Robotically-controlled motorized surgical cutting and fastening instrument

• US 10,639,036 B2
• Filed: 03/23/2017
• Issued: 05/05/2020
• Est. Priority Date: 02/14/2008
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Yates, David C., Shelton, IV, Frederick E., Giordano, James R.
• Primary Examiner(s): Chukwurah, Nathaniel C
• Application Number:
  US15/467,571
• Publication Number:
  US 20170238929A1
• Time in Patent Office: 1,139 Days
• Field of Search: 2271751, 2271761, 227 19, 2271801, 606167
• 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 18/1482 having a long rigid shaft for accessing the inner body transcutaneously in minimal invasive surgery, e.g. laparoscopy
• CPC Class Codes: A61B 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00203 with speech control or speech recognition
• CPC Class Codes: A61B 2017/0023 disposable
• CPC Class Codes: A61B 2017/00305 Constructional details of the flexible means
• 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 2017/00464 for use with different instruments with hole for different instruments A61B2017/22072
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00482 with a code
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/00738 part of the tool being offset with respect to a main axis, e.g. for better view for the surgeon
• CPC Class Codes: A61B 2017/0688 Packages or dispensers for surgical staplers
• 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 2017/07271 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 2017/2905 : flexible
• 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 2017/2933 : camming or guiding means
• CPC Class Codes: A61B 2017/2937 : with flexible part
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/320052 : Guides for cutting instruments by marking A61B2090/395
• CPC Class Codes: A61B 2018/00601 : Cutting
• CPC Class Codes: A61B 2090/031 : torque limiting
• CPC Class Codes: A61B 2090/506 : using a parallelogram linkage, e.g. panthograph
• 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
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 50/36 : for collecting or disposing of used articles
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders

Abstract

A surgical instrument comprising an end effector, a shaft extending from the end effector, a firing driver movable relative to the end effector, a power-pack, a control system, and a handle connected to the shaft is disclosed. The handle comprises a motor configured to drive the firing driver. The handle is switchable between a plurality of operating states. The plurality of operating states comprises a control operating state in which the power-pack supplies the control system with a first amount of power and a firing operating state in which the power-pack supplies the motor with a second amount of power. The second amount of power is greater than the first amount of power.

Claims

1. A surgical instrument, comprising:

an end effector;

a shaft extending from said end effector;

a firing driver movable relative to said end effector;

a power-pack;

a control system; and

a handle connected to said shaft, wherein said handle comprises a motor configured to drive said firing driver, wherein said handle is switchable between a plurality of operating states, and wherein said plurality of operating states comprises;

a control operating state in which said power-pack supplies said control system with a first amount of power; and

a firing operating state in which said power-pack supplies said motor with a second amount of power, wherein said second amount of power is greater than said first amount of power.

2. The surgical instrument of claim 1, wherein said control system comprises:

a processor; and

a memory in communication with said processor, wherein said memory is configured to store at least one operating parameter, and wherein said at least one operating parameter comprises a count of the number of times said firing driver is driven by said motor.

3. The surgical instrument of claim 1, wherein said power-pack comprises:

at least one battery cell which is removable from said power-pack; and

a plurality of charge accumulating devices, wherein said at least one battery cell can charge said plurality of charge accumulating devices.

4. The surgical instrument of claim 3, further comprising a switch that selectively allows said motor to be powered by all of said charge accumulating devices or a fraction of said charge accumulating devices.

5. The surgical instrument of claim 1, further comprising a replaceable staple cartridge supported by said end effector.

6. The surgical instrument of claim 1, wherein said end effector comprises:

a first jaw;

a second jaw; and

a replaceable staple cartridge comprising a plurality of staples removably stored therein.

7. A surgical instrument, comprising:

an end effector;

a shaft extending from said end effector;

a firing driver movable relative to said end effector;

a handle attached to said shaft, wherein said handle comprises a motor;

a control system; and

a power-pack attachable to said handle, wherein said power-pack comprises a plurality of operating modes, and wherein said plurality of operating modes comprises;

an initial operating mode in which said power-pack is not attached to said handle;

an active operating mode in which said power-pack is attached to said handle and can supply power to said motor and to said control system;

a control system operating mode in which said power-pack is attached to said handle and is supplying power to said control system and is not supplying power to said motor; and

a powered-down operating mode in which said power-pack is attached to said handle and is not supplying power to said control system or to said motor.

8. The surgical instrument of claim 7, wherein said control system comprises:

a processor; and

a memory in communication with said processor, wherein said memory is configured to store at least one operating parameter, and wherein said at least one operating parameter comprises a count of the number of times said firing driver is driven by said motor.

9. The surgical instrument of claim 7, wherein said power-pack comprises:

at least one battery cell which is removable from said power-pack; and

a plurality of charge accumulating devices wherein said at least one battery cell can charge said plurality of charge accumulating devices.

10. The surgical instrument of claim 9, further comprising a switch that selectively allows said motor to be powered by all of said charge accumulating devices or a fraction of said charge accumulating devices.

11. The surgical instrument of claim 7, wherein said end effector comprises:

a first jaw;

a second jaw; and

a replaceable staple cartridge comprising a plurality of staples removably stored therein.

12. A surgical instrument, comprising:

an end effector;

a staple firing driver;

a handle comprising a motor;

a control system; and

a power-pack attachable to said handle, wherein said power-pack comprises a plurality of operating modes, and wherein said plurality of operating modes comprises;

an active operating mode in which said power-pack is attached to said handle and can supply power to said motor and to said control system; and

a control system operating mode in which said power-pack is attached to said handle and is supplying power to said control system and is not supplying power to said motor.

13. The surgical instrument of claim 12, further comprising a replaceable staple cartridge supported by said end effector.

14. The surgical instrument of claim 12, wherein said end effector comprises:

a first jaw;

a second jaw; and

a replaceable staple cartridge comprising a plurality of staples removably stored therein.