Tendon layouts for continuum endocutters

Abstract

A surgical instrument for a surgical robotic system, the surgical instrument comprising: an end effector having an anvil and a cutting instrument coupled to the anvil; a shaft assembly comprising a hollow shaft having a proximal end and a distal end coupled to the end effector at a continuum joint; a plurality of tendons extending through the continuum joint to the end effector to control an articulation of the end effector about the continuum joint; and a cutter coil extending through the continuum joint to the end effector to control an operation of the cutting instrument.

Description

ATTORNEY DOCKET No. : AUR6386WOPCT1TENDON LAYOUTS FOR CONTINUUM ENDOCUTTERSCROSS-REFERENCE TO RELTED APPLICATION

[0001] The present application claims the benefit of the earlier filing date of US Provisional Application No. 63 / 746,803, filed 17 January 2025, and incorporated herein by reference.FIELD

[0002] This disclosure relates generally to the field of robotic surgery and, more particularly, to a surgical instrument including an endocutter end effector with a continuum joint having a particular tendon layout to control the endocutter end effector with two distal degrees of freedom.BACKGROUND

[0003] Minimally-invasive surgery (MIS), such as laparoscopic surgery, involves techniques intended to reduce tissue damage during a surgical procedure. For example, laparoscopic procedures typically involve creating a number of small incisions in the patient (e.g., in the abdomen), and introducing one or more tools, for example a surgical stapler and / or an energy device, and at least one endoscopic camera through the incisions into the patient. The surgical procedures are then performed by using the introduced tools, with the visualization aid provided by the camera. Generally, MIS provides multiple benefits, such as reduced patient scarring, less patient pain, shorter patient recovery periods, and lower medical treatment costs associated with patient recovery. In some embodiments, MIS may be performed with robotic systems that include one or more robotic arms for manipulating surgical instruments based on commands from an operator.SUMMARY

[0004] Aspects of the disclosure include a surgical instrument such as a surgical robotic endocutter end effector having a continuum joint or wrist for increased dexterity, modularity and sensing capabilities. Representatively, the continuum joint or wrist allows for articulation or movement of the endocutter end effector in a continuous spherical coordinateATTORNEY DOCKET No. : AUR6386WOPCT1 system. In particular, the continuum joint or wrist is capable of bending in an arc-shaped fashion by a commanded bend angle. The plane into which the wrist bends is defined by an azimuth angle. Together, the bend and azimuth angles encapsulate the two degrees of freedom of the end effector. There is no fixed center of rotation or fixed axis about which the instrument rotates as is the case with other joint configurations. Rather, the center of rotation of the continuum wrist or joint changes as a function of the bend or azimuth angle. In some aspects, the instrument having the endocutter end effector may also be referred to herein as a continuum endocutter. The continuum endocutter may include an anvil having a jaw that opens / closes and a cutting assembly including a knife for performing various surgical procedures. The continuum endocutter may further include a number of articulation tendons and a knife tendon or push coil for controlling the operation of the anvil and knife assembly. The articulation tendons and the knife tendon or push coil may extend through the continuum wrist and be arranged in various patterns or layouts for improved control of the anvil and / or knife assembly. Representatively, the different tendon layouts are selected to control the continuum endocutter with two distal degrees of freedom. In addition, it may be understood that a unique kinematic relationship can be established between the tendon layouts described herein and the configuration of the instrument. Specifically, the position of each tendon relative to the centerline or axis of the continuum joint dictates how much each articulation tendon needs to pay in and pay out to achieve a desired configuration. In addition, in some aspects, a mechanism to ensure structural rigidity of the instrument such as a stiffness member may further be coupled to the continuum joint and / or other aspects of the continuum endocutter. Use of the continuum joint to control the endocutter as described herein presents distinct advantages over conventional pitch / yaw joint counterparts including increased range of motion by increasing the continuum backbone length with no changes to the instrument kinematics, a modular joint design that increases ease of assembly and decreases cost of goods (COGs) high dexterity to increase anatomical reach and access, and a relatively compliant end effector that can be used for distal sensing applications.

[0005] Representatively, in one aspect the disclosure is directed to a surgical instrument for a surgical robotic system, the surgical instrument comprising: an end effector having an anvil and a cutting instrument coupled to the anvil; a shaft assembly comprising a hollow shaft having a proximal end and a distal end coupled to the end effector at a continuum joint; a plurality of actuation tendons extending through the continuum joint to theATTORNEY DOCKET No. : AUR6386WOPCT1 end effector to control articulation of the end effector about the continuum joint; and a cutter coil extending through the continuum joint to the end effector to control an operation of the cutting instrument. In some aspects, the plurality of tendons comprises four tendons and the cutter coil comprises two cutter coils. In still further aspects, the four tendons and the two cutter coils are arranged in a radially symmetric pattern about a center axis of the continuum joint. In other aspects, the four tendons and the two cutter coils are arranged in a radially asymmetric pattern about a center axis of the continuum joint. In still further aspects, the four tendons are arranged in a rectangular pattern about an axis of the continuum joint having higher bending resistance. In some aspects, the plurality of tendons comprise three tendons arranged in a radially symmetric pattern about a center axis of the continuum joint and the cutter coil comprises two cutter coils having an axis offset relative to the center axis of the continuum joint. In still further aspects, the plurality of tendons comprise three tendons arranged in a radially asymmetric pattern about a center axis of the continuum joint and the cutter coil comprises two cutter coils having an axis that intersects the center axis of the continuum joint. In other aspects, the plurality of tendons comprises a first pair of antagonistic tendons and a second pair of antagonistic tendons. In some aspects, the first pair of antagonistic tendons or the second pair of antagonistic tendons form an antagonistic closed loop coupled to a motor. In further aspects, the plurality of tendons comprise three tendons arranged in a radially symmetric pattern about a center axis of the continuum joint, the cutter coil is arranged at the center axis, and the instrument further comprises a plurality of structural members arranged in a radially symmetric pattern about the center axis. The instrument may also include a structural member coupled to the continuum joint and the plurality of tendons and the cutter coil extend through the structural member. In some aspects, the continuum joint is operable to bend by a bend angle in a bending plane defined by an azimuth angle to move the end effector. In other aspects, the end effector is an endocutter end effector comprising at least two degrees of freedom.

[0006] In other aspects, the disclosure is directed to a surgical instrument for a surgical robotic system including an endocutter end effector having an anvil and a knife assembly coupled to the anvil; a shaft assembly having a proximal end and a distal end coupled to the endocutter end effector at a continuum joint; a plurality of articulation tendons extending through the shaft assembly and the continuum joint to the endocutter end effector, the plurality of actuation tendons arranged within the continuum joint to control anATTORNEY DOCKET No. : AUR6386WOPCT1 articulation of the endocutter end effector about the continuum joint; and a knife tendon extending through the shaft assembly and the continuum joint to the endocutter end effector to control an operation of the knife assembly. In some aspects, the plurality of articulation tendons comprises four articulation tendons and the knife tendon comprises two knife tendons. In other aspects, the four articulation tendons and the two knife tendons are arranged at a same radial distance from a center axis of the continuum joint. In still further aspects, the four articulation tendons are arranged at different distances relative to one another. In other aspects, the four articulation tendons are arranged closer to an axis of higher bending resistance of the continuum joint than to one another. In other aspects, the plurality of articulation tendons comprise three tendons arranged in a radially symmetric pattern about a center axis of the continuum joint and the knife tendon comprises two knife coils having an axis offset relative to the center axis of the continuum joint. In some aspects, the plurality of articulation tendons comprise three articulation tendons arranged in a radially asymmetric pattern about a center axis of the continuum joint and the knife tendon comprises two knife tendons having an axis that intersects the center axis of the continuum joint. In other aspects, the plurality of articulation tendons comprises a first pair of antagonistic tendons and a second pair of antagonistic tendons. In some aspects, the first pair of antagonistic tendons or the second pair of antagonistic tendons form an antagonistic closed loop coupled to a motor. In other aspects, the plurality of articulation tendons comprises three articulation tendons arranged in a radially symmetric pattern about a center axis of the continuum joint, the knife tendon is arranged at the center axis, and the instrument further comprises a plurality of structural members arranged in a radially symmetric pattern about the center axis. The instrument may further include a structural member coupled to the continuum joint and the plurality of articulation tendons and the knife tendon extend through channels within the structural member. In other aspects, the continuum joint is operable to bend by a bend angle in a bending plane defined by an azimuth angle to move the endocutter end effector. In some aspects, the endocutter end effector comprises at least two degrees of freedom.

