SURGICAL INSTRUMENT HAVING FORCE FEEDBACK CAPABILITIES.

• US 20130116668A1
• Filed: 12/12/2012
• Published: 05/09/2013
• Est. Priority Date: 01/31/2006
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Shelton, Frederick E. IV, Morgan, Jerome J., Leimbach, Richard L., Overmyer, Mark D.
• Granted Patent: US 9,439,649 B2
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• 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 17/1114 of the digestive tract, e.g. bowels or oesophagus
• CPC Class Codes: A61B 17/115 Staplers for performing anastomosis in a single operation
• CPC Class Codes: A61B 17/1155 Circular staplers comprising a plurality of staples
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2017/00353 one mechanical instrument performing multiple functions, e.g. cutting and grasping
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/0042 with special provisions for gripping
• CPC Class Codes: A61B 2017/00685 Archimedes screw
• CPC Class Codes: A61B 2017/00734 battery operated
• 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 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2090/033 : Abutting means, stops, e.g. abutting on tissue or skin
• 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 2090/069 : using a plummet or weight
• 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 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 5/4836 : Diagnosis combined with treatment in closed-loop systems or methods A61B5/0036 takes precedence

Abstract

A surgical instrument. The surgical instrument has a force delivery system which communicates a changing force to a user of the surgical instrument when a limit of a surgical function is reached. A sensor senses position of a moving element to communicate a signal to the force delivery system. In various embodiments, the system generates a vibratory force to signal the user.

Claims

1. A surgical instrument configured to deliver a surgical function, the surgical instrument comprising:

a handle comprising a force delivery system, wherein the force delivery system is configured to operably delivery a changing force to a user holding the handle;

a shaft;

an end effector extending from the shaft;

a moving element configured to move between a plurality of positions within the end effector, wherein the plurality of positions comprises a position indicative of a limit position of the surgical function; and

a sensor configured to detect when the moving element reaches the position indicative of the limit of the surgical function, wherein the sensor operably communicates with the force delivery system, and wherein the sensor signals the force delivery system to deliver the changing force when the moving element reaches the position indicative of the limit position of the surgical function.

2. The surgical system of claim 1, wherein the changing force comprises a vibratory force.

3. The surgical system of claim 2, wherein the position indicative of the limit of the surgical function comprises a position indicative of an articulation limit of an end effector.

4. The surgical system of claim 3, wherein the force delivery system comprises a motor that generates the vibratory force.

5. The surgical system of claim 1, wherein the sensor signals the force delivery system with one of the group consisting of a square wave signal and a sine wave signal.

6. The surgical system of claim 1, wherein the moving element comprises a translating actuator.

7. The surgical system of claim 1, wherein the moving element comprises a rotating actuator.

8. A surgical instrument configured to deliver a surgical function, the surgical instrument comprising:

a handle comprising a tactile feedback generator, wherein the tactile feedback generator is configured to deliver tactile feedback to a user;

an end effector operably linked to the handle;

an actuation element configured to move between a plurality of positions within the end effector, wherein the plurality of positions comprises a position indicative of an articulation limit of the end effector; and

a sensor configured to detect the position of the actuation element, wherein the sensor operably communicates with the tactile feedback generator, and wherein the tactile feedback generator delivers the tactile feedback to the user when the actuation element reaches the position indicative of the articulation limit of the end effector.

9. The surgical instrument of claim 8 wherein the tactile feedback delivered by the tactile feedback generator comprises a variable force.

10. The surgical instrument of claim 9 wherein the variable force is a vibratory force.

11. The surgical instrument of claim 10 wherein the vibratory force is produced by a motor that is driving the articulation of the end effector.

12. A surgical instrument configured to deliver a surgical function, the surgical instrument comprising:

a handle comprising a force delivery system, wherein the force delivery system is configured to operably delivery a vibratory force to a user holding the handle;

a shaft;

an end effector extending from the shaft;

a moving element configured to move between a plurality of positions within the end effector, wherein the plurality of positions comprises a position indicative of an approach near a limit position of the surgical function; and

a sensor configured to detect when the moving element reaches the position indicative of an approach near the limit of the surgical function, wherein the sensor operably communicates with the force delivery system, and wherein the sensor signals the force delivery system to deliver the vibratory force when the moving element reaches the position indicative of an approach near the limit position of the surgical function.

13. A method for delivering a surgical function, said method comprising the steps of:

holding a device comprising a handle having a tactile feedback generator, wherein the tactile feedback generator is configured to deliver tactile feedback to a user, an end effector operably linked to the handle, an actuation element configured to move between a plurality of positions within the end effector, wherein the plurality of positions comprises a position indicative of an articulation limit of the end effector;

inserting said end effector into a patient and actuating said actuation element; and

sensing a position of the actuation element and delivering tactile feedback to a user when the actuation element reaches the position indicative of a limit of the end effector.

14. The method of claim 13 wherein said step of sensing a position of the actuation element comprises sensing articulation.

15. The method of claim 13 wherein said step delivering tactile feedback to a user comprises delivering vibratory feedback to a user.