Articulation subsystems for robotic stapling and cutting systems
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.
1 . An articulation subsystem for a surgical instrument comprising:
a rotatable shaft having a longitudinal axis;
a distal channel retainer coupled to an end effector, the distal channel retainer being pivotable about an articulation pivot point;
an articulation bushing slidable between a proximal position and a distal position along the longitudinal axis of the rotatable shaft;
an articulation rod extending distally from the articulation bushing and coupled at a distal end to the distal channel retainer;
a rack movable with respect to the longitudinal axis of the rotatable shaft; and
a rack gear engaged with the rack, rotation of the rack gear moving the rack with respect to the longitudinal axis,
wherein the rack is positioned at least partially between the rack gear and the rotatable shaft,
wherein 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, and
wherein 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.
2 . The articulation subsystem according to claim 1 , wherein the articulation bushing is rotationally independent of the rack.
3 . The articulation subsystem according to claim 1 further comprising:
an articulation input puck engageable with an articulation robotic output;
an articulation drive shaft extending from the articulation input puck and comprising a drive gear; and
a compound gear engaged with the drive gear and the rack gear,
wherein rotation of the articulation input puck rotates the rack gear, moving the rack with respect to the longitudinal axis.
4 . The articulation subsystem according to claim 3 , wherein the rack gear is a tube gear, and the articulation drive shaft is positioned within the rack gear.
5 . The articulation subsystem according to claim 3 , wherein the rack gear is a first rack gear, the articulation subsystem further comprising:
a second rack gear engaged with the rack, rotation of the first rack gear and the second rack gear together moving the rack with respect to the longitudinal axis.
6 . The articulation subsystem according to claim 5 , wherein the first rack gear and the second rack gear simultaneously rotate in opposite directions to cause the rack to move with respect to the longitudinal axis.
7 . The articulation subsystem according to claim 5 , wherein the rack is positioned at least partially between the second rack gear and the rotatable shaft.
8 . The articulation subsystem according to claim 5 , wherein the articulation bushing is a first articulation bushing, the rack is a first rack, and the articulation rod is a first articulation rod, the articulation subsystem further comprising:
a second articulation bushing slidable between a second proximal position and a second distal position along the longitudinal axis of the rotatable shaft; and
a second rack movable with respect to the longitudinal axis of the rotatable shaft,
wherein movement of the second rack with respect to the longitudinal axis imparts an axial force onto the second articulation bushing to move the second articulation bushing between the second proximal position and the second distal position,
wherein movement of the second articulation bushing between the second distal position and the second proximal position actuates a second articulation rod causing the distal channel retainer to pivot about the articulation pivot point.
9 . The articulation subsystem according to claim 8 , wherein movement of the first articulation bushing from the distal position to the proximal position actuates the distal channel retainer in a first direction, and
wherein movement of the second articulation bushing from the second distal position to the second proximal position actuates the distal channel retainer in a second direction.
10 . The articulation subsystem according to claim 8 , the articulation subsystem further comprising a second rack gear engaged with the second rack, rotation of the second rack gear moving the second rack with respect to the longitudinal axis.
11 . The articulation subsystem according to claim 10 further comprising:
a second articulation input puck engageable with a second articulation robotic output;
a second articulation drive shaft extending from the second articulation input puck and comprising a second drive gear; and
a proximal compound gear engaged with the second drive gear and the second rack gear,
rotation of the second articulation input puck rotates the second rack gear moving the second rack with respect to the longitudinal axis.
12 . The articulation subsystem according to claim 11 , wherein the first rack is positioned at least partially on a side of the first rack gear opposite the rotatable shaft and the second rack is positioned at least partially on a side of the second rack gear opposite the rotatable shaft.
13 . The articulation subsystem according to claim 11 , wherein the second rack gear is a tube gear, and the second articulation drive shaft is positioned within the second rack gear.
14 . The articulation subsystem according to claim 8 , wherein the second rack is positioned at least partially between the second rack gear and the rotatable shaft.
15 . The articulation subsystem according to claim 1 , wherein the articulation rod is slidable through a rod groove in the rotatable shaft.