[0007] The above summary does not include an exhaustive list of all aspects of the present invention. It is contemplated that the invention includes all systems and methods that can be practiced from all suitable combinations of the various aspects summarized above, as well as those disclosed in the Detailed Description below and particularly pointed out in theATTORNEY DOCKET No. : AUR6386WOPCT1 claims filed with the application. Such combinations have particular advantages not specifically recited in the above summary.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] FIG. 1 is an overview schematic view of an operating room arrangement with a surgical robotic system.

[0009] FIG. 2 is a schematic perspective view of a surgical instrument having a continuum end effector.

[0010] FIG. 3 is a schematic side perspective view of the distal end of the surgical instrument, depicting the end effector pivoted about the continuum joint.

[0011] FIG. 4 is a schematic top perspective view of the distal end of the surgical instrument, depicting the end effector pivoted about the continuum joint.

[0012] FIG. 5 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’.

[0013] FIG. 6 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’.

[0014] FIG. 7 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’.

[0015] FIG. 8 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’.

[0016] FIG. 9 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’.

[0017] FIG. 10 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’.

[0018] FIG. 11 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’.ATTORNEY DOCKET No. : AUR6386WOPCT1

[0019] FIG. 12 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’.

[0020] FIG. 13 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’.

[0021] FIG. 14 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’.

[0022] FIG. 15 is a schematic block diagram of a control device, robotic arm, and the surgical instrument, in accordance with the disclosed technology.DETAILED DESCRIPTION

[0023] In various embodiments, description is made with reference to the figures. However, certain embodiments may be practiced without one or more of these specific details, or in combination with other known methods and configurations. In the following description, numerous specific details are set forth, such as specific configurations, dimensions, and processes, in order to provide a thorough understanding of the embodiments. In other instances, well-known processes and manufacturing techniques have not been described in particular detail in order to not unnecessarily obscure the description. Reference throughout this specification to “one embodiment,” “an embodiment,” or the like, means that a particular feature, structure, configuration, or characteristic described is included in at least one embodiment. Thus, the appearance of the phrase “one embodiment,” “an embodiment,” or the like, in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, configurations, or characteristics may be combined in any suitable manner in one or more embodiments.

[0024] In addition, the terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the invention. Spatially relative terms, such as "beneath", "below", "lower", "above", "upper", and the like may be used herein for ease of description to describe one element's or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device inATTORNEY DOCKET No. : AUR6386WOPCT1 the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0025] As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising" specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0026] The terms “or” and “and / or” as used herein are to be interpreted as inclusive or meaning any one or any combination. Therefore, “A, B or C” or “A, B and / or C” mean “any of the following: A; B; C; A and B; A and C; B and C; A, B and C.” An exception to this definition will occur only when a combination of elements, functions, steps or acts are in some way inherently mutually exclusive.

[0027] Moreover, the use of relative terms throughout the description may denote a relative position or direction. For example, “distal” may indicate a first direction away from a reference point, e.g., away from a user. Similarly, “proximal” may indicate a location in a second direction opposite to the first direction, e.g., toward the user. Such terms are provided to establish relative frames of reference, however, and are not intended to limit the use or orientation of any particular surgical robotic component to a specific configuration described in the various embodiments below.

[0028] Referring to FIG. 1, this is a pictorial view of an example surgical robotic system 100 in an operating arena. The surgical robotic system 100 includes a user console 102, a control tower 103, and one or more surgical robots 120, including robotic arms 104 at a surgical robotic platform 105, e.g., an operating table, a bed, etc. The system 100 can incorporate any number of devices, tools, or accessories used to perform surgery on a patient 106. For example, the system 100 may include one or more surgical instruments or tools 107 used to perform surgery. A surgical instrument or tool 107 may be an end effector that is attached to a distal end of a surgical arm 104, for executing a surgical procedure.ATTORNEY DOCKET No. : AUR6386WOPCT1

[0029] Each surgical tool 107 may be manipulated manually, robotically, or both, during the surgery. For example, the surgical tool 107 may be a tool used to enter, view, or manipulate an internal anatomy of the patient 106. In an embodiment, the surgical tool 107 may be a grasper that can grasp tissue of the patient and / or an energy tool that can emit energy to cut, coagulate, desiccate and / or fulgurate the grasped tissue. The surgical tool 107 may be controlled manually, by a bedside operator 108; or it may be controlled robotically, via actuated movement of the surgical robotic arm 104 to which it is attached. The robotic arms 104 are shown as a table-mounted system, but in other configurations the arms 104 may be mounted in a cart, ceiling or sidewall, or in another suitable structural support.

[0030] Generally, a remote operator 109, such as a surgeon or other operator, may use the user console 102 to remotely manipulate the arms 104 and / or the attached surgical tools 107, e.g., teleoperation. Teleoperation may be engaged or disengaged based on the user actions. It should be understood that “engaging” the teleoperation mode is intended to refer to an operation in which, for example, a UID or foot pedal that is prevented from controlling the surgical instrument, is transitioned to a mode (e.g., a teleoperation mode) in which it can now control the surgical instrument. On the other hand, disengaging the teleoperation mode is intended to refer to an operation which occurs when the system is in a teleoperation mode, and then transitioned to a mode (non-teleoperation mode) in which the UID or foot pedal can no longer control the surgical instrument. For example, teleoperation mode may be disengaged when the system determines that a detected movement is an unintended action or movement by the user or the user engages in any other action which suggests teleoperation mode should no longer be engaged.

[0031] The user console 102 may be located in the same operating room as the rest of the system 100, as shown in FIG. 1. In other environments, however, the user console 102 may be located in an adjacent or nearby room, or it may be at a remote location, e.g., in a different building, city, or country. The user console 102 may comprise a seat 110, one or more user interface devices, for example, foot-operated controls 113 or handheld user input devices (UID) 114, and at least one user display 115 that is configured to display, for example, a view of the surgical site inside the patient 106. In the example user console 102, the remote operator 109 is sitting in the seat 110 and viewing the user display 115 while manipulating a foot-operated control 113 and a handheld UID 114 in order to remotelyATTORNEY DOCKET No. : AUR6386WOPCT1 control the arms 104 and the surgical tools 107 (that are mounted on the distal ends of the arms 104).

[0032] In some variations, the bedside operator 108 may also operate the system 100 in an “over the bed” mode, in which the bedside operator 108 (user) is now at a side of the patient 106 and is simultaneously manipulating a robotically-driven tool (end effector as attached to the arm 104), e.g., with a handheld UID 114 held in one hand, and a manual laparoscopic tool. For example, the bedside operator’s left hand may be manipulating the handheld UID to control a robotic component, while the bedside operator’s right hand may be manipulating a manual laparoscopic tool. Thus, in these variations, the bedside operator 108 may perform both robotic-assisted minimally invasive surgery and manual laparoscopic surgery on the patient 106.

