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Conversion of Rotary to Linear Motion with Capability to Switch Linear Directions for Surgical Robotic Application Disclosure Number: IPCOM000226968D
Publication Date: 2013-Apr-26
Document File: 4 page(s) / 251K

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The following idea disclosures were conceived with the goal of enabling a laparoscopic stapling device (endocutter) to be driven by a surgical robot. Each of the ideas demonstrates a potential solution to the problem of transmitting load and/or motion bidirectional through various components in a system in order to drive typical laparoscopic stapling functions of clamping/unclamping, stapling, and cutting. The typical surgical robot drive does not rotate continuously and does not provide a high torque output. Endocutters require high linear travel and high forces that cannot be directly provided by the robot's rotary outputs. A transmission is required to convert low torque, limited rotary motion to high force, infinite linear motion.

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  Conversion of Rotary to Linear Motion with  Capability to Switch Linear Directions for Surgical  Robotic Application 

Section 1:  Background 

The following idea disclosures were conceived with the goal of enabling a laparoscopic  stapling device (endocutter) to be driven by a surgical robot. Each of the ideas  demonstrates a potential solution to the problem of transmitting load and/or motion  bidirectional through various components in a system in order to drive typical  laparoscopic stapling functions of clamping/unclamping, stapling, and cutting. The  typical surgical robot drive does not rotate continuously and does not provide a high  torque output.  Endocutters require high linear travel and high forces that cannot be  directly provided by the robot's rotary outputs.  A transmission is required to convert  low torque, limited rotary motion to high force, infinite linear motion. 


Section 2: Inventors 

Disclosed Anonymously 


 Section 3: Idea Disclosure Titles 

A) Ratcheting drive mechanism within the surgical robotic interface (puck) to drive an  endocutter with closing & firing mechanisms 

B) Stepped gear drive mechanism within the surgical robotic interface (puck) to drive an  endocutter with closing & firing mechanisms 

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Section 4: Idea Disclosures 

A) Ratcheting drive mechanism within the surgical robotic interface (puck) to drive an  endocutter with closing & firing mechanisms 

This concept introduces a drive mechanism with a drive plate with ratcheting paw  (pinned member biased with a spring) that engages a stacked gear.  The stacked gear  [Figure 1] consists of a first gear with ramped gear teeth (provides one way rotation  when driven by the biased paw) [Figure 2] and a smaller gear that interfaces with a rack  on the linearly driven member.  A multitude of gears could be added to further change  the displacement and force [Figure 3].   


The robot drive plate rotates at the command of the operator, this turns the drive plate  with the biased paw, the paw rotates the stacked gear and the stacked gear drives the  closure system and firing mechanism via an integral rack (or pull via a cable).  The gears  can be sized (or additional gears could be added) to achieve any force amplification  necessary. The robot drive plate then...