Methods, systems, and devices for causing end effector motion with a robotic surgical system

• US 10,413,370 B2
• Filed: 04/06/2018
• Issued: 09/17/2019
• Est. Priority Date: 08/16/2016
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Yates, David C., Shelton, IV, Frederick E., Harris, Jason L.
• Primary Examiner(s): Masih, Karen
• Application Number:
  US15/947,187
• Publication Number:
  US 20180221096A1
• Time in Patent Office: 529 Days
• CPC Class Codes: A61B 17/295 combined with cutting implements
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: B25J 15/0213 actuated by gears
• CPC Class Codes: F16H 19/001 for conveying reciprocating or limited rotary motion

Abstract

Various exemplary methods, systems, and devices for causing end effector motion with a robotic surgical system are provided. In general, a surgical tool can be configured to releasably and removably couple to a robotic surgical system. The robotic surgical system can include two motors configured to provide torque to the surgical tool to drive one single function of the surgical tool. In at least some embodiments, at least one of the two motors configured to cooperate with another motor to drive the single function of the surgical tool can be configured to drive a second function of the surgical tool.

Claims

1. A surgical system, comprising:

a plurality of motors of a robotic surgical system configured to releasably and replaceably engage with a surgical tool having an elongate shaft with an end effector at a distal end thereof, the plurality of motors each being configured to cooperate to deliver a total amount of torque to the surgical tool and thereby drive a single function of the end effector;

wherein a maximum amount of torque that each of the plurality of motors is configured to deliver to the surgical tool is less than the total amount of torque.

2. The system of claim 1, wherein the single function includes any one of closing jaws of the end effector, articulating the end effector relative to the elongate shaft, translating a cutting element along the end effector, rotating the end effector relative to the elongate shaft, and rotating the end effector and the elongate shaft relative to a proximal housing of the surgical tool.

3. The system of claim 1, wherein the single function includes any one of closing jaws of the end effector, translating a cutting element along the end effector, and rotating the end effector relative to the elongate shaft.

4. The system of claim 1, further comprising a plurality of drive disks of the robotic surgical system, each of the drive disks being configured to be driven simultaneously by the plurality of motors and deliver the total amount of torque to the surgical tool.

5. The system of claim 4, wherein each of the drive disks includes a gear.

6. The system of claim 4, wherein the surgical tool includes a plurality of actuation shafts extending along the elongate shaft, and each of the drive disks is configured to deliver a portion of the total amount of the torque to one of the actuation shafts.

7. The system of claim 6, wherein when the plurality of drive disks are driven the drive disks are each configured to rotate and thereby cause translation of the one of the actuation shafts.

8. The system of claim 1, wherein the plurality of motors is two motors.

9. The system of claim 8, further comprising at least one additional motor of the robotic surgical system, the at least one additional motor being configured to cooperate with at least one of the plurality of motors to deliver a second total amount of torque to the surgical tool and thereby drive another single function of the end effector.

10. The system of claim 9, wherein the single function includes any one of closing jaws of the end effector, articulating the end effector relative to the elongate shaft, translating a cutting element along the end effector, rotating the end effector relative to the elongate shaft, and rotating the end effector and the elongate shaft relative to a proximal housing of the surgical tool;

and

the another single function includes a different one of closing jaws of the end effector, articulating the end effector relative to the elongate shaft, translating a cutting element along the end effector, rotating the end effector relative to the elongate shaft, and rotating the end effector and the elongate shaft relative to a proximal housing of the surgical tool.

11. A surgical system, comprising:

a tool driver including a first motor configured to provide a first amount of torque to a surgical tool releasably and replaceably engaged with the tool driver, and the tool driver including a second motor configured to provide a second amount of torque to the surgical tool;

wherein the first and second amounts of torque cooperate to drive a single function of an end effector of the surgical tool, and a total of the first and second amounts of torque is greater than each of a maximum amount of torque the first motor is configured to provide to the surgical tool and a maximum amount of torque the second motor is configured to provide to the surgical tool.

12. The system of claim 11, wherein the single function includes any one of closing jaws of the end effector, articulating the end effector relative to an elongate shaft of the surgical tool that has the end effector at a distal end thereof, translating a cutting element along the end effector, rotating the end effector relative to an elongate shaft of the surgical tool that has the end effector at a distal end thereof, and rotating, relative to a proximal housing of the surgical tool, the end effector and an elongate shaft of the surgical tool that has the end effector at a distal end thereof.

13. The system of claim 11, wherein the first and second motors have different speed and torque characteristics, the first motor is a high speed motor, and the second motor is a high torque motor.

14. The system of claim 11, wherein the tool driver includes a third motor, the third motor is configured to provide a third amount of torque to the surgical tool, the first and third amounts of torque cooperate to drive another single function of the end effector of the surgical tool, and a total of the first and third amounts of torque is greater than each of the maximum amount of torque the first motor is configured to provide to the surgical tool and a maximum amount of torque the third motor is configured to provide to the surgical tool.

15. The system of claim 14, wherein the single function includes any one of closing jaws of the end effector, articulating the end effector relative to an elongate shaft of the surgical tool, translating a cutting element along the end effector, rotating the end effector relative to the elongate shaft, and rotating the end effector and the elongate shaft relative to a proximal housing of the surgical tool;

and

the another single function includes a different one of closing jaws of the end effector, articulating the end effector relative to the elongate shaft, translating a cutting element along the end effector, rotating the end effector relative to the elongate shaft, and rotating the end effector and the elongate shaft relative to a proximal housing of the surgical tool.

16. A surgical method, comprising:

actuating a plurality of motors of a robotic surgical system and thereby delivering a total amount of torque to a surgical tool and thereby drive a single function of an end effector of the surgical tool, the surgical tool being releasably and replaceably engaged with the robotic surgical system;

wherein a maximum amount of torque that each of the plurality of motors is configured to deliver to the surgical tool is less than the total amount of torque that is being delivered to the surgical tool.

17. The method of claim 16, wherein the single function includes any one of closing jaws of the end effector, articulating the end effector relative to an elongate shaft of the surgical tool, translating a cutting element along the end effector, rotating the end effector relative to the elongate shaft, and rotating the end effector and the elongate shaft relative to a proximal housing of the surgical tool.

18. The method of claim 16, further comprising releasably and replaceably coupling a housing of the surgical tool to a tool driver of the robotic surgical system, the tool driver having the plurality of motors therein.

19. The method of claim 16, wherein the surgical tool includes a proximal housing releasably and replaceably engaged with a tool driver of the robotic surgical system;

the surgical tool includes an elongate shaft extending distally from the proximal housing and having the end effector at a distal end thereof;

the surgical tool includes a plurality of actuation shafts extending along the elongate shaft from the proximal housing to the end effector; and

the total amount of torque delivered to the surgical tool actuates one of the actuation shafts to drive the single function of an end effector.

20. The method of claim 19, wherein the actuation of the one of the actuation shafts includes translation of the one of the actuation shafts relative to the elongate shaft.