US 12,390,292 B2
Insertion coupled inserting surgical instruments
Spencer Witte, San Francisco, CA (US); Benjamin Dickerson, San Francisco, CA (US); Aren Calder Hill, Mountain View, CA (US); Trent Michael Callan, San Francisco, CA (US); and Dillon Carey, Mountain View, CA (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Apr. 26, 2022, as Appl. No. 17/730,021.
Prior Publication US 2023/0338103 A1, Oct. 26, 2023
Int. Cl. A61B 34/00 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/71 (2016.02) [A61B 34/30 (2016.02); A61B 2034/305 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A robotic surgical tool, comprising:
a handle providing a plurality of drive inputs and a shaft drive input;
an instrument driver providing a plurality of drive outputs and a shaft drive output;
an elongate shaft extendable through the handle and the instrument driver;
an end effector arranged at a distal end of the shaft and an articulable wrist interposing the end effector and the distal end; and
a decoupler interposing the handle and the instrument driver and including:
a plurality of differential assemblies mounted to a decoupler housing, each differential assembly including a differential input matable with a corresponding one of the plurality of drive outputs, and a differential output matable with a corresponding one of the plurality of drive inputs, wherein rotation of a given drive output will actuate a corresponding differential assembly and thereby rotate a corresponding one of the plurality of drive inputs to operate the end effector or articulate the wrist;
an insertion assembly mounted to the decoupler housing and including an insertion input matable with the shaft drive output, and an insertion output matable with the shaft drive input such that rotation of the shaft drive output will actuate the insertion assembly and thereby rotate the shaft drive input to cause the shaft to move axially relative to the handle and the instrument driver; and
a differential gear train extending between the insertion assembly and each differential assembly such that actuation of the insertion assembly correspondingly actuates each differential assembly as the shaft moves.