Surgical system comprising drive systems

• US 10,617,420 B2
• Filed: 03/28/2017
• Issued: 04/14/2020
• 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., Morgan, Jerome R.
• Primary Examiner(s): Lopez, Michelle
• Application Number:
  US15/471,698
• Publication Number:
  US 20170245952A1
• Time in Patent Office: 1,113 Days
• Field of Search: 2271751, 2271761
• 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 17/105 Wound clamp magazines for packaging sharps A61B50/3001
• CPC Class Codes: A61B 2017/00115 with audible or visual output
• 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 2017/07214 Stapler heads
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• 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
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: Y10T 29/53404 including turret-type conveyor
• CPC Class Codes: Y10T 29/53417 Means to fasten work parts together
• CPC Class Codes: Y10T 29/53687 : by rotation of work part

Abstract

A surgical assembly configured to be operably attached to a surgical robot is disclosed. The surgical assembly comprises a housing and a stapling assembly. The housing comprises a first, a second, and a third drive system. The stapling assembly comprises an end effector including a staple cartridge, a distal shaft assembly, a proximal shaft assembly, and an interface. The distal shaft assembly comprises a first driver configured to rotate the end effector, a second driver configured to articulate the end effector, and a third driver configured to move axially within the end effector. The proximal shaft assembly comprises a first drive train operably responsive to the first drive system, a second drive train operably responsive to the second drive system, and a third drive train operably responsive to the third drive system. The interface is configured to operably couple the distal shaft assembly to the proximal shaft assembly.

Claims

1. A surgical attachment assembly configured to be operably attached to a surgical robot, wherein said surgical attachment assembly comprises:

a housing, comprising;

an attachment portion configured to be mounted to the surgical robot;

a first rotary drive system;

a second rotary drive system operable independently of said first rotary drive system; and

a third rotary drive system operable independently of said first rotary drive system and said second rotary drive system; and

a stapling assembly, comprising;

an end effector comprising a staple cartridge comprising a plurality of staples removably stored therein;

a distal shaft assembly extending proximally from said end effector, wherein said distal shaft assembly comprises;

a first driver configured to rotate said end effector about a longitudinal axis;

a second driver configured to articulate said end effector relative to said distal shaft assembly; and

a third driver configured to move axially within said end effector and eject said plurality of staples;

a proximal shaft assembly extending proximally from said distal shaft assembly, wherein said proximal shaft assembly comprises;

a first drive train operably responsive to said first rotary drive system;

a second drive train operably responsive to said second rotary drive system; and

a third drive train operably responsive to said third rotary drive system; and

an interface configured to operably couple said distal shaft assembly to said proximal shaft assembly, wherein said distal shaft assembly is releasably attachable to said proximal shaft assembly at said interface.

2. The surgical attachment assembly of claim 1, wherein said end effector further comprises an anvil configured to rotate relative to said staple cartridge.

3. The surgical attachment assembly of claim 2, wherein said third driver is operably engaged with said anvil, and wherein said anvil is configured to rotate relative to said staple cartridge in response to the axial movement of said third driver.

4. A surgical attachment assembly configured to be operably attached to a surgical robot, wherein said surgical attachment assembly comprises:

a housing, comprising;

an attachment portion configured to be mounted to the surgical robot;

a first rotary drive system;

a second rotary drive system operable independently of said first rotary drive system; and

a third rotary drive system operable independently of said first rotary drive system and said second rotary drive system; and

a stapling assembly, comprising;

an end effector comprising a staple cartridge comprising a plurality of staples removably stored therein;

a distal shaft assembly extending proximally from said end effector, wherein said distal shaft assembly comprises;

a first driver configured to rotate said end effector about a longitudinal axis;

a second driver configured to articulate said end effector relative to said distal shaft assembly; and

a third driver configured to move axially within said end effector and eject said plurality of staples;

a proximal shaft assembly extending proximally from said distal shaft assembly, wherein said proximal shaft assembly comprises;

a first drive train operably responsive to said first rotary drive system;

a second drive train operably responsive to said second rotary drive system; and

a third drive train operably responsive to said third rotary drive system; and

an interface configured to operably couple said distal shaft assembly to said proximal shaft assembly, wherein the coupling of said distal shaft assembly to said proximal shaft assembly includes said distal shaft assembly rotating into said proximal shaft assembly.

