US 12,402,967 B2
Surgical instruments with actuatable tailpiece
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); Dillon Carey, Mountain View, CA (US); Matthew Stone, Mason, OH (US); Chris Birri, Cincinnati, OH (US); and Reed Arenburg, Milford, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Apr. 26, 2022, as Appl. No. 17/729,835.
Prior Publication US 2023/0338102 A1, Oct. 26, 2023
Int. Cl. A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); B25J 9/10 (2006.01); A61B 17/29 (2006.01)
CPC A61B 34/71 (2016.02) [A61B 17/00234 (2013.01); A61B 34/37 (2016.02); B25J 9/102 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/2927 (2013.01); A61B 2034/305 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A robotic surgical tool, comprising:
a handle providing a plurality of drive inputs including first and second drive inputs, wherein the handle is couplable to an instrument driver of a robotic surgical system, the instrument driver comprising first and second drive outputs for driving the first and second drive input, respectively;
an elongate shaft extendable through the handle and including a plurality of sliding rack gears movably nested within a corresponding plurality of longitudinal channels defined along the shaft, the plurality of sliding rack gears including first and second sliding rack gears independently moveable relative to one another;
an end effector arranged at a distal end of the shaft and an articulable wrist interposing the end effector and the distal end;
an actuation system housed within the handle and operatively coupling the plurality of drive inputs to the plurality of sliding rack gears, wherein:
actuation of the first drive output drives the first drive input, thereby moving the first sliding rack gear to perform a first function; and
actuation of the second drive output drives the second drive input, thereby moving the second sliding rack gear to perform a second function different than the first function; and
a tailpiece arranged at a proximal end of the shaft, the tailpiece including a housing and a manual actuation device mounted to the housing and manually and physically engageable by a user, wherein manual engagement of the manual actuation device by the user causes movement of the first sliding rack gear to perform the first function.