Systems and subsystems for articulating a surgical instrument
Systems and subsystems for articulating an end effector of a stapler 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. The surgical instrument includes an articulation subsystem that moves independently of other subsystems that are operable independently of each other.
1 . An articulation subsystem for a surgical instrument comprising:
a rotatable shaft having a longitudinal axis;
an articulation rod extending along the longitudinal axis of the rotatable shaft and being rotationally coupled to the rotatable shaft;
a first articulation bushing slidable from a first position to a second position along the longitudinal axis of the rotatable shaft, the first articulation bushing being rotationally coupled to the rotatable shaft;
a first rack comprising first rack gearing, the first rack movable with respect to the longitudinal axis of the rotatable shaft, the first rack being rotationally independent of the rotatable shaft and the first articulation bushing;
a first rack gear comprising first teeth engageable with the first rack gearing;
a second rack comprising second rack gearing, the second rack movable with respect to the longitudinal axis of the rotatable shaft, the second rack and first rack together forming a cylinder with a lumen therethrough; and
a second rack gear comprising second teeth engageable with the second rack gearing, the second rack gearing positioned diametrically opposite the first rack gearing on an outer surface of the cylinder,
wherein rotation of the second rack gear moves the second rack with respect to the longitudinal axis,
wherein rotation of the first rack gear moves the first rack with respect to the longitudinal axis, and
wherein movement of the first rack with respect to the longitudinal axis imparts an axial force onto the first articulation bushing moving the first articulation bushing from the first position to the second position.
2 . The articulation subsystem according to claim 1 , wherein the second rack is positioned between the second rack gear and the rotatable shaft.
3 . The articulation subsystem according to claim 1 , wherein the first rack and the second rack are integral.
4 . The articulation subsystem according to claim 3 , wherein the first articulation bushing comprises a distal flange, and the first rack is axially constrained distally by the distal flange.
5 . The articulation subsystem according to claim 4 , wherein the first articulation bushing is axially constrained proximally by a locking ring.
6 . The articulation subsystem according to claim 3 further comprising a first articulation bearing, wherein the first rack comprises a first bearing surface, and the first articulation bearing is disposed between the first bearing surface and the first articulation bushing.
7 . The articulation subsystem according to claim 6 , wherein the first bearing surface is semicircular.
8 . The articulation subsystem according to claim 6 , wherein the first rack comprises a first housing track surface slidable within a track in an outer housing.
9 . An articulation subsystem for a surgical instrument comprising:
a rotatable shaft having a longitudinal axis;
an articulation rod extending along the longitudinal axis of the rotatable shaft and being rotationally coupled to the rotatable shaft;
a first articulation bushing slidable from a first position to a second position along the longitudinal axis of the rotatable shaft, the first articulation bushing being rotationally coupled to the rotatable shaft;
a first rack comprising a first articulation bearing surface, the first rack being movable with respect to the longitudinal axis of the rotatable shaft, and being rotationally independent of the rotatable shaft and the first articulation bushing;
a first rack gear engaged with the first rack; and
a first articulation bearing disposed between the first bearing surface of the first rack and the first articulation bushing,
wherein rotation of the first rack gear moves the first rack with respect to the longitudinal axis, and
wherein movement of the first rack with respect to the longitudinal axis imparts an axial force onto the first articulation bushing moving the first articulation bushing from the first position to the second position.
10 . The articulation subsystem according to claim 9 , wherein the first bearing surface is semicircular.
11 . The articulation subsystem according to claim 9 , wherein the first rack comprises a first housing track surface slidable within a track in an outer housing.
12 . The articulation subsystem according to claim 9 , wherein the first articulation bearing enables the first articulation bushing to rotate independent of the first rack.
13 . The articulation subsystem according to claim 12 further comprising a second articulation bearing, wherein the first articulation bearing is positioned proximate a distal end of the first rack, and the second articulation bearing is positioned proximate a proximal end of the first rack.
14 . The articulation subsystem according to claim 13 , wherein the first articulation bearing is constrained distally by a flange of the first articulation bushing, and the second articulation bearing is constrained proximally by a locking ring.