Motor position control and method for robot-assisted sealing devices

Abstract

The robotic surgical instrument includes a housing having a shaft extending therefrom and configured to receive a first end effector including jaw members movable between a fully open position in which the jaw members are spaced apart a maximum distance from one another and a closed position in which a closing pressure between the jaw members is within a predetermined range. A drive rod actuates the first end effector upon translation. The housing includes a spring compression assembly having a proximal hub and a distal hub with a compression spring disposed therebetween. A jaw drive input rotates a drive gear to translate the distal hub relative to the proximal hub, compressing the compression spring and actuating the end effector. When the jaw members are fully open, the jaw drive input rotates a preset number of degrees to compress the compression spring and bring the jaw members closer to a closing pressure within the predetermined range.

Description

[Technical Field]

[0001] Cross-reference of related applications This application claims the interests of U.S. Provisional Patent Applications No. 63 / 183,089, No. 63 / 183,091, and No. 63 / 183,093, all filed on 3 May 2021, the entire contents of each of these applications are incorporated herein by reference.

[0002] This disclosure relates to surgical instruments, and more specifically to sealing devices and methods thereof, for example, for use in robotic surgical systems. [Background technology]

[0003] Robotic surgical systems are increasingly being used in a variety of different surgical procedures. Some robotic surgical systems include a console that supports a robotic arm. One or more different surgical instruments may be configured for use with the robotic surgical system and may be selectively attached to the robotic arm. The robotic arm provides one or more input ports to the attached surgical instrument, enabling its manipulation.

[0004] When treating tissue, the closing force between the jaw members of a surgical instrument may need to be consistently monitored to properly treat the tissue and avoid tissue damage. As a result, instrument manufacturers typically include one or more sensors, such as torque sensors, to monitor the torque on the closing screw or shaft, which generally correlates with the closing pressure between the jaw members. With respect to repeated use, this technique is generally inconsistent.

[0005] When sealing tissue, the closing pressure between jaw members must remain within a preferred range to ensure proper and consistent sealing. Using one or more sensors is generally unreliable, and over time, the correlation of these readings with the actual closing pressure between jaw members becomes unreliable and inconsistent with repeated use. [Overview of the project] [Means for solving the problem]

[0006] In this specification, the term “distal” refers to the part of the subject being described that is far from the operator (whether a human surgeon or a surgical robot), and the term “proximal” refers to the part of the subject being described that is close to the operator. When used herein, terms such as “about” and “substantially” are used to describe the manufacturing, materials, environment, use, and / or measurement tolerances and deviations. Furthermore, to a non-contradictory extent, any of the embodiments described herein may be used in conjunction with any or all of the other embodiments described herein. Furthermore, rotation may be measured in degrees or radians.

[0007] According to aspects of the present disclosure, a robotic surgical instrument is provided, comprising a housing having a shaft extending therefrom, configured to receive a first selectively engageable end effector assembly at its distal end. The first selectively engageable end effector assembly has a fully open position in which the jaw members are separated from each other at their maximum distance, and a closing pressure between the jaw members of approximately 3 kg / cm². 2 ~Approx. 16kg / cm 2 It includes a pair of jaw members movable between a closed position within a range. The shaft includes a drive rod extending through the shaft and configured to actuate a first selectively engageable end effector assembly when the drive rod is moved in parallel, and the housing includes a spring compression assembly supported within the housing. The spring compression assembly includes a proximal hub configured to secure the proximal end of the drive rod of a selectively engageable end effector disposed through the interior, a distal hub spaced apart from the proximal hub and comprising a plurality of teeth disposed above it, and a compression spring having a known spring constant mounted between the proximal and distal hubs.

[0008] The jaw drive input part is included, and the jaw drive input part is configured to rotate a jaw drive input shaft having a drive gear disposed thereon. The drive gear is such that its rotation causes the distal hub to translate parallel to the proximal hub, compressing the compression spring, and causes the drive rod of the first selectively engageable end effector to translate, moving the jaw members relative to each other. The drive gear is configured to mesh with a corresponding plurality of teeth of the distal hub such that when the jaw members move to the fully open position, the jaw drive input part rotates the jaw drive input shaft by a preset number of rotation angles to compress the compression spring, and the jaw members are about 3 kg / cm 2 ~ about 16 kg / cm 2 and is configured to approach the closing pressure within the range of.

[0009] In an aspect according to the present disclosure, the housing is configured such that a subsequent selectively engageable end effector assembly can be exchanged with the first selectively engageable end effector assembly without recalibrating a preset number of rotation angles of the jaw drive input shaft from the fully open position of the jaw members. In another aspect according to the present disclosure, the preset rotation angle of the jaw drive input part from the fully open position of the jaw members correspondingly compresses the compression spring by a preset distance, ensuring that during repeated use, the closing pressure remains within the range of about 3 kg / cm 2 ~ about 16 kg / cm 2 to remain within.

[0010] In an aspect according to the present disclosure, the preset rotation angle of the jaw drive input part from the fully open position of the jaw members of the first selectively engageable end effector assembly or any subsequent selectively engageable end effector assembly correspondingly compresses the compression spring by the same distance, ensuring that during repeated use, the closing pressure remains within the range of about 3 kg / cm 2 ~ about 16 kg / cm 2 to remain within. In another aspect according to the present disclosure, the preset rotation angle is about 1500 degrees to about 3000 degrees, especially depending on the arrangement of the shaft.

[0011] The present disclosure also relates to a method of using a robotic surgical instrument to seal tissue, comprising selectively engaging an end effector on a housing of the robotic surgical instrument and coupling the end effector to an actuation assembly, opening a pair of jaw members of the end effector to a fully open position, disposing tissue between the jaw members, and actuating a jaw drive input of the actuation assembly to rotate a jaw drive input shaft by a preset number of rotational degrees to compress a compression spring by a preset distance and move a pair of jaw members towards each other between the fully open position and a closing position where the closing pressure between the jaw members is in the range of about 3 kg / cm 2 to about 16 kg / cm 2 .

[0012] In an aspect according to the present disclosure, opening the jaw members of the end effector to the fully open position comprises actuating the jaw drive input to open the jaw members to the fully open position.

[0013] In an aspect according to the present disclosure, the method comprises determining that the jaw members are disposed in the fully open position. In another aspect according to the present disclosure, determining that the jaw members are disposed in the fully open position comprises at least one of visual feedback, audible feedback, or tactile feedback. In yet another aspect according to the present disclosure, determining that the jaw members are disposed in the fully open position comprises at least one of an algorithm, a position sensor, or a torque sensor.

[0014] The disclosure also relates to a method for determining the homing position of a pair of jaw members for sealing tissue using a robotic surgical instrument, comprising: selectively engaging an end effector on the housing of the robotic surgical instrument and coupling the end effector to a jaw drive input; communicating with the end effector to recognize the end effector and its associated operating parameters and characteristics and returning operating data to an EPROM or PCB; and initiating a homing algorithm to determine the fully open position of the jaw members. Initiating a homing algorithm to determine the fully open position of the jaw members comprises: initiating rotation of the jaw drive input to open the jaw members; calculating a baseline torque start average using one or more torque sensors associated with the jaw drive input; analyzing readings from the torque sensors to determine a change in average torque over time (Δ torque); and, once a predetermined change in average torque over time (Δ torque) is determined, identifying the homing position of the jaw members by making the change in average torque over time (Δ torque) equal to the jaw members being in a fully open position relative to each other.

[0015] In the embodiments of this disclosure, after identifying the homing position of the jaw drive input unit, the method repeatedly rotates the jaw drive input unit by a predetermined number of degrees from the homing position, thereby creating a closing force of approximately 3 kg / cm between the jaw members. 2 ~Approx. 16Kg / cm 2 This includes compressing the compression spring so that it repeatedly falls within a certain range.

[0016] In aspects of the present disclosure, the method includes, after calculating a baseline torque start average using one or more torque sensors associated with a jaw drive input, filtering the torque readings through a low-pass filter to avoid erroneous readings from the torque sensors and to enable more accurate average torque readings.

[0017] In the embodiments of this disclosure, the closing force between the jaw members is approximately 3 kg / cm². 2 ~Approx. 16Kg / cm 2To ensure that it falls within a certain range, the method includes rotating the jaw drive input by a predetermined degree from the homing position, then disengaging the end effector from the housing of the robotic surgical instrument, and repeating the method with a new end effector.

[0018] In aspects of this disclosure, a predetermined number of rotations or rotational angles of the jaw drive input depends on at least one of the type of compression spring, the spring constant of the compression spring, the size of the jaw drive input shaft, or the thread ratio of the jaw drive input shaft. In other aspects of this disclosure, a predetermined number of rotational angles of the jaw drive input from the homing position is 1500 degrees.

[0019] In aspects of this disclosure, a predetermined number of rotation angles of the jaw drive input from the homing position is stored in an EPROM or PCB. In other aspects of this disclosure, a predetermined number of rotation angles of the jaw drive input is stored in an EPROM or PCB based on the associated operating parameters and characteristics of the end effector.

[0020] The disclosure also relates to a method for determining the homing position of a pair of jaw members for sealing tissue using a robotic surgical instrument, comprising selectively engaging an end effector on the housing of the robotic surgical instrument and coupling the end effector to a jaw drive input, wherein the end effector has known operating parameters and characteristics embedded in an EPROM or PCB; and initiating a homing algorithm to determine the fully open position of the jaw members, the homing algorithm comprising: initiating rotation of the jaw drive input to open the jaw members; utilizing one or more torque sensors associated with the jaw drive input to calculate a baseline torque start average; analyzing readings from the torque sensors to determine a change in average torque over time (Δ torque); and, once a predetermined change in average torque over time (Δ torque) has been determined, identifying the homing position of the jaw members by making the change in average torque over time (Δ torque) equal to the jaw members being in a fully open position relative to each other.

[0021] In embodiments of this disclosure, after identifying the homing position of the jaw members, the method repeatedly rotates the jaw drive input unit by a predetermined number of radians or degrees from the homing position, thereby creating a closing force of approximately 3 kg / cm between the jaw members. 2 ~Approx. 16Kg / cm 2 This includes compressing the compression spring so that it repeatedly falls within a certain range.

[0022] In aspects of the present disclosure, the method includes, after calculating a baseline torque start average using one or more torque sensors associated with a jaw drive input, filtering the torque readings through a low-pass filter to avoid erroneous readings from the torque sensors and to enable more accurate average torque readings.

[0023] In aspects of this disclosure, a predetermined number of rotational angles of the jaw drive input from the homing position is stored in an EPROM or PCB. In other aspects of this disclosure, the predetermined number of rotations or rotational angles of the jaw drive input depends on at least one of the type of compression spring, the spring constant of the compression spring, the size of the jaw drive input shaft, or the thread ratio of the jaw drive input shaft. In yet another aspect of this disclosure, the predetermined number of rotational angles of the jaw drive input from the homing position is approximately 1500 degrees to approximately 3000 degrees (or equivalent radians). In yet another aspect of this disclosure, the predetermined number of rotational angles of the jaw drive input is stored in an EPROM or PCB based on the associated operating parameters and characteristics of the end effector.

[0024] In aspects of the present disclosure, the method includes communicating the homing position of the jaw member to an EPROM or PCB for calibration of the jaw drive input unit.

[0025] The disclosure also relates to a method for determining the homing position of a pair of jaw members for sealing tissue using a robotic surgical instrument, comprising initiating a homing algorithm to determine the fully open position of the pair of jaw members, the homing algorithm comprising: initiating rotation of a jaw drive input to open the jaw members; utilizing one or more torque sensors associated with the jaw drive input to calculate a baseline torque start average; analyzing readings from the torque sensors to determine a change in average torque over time (Δ torque); and, once a predetermined change in average torque over time (Δ torque) is determined, identifying the homing position of the jaw members by making the change in average torque over time (Δ torque) equal to the jaw members being in a fully open position relative to each other.

