staple cavities are positioned on the second side of the lower knife channel 230.

[0022] Referring particularly to Figure 6, the lower knife channel 230 includes a centrally located cylindrical lower knife channel portion 232 and at least one lateral lower knife channel wing 234 extending away from the lower knife channel portion 232. Although the term “cylindrical” is used, the channel portion 232 does not need to resemble a perfect cylinder. Other configurations of the staple cavity and staples may also be possible. For example, in some embodiments, the lower knife channel 230 may be defined within the jaws 202.

[0023] The staples are supported by a staple driver within the cartridge body. The driver is movable between a first, i.e., non-firing position and a second, i.e., firing position, to eject staples from the staple cavity. The driver is held within the cartridge body by a retainer extending around the lower perimeter of the cartridge body and includes an elastic member configured to grip the cartridge body and hold the retainer relative to the cartridge body. The drivers are indirectly movable between their non-firing positions and their firing positions by threads 236. More specifically, the knife threads 236 are movable between a proximal position adjacent to the proximal end and a distal position adjacent to the distal end. A portion of the knife threads 236 (see, for example, Figures 8C–8D) engages with the cartridge threads 210A, which slide beneath the driver, lifting the driver and the staples supported above it toward the anvil 204. It is desirable that the knife 206 be positioned at least partially proximal to the inclined surface such that the staple is in a second position in front of the knife 206, i.e., the firing position (i.e., the ejection position).

[0024] In addition to the above, the thread 236 is moved distally and proximal by the launch rod 502. The launch rod 502 is configured to directly engage with the thread 236 (discussed in more detail below) and to apply an indirect force to the thread 236 via push coils 508, 510 that push the thread 236 toward the distal end of the end effector 200. As the launch rod 502 is advanced distally, the thread 236 rides on the lower knife channel 230 and the upper knife channel 224. At the start of the movement, the upper knife tab 238 rides along the anvil inclined surface 216. Specifically, as seen in particular in the sequences of Figures 8A-8D and 9A-9D, the distal movement of the thread 236 causes the upper knife tab inclined surface 242A to slide along the anvil inclined surface 216. This movement first biases the anvil 204 toward a position where sufficient compressive force is applied to the tissue to grasp it (e.g., Figures 8B and 9B) (referred to as the gripping position). Compressive force is applied to the tissue as the thread 236 moves continuously upward along the inclined surface 216 (see e.g., Figures 8C and 9C) (referred to as the clamping position). As the anvil inclined surface 216 moves toward its substantially horizontal angled surface 218 (see e.g., Figures 8D and 9D), the upper knife tab 238 can slide within the upper knife channel 224 to drive stapling and cutting of the tissue.

[0025] III. Overview of Housing and Shaft Assembly The surgical instrument 1000 further comprises a housing 700 and a shaft assembly 600A extending from the housing 700. The housing is configured to engage with a robot platform 2000. In some embodiments, the housing 700 may be configured as a handle (e.g., it may have a gripping portion for a clinician). The shaft assembly 600A comprises a rotatable outer shaft 602 and an inner shaft 604, the outer shaft 602 being rotatably mounted to the housing around a rotary joint 606 (which may include one or more bearings). The inner shaft 604 is rotatably fixed to the outer shaft 602 and is configured so that articulation cables 402, 404, 406, and 408, which will be discussed in more detail below, can be partially wound around it without entanglement. As will be discussed in more detail below, the housing 700 further comprises (1) a launch pack assembly 712 as part of a knife launch subsystem 500 that is operable to close the end effector 200, fire staples, and cut across tissue; (2) a set of articulation pack assemblies 702, 704, 706, and 708 as part of an articulation subsystem 400 that is operable to articulate the end effector 200 relative to the shaft assembly 600A; and (3) a shaft roll pack assembly 710 as part of a roll subsystem 600 configured to roll the outer shaft 602.

[0026] IV. Overview of the Joint Movement Subsystem IV.1. Joint Movement Couplings Referring to Figure 10, the articular joint 300 comprises a plurality of concentric disks 302 and a central beam assembly 306. Each concentric disk further includes a concentric central opening 304. The central beam assembly 306 has a proximal end 306A and a distal end 306B. As shown in Figures 12 and 13, 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 compressive force to the concentric disks 302. The concentric disks 302 are nested on the central beam assembly 306 such that adjacent concentric disks 302 interface with each other. As seen in Figure 7, the distal end 306B of the central beam assembly 306 is coupled to the plurality of concentric disks 302 (via one or more fasteners 322) to the proximal end of the end effector 200 of the surgical instrument 1000. As shown in Figure 10, the distal end 306B includes a distal end retaining disk 334 that defines a plurality of cable retaining openings 334A. Furthermore, the proximal end 306A of the central beam assembly 306 includes a second disk retaining bearing 332 that is nested within and / or coupled to the shaft assembly 600A so as to connect a concentric disk 302 to the shaft assembly 600A. In some embodiments, the distal end 306B of the central beam assembly 306 abuts against a knife thread 236.

[0027] In particular, as shown in Figures 10, 12, and 13, each concentric disk 302 includes an articular socket 308, an articular pin 310 protruding outward from the articular socket 308, a first push coil opening 312A defined through the articular socket 308 and configured to receive a first push coil 508 through its interior, a second push coil opening 312B defined through the articular socket 308 and configured to receive a second push coil 510 through its interior, and through the articular socket 308 The concentric disk openings 304 include a plurality of articular cable openings 314A to 314D (e.g., first articular cable opening 314A, second articular cable opening 314B, third articular cable opening 314C, and fourth articular cable opening 314D) defined and configured to receive individual articular cable openings 402, 404, 406, 408 (e.g., first articular cable opening 402, second articular cable opening 404, third articular cable opening 406, and fourth articular cable opening 408), which will be discussed in more detail below. As shown in Figures 12 and 13, the concentric disk openings 304 are defined on the articular pins 310 of each concentric disk 302. In some embodiments, three joint movement cable openings 314A, 314B, and 314C are provided to correspond to three joint movement cables 402, 404, and 406, while in other embodiments, four joint movement cable openings 314A, 314B, 314C, and 314D are provided to correspond to four joint movement cables 402, 404, 406, and 408.

[0028] Each concentric disk 302 further includes a rounded proximal end 310A of an articular pin and a hemispherical pin receiving opening 316 defined in the articular socket 308. In particular, as shown in Figures 12 and 13, each rounded proximal end 310A of an articular pin pivotably engages with an adjacent pin receiving opening 316 of an adjacent concentric disk 302, except for the nearest end 310A that engages with a second disk retaining bearing 332. The proximal end 310A of the articular pin and the pin receiving opening 316 interface in a manner similar to that of a swivel bearing. Furthermore, the articular socket 308 includes a socket disk 318 and a pin retaining socket 320. A pair of pins 336 are used to provide rotational coupling from one disk 302 to the next disk, around the principal axis of the shaft assembly 600A. In other words, the pin restricts the rotational degrees of freedom between the instrument 1000 and adjacent concentric disks 302) around the roll axis RA. In alternative embodiments, this feature may be integrated with the disks 302, as opposed to a separate pin 336 as shown, for example, in Figure 10.

[0029] Referring particularly to Figure 10, the distal end 306B of the central beam assembly 306 includes a first disc retaining bearing 324 that defines a plurality of clearance pockets 326. The central beam assembly 306 also further includes a central beam 328 extending through each of the concentric discs 302, a jack screw 330, and a second disc retaining bearing 332. The jack screw 330 is screw-connected to the second disc retaining bearing 332 to adjust the compressive force of the central beam 328 (i.e., the jack screw can be used to adjust the pre-tension of the articulated joint 300). The central beam assembly 326 holds the discs 302 together and also responds to launch loads, and as a result the launch loads do not respond to the articulated cables (discussed in more detail below).

[0030] The central beam 328 further includes a nitinol core 328A and stainless steel 328B wound around the nitinol core, which allows the central beam 328 to bend elastically in response to the pivoting of one, some, or all of the concentric disks 302. The wound stainless steel 328B has clockwise and counterclockwise braiding to prevent it from unraveling.

[0031] The articular joint 300 described above forms part of a cable articular joint subsystem 400 that enables precise 360° movement of the end effector 200 around the articular joint 300 with at least two degrees of freedom. In some embodiments, the articular joint is capable of rolling approximately 320 degrees within the entire system, as determined by the roll subsystem 600 and as it is necessary to limit the amount of winding of the articular joint cables 402, 404, 406, and 408. The cable articular joint subsystem 400 also includes a plurality of articular joint cables 402, 404, 406, and 408, each having distal ends 402A, 404A, 406A, and 408A, which are coupled to the distal end 306B of the central beam assembly 306, and proximal ends 402B, 404B, 406B, and 408B. More specifically, each distal end 402A, 404A, 406A, 408A may include a crimp that engages with the cable holding opening 334A of the distal end holding disk 334 to maintain its position.

