Surgical stapler with universal articulation and tissue pre-clamp

• US 10,219,805 B1
• Filed: 11/20/2018
• Issued: 03/05/2019
• Est. Priority Date: 10/04/2002
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Olson, Lee Ann, Roy, Philip, Beardsley, John W., Stearns, Ralph, Racenet, David C., Emmons, Clifford J.
• Primary Examiner(s): Smith, Scott A
• Application Number:
  US16/196,861
• Time in Patent Office: 105 Days
• Field of Search: 227 19, 2271751, 2271761, 2271752, 2271801, 606139, 606153, 606219
• 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 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 2017/2927 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 2017/2932 Transmission of forces to jaw members
• CPC Class Codes: A61B 2017/2939 Details of linkages or pivot points
• CPC Class Codes: A61B 2017/320024 Morcellators, e.g. having a hollow cutting tube with an annular cutter for morcellating and removing tissue
• CPC Class Codes: A61B 2017/320052 Guides for cutting instruments

Abstract

A tool assembly for a surgical stapling device includes a channel member for supporting a staple cartridge therein and an anvil to deform a plurality of staples ejected from the staple cartridge thereagainst. The tool assembly also includes a sled which is movable to force the staples from the cartridge against the anvil to staple tissue disposed between the anvil and the staple cartridge. A dynamic clamping member is included which has a pin which movably engages the anvil and a flange which movably engages the channel assembly. The dynamic clamping member is mounted to and movable with the sled. The pin and the flange of the dynamic clamping member cooperating to oppose the forces associated with clamping and stapling tissue and also to maintain a substantially uniform gap between the anvil and the staple cartridge during stapling of the tissue.

Claims

1. A surgical tool for performing robotic surgery, the surgical tool comprising:

a shaft having a proximal end and a distal end; and

a tool assembly attached to the distal end of the shaft, the tool assembly comprising;

a clamping member without a knife blade, the clamping member comprising;

a lower transverse member comprising first and second transverse protrusions extending in substantially opposite directions along a first axis, each of the first and second transverse protrusions having an upper engagement surface,

an upper transverse member comprising third and fourth transverse protrusions extending in substantially opposite directions along a second axis, the second axis being substantially parallel to the first axis, and

an upward extension extending between and connecting the lower transverse member and the upper transverse member along a third axis substantially perpendicular to the first and second axes, the upper transverse member and the lower transverse member being substantially transverse to the upward extension,

a first jaw comprising;

a proximal end,

a distal end,

the first jaw having a support channel between the proximal end of the first jaw and the distal end of the first jaw, the support channel being configured to receive a staple cartridge assembly, the staple cartridge having at least one tab, a longitudinal slot, and at least three rows of staples disposed on each side of the longitudinal slot, the at least three rows of staples on each side of the longitudinal slot being substantially parallel to the longitudinal slot, the first jaw further comprising at least one aperture along an edge of the first jaw, and the at least one tab of the staple cartridge being engageable with the at least one aperture of the first jaw, at least the at least one aperture and the at least one tab being configured to cooperate to retain the staple cartridge within the support channel,

at least one pulley in the support channel, and

a surface of the first jaw having a longitudinal slot between the proximal end of the first jaw and the distal end of the first jaw, the surface of the first jaw being configured to engage with the upper engagement surfaces of the first and second transverse protrusions of the lower transverse member of the clamping member as the upward extension travels through the longitudinal slot such that the first and second transverse protrusions slide along the surface of the first jaw,

a second jaw pivotable relative to the first jaw, the second jaw comprising;

a proximal end,

a distal end,

an anvil having at least one anvil surface, the at least one anvil surface having at least one staple forming pocket, and

the anvil defining an elongated slot between the proximal end of the second jaw and the distal end of the second jaw, the elongated slot being configured to receive the third and fourth transverse protrusions of the upper transverse member of the clamping member as the upward extension travels through the elongated slot, and

at least one cable extending at least partially through the support channel and around at least one of the at least one pulley, wherein force on the at least one cable causes the clamping member to along the first and second jaws such that the upper engagement surfaces of the first and second transverse protrusions of the lower transverse member of the clamping member move along the surface of the first jaw and the third and fourth transverse protrusions of the upper transverse member of the clamping member move through the elongated slot and causes at least one of;

the first and second jaws to clamp, and

staples to be ejected from a staple cartridge assembly when a staple cartridge assembly is received within the support channel of the first jaw.

