ROBOTICALLY-CONTROLLED SURGICAL INSTRUMENT WITH FORCE-FEEDBACK CAPABILITIES

• US 20110290856A1
• Filed: 05/27/2011
• Published: 12/01/2011
• Est. Priority Date: 01/31/2006
• Status: Abandoned Application

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Shelton, Frederick E. IV, Ouwerkerk, John N., Timperman, Eugene L.
• Application Number:
  US13/118,272
• Publication Number:
  US 20110290856A1
• Time in Patent Office: Days
• US Class Current: 227/180.1
• 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 17/320092 with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2017/00075 Motion
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00212 using remote controls
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00685 Archimedes screw
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/0688 Packages or dispensers for surgical staplers
• CPC Class Codes: A61B 2017/07214 Stapler heads
• 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 2017/2943 Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2946 : Locking means
• 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 2090/064 : for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/065 : for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/0803 : Counting the number of times an instrument is used
• CPC Class Codes: A61B 2090/0811 : for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/70 : Manipulators specially adapted for use in surgery
• 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 90/08 : Accessories or related features not otherwise provided for
• CPC Class Codes: B23P 6/00 : Restoring or reconditioning objects straightening or restoring form of sheet metal, metal rods, metal tubes, metal profiles, or specific articles made therefrom B21D1/00, B21D3/00; repairing defective or damaged objects by casting techniques B22D19/10
• CPC Class Codes: B23Q 3/1554 : Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
• CPC Class Codes: Y10T 29/49721 : with disassembling
• CPC Class Codes: Y10T 29/5191 : Assembly

Abstract

A surgical instrument. Various embodiments of the surgical instrument include an end effector that has a moveable cutting implement. A main drive shaft assembly operably interfaces with the end effector for transmitting an actuation motion to the movable cutting implement therein. A gear drive train is connected to the main drive shaft assembly. The gear drive train is actuated by a motor that is configured to receive control signals from a robotic system. Various embodiments include a sensor arrangement that operably interfaces the end effector to communicate forces experienced by the end effector to the robotic system.

Claims

1. A surgical cutting and fastening instrument comprising:

an end effector having a moveable cutting implement operably supported therein;

a main drive shaft assembly operably interfacing with the end effector for transmitting an actuation motion to the movable cutting implement therein;

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

a motor for actuating the gear drive train, said motor configured to receive control signals from a robotic system; and

a sensor arrangement operably interfacing with said end effector and said robotic system to communicate forces experienced by said end effector to said robotic system.

2. The surgical cutting and fastening instrument of claim 1, further comprising:

a reverse motor sensor for sensing an end of a cutting stroke of the cutting implement 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 implement;

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

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

4. 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 implement to undertake the cutting stroke, and reverse rotation of the helical drive screw causes the cutting implement to retract.

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

6. The surgical cutting and fastening instrument of claim 1, wherein said end effector has an anvil movably supported thereon.

7. The surgical cutting and fastening instrument of claim 6 further comprising a closure actuator interfacing with said main drive shaft assembly to selectively apply opening and closing motions to said anvil.

8. The surgical cutting and fastening instrument of claim 1, wherein the end effector comprises:

an elongate channel for carrying the cutting instrument; and

a clamping member pivotably connected to the elongate channel.

9. The surgical cutting and fastening instrument of claim 7 wherein said main drive shaft assembly further comprises a closure tube movably interfacing with said anvil such that movement of said closure tube in a distal direction causes said anvil to move to a closed position and movement of said closure tube in a proximal direction, said closure tube causes said anvil to open.

10. The surgical cutting and fastening instrument of claim 1, wherein the motor comprises a DC brushed motor.

11. The surgical cutting and fastening instrument of claim 1 wherein said robotic system has a manually actuatable portion that communicates with said sensor arrangement to provide a person actuating said manually actuatable portion with an indication of at least one of said forces experienced by the end effector.

12. The surgical cutting and fastening instrument of claim 11 wherein said indication of at least one of said forces experienced by the end effector comprises a haptic indication.

13. The surgical cutting and fastening instrument of claim 11 wherein said indication of at least one of said forces experienced by the end effector comprises a visual indication on a controller portion of said robotic system.

14. A surgical instrument, comprising:

an end effector comprising;

an elongated channel configured to operably support a staple cartridge therein;

an anvil movably supported relative to said elongated channel and being movable to an open position relative to a staple cartridge within said elongated channel upon application of an opening motion thereto, said anvil being movable to a closed position relative to the staple cartridge upon application of a closing motion to said anvil; and

a tissue cutting implement operably supported for reciprocatable movement within said elongated channel upon application of actuation and retraction motions thereto and wherein said surgical instrument further comprises;

a shaft assembly connected to the end effector, said shaft assembly comprising;

a drive shaft operably interfacing with said tissue cutting implement for transmitting said actuation and retraction motions thereto;

a gear drive train operably interfacing with said drive shaft;

a motor for actuating the gear drive train, said motor configured to receive control signals from a robotic system; and

means for communicating forces experienced by said end effector to said robotic system.

15. The surgical cutting and fastening instrument of claim 14 wherein said shaft assembly further comprises a closure tube movably interfacing with said anvil such that movement of said closure tube in a distal direction causes said anvil to move to a closed position and movement of said closure tube in a proximal direction, said closure tube causes said anvil to open.

16. The surgical cutting and fastening instrument of claim 15 further comprising means for applying closure control motions to said closure tube.

17. The surgical cutting and fastening instrument of claim 16 wherein said means for applying closure control motions comprises a second motor operably interfacing with said robotic system and said closure tube to apply said closure control motions thereto.