Robotically powered surgical device with manually-actuatable reversing system

• US 10,485,541 B2
• Filed: 03/24/2016
• Issued: 11/26/2019
• Est. Priority Date: 06/28/2012
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Shelton, IV, Frederick E.
• Primary Examiner(s): Gerrity, Stephen F.
• Assistant Examiner(s): Kotis, Joshua G
• Application Number:
  US15/079,526
• Publication Number:
  US 20160206310A1
• Time in Patent Office: 1,342 Days
• 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 17/295 combined with cutting implements
• CPC Class Codes: A61B 17/320016 Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes A61B10/0233, A61B17/29, A61B17/3207 take precedence
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00309 Cut-outs or slits
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• 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 2017/00685 Archimedes screw
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/00876 magnetic
• 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 2017/2903 : transferring rotary motion
• CPC Class Codes: A61B 2017/2905 : flexible
• CPC Class Codes: A61B 2017/2908 : Multiple segments connected by articulations
• 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 2017/2929 : with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2931 : with releasable head
• CPC Class Codes: A61B 2017/2939 : Details of linkages or pivot points
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2946 : Locking means
• CPC Class Codes: A61B 2034/306 : Wrists with multiple vertebrae
• 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 2090/0812 : indicating loosening or shifting of parts of an instrument, signaling maladjustment of parts
• CPC Class Codes: A61B 2090/0814 : Preventing re-use
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61M 2039/1061 : Break-apart tubing connectors or couplings
• CPC Class Codes: A61M 39/00 : Tubes, tube connectors, tube couplings, valves, access sites or the like, specially adapted for medical use for respiratory devices, e.g. tracheal tubes A61M16/00; artificial heart valves A61F2/24
• CPC Class Codes: A61M 39/1055 : Rotating or swivel joints in general F16L27/00
• CPC Class Codes: Y10T 29/49826 : Assembling or joining
• CPC Class Codes: Y10T 74/18056 : Rotary to or from reciprocating or oscillating
• CPC Class Codes: Y10T 74/20329 : Joint between elements

Abstract

A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate output motions. A drive system is configured to interface with a corresponding portion of the tool drive assembly for receiving the robotically-generated output motions and applying the output motions to a drive shaft assembly which is configured to apply control motions to a surgical end effector operably coupled thereto. A manually-actuatable control system operably interfaces with the drive shaft assembly to facilitate the selective application of manually-generated control motions to the drive shaft assembly.

Claims

1. A surgical tool for use with a robotic system that includes a tool drive assembly that includes a plurality of rotary output members that are selectively rotatable upon applications of inputs from an operator to a control unit of the robotic system, wherein said surgical tool comprises:

a surgical end effector comprising;

a first jaw and a second jaw; and

a firing member axially movable between a starting position and an ending position within said first and second jaws and wherein said surgical tool further comprises;

an elongate shaft assembly operably coupled to said surgical end effector and comprising a firing shaft operably interfacing with said firing member to apply firing motions thereto;

a tool mounting portion operably coupled to said elongate shaft assembly and configured for removable operable attachment to the tool drive assembly of the robotic system, wherein said tool mounting portion comprises;

a firing drive system, comprising;

a first rotary drive assembly configured for operable rotary engagement with a corresponding one of the rotary output members when said tool mounting portion is operably attached to the tool drive assembly of the robotic system;

a second rotary drive assembly in operable engagement with said firing shaft and movable between a first engaged position, wherein said second rotary drive assembly is in operable engagement with said first rotary drive assembly such that rotation of the corresponding one of the rotary output members in a first actuation direction causes said second rotary drive assembly to apply rotary firing motions to said firing shaft in a first rotary direction, and a disengaged position, wherein said second rotary drive assembly is disengaged from said first rotary drive assembly while said first rotary drive assembly remains in operable rotary engagement with the corresponding one of the rotary output member; and

a manually-actuatable control system configured to, upon actuation, move said second rotary drive assembly out of operable engagement with said first rotary drive assembly and apply additional rotary firing motions to said firing shaft while said first rotary drive assembly remains in operable rotary engagement with the corresponding one of the rotary output members.

2. The surgical tool of claim 1, wherein, upon said actuation of said manually-actuatable control system, said manually-actuable control system applies said additional rotary firing motions to said firing shaft in a second rotary direction that is opposite to said first rotary direction.