[0032] IV.2. Joint Movement Cables Each articulation cable 402, 404, 406, and 408 comprises a stainless steel material having clockwise and counterclockwise braiding to prevent unraveling. In other embodiments, other materials may be used, such as polymer threads and / or filaments, various metal cables (e.g., tungsten), and combinations thereof. Each articulation cable is individually operable 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.

[0033] In some embodiments, three articular movement cables may be provided instead of the four cables 402, 404, 406, and 408 shown herein. However, the four articular movement cables 402, 404, 406, and 408, spaced approximately 90 degrees apart from each other in the circumferential direction (as illustrated), provide load distribution. In addition, in alternative embodiments, three and fourth articular movement cable configurations may be arranged asymmetrically spaced apart from each other.

[0034] The shaft assembly 600A and housing 700 also form part of the cable joint motion subsystem 400. More specifically, each joint motion cable 402, 404, 406, and 408 extends from the joint motion joint 300 through the shaft assembly 600A to the housing 700. The proximal ends 402B, 404B, 406B, and 408B of each joint motion cable (402, 404, and 406) are movably mounted within the housing 700, thereby causing the aforementioned rotation of the joint motion joint 300 and the end effector 200. In some embodiments, the housing 700 includes articular motion pack assemblies 702, 704, 706, and 708 having rotatable capstans 702B, 704B, 706B, and 708B, which are discussed in more detail below, and the corresponding proximal ends 402B, 404B, 406B, and 408B of the articular motion cables 402, 404, 406, and 408 are mounted so as to be wrapable around the rotatable capstans. As shown in Figures 35 and 36, the capstans 702B, 704B, 706B, and 708B may be offset perpendicularly to each other (for example, capstans 702B and 704B may be positioned proximal to one portion 700A of the housing 700, and capstans 706B and 708B may be positioned proximal to the other portion 700B of the housing 700).

[0035] The articular movement cables 402, 404, 406, and 408 are positioned between the outer shaft 602 and the inner shaft 604 and routed through the shaft assembly 600A so that the articular movement cables 402, 404, 406, and 408 can partially wrap around it without entanglement. The inner shaft 604 also prevents the articular movement cables 402, 404, 406, and 408 from interfering with other components that run down the center of the device 1000 (through the inner shaft 604).

[0036] IV.3. Connection / Operation of Joint Motion Couplings and Joint Motion Cables The articular motion cables 402, 404, 406, and 408 are routed and connected to the end effector 200 via the articular motion joint 300, so that their proximal movement (by winding around the capstans 702B, 704B, 706B, and 708B) causes the end effector 200 to pivot around the articular motion joint 300 in a predetermined manner. For example, proximal movement of the first articular motion cable 402 causes upward and leftward rotation of the end effector 200, proximal movement of the second articular motion cable 404 causes upward and rightward rotation of the end effector 200, proximal movement of the third articular motion cable 406 causes downward and leftward rotation of the end effector 200, and proximal movement of the fourth articular motion cable 408 causes downward and rightward rotation of the end effector 200. Similarly, simultaneous movement of the two articular motion cables will result in mixed movement of the end effector 200. For example, movement of both the first articular motion cable 402 and the second articular motion cable 404 at the same speed will cause only upward pivoting of the end effector 200 (i.e., little to no horizontal component relative to rotation). As will be understood by those skilled in the art, this configuration provides the aforementioned precise 360-degree movement of the end effector around the articular motion joint 300 with at least two degrees of freedom and a roll of about 320 degrees.

[0037] V. Overview of the Launch Subsystem Referring mainly to Figures 2, 8A-8D, 9A-9D, 17, and 23, the knife launch subsystem 500 includes the aforementioned knife 206, the aforementioned thread 236, a launch rod 502 that drives the knife 206 and / or thread 236, a first push rod 504, and a second push rod 506. The launch rod 502 includes a launch rod rack 530 and is driven by a launch pack assembly 712, which will be described in more detail below. The first push rod 504 has a first push rod distal end 504A coupled to the thread 236 and a first push rod proximal end 504B coupled to the launch rod 502. Similarly, the second push rod has a second push rod distal end 506A coupled to the thread 236 and a second push rod proximal end 506B coupled to the launch rod 502. The distal ends 504A and 506A are connected to the upper and lower parts of the thread 236, respectively (e.g., the upper knife tab 238 and the lower knife tab 246), thereby enabling the knife 206 to be pushed evenly at both ends. In some embodiments, the proximal ends 504B and 506B of the push rods 504 and 506 are connected to the launch rod via a differential 520, which will be discussed in more detail below.

[0038] The knife launch subsystem 500 is configured to allow articulation of the end effector 200 while still enabling the proper functioning of the knife 206. To this end, the first push rod 504 includes a first flexible section 508, and the second push rod 506 includes a second flexible section 510. As shown in particular in Figures 20 to 22, the flexible sections 508 and 510 pass through the articulation joint 300 via their respective push coil openings 312A and 312B, and the push rods 504 and 506 engage with their respective tab openings 244 and 252 in the thread 236. More specifically, the first flexible section 508 includes a first push coil 508, and a first central cable 512 extends through the first push coil 508 and engages with the thread 236 via a barrel crimp; the second flexible section 510 includes a second push coil 510, and a second central cable 514 extends through the second push coil 510 and engages with the thread 236 via a barrel crimp. The push coils 508, 510 provide the rods 504, 506 with sufficient stability to deliver firing force to the knife 206, while not being too rigid to hinder articulation in the joint 300. As described above (see, for example, Figure 8A), the cables 512, 514 engaged with the thread 236 prevent the coils 508, 510 from stretching and / or elongating, and function as retractable cables when the rods 504, 506 are retracted toward the proximal end of the surgical instrument 1000.

[0039] Continuing to refer to Figures 20-22, the entirety of the push rods 504, 506 does not need to bend during use and / or extend through the articulated joint 300, and therefore does not need to be flexible. Accordingly, the proximal section of each push rod 504, 506 includes rigid rods 516, 518. The term “rigid” as used herein refers to a structure that is less flexible than the push coils 508, 510 and cables 512, 514 described. Specifically, the first push rod 504 includes a first rigid rod 516 that is coaxial with and coupled to the first push coil 508 and the first central cable 512, and the second push rod 506 includes a second rigid rod 518 that is coaxial with and coupled to the second push coil 510 and the second central cable 514.

[0040] In addition to the above, the bending radii of the first push coil 508 and the second push coil 510 may differ depending on how the end effector 200 is pivoted around the articulated joint 300. For example, in the configuration shown in Figure 21 (i.e., when the end effector 200 is pivoted upward), the first push coil 508 has a smaller bending radius than the second push coil 510, and the amount of the second push coil 510 extending through the articulated joint 300 is greater than that of the first push coil 508. The differential gear 520 is provided to take these different bending radii into account and to balance the difference in loads, ensuring an even distribution of the firing force delivered to the push rods 504, 506.

[0041] More specifically, the differential 520 couples the proximal end 504B of the first pushrod and the proximal end 506B of the second pushrod to the launch rod 502, and the differential 520 allows relative axial movement between the first pushrod 504 and the second pushrod 506 (as depicted, for example, in Figures 20 to 21). The differential 520 includes a first rack 522 coupled to the first pushrod 504, a second rack 524 coupled to the second pushrod 506, a pinion bar 526 coupled to the launch rod 502, and a pinion 528 rotatably mounted on the pinion bar 526 and meshing with the first rack 522 and the second rack 524.

[0042] In addition to the above, as particularly illustrated in Figures 20 and 21, the first rack 522 and the second rack 524 are movable in opposite axial directions relative to each other in accordance with the rotation of the thread 236 about the pitch axis PA, taking into account the aforementioned different bending radii of the push coils 508 and 510.

[0043] Furthermore, as shown in Figure 22, the first rack 522 and the second rack 524 are each movable in the same axial direction (e.g., the first axial direction) in response to the movement of the launch rod 502 in the first axial direction due to the launch force. As described above, this launch force is delivered to the knife 206 through the push coils 508, 510, thereby closing the anvil 204 to the gripping and / or clamping position. As shown in the sequence in Figures 9A to 9D, the distal movement of the push coils 508, 510 results in them resting on the central upper knife channel portion 226 of the upper knife channel 224 and the central lower knife channel portion 232 of the lower knife channel 224, respectively. Further movement of the launch rod 502 in the first axial direction continues the movement of the knife 206, which, as described above, launches the staple and crosses the tissue. The contraction of the knife 206 and the opening of the anvil are achieved by moving the launch rod 502 in the opposite second direction. As demonstrated in Figures 21 and 22, the independent cable joint motion system 400 and knife launching system 500 allow the knife 206 and thread 236 to be oriented and translated non-parallel to the orientation and movement of the launching rod 502.

[0044] To enable the rolling of the outer shaft 602, which will be discussed in detail below, the differential 520 is attached to the shaft assembly 600A and coupled to the launch rod 502 so as to be rotatable about the roll axis RA. As a result, the pinion bar 526 is axially constrained to the launch rod 502 and freely rotatable relative to it.

