Motor-driven surgical cutting and fastening instrument with loading force feedback

• US 20070175952A1
• Filed: 01/31/2006
• Published: 08/02/2007
• Est. Priority Date: 01/31/2006
• Status: Active Grant

• Current Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Swayze, Jeffrey, Shelton, Frederick, Morgan, Jerome, Ouwerkerk, John
• Granted Patent: US 7,416,101 B2
• Time in Patent Office: Days
• US Class Current: 227/176.100
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

A surgical cutting and fastening instrument is disclosed. According to various embodiments, the instrument includes an end effector, a main drive shaft assembly, and a handle. The handle comprises a gear drive train connected to the main drive shaft assembly, a motor for actuating the gear drive train, and a firing trigger. Retraction of the firing trigger actuates the motor. Further, the firing trigger is connected to the gear drive train such that the loading force applied to the firing trigger is related to the loading force experienced by the cutting instrument in the end effector.

Claims

1. A surgical cutting and fastening instrument comprising:

an end effector comprising a moveable cutting instrument for cutting an object positioned in the end effector;

a main drive shaft assembly connected to the end effector; and

a handle connected to the main drive shaft assembly, wherein the handle comprises;

a gear drive train connected to the main drive shaft assembly;

an electric motor for actuating the gear drive train; and

a firing trigger for actuating the motor and connected to the gear drive train such that the loading force on the firing trigger is related to the loading force experience by the cutting instrument in the end effector.

2. The surgical cutting and fastening instrument of claim 1, wherein the firing trigger includes a gear portion that is geared to the gear drive train.

3. The surgical cutting and fastening instrument of claim 1, wherein the gear drive train comprises a helical gear drum and a ring threaded on the helical gear drum, and further comprising an arm connecting the firing trigger to the ring.

4. The surgical cutting and fastening instrument of claim 1, further comprising a run motor sensor for sensing retracting of the firing trigger, wherein, when retraction of the firing trigger is sensed by the run motor sensor, the motor is signaled to forward rotate to cause cutting of the object positioned in the end effector by the cutting instrument.

5. The surgical cutting and fastening instrument of claim 4, wherein the run motor sensor comprises a proportional switch such that the rate of rotation of the motor is proportional to the retraction force applied to the firing trigger.

6. The surgical cutting and fastening instrument of claim 4, wherein the run motor sensor comprises an on/off switch.

7. The surgical cutting and fastening instrument of claim 4, further comprising:

a reverse motor sensor for sensing an end of a cutting stroke of the cutting instrument such that when the reverse motor sensor senses the end of the cutting stroke, the motor is signaled to reverse rotate to retract the cutting instrument;

a stop motor sensor for sensing retraction of the cutting instrument such that when the stop motor sensor senses retraction of the cutting instrument, the motor is signaled to stop rotating.

8. The surgical cutting and fastening instrument of claim 2, wherein the gear drive train comprises a gear box assembly between the motor and the main drive shaft assembly, wherein the gear portion of the firing trigger is geared into a gear of the gear box assembly.

9. The surgical cutting and fastening instrument of claim 1, wherein the end effector includes a staple cartridge.

10. The surgical cutting and fastening instrument of claim 1, wherein the end effector includes a helical drive screw, such that forward rotation of the helical drive screw causes the cutting instrument to undertake the cutting stroke, and reverse rotation of the helical drive screw causes the cutting instrument to retract.

11. The surgical cutting and fastening instrument of claim 1, wherein the main drive shaft includes articulation means for articulating the end effector.

12. The surgical cutting and fastening instrument of claim 1, further comprising a closure trigger separate from the firing trigger, wherein retraction of the closure trigger causes the end effector to clamp the object positioned in the end effector.

13. The surgical cutting and fastening instrument of claim 12, further comprising a locking mechanism for locking the closure trigger to the handle.

14. The surgical cutting and fastening instrument of claim 12, further comprising a mechanical closure system for closing the end effector when the closure trigger is retracted.

15. The surgical cutting and fastening instrument of claim 14, wherein the end effector comprises:

an elongate channel for carrying the cutting instrument; and

a clamping member pivotably connected to the elongate channel.

16. The surgical cutting and fastening instrument of claim 15, wherein the mechanical closure system includes:

a yoke connected to the closure trigger;

a closure bracket connected to the yoke; and

a closure tube disposed in the closure bracket and connected to the clamping member, wherein retraction of the closure trigger causes the closure tube to move longitudinally such that the clamping member pivots to a clamped position.

21. The surgical cutting and fastening instrument of claim 1, wherein the handle further comprises a battery coupled to the electric motor for powering the motor.