5. A surgical attachment assembly configured to be operably attached to a surgical robot, wherein said surgical attachment assembly comprises:

a housing, comprising;

an attachment portion configured to be mounted to the surgical robot;

a first rotary drive system;

a second rotary drive system operable independently of said first rotary drive system; and

a third rotary drive system operable independently of said first rotary drive system and said second rotary drive system; and

a stapling assembly, comprising;

an end effector comprising a staple cartridge comprising a plurality of staples removably stored therein;

a distal shaft assembly extending proximally from said end effector, wherein said distal shaft assembly comprises;

a first driver configured to rotate said end effector about a longitudinal axis;

a second driver configured to articulate said end effector relative to said distal shaft assembly; and

a third driver configured to move axially within said end effector and eject said plurality of staples;

a proximal shaft assembly extending proximally from said distal shaft assembly, wherein said proximal shaft assembly comprises;

a first drive train operably responsive to said first rotary drive system;

a second drive train operably responsive to said second rotary drive system; and

a third drive train operably responsive to said third rotary drive system; and

an interface configured to operably couple said distal shaft assembly to said proximal shaft assembly, wherein the coupling of said distal shaft assembly to said proximal shaft assembly includes said distal shaft assembly vertically sliding into said proximal shaft assembly.

6. A surgical attachment assembly configured to be operably attached to a surgical robot, wherein said surgical attachment assembly comprises:

a housing, comprising;

an attachment portion configured to be mounted to the surgical robot;

a first rotary drive system;

a second rotary drive system operable independently of said first rotary drive system;

a third rotary drive system operable independently of said first rotary drive system and said second rotary drive system; and

a fourth rotary drive system operable independently of said first rotary drive system, said second rotary drive system, and said third rotary drive system; and

a stapling assembly, comprising;

an end effector, comprising;

a staple cartridge jaw comprising a plurality of staples removably stored therein; and

an anvil operably attached to said staple cartridge jaw;

a distal shaft assembly extending proximally from said end effector, wherein said distal shaft assembly comprises;

a rotation driver configured to rotate said end effector relative to said housing about a longitudinal axis;

a closure driver configured to rotate said anvil relative to said staple cartridge jaw; and

an articulation driver configured to articulate said end effector relative to said housing;

a proximal shaft assembly extending proximally from said distal shaft assembly, wherein said proximal shaft assembly comprises;

a first drive train operably responsive to said first rotary drive system;

a second drive train operably responsive to said second rotary drive system; and

a third drive train operably responsive to said third rotary drive system;

an interface configured to operably couple said distal shaft assembly to said proximal shaft assembly, wherein said distal shaft assembly is releasably attachable to said proximal shaft assembly at said interface; and

a firing member operably responsive to said fourth rotary drive system, wherein said firing member is movable through said staple cartridge jaw.

7. The surgical attachment assembly of claim 6, wherein said firing member is configured to eject said plurality of staples from said staple cartridge jaw.

8. The surgical attachment assembly of claim 7, wherein said interface configured to operably couple said distal shaft assembly to said proximal shaft assembly comprises more than one joint, wherein said more than one joint allows for articulation of said end effector about more than one axis.

9. A surgical attachment assembly configured to be operably attached to a surgical robot, wherein said surgical attachment assembly comprises:

a housing, comprising;

an attachment portion mountable to the surgical robot;

a first rotary drive system;

a second rotary drive system operable independently of said first rotary drive system; and

a third rotary drive system operable independently of said first rotary drive system and said second rotary drive system; and

a stapling assembly, comprising;

a proximal shaft extending distally from said housing, wherein said proximal shaft comprises;

a firing drive train operably responsive to said first rotary drive system;

a closure drive train operably responsive to said second rotary drive system; and

an articulation drive train operably responsive to said third rotary drive system;