[0026] The disclosure also relates to a method for determining the homing position of a pair of jaw members for sealing tissue using a robotic surgical instrument, comprising selectively engaging an end effector on the housing of the robotic surgical instrument, coupling the end effector to a jaw drive input, communicating with the end effector to recognize the end effector and its associated operating parameters and characteristics, sending operating data back to an EPROM or PCB, and initiating a homing algorithm to determine the home or fully open position of the jaw members. The homing algorithm includes initiating a 180-degree rotation of the jaw drive input to close the jaw members relative to each other, ignoring torque readings from one or more sensors associated with the jaw drive input during the initial 180-degree rotation, continuously rotating the jaw drive input until a torque in the range of approximately 20 Nmm to approximately 50 Nmm is measured on the jaw drive input to close the jaw members and mark the position of the jaw drive input as position 0, rotating the jaw drive input approximately 360 degrees to open the jaw members relative to each other and ignoring torque spikes up to approximately 360 degrees, rotating the jaw drive input from approximately 360 degrees to approximately 1080 degrees and taking the starting average torque reading on the jaw drive input, continuously rotating the jaw drive input beyond 1080 degrees and looking for a torque increase of >25 Nmm from the starting average torque and assigning this jaw drive input position to the trigger point limit, and calculating the homing position of the jaw members on the jaw drive input as approximately 74 degrees from the trigger point limit position.

[0027] In the embodiments of this disclosure, the closing force between the jaw members is approximately 3 kg / cm². 2 ~Approx. 16kg / cm 2 To ensure that it falls within a certain range, the jaw drive input is further rotated by a predetermined number of degrees from the homing position. In other embodiments of this disclosure, the predetermined number of rotation angles is approximately 1500 degrees to approximately 3000 degrees.

[0028] The disclosure also relates to a method for determining the homing position of a pair of jaw members for a knife blade of a robotic surgical instrument, comprising selectively engaging an end effector on the housing of the robotic surgical instrument and coupling the end effector to a jaw drive input; communicating with the end effector to recognize the end effector and its associated operating parameters and characteristics and returning operating data to an EPROM or PCB; and initiating a homing algorithm to determine the fully retracted or home position of the knife blade positioned between the jaw members.

[0029] The homing algorithm acts to activate the knife drive coupler of the robotic surgical instrument to advance the knife blade approximately 180 degrees, ensuring engagement with the knife drive tube (or other coupler) of the robotic surgical instrument, ignoring any torque readings from one or more sensors associated with the knife drive coupler during this initial step, continuously acts to advance the knife blade further approximately 500 degrees, or until the torque on the knife drive coupler is measured in the range of approximately 4 Nmm to approximately 500 Nmm, marks the position on the knife drive coupler as knife position "0", and when the knife drive coupler reaches the torque limit If the knife moves another 500 degrees without reaching the limit, the knife drive coupler is rotated approximately 100 to 580 degrees to retract the knife blade and the starting average torque reading on the knife drive coupler is taken; the knife drive coupler is continuously rotated to retract the knife blade beyond 580 degrees and the torque increase on the knife drive input is found to be greater than approximately 20 Nmm from the starting average torque reading, and this position of the knife drive input is designated as the "knife point limit"; and the homing position of the knife blade is calculated as the "knife point limit" position minus approximately 50 degrees of rotation of the knife drive coupler. If the knife drive coupler prematurely reaches the torque limit, an error may be communicated to the user regarding the inoperable blade or to retry homing.

[0030] In aspects of the present disclosure, the method further includes disengaging an end effector from the housing of a robotic surgical instrument and repeating the method for finding the homing position of the knife blade of a new end effector.

[0031] The disclosure also relates to a method for determining a homing position for a knife blade of a robotic surgical instrument, the method comprising: initiating a homing algorithm to determine a fully retracted or home position of a knife blade positioned between a pair of jaw members of a robotic surgical instrument, the homing algorithm ignoring any torque readings from one or more sensors associated with the knife drive coupler of the robotic surgical instrument to advance the knife blade by about 180 degrees to ensure engagement with the knife assembly of the robotic surgical instrument; and ignoring any torque readings from one or more sensors associated with the knife drive coupler during this initial step; and continuously ignoring the knife drive coupler to advance the knife blade by a further about 500 degrees, or when the torque is in the range of about 40 Nmm to about 500 Nmm on the knife drive coupler The process includes starting by moving forward until a measurement is taken and marking the position on the knife drive coupler as knife position "0", if the knife drive coupler moves another 500 degrees without reaching the torque limit, rotating the knife drive coupler approximately 100 degrees to approximately 580 degrees to retract the knife blade and taking the starting average torque reading on the knife drive coupler, and continuously rotating the knife drive coupler to retract the knife blade beyond 580 degrees, searching for a torque increase on the knife drive input greater than 20 Nmm from the starting average torque reading, assigning this position on the knife drive input as the "knife point limit", and calculating the homing position of the knife blade as the "knife point limit" position minus approximately 50 degrees of rotation of the knife drive coupler. If the knife drive coupler prematurely reaches the torque limit, an error may be communicated to the user regarding a non-operational blade or to retry homing.

[0032] In aspects of the present disclosure, the method further includes disengaging an end effector from the housing of a robotic surgical instrument and repeating the method for finding the homing position of the knife blade of a new end effector.

[0033] The disclosure also relates to a method for determining a homing position for a knife blade of a robotic surgical instrument, the method comprising: initiating a homing algorithm to determine the fully retracted or home position of a knife blade positioned between a pair of jaw members of a robotic surgical instrument, the homing algorithm acting to advance the knife blade to ensure engagement with the knife assembly of the robotic surgical instrument by activating the knife drive coupler of the robotic surgical instrument, and ignoring any torque readings from one or more sensors associated with the knife drive coupler during this initial step, and continuously acting the knife drive coupler to further advance the knife blade approximately The process includes starting by advancing the knife drive coupler 500 degrees, or until the torque is measured on the knife drive coupler in the range of approximately 40 Nmm to approximately 500 Nmm, and marking the position on the knife drive coupler as knife position "0". If the knife drive coupler moves another 500 degrees without reaching the torque limit, the process includes rotating the knife drive coupler to retract the knife blade, searching for a torque increase on the knife drive input greater than 20 Nmm from the starting average torque reading, assigning this position on the knife drive input as the "knife point limit", and calculating the homing position of the knife blade as the "knife point limit" position minus approximately 50 degrees of rotation of the knife drive coupler. If the knife drive coupler prematurely reaches the torque limit, an error may be communicated to the user regarding a non-operational blade or to retry homing.

[0034] The disclosure also relates to a method for determining the homing position of a pair of jaw members for the articulated section of a shaft of a robotic surgical instrument, comprising selectively engaging the shaft and end effector on the housing of the robotic surgical instrument, coupling the shaft to a jaw drive input, communicating with the end effector to recognize the end effector and its associated motion parameters and characteristics, sending motion data back to an EPROM or PCB, and initiating a homing algorithm to determine the home position or linear position of the articulated section of the shaft.

[0035] The homing algorithm includes: encapsulating the articulation section within a trocar (or any hollow cylinder); activating the articulation coupler of the robotic surgical instrument to articulate the articulation section in a first direction until the articulation section strikes the inner surface of the trocar and a torque of approximately 20 Nmm is measured on the articulation coupler; marking the position of the articulation coupler as a first "endpoint" or "edge"; repeating the steps of activating the articulation coupler to articulate the articulation section in further directions and determine further "endpoints" or "edges"; and using at least three "endpoints" or "edges" to calculate the center position or home position "X" of the articulation section.

[0036] In aspects of the present disclosure, the method further includes disengaging a shaft from the housing of a robotic surgical instrument and repeating the method for finding the homing position of the articulated section of a new shaft.

[0037] The disclosure also relates to a method for determining the homing position of an articulated section of a shaft of a robotic surgical instrument, comprising initiating a homing algorithm to determine the home position or linear position of the articulated section of a shaft of a robotic surgical instrument, the homing algorithm comprising: enclosing the articulated section within a trocar; activating the articulated coupler of the robotic surgical instrument to articulate the articulated section in a first direction until the articulated section strikes the inner surface of the trocar and a torque of approximately 20 Nmm is measured on the articulated coupler; marking the position of the articulated coupler as a first “endpoint” or “edge”; repeating the steps of activating the articulated coupler to articulate the articulated section in further directions to determine further “endpoints” or “edges”; and calculating the center position or home position “X” of the articulated section using at least three “endpoints” or “edges”.

[0038] In aspects of the present disclosure, the method further includes disengaging a shaft from the housing of a robotic surgical instrument and repeating the method for finding the homing position of the articulated section of a new shaft.

[0039] This disclosure also relates to a method for adjusting the rotation angle of a jaw drive input of a robotic surgical instrument to close a pair of jaw members based on the joint momentum of the articulation section of the shaft of the robotic surgical instrument, comprising: engaging the shaft and end effector with the housing of the robotic surgical instrument; determining the fully open position of the pair of jaw members of the end effector; determining the linear or homing position of the articulation section of the shaft; operating the robotic instrument to position tissue between the jaw members; determining the joint momentum of the articulation section relative to the homing position of the articulation section before the jaw drive input begins to move the jaw members under appropriate closing pressure and grasp the tissue; calculating the friction loss of one or more of the articulation cables arranged on the shaft based on the joint momentum of the articulation section; and adjusting the number of preset rotation angles of the jaw drive input to close the jaw members so that the closing pressure between the jaw members is approximately 3 kg / cm². 2 ~Approx. 16kg / cm 2 This includes ensuring that the position remains within a specified range, and activating the jaw drive input to grasp the tissue between the jaw members within a specified closing pressure range.

[0040] In aspects of the present disclosure, determining the articular momentum of an articular motion section with respect to its homing position includes: enclosing the articular motion section within a trocar; activating the articular motion coupler of a robotic surgical instrument to articulate the articular motion section in a first direction until the articular motion section strikes the inner surface of the trocar and a torque of approximately 20 Nmm is measured on the articular motion coupler; marking the position of the articular motion coupler as a first "endpoint" or "edge"; repeating the steps of activating the articular motion coupler to articulate the articular motion section in further directions and determining further "endpoints" or "edges"; and using at least three "endpoints" or "edges" to calculate the center position or home position "X" of the articular motion section.

