Robotically-controlled shaft based rotary drive systems for surgical instruments

• US 10,441,280 B2
• Filed: 04/07/2016
• Issued: 10/15/2019
• Est. Priority Date: 06/04/2007
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Timm, Richard W., Shelton, IV, Frederick E.
• Primary Examiner(s): Lopez, Michelle
• Application Number:
  US15/093,029
• Publication Number:
  US 20160220248A1
• Time in Patent Office: 1,286 Days
• Field of Search: 2271751, 2271781
• 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 17/0684 having a forming anvil staying above the tissue during stapling
• 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 17/32 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 17/320068 using mechanical vibrations, e.g. ultrasonic A61B17/22012 takes precedence; dental tooth drilling devices operated by vibration A61C3/03; removing intra-ocular material using mechanical vibrations A61F9/00745
• CPC Class Codes: A61B 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 2017/00115 with audible or visual output
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00367 Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
• 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 2017/0688 Packages or dispensers for surgical staplers
• CPC Class Codes: A61B 2017/07257 characterised by its anvil
• 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 2017/2905 : flexible
• 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 2017/2933 : camming or guiding means
• CPC Class Codes: A61B 2017/2937 : with flexible part
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/320069 : for ablating tissue
• CPC Class Codes: A61B 2017/320071 : with articulating means for working tip
• CPC Class Codes: A61B 2018/1455 : having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2034/302 : specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2090/0811 : 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 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: Y10T 29/53 : Means to assemble or disassemble

Abstract

A stapling assembly for use with a robotic device is disclosed. The stapling assembly comprises a first jaw, a second jaw rotatable relative to the first jaw between an open position and a closed position, an elongate shaft coupled to the first jaw, and a housing coupled to the elongate shaft. The housing comprises rotatable inputs operably engageable with the robotic device. A first system is configured to position the second jaw relative to the first jaw at a first rate. A second system is configured to position the second jaw relative to the first jaw at a second rate which is faster than the first rate.

Claims

1. A stapling assembly for use with a robotic device, said stapling assembly comprising:

a first jaw;

a second jaw rotatable relative to said first jaw between an open position and a closed position;

an elongate shaft coupled to said first jaw;

a housing coupled to said elongate shaft, wherein said housing comprises rotatable inputs operably engageable with the robotic device;

a first system configured to position said second jaw relative to said first jaw at a first rate; and

a second system configured to position said second jaw relative to said first jaw at a second rate which is faster than said first rate.

2. The stapling assembly of claim 1, further comprising a staple cartridge.

3. The stapling assembly of claim 1, further comprising said robotic device, wherein said robotic device comprises:

an actuator manipulatable by a clinician; and

a visual indicator configured to provide real-time feedback to the clinician regarding the closure of said second jaw.

4. The stapling assembly of claim 1, wherein said elongate shaft comprises:

a distal end;

a first articulation joint defining a first articulation axis; and

a second articulation joint defining a second articulation axis, wherein said second articulation joint is closer to said distal end than said first articulation joint.

5. A stapling assembly for use with a robotic device, said stapling assembly comprising:

a first jaw;

a second jaw rotatable relative to said first jaw between an open position and a closed position;

an elongate shaft coupled to said first jaw;

a housing coupled to said elongate shaft, wherein said housing comprises rotatable inputs operably engageable with the robotic device;

a first system configured to close said second jaw at a first rate; and

a second system configured to close said second jaw at a second rate which is faster than said first rate.

6. The stapling assembly of claim 5, further comprising a staple cartridge.

7. The stapling assembly of claim 5, further comprising said robotic device, wherein said robotic device comprises:

an actuator manipulatable by a clinician; and

a visual indicator configured to provide real-time feedback to the clinician regarding the closure of said second jaw.

8. The stapling assembly of claim 5, wherein said elongate shaft comprises:

a distal end;

a first articulation joint defining a first articulation axis; and

a second articulation joint defining a second articulation axis, wherein said second articulation joint is closer to said distal end than said first articulation joint.

