Automated end effector component reloading system for use with a robotic system

• US 10,058,963 B2
• Filed: 08/14/2014
• Issued: 08/28/2018
• Est. Priority Date: 01/31/2006
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Shelton, IV, Frederick E., Morgan, Jerome R.
• Primary Examiner(s): Tecco, Andrew M
• Application Number:
  US14/459,485
• Publication Number:
  US 20140353358A1
• Time in Patent Office: 1,475 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 17/320092 with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2017/00075 Motion
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00212 using remote controls
• 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 2017/00477 Coupling A61B2017/0046 takes precedence
• 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 2017/07278 characterised by its sled or its staple holder
• CPC Class Codes: A61B 2017/07285 characterised by its cutter
• CPC Class Codes: A61B 2017/2943 Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2946 : Locking means
• CPC Class Codes: A61B 2017/320094 : additional movable means performing clamping operation
• CPC Class Codes: A61B 2017/320095 : with sealing or cauterizing means
• CPC Class Codes: A61B 2017/320097 : with stapling means
• 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 2090/0811 : 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 34/30 : Surgical robots
• CPC Class Codes: A61B 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• 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
• CPC Class Codes: A61B 90/08 : Accessories or related features not otherwise provided for
• CPC Class Codes: B23P 6/00 : Restoring or reconditioning objects straightening or restoring form of sheet metal, metal rods, metal tubes, metal profiles, or specific articles made therefrom B21D1/00, B21D3/00; repairing defective or damaged objects by casting techniques B22D19/10
• CPC Class Codes: B23Q 3/1554 : Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
• CPC Class Codes: Y10T 29/49721 : with disassembling
• CPC Class Codes: Y10T 29/5191 : Assembly

Abstract

A robotic system for replacing a spent end effector component with a replacement end effector component is disclosed. The robotic system comprises a surgical end effector comprising an attachment portion. The robotic system further comprises an extraction system comprising a rotary extractor. The rotary extractor is configured to release the spent end effector component from the attachment portion of the surgical end effector when the spent end effector component in the surgical end effector is moved into engagement with the rotary extractor as the rotary extractor is rotated.

Claims

1. An automated system for replacing a spent end effector component in a surgical end effector with a replacement end effector component, the automated system comprising:

an extraction system comprising a rotary extraction member, wherein said rotary extraction member is configured to automatically release the spent end effector component from the surgical end effector when the surgical end effector is moved into extractive engagement with said rotary extraction member as said rotary extraction member is rotated; and

a loading system comprising a support portion, wherein said support portion is configured to support the replacement end effector component in a loading orientation.

2. The automated system of claim 1, further comprising a receptacle configured to receive the spent end effector component.

3. The automated system of claim 2, wherein said rotary extraction member is positioned in said receptacle.

4. The automated system of claim 1, wherein said rotary extraction member comprises a hook.

5. The automated system of claim 1, wherein said rotary extraction member comprises a motor-driven extraction member.

6. The automated system of claim 1, wherein the spent end effector component comprises a spent staple cartridge.

7. The automated system of claim 1, wherein the spent end effector component comprises a spent disposable loading unit.

8. The automated system of claim 1, further comprising a sensor in communication with a master controller of the surgical end effector.

9. The automated system of claim 1, wherein said support portion is configured to support a plurality of replacement end effector components.

10. The automated system of claim 1, wherein said support portion comprises a support cavity configured to receive a distal end portion of the replacement end effector component.

11. The automated system of claim 10, wherein said support portion further comprises a pressure pad, and wherein the surgical end effector is configured to clamp said pressure pad and the replacement end effector component to load the replacement end effector component into the surgical end effector.

12. A robotic system for replacing a spent end effector component with a replacement end effector component, the robotic system comprising:

a surgical end effector comprising an attachment portion; and

an extraction system comprising a rotary extractor, wherein said rotary extractor is configured to release the spent end effector component from said attachment portion of said surgical end effector when the spent end effector component in said surgical end effector is moved into engagement with said rotary extractor as said rotary extractor is rotated.

13. The robotic system of claim 12, further comprising a loader comprising a support portion, wherein said support portion is configured to support a plurality of replacement end effector components.

14. The robotic system of claim 13, wherein said support portion comprises a cavity configured to receive a distal end portion of one of the replacement end effector components.

15. The robotic system of claim 14, wherein said support portion further comprises a pressure pad, and wherein said surgical end effector is configured to clamp said pressure pad and the replacement end effector component to load the replacement end effector component into said surgical end effector.

16. The robotic system of claim 12, wherein said rotary extractor comprises a rotatable hooked portion.

17. The robotic system of claim 12, wherein the replacement end effector component comprises a replacement staple cartridge.

18. The robotic system of claim 12, wherein the replacement end effector component comprises a replacement disposable loading unit.

19. An automated system for replacing a spent end effector component in a surgical end effector with a replacement end effector component, the automated system comprising:

means for automatically releasing the spent end effector component from the surgical end effector when the surgical end effector is moved into extractive engagement with said means as said means is rotated about a first axis; and

a support portion configured to support the replacement end effector component in a loading orientation, wherein said end effector component is transverse to said first axis.

20. The automated system of claim 19, further comprising means for snapping the replacement end effector component to an attachment portion of the surgical end effector.

21. An automated system for replacing a spent end effector component in a surgical end effector with a replacement end effector component, the automated system comprising:

an extraction system comprising an extraction member, wherein said extraction member is configured to automatically release the spent end effector component from the surgical end effector when the surgical end effector is moved into extractive engagement with said extraction member; and

a loading system comprising a support portion, wherein said support portion is configured to support the replacement end effector component in a loading orientation, said support portion comprising;

a support cavity configured to receive a distal end portion of the replacement end effector component; and

a pressure pad, and wherein the surgical end effector is configured to clamp said pressure pad and the replacement end effector component to load the replacement end effector component into the surgical end effector.

22. The automated system of claim 21, further comprising a receptacle configured to receive the spent end effector component.

23. The automated system of claim 22, wherein said extraction member is positioned in said receptacle.

24. The automated system of claim 21, wherein said extraction member comprises a hook.

25. The automated system of claim 21, wherein said extraction member comprises a motor-driven extraction member.

26. The automated system of claim 21, wherein the spent end effector component comprises a spent staple cartridge.

27. The automated system of claim 21, wherein the spent end effector component comprises a spent disposable loading unit.

28. The automated system of claim 21, further comprising a sensor in communication with a master controller of the surgical end effector.

29. The automated system of claim 21, wherein said support portion is configured to support a plurality of replacement end effector components.

30. A robotic system for replacing a spent end effector component with a replacement end effector component, the robotic system comprising:

a surgical end effector comprising an attachment portion;

an extraction system comprising an extractor, wherein said extractor is configured to release the spent end effector component from said attachment portion of said surgical end effector when the spent end effector component in said surgical end effector is moved into engagement with said extractor; and

a loader comprising a support portion, wherein said support portion is configured to support a plurality of replacement end effector components, said support portion comprising;

a cavity configured to receive a distal end portion of a selected one of the replacement end effector components; and

a pressure pad, and wherein said surgical end effector is configured to clamp said pressure pad and the selected replacement end effector component to load the replacement end effector component into said surgical end effector.

31. The robotic system of claim 30, wherein said extractor comprises a hooked portion.

32. The robotic system of claim 30, wherein the replacement end effector component comprises a replacement staple cartridge.

33. The robotic system of claim 30, wherein the replacement end effector component comprises a replacement disposable loading unit.