[0041] In aspects of the present disclosure, determining the fully open position of a pair of jaw members of an end effector includes initiating a homing algorithm to determine the fully open position of the pair of jaw members. The homing algorithm includes initiating rotation of a jaw drive input to open the jaw members, calculating a baseline torque start average using one or more torque sensors associated with the jaw drive input, analyzing readings from the torque sensors to determine a change in average torque over time (Δtorque), and, once a predetermined change in average torque over time (Δtorque) is determined, setting the change in average torque over time (Δtorque) to be equal to the jaw members being in a fully open or homing position relative to each other. The present invention provides, for example, the following: (Item 1) Robotic surgical instruments, The device comprises a housing, the housing having a shaft extending from the housing and configured to receive a first end effector assembly at its distal end, the first end effector assembly comprising a pair of jaw members, the jaw members movable between a fully open position where they are separated by a maximum distance from each other and a closed position where the closing pressure between the jaw members is within a predetermined range, the shaft comprising a drive rod, the drive rod extending through the shaft and configured to actuate the first end effector assembly when the drive rod is moved in parallel, and the housing, A spring compression assembly supported within the housing, wherein the spring compression assembly is A proximal hub configured to secure the proximal end of the drive rod of the first end effector assembly, which is disposed through the interior, A distal hub separated from the proximal hub, A spring compression assembly comprising a compression spring having a known spring constant, mounted between the proximal hub and the distal hub, A robotic surgical instrument comprising: a jaw drive input unit configured to rotate a jaw drive input shaft having a drive gear disposed above it, wherein the drive gear is configured to engage with the distal hub such that its rotation causes the distal hub to move in parallel with the proximal hub, compressing the compression spring and causing the drive rod of the first end effector assembly to move the jaw members relative to each other, and when the jaw members move to the fully open position, the jaw drive input unit is configured to rotate the jaw drive input shaft by a predetermined number of rotational angles to compress the compression spring and bring the jaw members closer to the closing pressure within a predetermined range. (Item 2) The robotic surgical instrument according to item 1, wherein the housing is configured such that a subsequent end effector assembly can be replaced with the first end effector assembly without recalibrating the preset number of rotation angles of the jaw drive input shaft from the fully open position of the jaw member. (Item 3) The robotic surgical instrument according to item 1, wherein the preset rotation angle of the jaw drive input portion from the fully open position of the jaw member compresses the compression spring by a preset distance in accordance with that, thereby ensuring that the closing pressure remains within the predetermined range. (Item 4) The robotic surgical instrument according to item 2, wherein the preset rotation angle of the jaw drive input of the jaw member of the first end effector assembly or any subsequent end effector assembly from the fully open position causes the compression spring to be compressed by the same distance in a corresponding manner to ensure that the closing pressure falls within the predetermined range. (Item 5) The robotic surgical instrument described in item 1, wherein the aforementioned preset rotation angle is in the range of approximately 1500 degrees to approximately 3000 degrees. (Item 6) The robotic surgical instrument according to item 1, wherein the distal hub includes a plurality of teeth disposed on the distal hub, and the plurality of teeth are configured to engage with a corresponding plurality of teeth disposed on the drive gear. (Item 7) The closing pressure between the jaw members is approximately 3 kg / cm². 2 ~Approx. 16kg / cm 2 A robotic surgical instrument as described in item 1, within the specified range. (Item 8) The preset rotation angle of the jaw drive input section from the fully open position of the jaw member compresses the compression spring by a preset distance in accordance with that angle, so that the closing pressure is approximately 3 kg / cm² during repeated use. 2 ~Approx. 16kg / cm2 Robotic surgical instruments as described in item 1, ensuring they fall within a specified range. (Item 9) The preset rotation angle of the jaw drive input portion of the jaw member of the first end effector assembly or any subsequent end effector assembly from the fully open position compresses the compression spring by the same distance, so that the closing pressure is approximately 3 kg / cm² during repeated use. 2 ~Approx. 16kg / cm 2 Robotic surgical instruments as described in item 2, ensuring they fall within the specified range. (Item 10) Robotic surgical instruments, The device comprises a housing, the housing having a shaft extending from the housing and configured to receive a first end effector assembly at its distal end, the first end effector assembly being a pair of jaw members, the fully open position where the jaw members are separated from each other at their maximum distance, and the closed pressure between the jaw members being approximately 3 kg / cm². 2 ~Approx. 16kg / cm 2 The shaft includes a pair of jaw members that are movable between a closed position within a range, the shaft includes a drive rod, the drive rod extends through the shaft and is configured to actuate the first end effector assembly when the drive rod is moved in parallel, and the housing is A spring compression assembly supported within the housing, wherein the spring compression assembly is A proximal hub configured to secure the proximal end of the drive rod of the end effector assembly, which is disposed through the interior, A distal hub, which is separated from the proximal hub and includes a plurality of teeth arranged above it, A spring compression assembly comprising a compression spring having a known spring constant, mounted between the proximal hub and the distal hub, The jaw drive input unit is configured to rotate a jaw drive input shaft having a drive gear disposed above it, wherein the drive gear is configured to engage with a plurality of corresponding teeth of the distal hub such that its rotation moves the distal hub parallel to the proximal hub, compressing the compression spring and moving the drive rod of the first end effector assembly parallel to move the jaw members relative to each other, and when the jaw members move to the fully open position, the jaw drive input unit rotates the jaw drive input shaft by a predetermined number of rotational angles to compress the compression spring and move the jaw members approximately 3 kg / cm 2 ~Approx. 16kg / cm 2 A robotic surgical instrument configured to approach a closing pressure within a specified range. (Item 11) The robotic surgical instrument according to item 10, wherein the housing is configured such that a subsequent end effector assembly can be replaced with the first end effector assembly without recalibrating the preset number of rotation angles of the jaw drive input shaft from the fully open position of the jaw member. (Item 12) The robotic surgical instrument according to item 10, wherein the preset rotation angle of the jaw drive input portion from the fully open position of the jaw member compresses the compression spring by a preset distance in correspondence to ensure that the closing pressure remains within a predetermined range. (Item 13) The robotic surgical instrument according to item 11, wherein the preset rotation angle of the jaw drive input of the jaw member of the first end effector assembly or any subsequent end effector assembly from the fully open position causes the compression spring to be compressed by the same distance in a corresponding manner to ensure that the closing pressure falls within the predetermined range. (Item 14) The robotic surgical instrument described in item 10, wherein the aforementioned preset rotation angle is in the range of approximately 1500 degrees to approximately 3000 degrees. (Item 15) A method for determining the homing position of a pair of jaw members of an end effector assembly for sealing tissue using a robotic surgical instrument, Communicating with the end effector assembly to recognize the end effector assembly and the operating parameters and characteristics associated with the end effector assembly, and sending operating data back to the EPROM or PCB, The process includes initiating a homing algorithm to determine the fully open position of a pair of jaw members of the end effector assembly, wherein the homing algorithm In order to release the jaw member, the rotation of the jaw drive input unit is started, Using one or more torque sensors associated with the jaw drive input unit, the baseline torque startup average is calculated, In order to determine the change in average torque over time (Δtorque), the readings from the torque sensor are analyzed, A method comprising determining a predetermined change (Δtorque) in the average torque over time, and then making the change (Δtorque) in the average torque over time equal to the jaw members being in a fully open position or a homing position relative to each other. (Item 16) After identifying the homing position of the jaw drive input unit, the method repeatedly rotates the jaw drive input unit by a predetermined number of degrees from the homing position, thereby creating a closing force of approximately 3 kg / cm between the jaw members. 2 ~Approx. 16Kg / cm 2 A method for determining the homing position of a pair of jaw members of an end effector assembly for sealing tissue using the robotic surgical instrument described in item 14, comprising compressing a compression spring so that it repeatedly falls within a certain range. (Item 17) A method for determining the homing position of a pair of jaw members of an end-effector assembly for sealing tissue using the robotic surgical instrument described in item 14, comprising: using one or more torque sensors associated with the jaw drive input unit to calculate a baseline torque start average, and then filtering the torque readings through a low-pass filter to avoid erroneous readings from the torque sensors and enable more accurate average torque readings. (Item 18) The closing force between the jaw members is approximately 3 kg / cm². 2 ~Approx. 16Kg / cm 2 A method for determining the homing position of a pair of jaw members of an end-effector assembly for sealing tissue using a robotic surgical instrument as described in item 16, comprising: rotating the jaw drive input by a predetermined number of degrees from the homing position in order to ensure that it falls within a range; then disengaging the end-effector assembly from the robotic surgical instrument; and repeating the method with a new end-effector assembly. (Item 19) A method for determining the homing position of a pair of jaw members of an end effector assembly for sealing tissue using a robotic surgical instrument as described in item 15, wherein the predetermined number of rotations or rotation angles of the jaw drive input section depends on at least one of the type of compression spring, the spring constant of the compression spring, the size of the jaw drive input shaft, or the thread ratio of the jaw drive input shaft. (Item 20) A method for determining the homing position of a pair of jaw members of an end effector assembly for sealing tissue using a robotic surgical instrument as described in item 15, wherein the predetermined number of rotation angles of the jaw drive input unit from the homing position is stored in the EPROM or PCB. [Brief explanation of the drawing]

[0042] Various aspects and features of this disclosure are described below with reference to the drawings, where similar numbers in each of the drawings specify the same or corresponding elements.

[0043] [Figure 1] This is a perspective view of a robotic surgical instrument provided pursuant to this disclosure, configured to be attached to a robotic arm of a robotic surgical system.

[0044] [Figure 2A] This is a frontal perspective view of the proximal portion of the surgical instrument shown in Figure 1, with the outer shell removed.

[0045] [Figure 2B] This is a posterior perspective view of the proximal portion of the surgical instrument shown in Figure 1, with the outer shell removed.

[0046] [Figure 3] Figure 1 is a front perspective view of the proximal portion of the surgical instrument with the outer shell and additional internal elements removed.

[0047] [Figure 4] Figure 1 is a schematic diagram of an exemplary robotic surgical system configured to releasably receive surgical instruments.

[0048] [Figure 5] Figure 1 is a front perspective view of the jaw drive subassembly of a surgical instrument.

[0049] [Figure 6] Figure 1 is a rear perspective view of the jaw drive subassembly of a surgical instrument.

[0050] [Figure 7] Figure 1 is an exploded perspective view of the jaw drive subassembly of a surgical instrument.

[0051] [Figure 8] Figure 1 is a perspective view of the distal portion of the surgical instrument with the end effector assembly positioned in the open position.

[0052] [Figure 9] Figure 1 is a longitudinal cross-sectional view of the proximal portion of a surgical instrument illustrating a jaw drive subassembly transitioning the end effector assembly from an open position to a closed position.

[0053] [Figure 10] Figure 1 is a perspective view of the distal portion of the surgical instrument with the end effector assembly positioned in the closed position.

[0054] [Figure 11] Figure 1 is a longitudinal cross-sectional view of the proximal portion of a surgical instrument illustrating a jaw drive subassembly that holds the end effector assembly in the closed position.

[0055] [Figure 12] This is a flowchart illustrating the method provided in accordance with this disclosure. [Figure 13] This is a flowchart illustrating the method provided in accordance with this disclosure.

[0056] [Figure 14] This is a rear perspective view of another embodiment of the present disclosure.

[0057] [Figure 15] This graph shows the change in torque over time to the jaw drive input unit for use with the embodiments of this disclosure.

[0058] [Figure 16] This flowchart illustrates a method for determining the homing positions of a pair of jaw members for use with the robotic surgical instrument of this disclosure.

[0059] [Figure 17] This flowchart illustrates a method for determining the homing positions of a pair of jaw members for use with the robotic surgical instrument of this disclosure.

[0060] [Figure 18] This flowchart illustrates a method for determining the homing position of a knife blade positioned between a pair of jaw members for use with the robotic surgical instrument of this disclosure.

[0061] [Figure 19] This flowchart illustrates a method for determining the homing position of the articular movement section of a shaft for use with the robotic surgical instruments of this disclosure.

[0062] [Figure 20] This is an internal diagram of the joint movement section of a robotic surgical instrument shown inside a trocar.

[0063] [Figure 21] This flowchart illustrates a method for determining the friction loss of one or more joint movement cables of a robotic surgical instrument to offset the rotation angle of the jaw input drive unit and ensure appropriate closing pressure between the jaw members of the robotic surgical instrument. [Modes for carrying out the invention]

[0064] Referring to Figures 1 to 3, the surgical instrument 10 provided in accordance with this disclosure generally includes a housing 20, a shaft 30 extending distally from the housing 20, an end effector assembly 40 extending distally from the shaft 30, and an actuation assembly 100 disposed within the housing 20 and operably associated with the end effector assembly 40. The instrument 10 is described herein in detail as an articulated electrosurgical forceps configured for use in a robotic surgical system, for example, a robotic surgical system 1000 (Figure 4). However, the embodiments and features of the instrument 10 provided in accordance with this disclosure, as detailed below, can be equally applied to use with other suitable surgical instruments, such as grippers, staplers, clippers and / or other suitable surgical systems, such as electric or other power-driven systems.

[0065] Referring particularly to Figure 1, the housing 20 of the instrument 10 includes a first body portion 22a and a second body portion 22b, as well as a proximal faceplate 24 that cooperates to surround the actuation assembly 100 within the housing. The proximal faceplate 24 includes an opening defined therein through which the input couplers 110-140 (Figure 2B) of the actuation assembly 100 extend. A pair of latch levers 26 (only one is illustrated in Figure 1) extend outward from both sides of the housing 20 and enable a releasable engagement between the housing 20 and a surgical system, such as a robotic arm of a robotic surgical system 1000 (Figure 4). An opening 28 defined through the housing 20 through which a thumbwheel 440 extends allows for manual operation of the thumbwheel 440 from outside the housing 20, and further allows for manual opening and closing of the end effector assembly 40.

[0066] See also Figures 2A to 3, the multiple electrical contacts 90 extend through one or more openings defined through the proximal faceplate 24, enabling electrical communication between the instrument 10 and the robotic surgical system 1000 for, for example, data, control, and / or power signal communication between the instrument 10 and the robotic surgical system 1000 (Figure 4) when the instrument 10 is engaged on the robotic surgical system 1000. As an alternative to the electrical contacts 90 extending through the proximal faceplate 24, other suitable transmitters, receivers, and / or transceiver components can also be conceived to enable the communication of data, control, and / or power signals using, for example, RFID, Bluetooth®, WiFi®, or via any other suitable wired, wireless, contact, or contactless communication method. At least some of the electrical contacts 90 are electrically coupled to electronic equipment 92 mounted inside the proximal faceplate 24, for example, in the housing 20. The electronic device 92 may include, for example, a storage device, a communication device (including suitable input / output components), and a CPU including memory and a processor. The electronic device 92 may be mounted on a circuit board or, for example, configured as a chip.