9. A stapling assembly for use with a robotic device, said stapling assembly comprising:

a first jaw;

a second jaw rotatable relative to said first jaw between an open position and a closed position;

an elongate shaft extending from said first jaw;

a housing attached to said elongate shaft, wherein said housing comprises rotatable inputs operably engageable with the robotic device;

a first system configured to position said second jaw relative to said first jaw and operate at a first rate; and

a second system configured to position said second jaw relative to said first jaw and operate at a second rate which is faster than said first rate.

10. The stapling assembly of claim 9, further comprising a staple cartridge.

11. The stapling assembly of claim 9, further comprising said robotic device, wherein said robotic device comprises:

an actuator manipulatable by a clinician; and

a visual indicator configured to provide real-time feedback to the clinician regarding the closure of said second jaw.

12. The stapling assembly of claim 9, wherein said elongate shaft comprises:

a distal end;

a first articulation joint defining a first articulation axis; and

a second articulation joint defining a second articulation axis, wherein said second articulation joint is closer to said distal end than said first articulation joint.

13. A stapling assembly for use with a user-actuated motion generating system, said stapling assembly comprising:

a jaw;

a staple cartridge positioned in said jaw;

an anvil rotatable relative to said jaw between an open position and a closed position;

an elongate shaft, wherein said jaw extends from said elongate shaft;

a housing, wherein said elongate shaft extends from said housing, and wherein said housing comprises rotatable inputs drivable by the user-actuated motion generating system;

a first system configured to position said anvil relative to said jaw at a first rate; and

a second system configured to position said anvil relative to said jaw at a second rate which is faster than said first rate.

14. The stapling assembly of claim 13, further comprising said user-actuated motion generating system, wherein said user-actuated motion generating system comprises:

an actuator manipulatable by a clinician; and

a visual indicator configured to provide real-time feedback to the clinician regarding the closure of said anvil.

15. The stapling assembly of claim 13, wherein said elongate shaft comprises:

a distal end;

a first articulation joint defining a first articulation axis; and

a second articulation joint defining a second articulation axis, wherein said second articulation joint is closer to said distal end than said first articulation joint.

16. A stapling instrument for use with a user-controlled actuation system, said stapling instrument comprising:

a jaw;

a staple cartridge in said jaw;

an anvil rotatable relative to said jaw between an open position and a closed position;

an elongate shaft, wherein said jaw extends from said elongate shaft;

a housing, wherein said elongate shaft extends from said housing, and wherein said housing comprises rotatable inputs configured to be rotated by the user-controlled actuation system when in operable engagement with the user-controlled actuation system;

a first system configured to move said anvil relative to said jaw at a first rate; and

a second system configured to move said anvil relative to said jaw at a second rate which is faster than said first rate.

17. The stapling instrument of claim 16, further comprising said user-controlled actuation system, wherein said user-controlled actuation system comprises:

an actuator manipulatable by a clinician; and

a visual indicator configured to provide real-time feedback to the clinician regarding the closure of said anvil.

18. The stapling instrument of claim 16, wherein said elongate shaft comprises:

a distal end;

a first articulation joint defining a first articulation axis; and

a second articulation joint defining a second articulation axis, wherein said second articulation joint is closer to said distal end than said first articulation joint.

19. A stapling instrument for use with a user-controlled actuation system, said stapling instrument comprising:

a first jaw;

a second jaw, wherein said second jaw is rotatable between an open position and a closed position;

a staple cartridge comprising staples removably stored therein;

an anvil configured to deform said staples;

an elongate shaft, wherein said first jaw and said second jaw extend from said elongate shaft;

a housing, wherein said elongate shaft extends from said housing, and wherein said housing comprises rotatable inputs configured to be rotated by the user-controlled actuation system when in operable engagement with the user-controlled actuation system;

a first system configured to move said second jaw relative to said first jaw at a first rate; and

a second system configured to move said second jaw relative to said first jaw at a second rate which is faster than said first rate.

20. The stapling instrument of claim 19, further comprising said user-controlled actuation system, wherein said user-controlled actuation system comprises:

an actuator manipulatable by a clinician; and

a visual indicator configured to provide real-time feedback to the clinician regarding the closure of said second jaw.

21. The stapling instrument of claim 19, wherein said elongate shaft comprises:

a distal end;

a first articulation joint defining a first articulation axis; and

a second articulation joint defining a second articulation axis, wherein said second articulation joint is closer to said distal end than said first articulation joint.