a distal shaft extending distally from said proximal shaft, wherein said distal shaft comprises;

a firing driver operably responsive to said firing drive train;

a closure driver operably responsive to said closure drive train; and

an articulation driver operably responsive to said articulation drive train;

an end effector extending distally from said distal shaft, wherein said articulation driver is configured to articulate said end effector relative to said proximal shaft, wherein said end effector comprises;

a staple cartridge comprising a plurality of staples removably stored therein, wherein said firing driver is configured to eject said plurality of staples from said staple cartridge; and

an anvil, wherein said closure driver is configured to rotate said anvil relative to said staple cartridge; and

an interface configured to operably couple said distal shaft to said proximal shaft, wherein said distal shaft assembly is releasable attachable to said proximal shaft assembly at said interface.

10. The surgical attachment assembly of claim 9, wherein said interface includes more than one joint which allows for articulation of said end effector relative to the proximal shaft about more than one axis.

11. The surgical attachment assembly of claim 9, wherein said housing further comprises a fourth rotary drive system operable independently of said first rotary drive system, said second rotary drive system, and said third rotary drive system, and wherein said fourth rotary drive system is configured to rotate said end effector about a longitudinal axis.

12. A surgical attachment assembly configured to be operably attached to a surgical robot, wherein said surgical attachment assembly comprises:

a housing, comprising;

an attachment portion mountable to the surgical robot;

a first rotary drive system;

a second rotary drive system operable independently of said first rotary drive system; and

a third rotary drive system operable independently of said first rotary drive system and said second rotary drive system; and

a stapling assembly, comprising;

a proximal shaft extending distally from said housing, wherein said proximal shaft comprises;

a firing drive train operably responsive to said first rotary drive system;

a closure drive train operably responsive to said second rotary drive system; and

an articulation drive train operably responsive to said third rotary drive system;

a distal shaft extending distally from said proximal shaft, wherein said distal shaft comprises;

a firing driver operably responsive to said firing drive train;

a closure driver operably responsive to said closure drive train; and

an articulation driver operably responsive to said articulation drive train;

an end effector extending distally from said distal shaft, wherein said articulation driver is configured to articulate said end effector relative to said proximal shaft, wherein said end effector comprises;

a staple cartridge comprising a plurality of staples removably stored therein, wherein said firing driver is configured to eject said plurality of staples from said staple cartridge; and

an anvil, wherein said closure driver is configured to rotate said anvil relative to said staple cartridge; and

an interface configured to operably couple said distal shaft to said proximal shaft, wherein rotation of said distal shaft into said proximal shaft locks said distal shaft and said proximal shaft together at said interface.

13. A surgical attachment assembly configured to be operably attached to a surgical robot, wherein said surgical attachment assembly comprises:

a housing, comprising;

an attachment portion mountable to the surgical robot;

a first rotary drive system;

a second rotary drive system operable independently of said first rotary drive system; and

a third rotary drive system operable independently of said first rotary drive system and said second rotary drive system; and

a stapling assembly, comprising;

a proximal shaft extending distally from said housing, wherein said proximal shaft comprises;

a firing drive train operably responsive to said first rotary drive system;

a closure drive train operably responsive to said second rotary drive system; and

an articulation drive train operably responsive to said third rotary drive system;

a distal shaft extending distally from said proximal shaft, wherein said distal shaft comprises;

a firing driver operably responsive to said firing drive train;

a closure driver operably responsive to said closure drive train; and

an articulation driver operably responsive to said articulation drive train;

an end effector extending distally from said distal shaft, wherein said articulation driver is configured to articulate said end effector relative to said proximal shaft, wherein said end effector comprises;

a staple cartridge comprising a plurality of staples removably stored therein, wherein said firing driver is configured to eject said plurality of staples from said staple cartridge; and

an anvil, wherein said closure driver is configured to rotate said anvil relative to said staple cartridge; and

an interface configured to operably couple said distal shaft to said proximal shaft, wherein said interface includes vertically sliding said distal shaft into said proximal shaft to lock said distal shaft and said proximal shaft together at said interface.