[0067] The storage device of the electronic device 92 stores information about the surgical instrument, such as item number, e.g., SKU number, manufacturing date, manufacturing location, e.g., location code, serial number, lot number, usage information, configuration information, adjustment information, calibration information, security information, e.g., encryption key, and / or other suitable additional or alternative data. The storage device of the electronic device 92 may be, for example, a magnetic disk, flash memory, optical disk, or other suitable data storage device.

[0068] As an alternative to, or in addition to, storing the above-mentioned information in the storage device of the electronic device 92, some or all of such information, such as usage information, calibration information, setting information, and / or adjustment information, may be stored in a storage device associated with the robotic surgical system 1000 (Figure 4), a remote server, a cloud server, etc., and accessible via the instrument 10 and / or the robotic surgical system 1000 (Figure 4). In such a configuration, the information may be updated, for example, by updates provided by the manufacturer, and / or applied to individual instruments, units of instruments (e.g., units from the same place of manufacture, manufacturing period, lot number, etc.), or all instruments. Furthermore, even if the information is stored locally on each instrument, this information may be updated manually or automatically by updates provided by the manufacturer when connected to the robotic surgical system 1000 (Figure 4).

[0069] Referring again to Figure 1, the shaft 30 of the device 10 includes a distal segment 32, a proximal segment 34, and articular movement sections 36 disposed between the distal segment 32 and the proximal segment 34, respectively. The articular movement section 36 includes one or more articular movement components 37, such as links, joints, etc. Multiple articular movement cables 38, such as four articular cables or other preferred actuators, extend through the articular movement section 36. More specifically, the articular motion cable 38 is operably coupled at its distal end to the distal segment 32 of the shaft 30, and extends proximal to the housing 20, passing through the articular motion section 36 and the proximal segment 34 of the shaft 30. The articular motion cable 38 is operably coupled to the articular motion subassembly 200 of the actuation assembly 100, enabling selective articular motion (e.g., yaw and pitch articular motion) of the distal segment 32 (and thus the end effector assembly 40) relative to the proximal segment 34 and the housing 20, around, for example, at least two articular motion axes. The articular cables 38 are generally arranged in a rectangular configuration, but other preferred configurations can also be conceived. In some configurations, as an alternative, the shaft 30 is substantially rigid, malleable, or flexible and is not configured for active articular motion.

[0070] With respect to the articular movement of the end effector assembly 40 relative to the proximal segment 34 of the shaft 30, the operation of the articular cables 38 may be achieved in pairs. More specifically, to pitch the end effector assembly 40, the upper cable pair 38 is actuated in a similar manner, while the lower cable pair 38 is actuated in a similar manner to each other, but in the opposite manner to the upper cable pair 38. With respect to yaw articular movement, the right cable pair 38 is actuated in a similar manner, while the left cable pair 38 is actuated in a similar manner to each other, but in the opposite manner to the right cable pair 38. Other configurations of the articular cables 38 or other articular actuators can also be conceived.

[0071] Referring to Figure 1, the end effector assembly 40 includes a first jaw member 42 and a second jaw member 44, respectively. Each jaw member 42, 44 includes a proximal flange portion 43a, 45a and a distal body portion 43b, 45b, respectively. The distal body portions 43b, 45b define opposing tissue contact surfaces 46, 48, respectively. The proximal flange portions 43a and 45a are pivotably coupled to each other around a pivot 50 and operably coupled to each other via a cam slot assembly 52, each including a cam pin slidably received in a cam slot defined within at least one of the proximal flange portions 43a and 45a of the jaw members 42 and 44, allowing the jaw member 42 to pivot relative to the distal segment 32 of the shaft 30 and to a separated position (e.g., the open position of the end effector assembly 40) and an approached position (e.g., the closed position of the end effector assembly 40) for gripping tissue "T" (Figures 8 and 10) between tissue contact surfaces 46 and 48. As an alternative to this one-sided configuration, a two-sided configuration may be provided, where both jaw members 42 and 44 are pivotable relative to each other and to the distal segment 32 of the shaft 30. Other suitable jaw acting mechanisms can also be conceived.

[0072] In the configuration, a longitudinally extending knife channel 49 (only the knife channel 49 of jaw member 44 is illustrated; the knife channel of jaw member 42 is similarly configured) is defined through one or both tissue contact surfaces 46, 48 of jaw members 42, 44. In such an embodiment, a knife assembly is provided that includes a knife tube 62 (Figure 6) extending from the housing 20 through the shaft 30 to the end effector assembly 40, and a knife blade 315 disposed between jaw members 42, 44 within the end effector assembly 40. The knife blade 315 is selectively translatable between jaw members 42 and 44 through the knife channel 49 to cut tissue "T" (Figures 8 and 10) grasped between the respective tissue contact surfaces 46, 48 of jaw members 42, 44. The knife tube 62 is operably coupled at its proximal end to the knife drive subassembly 300 (Figure 3) of the operating assembly 100 (Figures 2A-2B), enabling selective operation of the knife tube 62, which then allows the knife blade 315 to reciprocate between the jaw members 42, 44 to cut the tissue "T" (Figures 8 and 10) grasped between the tissue contact surfaces 46, 48. As an alternative to the longitudinally advancing mechanical knife, other suitable mechanical cutters (e.g., guillotine-type cutters) can also be conceived as energy-based cutters (e.g., RF electric cutters, ultrasonic cutters, etc.) in static or dynamic configurations.

[0073] Referring further to Figure 1, the drive rod 484 is operably coupled to the cam slot assembly 52 of the end effector assembly 40 and engages, for example, with its cam pin, so that longitudinal movement of the drive rod 484 pivots the jaw member 42 between a separated position and an approached position relative to the jaw member 44. More specifically, biasing the drive rod 484 proximal causes the jaw member 42 to pivot toward the approached position relative to the jaw member 44, while biasing the drive rod 484 distal causes the jaw member 42 to pivot toward the separated position relative to the jaw member 44. However, other suitable mechanisms and / or configurations can also be conceived for pivoting the jaw member 42 between a separated position and an approached position relative to the jaw member 44 in response to selective movement of the drive rod 484. The drive rod 484 extends proximal from the end effector assembly 40 through the shaft 30 into the housing 20, and the drive rod 484 is operably coupled to the jaw drive subassembly 400 of the actuation assembly 100 (Figures 2A-2B), as detailed below, enabling selective action of the end effector assembly 40 to grasp tissue "T" (Figures 8 and 10) between them and to apply jaw force within an appropriate range of jaw force.

[0074] The tissue contact surfaces 46 and 48 of the jaw members 42 and 44 are each at least partially formed from a conductive material and are electrically conductive at different potentials to allow the conduction of RF electrical energy through the tissue "T" (Figures 8 and 10) grasped between them. Alternatively, the tissue contact surfaces 46 and 48 can be configured to deliver any suitable energy, such as heat, microwaves, light, ultrasound (ultrasonic), or ultrasound (ultrasound), through the tissue "T" (Figures 8 and 10) grasped between them, for example, to perform energy-based tissue therapy. The instrument 10 defines a conductive path (not shown) through the housing 20 and shaft 30 to the end effector assembly 40, and this conductive path may include lead wires, contacts, and / or conductive components to supply energy to the tissue contact surfaces 46, 48 and enable electrical connection of the tissue contact surfaces 46, 48 of the jaw members 42, 44 to an energy source (not shown), such as an electrosurgical generator, for treating, for example, sealing the tissue "T" (Figures 8 and 10) grasped between the tissue contact surfaces 46, 48.

[0075] Referring further to Figures 2A to 3, as described above, the actuation assembly 100 is housed within the housing 20 and includes an articulation subassembly 200, a knife drive subassembly 300, and a jaw drive subassembly 400. The articulation subassembly 200 is operably coupled between the actuation assembly 100 and the first input coupler 110 and the second input coupler 120 of the articulation cable 38 (Figure 1), respectively. Thus, upon receiving appropriate inputs to the first input coupler 110 and the second input coupler 120, the articulation subassembly 200 operates the cable 38 (Figure 1) to articulate the end effector assembly 40 in a desired direction, for example, to pitch and / or yaw the end effector assembly 40.

[0076] The knife drive subassembly 300 is operably coupled between the third input coupler 130 of the actuation assembly 100 and the knife tube, and so, upon receiving a suitable input to the third input coupler 130, the knife drive subassembly 300 operates the knife tube to reciprocate the knife blade 315 between the jaw members 42, 44 to cut the tissue "T" (Figures 8 and 10) grasped between the tissue contact surfaces 46, 48.

[0077] The jaw drive subassembly 400 is operably coupled between the fourth input coupler 140 of the actuation assembly 100 and the drive rod 484, as detailed below, and so, upon receiving an appropriate input to the fourth input coupler 140, the jaw drive subassembly 400 pivots the jaw members 42, 44 between separated and approached positions, gripping the tissue "T" (Figures 8 and 10) between the jaw members and applying a jaw force within an appropriate range of jaw forces.

[0078] The actuator assembly 100 is configured to be operablely connected to the robotic surgical system 1000 (Figure 4) when the instrument 10 is mounted on the robotic surgical system 1000 (Figure 4), enabling robotic operation of the actuator assembly 100 and providing the above functions. That is, the robotic surgical system 1000 (Figure 4) selectively provides input to the input couplers 110-140 of the actuator assembly 100, for example, a rotational input, to articulate the end effector assembly 40 to grasp tissue "T" (Figures 8 and 10) between jaw members 42 and 44, and / or cut the grasped tissue "T" (Figures 8 and 10) between jaw members 42 and 44. However, it is also conceivable that the actuator assembly 1000 may be configured to interface with any other suitable surgical system, such as a manual surgical handle, an electric surgical handle, etc. For the purposes of this specification, the robotic surgical system 1000 (Figure 4) will be schematically described.

[0079] Referring to Figure 4, the robotic surgical system 1000 is configured for use in accordance with this disclosure. Aspects and features of the robotic surgical system 1000 that are not relevant to understanding this disclosure have been omitted to avoid obscuring the aspects and features of this disclosure with unnecessary details.

[0080] The robotic surgical system 1000 generally includes a plurality of robotic arms 1002, 1003, a control device 1004, and an operating console 1005 coupled with the control device 1004. The operating console 1005 may include a display device 1006 which can be set up to display three-dimensional images in particular, and manual input devices 1007, 1008 which allow a person, for example a surgeon, to remotely control the robotic arms 1002, 1003 in a first operating mode. The robotic surgical system 1000 can be configured for use on a patient 1013 lying on a patient table 1012 to be treated in a minimally invasive manner. The robotic surgical system 1000 may further include a database 1014 coupled in particular with the control device 1004, which stores, for example, preoperative data and / or anatomical diagrams from the patient 1013.

[0081] Each of the robot arms 1002 and 1003 may include a plurality of members connected through joints, and a mounting device which may be, for example, a surgical tool "ST". One or more of the surgical tools "ST" may be instruments 10 (Figure 1), and thus provide such a function on the robotic surgical system 1000.

[0082] The robotic arms 1002 and 1003 may be driven by an electric device, such as a motor, connected to a control device 1004. The motor may be a rotary motor configured to selectively rotate input couplers 110-140 (Figure 2B) of surgical instruments (Figure 1) to provide rotational input, for example, in order to achieve a desired task. The control device 1004, such as a computer, can be configured, in particular, by a computer program, to actuate the motor so that the robotic arms 1002 and 1003, and thus their attached surgical tools "ST", perform desired movements and / or functions in accordance with the corresponding inputs from the manual input devices 1007 and 1008, respectively. The control device 1004 can also be configured to regulate the movement of the robotic arms 1002 and 1003 and / or the motor.

