US 11,937,892 B2
Variable jaw closure of a robotic surgical system
Brian D. Black, Loveland, OH (US); Charles J. Scheib, Loveland, OH (US); Matthew T. Stone, Mason, OH (US); Mark D. Overmyer, Cincinnati, OH (US); Christopher A. Denzinger, Cincinnati, OH (US); Andrew T. Beckman, Cincinnati, OH (US); and Neil T. Markwardt, Redwood City, CA (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Apr. 30, 2021, as Appl. No. 17/245,332.
Prior Publication US 2022/0346897 A1, Nov. 3, 2022
Int. Cl. A61B 17/068 (2006.01); A61B 17/28 (2006.01); A61B 17/29 (2006.01); A61B 17/3201 (2006.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); B25J 5/00 (2006.01); B25J 9/10 (2006.01); A61B 17/00 (2006.01); A61B 17/072 (2006.01)
CPC A61B 34/37 (2016.02) [A61B 34/70 (2016.02); B25J 5/00 (2013.01); B25J 9/102 (2013.01); B25J 9/109 (2013.01); A61B 17/068 (2013.01); A61B 17/282 (2013.01); A61B 2017/2936 (2013.01); A61B 17/3201 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical instrument, comprising:
(a) a drive housing having a first and second end;
(b) at least one spline extending between the first and second ends and including a drive gear, wherein the drive gear is configured to rotate with rotation of the at least one spline;
(c) a carriage movable relative to the at least one spline;
(d) an elongate shaft assembly extending from the carriage and through the first end;
(e) an end effector disposed at a distal end of the elongate shaft assembly; and
(f) an activating mechanism housed in the carriage, wherein the activating mechanism includes a barrel cam extending along a rotational axis and having a first cam profile radially extending about the rotational axis, wherein the barrel cam is operatively coupled to the drive gear such that rotation of the drive gear is configured to actuate the activating mechanism to move at least a portion of the end effector, wherein the first cam profile defines a plurality of slopes relative to the rotational axis such that the first cam profile is configured to drive movement of at least a first portion of the end effector or the elongate shaft assembly at different rates according to the plurality of slopes, wherein the first cam profile of the barrel cam defines a first zone and a second zone, wherein the first zone is configured to move the end effector at a high speed and with a low force, and wherein the second zone is configured to move the end effector at a lower speed than the high speed and with a higher force than the low force.