[0033] During an example procedure (surgery), the patient 106 is prepped and draped in a sterile fashion to achieve anesthesia. Initial access to the surgical site may be performed manually while the arms of the robotic system 100 are in a stowed configuration or withdrawn configuration (to facilitate access to the surgical site). To create a port for enabling introduction of a surgical instrument into the patient 106, a trocar assembly may be at least partially inserted into the patient through an incision or entry point in the patient (e.g., in the abdominal wall). The trocar assembly may include a cannula or trocar, an obturator, and / or a seal. In some variations, the trocar assembly can include an obturator such as a needle with a sharpened tip for penetrating through a patient’s skin. The obturator may be disposed within the lumen of the cannula when being inserted into the patient 106, and then removed from the cannula such that a surgical instrument may be inserted through the lumen of the cannula. Once positioned within the body of the patient 106, the cannula may provide a channel for accessing a body cavity or other site within the patient 106, for example, such that one or more surgical instruments or tools (e.g., an energy tool) can be inserted into a body cavity of the patient 106, as described further herein. It will be understood that the cannula as described herein may be part of a trocar, and can optionally include an obturator or other components.

[0034] Once access is completed, initial positioning or preparation of the robotic system 100 including its arms 104 may be performed. Next, the surgery proceeds with the remote operator 109 at the user console 102 utilizing the foot-operated controls 113 and theATTORNEY DOCKET No. : AUR6386WOPCT1 UIDs 114 to manipulate the various end effectors and perhaps an imaging system, to perform the surgery. Manual assistance may also be provided at the procedure bed or table, by sterile-gowned bedside personnel, e.g., the bedside operator 108 who may perform tasks such as retracting tissues, performing manual repositioning, and tool exchange upon one or more of the robotic arms 104. Non-sterile personnel may also be present to assist the remote operator 109 at the user console 102. When the procedure or surgery is completed, the system 100 and the user console 102 may be configured or set in a state to facilitate post-operative procedures such as cleaning or sterilization and healthcare record entry or printout via the user console 102.

[0035] In one embodiment, the remote operator 109 holds and moves the UID 114 to provide an input command to move a robot arm actuator 117 in the robotic system 100. The UID 114 may be communicatively coupled to the rest of the robotic system 100, e.g., via a console computer system 116. Representatively, in some embodiments, UID 114 may be a portable handheld user input device or controller that is ungrounded with respect to another component of the surgical robotic system. For example, UID 114 may be ungrounded while either tethered or untethered from the user console. The term “ungrounded” is intended to refer to implementations where, for example, both UIDs are neither mechanically nor kinematically constrained with respect to the user console. For example, a user may hold a UID 114 in a hand and move freely to any possible position and orientation within space only limited by, for example, a tracking mechanism of the user console. The UID 114 can generate spatial state signals corresponding to movement of the UID 114, e.g. position and orientation of the handheld housing of the UID, and the spatial state signals may be input signals to control a motion of the robot arm actuator 117. The robotic system 100 may use control signals derived from the spatial state signals, to control proportional motion of the actuator 117. In one embodiment, a console processor of the console computer system 116 receives the spatial state signals and generates the corresponding control signals. Based on these control signals, which control how the actuator 117 is energized to move a segment or link of the arm 104, the movement of a corresponding surgical tool that is attached to the arm may mimic the movement of the UID 114. Similarly, interaction between the remote operator 109 and the UID 114 can generate, for example, a grip control signal that causes a jaw of a grasper of the surgical tool 107 to close and grip the tissue of patient 106.ATTORNEY DOCKET No. : AUR6386WOPCT1

[0036] The surgical robotic system 100 may include several UIDs 114, where respective control signals are generated for each UID that control the actuators and the surgical tool (end effector) of a respective arm 104. For example, the remote operator 109 may move a first UID 114 to control the motion of an actuator 117 that is in a left robotic arm, where the actuator responds by moving linkages, gears, etc., in that arm 104. Similarly, movement of a second UID 114 by the remote operator 109 controls the motion of another actuator 117, which in turn moves other linkages, gears, etc., of the robotic system 100. The robotic system 100 may include a right arm 104 that is secured to the bed or table to the right side of the patient, and a left arm 104 that is at the left side of the patient. An actuator 117 may include one or more motors that are controlled so that they drive the rotation of a joint of the arm 104, to for example change, relative to the patient, an orientation of an endoscope or a grasper of the surgical tool 107 that is attached to that arm. Motion of several actuators 117 in the same arm 104 can be controlled by the spatial state signals generated from a particular UID 114. The UIDs 114 can also control motion of respective surgical tool graspers. For example, each UID 114 can generate a respective grip signal to control motion of an actuator, e.g., a linear actuator, which opens or closes jaws of the grasper at a distal end of surgical tool 107 to grip tissue within patient 106. In some aspects, the surgical tool grasper may be a surgical stapler or energy tool and the UIDs 114 are used to control the opening or closing of the jaw of the surgical stapler or energy tool as well as the release of staples and / or energy application through the tissue. When the user is finished controlling the surgical tools with the UIDs 114, the user may dock (i.e., store) the UIDs 114 with docking stations or UID holders located on the console 102.

[0037] In some aspects, the communication between the platform 105 and the user console 102 may be through a control tower 103, which may translate user commands that are received from the user console 102 (and more particularly from the console computer system 116) into robotic control commands that are transmitted to the arms 104 on the robotic platform 105. The control tower 103 may also transmit status and feedback from the platform 105 back to the user console 102. The communication connections between the robotic platform 105, the user console 102, and the control tower 103 may be via wired and / or wireless links, using any suitable ones of a variety of data communication protocols. Any wired connections may be optionally built into the floor and / or walls or ceiling of the operating room. The robotic system 100 may provide video output to one or more displays,ATTORNEY DOCKET No. : AUR6386WOPCT1 including displays within the operating room as well as remote displays that are accessible via the Internet or other networks. The video output or feed may also be encrypted to ensure privacy and all or portions of the video output may be saved to a server or electronic healthcare record system. It will be appreciated that the operating room scene in FIG. 1 is illustrative and may not accurately represent certain medical practices.

[0038] Turning now to FIG. 2, FIG. 2 is a schematic perspective view of a surgical instrument having a continuum end effector. The surgical instrument 200 may include an end effector 200A connected to a shaft assembly 200B at a continuum joint 200C.Representatively, shaft assembly 200B may be a hollow shaft having a proximal end 222 and a distal end 220. The distal end 220 of shaft assembly 200B may be coupled to the continuum joint 200C and the continuum joint 200C connects shaft assembly 200B to end effector 200A. End effector 200A includes a first portion 202 (or jaw) and a second portion 204 (or jaw) movable between an open position and a closed position. In some aspects, first portion 202 is herein also interchangeably used with “jaw 202” (which is also referred to in the art as a “channel”) and second portion 204 is used interchangeably with “anvil 204”. The jaw 202 and anvil 204 may be elongated in form. The jaw 202 defines an elongated channel 208 for receiving a staple cartridge. The anvil 204 has a proximal end 204A, a distal end 204B, and may have a ramp surface defined at the proximal end 204A. The jaw 202 and anvil 204 are pivotally coupled via a pivot pin that extends through the jaw 202 and the anvil 204. In some aspects, one or more biasing springs may extend between the jaw 202 and anvil 204 to bias the anvil 204 to the open position.