[0083] More specifically, the control device 1004 can control one or more motors based on rotation, for example, by using a rotational position encoder (or Hall effect sensor or other suitable rotational position detector) associated with the motor to control the rotational position and thereby determine the degree of rotational output from the motor, and consequently the rotational input angle provided, to the corresponding input couplers 110-140 (Figure 2B) of the surgical instrument 10 (Figure 1). Alternatively or additionally, the control device 1004 can control one or more motors based on torque, current, or in any other suitable manner.

[0084] Referring to Figures 5 to 7, the actuation assembly 100 of the jaw drive subassembly 400 is shown, which generally includes an input shaft 410, an input gear 420, a drive gear 430, a thumbwheel 440, a spring force assembly 450, and a drive rod assembly 480.

[0085] The input shaft 410 includes a proximal end portion 412 operably coupled to a fourth input coupler 140 and a distal end portion 414 having an input gear 420 engaged thereon, so that a rotational input provided to the fourth input coupler 140 drives the rotation of the input shaft 410, thereby driving the rotation of the input gear 420. The input gear 420 is arranged in meshing engagement with the circular gear 432 of the drive gear 430, so that, for example, in response to a rotational input provided by the fourth input coupler 140, the rotation of the input gear 420 achieves the rotation of the drive gear 430 in the opposite direction. A thumbwheel 440 is also arranged in meshing engagement with the circular gear 432 of the drive gear 430, so that the rotation of the thumbwheel 440 achieves the rotation of the drive gear 430 in the opposite direction, thus enabling manual driving of the drive gear 430 via the operation of the thumbwheel 440. In addition to the circular gear 432, the drive gear 430 further includes a lead screw 434, for example, formed monolithically, which is fixedly engaged with the circular gear 432, so that the rotation of the circular gear 432 achieves a similar rotation of the lead screw 434.

[0086] The spring force assembly 450 includes a proximal hub 452, a distal hub 454, a compression spring 456, and a spring washer 458, but other suitable force limiting assemblies can also be conceived, for example, utilizing a torsion spring, compliant features, etc. The spring force assembly 450 further includes a pair of guide bars 470.

[0087] The proximal hub 452 and distal hub 454 of the spring force assembly 450 can be identical components, and these hubs are oriented, positioned, and / or connected differently to the other component, thus providing different functions while reducing the number of parts that need to be manufactured. The mechanisms of the proximal hub 452 and distal hub 454 are described below only to the extent necessary to facilitate understanding of this disclosure, and therefore some mechanisms may be described with respect to only one of the proximal hub 452 and distal hub 454 and with respect to the functions associated therewith, but similar mechanisms can be provided to the other of the proximal hub 452 and distal hub 454 without the associated functions. Alternatively, the proximal hub 452 and distal hub 454 can be manufactured as different components.

[0088] The proximal hub 452 and distal hub 454 of the spring force assembly 450 each include retainer guides 463 extending radially outward from their opposing sides. Each retainer guide 463 defines a trough 464 and includes shoulders 465 extending into the respective troughs 464. The proximal hub 452 and distal hub 454 are oriented opposite to each other so that the open ends of the internally defined cavities face each other, and so that the pairs of shoulders 465 of the retainer guides 463 of the proximal hub 452 and distal hub 454 face away from each other.

[0089] The proximal hub 452 further includes a transverse slot 466 defined therethrough, which is configured to receive a locking plate 482 of the drive rod assembly 480, thereby securing the locking plate 482 to the proximal hub 452 and thus the proximal end portion of the drive rod 484 (see Figures 9 and 11). When engaged in this manner, the drive rod 484 is locked in a position coaxially arranged through the proximal hub 452, distal hub 454, compression spring 456, and drive gear 430.

[0090] The distal hub 454 defines a screw center bore 468 extending through the distal hub 454. The screw center bore 468 receives the lead screw through the screw center bore in screw engagement with the lead screw 434 of the drive gear 430, so that the rotation of the lead screw 434 drives the longitudinal translation of the distal hub 454 along the lead screw 434.

[0091] The compression spring 456 is positioned between the proximal hub 452 and the distal hub 454, with the proximal portion of the compression spring positioned within a cavity defined in the proximal hub 452 and the distal portion of the compression spring positioned within a cavity defined in the distal hub 462. At least a portion of the compression spring 456 is positioned around and / or receives a portion of the lead screw 434 of the drive gear 430 that passes through the compression spring. The spring washer 458 is positioned between the proximal hub 452 and the compression spring 456 within the cavity of the proximal hub 452, although other configurations can be conceived.

[0092] Each guide bar 470 is slidably received within the troughs 464 of a corresponding pair of retainer guides 463 of the proximal hub 452 and distal hub 454. Each guide bar 470 includes a pair of spaced-apart rims 472, 474 engaged thereon, which abut against the shoulders 465 of the respective retainer guides 463, thereby defining the maximum distance between the proximal hub 452 and the distal hub 454. However, the proximal hub 452 and / or distal hub 454 are capable of sliding toward each other along the guide bar 470, as detailed below.

[0093] Continuing to refer to Figures 5 to 7, the drive rod assembly 480 includes a lock plate 482 and a drive rod 484. The lock plate 482 defines a central keyhole 485 and a pair of slots 486, for example, arc-shaped slots, defined on the distal surface of the lock plate 482 on either side of the central keyhole 485. The lock plate 482 is configured to be inserted through a transverse slot 466 of the proximal hub 452, and once installed in the transverse slot, it is configured to receive a portion of a spring washer 458 in the slot 486, thereby engaging and securing the lock plate 482 within the proximal hub 452. The spring washer 458 is maintained in the correct position within the slot 486 under the force of a compression spring 456, which is pre-compressed at the maximum distance between the proximal hub 452 and the distal hub 454 (set by the rims 472, 474 of the guide bar 470 and the shoulder portion 465 of the retainer guide 463).

[0094] The drive rod 484 includes a distal end portion that is operably coupled to the cam slot assembly 52 (Figure 1) of the end effector assembly 40, as described above. The drive rod 484 extends proximal through the shaft 30, the housing 20, and the actuation assembly 100 (see Figures 1 to 3), and the proximal end portion of the drive rod 484 engages with the lock plate 482. More specifically, the drive rod 484 defines a waist 488 toward its proximal end, which engages and locks within the central keyhole 485 of the lock plate 482 by, for example, moving the drive rod 484 longitudinally into the central keyhole 485 until the waist 488 aligns with the central keyhole 485, followed by a lateral movement of the drive rod 484 relative to the lock plate 482, thereby fixing the proximal end portion of the drive rod 484 to the lock plate 482 and thus to the proximal hub 452 by engagement of the lock plate 482 within the proximal hub 452.

[0095] Referring to Figures 8 to 11, during use, the jaw members 42 and 44 are initially positioned at the separated position (Figure 8), and accordingly, the proximal hub 452 and distal hub 454 are positioned at the most distal position, and thus the drive rod 484 is positioned at the most distal position (Figure 9). Furthermore, at this position, the compression spring 456 is positioned in its least compressed state, but as mentioned above, even in the minimum compression state, the compression spring 456 is partially compressed due to the holding force of the compression spring 456 in a pre-compressed configuration between the proximal hub 452 and the distal hub 454.

[0096] In response to an input for closing the end effector assembly 40, for example, a rotational input to the fourth input coupler 140 (Figures 5-7) by the corresponding motor of the robotic surgical system 1000 (Figure 4), the drive shaft 410 rotates, thereby rotating the input gear 420, and then the drive gear 430, so that the distal hub 454 is translated proximally toward the proximal hub 452 (see Figure 9). The proximal translation of the distal hub 454 biases the distal hub 454 toward the compression spring 456. First, if the force resisting the approach of the jaw members 42 and 44 is less than the threshold corresponding to the spring value of the compression spring 456, the jaw force applied by the jaw members 42 and 44 is relatively low, and thus biasing the distal hub 454 proximal to the compression spring 456, which in turn biases the compression spring 456 proximal, and then biases the lock plate 482 and therefore the drive rod 484 distally, causing the jaw member 42 to pivot from a position separated from the jaw member 44 toward a position closer to grasp the tissue "T" (see Figures 8 and 10) between the jaw members.

[0097] When the jaw members 42 and 44 move closer together and grasp the tissue "T" between them, the force resisting the approach of the jaw members 42 and 44, such as the force with which the tissue "T" resists compression, can reach a threshold, and therefore the jaw force applied by the jaw members 42 and 44 can reach a corresponding threshold, for example, about 3 kg / cm². 2 ~Approx. 16kg / cm 2Within the range of jaw forces, in order to maintain the jaw force applied by the jaw members 42 and 44, the application of further jaw forces exceeding the threshold point by the jaw members 42 and 44 is prevented, despite further rotational input to the fourth input coupler 140 (Figures 5 to 7). More specifically, when the threshold is reached, further rotational input to the fourth input coupler 140 (Figures 5 to 7) rotates the drive shaft 410, input gear 420, and drive gear 430, causing the distal hub 454 to move further proximal into the compression spring 456. However, rather than the compression spring 456 biasing the proximal hub 452 to keep the jaw members 42 and 44 closer together and increasing the closing force applied between the jaw members, it compresses the compression spring 456, allowing the proximal hub 452, and therefore the drive rod 484, to remain in the correct position, and thus preventing further application of jaw force between jaw member 42 and jaw member 44 (see Figures 10 and 11).

[0098] Under appropriate jaw force, the tissue "T" can be grasped between jaw members 42 and 44, and energy can be supplied to jaw members 42 and 44 to treat, for example, seal the tissue "T". Subsequently, the treated tissue "T" can be cut by providing a rotational input to the input coupler 130 (Figure 6) to actuate the knife drive subassembly 300 so that the knife blade 315 is advanced between jaw members 42 and 44, for example, by translating the knife tube distally, thereby advancing the knife blade 315 between jaw members 42 and 44. Alternatively, the tissue "T" may be cut without first treating the tissue "T", and / or the tissue "T" may be treated without subsequent cutting.

[0099] When tissue "T" is severed, a reverse rotation input is provided to the input coupler 130 (Figure 6) to return the knife blade 315 to its initial position proximal to the main body portions 43b and 45b of the jaw members 42 and 44 (see Figure 1). Subsequently, a reverse input is provided to the input coupler 140 (Figures 5 to 7) to return the jaw members 42 and 44 toward the separation position, thereby sealing and / or releasing the severed tissue.

[0100] Referring to Figures 1 to 11 in general, as detailed above, calibration information, setting information, usage information, and adjustment information are stored, among other information, in the storage device of the electronic equipment 92 of the instrument 10, the robotic surgical system 1000 (Figure 4), and / or other accessible storage devices. The calibration information may include, for example, algorithms, setpoints, lookup tables, machine learning programs, and / or other information that enable the determination of the home / initial positions of various components of the instrument 10, such as the open positions of the jaw members 42 and 44, the retracted position of the knife blade 315, and the non-articular motion configuration of the shaft 30 and the end effector assembly 40.

[0101] The configuration information may include, for example, jaw drive information, such as the rotational input angle to the input coupler 140 required to move the jaw members 42, 44 from an open position to a closed position, to grasp the tissue "T" between the tissue contact surfaces 46, 48, and to apply jaw force or jaw force within the jaw force range thereto; knife deployment information, such as the rotational input angle to the input coupler 130 required to deploy the knife blade 315 from a retracted position to an extended position in order to cut the tissue "T" between the tissue contact surfaces 46, 48; and / or joint movement control information, such as the rotational input angles to the input couplers 110 and / or 120 required to articulate the end effector assembly 40 from a non-articulated position to one or more articulated positions (e.g., maximum positive yaw position, maximum negative yaw position, maximum positive pitch position, and maximum negative pitch position). The configuration information may be determined based on tests during manufacturing (e.g., for each instrument, each unit of the instrument, or all instruments), or through mathematical simulation, using machine learning, using theoretical formulas, or a combination thereof.

[0102] Usage information may include, for example, the number of connections to the robotic surgical system, elapsed usage / connection time, elapsed idle time, elapsed active usage time, years (time since manufacture), number of jaw member approximations, number of energy activations, number and / or types of joint movements, and the number of knife blade 315 deployments. The robotic surgical system 1000 may write and / or update the usage information stored in the instrument 10's storage device 92 (and / or other locations) periodically, continuously, in the event of an event, or in any other preferred manner.