[0045] VI. Overview of the Role Subsystem Referring here to the roll subsystem 600, the roll subsystem includes the shaft assembly 600A, the rotary coupling 606, and the shaft roll pack assembly 710, which will be discussed in more detail below. As discussed in the preceding paragraph, the rotatable nature of the differential 520 is also a feature of the roll subsystem. The shaft assembly 600A includes the rotatable outer shaft 602 and inner shaft 604 discussed earlier. As shown in the exploded view of Figure 19, the inner shaft 604 may be a design split clamshell that is coupled to each other and houses certain components of the surgical instrument 1000, such as the differential 520 and the distal portion of the firing rod 502. In addition, the clamshell inner shaft 604 may provide support for certain portions of the push coils 508, 510. The inner shaft 604 is fixedly coupled to the outer shaft 602, and as a result they are rotatably coupled. The outer shaft 602 is coupled to the housing via a swivel coupling 606, which may include one or more bearings (see, for example, Figures 24 and 27). The bearings engage with the housing 700 and allow relative rotation between the outer shaft 604 and the housing 700 during the operation of the shaft roll pack assembly, which will be described in more detail below. One or both of the shafts 602, 604 are provided with various channels for which cables 402, 404, 406, 408, push rods 504, 506, differential gears 520, etc., are mounted. Furthermore, lugs are rotatably fixed to the outer shaft and are configured to reach the bottom of a cavity in the housing to indicate when the outer shaft 602 is in the home position.

[0046] VI.1. Maypole Tube Referring here to Figures 38-40, an alternative example of the roll subsystem 600 is shown. This example is similar to the roll subsystem 600 and shaft assembly 600A described above, but incorporates a maypole tube 608 positioned concentrically with the launch rod 502 to separate the articulation cables 402, 404, 406, and 408 from the launch rod 502. As used herein, the terms “maypole” and “maypoling” are used to describe the action of winding the articulation cables 402, 404, 406, and 408 around the launch rod 502 or another tube (such as the maypole tube 608 described herein) as the outer shaft 602 is rolled (for example, approximately 320 degrees upward in a clockwise or counterclockwise direction). Figure 40 illustrates this concept. As those skilled in the art will understand, if the articular movement cables 402, 404, 406, and 408 maypole around the translational launch rod 502, one or more of the cables 402, 404, 406, and 408 may pinch the launch rod 502, potentially causing malfunction of the surgical instrument 1000 and / or damage to the articular movement cables 402, 404, 406, and 408.

[0047] Accordingly, alternative roll subsystems can be similarly embodied, as described in other examples disclosed herein, as seen in Figures 38 to 41B. For example, this subsystem may include a similar shaft assembly 600A having an inner shaft 604 rotatably fixed to a rotatable outer shaft 602 (the rotatable outer shaft 602 is obscured in Figure 38 to show the maypole tube 608). Thus, rotation of the outer shaft 602 causes rotation of the inner shaft 604. The inner shaft 604 may include support channels 605 for supporting, guiding, and / or rotationally constraining articulation cables 402, 404, 406, and 408, particularly when the shaft assembly 600A is rolling. The inner shaft may also include a diameter-reducing transition section 604A, around which articulation cables 402, 404, 406, and 408, which will be discussed in more detail below, can be partially wrapped without entanglement. As discussed in detail with reference to the example in Figure 38, those skilled in the art will understand that, for example, the inner shaft 604 in Figure 19 can also be realized in an equivalent manner (these details can also be seen in the clamshell half of the inner shaft 604 in Figure 19).

[0048] The Maypole tube 608 is provided (1) between the screw gear 710C (discussed in more detail below) and the transition section 604A of the inner shaft 604 in the Maypole section of the joint motion cables 402, 404, 406, and 408, which are not rotationally constrained, and (2) between the outer shaft 602 and the launch rod 502 in the radial direction (for example, the outer shaft 602, the Maypole tube 608, and the launch rod 502 may be concentric with each other, and the Maypole tube 608 is housed within the outer shaft 602). As a result of the use of the cables 402, 404, 406, and 408 for joint motion, the housing 700 is connected to the robot platform 2000, so it is important that the surgical instruments 1000 have unconstrained sections in order to allow them to roll. The maypole tube 608 completely encloses the portion of the launch rod 502 that extends in this section, and, as discussed above, decouples the articulation cables 402, 404, 406, and 408 from the launch rod 502. Furthermore, the proximal end 608A of the maypole tube 608 (Figures 41A and 41B) extends into the housing 700 and can flare out (i.e., have a diameter that increases away from the end effector 200), which helps prevent the teeth of the launch rod 502 from catching on the maypole tube 608 when the launch rod 502 is translating (as discussed in other sections). The maypole tube 608 is not rotationally connected to any adjacent and / or abutting components, which means it is not locked to a rotational reference frame (e.g., when the outer shaft 602 is rotated) or a static reference frame (e.g., the housing 700 when the outer shaft 602 is rotated). In particular, as can be seen in Figures 39 and 41A to 41B, in the Maypole section, the joint motion cables 402, 404, 406, and 408 are positioned between the outer shaft 602 and the Maypole tube 608 and are not rotationally constrained along the entire length of the Maypole tube 608.

[0049] As schematically shown in Figure 40 (other elements are omitted to show how the articular movement cables 402, 404, 406, and 408 maypole around the maypole tube 608), when the end effector 200 is rolled during use, the articular movement cables 402, 404, 406, and 408 wrap around the maypole tube 608, thus keeping them mechanically separated from other moving components of the surgical instrument 1000 (e.g., the firing rod 502). Because the Maypole tube 608 is loosely sandwiched between the components of the adjacent surgical instrument 1000, when the articular movement cables 402, 404, 406, and 408 wrap around the Maypole tube 608, frictional forces can cause the Maypole tube 608 to rotate relative to the housing 700 (which is stationary in the rotational direction) and the outer shaft 602 and inner shaft 604 (this rotation causes the articular movement cables 402, 404, 406, and 408 to wrap around the Maypole tube). By making the Maypole tube 608 indeterminate, the influence of frictional forces between the Maypole tube 608 and the articular movement cables 402, 404, 406, and 408 on the roll subsystem can be minimized.

[0050] When used, the diameter of the maypole tube 608 should be as small as possible. This offers various advantages, such as reducing friction by minimizing the number of wraps around the maypole tube 608. It also limits the amount of axial length consumed in the maypole, thereby minimizing the amount of compensation required by the joint motion subsystem 400 (discussed in more detail in Section VIII.1).

[0051] In addition to the aforementioned issue of the teeth potentially being caught in the Maypole tube 608 as the launch rod 502 translates, the launch rod 502 also experiences slight radial deflection due to eccentric loads (discussed in more detail below) and compressive / buckling loads from the pinion 712C. Figures 42A and 42B show the exaggerated deformation of the launch rod 502. Friction / cable drag between the cables 402, 404, 406, and 408 and the Maypole tube 608 is also a concern, particularly when one or more of the cables 402, 404, 406, and 408 are used to articulate the end effector 200 while they are simultaneously wrapped around the Maypole tube 608 (for example, while the end effector 200 is being rolled by the roll subsystem 600).

[0052] Therefore, in addition to the above, referring to Figures 41A to 42B, the maypole tube 608 can be embodied as follows in order to address the above design considerations.

[0053] An example is shown in Figure 42A, where the deflection of the launch rod is exaggerated for illustrative purposes (as described above). In this example, the maypole tube 608 is formed from a rigid material and is sized such that its inner diameter ID provides sufficient clearance with respect to the outer diameter of the launch rod 502, allowing the launch rod to deflect radially and create a constrained state at the end of the maypole tube 608.

[0054] Another example is shown in Figure 42B, where the deflection of the launch rod is exaggerated for illustrative purposes (as described above). In this example, the maypole tube 608 is formed from a flexible material having the minimum clearance with respect to the outer diameter of the launch rod 502. This configuration allows the maypole tube 608 to deflect together with the launch rod 502 without creating a constraint at the end of the maypole tube 608.

[0055] In addition, the two exemplary maypole tubes 608 shown in Figures 42A and 42B may be formed with a lubricating additive that reduces friction between the maypole tube 608 and the launching rod 502, and further allows for smoother cable movement during articular motion when the articular motion cables 402, 404, 406, and 408 are wrapped around the maypole tube 608.

[0056] VII. Overview of Housing Pack Assemblies and Integration with Surgical Instrument Subsystems Referring primarily to Figures 23 to 35, the housing 700 is configured to engage with a robotic platform 2000 controlled by a clinician. Proximal mechanisms are provided to interface with the robotic platform in order to control the subsystems 400, 500, and 600 described above. More specifically, the outer shell of the housing, including an upper shroud 700A, a lower frame 700B, and an intermediate frame 700C, houses at least (1) a plurality of articulation pack assemblies 702, 704, 706, and 708 for the articulation of the end effector 200, (2) a shaft roll pack assembly 710 for rolling the outer shaft 602, (3) a launch pack assembly for translating the knife 206, and (4) a near-field radio-frequency identification (RFID) board 724 for communicating information about the surgical instrument 1000 to the robotic platform 2000.