[0039] The anvil 204 further defines a longitudinally extending upper knife channel and the jaw 202 defines a lower knife channel. A knife firing subsystem operable to close the anvil 204 during a closure stroke may be coupled to the knife channels. After the end effector 200 is closed, the knife firing subsystem is operable to incise and staple, with staples from the staple cartridge, the patient tissue captured between the staple cartridge (which is retained by the jaw 202) and anvil 204 during a firing stroke. The staples are supported by staple drivers in the cartridge body. The drivers are movable between a first, or unfired position, and a second, or fired, position to eject the staples from the staple cavities. The drivers are retained in the cartridge body by a retainer which extends around the bottom of the cartridge body and includes resilient members configured to grip the cartridge body and hold the retainer to the cartridge body. The drivers are movable between their unfired positions and their firedATTORNEY DOCKET No. : AUR6386WOPCT1 positions indirectly by a knife sled. More specifically, the knife sled is movable between a proximal position adjacent to the proximal end and a distal position adjacent the distal end. A portion of the knife sled engages a cartridge sled that slides under the drivers and lifts the drivers, and the staples supported thereon, toward the anvil 204. It is desirable for a knife 206 of the knife firing subsystem to be positioned at least partially proximal to the ramped surfaces such that the staples are in the second, or fired, position (i.e., ejected) ahead of the knife 206. The sled may be moved distally and proximally by knife push coils 210 that run through shaft assembly 200B and continuum joint 200C to end effector 200A and engage the sled to push the sled toward the distal end of the end effector 200 to operate the knife 206. Knife push coils 210 may also be referred to herein as cutter coils, knife coils or knife tendons. For example, movement of the push coils 210 in the first direction may move the knife 206 to fire the staples and transect tissue. Retraction of the knife 206 and opening of the anvil may be achieved by moving the push coil 210 in an opposite, second direction.

[0040] The surgical instrument 200 may further include a number of articulation tendons or cables 212, 214, 216, 218 that run through shaft assembly 200B and continuum joint 200C to end effector 200A to operate end effector 200A. Each articulation tendon or cable 212, 214, 216, 218 may include a stainless-steel material with clockwise braiding and counterclockwise braiding that prevent unwinding thereof. In other embodiments, other materials may be employed, such as polymer yams and / or filaments, various metal cables (e.g., tungsten), and combinations thereof. Each articulation cable or tendon is discretely manipulable to cause movement of the end effector 200A according to at least two degrees of freedom. Representatively, articulation tendons or cables 212, 214, 216, 218 may be manipulated to cause bending of continuum joint 200C and end effector 200A by a bend angle in a bending plane defined by an azimuth angle to move the end effector. In some aspects, although four articulation tendons 212, 214, 216, 218 are shown, more or fewer tendons may be provided. Tendons 212, 214, 216, 218 may be symmetrically arranged relative to a joint or shaft axis, or they may be asymmetrically arranged relative to the joint or shaft axis. The different tendon or cable arrangements will be described in more detail in reference to FIGs. 5-14.

[0041] Each articulation tendon 212, 214, 216, 218 may extend from the continuum joint 200C and through the shaft assembly 200B to a housing coupled to the shaft assembly 200B. Although not shown, the housing may engage a robotic platform controlled by aATTORNEY DOCKET No. : AUR6386WOPCT1 clinician, and in some aspects, may be configured as a handle (e.g., it may comprise a grip for a clinician). The housing may further include a firing assembly as part of the knife firing subsystem operable to close the end effector 200A, fire staples, and transect tissue, and a set of articulation assemblies operable to articulate the end effector 200A relative to the shaft assembly 200B about the continuum joint 200C. In this aspect, the proximal end of each articulation tendon 212, 214, 216, 218 is movably mounted in the housing which causes the above-mentioned bending or movement of the continuum joint 200C and end effector 200A. The articulation tendons 212, 214, 216, 218 may further be routed through the shaft assembly 200B near an outer circumference or surface of shaft assembly 200B to prevent them from interfering with other components running down the center of shaft assembly 200B.

[0042] FIGs. 3-4 illustrate schematic side and top perspective views of the distal end of the surgical instrument, depicting the end effector bending vertically and laterally about the continuum joint. From the side view illustrated in FIG. 3, it can be seen that continuum joint 200C includes a number of concentric discs 302A, 302B, 302C, 302D having a concentric central opening within which the various tendons 212, 214, 216, 218 and knife push coil 210 are arranged. The concentric discs 302A-D may be nestably stacked along a center beam assembly such that adjacent concentric discs 302A-C interface with one another. The articulation tendons 212, 214, 216, 218 are routed and coupled to the end effector 200A via the continuum joint 200C such that a tension or pulling of one or more of tendons 212, 214, 216, 218 causes the end effector 200A to bend in a predetermined manner about the articulation joint 200C. For example, pulling or applying a tension to tendons 212 and 214 in a proximal direction (e.g., toward shaft assembly 200B) causes rotation and / or bending of the end effector 200A at a bend angle (Bl) in a bending plane (Pl) defined by an azimuth angle.

[0043] In some aspects, continuum joint 200C and end effector 200A may be understood as rotation to the right and bending vertically upward as shown. On the other hand, pulling or applying tension to the opposite tendon 218 in a proximal direction may cause rotation to the left and / or bending of the end effector 200A in the opposite direction, for example, vertically downward. In addition, it can be seen from the top perspective view of FIG. 4 that pulling or applying a tension to tendons 214 and 216 in a proximal direction (e.g., toward shaft assembly 200B) causes rotation and / or bending of the end effector 200A at a bend angle (B2) in a bending plane (P2) defined by an azimuth angle. In some aspects, continuum joint 200C and end effector 200A may be understood as rotating to the right andATTORNEY DOCKET No. : AUR6386WOPCT1 bending laterally as shown. On the other hand, pulling or applying tension to the opposite tendon 212 in a proximal direction may cause rotation to the left and / or bending of the end effector 200A in the opposite direction. Similarly, movement of two articulation tendons simultaneously will result in blended movement of the end effector 200A. For example, movement of two adjacent tendons at the same rate may cause only an upward / downward movement of the end effector 200A (e.g., with little to no horizontal component to the rotation). This configuration provides for a precise 360-degree movement of the end effector 200A about the continuum joint 200C with at least two degrees of freedom.

[0044] FIG. 5 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’ . From this view, one representative pattern or arrangement 500 of articulation tendons 212, 214, 216, 218 within continuum joint 200C can be more clearly seen. Representatively, FIG. 5 illustrates four articulation tendons 212, 214, 216, 218 arranged in a radially symmetric pattern relative to the joint axis 506 and used to control the distal degrees of freedom. In particular, tendons 212, 214, 216, 218 may each be positioned within continuum joint 200C at a same radial distance (R) from joint axis 506 as shown. For example, tendons 212, 214, 216, 218 may each be considered to be arranged around an interior circumference 502 of joint 200C. Representatively, in some aspects, tendons 212, 214, 216, 218 may each be spaced or positioned around interior circumference 502 within continuum joint 200C at a same lateral distance (D) from one another. Said another way, an angle 512 between each of the adj acent tendons 212, 214, 216, 218 and j oint axis 506 may be the same, for example, approximately 90 degrees. In this aspect, tendons 212, 214, 216, 218, may be considered to be arranged in a radially symmetric square lumen pattern 504 as shown.

