Multi-function motor for a surgical instrument

• US 10,470,762 B2
• Filed: 03/14/2013
• Issued: 11/12/2019
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Leimbach, Richard L., Overmyer, Mark D.
• Primary Examiner(s): Stinson, Chelsea E
• Application Number:
  US13/803,148
• Publication Number:
  US 20140263554A1
• Time in Patent Office: 2,434 Days
• Field of Search: 2271761
• CPC Class Codes: A61B 17/064 Surgical staples, i.e. penetrating the tissue
• 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 17/0686 having a forming anvil staying below 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 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 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00123 and automatic shutdown
• 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 2017/00389 Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector
• CPC Class Codes: A61B 2017/00393 with means for switching between functions
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable
• CPC Class Codes: A61B 2017/00464 for use with different instruments
• 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 2017/00716 simulating physical properties
• CPC Class Codes: A61B 2017/00734 : battery operated
• 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 2017/2903 : transferring rotary motion
• CPC Class Codes: A61B 2017/2913 : cams or guiding means
• 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 2017/2931 : with releasable head
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2018/00172 : Connectors and adapters therefor
• CPC Class Codes: A61B 2018/00297 : Means for providing haptic feedback
• CPC Class Codes: A61B 2018/00303 : active, e.g. with a motor creating vibrations
• CPC Class Codes: A61B 2018/1455 : having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2034/2059 : Mechanical position encoders
• CPC Class Codes: A61B 2090/064 : for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/067 : for measuring angles
• CPC Class Codes: A61B 2090/0808 : for indicating correct assembly of components, e.g. of the surgical apparatus
• 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 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: G01D 5/145 : influenced by the relative movement between the Hall device and magnetic fields see G01R33/06

Abstract

A multi-function motor. The multi-function motor can operate in different operating states to perform different functions. For example, the motor can advance a firing element during a first operating state, retract the firing element during a second operating state, and generate amplified haptic feedback during a third operating state. The electric motor can rotate in a first direction to advance the firing element, can rotate in a second direction to retract the firing element, and can oscillate between the first direction and the second direction to generate the amplified haptic feedback. A resonator can be secured to the motor. The center of mass of the resonator can be balanced with respect to the axis of rotation of the resonator. Further, the resonator can comprise a natural frequency, and can oscillate within a range of amplifying frequencies inclusive of the natural frequency during the third operating state.

Claims

1. A surgical stapler, comprising:

a handle;

a firing member; and

an electric motor, wherein said electric motor advances said firing member to perform a staple firing stroke during a first operating state, retracts said firing member during a second operating state, and transmits haptic feedback to said handle during a third operating state without performing said staple firing stroke, wherein said electric motor directly transmits haptic feedback to said handle during said third operating state, and wherein said electric motor comprises;

a shaft directly coupled to said firing member; and

a resonator mounted on said shaft, wherein said resonator comprises;

a body comprising a mounting hole, wherein said mounting hole and said shaft are coaxial with a central axis of said resonator, and wherein the center of mass of said resonator is positioned along the central axis;

a spring extending from said body;

a weight extending from said spring; and

a counterweight extending from said body.

2. The surgical stapler of claim 1, wherein said electric motor rotates in a first direction during the first operating state.

3. The surgical stapler of claim 2, wherein said electric motor rotates in a second direction during the second operating state, and wherein the second direction is different than the first direction.

4. The surgical stapler of claim 3, wherein said electric motor oscillates between the first direction and the second direction during the third operating state.

5. The surgical stapler of claim 4, wherein said resonator comprises an amplifying range of frequencies inclusive of a natural frequency of said resonator, and wherein said resonator oscillates within the amplifying range of frequencies during the third operating state.

6. The surgical stapler of claim 1, wherein the feedback transmitted to said handle during the third operating state comprises tactile vibratory motion of said handle.

7. The surgical stapler of claim 6, wherein said electric motor is mounted within said handle.

8. The surgical stapler of claim 1, wherein a datum extends through said resonator perpendicular to the central axis, and wherein said spring traverses the datum at least one location along the datum.

9. The surgical stapler of claim 8, wherein said spring extends from said body along an axis, and wherein the axis defines at least one contour.

10. The surgical stapler of claim 1, wherein said handle further comprises an axial restraint, and wherein said resonator is constrained within said axial restraint.

11. The surgical stapler of claim 1, further comprising an end effector, wherein said end effector further comprises a staple cartridge comprising a plurality of staples.

12. A surgical instrument for cutting and stapling tissue, the surgical instrument comprising:

a handle;

a firing member configured to perform a staple firing stroke;

an electric motor positioned in said handle, wherein said electric motor is configured to operate in a plurality of states, and wherein said electric motor comprises a motor shaft configured to drive said firing member; and

an amplifier comprising a center of mass, wherein said amplifier is mounted to said motor shaft at said center of mass, wherein said amplifier rotates in a first direction when said electric motor is in a firing state to induce a staple firing stroke, and wherein said amplifier oscillates between the first direction and a second direction when said electric motor is in a feedback state, wherein said staple firing stroke does not occur during said feedback state, and wherein said electric motor directly transmits feedback to said handle during said feedback state.

