Robotically-driven surgical assembly

• US 10,485,546 B2
• Filed: 04/28/2016
• Issued: 11/26/2019
• Est. Priority Date: 05/27/2011
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Shelton, IV, Frederick E., Setser, Michael E., Doll, Kevin R., Morgan, Jerome R.
• Primary Examiner(s): Lopez, Michelle
• Application Number:
  US15/141,502
• Publication Number:
  US 20160242782A1
• Time in Patent Office: 1,307 Days
• Field of Search: 2271751, 2271801
• 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 17/0682 for applying U-shaped staples or clamps, e.g. without a forming anvil
• 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 17/320092 with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
• 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 2017/00398 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 2017/00734 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 2017/2923 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 2017/320052 Guides for cutting instruments by marking A61B2090/395
• 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 2018/00607 : Coagulation and cutting with the same instrument
• CPC Class Codes: A61B 2018/0063 : Sealing
• CPC Class Codes: A61B 2034/302 : specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• 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 50/20 : Holders specially adapted for surgical or diagnostic appliances or instruments drapes with means to hold surgical instruments A61B46/23; for catheters A61M25/02
• CPC Class Codes: A61B 50/36 : for collecting or disposing of used articles

Abstract

A surgical assembly for treating the tissue of a patient is disclosed. The surgical assembly comprises a first jaw configured to support a staple cartridge, a second jaw rotatably coupled to the first jaw, an elongate shaft extending from the first jaw, a rotatable shaft extending through the elongate shaft, a housing, a closure mechanism, and a coupling mechanism. The housing is coupled to the elongate shaft. The housing comprises a rotatable disk operably coupleable to a robotic device. The closure mechanism is configured to move the second jaw between an unclamped position and a clamped position. The closure mechanism is operably coupled to the rotatable disk. The coupling mechanism is configured to maintain a predetermined spacing between the first jaw and the second jaw when the second jaw is in the clamped position. The coupling mechanism is operably coupled to the rotatable shaft.

Claims

1. A surgical assembly for treating the tissue of a patient, comprising:

a first jaw configured to support a staple cartridge;

a second jaw rotatably coupled to the first jaw;

an elongate shaft extending from the first jaw;

a rotatable shaft extending through the elongate shaft;

a housing coupled to the elongate shaft, wherein the housing comprises a rotatable disk operably couplable to a robotic device;

a closure mechanism configured to move the second jaw between an unclamped position and a clamped position, wherein the closure mechanism is operably coupled to the rotatable disk; and

a coupling mechanism configured to maintain a predetermined spacing between the first jaw and the second jaw when the second jaw is in the clamped position, wherein the coupling mechanism is operably coupled to the rotatable shaft.

2. The surgical assembly of claim 1, wherein the first jaw comprises the staple cartridge.

3. The surgical assembly of claim 2, wherein the staple cartridge comprises a replaceable staple cartridge.

4. The surgical assembly of claim 1, further comprising a cutting edge configured to incise the patient tissue.

5. A surgical assembly for treating the tissue of a patient, comprising:

a first jaw;

a second jaw rotatably coupled to the first jaw;

an elongate shaft extending from the first jaw;

a rotatable shaft extending through the elongate shaft which is drivable by a robotic system;

a housing coupled to the elongate shaft, wherein the housing comprises a rotatable disk operably couplable to the robotic system;

a closure mechanism operably coupled to the rotatable disk, wherein the closure mechanism is configured to move the second jaw toward the first jaw; and

a coupling mechanism operably coupled to the rotatable shaft, wherein the coupling mechanism is configured to establish a tissue gap between the first jaw and the second jaw after the closure mechanism has moved the second jaw toward the first jaw.

6. The surgical assembly of claim 5, wherein the first jaw comprises a staple cartridge.

7. The surgical assembly of claim 6, wherein the staple cartridge comprises a replaceable staple cartridge.

8. The surgical assembly of claim 5, further comprising a cutting edge configured to incise the patient tissue.

9. A surgical assembly for treating the tissue of a patient, comprising:

a first jaw;

a second jaw rotatably coupled to the first jaw;

an elongate shaft extending from the first jaw;

a rotatable shaft extending through the elongate shaft, wherein the rotatable shaft is drivable by a robotic system;

a housing coupled to the elongate shaft, wherein the housing comprises a rotatable disk operably couplable to the robotic system;

a jaw approximating system operably coupled to the rotatable disk, wherein the jaw approximating system is configured to move the second jaw toward the first jaw; and

a jaw control system operably coupled to the rotatable shaft, wherein the jaw control system is configured to establish a staple forming gap between the first jaw and the second jaw after the jaw approximating system has moved the second jaw toward the first jaw.

10. The surgical assembly of claim 9, wherein the first jaw comprises a staple cartridge.

11. The surgical assembly of claim 10, wherein the staple cartridge comprises a replaceable staple cartridge.

12. The surgical assembly of claim 9, further comprising a cutting edge configured to incise the patient tissue.