[0045] Knife push coils 210A, 210B may further be arranged within continuum joint 200C around interior circumference 502. For example, in some aspects, knife push coils 210A, 210B may be at diametrically opposed locations around interior circumference 502 as shown. In addition, although knife push coil 210A is shown between tendons 212, 214 and knife push coil 210B is shown between tendons 216, 218, they may instead be between tendons 212, 218 and tendons 214, 216. In addition, knife push coils 210A, 210B may be positioned at a midline 508 (or midline 510) between the adjacent tendons 212, 214, 216, 218 as shown. In other aspects, knife push coils 210A, 210B may be offset from midline 508 (or midline 510) such that they are closer to one of the articulation tendons that they are positioned between than the other. It is further contemplated that in other aspects where, forATTORNEY DOCKET No. : AUR6386WOPCT1 example the continuum joint 220C is associated with another type of instrument that does not require knife push coils, knife push coils 210A, 21 OB may be omitted. As previously discussed, during operation, pulling or increasing the tension of one or more of articulation tendons 212, 214, 216, 218 causes an articulation or bending of continuum joint 200C, and in turn, a desired manipulation of continuum end effector 200A.

[0046] FIG. 6 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’ . From this view, another representative pattern or arrangement 600 of articulation tendons 212, 214, 216, 218 within continuum joint 200C can be more clearly seen. Representatively, FIG. 6 illustrates four articulation tendons 212, 214, 216, 218 arranged in a radially asymmetric pattern relative to the joint axis 506 and used to control the distal degrees of freedom. In particular, similar to the previously discussed arrangement, tendons 212, 214, 216, 218 may each be positioned within continuum joint 200C at a same radial distance (R) from joint axis 506 as shown. For example, tendons 212, 214, 216, 218 may each be considered to be arranged around an interior circumference 502 of joint 200C. In this configuration, however, tendons 212, 214, 216, 218 may be spaced or positioned around interior circumference 502 within continuum joint 200C at a different lateral distance (DI, D2) from one another. For example, tendons 214, 216 may be spaced a distance DI from one another, and tendons 212, 214 may be spaced a distance D2 from one another. Similarly, tendons 212, 218 may be spaced a distance DI from one another, and tendons 216, 218 may be spaced a distance D2 from one another. Distance DI may be less than distance D2. In this aspect, tendons 214, 216 and 212, 218 are closer to each other than tendons 212, 214 and 216, 218. Said another way, an angle 606 between each of the adjacent tendons 214, 216 and 212, 218 and joint axis 506 may be the same, and an angle 608 between each of adjacent tendons 212, 214 and 216, 218 may be the same. In some aspects, angle 606 may be smaller (e.g., 50-70 degrees) than angle 608 (e.g., 110-130 degrees). In this aspect, tendons 212, 214, 216, 218, may be considered to be arranged in a radially asymmetric rectangular lumen pattern 602 as shown.

[0047] Knife push coils 210A, 210B may further be arranged within continuum joint 200C around interior circumference 502. For example, in some aspects, knife push coils 210A, 210B may be at diametrically opposed locations around interior circumference 502 as shown. In addition, although knife push coil 210A is shown between tendons 212, 214 and knife push coil 210B is shown between tendons 216, 218, they may instead be betweenATTORNEY DOCKET No. : AUR6386WOPCT1 tendons 212, 218 and tendons 214, 216. In addition, knife push coils 210A, 21 OB may be positioned at a midline 508 (or midline 510) between the adjacent tendons 212, 214, 216, 218 as shown, or may be offset from midline 508 (or midline 510).

[0048] In addition, it may further be understood that knife push coils 210A, 210B have some level of bending stiffness or resistance and create forces along continuum joint 200C. This region or area of higher bending resistance or stiffness may be between coils 210A, 210B and is illustrated by axis 604. The arrangement of tendons 212, 214, 216, 218 in the rectangular pattern 602 relative to this axis of higher bending resistance 604 as shown may help to balance out the high resistance in this region. Representatively, tendons 212, 214, 216, 218 are arranged so that they are closer to axis 604, which in turn reduces the bending moment due to coils 210A, 210B and optimizes joint articulation. It is further contemplated that in other aspects where, for example the continuum joint 220C is associated with another type of instrument that does not require knife push coils, knife push coils 210A, 210B may be omitted.

[0049] FIG. 7 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’ . From this view, another representative pattern or arrangement 700 of articulation tendons 212, 214, 216 within continuum joint 200C can be more clearly seen. Representatively, FIG. 7 illustrates three articulation tendons 212, 214, 216 arranged in a radially symmetric pattern relative to the joint axis 506 and used to control the distal degrees of freedom. In particular, similar to the previously discussed arrangement, tendons 212, 214, 216 may each be positioned within continuum joint 200C at a same radial distance (R) from joint axis 506 as shown. For example, tendons 212, 214, 216 may each be considered to be arranged around an interior circumference 502 of joint 200C. In this configuration, however, only three tendons 212, 214, 216 are spaced or positioned around interior circumference 502 within continuum joint 200C at a same lateral distance (D3). Said another way, an angle 706 between each of the adjacent tendons 212, 214, 216 and joint axis 506 may be the same, for example, approximately 120 degrees. In this aspect, tendons 212, 214, 216 may be considered to be arranged in a radially symmetric equilateral triangle lumen pattern 702 as shown.

[0050] Knife push coils 210A, 210B may further be arranged within continuum joint 200C around interior circumference 502. For example, in this configuration, knife push coilsATTORNEY DOCKET No. : AUR6386WOPCT1 210A, 21 OB may be at locations around interior circumference 502 that are offset or off-axis from a midline 508, 510 and center axis 506 of joint 200C as shown. Representatively, as can be seen from coil axis 704 which passes through each of knife push coils 210A, 210B, coil axis 704 is offset from center axis 506 and midline 508, 510. In some aspects, push coil 210A may be below midline 510, push coil 210B may be above midline 510 and one of tendons 212 may be above push coil axis 704. Other offset or off-axis configurations are, however, contemplated. For example, push coils 210A, 210B may be rotated to other positions along interior circumference 502 so that two of articulation tendons 212, 214, 216 are above push coil axis 704 and one of articulation tendons 212, 214, 216 is below push coil axis 704. In addition, although knife push coil 210A is shown between tendons 212, 216 and knife push coil 210B is shown between tendons 212, 214, one of them may instead be between tendons 214, 216.

[0051] FIG. 8 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’ . From this view, another representative pattern or arrangement 800 of articulation tendons 212, 214, 216 within continuum joint 200C can be more clearly seen. Representatively, FIG. 8 illustrates three articulation tendons 212, 214, 216 arranged in a radially symmetric pattern relative to the joint axis 506 and used to control the distal degrees of freedom. In particular, similar to the previously discussed arrangement, tendons 212, 214, 216 may each be positioned within continuum joint 200C at a same radial distance (R) from joint axis 506 as shown. For example, tendons 212, 214, 216 may each be considered to be arranged around an interior circumference 502 of joint 200C. In this configuration, however, only three tendons 212, 214, 216 are spaced or positioned around interior circumference 502 within continuum joint 200C at a same lateral distance (D3). Said another way, an angle 706 between each of the adjacent tendons 212, 214, 216 and joint axis 506 may be the same, for example, approximately 120 degrees. In this aspect, tendons 212, 214, 216 may be considered to be arranged in a radially symmetric equilateral triangle lumen pattern 702 as shown.

[0052] In this configuration, however, a single knife push coil 210 is further arranged along the center axis 506 of continuum joint 200C. In addition, structural members 802, 804, 806 are arranged around interior circumference 502. Structural members 802, 804, 806 may be configured to add stiffness in certain directions. Representatively, structural members 802, 804, 806 may be deformable beams made of a bendable polymer or nitinol material thatATTORNEY DOCKET No. : AUR6386WOPCT1 extend through continuum joint 200C. In this aspect, structural members 802, 804, 806 may help to hold continuum joint 200C in a relatively straight resting configuration while allowing joint 200C to bend when tension is applied to tendons 212, 214, 216. Similar to tendons 212, 214, 216, structural members 802, 804, 806 may be evenly spaced around interior circumference 502 so as to form a symmetric equilateral triangle pattern. In some aspects, one of structural members 802, 804, 806 may be positioned between each of tendons 212, 214, 216. As previously discussed, during operation, pulling or increasing the tension of one or more of articulation tendons 212, 214, 216 causes an articulation or bending of structural members 802, 804, 806 and continuum joint 200C, and in turn, a desired manipulation of continuum end effector 200A.