13. The surgical instrument of claim 12, wherein said firing member is advanced distally during the firing state.

14. The surgical instrument of claim 13, wherein said plurality of states further comprises a retracting state, wherein said amplifier rotates in the second direction when said electric motor is in the retracting state, and wherein said firing member is retracted proximally during the retracting state.

15. The surgical instrument of claim 12, wherein said handle vibrates in response to oscillations of said amplifier during the feedback state.

16. The surgical instrument of claim 12, wherein said amplifier further comprises:

a body comprising a mounting bore through the center of mass of said amplifier;

a pendulum extending from said body; and

a counterweight extending from said body.

17. The surgical instrument of claim 16, wherein said amplifier further comprises a natural frequency, and wherein said amplifier oscillates within a range inclusive of the natural frequency when said electric motor is in the feedback state.

18. The surgical instrument of claim 16, wherein said pendulum extends along an axis from said body, and wherein said axis defines at least one contour.

19. The surgical instrument of claim 12, wherein said amplifier further comprises an axial restraint, and wherein said amplifier is constrained by said axial restraint.

20. The surgical instrument of claim 12, further comprising an end effector, wherein said end effector further comprises a staple cartridge comprising a plurality of staples.

21. A surgical instrument for cutting and stapling tissue, the surgical instrument comprising:

holding means for holding the surgical instrument;

a firing member;

motor means for operating in a plurality of operating states, wherein the plurality of operating states comprises a firing state and a feedback state, wherein a staple firing stroke of said firing member occurs during said firing state, wherein said staple firing stroke does not occur during said feedback state, and wherein said motor means rotates in a first direction during the firing state and oscillates between the first direction and a second direction during the feedback state; and

feedback generating means for generating haptic feedback, wherein said feedback generating means is mounted to said motor means, wherein said motor means directly transmits feedback to said holding means during said feedback state.

22. The surgical instrument of claim 21, wherein the second direction is opposite to the first direction.

23. The surgical instrument of claim 21, wherein the plurality of operating states further comprises a retracting state, and wherein said motor means rotates in the second direction during the retracting state.

24. The surgical instrument of claim 21, wherein said feedback generating means is mounted to said motor means at the center of mass of said feedback generating means.

25. The surgical instrument of claim 21, wherein said feedback generating means comprises an oscillating means for oscillating within a range inclusive of the natural frequency of said feedback generating means during the feedback state.

26. The surgical instrument of claim 21, further comprising stapling means for stapling tissue during the firing state.

27. A surgical instrument for cutting and stapling tissue, the surgical instrument comprising:

a handle;

a firing member extending from said handle;

an electric motor positioned in said handle, wherein said electric motor is configured to operate in a plurality of states, and wherein said electric motor comprises a motor shaft operably coupleable with said firing member; and

a resonator comprising a center of mass, wherein said resonator is mounted to said motor shaft at said center of mass, wherein said resonator is balanced when said electric motor is in an advancing state, wherein a staple firing stroke occurs during said advancing state, wherein said resonator is unbalanced when said electric motor is in a feedback state, wherein said electric motor directly transmits feedback to said handle during said feedback state by way of said motor shaft, and wherein said staple firing stroke does not occur during said feedback state.

28. The surgical instrument of claim 27, wherein said electric motor rotates in a first direction when said electric motor is in the advancing state.

29. The surgical instrument of claim 28, wherein said electric motor oscillates between the first direction and a second direction when the electric motor is in the feedback state.

30. The surgical instrument of claim 27, where said resonator further comprises:

a body comprising a mounting bore through the center of mass of said resonator;

a pendulum extending from said body; and

a counterweight extending from said body.

31. The surgical instrument of claim 30, wherein said resonator further comprises a natural frequency, and wherein said resonator oscillates within a range inclusive of the natural frequency when said electric motor is in the feedback state.

32. A surgical stapler, comprising:

a handle;

an end effector;

a displaceable member movable relative to said end effector; and

an electric motor, wherein said electric motor advances said displaceable member to provide a staple firing stroke during a first operating state, retracts said displaceable member during a second operating state, and transmits feedback to said handle during a third operating state, wherein said staple firing stroke does not occur during said third operating state, wherein said electric motor directly transmits feedback to said handle during said third operating state, and wherein said electric motor comprises;

a shaft; and

a resonator mounted on said shaft, wherein said resonator comprises;

a body comprising a mounting hole, wherein said mounting hole and said shaft are coaxial with a central axis of said resonator, and wherein the center of mass of said resonator is positioned along the central axis;

a spring extending from said body;

a weight extending from said spring; and

a counterweight extending from said body.