Robotic Stapler Roll Subsystem With Worm-Drive Shaft Rotation
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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 attachment systems.
Innovation Solution
A surgical instrument with a roll subsystem comprising a rotatable shaft, worm gear, and worm follower, enabling independent actuation for closing, articulating, and firing functions, including a closure subsystem, articulation subsystem, and transection subsystem.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a multi-purpose robotic system is used, then versatility is improved, but integration of dedicated stapling functions is lacking
Solution Approach 1:
The robotic surgical system integrates multiple dedicated functions (closing, articulating, firing, stapling, cutting) into a single multi-purpose robotic arm platform. The end effector assembly combines stapling and cutting capabilities with articulation and closing mechanisms, allowing one robotic system to perform multiple surgical tasks that previously required separate specialized instruments.
2Adaptability or versatility
If independent actuation subsystems are added for closing, articulating, and firing, then functional capability is improved, but device complexity increases
Solution Approach 1:
The end effector is divided into distinct independent actuation subsystems: a closing subsystem with its own input puck and drive mechanism, an articulation subsystem with separate input pucks for multi-directional movement, a firing subsystem for staple deployment, and a cutting subsystem. Each subsystem can be actuated independently through dedicated robotic inputs, allowing precise control of each function without interference from others.
Solution Approach 2:
Multiple subsystems are nested within the compact end effector structure. The closing, articulation, firing, and cutting mechanisms are arranged concentrically and hierarchically, with smaller components housed within larger structural elements. This nested arrangement allows complex multi-subsystem functionality while maintaining a compact form factor suitable for robotic surgical applications.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances surgical precision and dexterity by providing seamless integration of stapling, cutting, and articulating functions, improving access and efficiency in robotic surgeries.
Implementation Method 1
a worm gear coupled to and rotatable by the roll input puck, and a worm follower coupled to the rotatable shaft. Rotation of the roll input puck causes the worm gear to rotate the worm follower and thereby roll the rotatable shaft about its longitudinal axis
Data Source
AI summary
Systems and subsystems for cutting and stapling tissue are disclosed. More specifically, the present disclosure relates to systems, devices, and subsystems for attachments for robotic surgeries. The surgical instrument is a robotic attachment including a roll subsystem. The roll subsystem comprises a rotatable shaft having a longitudinal axis, a roll input puck engageable with a roll robotic output, a worm gear coupled to and rotatable by the roll input puck, and a worm follower coupled to the rotatable shaft. Rotation of the roll input puck causes the worm gear to rotate the worm follower and thereby roll the rotatable shaft about its longitudinal axis.