2. The surgical tool of claim 1, wherein the first jaw further includes a staple cartridge assembly received within the support channel of the first jaw, the staple cartridge assembly defining a longitudinal slot, and having at least one tab and at least three rows of staples disposed on each side of the longitudinal slot, the at least three rows of staples on each side of the longitudinal slot being substantially parallel to the longitudinal slot, the first jaw further comprising at least one aperture along an edge of the first jaw, and the at least one protrusion of the staple cartridge assembly being engageable with the at least one aperture of the first jaw, at least the at least one aperture and the at least one protrusion cooperating to retain the staple cartridge assembly within the support channel.

3. The surgical tool of claim 2, further comprising a sled having at least one cam wedge, wherein the movement of the upper engagement surfaces of the first and second transverse protrusions of the lower transverse member of the clamping member along the surface of the first jaw and movement of the third and fourth transverse protrusions of the upper transverse member of the clamping member through the elongated slot further causes:

the sled to ride distal to the clamping member along the support channel, and

the cam wedge to cooperate with at least one staple pusher of the staple cartridge assembly to eject at least one of the staples from the staple cartridge assembly.

4. The surgical tool of claim 1, further comprising the tool assembly being connected to the distal end of the shaft by a connection mechanism comprising:

a first pivot axis being substantially perpendicular to a longitudinal axis of the shaft, wherein the tool assembly is pivotable about the first pivot axis with respect to the shaft, and

a second pivot axis being substantially perpendicular to the first pivot axis, wherein the tool assembly is pivotable about the second pivot axis with respect to the shaft.

5. The surgical tool of claim 4, further comprising the at least one cable extending through the connection mechanism.

6. The surgical tool of claim 5, wherein the tool assembly is rotatable about the longitudinal axis of the shaft.

7. The surgical tool of claim 6, wherein the sled comprises at least two cam wedges.

8. A surgical tool for performing robotic surgery, the surgical tool comprising:

a shaft having a proximal end and a distal end;

a tool assembly comprising;

a clamping member without a knife blade, the clamping member comprising;

a lower transverse member comprising first and second transverse protrusions extending in substantially opposite directions along a first axis, each of the first and second transverse protrusions having an upper engagement surface,

an upper transverse member comprising third and fourth transverse protrusions extending in substantially opposite directions along a second axis substantially parallel to the first axis, and

an upward extension extending between and connecting the lower transverse member and the upper transverse member along a third axis substantially perpendicular to the first and second axes, the upper transverse member and the lower transverse member being substantially transverse to the upward extension,

a first jaw comprising;

a proximal end,

a distal end,

the first jaw having a support channel between the proximal end of the first jaw and the distal end of the first jaw, the support channel being configured to receive a staple cartridge assembly, the staple cartridge having at least one tab, a longitudinal slot, and at least three rows of staples on each side of the longitudinal slot, the at least three rows of staples on each side of the longitudinal slot being substantially parallel to the longitudinal slot, the first jaw further comprising at least one aperture along an edge of the first jaw, and the at least one tab of the staple cartridge being engageable with the at least one aperture of the first jaw, at least the at least one aperture and the at least one tab being configured to cooperate to retain the staple cartridge within the support channel, and

a surface of the first jaw having a longitudinal slot between the proximal end of the first jaw and the distal end of the first jaw, the surface of the first jaw being configured to engage with the upper engagement surfaces of the first and second transverse protrusions of the lower transverse member of the clamping member as the upward extension travels through the longitudinal slot such that the first and second transverse protrusions slide along the surface of the first jaw, and

a second jaw pivotable relative to the first jaw, the second jaw comprising;