3. The surgical tool of claim 2, wherein upon application of said rotary firing motions to said firing shaft in said first rotary direction, said firing shaft causes said firing member to move in a distal direction from said starting position towards said ending position.

4. The surgical tool of claim 3, wherein upon application of said additional rotary firing motions to said firing shaft in said second direction, said firing shaft causes said firing member to move in a proximal direction towards said starting position.

5. The surgical tool of claim 4, further comprising a replaceable component portion, wherein said replaceable component portion is replaceable while said tool mounting portion is in operable attachment with the tool drive assembly of the robotic system.

6. The surgical tool of claim 1, wherein, upon said application of said manually-actuable control system, said manually-actuable control system applies said additional rotary firing motions to said firing shaft in said first rotary direction.

7. The surgical tool of claim 1, further comprising a replaceable component portion, wherein said replaceable component comprises a surgical staple cartridge removeably supported in said first jaw and wherein said second jaw comprises an anvil.

8. The surgical tool of claim 7, wherein said firing member comprises a tissue cutting surface and is configured to eject surgical staples store within said surgical staple cartridge as said firing member is moved from said starting position to said ending position.

9. The surgical tool of claim 1, wherein said tool mounting portion further comprises:

a mounting member operably supporting said first rotary drive assembly and said second rotary drive assembly thereon;

an adapter member coupled to said mounting member, said adapter member comprising;

at least one intermediate rotary output member operably interfacing with said first rotary drive assembly and the corresponding one of the rotary output members; and

a releaseable latch to releasably attach the adapter member to the tool drive assembly.

10. The surgical tool of claim 1, wherein said manually-actuable control system comprises an actuator that is moveable from an unactuated position to an actuable position wherein said actuator is manually-manipulatable to generate said additional rotary firing motions.

11. The surgical tool of claim 10, wherein said actuator is configured to be releasably retained in said unactuated position.

12. The surgical tool of claim 11, wherein said tool mounting portion further comprises a mounting member operably supporting said first rotary drive assembly and said second rotary drive assembly thereon and wherein said actuator comprises a handle that is movably supported on said mounting member between said unactuated position and said actuable position and wherein said handle is configured to establish a releaseable frictional engagement with said mounting member when in said unactuated position.

13. The surgical tool of claim 1, wherein one of said first and second jaws is configured to removable support a replaceable component portion therein.

14. The surgical tool of claim 1, wherein one of said first and second jaws is movable relative to the other of said first and second jaws between open and closed positions upon application of jaw control motions thereto.

15. A surgical tool for use with a robotic system that includes a tool drive assembly that includes a rotary output member that is selectively rotatable upon application of inputs from an operator to a control unit of the robotic system, wherein said surgical tool comprises:

a surgical end effector comprising;

a first jaw and a second jaw, wherein one of said first and second jaws is movable relative to the other of said first and second jaws between open and closed positions upon application of jaw control motions thereto; and

a firing member axially movable between a starting position and an ending position within said first and second jaws and wherein said surgical tool further comprises;

an elongate shaft assembly operably coupled to said surgical end effector and comprising a firing shaft operably interfacing with said firing member to apply firing motions thereto;

a tool mounting portion operably coupled to the elongate shaft assembly and configured for removable operable attachment to the tool drive assembly of the robotic system, wherein said tool mounting portion comprises;

a firing drive system in operable engagement with the rotary output member and being configurable between an actuatable configuration in which actuation of the rotary output member applies rotary control motions thereto which causes said firing drive system to apply rotary firing motions to said firing shaft with a first portion of the firing drive system and an unactuatable configuration in which a second portion of said firing drive system remains in operable engagement with the rotary output member and the first portion of said firing drive system is disengaged from said second portion;

a manually-actuatable control system configured to, upon actuation, arrange said firing drive system into said unactuatable configuration and apply additional rotary firing motions to said firing shaft with said first portion of said firing drive system; and

a closure system configured to generate said jaw control motions,

wherein said closure system is configured to apply axial closure motions to a closure portion of said elongate shaft assembly to cause said closure portion to apply said jaw control motions to at least one of said first and second jaws, and wherein said closure system comprises;

a closure solenoid in operable communication with the control unit of the robotic system to receive control signals therefrom; and

an axially movable closure assembly in operable engagement with said closure solenoid and at least one of said first and second jaws.