Surgical instrument comprising a plurality of articulation joints

• US 10,004,498 B2
• Filed: 06/18/2014
• Issued: 06/26/2018
• Est. Priority Date: 01/31/2006
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Morgan, Jerome R., Shelton, IV, Frederick E.
• Primary Examiner(s): Tecco, Andrew M
• Application Number:
  US14/308,165
• Publication Number:
  US 20140303646A1
• Time in Patent Office: 1,469 Days
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/072 for applying a row of staples in a single action , e.g. the staples being applied simultaneously
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/105 Wound clamp magazines for packaging sharps A61B50/3001
• CPC Class Codes: A61B 17/32 Surgical cutting instruments A61B18/042 takes precedence; suture cutters A61B17/0467; instruments for ligaturing or cutting A61B17/128; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133
• CPC Class Codes: A61B 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00115 with audible or visual output
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00473 Distal part, e.g. tip or head A61B2017/00464 takes precedence
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/0053 Loading magazines or sutures into applying tools
• CPC Class Codes: A61B 2017/00685 Archimedes screw
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/0688 Packages or dispensers for surgical staplers
• CPC Class Codes: A61B 2017/07214 Stapler heads
• CPC Class Codes: A61B 2017/07257 characterised by its anvil
• CPC Class Codes: A61B 2017/07271 characterised by its cartridge
• CPC Class Codes: A61B 2017/07278 : characterised by its sled or its staple holder
• CPC Class Codes: A61B 2017/07285 : characterised by its cutter
• CPC Class Codes: A61B 2017/2903 : transferring rotary motion
• CPC Class Codes: A61B 2017/2923 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2927 : the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 : with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2018/00297 : Means for providing haptic feedback
• CPC Class Codes: A61B 2018/1455 : having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2034/2059 : Mechanical position encoders
• CPC Class Codes: A61B 2034/302 : specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/303 : specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
• CPC Class Codes: A61B 2090/064 : for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/065 : for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/0803 : Counting the number of times an instrument is used
• CPC Class Codes: A61B 2090/0805 : automatically, e.g. by means of magnetic, optical or photoelectric detectors
• CPC Class Codes: A61B 2090/0807 : Indication means
• CPC Class Codes: A61B 2090/0811 : for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• CPC Class Codes: A61B 2090/0814 : Preventing re-use
• CPC Class Codes: A61B 34/20 : Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/73 : Manipulators for magnetic surgery
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 50/36 : for collecting or disposing of used articles

Abstract

A surgical instrument can include a handle, a shaft extending from the handle, and an end effector. The surgical instrument can further include a first articulation joint and a second articulation joint about which the end effector can be articulated. The surgical instrument can include a firing system which traverses the first articulation joint and the second articulation joint. The firing system can be operated by an electric motor.

Claims

1. A surgical instrument system, comprising:

a housing;

an electric motor positioned within said housing;

an elongate shaft assembly, comprising;

a first portion extending from said housing;

a second portion;

a first articulation joint, wherein said second portion is rotatably connected to said first portion about said first articulation joint; and

a second articulation joint, wherein said second articulation joint is positioned distal to said first articulation joint;

a rotatable drive shaft rotatably engaged with said electric motor, wherein said rotatable drive shaft extends through said first articulation joint and said second articulation joint;

an end effector, wherein said end effector is rotatably connected to said second portion about said second articulation joint, said end effector comprising;

a cartridge channel;

a staple cartridge removably positioned in said cartridge channel comprising a plurality of staples removably stored therein;

a firing member translatable relative to said cartridge channel configured to eject said staples from said staple cartridge, wherein said rotatable drive shaft is threadably engaged with said firing member; and

an anvil configured to deform said staples; and

a closure actuator operably engaged with said end effector, wherein said closure actuator traverses said first articulation joint and said second articulation joint and is separate and independent of said rotatable drive shaft.

2. The surgical instrument system of claim 1, wherein said first articulation joint comprises a universal joint.

3. The surgical instrument system of claim 2, wherein said second articulation joint comprises a universal joint.

4. The surgical instrument system of claim 1, wherein said first articulation joint defines a first articulation axis, wherein said second articulation joint defines a second articulation axis, and wherein said first axis is not parallel to said second axis.

5. The surgical instrument system of claim 1, wherein said anvil is pivotably mounted to said cartridge channel about a pivot joint.

6. The surgical instrument system of claim 5, wherein said closure actuator is operably engaged with said anvil and is configured to move said anvil relative to said cartridge channel.

7. A surgical instrument system, comprising:

a housing;

an electric motor positioned within said housing;

a shaft assembly, comprising;

a first portion;

a second portion;

a first articulation joint, wherein said second portion is rotatably connected to said first portion about said first articulation joint; and

a second articulation joint, wherein said second articulation joint is positioned distal to said first articulation joint;

a drive screw rotatably engaged with said electric motor, wherein said drive screw traverses said first articulation joint and said second articulation joint;

an end effector, wherein said end effector is rotatably connected to said second portion about said second articulation joint, said end effector comprising;

a cartridge channel;

a staple cartridge removably positioned in said cartridge channel comprising a plurality of staples removably stored therein;

a sled translatable relative to said cartridge channel configured to eject said staples from said staple cartridge, wherein said drive screw is threadably engaged with said sled; and

an anvil configured to deform said staples; and

a closure actuator operably engaged with said end effector, wherein said closure actuator traverses said first articulation joint and said second articulation joint and is separate and independent of said drive screw.

8. The surgical instrument system of claim 7, wherein said first articulation joint comprises a universal joint.

9. The surgical instrument system of claim 8, wherein said second articulation joint comprises a universal joint.

10. The surgical instrument system of claim 7, wherein said first articulation joint defines a first articulation axis, wherein said second articulation joint defines a second articulation axis, and wherein said first axis is not parallel to said second axis.

11. The surgical instrument system of claim 7, wherein said anvil is pivotably mounted to said cartridge channel about a pivot joint.

12. The surgical instrument system of claim 7, wherein said closure actuator is operably engaged with said anvil and is configured to move said anvil relative to said cartridge channel.

13. A surgical stapling system, comprising:

an electric motor;

a shaft assembly, comprising;

a first shaft portion;

a second shaft portion;

a first articulation joint, wherein said second shaft portion is rotatably connected to said first shaft portion about said first articulation joint; and

a second articulation joint, wherein said second articulation joint is positioned distal to said first articulation joint;

an actuator rotatably engaged with said electric motor, wherein said actuator spans said first articulation joint and said second articulation joint, and wherein said actuator comprises a threaded portion;

an end effector, wherein said end effector is rotatably connected to said second portion about said second articulation joint, and wherein said end effector comprises firing means for performing a plurality of end effector functions, and wherein said firing means is operably engaged with and driven by said threaded portion of said actuator; and

closing means operably engaged with said end effector, wherein said closing means traverses said first articulation joint and said second articulation joint and is separate and independent of said actuator.

14. The surgical stapling system of claim 13, wherein said firing means comprises at least one of:

means for stapling tissue; and

means for incising the tissue.

15. The surgical stapling system of claim 13, wherein said first articulation joint comprises a universal joint.

16. The surgical stapling system of claim 15, wherein said second articulation joint comprises a universal joint.

17. The surgical stapling system of claim 13, wherein said first articulation joint defines a first articulation axis, wherein said second articulation joint defines a second articulation axis, and wherein said first axis is not parallel to said second axis.

18. The surgical stapling system of claim 13, wherein said closing means comprises clamping means for clamping tissue.