Robotically-driven surgical instrument including a drive system

• US 10,736,634 B2
• Filed: 03/27/2017
• Issued: 08/11/2020
• 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., Setser, Michael E., Doll, Kevin R., Morgan, Jerome R.
• Primary Examiner(s): Lopez, Michelle
• Application Number:
  US15/470,098
• Publication Number:
  US 20170258469A1
• Time in Patent Office: 1,233 Days
• Field of Search: 2271751
• 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 severing and stapling instrument, suitable for laparoscopic and endoscopic clinical procedures, clamps tissue within an end effector of an elongate channel pivotally opposed by an anvil. Various embodiments are configured to be operably attached to a robotic system to receive actuation/control motions therefrom.

Claims

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

a tool mounting assembly, comprising;

an attachment portion configured to be attached to the surgical robot; and

a rotary drive system configured to receive rotary control motions from the surgical robot;

a shaft;

an articulation region, comprising;

a first articulation joint defining a first articulation plane; and

a second articulation joint defining a second articulation plane transverse to said first articulation plane; and

an end effector attached to said shaft by said articulation region, wherein said end effector is configured to be independently articulated relative to said shaft about said first articulation joint and said second articulation joint, and wherein said end effector comprises;

a first jaw;

a second jaw movable relative to said first jaw;

an anvil;

a staple cartridge comprising a plurality of staples configured to be deployed from said staple cartridge;

a firing system extending through said articulation region, wherein said firing system comprises;

a firing member;

a first jaw engaging portion configured to engage said first jaw;

a second jaw engaging portion configured to engage said second jaw; and

a drive screw operably coupled to said rotary drive system and configured to drive said firing member through said staple cartridge to deploy said staples from said staple cartridge.

2. The surgical attachment assembly of claim 1, wherein said first jaw engaging portion and said second jaw engaging portion are configured to control a tissue gap distance between said staple cartridge and said anvil during the deployment of said staples from said staple cartridge.

3. The surgical attachment assembly of claim 2, wherein said end effector further comprises a channel configured to receive said staple cartridge comprising a channel cam surface, wherein said anvil comprises an anvil cam surface, wherein said first jaw engaging portion is configured to engage said channel cam surface, and wherein said second jaw engaging portion is configured to engage said anvil cam surface.

4. The surgical attachment assembly of claim 1, wherein said firing member is threadably engaged with said drive screw.

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

a housing assembly, comprising;

an attachment portion configured to be attached to the surgical robot; and

a rotary drive system configured to receive rotary control motions from the surgical robot;

a shaft;

an articulation region, comprising;

a first means for permitting articulation about a first articulation axis in a first articulation plane; and

a second means for permitting articulation about a second articulation axis in a second articulation plane, wherein said first articulation plane and said second articulation plane are transverse, and wherein said first means is proximal to said second means; and

an end effector attached to said shaft by way of said articulation region, wherein said end effector is configured to be selectively articulated relative to said shaft about said first articulation axis and said second articulation axis, and wherein said end effector comprises;

a first jaw;

a second jaw movable relative to said first jaw;

an anvil;

a fastener cartridge comprising a plurality of fasteners configured to be deployed from said fastener cartridge;

a firing system extending through said articulation region, wherein said firing system comprises;

a firing member;

a first jaw engaging portion configured to engage said first jaw;

a second jaw engaging portion configured to engage said second jaw; and

a drive screw operably coupled to said rotary drive system and configured to drive said firing member through said fastener cartridge to deploy said fasteners from said fastener cartridge.

6. The surgical attachment assembly of claim 5, wherein said first jaw engaging portion and said second jaw engaging portion are configured to control a tissue gap distance between said fastener cartridge and said anvil during the deployment of said fasteners from said fastener cartridge.

7. The surgical attachment assembly of claim 6, wherein said end effector further comprises a cartridge channel configured to receive said fastener cartridge and comprising a channel cam surface, wherein said anvil comprises an anvil cam surface, wherein said first jaw engaging portion is configured to engage said channel cam surface, and wherein said second jaw engaging portion is configured to engage said anvil cam surface.

8. The surgical attachment assembly of claim 5, wherein said firing member is threadably engaged with said drive screw.

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

an attachment interface, comprising;

an attachment portion configured to be attached to the surgical robot; and

a rotary drive system configured to receive rotary control motions from the surgical robot;

an articulation shaft assembly, comprising;

a first articulation joint defining a first articulation axis; and

a second articulation joint defining a second articulation axis transverse to said first articulation axis; and

an end effector attached to said articulation shaft assembly, wherein said end effector is configured to be articulated relative to said articulation shaft assembly about said first articulation axis and said second articulation axis, and wherein said end effector comprises;

a first jaw;

a second jaw movable relative to said first jaw;

an anvil;

a firing system, comprising;

a jaw-coupling member, comprising;

a first jaw engaging portion configured to engage said first jaw; and

a second jaw engaging portion configured to engage said second jaw; and

a fastener-deployment cam; and

a drive screw operably coupled to said rotary drive system, wherein said firing system is threadably engaged with said drive screw such that said drive screw is configured to actuate said firing system to deploy fasteners from a fastener cartridge.

10. The surgical attachment assembly of claim 9, wherein said end effector further comprises said fastener cartridge, and wherein said fastener cartridge comprises said fasteners.

11. The surgical attachment assembly of claim 10, wherein said first jaw engaging portion and said second jaw engaging portion are configured to control a tissue gap distance between said fastener cartridge and said anvil during the deployment of said fasteners from the said fastener cartridge.

12. The surgical attachment assembly of claim 11, wherein said end effector further comprises a channel configured to receive said fastener cartridge and comprising a channel cam surface, wherein said anvil comprises an anvil cam surface, wherein said first jaw engaging portion is configured to engage said channel cam surface, and wherein said second jaw engaging portion is configured to engage said anvil cam surface.

13. The surgical attachment assembly of claim 12, wherein said end effector further comprises a channel configured to receive a staple cartridge and comprising a channel cam surface, wherein said anvil comprises an anvil cam surface, wherein said first jaw engaging portion is configured to engage said channel cam surface, and wherein said second jaw engaging portion is configured to engage said anvil cam surface.

14. A surgical attachment assembly for use with a surgical robot, wherein said surgical attachment assembly comprises:

a mounting portion, comprising;

an attachment portion configured to be attached to the surgical robot; and

a rotary drive system configured to receive rotary control motions from the surgical robot;

a shaft extending from the mounting portion;

a first articulation joint defining a first articulation axis;

a second articulation joint defining a second articulation axis transverse to said first articulation axis; and

an end effector configured to be articulated about said first articulation joint and said second articulation joint, wherein said end effector comprises;

a first jaw; and

a second jaw movable relative to said first jaw;

a staple cartridge comprising a plurality of staples configured to be deployed from said staple cartridge; and

a firing system extending through said first articulation joint and said second articulation joint, wherein said firing system comprises;

a firing member, comprising;

a first jaw engaging portion configured to engage said first jaw; and

a second jaw engaging portion configured to engage said second jaw; and

a drive screw operably coupled to said rotary drive system and configured to drive said firing member relative to said staple cartridge to deploy said staples from said staple cartridge.

15. The surgical attachment assembly of claim 14, wherein said first jaw engaging portion and said second jaw engaging portion are configured to control a tissue gap distance between said staple cartridge and said second jaw during the deployment of said staples from said staple cartridge.

16. The surgical attachment assembly of claim 15, wherein said firing member is threadably engaged with said drive screw.