[0103] Some or all of the setting information may be basic information that can be adjusted periodically, continuously, in the event of a specific event, and / or based on external inputs (such as user-provided inputs, sensor or other component feedback). For example, basic setting information may be adjusted in, for example, a robotic surgical system 1000, based on one or more current states and / or current usage information of the instrument 10, as indicated by the adjustment information. The adjustment information for each corresponding setting may include algorithms, setpoints, lookup tables, machine learning programs, etc. The adjustment information may be determined experimentally, through mathematical simulations, using machine learning, using theoretical formulas, or combinations thereof.

[0104] For example, the jaw drive setting information may provide basic information indicating that a rotation input of "X" degrees to the input coupler 140 is required, for example, jaw drive information, such as moving jaw members 42 and 44 from an open position to a closed position to grasp tissue "T" between tissue contact surfaces 46 and 48 and to apply jaw force or jaw force within a jaw force range thereto. Therefore, if there is no modification to this jaw drive setting information, when the control device 1004 receives a signal to bring jaw members 42 and 44 closer together to grasp tissue between tissue contact surfaces 46 and 48 for tissue treatment, for example, sealing, the control device 1004 controls the appropriate motor of the robotic surgical system 1000 to apply a rotation input of "X" degrees to the input coupler 140, as a result the tissue contact surfaces 46 and 48 grasp tissue "T" between them under the applied jaw force or jaw force within a jaw force range.

[0105] However, it has been found that the jaw force or jaw force range applied in response to a set rotational input angle to the input coupler 140 may vary over the service life of the instrument 10 and / or based on the current state of the instrument 10, for example, whether the end effector assembly 40 is positioned in a non-articular, partially articulated, or fully articulated position. The stages of the service life of the instrument 10 may be determined based on some or all of the above usage information, which may affect the jaw force or jaw force range due to, for example, changes in the stiffness / elasticity of the components, establishment of "memory" positions of components / connections, changes in force transmission across joints / connections, changes in tolerances, changes in friction loss, wear of components, deterioration of components and / or joints / connections. The current state of the instrument 10 may be determined by the control device 1004 and / or other components of the robotic surgical system 1000 based on feedback data, previous inputs, visual or other tracking information, which may affect the jaw force or jaw force range due to changes in working force, working distance, friction, etc.

[0106] To account for the above changes, the adjustment information allows for the adjustment of the base jaw drive setting, e.g., "X" degree, to an adjusted jaw drive setting, e.g., "Y" degree, based on the use and / or current state of the instrument 10, using algorithms, setpoints, lookup tables, machine learning programs, etc. Thus, with the adjusted jaw drive setting information implemented, when a signal is received to bring jaw members 42, 44 closer together to grasp tissue between tissue contact surfaces 46, 48 for tissue treatment, e.g., sealing, the control device 1004 controls the appropriate motor of the robotic surgical system 1000 to apply a rotation input of "Y" degree to the input coupler 140, and as a result, the tissue contact surfaces 46, 48 grasp tissue "T" between them under the applied jaw force or jaw force within the jaw force range. Thus, even if the input requirements change, the same jaw force or jaw force range is achieved.

[0107] However, this disclosure is not limited to adjusting jaw drive setting information for applying jaw force, but may rather be applied to adjusting any other suitable setting information, such as knife deployment information, joint movement control information, etc. Furthermore, this disclosure is not limited to instrument 10, but may be applied to any other suitable surgical instrument. In fact, the method provided in accordance with this disclosure and detailed below with reference to Figures 12 and 13 may be used with instrument 10 to adjust jaw drive setting information, or may be used with any other suitable instrument and / or its desired operation.

[0108] Referring to Figure 12, a test and / or manufacturing method 1200 is provided. Hereinafter, “surgical instrument” is used, but it is understood that method 1200 may be performed on one or more surgical instruments for implementation on one or more groups of surgical instruments. Similarly, hereinafter, “storage device” is used, but it is understood that method 1200 may be performed using various distinct storage media associated with one or more surgical instruments or groups thereof.

[0109] First, in 1210, the surgical instrument is acquired, for example, from the manufacturing line for testing. The surgical instrument is loaded into a test fixture or other suitable test device and, in 1220, is operated in a specific manner. The operation may include, for example, moving the jaw member from an open position towards a closed position to achieve a predetermined jaw force (such as measured by the test fixture) and / or a predetermined gap distance between its tissue contact surfaces, articulating the end effector assembly in a predetermined direction by a predetermined amount, or extending the knife blade 315 from a retracted position to an extended position. The input requirements for achieving the operation are recorded in 1230. Next, in 1240, these input requirements are stored as basic information in a storage device associated with the surgical instrument (e.g., a storage device for the surgical instrument, or a storage device accessible in conjunction with the use of the surgical instrument). The basic information may be the input requirement itself (e.g., the rotational input required to achieve the operation) and / or information that enables the determination of the input requirement based thereon (e.g., the ratio or formula of the effect of rotational input on a desired operation, enabling the use of the basic information for operations of varying degrees (e.g., partial joint movement versus full joint movement)).

[0110] Adjustment information reflecting the influence of the use and / or condition of the surgical instrument on input requirements is determined in 1250, for example, experimentally, through simulation, obtained from other instruments / systems, or in any other preferred manner. This adjustment information is also stored in a storage device in 1260. Thus, the surgical instrument is equipped with setting information, as well as information that enables its adjustment based on the use and / or condition of the surgical instrument. Therefore, when implemented for use in surgical procedures, the stored information can be accessed to enable accurate operation throughout the instrument's lifespan and in different states of the instrument, without requiring user input or instrument modification.

[0111] Referring to Figure 13, a method 1300 for operating a surgical system, for example, a robotic surgical system, is provided. First, in 1310, a command for operating a surgical instrument is received. The command may be user input via the operation of, for example, appropriate mechanical and / or electrical actuators, user interface (UI) commands, voice commands, or it may be automatic based on, for example, feedback, sensed conditions, etc. The operation may include, for example, bringing the jaw members closer from an open position to a closed position to apply jaw force suitable for tissue treatment and / or achieve a gap distance between its tissue contact surfaces suitable for tissue treatment, articulating the end effector assembly to a desired position, and deploying the knife blade 315 from a retracted position to an extended position for cutting tissue.

[0112] In response to receiving a command, setting information associated with the commanded operation is determined in 1320. This setting information may be determined by accessing such information from a storage device associated with the surgical instrument, or by any other preferred method, and may include, for example, the rotation input angle required to achieve the desired operation, or information from which the rotation input angle can be calculated.

[0113] In 1330, it is determined whether the setting information is base information for fixed information. If the setting information is fixed information, meaning it is not subject to adjustment, the setting information is used to provide rotational input to the surgical instrument to achieve the commanded operation. On the other hand, if the setting information is base information, meaning it is subject to adjustment, the use and / or state of the surgical instrument is determined in 1350, and the adjustment information corresponding to the setting information is determined in 1360. 1350 and 1360 may be performed in any preferred order or simultaneously. The use and / or state of the surgical instrument may be determined by accessing stored information, such as feedback data, previous inputs, visual or other tracking information.

[0114] Based on usage and / or status and adjustment information, the setting information is adjusted in 1370 if necessary. In 1380, the adjusted setting information is used to provide rotational input to the surgical instrument and achieve the commanded operation. Thus, when a command to operate the surgical instrument is received, the appropriate rotation (or other suitable input) to provide the operation is determined, and thus changes in input requirements are taken into account throughout the instrument's service life and in different states of the instrument, without requiring user input or instrument modification.

[0115] It should be understood that the various embodiments disclosed herein may be combined in combinations other than those specifically presented above and in the accompanying drawings. In addition, although certain embodiments of this disclosure are described for clarity as being performed by a single module or unit, it should be understood that the technology of this disclosure may be performed, for example, by a combination of units or modules relating to a surgical system.

[0116] In one or more embodiments, the described techniques may be implemented in hardware, software, firmware, or any combination thereof. When implemented in software, the functions may be stored as one or more instructions or codes on a computer-readable medium and executed by a hardware-based processing unit. The computer-readable medium may include non-temporary computer-readable media corresponding to tangible media such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and can be accessed by a computer).

[0117] Instructions may be executed by one or more processors, such as digital signal processors (DSPs), general-purpose microprocessors, application-specific integrated circuits (ASICs), field-programmable logic arrays (FPGAs), or other equivalent integrated circuits or discrete logic circuits. Therefore, the term "processor," as used herein, may refer to any of the aforementioned structures or any other physical structure suitable for implementing the described technology. Furthermore, the technology may be fully implemented by one or more circuits or logic elements.

[0118] Figure 14 shows another embodiment of the robotic surgical instrument 5000 according to the present disclosure, which generally includes a housing 5020, a shaft 5030 extending distally from the housing 5020, an end effector assembly 40 (Figure 1), and an actuation assembly 5100 disposed within the housing 5020, operably associated with the shaft 5030, and configured to actuate the end effector assembly 5040. The instrument 5000 is described herein in detail as an articulated electrosurgical forceps configured for use in a robotic surgical system, for example, a robotic surgical system 500 (Figure 3). However, the embodiments and features of the instrument 5000 provided pursuant to the present disclosure, as detailed below, can be equally applied for use with other suitable surgical instruments and / or other suitable surgical systems.

[0119] Generally, in conventional surgical forceps used to seal tissue, the handle assembly works in cooperation with the drive assembly to actuate the jaw members of the end effector to seal the tissue. More specifically, the handle is moved or squeezed relative to the instrument housing, which then compresses a spring associated with the drive assembly, acting the drive rod to close the jaw members around the tissue under a predetermined force. Factors such as spring constant, spring compression distance, jaw shape, handle shape, handle rotation, moment arc and closing distance, and shaft force all contribute to the pressure between the jaw members being approximately 3 kg / cm² when the handle is fully compressed. 2 ~Approx. 16kg / cm 2 These are factors that are carefully controlled to ensure they remain within a certain range.

[0120] Eliminating the handle and other related factors, such as arc, rotation, and moment, and knowing the shaft force and jaw shape greatly simplifies the factors required to ensure the appropriate closure pressure for sealing the tissue. Manufacturing the instrument while eliminating or recognizing these factors simplifies the operation of the drive assembly for compressing a spring with a known spring constant at a predetermined distance to achieve the required closure pressure between the jaw members.

[0121] Figure 14 is an internal view of a jaw drive assembly 5005, which includes a compression assembly 5055 configured to house a spring force assembly 5050, and a jaw input gear 5022 operably coupled to a jaw drive input section 5035. The spring force assembly 5050 includes a distal hub 5054, a proximal hub 5052, a drive gear (e.g., drive gear 430 in Figure 3), and a locking tab 5075. Each hub 5052, 5054 includes an inner surface having multiple teeth, each configured to engage with the corresponding multiple teeth or threads of the drive gear 430.

[0122] The operation of the jaw drive input unit 5035 rotates the jaw drive input shaft 5010, which in turn rotates the jaw input gear 5022 coupled to the drive gear 430. The rotation of the drive gear 430 linearly translates the proximal hub 5052 of the spring force assembly 5050 relative to the biasing of the compression spring 5056 on the distal hub 5054, and then linearly translates the jaw drive rod 5084 by mechanical engagement of the proximal end of the jaw drive rod 5084 with the lock tab 5075. The jaw members 5042, 5044 are opened and closed as needed through this array of mechanically cooperating components. A hard stop 5080 can be placed on the jaw drive input shaft 5010 to prevent the distal hub 5054 from moving too far distally just before the jaw drive rod 5084 reaches the bottom in the cam slot (not shown) of each jaw member 5042, 5044. In addition, the distal hub 5054, which corresponds to the hard stop 5080, rapidly generates a high-torque state (as described in detail below) indicating that the jaw members 5042 and 5044 are fully open.

[0123] It is known that one method for determining the pressure between jaw members 5042 and 5044 is to rotate the jaw drive input 5035 via a robot drive controller, for example, robot drive controller 1005 (Figure 3), until a predetermined torque is reached, and then use that torque to calculate (or correlate) the closing pressure between them. However, this method may not provide the consistency required to seal the tissue, or the consistency required over long-term use.