[0057] VII.1. Housing and Joint Movement Subsystems In addition to the above, the housing includes four articular movement pack assemblies 702, 704, 706, and 708, the four articular movement cables 402, 404, 406, and 408 used in the surgical instruments described herein. The first articular movement pack assembly 702 is used in cooperation with the first articular movement cable 402. Similarly, the second articular movement pack assembly 704 is used in cooperation with the second articular movement cable 404, the third articular movement pack assembly 706 is used in cooperation with the third articular movement cable 406, and the fourth articular movement pack assembly 708 is used in cooperation with the first articular movement cable 408. During use, the first joint movement cable 402 wraps around and unwraps the first joint movement pack assembly 702, the second joint movement cable 404 wraps around and unwraps the second joint movement pack assembly 704, the third joint movement cable 406 wraps around and unwraps the third joint movement pack assembly 706, and the fourth joint movement cable 408 wraps around and unwraps the first joint movement pack assembly 708.

[0058] The first articular motion pack assembly 702 includes a first articular motion pack 702A, a first capstan 702B, and a first torsion spring 702C. The first articular motion pack 702A is mounted on the outer surface of the lower frame 700B and engages directly with the robot platform 2000. The first capstan 702B is connected to the first articular motion pack 702A and wraps the first articular motion cable 402 around it. The first capstan 702B is rotatably mounted to a first pivot pin 726 (integrated with the first articular motion pack 702A). The first capstan 702B is biased in the contraction direction by the first torsion spring 702C to maintain a minimum level of tension in the first articular motion cable 402, such as when it is disconnected from the robot platform 2000. Since the first joint movement pack assembly 702 does not contain any gears, the mechanical advantages achieved are determined by the diameter of the first capstan 702B.

[0059] During use, for example, rotation of the first capstan 702B by the robot platform 2000 causes the first articulation cable 402 to wrap around the first capstan 702B in a first direction via the first articulation pack 702A, resulting in the end effector 200 pivoting upward and to the left around the articulation joint 300. As previously discussed, this upward movement of the end effector 200 is compensated by the differential gear 520 in the knife firing subsystem. Rotation in the opposite direction by the first articulation pack 702A unwinds the first articulation cable 402, returning the end effector 200 to a position substantially coaxial with the shaft assembly 600A (e.g., coaxial with the roll axis RA).

[0060] The second articular movement pack assembly 704 includes a second articular movement pack 704A, a second capstan 704B, and a second torsion spring 704C. The second articular movement pack 704A is mounted on the outer surface of the lower frame 700B and engages directly with the robot platform 2000. The second capstan 704B is connected to the second articular movement pack 704A and the second articular movement cable 404 is wound around it. The second capstan 704B is rotatably mounted to a second pivot pin 728 (integrated with the second articular movement pack 704A). The second capstan 704B is biased in the contraction direction by the second torsion spring 704C to maintain a minimum level of tension in the second articular movement cable 404. Since the second joint movement pack assembly 704 does not contain any gears, the mechanical advantages achieved are determined by the diameter of the second capstan 704B.

[0061] During use, for example, rotation of the second capstan 704B by the robot platform 2000 causes the second articulation cable 404 to wrap around the second capstan 704B in a first direction via the second articulation pack 704A, resulting in the end effector 200 pivoting upward and to the right around the articulation joint 300. As previously discussed, this upward movement of the end effector 200 is compensated by the differential gear 520 in the knife firing subsystem. Rotation in the opposite direction by the second articulation pack 704A unwinds the second articulation cable 404, returning the end effector 200 to a position substantially coaxial with the shaft assembly 600A (e.g., coaxial with the roll axis RA).

[0062] The third articular movement pack assembly 706 includes a third articular movement pack 706A, a third capstan 706B, and a third torsion spring 706C. The third articular movement pack 706A is mounted on the outer surface of the lower frame 700B and engages directly with the robot platform 2000. The third capstan 706B is connected to the third articular movement pack 706A and wraps the third articular movement cable 406 around it. The third capstan 706B is rotatably mounted to a third pivot pin 730 (integrated with the third articular movement pack 706A). The third capstan 706B is biased in the contraction direction by the third torsion spring 706C to maintain a minimum level of tension in the third articular movement cable 406. Since the third joint movement pack assembly 706 does not contain any gears, the mechanical advantages achieved are determined by the diameter of the third capstan 706B.

[0063] During use, for example, rotation of the third capstan 706B by the robot platform 2000 causes the third articulation cable 406 to wrap around the third capstan 706B in a first direction via the third articulation pack 706A, resulting in the end effector 200 pivoting downward and to the left around the articulation joint 300. As previously discussed, this downward movement of the end effector 200 is compensated by the differential gear 520 in the knife firing subsystem. Rotation in the opposite direction by the third articulation pack 706A unwinds the third articulation cable 406, returning the end effector 200 to a position substantially coaxial with the shaft assembly 600A (e.g., coaxial with the roll axis RA).

[0064] The fourth articular movement pack assembly 708 includes a fourth articular movement pack 708A, a fourth capstan 708B, and a fourth torsion spring 708C. The fourth articular movement pack 708A is mounted on the outer surface of the lower frame 700B and engages directly with the robot platform 2000. The fourth capstan 708B is connected to the fourth articular movement pack 708A and wraps the third articular movement cable 408 around it. The fourth capstan 708B is rotatably mounted to a fourth pivot pin 732 (integrated with the fourth articular movement pack 708A). The fourth capstan 708B is biased in the contraction direction by the fourth torsion spring 708C to maintain a minimum level of tension in the third articular movement cable 408. Since the fourth joint movement pack assembly 708 does not contain any gears, the mechanical advantages achieved are determined by the diameter of the fourth capstan 708B.

[0065] During use, for example, rotation of the fourth capstan 708B by the robot platform 2000 causes the fourth articulation cable 408 to wrap around the fourth capstan 708B in a first direction via the fourth articulation pack 708A, resulting in the end effector 200 pivoting downward and to the right around the articulation joint 300. As previously discussed, this downward movement of the end effector 200 is compensated by the differential gear 520 in the knife firing subsystem. Rotation in the opposite direction by the fourth articulation pack 708A unwinds the fourth articulation cable 408, returning the end effector 200 to a position substantially coaxial with the shaft assembly 600A (e.g., coaxial with the roll axis RA).

[0066] Naturally, as discussed above, the synchronized movement of various combinations of pack assemblies 702, 704, 706, and 708 allows clinicians to position the end effector 200 in any orientation (via the robotic platform 2000).

[0067] In addition, as shown in particular in Figure 37, the housing 700 (for example, the lower frame 700B as shown in Figure 37) may be provided with a number of static redirects 714, 716, 718, 720, each having a surface that engages with an individual articular motion cable 402, 404, 406, 408 and redirects it within the housing 700. These redirects 714, 716, 718, 720 ensure proper routing of the articular motion cables 402, 404, 406, 408.

[0068] VII.2. Housing and Roll Subsystems In addition to the above, the shaft roll pack assembly 710 includes a shaft roll pack 710A, a first screw gear 710B, and a second screw gear 710C. The shaft roll pack 710A is mounted on the outer surface of the lower frame 700B and is integrated with a fifth pivot pin 734, and engages directly with the robot platform 2000. The first screw gear 710B is coaxial with the shaft roll pack 710A and is rotatable together with the shaft roll pack 710A. The second screw gear 710C meshes with the first screw gear 710B and is coupled to the rotatable outer shaft 602.

[0069] During use, for example, as discussed in more detail above, the rotation of the first screw gear 710B by the robot platform 2000 causes the second screw gear 710C to roll in a first direction via the shaft roll pack 710A, thereby causing the outer shaft 602 to roll (for example, clockwise around the roll axis RA). The rotation of the first screw gear in the opposite second direction causes the outer shaft 602 to roll in the opposite direction (for example, counterclockwise around the roll axis RA).

[0070] VII.3. Housing and Launch Subsystem In addition to the above, the launch pack assembly includes a launch pack 712A, a drive gear 712A1, a gear train 712B, and a driven gear or pinion 712C. The launch pack 712A is mounted on the outer surface of the lower frame 700B and is integrated with a sixth pivot pin 736, and engages directly with the robot platform 2000. The drive gear 712A1 rotates directly with the launch pack 712A. As shown particularly in Figure 23, the gear train 712B is rotatable with the launch pack 712A and the drive gear 712A1. In some embodiments, the gear train 712B includes a first idler gear 712B1 meshed with the drive gear 712A1, a second idler gear 712B2 coaxial with and rotatably mounted to the first idler gear 712B1, and a third idler gear 712B3 meshing with the second idler gear 712B2. The pinion 712C is coaxial with the third idler gear 712B3 and rotatably mounted to the third idler gear 712B3. Furthermore, the pinion 712C meshes with the rack 530 of the launch rod 502 to produce its translational motion (for launching and retracting the knife 206 as discussed above).

