Systems and subsystems for rolling a surgical instrument including articulation cables

Patent metadata

Field	Value
Publication number	US-12484900-B2
Application number	US-202418775249-A
Country	US
Kind code	B2
Filing date	Jul 17, 2024
Priority date	Jul 21, 2023
Publication date	Dec 2, 2025
Grant date	Dec 2, 2025

Abstract

A surgical instrument designed to operate with a robotic platform is disclosed. The surgical instrument assembly includes a shaft, an end effector, a knife firing subsystem to actuate functions of the end effector, an articulation subsystem that is actuatable to articulate the end effector, an articulation joint about which the end effector articulates, a roll subsystem to roll the shaft, and a housing that couples to the robotic platform. A maypole tube is further provided, around which one or more articulation cables can wrap when the end effector is rotated.

First claim

What is claimed is:

1 . A surgical instrument comprising:
a shaft assembly comprising:
a rotatable outer shaft configured to rotate about a roll axis; and
a maypole tube housed within the outer shaft;
a firing rod that extends within the maypole tube and is configured to move a knife in an end effector; and one or more articulation cables, each articulation cable being configured (i) to be manipulable to cause rotation of the end effector about at least one of a pitch axis and a yaw axis and (ii) to wrap around the maypole tube when the rotatable outer shaft rotates about the roll axis.

2 . The surgical instrument of claim 1 , further comprising:
a shaft roll puck assembly comprising:
a rotatable shaft roll puck;
a first screw gear rotatable with the shaft roll puck; and
a second screw gear meshed with the first screw gear and coupled to the outer shaft,
wherein rotation of the shaft roll puck rotates the first screw gear, which rotates the second screw gear, which rotates the outer shaft about the roll axis.

3 . The surgical instrument of claim 1 , further comprising:
a shaft roll puck assembly comprising:
a rotatable shaft roll puck;
a first input capstan rotatable with the shaft roll puck;
a second input capstan rotatable with the shaft roll puck;
an output drum connected to the outer shaft;
a first roll cable connecting the first input capstan and the output drum; and
a second roll cable connecting the second input capstan and the output drum,
wherein rotation of the shaft roll puck rotates the first input capstan and the second input capstan, which causes either:
(i) the first roll cable to wrap around the first input capstan and second roll cable to unwrap from the second input capstan, thereby rotating the output drum and the outer shaft in a first direction about the roll axis, or
(ii) the first roll cable to unwrap from the first input capstan and second roll cable to wrap around the second input capstan, thereby rotating the output drum and the outer shaft in a second direction about the roll axis.

4 . The surgical instrument of claim 1 , wherein the maypole tube entirely surrounds at least a portion of the firing rod.

5 . The surgical instrument of claim 1 , further comprising a housing configured to engage a robotic platform, a proximal end of the maypole tube being disposed in the housing.

6 . The surgical instrument of claim 5 , the proximal end being flared.

7 . The surgical instrument of claim 5 , further comprising an inner shaft rotationally fixed to the outer shaft, the maypole tube extending from the housing to the inner shaft.

8 . The surgical instrument of claim 7 , the inner shaft comprising one or more support channels that rotationally constrain the one or more articulation cables.

9 . The surgical instrument of claim 7 , the one or articulation cables being rotationally unconstrained in a region of the surgical instrument that (i) surrounds the maypole tube and (ii) extends approximately an entire length of the maypole tube.

10 . The surgical instrument of claim 1 , the maypole tube comprising a rigid material.

11 . The surgical instrument of claim 10 , the maypole tube comprising a lubricious additive material.

12 . The surgical instrument of claim 1 , the maypole tube comprising a bendable material.

Assignees

• Cilag Gmbh Int

Inventors

• Ryle William Claiborne
• Marriott Douglas
• Moubarak Paul
• Grace-Mudd Samantha A
• Miller Zachary
• Dixon Michael
• Johnson Goebel Hannah
• Wadwani Shiv

Classifications

• A61B2017/07278

  characterised by its sled or its staple holder · CPC title

• A61B2017/07271

  characterised by its cartridge · CPC title

• A61B2017/07264

  characterised by its staple forming cavities, e.g. geometry or material · CPC title

• A61B2017/00323

  Cables or rods · CPC title

• A61B2017/00314

  Separate linked members · CPC title