Clip applier adapted for use with a surgical robot

• US 10,039,548 B2
• Filed: 06/17/2016
• Issued: 08/07/2018
• Est. Priority Date: 10/19/2011
• Status: Active Grant

• Current Assignee: Ethicon, LLC (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Parihar, Shailendra K.
• Primary Examiner(s): Rosen, Eric
• Assistant Examiner(s): IGBOKO, CHIMA U
• Application Number:
  US15/185,109
• Publication Number:
  US 20160287252A1
• Time in Patent Office: 781 Days
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/10 for applying or removing wound clamps, e.g. containing only one clamp or staple A61B17/076 takes precedence; containing multiple wound clamps A61B17/068; Wound clamp magazines containers, packaging elements or packages specially adapted for particular articles or with special means for dispensing contents B65D83/00, B65D85/00
• CPC Class Codes: A61B 17/105 Wound clamp magazines for packaging sharps A61B50/3001
• CPC Class Codes: A61B 17/1285 for minimally invasive surgery
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/32 operating autonomously
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence

Abstract

A clip applier adapted for use with a surgical robot is disclosed. The clip applier comprises a shaft having clips stored therein and jaws adapted for receiving a clip from the shaft. The shaft is in mechanical communication with a robotic mounting portion. The robotic mounting portion contains a gear drive assembly for rotating the shaft, feeding clips into the jaws and forming clips in the jaws.

Claims

1. A surgical fastener deploying instrument comprising:

an end effector comprising a clip applier having opposed jaws capable of supporting and deploying a clip onto tissue;

a shaft assembly having a proximal end and a distal end, the shaft assembly capable of rotation about an axis, the shaft assembly containing a plurality of clips and supporting the end effector at the distal end; and

a housing disposed at the proximal end of the shaft assembly, the housing having first, second, and third rotary inputs configured to couple with a robotic surgical system, the housing containing

a first drive train in mechanical communication with the first rotary input, the first drive train configured to control rotation of the shaft assembly;

a second drive train in mechanical communication with the second rotary input, the second drive train comprising a gear drive train configured to control feeding of the clip from the shaft assembly into the jaws of the end effector; and

a third drive train in mechanical communication with the third rotary input, the third drive train comprising a gear drive train configured to crimp the clip in the jaws independently of the second drive train feeding the clip.

2. The instrument of claim 1, wherein the first drive train comprises a pinion in mechanical communication with a worm gear, wherein the worm gear is affixed to the shaft assembly such that rotation of the pinion in a first direction rotates the shaft assembly in a first direction.

3. The instrument of claim 1, wherein the second drive train comprises a second pinion in mechanical communication with a first rack, wherein the first rack is meshed with a fastener feed assembly such that rotation of the second pinion moves the rack in a linear direction advancing the fastener in the shaft assembly.

4. The instrument of claim 1, wherein the third drive train comprises a third pinion in mechanical communication with a second rack where the second rack is operably connected to the jaws such that rotation of the third pinion moves the second rack in a linear direction actuating the jaw assembly.

5. The surgical fastener deploying instrument of claim 1, wherein the third drive train is further configured to open and close the jaws without a clip being positioned between the jaws.