US 11,771,509 B2
Translating robotic surgical tools with integrated firing mechanisms
Andrew T. Beckman, Cincinnati, OH (US); Charles J. Scheib, Loveland, OH (US); Travis Michael Schuh, Los Altos, CA (US); Benjamin David Dickerson, Cincinnati, OH (US); and Jason Alan Hill, Loveland, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Jun. 18, 2020, as Appl. No. 16/946,366.
Prior Publication US 2021/0393341 A1, Dec. 23, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 17/072 (2006.01); F16H 37/02 (2006.01); A61B 17/29 (2006.01); A61B 17/3201 (2006.01); A61B 17/128 (2006.01); A61B 18/14 (2006.01); A61B 34/20 (2016.01); A61B 90/50 (2016.01); A61B 1/00 (2006.01); A61B 1/307 (2006.01); F16H 57/00 (2012.01); F16H 25/20 (2006.01); B25J 15/00 (2006.01); B25J 9/10 (2006.01); A61B 17/00 (2006.01); A61B 34/37 (2016.01); A61B 18/00 (2006.01); A61B 18/12 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 1/00149 (2013.01); A61B 1/307 (2013.01); A61B 17/00234 (2013.01); A61B 17/072 (2013.01); A61B 17/1285 (2013.01); A61B 17/29 (2013.01); A61B 17/3201 (2013.01); A61B 18/1442 (2013.01); A61B 34/20 (2016.02); A61B 34/37 (2016.02); A61B 90/50 (2016.02); B25J 9/102 (2013.01); B25J 15/0019 (2013.01); F16H 25/20 (2013.01); F16H 37/02 (2013.01); F16H 57/0025 (2013.01); A61B 2017/07285 (2013.01); A61B 2018/0063 (2013.01); A61B 2018/126 (2013.01); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2217/005 (2013.01); A61B 2217/007 (2013.01); F16H 2025/2081 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A robotic surgical tool, comprising:
a drive housing having a first end and a second end;
at least one spline extending between the first and second ends and including a drive gear that rotates with rotation of the at least one spline;
a carriage movably mounted to the at least one spline;
an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof; and
an activating mechanism housed in the carriage and including:
an input gear operatively coupled to the drive gear such that rotation of the drive gear correspondingly rotates the input gear; and
a firing rod defining external threads threadably engageable with internal threads of the input gear, the firing rod being operatively coupled to a knife at the end effector such that longitudinal movement of the firing rod correspondingly moves the knife in the same direction,
wherein the drive gear is rotated to rotate the input gear and thereby longitudinally move the firing rod and the knife.