[0071] During use, for example, the rotation of the launch pack 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 launch pack 712A, the launch rod 502 is either moved distally (i.e., toward the end effector 200) to close the anvil 204 and / or fire the knife 206, or moved proximal (i.e., toward the rear of the housing 700) to retract the knife 206 and / or open the anvil 204.

[0072] VIII. Operational Algorithms Figure 49 is a diagram of an exemplary control device 1110 for controlling a robotic arm 1200 and a surgical device 1000 via a handle 700. As shown, the control device 1110 may include a processor 1112, an input / output device 1114, an operating system (OS) 1118, a memory 1116 containing a storage device 1120 which may be any suitable storage location for data, and a program 1122. The input / output device may be configured to receive and output commands for controlling the robotic arm 1200 and the surgical device 1000. The control device 1110 may include a user interface (U / I) 1124 device for receiving user input data (e.g., from a physician, technician, etc.), such as data representing clicks, scrolls, taps, presses, movement of a control lever, or typing on an input device which can detect tactile input. The control device 1110 may include a display.

[0073] The control device 1110 may include a peripheral interface, which may include hardware, firmware, and / or software that enables communication with various peripheral devices such as media drives (e.g., magnetic disk, solid-state, or optical disk drives), other processing devices, or any other input sources used in connection with this technology. The peripheral interface may include serial ports, parallel ports, general-purpose input and output (GPIO) ports, game ports, universal serial bus (USB), micro USB ports, high-definition multimedia (HDMI) ports, video ports, audio ports, Bluetooth® ports, WiFi ports, near-field communication (NFC) ports, other similar communication interfaces, or any combination thereof, which can communicate with other devices via wired or wireless connections or networks, whether local area or wide area, private or public, as known in the art. The power supply may be configured to provide power to the components by providing appropriate alternating current (AC) or direct current (DC).

[0074] The processor 1112 may include one or more application-specific integrated circuits (ASICs), programmable logic devices, microprocessors, microcontrollers, digital signal processors, coprocessors, etc., or combinations thereof, that can execute stored instructions and operate based on stored data. Memory 1116 may include one or more suitable types of memory (e.g., volatile or non-volatile memory, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic disk, optical disk, floppy disk, hard disk, removable cartridge, flash memory, redundant array of independent disk (RAID), etc.) for storing files containing the operating system 1118, application programs 1122 (e.g., web browser applications, widget or gadget engines, and / or other applications as needed), executable instructions, and data.

[0075] The processor 1112 may be one or more known processing devices, such as microprocessors from the Pentium® family manufactured by Intel®, the Turion® family manufactured by AMD®, or the Cortex® family or SecurCore® manufactured by ARM®, to name just a few examples. The processor 1112 may be a single-core processor or a multi-core processor that performs parallel processing simultaneously. For example, the processor 1112 may be a single-core processor configured with virtual processing technology. Those skilled in the art will understand that other types of processor configurations that provide the capabilities disclosed herein may be implemented.

[0076] The control device 1110 may include one or more storage devices 1120 configured to store information used by the processor 1112 (or other components) to perform at least some of the functions disclosed herein. For example, the control device 1110 may include a memory 1116 containing instructions that enable the processor 1112 to execute one or more applications, network communication processes, and any other type of application or software known to be available on a computer system. Alternatively, instructions, application programs, or other software may be stored in external storage and / or available from remote memory via a network. The one or more storage devices may be volatile or non-volatile, magnetic, semiconductor, tape, optical, removable, non-removable, or other types of storage devices or tangible computer-readable media.

[0077] The control device 1110 may include a memory 1116 containing instructions that, when executed by the processor 1112, perform one or more processes consistent with the functions disclosed herein. Methods, systems, and products consistent with the disclosed embodiments are not limited to separate programs or computers configured to perform dedicated tasks. For example, the control device 1110 may include a memory 1116 containing one or more programs 1122 for performing one or more functions of the disclosed technology. For example, the control device 1110 may have access to one or more programs 1122 that, when executed, perform at least one of the functions disclosed herein. One or more programs 1122 may receive input from a user (e.g., a doctor, a technician, etc.) and cause the control device 1110 to output one or more control signals to the robot arm 1200. One or more programs 1122 may be configured to display images on the user interface 1124 that indicate a function or state associated with the robot arm 1200.

[0078] The memory 1116 of the control device 1110 may include one or more memory devices for storing data and instructions used to implement one or more of the methods and features disclosed herein. The memory 1116 may include software components that, when executed by the processor 1112, execute one or more processes consistent with those disclosed herein. The control device 1110 may include any number of hardware and / or software applications that are executed to facilitate any operation. One or more I / O interfaces 1114 may be used to receive or collect data and / or user instructions from a wide variety of input devices. The received data may be processed by one or more computer processors 1112 and / or stored in one or more memory devices, as desired in various implementations of the technology of this disclosure.

[0079] While control devices 1110 for implementing the techniques described herein have been described above, those skilled in the art will understand that other functionally equivalent techniques can be used. For example, as is known in the art, some or all of the functions implemented via executable instructions can be implemented using firmware and / or hardware devices such as application-specific integrated circuits (ASICs), programmable logic arrays, and state machines. Furthermore, control devices 1110 may include more or fewer components than those illustrated and / or described above.

[0080] As those skilled in the art will understand, the control device 1110 described above may be implemented within the robot platform 2000 or any other structure (for example, a computing system separate from the robot platform 2000).

[0081] Furthermore, the control device 1110 communicates with one or more sensors 1300 integrated with the surgical instrument 1000, or with a pack encoder 1300 integrated with the robot platform 2000. For example, one or more sensors 1300 may include one or more magnetic rotary position encoders configured to identify the motor 1202 of the robot arm 1200, the shaft assembly 600A (e.g., the roll angle of the outer shaft 602), and / or the rotational position of the end effector 200 of the surgical instrument 1000. In some examples, the magnetic rotary position encoder may be coupled to the processor 1112. The sensors 1300 may also include current sensors, velocity sensors, and other forms of position sensors as necessary to perform the following processes:

[0082] VIII.1 Cable compensation in Maypoles Cable-driven medical instruments (e.g., end cutters such as two-degree-of-freedom staplers) require the shaft to roll relative to the cable. In the surgical instrument 1000 described herein, the outer shaft 602 rolls relative to the articular movement cables 402, 404, 406, and 408. When this occurs, the cable experiences twisting and winding motion around a central tube known as a maypole, as discussed above. In some applications, such as the surgical instrument 1000 described herein, the cable is wound around a central tube, which may be fixed or non-fixed. Such motion stretches the cable because the distance between the fixed surface where the cable exits the proximal handle (e.g., handle 700) and the surface where it enters the shaft (e.g., outer shaft 602) that rotates with the roll changes in accordance with the roll. When this occurs, the cable undergoes unintended stretching, and the tension of the cable increases in proportion to the stiffness of the cable. In the case of polymer cables or fishing lines, the stiffness is low, and therefore the increase in cable tension during rolling is small. In the case of metal cables such as tungsten or stainless steel, such an increase in cable tension is not insignificant. For example, a 320-degree roll causes more than 1.5 mm of elongation in a stainless steel cable. This is equivalent to an increase of 70-90 Newtons (N) in cable tension, which is approximately one-third of the available tension increase. In other words, when articulated cables 402, 404, 406, and 408 are wrapped around the Maypole tube 608, cables 402, 404, 406, and 408 will be pulled proportionally tighter if not compensated for.

[0083] To substantially eliminate cable elongation and the corresponding increase in cable tension, the art of the present disclosure includes a control system, including a control device 1110, which is operable to release the cables 402, 404, 406, and 408 (e.g., via a cable motor 1202) in proportion to the roll angle, thereby compensating for the roll, by performing the processes described in the following paragraphs. In the context of the present disclosure, compensation means that the articulation cables 402, 404, 406, and 408 are "let out" while the current articulation angle in the articulation joint 300 is maintained, so as the roll subsystem 500 is rolled, so as not to put excessive stress on the articulation cables 402, 404, 406, and 408. Furthermore, to adjust the behavior of the articulation joint 300 in the maypole, the total changed cable compensation length can be adjusted by utilizing a partial compensation coefficient between approximately 80% and 90% of the ideal compensation length (described in more detail below). This partial compensation factor is adjustable to give the articulated joint 300 a "solid" (i.e., high cable tension) behavior during rolling, rather than a "soft" (i.e., low cable tension) behavior, while preventing tension loss by not providing full compensation. The partial compensation factor also simplifies the kinematic model of the maypole by allowing the controller to ignore the effects of friction in the maypole and cable flattening (i.e., changes in cable diameter).