[0053] FIG. 9 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’ . From this view, a representative pattern or arrangement 900 of articulation tendons 212, 214, 216, 218 within continuum joint 200C can be more clearly seen.Representatively, FIG. 9 illustrates four articulation tendons 212, 214, 216, 218 arranged in a radially symmetric square pattern relative to the joint axis 506 as previously described in reference to FIG. 5. In particular, tendons 212, 214, 216, 218 may each be positioned within continuum joint 200C at a same radial distance (R) from joint axis 506 as shown. For example, tendons 212, 214, 216, 218 may each be considered to be arranged around an interior circumference 502 of joint 200C. In this configuration, however, instead of acting independently to control an articulation of the end effector 200A, tendons 212, 214, 216, 218 may act in pairs to control the distal degrees of freedom. For example, each pair of diametrically opposed tendons may be an antagonistic pair. Representatively, tendons 212 and 216 may form one pair of antagonistic tendons, and tendons 214 and 218 may form another pair of antagonistic tendons. In some aspects, there may be one continuous loop between each pair of antagonistic articulation tendons (e.g., tendons 212, 216 and tendons 214, 218), and one motor associated with each pair to provide tensioning. In other aspects, each of antagonistic tendons 212, 216 and tendons 214, 218 do not have a closed loop and instead a motor is associated with each tendon212, 214, 216, 218 to control the tensioning. In addition, although not shown, one or more stiffness members as previously discussed may be provided on either side of the tendon pairs for structural rigidity.

[0054] Knife push coils 210A, 210B may further be arranged within continuum joint 200C around interior circumference 502. For example, in some aspects, knife push coilsATTORNEY DOCKET No. : AUR6386WOPCT1 210A, 210B may be at diametrically opposed locations around interior circumference 502 as shown. In addition, although knife push coil 210A is shown between tendons 212, 214 and knife push coil 210B is shown between tendons 216, 218, they may instead be between tendons 212, 218 and tendons 214, 216. In addition, knife push coils 210A, 21 OB may be positioned at a midline between the adjacent tendons 212, 214, 216, 218 as previously discussed. In other aspects, knife push coils 210A, 21 OB may be offset from the midline such that they are closer to one of the articulation tendons that they are positioned between than the other. It is further contemplated that in other aspects where, for example the continuum joint 200C is associated with another type of instrument that does not require knife push coils, knife push coils 210A, 21 OB may be omitted. As previously discussed, during operation, pulling or increasing the tension of one or more of articulation tendons 212, 214, 216, 218 causes an articulation or bending of continuum joint 200C, and in turn, a desired manipulation of continuum end effector 200A.

[0055] FIG. 10 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’ . From this view, another representative pattern or arrangement 1000 of articulation tendons 212, 214, 216, 218 within continuum joint 200C can be more clearly seen. Representatively, FIG. 10 illustrates four articulation tendons 212, 214, 216, 218 arranged in a radially symmetric pattern relative to the joint axis 506 and used to control the distal degrees of freedom. In particular, similar to the previously discussed arrangement, tendons 212, 214, 216, 218 may each be positioned within continuum joint 200C at a same radial distance (R) from joint axis 506 as shown. For example, tendons 212, 214, 216, 218 may each be considered to be arranged around an interior circumference of joint 200C and spaced a same distance apart as previously discussed. In this configuration, however, joint 200C includes structural material or member 1002 configured to provide structural rigidity and guide articulation tendons along joint 200C. Representatively, structural member 1002 may be a hollow cylindrical that is made of a structural material and is positioned within joint 200C. The cylindrical structural member 1002 may include openings or channels 1012, 1014, 1016, 1018 at the desired tendon locations and tendons 212, 214, 216, 218 may extend through the openings or channels 1012, 1014, 1016, 1018. In addition, structural member 1002 may include a center opening or channel 1010 through which the knife push coil 210 may be positioned. In the illustrated configuration, the channels 1012, 1014, 1016, 1018 are symmetrically arranged around the joint axis 506 to accommodate the symmetrical tendonATTORNEY DOCKET No. : AUR6386WOPCT1 arrangement, however, the channels 1012, 1014, 1016, 1018 may be asymmetrically arranged to accommodate any of the previously discussed asymmetrical arrangements. In addition, although four openings or channels 1012, 1014, 1016, 1018 are illustrated, there may instead be three channels to accommodate the previously discussed configurations in which only three articulation tendons are used. Still further, although a single center channel 1010 to accommodate a single knife coil 210 is illustrated, other opening or channel 1010 arrangements may be formed through structural member 1002 at different locations to accommodate any of the previously discussed configurations including multiple knife coils. Structural member 1002 may be formed of any one or more of the previously discussed materials (e.g., a bendable polymer or nitinol) suitable for providing structural rigidity while still allowing for bending at joint 200C.

[0056] FIG. 11 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’ . From this view, another representative pattern or arrangement 1100 of articulation tendons 212, 214, 216 within continuum joint 200C can be more clearly seen. Representatively, FIG. 11 illustrates three articulation tendons 212, 214, 216 arranged in an asymmetric pattern and used to control the distal degrees of freedom. In particular, similar to the previously discussed arrangements, tendons 212, 214, 216 may each be positioned within continuum joint 200C at a same radial distance (R) from joint axis 506 as shown. For example, tendons 212, 214, 216 may each be considered to be arranged around an interior circumference 502 of joint 200C. In this configuration, however, the three tendons 212, 214, 216 are spaced or positioned around interior circumference 502 within continuum joint 200C at different lateral distances (D4, D5). Said another way, an angle between each of the adjacent tendons 212, 214, 216 and joint axis 506 may different. In this aspect, tendons 212, 214, 216 may be considered to be arranged in an asymmetric triangle lumen pattern 1102 as shown.

[0057] Knife push coils 210A, 210B may further be arranged within continuum joint 200C around interior circumference 502. For example, in this configuration, knife push coils 210A, 210B may be at locations around interior circumference 502 such that the coil axis 1104 intersects the center axis 506 of joint 200C as shown. Representatively, as can be seen from coil axis 1104 which passes through each of knife push coils 210A, 210B, coil axis 1104 is on axis with center axis 506. In addition, although push coil 210A is shown below midline 510 and push coil 210B is shown above midline 510, they may be arranged at otherATTORNEY DOCKET No. : AUR6386WOPCT1 locations relative to the midlines 508 and 510. For example, push coil 210A may be above midline 510, push coil 210B may be below midline 510 and / or two of tendons 212, 214, 216 maybe above midline and one of tendons 212, 214, 216 may be below midline. In addition, although knife push coil 210A is shown between tendons 212, 216 and knife push coil 210B is shown between tendons 212, 216, one of them may instead be between tendons 214, 216.