16 . The articulation subsystem according to claim 1 , wherein the rack gear is a first rack gear, the articulation subsystem further comprising:
a second rack gear engaged with the rack, rotation of the first rack gear and the second rack gear together moving the rack with respect to the longitudinal axis,
wherein the first rack gear and the second rack gear simultaneously rotate in opposite directions to cause the rack to move with respect to the longitudinal axis, and
wherein rack is positioned at least partially between the second rack gear and the rotatable shaft.
17 . An articulation subsystem for a surgical instrument comprising:
a rotatable shaft having a longitudinal axis;
an articulation rod extending along the rotatable shaft and rotationally coupled to the rotatable shaft;
an articulation bushing slidable from a first position to a second position along the longitudinal axis of the rotatable shaft, the articulation bushing being rotationally coupled to the rotatable shaft;
a 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 articulation bushing;
a second rack movable with respect to the longitudinal axis of the rotatable shaft, the second rack being rotationally independent of the rotatable shaft and the articulation bushing; and
a rack gear engaged with at least one of the first rack or the second rack,
wherein the first rack or the second rack is positioned at least partially between the rack gear and the rotatable shaft,
wherein rotation of the 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 articulation bushing moving the articulation bushing from the first position to the second position.
18 . The articulation subsystem according to claim 17 , wherein movement of the articulation bushing from the first position to the second position causes an end effector of the surgical instrument to pivot about an articulation pivot point.
19 . The articulation subsystem according to claim 17 , wherein the rack gear is rotationally engaged with an articulation input puck, the articulation input puck being engageable with an articulation robotic output.
20 . The articulation subsystem according to claim 17 , wherein the first rack and the second rack are integral.
21 . A system for a surgical instrument comprising:
a rotatable shaft having a longitudinal axis;
a rack movable with respect to the longitudinal axis of the rotatable shaft, the rack being rotationally independent of the rotatable shaft;
an articulation bushing slidable from a first position to a second position along the longitudinal axis of the rotatable shaft, the articulation bushing being rotationally coupled to the rotatable shaft; and
a rack gear engaged with the rack, and
wherein the rack is positioned at least partially between the rack gear and the rotatable shaft,
wherein rotation of the rack gear moves the rack with respect to the longitudinal axis, and
wherein movement of the rack with respect to the longitudinal axis imparts an axial force onto the articulation bushing moving the articulation bushing from the first position to the second position.
22 . The system according to claim 21 further comprising:
an end effector; and
an articulation rod extending distally from the articulation bushing, wherein movement of the articulation bushing from the first position to the second position causes the end effector to pivot at a first angle relative to the longitudinal axis.
23 . The system according to claim 22 , wherein movement of the articulation bushing from the first position to the second position causes the end effector to pivot at an articulation pivot point.
24 . The system according to claim 23 , wherein the rack gear is a first rack gear, the system further comprising:
a second rack gear engaged with the rack, rotation of the first rack gear and the second rack gear together moving the rack with respect to the longitudinal axis.
25 . The system according to claim 24 , wherein the first rack gear and the second rack gear are configured to simultaneously rotate in opposite directions to cause the rack to move with respect to the longitudinal axis.
26 . The system according to claim 25 , wherein the rack is positioned at least partially between the second rack gear and the rotatable shaft.
27 . The system according to claim 26 further comprising:
a first bearing positioned proximate a distal end of the rack; and
a second bearing positioned proximate a proximal end of the rack,
wherein the first bearing and the second bearing enable the articulation bushing to rotate independent of the rack.
28 . The system according to claim 27 , wherein the first bearing is constrained distally by a flange of the articulation bushing, and the second bearing is constrained proximally by a locking ring engaged with the articulation bushing.
29 . The system according to claim 21 further comprising:
a first bearing positioned proximate a distal end of the rack; and
a second bearing positioned proximate a proximal end of the rack,
wherein the first bearing and the second bearing enable the articulation bushing to rotate independent of the rack, and
wherein the first bearing is constrained distally by a flange of the articulation bushing, and the second bearing is constrained proximally by a locking ring engaged with the articulation bushing.