Robotically-controlled motorized surgical instrument with an end effector

• US 10,105,136 B2
• Filed: 09/23/2016
• Issued: 10/23/2018
• Est. Priority Date: 09/23/2008
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Yates, David C., Shelton, IV, Frederick E., Morgan, Jerome R.
• Primary Examiner(s): SZPIRA, JULIE ANN
• Application Number:
  US15/274,784
• Publication Number:
  US 20170007338A1
• Time in Patent Office: 760 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 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 2017/00075 Motion
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00362 Packages or dispensers for MIS instruments A61B2017/0479 takes precedence
• 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 2017/07271 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 2017/2923 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 2017/320093 additional movable means performing cutting operation
• 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 2090/065 : 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 2090/0814 : Preventing re-use
• 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 50/30 : Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments for wound clamps A61B17/10; for ligaturing clips A61B17/122; packages or dispensers for surgical gloves or finger-stalls A61B42/40
• CPC Class Codes: A61B 50/36 : for collecting or disposing of used articles
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: H02J 2310/23 : The load being a medical device, a medical implant, or a life supporting device
• CPC Class Codes: H02J 7/0031 : using battery or load disconnect circuits H02J9/002 takes precedence

Abstract

A surgical tool configured for operation in connection with a robotic system. The surgical tool includes a shaft and an end effector extending distally from the shaft. The end effector comprises a first jaw member and a second jaw member movable relative to the first jaw member from a closed position to an open position in response to at least one axial motion. In addition, the surgical tool includes a motor configured to generate at least one rotational motion and a motion conversion assembly operably coupled to the motor and the second jaw member, wherein the motion conversion assembly is configured to convert the at least one rotational motion to the at least one axial motion.

Claims

1. A surgical instrument, comprising:

a housing comprising a motor and a control circuit, wherein the housing and the control circuit are couplable to a robotic system, and wherein the control circuit is configured to control the motor based on a control signal provided by the robotic system;

a modular shaft assembly extending distally from the housing, wherein the modular shaft assembly is detachably coupled to the housing;

an end effector extending distally from the modular shaft assembly, the end effector comprising;

a first jaw member configured to support a removable staple cartridge; and

a second jaw member movable relative to the first jaw member between an open position and a closed position;

an axially movable drive member in operable communication with the second jaw member; and

a rotary drive shaft in operable communication with the motor, wherein the rotary drive shaft is in operable engagement with the axially movable drive member, wherein at least one rotational motion of the rotary drive shaft causes the axially movable drive member to move the second jaw member relative to the first jaw member from the closed position to the open position.

2. The surgical instrument of claim 1, wherein at least one opposite rotational motion of the rotary drive shaft causes the axially movable drive member to move the second jaw member relative to the first jaw member from the open position to the closed position.

3. The surgical instrument of claim 1, wherein the second jaw member comprises a slot, and wherein the axially movable drive member comprises a camming member movable through the slot to move the second jaw member relative to the first jaw member from the closed position to the open position.

4. The surgical instrument of claim 1, wherein the axially movable drive member is configured to apply actuation forces onto the first jaw member and the second jaw member simultaneously.

5. The surgical instrument of claim 4, wherein the housing comprises a power source configured to provide power to the motor.

6. The surgical instrument of claim 1, wherein the rotary drive shaft is in threaded engagement with the axially movable drive member.

7. The surgical instrument of claim 1, wherein the end effector further comprises the removable staple cartridge.

8. The surgical instrument of claim 1, wherein the modular shaft assembly comprises a disposable loading unit.

9. The surgical instrument of claim 1, wherein the axially movable drive member is configured to drive staples from the removable staple cartridge and control a spacing between the first and second jaw members during a firing cycle.

10. The surgical instrument of claim 9, wherein the axially movable drive member comprises:

a first pin configured to engage with the first jaw member; and

a second pin configured to engage with the second jaw member.

11. The surgical instrument of claim 1, further comprising a knife member comprising a plurality of laminate plate members, wherein the knife member is operably coupled to a rotary converter which is at least partially housed within the modular shaft assembly.

12. A surgical tool for use with a robotic system, the surgical tool comprising:

a housing couplable to the robotic system, wherein the housing comprises a control circuit which is couplable to the robotic system;

a modular shaft assembly detachably coupled to the housing;

an end effector extending distally from the modular shaft assembly, the end effector comprising;

a first jaw member configured to support a removable staple cartridge; and

a second jaw member movable relative to the first jaw member from a closed position to an open position in response to at least one axial motion;

a motor configured to generate at least one rotational motion, wherein the control circuit is configured to control the motor based on a control signal provided by the robotic system; and

a motion conversion assembly operably coupled to the motor and the second jaw member, wherein the motion conversion assembly is configured to convert the at least one rotational motion to the at least one axial motion.

13. The surgical tool of claim 12, wherein the second jaw member is movable relative to the first jaw member from the open position to the closed position in response to at least one opposite axial motion, wherein the motor is configured to generate at least one opposite rotational motion, and wherein the motion conversion assembly is configured to convert the at least one opposite rotational motion to the at least one opposite axial motion.

14. The surgical tool of claim 12, wherein the motion conversion assembly comprises:

an actuation member in operable communication with the second jaw member; and

a rotary input in operable communication with the motor, wherein the rotary input is configured to receive the at least one rotational motion from the motor, and wherein the actuation member is configured to transmit the at least one axial motion to the second jaw member.

15. The surgical tool of claim 14, wherein the actuation member is in threaded engagement with the rotary input.

16. The surgical tool of claim 12, further comprising a power source configured to provide power for the motor.

17. The surgical tool of claim 12, wherein the end effector further comprises the removable staple cartridge.

18. A surgical tool for use with a robotic system, the surgical tool comprising:

a housing couplable to the robotic system, wherein the housing comprises a control circuit which is couplable to the robotic system;

a modular shaft assembly detachably coupled to the housing;

an end effector extending distally from the modular shaft assembly, the end effector comprising;

a first jaw member configured to support a removable staple cartridge; and

a second jaw member movable relative to the first jaw member from an open position to a closed position;

camming means for camming the second jaw member relative to the first jaw member from the open position to the closed position;

rotary input means for driving the camming means; and

firing means distinct and independent from the camming means, wherein the control circuit is configured to control at least one of the rotary input means and the firing means based on a control signal provided by the robotic system.