Surgical instrument for use with robotic system

• US 10,278,780 B2
• Filed: 07/18/2017
• Issued: 05/07/2019
• Est. Priority Date: 01/10/2007
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Shelton, IV, Frederick E.
• Primary Examiner(s): Valvis, Alexander M
• Assistant Examiner(s): Ahmed, Mobeen
• Application Number:
  US15/652,916
• Publication Number:
  US 20170312040A1
• Time in Patent Office: 658 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 17/068 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 17/1222 Packages or dispensers therefor clip magazines incorporated in a clip-applying instrument A61B17/128; for surgical articles A61B50/30
• CPC Class Codes: A61B 17/295 combined with cutting implements
• 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 17/320092 with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
• 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 2017/00212 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 2017/00362 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 2017/00473 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 2017/00685 Archimedes screw
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/07214 Stapler heads
• 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 2017/2927 : the angular position of the head being adjustable with respect to 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 2034/2053 : Tracking an applied voltage gradient
• CPC Class Codes: A61B 2034/2059 : Mechanical position encoders
• CPC Class Codes: A61B 2034/2072 : Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/302 : specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2090/065 : for measuring contact or contact pressure
• 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 2562/028 : Microscale sensors, e.g. electromechanical sensors [MEMS]
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• 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: B65B 5/04 : Packaging single articles
• CPC Class Codes: B65B 55/16 : by irradiation
• CPC Class Codes: B65B 55/18 : by liquids or gases B65B55/14 takes precedence

Abstract

A surgical instrument for use with a robotic system is disclosed. The robotic system comprises a drive assembly and a control unit. The drive assembly is configured to provide rotary output motions to a rotatable member supported by the drive assembly. The surgical instrument comprises an end effector, an elongate shaft assembly, an instrument mounting portion, and a closure system. The effector comprises a closable jaw. The elongate shaft assembly comprises a longitudinal axis, a distal end, and a proximal end comprising a gear segment. The instrument mounting portion comprises a transmission assembly including a rotational gear assembly. The closure system comprises a first portion engaged with the closable jaw to close the closable jaw at a first speed and a second portion engageable with the closable jaw to close the closable jaw at a slower speed than the first speed.

Claims

1. A surgical instrument for use with a robotic system, wherein the robotic system comprises a drive assembly and a controller, wherein the drive assembly is configured to provide rotary output motions to a plurality of rotatable members supported by the drive assembly, and wherein said surgical instrument comprises:

an end effector, comprising;

an elongate channel;

a staple cartridge positioned in said elongate channel;

a cutting instrument movable axially within said staple cartridge between a starting position and an ending position; and

an anvil selectively movable between an open position and a closed position relative to said staple cartridge;

an elongate shaft assembly, comprising;

a spine, comprising;

a distal spine end coupled to said elongate channel; and

a proximal spine end;

a closure system configured to operably interact with said anvil, wherein said closure system comprises a first portion engaged with said anvil to close said anvil at a first speed during a first closure mode and a second portion engageable with said anvil to close said anvil at a slower speed than said first speed during a second closure mode, wherein said second portion is not engaged with said anvil during said first closure mode; and

a mounting portion coupled to said proximal spine end, wherein said mounting portion is configured to operably interface with the drive assembly of the robotic system, and wherein said mounting portion comprises;

a first driven disc rotatably supported by said mounting portion, wherein said first driven disc is configured to be operably engaged with one of said rotatable members of the drive assembly of the robotic system to receive a first rotary output motion, wherein said first driven disc is operably coupled with said closure system;

a second driven disc rotatably supported by said mounting portion, wherein said second driven disc is configured to be operably engaged with one of said rotatable members of the drive assembly of the robotic system to receive a second rotary output motion, wherein said second driven disc is operably coupled with said cutting instrument, and wherein said cutting instrument is driven toward said ending position in response to said second rotary output motion; and

a third driven disc rotatably supported by said mounting portion, wherein said third driven disc is configured to be operably engaged with one of said rotatable members of the drive assembly of the robotic system to receive a third rotary output motion, and wherein said third driven disc is operably coupled to said elongate shaft assembly to rotate said end effector about a longitudinal shaft axis extending through said elongate shaft assembly in response to said third rotary output motion.

