	US 12,440,292 B2
	Robotic surgical tool with drop in instrumentation core
Andrew T. Beckman, Cincinnati, OH (US); Charles J. Scheib, Loveland, OH (US); and Neil Markwardt, Redwood City, CA (US)
Assigned to CILAG GMBH INTERNATIONAL, Zug (CH)
Filed by CILAG GMBH INTERNATIONAL, Zug (CH)
Filed on May 6, 2024, as Appl. No. 18/656,079.
Application 18/656,079 is a continuation of application No. 16/936,830, filed on Jul. 23, 2020, granted, now 11,974,823.
Prior Publication US 2024/0299108 A1, Sep. 12, 2024
Int. Cl. A61B 17/072 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); B25J 5/00 (2006.01); B25J 5/02 (2006.01); B25J 9/02 (2006.01); B25J 9/10 (2006.01); B25J 15/02 (2006.01); B25J 15/04 (2006.01); A61B 17/00 (2006.01); A61B 17/068 (2006.01); A61B 17/115 (2006.01); A61B 17/29 (2006.01)

CPC A61B 34/30 (2016.02) [A61B 17/072 (2013.01); A61B 34/37 (2016.02); A61B 34/70 (2016.02); B25J 5/007 (2013.01); B25J 5/02 (2013.01); B25J 9/02 (2013.01); B25J 9/1025 (2013.01); B25J 9/1035 (2013.01); B25J 15/0213 (2013.01); B25J 15/045 (2013.01); A61B 2017/00477 (2013.01); A61B 17/068 (2013.01); A61B 17/07207 (2013.01); A61B 2017/07214 (2013.01); A61B 17/115 (2013.01); A61B 2017/2943 (2013.01); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02)]

20 Claims

1. A surgical tool, comprising:

a stage portion that includes:

opposing first and second ends;

a lead screw and at least one spline that extend between the first and second ends; and

a first layer of a carriage movably mounted to the lead screw and the at least one spline; and

an instrument portion releasably coupled to the stage portion and including:

one or more additional layers of the carriage removably coupled to the first layer; and

an elongate shaft extending distally from the one or more additional layers and having an end effector arranged at a distal end of the elongate shaft,

wherein the elongate shaft and the end effector penetrate the first layer and the first end when the instrument portion is coupled to the stage portion.