Robotic Stapler Articulation Subsystem for Independent End Effector Control
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Solution Overview
Problem
The integration of a dedicated surgical stapling instrument into the surgical workflow of multi-purpose robotic systems remains an unmet need, lacking integrated capabilities for closing, articulating, and firing in existing robotic surgical systems.
Innovation Solution
The development of an articulation subsystem for a surgical instrument with a rotatable shaft, distal channel retainer, and articulation bushing, allowing independent actuation for closing, articulating, and firing the end effector, including a closure subsystem with dual input pucks for enhanced force transmission and a non-linear cam track for precise anvil movement, and an articulation subsystem with dual articulation rods for enhanced articulation range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a multi-purpose robotic system is used for surgical procedures, then versatility and adaptability are improved, but integration of dedicated stapling capabilities is lacking
Solution Approach 1:
The robotic system is designed to perform multiple surgical functions including stapling, cutting, articulation, and rolling through a single integrated instrument that can be attached to the robotic arm, allowing one device to serve multiple surgical purposes while maintaining dedicated functionality for each task
2Measurement precision
If independent actuation of multiple subsystems is implemented, then functional precision is improved, but device complexity increases
Solution Approach 1:
The surgical instrument is divided into separate independent subsystems including a closure subsystem for stapling, an articulation subsystem for joint movement, a roll subsystem for rotation, and a transection subsystem for cutting. Each subsystem can be independently actuated by the robotic system, allowing precise control of each function while maintaining modular architecture that manages complexity
Solution Approach 2:
The instrument incorporates dynamic components including a rotatable shaft that can rotate about a longitudinal axis, an articulation bushing that slides between proximal and distal positions, and a rack that moves with respect to the shaft. These dynamic elements enable independent actuation of multiple functions through coordinated robotic control, achieving functional precision through controlled movement of each subsystem
3Ease of operation
If integrated stapling and articulation capabilities are added, then surgical dexterity is improved, but mechanical complexity increases
Solution Approach 1:
The patent combines multiple previously separate functions (stapling, articulation, rolling, and cutting) into a single integrated surgical instrument that attaches to the robotic arm. The closure subsystem, articulation subsystem, roll subsystem, and transection subsystem are merged into one device, improving surgical dexterity by allowing coordinated action of all functions through a single instrument while the robotic system manages the mechanical complexity through programmable control
Data Source
AI summary
The present disclosure relates to systems, devices, and subsystems for robotic surgeries. The surgical instrument is a robotic attachment that includes an articulation subsystem comprising a rotatable shaft, a distal channel retainer coupled to an end effector that is pivotable about an articulation pivot point, an articulation bushing slidable between a proximal position and a distal position, an articulation rod extending distally from the articulation bushing and coupled at a distal end to the distal channel retainer; and a rack movable with respect to the longitudinal axis of the rotatable shaft. Movement of the rack with respect to the longitudinal axis imparts an axial force onto the articulation bushing moving the articulation bushing between the proximal position and the distal position. Movement of the articulation bushing between the distal position and the proximal position actuates the articulation rod causing the distal channel retainer to pivot about the articulation pivot point.