[0058] FIG. 12 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’ . From this view, another representative pattern or arrangement 1200 of articulation tendons 212, 214, 216, 218, 1112 within continuum joint 200C can be more clearly seen. Representatively, FIG. 12 illustrates five articulation tendons 212, 214, 216, 218, 1112 arranged in a radially symmetric pattern relative to the joint axis 506 and used to control the distal degrees of freedom. In particular, similar to the previously discussed arrangement, tendons 212, 214, 216, 218 may each be positioned within continuum joint 200C at a same radial distance (R) from joint axis 506 as shown. For example, tendons 212, 214, 216, 218, 1112 may each be considered to be arranged around an interior circumference 502 of joint 200C. In this configuration, however, five tendons, namely tendons 212, 214, 216, 218, 1112, are spaced or positioned around interior circumference 502 within continuum joint 200C at same or different lateral distances. It should further be understood that although five tendons 212, 214, 216, 218, 1112 are shown, more than five tendons may be arranged around interior circumference 502. In addition, a single knife push coil 210 is further arranged along the center axis 506 of continuum joint 200C as previously discussed. During operation, pulling or increasing the tension of one or more of articulation tendons 212, 214, 216, 218, 1112 causes an articulation or bending of continuum joint 200C, and in turn, a desired manipulation of continuum end effector 200A.

[0059] FIG. 13 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’. From this view, another representative pattern or arrangement 1300 of articulation tendons 212, 214, 216 within continuum joint 200C can be more clearly seen. Representatively, FIG. 13 illustrates three articulation tendons 212, 214, 216 arranged in a radially symmetric pattern relative to the joint axis 506 and used to control the distal degrees of freedom. In particular, similar to the previously discussed arrangement, tendons 212, 214, 216 may each be positioned within continuum joint 200C at a same radial distance (R) from joint axis 506 as shown. For example, tendons 212, 214, 216 may each be considered to be arranged around an interior circumference 502 of joint 200C. Tendons 212, 214, 216 may beATTORNEY DOCKET No. : AUR6386WOPCT1 evenly spaced around the interior circumference 502 as shown. The arrangement may further include a single knife push coil 210. In this arrangement, however, the single knife push coil 210 is offset or off-axis of the center axis 506 of continuum joint 200C. In some aspects, the knife push coil 210 is at a location in line with the neutral bending axis of joint 200C. During operation, pulling or increasing the tension of one or more articulation tendons 212, 214, 216 causes an articulation or bending of continuum joint 200C, and in turn, a desired manipulation of continuum end effector 200A.

[0060] FIG. 14 is a cross-sectional end view of the continuum endocutter of FIG. 2 along line A-A’ . From this view, another representative pattern or arrangement 1400 of articulation tendons 212, 214, 216 within continuum joint 200C can be more clearly seen. Representatively, FIG. 14 illustrates three articulation tendons 212, 214, 216 arranged in a radially symmetric pattern relative to the joint axis 506 and used to control the distal degrees of freedom. In particular, similar to the previously discussed arrangement, tendons 212, 214, 216 may each be positioned within continuum joint 200C at a same radial distance (R) from joint axis 506 as shown. For example, tendons 212, 214, 216 may each be considered to be arranged around an interior circumference 502 of joint 200C. Tendons 212, 214, 216 may be evenly spaced around the interior circumference 502 as shown. The arrangement may further include a single knife push coil 210. In this arrangement, however, the single knife push coil 210 is arranged along the center axis 506 of continuum joint 200C. In some aspects, the knife push coil 210 is at a location suitable for actively controlling the instrument stiffness without the need for an additional structural member. During operation, pulling or increasing the tension of one or more of articulation tendons 212, 214, 216 causes an articulation or bending of continuum joint 200C, and in turn, a desired manipulation of continuum end effector 200A.

[0061] FIG. 15 is a schematic block diagram of an example system including a control device, robotic arm, and the surgical instrument, in accordance with the disclosed technology. System 1500 may include an example control device 1502 (e.g., a control tower or user console) for controlling the robotic arm 104 and the surgical instrument 200 via the housing 1506 (e.g., a handle). As shown, the control device 1502 can include a processor 1512; an input / output device 1514; and a memory 1516 containing an operating system (OS) 1518, a storage device 1520, which can be any suitable repository of data, and a program 1522. The input / output device can be configured to receive and to output commands toATTORNEY DOCKET No. : AUR6386WOPCT1 control the robotic arm 104 and the surgical instrument 200. The control device 1502 can include a user interface (U / I) 114 device for receiving user input data (e.g., from a physician, technician, etc.), such as data representative of a click, a scroll, a tap, a press, movement of a control lever, or typing on an input device that can detect tactile inputs. The control device 1502 can include a display.

[0062] The control device 1502 can include a peripheral interface, which can include the hardware, firmware, and / or software that enables communication with various peripheral devices, such as media drives (e.g., magnetic disk, solid state, or optical disk drives), other processing devices, or any other input source used in connection with the instant techniques. The peripheral interface can include a serial port, a parallel port, a general-purpose input and output (GPIO) port, a game port, a universal serial bus (USB), a micro-USB port, a high definition multimedia (HDMI) port, a video port, an audio port, a Bluetooth™ port, a WiFi port, a near-field communication (NFC) port, another like communication interface, or any combination thereof to communicate with other devices via wired or wireless connections or networks, whether local or wide area, private or public, as known in the art. A power source can be configured to provide an appropriate alternating current (AC) or direct current (DC) to power the components.

[0063] The processor 1512 can include one or more of an application specific integrated circuit (ASIC), programmable logic device, microprocessor, microcontroller, digital signal processor, co-processor or the like or combinations thereof capable of executing stored instructions and operating upon stored data. The memory 1516 can include one or more suitable types of memory (e.g., volatile or non-volatile memory, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic disks, optical disks, floppy disks, hard disks, removable cartridges, flash memory, a redundant array of independent disks (RAID), and the like) for storing files including the operating system 1518, application programs 1522 (including, for example, a web browser application, a widget or gadget engine, and or other applications, as necessary), executable instructions and data. One, some, or all of the processing techniques described herein can be implemented as a combination of executable instructions and data within the memory 1516.ATTORNEY DOCKET No. : AUR6386WOPCT1

[0064] The processor 1512 can be one or more known processing devices, such as a microprocessor from the Pentium™ family manufactured by Intel™, the Turion™ family manufactured by AMD™, or the Cortex™ family or SecurCore™ manufactured by ARM™ to provide just a few examples. The processor 1512 can constitute a single-core or multiplecore processor that executes parallel processes simultaneously. For example, the processor 1512 can be a single-core processor that is configured with virtual processing technologies. One of ordinary skill in the art will understand that other types of processor arrangements could be implemented that provide for the capabilities disclosed herein.

[0065] The control device 1502 can include one or more storage devices 1520 configured to store information used by the processor 1512 (or other components) to perform at least some of the functions disclosed herein. As an example, the control device 1510 can include memory 1516 that includes instructions to enable the processor 1512 to execute one or more applications, network communication processes, and any other type of application or software known to be available on computer systems. Alternatively, the instructions, application programs, or other software can be stored in an external storage and / or can be available from a remote memory over a network. The one or more storage devices can be a volatile or non-volatile, magnetic, semiconductor, tape, optical, removable, non-removable, or other type of storage device or tangible computer-readable medium.

[0066] The control device 1510 can include memory 1516 that includes instructions that, when executed by the processor 1512, perform one or more processes consistent with the functionalities disclosed herein. Methods, systems, and articles of manufacture consistent with disclosed embodiments are not limited to separate programs or computers configured to perform dedicated tasks. For example, the control device 1510 can include memory 1516 that can include one or more programs 1522 to perform one or more functions of the disclosed technology. For example, the control device 1510 can access one or more programs 1522, that, when executed, perform at least one function disclosed herein. One or more programs 1522 can be configured to receive input from a user (e.g., a physician, a technician, etc.) and cause the control device 1510 to output one or more control signals to the robotic arm 104. The one or more programs 1522 can be configured to cause the user interface 1524 to display images indicative of a function or condition associated with the robotic arm 104.ATTORNEY DOCKET No. : AUR6386WOPCT1

[0067] The memory 1516 of the control device 1510 can include one or more memory devices that store data and instructions used to perform one or more of the methods and features disclosed herein. The memory 1516 can include software components that, when executed by the processor 1512, perform one or more processes consistent with those disclosed herein. The control device 1510 can include any number of hardware and / or software applications that are executed to facilitate any of the operations. The one or more I / O interface 1524 can be utilized to receive or collect data and / or user instructions from a wide variety of input devices. Received data can be processed by one or more computer processors 1512 as desired in various implementations of the disclosed technology and / or stored in one or more memory devices.