[0084] As discussed in Section VI.1, the surgical instrument 1000 described herein includes a configuration that employs a maypole section that allows articulation cables 402, 404, 406, and 408 to wrap around a shaft (e.g., a maypole tube 608) when the surgical instrument 1000 is rolled clockwise or counterclockwise by up to 320 degrees, etc. However, it should be noted that the above description focuses on the maypole because it relates to the maypole tube 608, but the following also applies to scenarios in which articulation cables 402, 404, 406, and 408 may maypole around another shaft (e.g., a launch rod 502) and various other cable-driven medical instruments (which do not currently compensate for cable elongation in the maypole).

[0085] Referring to Figure 39, the maypole length (L) is the distance between (1) a fixed surface of the proximal handle 700 from which the cables (plural or singular) 402, 404, 406, 408 emerge (i.e., an exemplary point P1 along the proximal or internal cables of the handle 700, restricted / constrained in the rotational direction) and an internal surface of the outer shaft 602 from which the cables re-enter (e.g., an exemplary point P2 shown in Figures 38 and 39, where the articulation cables 402, 404, 406, 408 engage with the internal shaft 604), which rotates with the outer shaft 602. The region along the maypole length (L) is also referred to as the maypole section or region, along with the sections of cables 402, 404, 406, 408 extending along it / through its interior. Furthermore, a triangular relationship can be defined between a roll angle (B) and the delta displacement that each cable must undergo to maintain the tension of the cable before the maypole (also referred to herein as the "initial tension"), given a cable diameter (d) and a given central tube / maypole tube diameter (D) around which the cables (one or more) 402, 404, 406, 408 can wrap. In addition, before the maypole, each cable is positioned at a cable position (R) that indicates the radial distance from the center of the maypole tube 608 to the center of the cable. Certain parameters such as cable position (R), cable diameter (d), and maypole tube diameter (D) are known constants, and other inputs such as the roll angle (B) can be obtained by the control device 1110 (e.g., by one of the sensors / encoders 1300) in any suitable way. More specifically, the roll angle (B) can be measured via a pack encoder and divided by the roll gear ratio between the roll pack 710A and the outer shaft 602.

[0086] For the sake of brevity, the articular motion cable 402 is described herein as an example of the operation of the control device 1110. Those skilled in the art will understand that the following concepts are equally applicable to any cable implemented in a surgical instrument 1000 that maypole in a similar manner. Figure 43 conceptually illustrates the transfer function modeling of the maypole system described herein. Assuming that the maypole action occurs in three-dimensional space and the cable 402 spirals around the tube 608, but that the cable 402 is maintained at the same tension as the initial tension throughout the maypole (i.e., not stretched), the cable 402 can be modeled trigonally in two-dimensional space using a right triangle, where one side is the tube length (L) and the other side is the two-dimensional projection length (K), and the hypotenuse of the right triangle is the total length of the cable 402 after maypole (M). t ) and can be defined by the following equation. M t =2M n +S wrap (1) In the formula, M n This is the length of the inlet cone and the outlet cone (i.e., the portion of cable 402 that does not wrap around the maypole tube 608), S wrap This is the length of the cable 402 that wraps around the maypole tube 608.

[0087] The Maypole system described herein is also governed by the following two equations:

[0088]

number

[0089] Figure 53 shows the case where |B| is less than or equal to γ ​​(referred to herein as Case I), which is a schematic cross-sectional view of the cable 402 and the maypole tube 608 when there is no capstan effect. In other words, the cable 402 is not wound to an angle large enough that the cable comes into contact with the maypole tube 608 due to the helical shape of the maypole cable 402. Case I is governed by the following equation:

[0090]

number

[0091] Another case where |B| is greater than γ (referred to herein as Case II) is shown in Figure 45, which is a schematic cross-sectional view of the cable 402 and the maypole tube 608 in the case of a capstan effect. In other words, the cable 402 is wound to an angle large enough that the helical shape of the maypole cable 402 (due to its rotational relationship with the outer shaft 602) causes the cable to contact the maypole tube 608. Case II is governed by the following equation:

[0092]

number

[0093] Considering the above, the Maypole transfer function is governed by the following three equations.

[0094]

number

[0095] Figures 46A–47 show an example of Maypole compensation modeling according to the disclosure of the present invention. The dimensions shown are, of course, illustrative and are not intended to limit in any way the spirit and scope of this disclosure. Referring to Figure 56 along with the exemplary dimensions of the surgical instrument shown in Figures 46A–46B, a graph of the Maypole transfer function (ΔL / difference B) is shown. When the shaft rolls 360 degrees, the cable stretches by approximately 1.8 millimeters. Ideally, lengthening the cable by 1.8 millimeters would keep the tension constant. Depending on the material used for the articular movement cable 402, 1.8 millimeters may or may not be significant. It should also be noted that this transfer function can be approximated using a linear polynomial whose coefficients can be constructed based on experimental data, also known as mapping.

[0096] While the above describes an ideal situation, those skilled in the art will understand that such a Maypole relationship is also a function of friction between the cable and the surface to which the cable is Maypoleed. Since friction is difficult to measure / predict and changes over time, such effects can be eliminated by using a partial compensation approach, in which case the idealized kinematics can be multiplied by a fixed coefficient of less than 1, or by a coefficient relationship as a function of roll, making the compensation adaptable to various wrist behaviors, while simultaneously preventing tension loss in the cable 402 by intentionally undercompensating. For example, experimental tests have shown that such a partial compensation approach reduces the uncompensated change in tension from 30-40N to nearly 10N when the compensation is 85%, while still maintaining sufficient residual tension to offset the frictional effect and preventing the cable 402 from slackening. Thus, the process described herein allows for the further calculation of the cable compensation length (ΔL') by multiplying the determined change in cable length (ΔL) by a coefficient between 0 and 1.

[0097] Figure 48 graphically illustrates other exemplary changes in cable tension as a function of roll and compensation factor, showing how compensating the maypole of articulated cable 402 affects cable tension. As shown, cable tension decreases as a function of a more aggressive compensation factor.

[0098] IX. Clause The technologies of this disclosure described herein can be further understood in accordance with the following provisions.

[0099] Clause 1. A surgical instrument (1000), comprising a shaft assembly (600A) comprising a rotatable outer shaft (602) configured to rotate about a roll axis (RA), and a maypole tube (608) housed within the outer shaft; a launch rod (502) extending within the maypole tube (608) and configured to move a knife (206) in an end effector (200); and one or more articulation cables (402, 404, 4 A surgical instrument (1000) comprising one or more articulation cables (402, 404, 406, 408), each articulation cable (402, 404, 406, 408) configured such that (i) each articulation cable (402, 404, 406, 408) is operable to cause rotation of an end effector (200) about at least one of a pitch axis (PA) and a yaw axis (YA), and (ii) each articulation cable (402, 404, 406, 408) is configured to wrap around a maypole tube (608) when a rotatable outer shaft (602) rotates about a roll axis (RA).

[0100] Clause 2. The surgical instrument (1000) as described in Clause 1, further comprising a shaft roll pack assembly (710), the shaft roll pack assembly (710) comprising a rotatable shaft roll pack (710A), a first screw gear (710B) rotatable with the shaft roll pack (710A), and a second screw gear (710C) meshing with the first screw gear (710B) and coupled to an outer shaft (602), wherein rotation of the shaft roll pack (710A) rotates the first screw gear (710B), thereby rotating the second screw gear (710C), thereby rotating the outer shaft (602) about the roll axis (RA).

[0101] Clause 3. Further comprising a shaft roll pack assembly (710'), the shaft roll pack assembly (710') comprising a rotatable shaft roll pack (710A'), a first input capstan (710B1') rotatable with the shaft roll pack (710A'), a second input capstan (710B2') rotatable with the shaft roll pack (710A'), an output drum (710C') connected to an outer shaft (602), a first roll cable (711B1') connecting the first input capstan (710B1') and the output drum (710C'), and a second roll cable (711B2') connecting the second input capstan (710B2') and the output drum (710C'), wherein the rotation of the shaft roll pack (710A) is controlled by the first input capstan (710B1') and A surgical instrument (1000) as described in Clause 1, which rotates a second input capstan (710B2') to cause either (i) a first roll cable (711B1') to wrap around the first input capstan (710B1') and a second roll cable (711B2') to unwrap from the second input capstan (710B2'), thereby rotating the output drum (710C') and outer shaft (602) in a first direction about the roll axis (RA), or (ii) a first roll cable (711B1') to unwrap from the first input capstan (710B1') and a second roll cable (711B2') to wrap around the second input capstan (710B2'), thereby rotating the output drum (710C') and outer shaft (602) in a second direction about the roll axis (RA).

[0102] Clause 4. A surgical instrument (1000) described in any one of Clauses 1 to 3, the maypole tube (608) completely encloses at least a portion of the firing rod (502).

[0103] Clause 5. A surgical instrument (1000) according to any one of Clauses 1 to 4, further comprising a housing (700) configured to engage with a robotic platform (2000), wherein the proximal end (608A) of a maypole tube (608) is located within the housing (700).

[0104] Clause 6. The proximal end (608A) is flared, as described in Clause 5 (1000).