[0124] The forceps 5000 utilizes a concept similar to the pistol grip handle approach, relying solely on compressing a spring with a known spring constant by a predetermined distance, within the range identified above, 3 kg / cm². 2 ~Approx. 16kg / cm 2The desired closing pressure for sealing the tissue inside is achieved accurately and consistently. Using the spring force assembly 5050, the reproducibility and consistency of the closing force of the spring 5056 are ensured even during the heating, drying, and shrinkage of the tissue during the sealing process. More specifically, when the jaw members 5042, 5044 are moved to the fully open or home position, the jaw drive unit 5035 rotates the jaw drive input shaft 5010 and jaw drive gear 5022 by a preset number of degrees, e.g., 1500 degrees, which then consistently brings the jaw members 5042, 5044 within the required closing pressure range. The number of rotation angles typically depends on the type of spring, spring constant, size of the jaw drive input shaft 5035, thread ratio of the jaw drive input shaft 5035, etc. These and other parameters are associated with the manufacturer's specifications for the jaw drive input unit 5035 (and its associated components) and the spring assembly 5055 (and its associated components). The robot drive input controller 5065 may be operably disposed within the housing 5020 (or the robot drive input controller 1004 in Figure 3) and configured to maintain the rotational orientation (e.g., rotation angle) of the jaw drive input shaft 5010 during use, allowing for repeated and consistent access of the jaw members 5042 and 5044 within the sealed range over long-term use.

[0125] When a new end effector 5040 is attached to the forceps 5000, the new jaw members 5042 and 5044 are simply moved to the fully open or home position so that the same number of rotation angles approaches the jaw members 5042 and 5044 within the sealing range. In other words, apart from determining the fully open or home position of the jaw members 5042 and 5044 manually or by utilizing a homing algorithm (described below), the rotation angle of the jaw drive input shaft 5010 remains constant for each subsequent end effector 5040, eliminating the need to individually calibrate the jaw drive input unit 5035 for each subsequent end effector 5040.

[0126] This disclosure also relates to a method for providing consistent sealing pressure between jaw members 5042 and 5044 of an end effector assembly 5040 of a robotic surgical forceps 5000. The method includes selectively engaging the end effector 5040 (or the end effector 5040 and shaft 5030) with the housing 5020 of the robotic surgical forceps 5000, and coupling the end effector 5040 to an actuation assembly 5100. The pair of jaw members 5042 and 5044 of the end effector assembly 5040 are opened manually or automatically to the fully open position. Approximately 3 kg / cm² 2 ~Approx. 16kg / cm 2 Under a closing pressure within the range, the jaw drive input unit 5035 is activated to rotate the jaw drive input shaft 5010 by a preset number of degrees, for example, about 1500 to 3000 degrees (or equivalent radians) in order to close one or both jaw members, for example, jaw member 5042, toward the other jaw member, for example, jaw member 5044. The method may include the step of positioning tissue between jaw members 5042 and 5044 before activating the jaw drive input unit 5035.

[0127] The step of manually releasing the pair of jaw members 5042, 5044 may include activating the jaw drive input 5035 to visually release the jaw members 5042, 5044 to a fully open position, or using some kind of automatic or mechanical fastener 5049 to visually, audibly, or tactilely indicate the fully open jaw position. Automatically releasing the jaw members 5042, 5044 to the fully open position may include one or more algorithms associated with the PCB 5066a and / or EPROM associated with a position sensor 5066b, a torque sensor 5066c, and / or other known types of sensors (Figure 14).

[0128] Referring here to Figure 16, a method for providing a consistent jaw closing force is shown, including a homing algorithm ("homing algorithm, HA") for use with the robotic surgical instrument 5000 of Figure 14. More specifically, in the first step 6000, an end effector, e.g., end effector 5040, or a combination of end effector 5040 and shaft 5030, is selectively engaged with the housing 5020 of the robotic surgical forceps 5000. In step 6010, the PCB 5066a and / or EPROM (or other controller associated with the robotic surgical forceps 5000) communicate mechanically or electrically with the end effector 5040 (or the combination of shaft 5030) to recognize the end effector 5040 and its associated operating parameters and characteristics, e.g., size, type, knife stroke, etc., and send operating data back to the PCB 5066a and / or EPROM.

[0129] In the subsequent step 6020, the PCB 5066a and / or EPROM initiate the homing algorithm ("HA") to determine the fully open position of the jaw members 5042, 5044. The homing algorithm HA includes the following steps: step 6021 - slowly initiating the rotation of the jaw drive input 5035 to open the jaw members 5042, 5044; step 6022 - calculating a baseline torque start average using one or more torque sensors 5066c associated with the jaw drive input 5035. A potential next step 6022a (shown by dashed line) includes initiating a low-pass filter 6025 in a potential step 6022 / filtering the torque signal reading "S" through the low-pass filter 6025 to avoid erroneous readings from the torque sensors 5066c and enable a more accurate average torque reading.

[0130] In the next step 6023, the homing algorithm HA analyzes the readings from the torque sensor 5066c (and the low-pass filter 5035) to determine the change in average torque over time (Δtorque) (as opposed to the total average torque reading). Once a predetermined Δtorque is identified, in the next step 6024, the homing algorithm HA sets the Δtorque to be equal to the position where the jaw members 5042 and 5044 are fully open relative to each other, and identifies the homing position ("homing position, HP") of the jaw members 5042 and 5044, the jaw drive input 5035 and / or the distal hub 5054.

[0131] In the next step 6030, the jaw drive input unit 5035 determines that the closing force between the jaw members is approximately 3 kg / cm. 2 ~Approx. 16Kg / cm 2 To ensure that it falls within a typical range for sealing the blood vessels or tissue, it is rotated from the homing position HP to a set number of rotations or degrees (e.g., 1500 degrees). The number of rotation angles of the jaw drive input 5035 typically depends on the type of spring, the spring constant, the size of the jaw drive input shaft 5010, the thread ratio of the jaw drive input shaft 5010, etc. These and other parameters are associated with the manufacturer's specifications for the jaw drive input 5035 (and its associated components) and the spring assembly 5055 (and its associated components).

[0132] In a potential next step 6040 (shown by dashed lines), the end effector 5040, or a combination of the end effector 5040 and the shaft 5030, is disengaged from the housing 5020 of the robotic surgical forceps 5000, and the method is repeated, for example, by selectively engaging a new end effector (not shown), or a combination of the end effector and the shaft (not shown), with the housing 5020 of the robotic surgical forceps 5000, and the method is repeated.

[0133] Figure 15 shows a graph of the homing algorithm HA associated with the flowchart in Figure 16. More specifically, the graph shows the change in average torque (Δtorque) over time, marking the homing position HP of the jaw drive input unit 5035. Once detected, the robot drive input controller 5065, when commanded to be in a sealed cycle, communicates with the jaw drive input unit 5035 to rotate the jaw drive input shaft 5010 by a set number or degree, for example, 1500 degrees, and then rotates the jaw input gear 5022 coupled to the drive gear 430. The rotation of the drive gear 430 linearly translates the proximal hub 5052 of the spring force assembly 5050 relative to the biasing of the compression spring 5056 relative to the distal hub 5054, and then linearly translates the jaw drive rod 5084 by mechanical engagement of the proximal end of the jaw drive rod 5084 with the lock tab 5075.

[0134] Once the homing position is determined using the method described above, the robot drive input controller 5065 rotates the jaw drive input unit 5035 simply based on the range identified above, for example, 3 kg / cm². 2 ~Approx. 16kg / cm 2 To accurately and consistently achieve the desired closing pressure for sealing the tissue, the consistency of a spring 5056 with a known spring constant is simply relied upon. The reproducibility and consistency of the closing force of spring 5056 is ensured even during heating, drying, and shrinkage of the tissue during the sealing process. The robot drive input controller 5065 may be configured to maintain the rotational orientation (e.g., rotation angle) of the jaw drive input shaft 5010 during use, allowing for repeated and consistent access of the jaw members 5042, 5044 within the sealing range over long-term use.

[0135] Referring here to Figure 17, a method for providing a consistent jaw closing force is shown, including a second homing algorithm ("second homing algorithm, 2HA") for use with the robotic surgical instrument 5000 of Figure 14. More specifically, in the first step 7000, an end effector, e.g., end effector 5040, or a combination of end effector 5040 and shaft 5030, is selectively engaged with the housing 5020 of the robotic surgical forceps 5000. In step 7010, the PCB 5066a and / or EPROM (or other controller associated with the robotic surgical forceps 5000) communicate mechanically or electrically with the end effector 5040 (or the combination of shaft 5030) to recognize the end effector 5040 and its associated operating parameters and characteristics, e.g., size, type, knife stroke, etc., and send operating data back to the PCB 5066a and / or EPROM.

[0136] In the subsequent step 7020, the PCB 5066a and / or EPROM decide to initiate a second homing algorithm ("2HA") to home the jaw members 5042 and 5044, which is to activate the jaw drive input unit 5035 and engage the jaw input gear 5022, thereby closing the jaw members 5042 and 5044 relative to each other, ignoring any torque readings during this initial step, in which the jaw members 5042 and 5044 rotate the jaw drive input unit 5035 by approximately 180 degrees. Step 7022 - The jaw members 5042, 5044 are successively closed by the operation of the jaw drive input unit 5035 until the robot drive input controller 5065 measures a torque on the jaw drive input unit 5035 in the range of approximately 20 Nmm to approximately 50 Nmm (via the torque sensor), and this rotational position of the jaw drive input unit 5035 is marked as the initial position 0. Step 7023 involves rotating the jaw drive input unit approximately 360 degrees to open the jaw members 5042, 5044, and ignoring the torque spike. Step 7024 - Rotate the jaw drive input 5035 from approximately 360 degrees to approximately 1080 degrees and take a starting average torque reading on the jaw drive input 5035 (in possible additional steps, the starting average torque passes through a low-pass filter); Step 7025 - Continuously rotate the jaw drive input 5035 beyond 1080 degrees and find a torque increase greater than 25 Nmm (>25 Nmm) from the starting average reading and assign this position of the jaw drive input 5035 as the “trigger point limit” (in possible additional steps, use two or more consecutive readings of an increase >25 Nmm to determine the trigger point limit); and Step 7026 - Assign / calculate the “homing” or “fully open” position of the jaw members 5042, 5044 relative to the position of the jaw drive input 5035 as the trigger point limit position minus approximately 74 degrees of the jaw drive input 5035.

[0137] In the next step 7030, the jaw drive input unit 5035 determines that the closing force between the jaw members is approximately 3 kg / cm. 2 ~Approx. 16Kg / cm 2To ensure that it falls within a typical range for sealing the blood vessels or tissue, it is rotated from the homing position HP to a predetermined number of rotations or degrees (e.g., 1500 degrees). Typically, this is done with the shaft 5030 in a straight or unarticulated state. The number of rotation angles of the jaw drive input 5035 typically depends on the type of spring, spring constant, size of the jaw drive input shaft 5010, thread ratio of the jaw drive input shaft 5010, etc. These and other parameters are associated with the manufacturer's specifications of the jaw drive input 5035 (and its associated components) and the spring assembly 5055 (and its associated components).

[0138] In a potential next step 7040 (shown by dashed lines), the end effector 5040, or a combination of the end effector 5040 and the shaft 5030, is disengaged from the housing 5020 of the robotic surgical forceps 5000, and the method repeats step 7000, for example, by selectively engaging a new end effector (not shown), or a combination of the end effector and the shaft (not shown), with the housing 5020 of the robotic surgical forceps 5000, and the method is repeated.

[0139] As described above, this disclosure also relates to a method for detecting the home position of the knife blade 315 (see Figure 1). Figure 18 shows one method for detecting the home position of the knife blade 315, including a knife homing algorithm ("KHA") for use with the robotic surgical instrument 5000 of Figure 14. More specifically, in a first step 8000, an end effector, for example, an end effector 5040, or a combination of the end effector 5040 and the shaft 5030, is selectively engaged with the housing 5020 of the robotic surgical forceps 5000. In step 8010, the PCB 5066a and / or EPROM (or other controller associated with the robotic surgical forceps 5000) communicate mechanically or electrically with the end effector 5040 (or the combination with the shaft 5030) to recognize the end effector 5040 and its associated operating parameters and characteristics, such as size, type, knife stroke, etc., and send operating data back to the PCB 5066a and / or EPROM.