a proximal end,

a distal end,

an anvil having at least one anvil surface, the at least one anvil surface having at least one staple forming pocket, and

the anvil having an elongated slot between the proximal end of the second jaw and the distal end of the second jaw, the elongated slot being configured to receive the third and fourth transverse protrusions of the upper transverse member of the clamping member as the upward extension travels through the elongated slot,

wherein movement of the clamping member along the first and second jaws causes movement of the upper engagement surfaces of the first and second transverse protrusions of the lower transverse member of the clamping member along the surface of the first jaw and movement of the third and fourth transverse protrusions of the upper transverse member of the clamping member through the elongated slot causes at least one of;

the first and second jaws to clamp, and

staples to be ejected from the staple cartridge assembly when a staple cartridge assembly is received within the support channel of the first jaw, and

a connection mechanism connecting the tool assembly to the shaft, the connection mechanism comprising;

a first pivot axis being substantially perpendicular to a longitudinal axis of the shaft, wherein the tool assembly is pivotable about the first pivot axis with respect to the shaft, and

a second pivot axis being substantially perpendicular to the first pivot axis, wherein the tool assembly is pivotable about the second pivot axis with respect to the shaft.

9. The surgical tool of claim 8, wherein the first jaw further includes a staple cartridge assembly received within the support channel of the first jaw, the staple cartridge assembly having a longitudinal slot, and having at least one tab and at least three rows of staples disposed on each side of the longitudinal slot, the at least three rows of staples on each side of the longitudinal slot being substantially parallel to the longitudinal slot, the first jaw further comprising at least one aperture along an edge of the first jaw, and the at least one protrusion of the staple cartridge assembly being engageable with the at least one aperture of the first jaw, at least the at least one aperture and the at least one protrusion cooperating to retain the staple cartridge assembly within the support channel.

10. The surgical tool of claim 9, wherein the tool assembly is rotatable about the longitudinal axis of the shaft.

11. The surgical tool of claim 9, further comprising a sled having at least one cam wedge, wherein the movement of the upper engagement surfaces of the first and second transverse protrusions of the lower transverse member of the clamping member along the surface of the first jaw and movement of the third and fourth transverse protrusions of the upper transverse member of the clamping member through the elongated slot further causes:

the sled to ride distal to the clamping member along the support channel, and

the cam wedge to cooperate with at least one staple pusher of the staple cartridge assembly to eject at least one of the staples from the staple cartridge assembly.

12. The surgical tool of claim 11, wherein the sled comprises at least two cam wedges.

13. The surgical tool of claim 9, further comprising a sled having at least one cam wedge, the clamping member being configured to ride within the sled, wherein the movement of the upper engagement surfaces of the first and second transverse protrusions of the lower transverse member of the clamping member along the surface of the first jaw and movement of the third and fourth transverse protrusions of the upper transverse member of the clamping member through the elongated slot further causes:

the sled to ride along the support channel, and

the cam wedge to cooperate with at least one staple pusher of the staple cartridge assembly to eject at least one of the staples from the staple cartridge assembly.

14. The surgical tool of claim 9, further comprising a sled integral with the clamping member having at least one cam wedge, wherein the movement of the upper engagement surfaces of the first and second transverse protrusions of the lower transverse member of the clamping member along the surface of the first jaw and the movement of the third and fourth transverse protrusions of the upper transverse member of the clamping member through the elongated slot further causes:

the sled to ride along the support channel, and

the cam wedge to cooperate with at least one staple pusher of the staple cartridge assembly to eject at least one of the staples from the staple cartridge assembly.