[0105] Clause 7. A surgical instrument (1000) as described in any one of Clauses 5 to 6, further comprising an inner shaft (604) rotatably fixed to an outer shaft (602), and a maypole tube (608) extending from a housing (700) to the inner shaft (604).

[0106] Clause 8. The surgical instrument (1000) according to Clause 7, comprising one or more support channels (605) for rotationally restraining one or more articular movement cables (402, 404, 406, 408) on an internal shaft (604).

[0107] Clause 9. One or more articular movement cables (402, 404, 406, 408) of the surgical instrument (1000) described in any one of Clauses 1 to 8, (i) surrounding the Maypole tube (608) and (ii) not rotationally constrained in the area of ​​the surgical instrument (1000) extending substantially the entire length of the Maypole tube (608).

[0108] Clause 10. A maypole tube (608) is a surgical instrument (1000) as described in any one of Clauses 1 to 9, comprising a rigid material.

[0109] Clause 11. A Maypole tube (608) is a surgical instrument (1000) described in any one of Clauses 1 to 9, comprising a flexible material.

[0110] Clause 12. A Maypole tube (608) is a surgical instrument (1000) as described in any one of Clauses 1 to 11, comprising a lubricating additive material.

[0111] Clause 13. A control device (1110) for adjusting the length of a cable (402) of a surgical instrument (1000), the surgical instrument comprising a cable and a shaft (602), the cable comprising (i) a section having an initial length (L) defined between a rotationally constrained proximal point (P1) of the cable and a rotatable point (P2) of the cable that is rotatable with the shaft, and (ii) an initial tension at a zero-degree roll angle, the control device (1110) is configured to receive a non-zero-degree roll angle (B) of the rotatable point (P2) of the cable that rotates with the shaft with respect to the rotationally constrained proximal point (P1) of the cable, determine a change (ΔL) in the length of the section of the cable (402) relative to the initial length (L) to maintain the cable (402) at the initial tension, calculate a cable compensation length by multiplying the determined change (ΔL) in the length of the section of the cable (402) by a coefficient, and deliver a signal to change the length of the section of the cable based on the calculated cable compensation length.

[0112] Clause 14. The coefficient is between 0 and 1, for the control device (1110) described in Clause 13.

[0113] Clause 15. The coefficient is between approximately 0.5 and 0.85, for the control device (1110) described in Clause 14.

[0114] Clause 16. A surgical system comprising: a surgical instrument (1000), a shaft assembly (600A) extending from the housing (700), comprising an outer shaft (602) configured to rotate about a roll axis (RA), and a maypole tube (608) housed within the outer shaft; a cable (402) comprising a rotationally constrained point (P1) proximal to the housing (700) and a rotatable point (P2) rotatable with the outer shaft (602), wherein the cable (402) has a length (L) defined between the rotationally constrained point (P1) and the rotatable point (P2) at a zero-degree roll angle; and the length of the cable. A surgical system comprising: a control device (1110) for adjusting tension, the control device (1110) is configured to receive a non-zero-degree roll angle (B) of the rotatable point (P2) of the cable (402) with respect to the rotationally constrained proximal point (P1) of the cable; determine a change in the length of the cable (402) (ΔL) with respect to the length of the cable (402) at a zero-degree roll angle, maintaining the cable (402) with the same tension as the tension of the cable (402) when the cable (402) is at a zero-degree roll angle; calculate a cable compensation length by multiplying the determined change in the length of the cable (ΔL) by a coefficient; and deliver a signal for changing the length of the cable based on the calculated cable compensation length.

[0115] Clause 17. The surgical system as described in Clause 16, wherein the control device (1110) comprises a robotic platform (2000), and the housing (700) comprises a pack assembly (702) connected to the robotic platform (2000), and the pack assembly (702) is configured to receive signals for changing the length of a cable (402) by unwinding the cable (402) from the pack assembly (702).

[0116] Clause 18. A surgical system as described in any one of Clauses 16-17, wherein the coefficient is between 0 and 1.

[0117] Clause 19. The coefficient is between approximately 0.5 and 0.85, for the surgical system described in Clause 18.

[0118] Clause 20. A surgical system as described in any one of Clauses 16 to 19, comprising a surgical instrument (1000) comprising a launching rod (502) and a maypole tube (608) completely enclosing at least a portion of the launching rod (502).

[0119] The embodiments described above are for illustrative purposes only, and the present invention is not limited to those specifically illustrated and described herein. Rather, the scope of the present invention includes both combinations and secondary combinations of the various features described and illustrated above, as well as variations and modifications thereof not disclosed in the prior art, which would be recalled by those skilled in the art by reading the foregoing description.

[0120] [Implementation Method] (1) Surgical instruments (1000), A shaft assembly (600A), A rotatable outer shaft (602) configured to rotate around a roll axis (RA), The maypole tube (608) housed within the outer shaft, A shaft assembly (600A) comprising, A firing rod (502) extends within the maypole tube (608) and is configured to move the knife (206) inside the end effector (200), One or more articulated cables (402, 404, 406, 408), each articulated cable (402, 404, 406, 408) is configured such that (i) it is operable to cause rotation of the end effector (200) about at least one of the pitch axis (PA) and the yaw axis (YA), and (ii) the rotatable outer shaft (602) wraps around the maypole tube (608) when it rotates about the roll axis (RA), Surgical instruments equipped with (1000). (2) Further comprising a shaft roll pack assembly (710), the shaft roll pack assembly (710) Rotatable shaft roll pack (710A), A first screw gear (710B) that is rotatable together with the shaft roll pack (710A), A second screw gear (710C) meshes with the first screw gear (710B) and is coupled to the outer shaft (602), Equipped with, The rotation of the shaft roll pack (710A) rotates the first screw gear (710B), which in turn rotates the second screw gear (710C), which in turn rotates the outer shaft (602) around the roll axis (RA). A surgical instrument (1000) as described in Embodiment 1. (3) Further comprising a shaft roll pack assembly (710'), the shaft roll pack assembly (710') is Rotatable shaft roll pack (710A'), A first input capstan (710B1') rotatable together with the shaft roll pack (710A'), A second input capstan (710B2') rotatable together with the aforementioned shaft roll pack (710A'), The output drum (710C') is connected to the outer shaft (602), The first roll cable (711B1') connects the first input capstan (710B1') and the output drum (710C'), The second roll cable (711B2') connects the second input capstan (710B2') and the output drum (710C'), Equipped with, The rotation of the shaft roll pack (710A) causes the first input capstan (710B1') and the second input capstan (710B2') to rotate, thereby, (i) winding the first roll cable (711B1') around the first input capstan (710B1') and unwinding the second roll cable (711B2') from the second input capstan (710B2'), thereby rotating the output drum (710C') and the outer shaft (602) in a first direction about the roll axis (RA), or (ii) Unwind the first roll cable (711B1') from the first input capstan (710B1'), and wrap the second roll cable (711B2') around the second input capstan (710B2'), thereby rotating the output drum (710C') and the outer shaft (602) in a second direction around the roll axis (RA), A surgical instrument (1000) according to Embodiment 1, which causes one of the following to be performed. (4) The surgical instrument (1000) according to any one of embodiments 1 to 3, wherein the maypole tube (608) completely surrounds at least a portion of the firing rod (502). (5) A surgical instrument (1000) according to any one of embodiments 1 to 4, further comprising a housing (700) configured to engage with a robot platform (2000), wherein the proximal end (608A) of the maypole tube (608) is located within the housing (700).

[0121] (6) The proximal end (608A) is a flared surgical instrument (1000) as described in Embodiment 5. (7) A surgical instrument (1000) according to any one of embodiments 5 to 6, further comprising an inner shaft (604) rotatably fixed to the outer shaft (602), wherein the maypole tube (608) extends from the housing (700) to the inner shaft (604). (8) The surgical instrument (1000) according to Embodiment 7, wherein the inner shaft (604) comprises one or more support channels (605) that rotationally restrain one or more joint movement cables (402, 404, 406, 408). (9) The surgical instrument (1000) according to any one of embodiments 1 to 8, wherein one or more joint movement cables (402, 404, 406, 408) (i) surround the maypole tube (608) and (ii) are not rotationally constrained in the region of the surgical instrument (1000) that extends substantially the entire length of the maypole tube (608). (10) The maypole tube (608) is a surgical instrument (1000) according to any one of embodiments 1 to 9, comprising a rigid material.