[0068] While the control device 1510 has been described above for implementing the techniques described herein, those having ordinary skill in the art will appreciate that other functionally equivalent techniques can be employed. For example, as known in the art, some or all of the functionality implemented via executable instructions can also be implemented using firmware and / or hardware devices such as application specific integrated circuits (ASICs), programmable logic arrays, state machines, etc. Furthermore, the control device 1510 can include a greater or lesser number of components than those illustrated and / or described above. As those skilled in the art will appreciate, the control device 1510 described above may be implemented within the robotic platform or any other structure (e.g., a computing system separate from the robotic platform).

[0069] Moreover, the control device 1510 may be in communication with one or more sensors 1508 integrated with the surgical instrument or puck encoders 1508 integrated with the robotic platform. By way of example, the one or more sensors 1508 may include one or more magnetic rotary position encoders which are configured to identify the rotational position of a motor 1504 of the robotic arm 104, the shaft assembly 200B, the end effector 200A and / or the continuum joint 200C of the surgical instrument 200. In some examples, the magnetic rotary position encoders may be coupled to the processor 1512. The sensors 1508 may also include current, velocity, and other forms of position sensors necessary to implement the following processes.

[0070] The foregoing description, for purposes of explanation, used specific nomenclature to provide a thorough understanding of the invention. However, it will beATTORNEY DOCKET No. : AUR6386WOPCT1 apparent to one skilled in the art that specific details are not required in order to practice the invention. Thus, the foregoing descriptions of specific aspects of the invention are presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed; obviously, many modifications and variations are possible in view of the above teachings. For example, although instrument configurations including a knife tendon / cable arrangement are described herein, in some aspects, an instrument containing electrical cables for sensing or power delivery instead of knife tendons may be arranged relative to the articulation tendons described herein. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, and they thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated.

Claims

ATTORNEY DOCKET No. : AUR6386WOPCT1CLAIMSWhat is claimed is:

1. A surgical instrument for a surgical robotic system, the surgical instrument comprising:an end effector having an anvil and a cutting instrument coupled to the anvil; a shaft assembly comprising a hollow shaft having a proximal end and a distal end coupled to the end effector at a continuum joint;a plurality of tendons extending through the continuum joint to the end effector to control articulation of the end effector about the continuum joint; anda cutter coil extending through the continuum joint to the end effector to control an operation of the cutting instrument.

2. The surgical instrument of claim 1 wherein the plurality of tendons comprises four tendons and the cutter coil comprises two cutter coils.

3. The surgical instrument of claim 2 wherein the four tendons and the two cutter coils are arranged in a radially symmetric pattern about a center axis of the continuum joint.

4. The surgical instrument of claim 2 wherein the four tendons and the two cutter coils are arranged in a radially asymmetric pattern about a center axis of the continuum joint.

5. The surgical instrument of claim 2 wherein the four tendons are arranged in a rectangular pattern about an axis of the continuum joint having higher bending resistance.

6. The surgical instrument of claim 1 wherein the plurality of tendons comprises three tendons arranged in a radially symmetric pattern about a center axis of the continuum joint and the cutter coil comprises two cutter coils having an axis offset relative to the center axis of the continuum joint.

7. The surgical instrument of claim 1 wherein the plurality of tendons comprises three tendons arranged in a radially asymmetric pattern about a center axis of the continuumATTORNEY DOCKET No. : AUR6386WOPCT1 joint and the cutter coil comprises two cutter coils having an axis that intersects the center axis of the continuum joint.

8. The surgical instrument of claim 1 wherein the plurality of tendons comprises a first pair of antagonistic tendons and a second pair of antagonistic tendons.

9. The surgical instrument of claim 8 wherein the first pair of antagonistic tendons or the second pair of antagonistic tendons form an antagonistic closed loop coupled to a motor.

10. The surgical instrument of claim 1 wherein the plurality of tendons comprises three tendons arranged in a radially symmetric pattern about a center axis of the continuum joint, the cutter coil is arranged at the center axis, and the instrument further comprises a plurality of structural members arranged in a radially symmetric pattern about the center axis.

11. The surgical instrument of claim 1 further comprising a structural member coupled to the continuum joint and the plurality of tendons and the cutter coil extend through the structural member.

12. The surgical instrument of claim 1 wherein the continuum joint is operable to bend by a bend angle in a bending plane defined by an azimuth angle to move the end effector.

13. The surgical instrument of claim 1 wherein the end effector is an endocutter end effector comprising at least two degrees of freedom.

14. A surgical instrument for a surgical robotic system, the surgical instrument comprising:an endocutter end effector having an anvil and a knife assembly coupled to the anvil;a shaft assembly having a proximal end and a distal end coupled to the endocutter end effector at a continuum joint;ATTORNEY DOCKET No. : AUR6386WOPCT1 a plurality of articulation tendons extending through the shaft assembly and the continuum joint to the endocutter end effector, the plurality of articulation tendons arranged within the continuum joint to control an articulation of the endocutter end effector about the continuum joint; anda knife tendon extending through the shaft assembly and the continuum joint to the endocutter end effector to control an operation of the knife assembly.

15. The surgical instrument of claim 14 wherein the plurality of articulation tendons comprises four articulation tendons and the knife tendon comprises two knife tendons.

16. The surgical instrument of claim 15 wherein the four articulation tendons and the two knife tendons are arranged at a same radial distance from a center axis of the continuum joint.

17. The surgical instrument of claim 16 wherein the four articulation tendons are arranged at different distances relative to one another.

18. The surgical instrument of claim 16 wherein the four articulation tendons are arranged closer to an axis of higher bending resistance of the continuum joint than to one another.

19. The surgical instrument of claim 14 wherein the plurality of articulation tendons comprises three tendons arranged in a radially symmetric pattern about a center axis of the continuum joint and the knife tendon comprises two knife coils having an axis offset relative to the center axis of the continuum joint.

20. The surgical instrument of claim 14 wherein the plurality of articulation tendons comprises three articulation tendons arranged in a radially asymmetric pattern about a center axis of the continuum joint and the knife tendon comprises two knife tendons having an axis that intersects the center axis of the continuum joint.

21. The surgical instrument of claim 14 wherein the plurality of articulation tendons comprises a first pair of antagonistic tendons and a second pair of antagonistic tendons.ATTORNEY DOCKET No. : AUR6386WOPCT1 22. The surgical instrument of claim 21 wherein the first pair of antagonistic tendons or the second pair of antagonistic tendons form an antagonistic closed loop coupled to a motor.

23. The surgical instrument of claim 14 wherein the plurality of articulation tendons comprises three articulation tendons arranged in a radially symmetric pattern about a center axis of the continuum joint, the knife tendon is arranged at the center axis, and the instrument further comprises a plurality of structural members arranged in a radially symmetric pattern about the center axis.

24. The surgical instrument of claim 14 further comprising a structural member coupled to the continuum joint and the plurality of articulation tendons and the knife tendon extend through channels within the structural member.

25. The surgical instrument of claim 14 wherein the continuum joint is operable to bend by a bend angle in a bending plane defined by an azimuth angle to move the endocutter end effector.

26. The surgical instrument of claim 14 wherein the endocutter end effector comprises at least two degrees of freedom.

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