Shaft assembly comprising first and second articulation lockouts

• US 10,542,982 B2
• Filed: 12/21/2016
• Issued: 01/28/2020
• Est. Priority Date: 12/21/2016
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Beckman, Andrew T., Koch, Jr., Robert L., Swayze, Jeffrey S., Zeiner, Mark S., Shelton, IV, Frederick E., Harris, Jason L.
• Primary Examiner(s): Chukwurah, Nathaniel C
• Application Number:
  US15/385,895
• Publication Number:
  US 20180168596A1
• Time in Patent Office: 1,133 Days
• Field of Search: 2271752, 2271761, 227 19, 2271801
• 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 2017/00017 Electrical control of surgical instruments
• 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 2017/00407 Ratchet means
• 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 2017/07228 Arrangement of the staples
• CPC Class Codes: A61B 2017/0725 with settable gap between anvil and cartridge, e.g. for different staple heights at different shots
• CPC Class Codes: A61B 2017/07257 characterised by its anvil
• CPC Class Codes: A61B 2017/07264 characterised by its staple forming cavities, e.g. geometry or material
• 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 2017/2902 characterized by features of the actuating rod
• CPC Class Codes: A61B 2017/2912 transmission of forces to actuating rod or piston
• 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 2017/2936 : Pins in guiding slots
• CPC Class Codes: A61B 2017/2946 : Locking means
• CPC Class Codes: A61B 2034/302 : specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2090/0808 : for indicating correct assembly of components, e.g. of the surgical apparatus
• CPC Class Codes: A61B 2090/0814 : Preventing re-use
• CPC Class Codes: A61B 2090/0818 : Redundant systems, e.g. using two independent measuring systems and comparing the signals
• 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 34/71 : Manipulators operated by drive cable mechanisms

Abstract

An end effector is disclosed which comprises a shaft, an end effector rotatably connected to the shaft about an articulation joint, and an articulation driver configured to rotate the end effector about the articulation joint. The end effector further comprises a first articulation lock configured to engage the end effector and a second articulation lock configured to engage the articulation driver which co-operatively prevent the end effector from rotating relative to the shaft, when actuated. The actuation and/or de-actuation of the first articulation lock and the second articulation lock can be contemporaneous or, in certain instances, staggered.

Claims

1. A shaft assembly, comprising:

a shaft frame;

an end effector comprising an end effector frame;

an articulation joint, wherein said articulation joint rotatably connects said end effector frame to said shaft frame;

a first articulation driver configured to rotate said end effector about said articulation joint in a first direction;

a second articulation driver configured to rotate said end effector about said articulation joint in a second direction;

a first articulation lock selectively actuatable to engage said end effector frame and prevent said end effector frame from rotating relative to said shaft frame; and

a second articulation lock selectively actuatable to prevent said end effector frame from rotating relative to said shaft frame, wherein said second articulation lock comprises;

a first arm configured to engage said first articulation driver; and

a second arm configured to engage said second articulation driver.

2. The shaft assembly of claim 1, wherein said first articulation lock and said second articulation lock are both actuated into a locked condition by a lock actuator during a locking motion.

3. The shaft assembly of claim 2, wherein said first articulation lock is configured to engage said end effector frame before said first arm engages said first articulation driver during said locking motion.

4. The shaft assembly of claim 3, wherein said first arm is configured to disengage from said first articulation driver before said first articulation lock disengages from said end effector frame during an unlocking motion of said lock actuator.

5. The shaft assembly of claim 2, wherein said first articulation lock is configured to engage said end effector frame after said first arm engages said first articulation driver during said locking motion.

6. The shaft assembly of claim 5, wherein said first arm is configured to disengage from said first articulation driver after said first articulation lock disengages from said end effector frame during an unlocking motion of said lock actuator.

7. The shaft assembly of claim 2, wherein said first articulation lock is configured to engage said end effector frame at the same time that said first arm engages said first articulation driver during said locking motion.

8. The shaft assembly of claim 7, wherein said first arm is configured to disengage from said first articulation driver at the same time that said first articulation lock disengages from said end effector frame during an unlocking motion of said lock actuator.

9. The shaft assembly of claim 1, wherein said first articulation lock and said second articulation lock are separately actuatable.

10. The shaft assembly of claim 1, wherein said second direction is opposite said first direction.

11. The shaft assembly of claim 10, wherein said second articulation lock is configured to engage said first articulation driver and said second articulation driver and prevent said end effector frame from rotating relative to said shaft frame when said second articulation lock is actuated.

12. The shaft assembly of claim 11, wherein said second articulation lock is configured to engage said first articulation driver and said second articulation driver at the same time when said second articulation lock is actuated.

13. The shaft assembly of claim 11, wherein said second articulation lock is configured to engage said first articulation driver and said second articulation driver at different times when said second articulation lock is actuated.

15. The shaft assembly of claim 1, wherein said end effector further comprises a staple cartridge.

16. The shaft assembly of claim 15, wherein said staple cartridge is replaceable.

14. A shaft assembly, comprising:

a shaft frame;

an end effector comprising an end effector frame;

an articulation joint, wherein said articulation joint rotatably connects said end effector frame to said shaft frame;

an articulation driver configured to rotate said end effector about said articulation joint;

a first articulation lock selectively actuatable to engage said end effector frame and prevent said end effector frame from rotating relative to said shaft frame; and

a second articulation lock selectively actuatable to engage said articulation driver and prevent said end effector frame from rotating relative to said shaft frame, wherein said articulation driver comprises a first articulation driver configured to rotate said end effector in a first direction, wherein said shaft assembly further comprises a second articulation driver configured to rotate said end effector about said articulation joint in a second direction, wherein said second direction is opposite said first direction, wherein said second articulation lock is configured to engage said second articulation driver and prevent said end effector frame from rotating relative to said shaft frame when said second articulation lock is actuated, wherein said second articulation lock comprises a first arm configured to engage said first articulation driver and a second arm configured to engage said second articulation driver, and wherein said first articulation lock is configured to engage said first arm with said first articulation driver and said second arm with said second articulation driver during a locking motion of said first articulation lock.

17. A shaft assembly, comprising:

a shaft frame;

an end effector comprising an end effector frame;

an articulation joint, wherein said articulation joint rotatably connects said end effector frame to said shaft frame;

a first articulation driver configured to rotate said end effector about said articulation joint;

a second articulation driver configured to rotate said end effector about said articulation joint; and

a lock system configured to;

engage said end effector frame and prevent said end effector frame from rotating relative to said shaft frame; and

engage said first articulation driver and said second articulation driver and prevent said end effector frame from rotating relative to said shaft frame, wherein said lock system comprises;

a first arm selectively engageable with said first articulation driver; and

a second arm selectively engageable with said second articulation driver.

18. The shaft assembly of claim 17, wherein said end effector further comprises a staple cartridge.

19. A shaft assembly, comprising:

a shaft frame;

an end effector comprising an end effector frame;

an articulation joint, wherein said articulation joint rotatably connects said end effector frame to said shaft frame;

a first articulation driver displaceable to rotate said end effector about said articulation joint in a first direction;

a second articulation driver displaceable to rotate said end effector about said articulation joint in a second direction;

first locking means for selectively preventing the rotation of said end effector about said articulation joint; and

second locking means for selectively preventing the displacement of said first and second articulation drivers, wherein said second locking means comprises;

a first arm configured to engage said first articulation driver; and

a second arm configured to engage said second articulation driver.

20. The shaft assembly of claim 19, wherein said end effector further comprises a staple cartridge.