2. A surgical instrument for use with a robotic system, wherein the robotic system comprises a drive assembly and a control unit, wherein the drive assembly is operatively coupled to the control unit and is operable to provide a rotary output motion to a rotatable member supported by the drive assembly, and wherein said surgical instrument comprises:

an end effector, comprising;

a first jaw; and

a second law;

a cutting instrument movable axially within said end effector from a starting position toward an ending position;

an elongate shaft assembly, wherein said end effector extends from said elongate shaft assembly, wherein said elongate shaft assembly comprises a lead screw rotationally supported within said elongate shaft assembly, and wherein said lead screw is operably coupled to said cutting instrument;

a closure system configured to operably interact with said first law, wherein said closure system comprises a first portion engaged with said first law to close said first jaw at a first speed and a second portion engageable with said first jaw to close said first jaw at a slower speed than said first speed; and

a mounting portion, wherein said elongate shaft assembly extends from said mounting portion, wherein said mounting portion is configured to operably interface with the drive assembly when said mounting portion is coupled to the drive assembly, and wherein said mounting portion comprises;

a rotatable driven element configured to be operably engaged with the rotatable member to receive the rotary output motion from the rotatable member; and

a transmission operably engaged with said rotatable driven element and said lead screw.

3. The surgical instrument of claim 2, wherein said end effector further comprises a staple cartridge.

4. A surgical instrument for use with a robotic system, wherein the robotic system comprises a drive assembly and a control unit, wherein the drive assembly is coupled to the control unit of the robotic system, wherein the drive assembly is configured to provide a rotary output motion to a rotatable member supported by the drive assembly, and wherein said surgical instrument comprises:

an end effector, comprising;

an anvil;

an elongate channel;

a staple cartridge positioned in said elongate channel;

a rotary drive shaft operably supported within said elongate channel; and

a knife member comprising a tissue-cutting portion, wherein the rotation of said rotary drive shaft in a first direction causes said knife member to move in a distal direction through said staple cartridge, and wherein the rotation of said rotary drive shaft in a second direction causes said knife member to move in a proximal direction through said staple cartridge;

a closure system configured to operably interact with said anvil, wherein said closure system comprises a first portion engaged with said anvil to close said anvil at a first rate and a second portion engageable with said anvil to close said anvil at a slower rate than said first rate;

an elongate shaft assembly, wherein said end effector extends distally from said elongate shaft assembly, and wherein said elongate shaft assembly comprises a gear-driven portion that is in operable communication with said rotary drive shaft; and

a mounting portion, wherein said elongate shaft assembly extends distally from said mounting portion, wherein said mounting portion is configured to operably interface with the drive assembly, and wherein said mounting portion comprises;

a driven element rotatably supported by said mounting portion, wherein said driven element is configured to be operably engaged with the rotatable member of the drive assembly to receive the rotary output motion from the rotatable member; and

a transmission assembly operably engaged with said driven element and said gear-driven portion to apply a control motion to said rotary drive shaft.

5. A surgical instrument for use with a robotic system, wherein the robotic system comprises a drive assembly and a control unit, wherein the drive assembly is operably coupled to the control unit of the robotic system, wherein the drive assembly is configured to provide rotary output motions to a rotatable member supported by the drive assembly, and wherein said surgical instrument comprises:

an end effector comprising a closable jaw;

an elongate shaft assembly, comprising;

a longitudinal axis;

a distal end operably coupled to said end effector; and

a proximal end comprising a gear segment;

an instrument mounting portion operably coupled to said elongate shaft assembly, wherein said instrument mounting portion is configured to operably interface with the drive assembly, wherein said instrument mounting portion comprises a transmission assembly including a rotational gear assembly, wherein said rotational gear assembly is operably engaged with said gear segment of said elongate shaft assembly and the rotatable member supported by the drive assembly, wherein said rotational gear assembly rotates said elongate shaft assembly and said end effector in a first rotary direction about said longitudinal axis upon the application of a first rotary output motion from the rotatable member, and wherein said rotational gear assembly rotates said elongate shaft assembly and said end effector in a second rotary direction about said longitudinal axis upon the application of a second rotary output motion from the rotatable member; and

a closure system configured to operably interact with said closable jaw, wherein said closure system comprises a first portion engaged with said closable jaw to close said closable jaw at a first speed and a second portion engageable with said closable jaw to close said closable jaw at a slower speed than said first speed.

6. The surgical instrument of claim 5, wherein said end effector further comprises a staple cartridge.