[0122] (11) The Maypole tube (608) is a surgical instrument (1000) according to any one of embodiments 1 to 9, comprising a flexible material. (12) The Maypole tube (608) is a surgical instrument (1000) according to any one of embodiments 1 to 11, comprising a lubricating additive material. (13) A control device (1110) for adjusting the length of a cable (402) of a surgical instrument (1000), wherein the surgical instrument comprises the cable and a shaft (602), the cable comprising (i) a section having an initial length (L) defined between a rotationally constrained proximal point (P1) of the cable and a rotatable point (P2) of the cable that is rotatable with the shaft, and (ii) an initial tension at a zero-degree roll angle, the control device, The non-zero degree roll angle (B) of the rotatable point (P2) of the cable, which rotates with the shaft with respect to the rotationally constrained proximal point (P1) of the cable, is received. The change in length (ΔL) of the section of the cable (402) relative to the initial length (L) is determined, so that the cable (402) is maintained at the initial tension. The cable compensation length is calculated by multiplying the determined change in length (ΔL) of the section of the cable (402) by a coefficient. Based on the calculated cable compensation length, a signal is sent to change the length of the section of the cable. A control device (1110) is configured as follows. (14) The control device (1110) according to Embodiment 13, wherein the coefficient is between 0 and 1. (15) The control device (1110) according to Embodiment 14, wherein the coefficient is between approximately 0.5 and 0.85.

[0123] (16) A surgical system, Surgical instruments (1000), Housing (700) and A shaft assembly (600A) extending from the housing (700), An outer shaft (602) configured to rotate around the roll axis (RA), The maypole tube (608) housed within the outer shaft, A shaft assembly (600A) comprising, A cable (402) comprising a rotationally constrained point (P1) near the housing (700) and a rotatable point (P2) rotatable together with the outer shaft (602), wherein the cable (402) has a length (L) defined between the rotationally constrained point (P1) and the rotatable point (P2) at a zero-degree roll angle, A surgical instrument (1000) equipped with, A control device (1110) for adjusting the length of the cable, wherein the control device (1110) is The non-zero degree roll angle (B) of the rotatable point (P2) of the cable (402) with respect to the rotationally constrained proximal point (P1) of the cable is received. Determine the change in the length (ΔL) of the cable (402) with respect to the length (L) of the cable (402) at the zero-degree roll angle, such that the cable (402) is maintained with the same tension as the cable (402) when it is at the zero-degree roll angle. The cable compensation length is calculated by multiplying the determined change in the length of the cable (ΔL) by a coefficient. A control device (1110) is configured to send a signal to change the length of the cable based on the calculated cable compensation length, A surgical system equipped with [a specific feature / feature]. (17) The surgical system according to Embodiment 16, wherein the control device (1110) comprises a robot platform (2000), the housing (700) comprises a pack assembly (702) connected to the robot platform (2000), and the pack assembly (702) is configured to receive the signal for changing the length of the cable (402) by unwinding the cable (402) from the pack assembly (702). (18) The surgical system according to any one of embodiments 16 to 17, wherein the coefficient is between 0 and 1. (19) The surgical system according to Embodiment 18, wherein the coefficient is between approximately 0.5 and 0.85. (20) The surgical system according to any one of embodiments 16 to 19, wherein the surgical instrument (1000) comprises a launching rod (502), and the maypole tube (608) completely surrounds at least a portion of the launching rod (502).

Claims

1. Surgical instrument (1000), A shaft assembly (600A), A rotatable outer shaft (602) configured to rotate around the roll axis (RA), The maypole tube (608) housed within the outer shaft, A shaft assembly (600A) comprising, A launching rod (502) extends within the maypole tube (608) and is configured to move the knife (206) inside the end effector (200), One or more articulated cables (402, 404, 406, 408), each articulated cable (402, 404, 406, 408) is configured such that (i) it is operable to cause rotation of the end effector (200) about at least one of the pitch axis (PA) and the yaw axis (YA), and (ii) the rotatable outer shaft (602) wraps around the maypole tube (608) when it rotates about the roll axis (RA), A surgical instrument (1000) equipped with [a specific feature].

2. The system further comprises a shaft roll pack assembly (710), the shaft roll pack assembly (710) Rotatable shaft roll pack (710A), A first screw gear (710B) rotatable together with the shaft roll pack (710A), A second screw gear (710C) meshes with the first screw gear (710B) and is coupled to the outer shaft (602), Equipped with, The rotation of the shaft roll pack (710A) rotates the first screw gear (710B), which in turn rotates the second screw gear (710C), which in turn rotates the outer shaft (602) around the roll axis (RA). The surgical instrument (1000) according to claim 1.

3. The system further comprises a shaft roll pack assembly (710'), the shaft roll pack assembly (710') is Rotatable shaft roll pack (710A'), A first input capstan (710B1') that is rotatable together with the shaft roll pack (710A'), A second input capstan (710B2') rotatable together with the shaft roll pack (710A'), The output drum (710C') is connected to the outer shaft (602), The first roll cable (711B1') connects the first input capstan (710B1') and the output drum (710C'), The second roll cable (711B2') connects the second input capstan (710B2') and the output drum (710C'), Equipped with, The rotation of the shaft roll pack (710A) causes the first input capstan (710B1') and the second input capstan (710B2') to rotate, thereby, (i) winding the first roll cable (711B1') around the first input capstan (710B1') and unwinding the second roll cable (711B2') from the second input capstan (710B2'), thereby rotating the output drum (710C') and the outer shaft (602) in a first direction about the roll axis (RA), or (ii) Unwind the first roll cable (711B1') from the first input capstan (710B1'), and wrap the second roll cable (711B2') around the second input capstan (710B2'), thereby rotating the output drum (710C') and the outer shaft (602) in a second direction about the roll axis (RA), A surgical instrument (1000) according to claim 1, which causes one of the following to be performed.

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

5. The surgical instrument (1000) according to claim 1, further comprising a housing (700) configured to engage with a robot platform (2000), wherein the proximal end (608A) of the maypole tube (608) is located within the housing (700).

6. The proximal end (608A) is flared out, as described in claim 5 (1000).

7. A surgical instrument (1000) according to any one of claims 5 to 6, further comprising an inner shaft (604) rotatably fixed to the outer shaft (602), wherein the maypole tube (608) extends from the housing (700) to the inner shaft (604).

8. The surgical instrument (1000) according to claim 7, wherein the inner shaft (604) comprises one or more support channels (605) that rotationally restrain one or more joint movement cables (402, 404, 406, 408).

9. The surgical instrument (1000) according to claim 1, wherein one or more joint movement cables (402, 404, 406, 408) (i) surround the maypole tube (608) and (ii) are not rotationally constrained in the region of the surgical instrument (1000) that extends substantially the entire length of the maypole tube (608).

10. The surgical instrument (1000) according to claim 1, wherein the maypole tube (608) is made of a rigid material.

11. The surgical instrument (1000) according to claim 1, wherein the maypole tube (608) is made of a flexible material.

12. The surgical instrument (1000) according to claim 1, wherein the maypole tube (608) is provided with a lubricating additive material.

13. A control device (1110) for adjusting the length of a cable (402) of a surgical instrument (1000), wherein the surgical instrument comprises the cable and a shaft (602), the cable comprising (i) a section having an initial length (L) defined between a rotationally constrained proximal point (P1) of the cable and a rotatable point (P2) of the cable that is rotatable with the shaft, and (ii) an initial tension at a zero-degree roll angle, the control device, The non-zero degree roll angle (B) of the rotatable point (P2) of the cable, which rotates with the shaft, is received with respect to the rotationally constrained proximal point (P1) of the cable. The change in the length of the section of the cable (402) relative to the initial length (L) is determined in order to maintain the cable (402) with the initial tension. The cable compensation length is calculated by multiplying the determined change in length (ΔL) of the section of the cable (402) by a coefficient. Based on the calculated cable compensation length, a signal is sent to change the length of the section of the cable. A control device (1110) is configured as follows.

14. The coefficient is between 0 and 1, as described in the control device (1110) of Clause 13.

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

85.

16. A surgical system, Surgical instrument (1000), Housing (700) and A shaft assembly (600A) extending from the housing (700), An outer shaft (602) configured to rotate around the roll axis (RA), The maypole tube (608) housed within the outer shaft, A shaft assembly (600A) comprising, A cable (402) comprising a rotationally constrained point (P1) near the housing (700) and a rotatable point (P2) rotatable together with the outer shaft (602), wherein the cable (402) has a length (L) defined between the rotationally constrained point (P1) and the rotatable point (P2) at a zero-degree roll angle, A surgical instrument (1000) equipped with, A control device (1110) for adjusting the length of the cable, wherein the control device (1110) is The non-zero degree roll angle (B) of the rotatable point (P2) of the cable (402) with respect to the rotationally constrained proximal point (P1) of the cable is received. Determine the change in the length (ΔL) of the cable (402) with respect to the length (L) of the cable (402) at the zero-degree roll angle, such that the cable (402) is maintained with the same tension as the cable (402) when it is at the zero-degree roll angle. The cable compensation length is calculated by multiplying the determined change in the length of the cable (ΔL) by a coefficient. A control device (1110) configured to send a signal to change the length of the cable based on the calculated cable compensation length, A surgical system equipped with [a specific feature / feature].

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

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

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

85.

20. The surgical system according to claim 16, wherein the surgical instrument (1000) comprises a launching rod (502), and the maypole tube (608) completely surrounds at least a portion of the launching rod (502).

Images