[0140] In the subsequent step 8020, the PCB 5066a and / or EPROM initiate the knife homing algorithm ("KHA") to determine the home position of the knife blade 315, which is 8021 - actuate the knife blade 315 and engage the knife tube 62 (Figure 6) and subassembly 300 (Figure 3), ignoring any torque readings during this initial step, in which the knife blade 315 may be initially extended by rotating the knife drive coupler 130 by approximately 180 degrees, ignoring any torque readings during this step, step 8022 - actuate the knife blade 315 further by 500 degrees via the actuation of the knife drive coupler 130, or continuously actuate until the robot drive input controller 5065 measures the torque limit of the knife drive coupler 130 in the range of approximately 40 Nmm to approximately 500 Nmm (via the torque sensor), and this rotational position of the knife drive coupler 130 is initially Step 8023 – If the knife drive coupler 130 can move another 500 degrees without reaching the torque limit, rotate the knife drive coupler 130 from approximately 100 degrees to approximately 580 degrees to retract the knife blade 315 and take the starting average torque reading on the knife drive coupler 130; Step 8024 – Rotate the knife drive coupler 130 continuously to retract the knife blade beyond 580 degrees and find a torque increase greater than 20 Nmm (>20 Nmm) from the starting average reading and assign this position of the knife drive coupler 130 as the "knife point limit" (in possible additional steps, two or more consecutive readings with an increase >20 Nmm are used to determine the knife point limit); Step 8025 – Assign the "knife home" position as the knife point limit position minus approximately 50 degrees of rotation of the knife drive coupler 130.

[0141] In a potential next step 8040 (shown by dashed lines), the end effector 5040, or a combination of the end effector 5040 and the shaft 5030, is disengaged from the housing 5020 of the robotic surgical forceps 5000, and the method repeats step 8000, for example, by selectively engaging a new end effector (not shown), or a combination of the end effector and the shaft (not shown), with the housing 5020 of the robotic surgical forceps 5000 and repeating the method of homing the knife blade 315.

[0142] As described above, this disclosure also relates to a method for detecting the homing position of the articulation section 36 (see Figure 1). Figure 19 shows one method for detecting the home position (or linear position) of the articulation section 36, including an articulation homing algorithm ("AHA") for use with the robotic surgical instrument 5000 of Figure 14. More specifically, in a first step 9000, an end effector, for example, an end effector 5040, or a combination of the end effector 5040 and the shaft 5030, is selectively engaged with the housing 5020 of the robotic surgical forceps 5000. In step 9010, the PCB 5066a and / or EPROM (or other controller associated with the robotic surgical forceps 5000) communicate mechanically or electrically with the end effector 5040 (or the combination with the shaft 5030) to recognize the end effector 5040 and its associated operating parameters and characteristics, such as size, type, knife stroke, etc., and send operating data back to the PCB 5066a and / or EPROM.

[0143] In the next step 9020, the PCB5066a and / or EPROM initiate the joint motion homing algorithm ("AHA") to determine the home position of the joint motion section 36, which is done in step 9021 - encapsulating the joint motion section 36 within the trocar 2000 (Figure 20), and step 9022 - activating the joint motion couplers 110, 120 (see Figure 2B) until the joint motion section 36 strikes the inner surface 2010 of the trocar 2000 and a torque of approximately 20 Nmm is measured on the joint motion couplers 110, 120 (or torque sensors), thereby activating the joint motion section 36. Step 9023 – articulate 6 in a first direction; mark the positions of articulation couplers 110, 120 as first “endpoints” or “edges” (“E”); Step 9024 – activate articulation couplers 110, 120 to articulate articulation section 36 in additional directions and determine additional “endpoints” or “edges” (“E”) as in step 9023; Step 9025 – use at least three “endpoints” or “edges” (“E”) to calculate the central or home position “X” of articulation section 36 (see Figure 20).

[0144] In a potential next step 9040 (shown by dashed lines), the shaft 5030, or a combination of the shaft 5030 and the end effector 5040, is disengaged from the housing 5020 of the robotic surgical forceps 5000, and the method repeats step 9000, for example, by selectively engaging a new shaft 5030 and articulation section 36 or a combination of a new shaft 5030, articulation section 36 and the end effector 5040 (not shown) with the housing 5020 of the robotic surgical forceps 5000 and homeing the articulation section 36.

[0145] This disclosure also relates to a method for adjusting the rotation angle of a jaw drive input unit 5035 for closing jaw members 5042, 5044, depending on the joint momentum (in the X, Y, and Z axes) in the joint movement section 36. Figure 21 shows one method for adjusting the rotation angle of a jaw drive input unit 5035 for closing jaw members 5042, 5044 for use with the robotic surgical instrument 5000 of Figure 14. More specifically, in the first step 10000, the fully open position of the jaw members 5042 and 5044 is determined, for example, according to one of the methods described above; step 10010 - determining the homing position of the articular movement section 36, for example, according to one or more of the methods described above; step 10020 - operating the robotic instrument 5000 to position the tissue between the jaw members 5042 and 5044; step 10030 - determining the joint momentum (X-axis, Y-axis, and Z-axis) of the articular movement section 36 with respect to the homing position of the articular movement section 36 before the jaw drive input unit 5035 begins to grasp the tissue under appropriate closing force; step 10040 - calculating the friction loss of one or more of the multiple articular movement cables 38 based on the joint momentum of the articular movement section 36 and adjusting the number of preset rotation angles of the jaw drive input unit 5035 to close the jaw members 5042 and 5044 to approximately 3 kg / cm 2 ~Approx. 16kg / cm 2 To ensure closing pressure between jaw members within the range, and to activate the jaw drive input 5035 to grasp tissue between jaw members 5042 and 5044. Various methods, such as lookup tables, graph analysis, or mathematical formulas, may be employed to calculate the friction loss associated with the joint movement of the various components.

[0146] While several embodiments of this disclosure are shown in the drawings, this disclosure should be as broad as the scope permitted by the art, and this specification is intended to be read in the same way; therefore, this disclosure is not intended to be limited to these embodiments. Accordingly, the above description should not be construed as a limitation, but merely as an example of specific embodiments. Other modifications that do not depart from the scope and spirit of the claims appended herein will be conceivable to those skilled in the art.

[0147] It will be understood that various modifications can be made to the embodiments and features disclosed herein. Therefore, the above description should not be construed as limiting, but merely as an example of various embodiments and features. Those skilled in the art will anticipate other modifications within the scope and intent of the claims appended herein.

Claims

1. Robotic surgical instruments, The device comprises a housing, the housing having a shaft extending from the housing and configured to receive a first end effector assembly at its distal end, the first end effector assembly comprising a pair of jaw members, the jaw members movable between a fully open position where they are separated by a maximum distance from each other and a closed position where the closing pressure between the jaw members is within a predetermined range, the shaft comprising a drive rod, the drive rod extending through the shaft and configured to actuate the first end effector assembly when the drive rod is moved in parallel, and the housing, A spring compression assembly supported within the housing, wherein the spring compression assembly is A proximal hub configured to fix the proximal end of the drive rod of the first end effector assembly, which is disposed through the interior, A distal hub separated from the proximal hub, A spring compression assembly comprising a compression spring having a known spring constant, mounted between the proximal hub and the distal hub, A robotic surgical instrument comprising: a jaw drive input unit configured to rotate a jaw drive input shaft having a drive gear disposed above it, wherein the drive gear is configured to engage with the distal hub such that its rotation causes the distal hub to move in parallel with the proximal hub, compressing the compression spring and causing the drive rod of the first end effector assembly to move the jaw members relative to each other, and when the jaw members move to the fully open position, the jaw drive input unit is configured to rotate the jaw drive input shaft by a preset number of rotation angles to compress the compression spring and bring the jaw members closer to the closing pressure within a predetermined range.

2. The robotic surgical instrument according to claim 1, wherein the housing is configured such that a subsequent end effector assembly can be replaced with the first end effector assembly without recalibrating the preset number of rotation angles of the jaw drive input shaft from the fully open position of the jaw member.

3. The robotic surgical instrument according to claim 1, wherein the preset rotation angle of the jaw drive input portion from the fully open position of the jaw member compresses the compression spring by a preset distance in correspondence to ensure that the closing pressure remains within the predetermined range.

4. The robotic surgical instrument according to claim 2, wherein the preset rotation angle of the jaw drive input portion of the jaw member of the first end effector assembly or any subsequent end effector assembly from the fully open position is used to compress the compression spring by the same distance to ensure that the closing pressure remains within the predetermined range.

5. The robotic surgical instrument according to claim 1, wherein the preset rotation angle is in the range of approximately 1500 degrees to approximately 3000 degrees.

6. The robotic surgical instrument according to claim 1, wherein the distal hub includes a plurality of teeth disposed on the distal hub, and the plurality of teeth are configured to engage with a corresponding plurality of teeth disposed on the drive gear.

7. The closing pressure between the jaw members is approximately 3 kg / cm². ２ ~Approx. 16kg / cm ２ A robotic surgical instrument according to claim 1, which is within a predetermined range.

8. The preset rotation angle of the jaw drive input section from the fully open position of the jaw member compresses the compression spring by a preset distance in accordance with that angle, so that the closing pressure is approximately 3 kg / cm² during repeated use. ２ ~Approx. 16kg / cm ２ The robotic surgical instrument according to claim 1, which ensures that it falls within a predetermined range.

9. The preset rotation angle of the jaw drive input portion of the jaw member of the first end effector assembly or any subsequent end effector assembly from the fully open position compresses the compression spring by the same distance in a corresponding manner, so that the closing pressure is approximately 3 kg / cm² during repeated use. ２ ~Approx. 16kg / cm ２ The robotic surgical instrument according to claim 2, which ensures that it falls within a predetermined range.

10. Robotic surgical instruments, The device comprises a housing, the housing having a shaft extending from the housing and configured to receive a first end effector assembly at its distal end, the first end effector assembly being a pair of jaw members, the fully open position where the jaw members are separated from each other at their maximum distance, and the closed pressure between the jaw members being approximately 3 kg / cm². ２ ~Approx. 16kg / cm ２ The shaft includes a pair of jaw members that are movable between a closed position within a range, the shaft includes a drive rod, the drive rod extends through the shaft, and is configured to actuate the first end effector assembly when the drive rod is moved in parallel, and the housing is A spring compression assembly supported within the housing, wherein the spring compression assembly is A proximal hub configured to secure the proximal end of the drive rod of the end effector assembly, which is disposed through the interior, A distal hub, which is separated from the proximal hub and includes a plurality of teeth arranged above it, A spring compression assembly comprising a compression spring having a known spring constant, mounted between the proximal hub and the distal hub, A jaw drive input portion configured to rotate a jaw drive input shaft having a drive gear disposed thereon, wherein the drive gear is configured such that rotation thereof causes the distal hub to translate parallel to the proximal hub to compress the compression spring and translate the drive rod of the first end effector assembly to move the jaw members relative to each other by engaging corresponding teeth of the distal hub, and when the jaw members move to the fully open position, the jaw drive input portion rotates the jaw drive input shaft by a preset number of rotation angles to compress the compression spring and approach the jaw members to a closing pressure within a range of about 3 kg / cm ２ to about 16 kg / cm ２ A robotic surgical instrument configured as such.

11. The robotic surgical instrument according to claim 10, wherein the housing is configured such that a subsequent end effector assembly can be replaced with the first end effector assembly without recalibrating the preset number of rotation angles of the jaw drive input shaft from the fully open position of the jaw member.

12. The robotic surgical instrument according to claim 10, wherein the preset rotation angle of the jaw drive input portion from the fully open position of the jaw member compresses the compression spring by a preset distance in correspondence to ensure that the closing pressure remains within a predetermined range.

13. The robotic surgical instrument according to claim 11, wherein the preset rotation angle of the jaw drive input portion of the jaw member of the first end effector assembly or any subsequent end effector assembly from the fully open position is used to compress the compression spring by the same distance to ensure that the closing pressure remains within a predetermined range.

14. The robotic surgical instrument according to claim 10, wherein the preset rotation angle is in the range of approximately 1500 degrees to approximately 3000 degrees.

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