15. A surgical tool for performing robotic surgery, the surgical tool comprising:

a shaft having a proximal end and a distal end; and

a tool assembly, the tool assembly comprising;

a clamping member comprising;

a lower transverse member comprising first and second transverse protrusions extending in substantially opposite directions, each of the first and second transverse protrusions having an upper engagement surface,

an upper transverse member comprising third and fourth transverse protrusions extending in substantially opposite directions, and

an upward extension extending between and connecting the lower transverse member and the upper transverse member substantially perpendicular to the lower transverse member and the upper transverse member, the upper transverse member and the lower transverse member being substantially transverse to the upward extension,

a first jaw, comprising;

a proximal end,

a distal end,

the first jaw having a support channel between the proximal end of the first jaw and the distal end of the first jaw, the support channel being configured to receive a staple cartridge assembly, the staple cartridge having at least one tab, a longitudinal slot, and at least three rows of staples disposed on each side of the longitudinal slot, the at least three rows of staples on each side of the longitudinal slot being substantially parallel to the longitudinal slot, the first jaw further comprising at least one aperture along an edge of the first jaw, and the at least one tab of the staple cartridge being engageable with the at least one aperture of the first jaw, at least the at least one aperture and the at least one tab being configured to cooperate to retain the staple cartridge within the elongated channel,

at least one pulley in the support channel, and

a surface of the first jaw having a longitudinal slot between the proximal end of the first jaw and the distal end of the first jaw, the surface of the first jaw being configured to engage with the upper engagement surfaces of the first and second transverse protrusions of the lower transverse member of the clamping member as the upward extension travels through the longitudinal slot such that the first and second transverse protrusions slide along the surface of the first jaw,

a second jaw pivotable relative to the first jaw, the second jaw comprising;

a proximal end,

a distal end,

an anvil having at least one anvil surface, the at least one anvil surface having at least one staple forming pocket, and

the anvil having an elongated slot between the proximal end of the second jaw and the distal end of the second jaw, the longitudinal being configured to receive the third and fourth transverse protrusions of the upper transverse member of the clamping member as the upward extension travels through the elongated slot, and

at least one cable extending at least partially through the support channel and around at least one of the at least one pulley, wherein force on the at least one cable causes the clamping member to move along the first and second jaws such that the upper engagement surfaces of the first and second transverse protrusions of the lower transverse member of the clamping member move along the surface of the first jaw and the third and fourth transverse protrusions of the upper transverse member of the clamping member move through the elongated slot and causes at least one of;

the first and second jaws to clamp, and

staples to be ejected from the staple cartridge assembly when a staple cartridge assembly is received within the support channel of the first jaw, and

a connection mechanism connecting the tool assembly to the shaft, the connection mechanism comprises;

a first pivot axis being substantially perpendicular to a longitudinal axis of the shaft, wherein the tool assembly is pivotable about the first pivot axis with respect to the shaft, and

a second pivot axis being substantially perpendicular to the first pivot axis, wherein the tool assembly is pivotable about the second pivot axis with respect to the shaft.

16. The surgical tool of claim 15, wherein the first jaw includes a staple cartridge assembly received within the support channel of the first jaw, the staple cartridge assembly having a longitudinal slot, and having at least one tab and at least three rows of staples disposed on each side of the longitudinal slot, the at least three rows of staples on each side of the longitudinal slot being substantially parallel to the longitudinal slot, the first jaw further comprising at least one aperture along an edge of the first jaw, and the at least one protrusion of the staple cartridge assembly being engageable with the at least one aperture of the first jaw, at least the at least one aperture and the at least one protrusion cooperating to retain the staple cartridge assembly within the support channel.

17. The surgical tool of claim 16, wherein the tool assembly is rotatable about the longitudinal axis of the shaft.

18. The surgical tool of claim 16, further comprising a sled having at least one cam wedge, wherein the movement of the upper engagement surfaces of the first and second transverse protrusions of the lower transverse member of the clamping member along the surface of the first jaw and movement of the third and fourth transverse protrusions of the upper transverse member of the clamping member through the elongated slot further causes:

the sled to ride distal to the clamping member along the support channel, and

the cam wedge to cooperate with at least one staple pusher of the staple cartridge assembly to eject at least one of the staples from the staple cartridge assembly.

19. The surgical tool of claim 15, further comprising the at least one cable extending through the connection mechanism.

20. The surgical tool of claim 15, further comprising the clamping member being configured without a knife blade.