22. The surgical cutting and fastening instrument of claim 21, wherein the electric motor comprises a DC brushed motor.

24. The surgical cutting and fastening instrument of claim 22, wherein the electric motor comprises a DC brushed motor.

17. A surgical cutting and fastening instrument comprising:

an end effector comprising a moveable cutting instrument for cutting an object positioned in the end effector;

a main drive shaft assembly connected to the end effector; and

a handle connected to the main drive shaft assembly, wherein the handle comprises;

a gear drive train connected to the main drive shaft assembly;

an electric motor for actuating the gear drive train;

a firing trigger for actuating the motor, wherein the firing trigger is connected to the gear drive train such that the loading force on the firing trigger is related to the loading force experienced by the cutting instrument;

a run motor sensor for sensing retracting of the firing trigger, wherein, when retraction of the firing trigger is sensed by the run motor sensor, the motor is signaled to forward rotate to cause cutting of the object positioned in the end effector by the cutting instrument;

a reverse motor sensor for sensing an end of a cutting stroke of the cutting instrument such that when the reverse motor sensor senses the end of the cutting stroke, the motor is signaled to reverse rotate to retract the cutting instrument; and

a stop motor sensor for sensing retraction of the cutting instrument such that when the stop motor sensor senses retraction of the cutting instrument, the motor is signaled to stop rotating.

18. The surgical cutting and fastening instrument of claim 17, wherein the run motor sensor comprises a proportional switch such that the rate of rotation of the motor is proportional to the retraction force applied to the firing trigger.

19. The surgical cutting and fastening instrument of claim 18, wherein the end effector comprises:

an elongate channel for carrying the cutting instrument; and

a clamping member pivotably connected to the elongate channel.

23. The surgical cutting and fastening instrument of claim 17, wherein the handle further comprises a battery coupled to the electric motor for powering the motor.

20. A surgical cutting and fastening instrument comprising:

an end effector comprising a cutting instrument for cutting an object positioned in the end effector;

a main drive shaft assembly connected to the end effector; and

a handle connected to the main drive shaft assembly, wherein the handle comprises;

a motor for actuating the main drive shaft assembly via a gear drive train;

a firing trigger for actuating the motor; and

means for applying a loading force to the firing trigger such that the loading force on the firing trigger is related to the loading force experienced by the cutting instrument.

25. A surgical cutting and fastening instrument comprising:

an end effector comprising a moveable cutting instrument for cutting an object positioned in the end effector;

a main drive shaft assembly connected to the end effector; and

a handle connected to the main drive shaft assembly, wherein the handle comprises;

a gear drive train connected to the main drive shaft assembly, wherein the gear drive train comprises a helical gear drum and a ring threaded on the helical gear drum;

a motor for actuating the gear drive train;

a firing trigger for actuating the motor and connected to the gear drive train such that the loading force on the firing trigger is related to the loading force experience by the cutting instrument in the end effector; and

an arm connecting the firing trigger to the ring of the gear drive train.

26. A surgical cutting and fastening instrument comprising:

an end effector comprising a moveable cutting instrument for cutting an object positioned in the end effector;

a main drive shaft assembly connected to the end effector; and

a handle connected to the main drive shaft assembly, wherein the handle comprises;

a gear drive train connected to the main drive shaft assembly;

a motor for actuating the gear drive train;

a firing trigger for actuating the motor and connected to the gear drive train such that the loading force on the firing trigger is related to the loading force experience by the cutting instrument in the end effector; and

a run motor sensor for sensing retracting of the firing trigger, wherein, when retraction of the firing trigger is sensed by the run motor sensor, the motor is signaled to forward rotate to cause cutting of the object positioned in the end effector by the cutting instrument, wherein the run motor sensor comprises an on/off switch.

27. A surgical cutting and fastening instrument comprising:

an end effector comprising a moveable cutting instrument for cutting an object positioned in the end effector;

a main drive shaft assembly connected to the end effector; and

a handle connected to the main drive shaft assembly, wherein the handle comprises;

a gear drive train connected to the main drive shaft assembly;

a motor for actuating the gear drive train; and

a firing trigger for actuating the motor and connected to the gear drive train such that the loading force on the firing trigger is related to the loading force experience by the cutting instrument in the end effector, wherein the firing trigger includes a gear portion, and

wherein the gear drive train comprises a gear box assembly between the motor and the main drive shaft assembly, wherein the gear portion of the firing trigger is geared into a gear of the gear box assembly.

28. A surgical cutting and fastening instrument comprising:

an end effector comprising a moveable cutting instrument for cutting an object positioned in the end effector;

wherein the end effector comprises;

an elongate channel for carrying the cutting instrument; and

a clamping member pivotably connected to the elongate channel a main drive shaft assembly connected to the end effector;

a handle connected to the main drive shaft assembly, wherein the handle comprises;

a gear drive train connected to the main drive shaft assembly;

a motor for actuating the gear drive train;

a firing trigger for actuating the motor and connected to the gear drive train such that the loading force on the firing trigger is related to the loading force experience by the cutting instrument in the end effector;

a closure trigger, separate from the firing trigger, wherein retraction of the closure trigger causes the end effector to clamp the object positioned in the end effector; and

a mechanical closure system for closing the end effector when the closure trigger is retracted, wherein the mechanical closure system includes;

a yoke connected to the closure trigger;

a closure bracket connected to the yoke; and

a closure tube disposed in the closure bracket and connected to the clamping member, wherein retraction of the closure trigger causes the closure tube to move longitudinally such that the clamping member pivots to a clamped position.