ROTARY DRIVE ARRANGEMENTS FOR SURGICAL INSTRUMENTS

• US 20140005678A1
• Filed: 06/28/2012
• Published: 01/02/2014
• Est. Priority Date: 06/28/2012
• Status: Abandoned Application

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Shelton, Frederick E. IV, Swayze, Jeffrey S., Baxter, Chester O. III
• Application Number:
  US13/536,313
• Publication Number:
  US 20140005678A1
• Time in Patent Office: Days
• US Class Current: 606/130
• 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 17/295 combined with cutting implements
• CPC Class Codes: A61B 17/320016 Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes A61B10/0233, A61B17/29, A61B17/3207 take precedence
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00309 Cut-outs or slits
• 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 2017/0046 with a releasable handle; with handle and operating part separable
• CPC Class Codes: A61B 2017/00464 for use with different instruments
• CPC Class Codes: A61B 2017/00473 Distal part, e.g. tip or head A61B2017/00464 takes precedence
• 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 2017/00876 magnetic
• 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 2017/2903 : transferring rotary motion
• CPC Class Codes: A61B 2017/2905 : flexible
• CPC Class Codes: A61B 2017/2908 : Multiple segments connected by articulations
• 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 2017/2929 : with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2931 : with releasable head
• CPC Class Codes: A61B 2017/2939 : Details of linkages or pivot points
• 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 2034/306 : Wrists with multiple vertebrae
• 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 2090/0812 : indicating loosening or shifting of parts of an instrument, signaling maladjustment of parts
• CPC Class Codes: A61B 2090/0814 : Preventing re-use
• 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 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61M 2039/1061 : Break-apart tubing connectors or couplings
• CPC Class Codes: A61M 39/00 : Tubes, tube connectors, tube couplings, valves, access sites or the like, specially adapted for medical use for respiratory devices, e.g. tracheal tubes A61M16/00; artificial heart valves A61F2/24
• CPC Class Codes: A61M 39/1055 : Rotating or swivel joints in general F16L27/00
• CPC Class Codes: Y10T 29/49826 : Assembling or joining
• CPC Class Codes: Y10T 74/18056 : Rotary to or from reciprocating or oscillating
• CPC Class Codes: Y10T 74/20329 : Joint between elements

Abstract

A rotary drive arrangement for a surgical instrument that includes a surgical end effector. In one form, the rotary drive arrangement includes a drive shaft assembly that is selectively axially movable between a first position and a second position. A rotary transmission operably interfaces with the drive shaft assembly such that when the drive shaft assembly is in the first axial position, application of one of the rotary drive motions to the drive shaft assembly causes the rotary transmission to apply a first rotary control motion to the surgical end effector and when the drive shaft assembly is in the second axial position, application of the rotary drive motion to the drive shaft assembly causes the rotary transmission to apply a second rotary control motion to the surgical end effector.

Claims

1. A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to generate output motions, said surgical tool comprising:

a tool mounting portion configured operably interface with a portion of the robotic system;

a rotary drive system operably supported by the tool mounting portion and interfacing with the tool drive assembly of the robotic system to receive output motions therefrom;

an elongate shaft assembly operably extending from the tool mounting portion and including a drive shaft assembly that operably interfaces with the rotary drive system, the drive shaft assembly being selectively axially movable between a first position and a second position;

a surgical end effector rotatably coupled to the elongate shaft assembly for selective rotation relative thereto; and

a rotary transmission operably interfacing with the drive shaft assembly and the surgical end effector such that when the drive shaft assembly is in the first axial position, application of one of the rotary drive motions to the drive shaft assembly by the rotary drive system in response to one of the output motions applied thereto by the tool drive assembly causes the rotary transmission to apply a first rotary control motion to the surgical end effector and when the drive shaft assembly is in the second axial position, application of the rotary drive motion to the drive shaft assembly by the rotary drive system causes the rotary transmission to apply a second rotary control motion to the surgical end effector.

2. The surgical tool of claim 1 further comprising a shifting system supported by the tool mounting portion and configured to axially move the drive shaft assembly between the first and second axial positions in response to shifter control signals applied thereto by the robotic system.

3. The surgical tool of claim 2 wherein the rotary drive system comprises:

a drive gear interfacing with the tool drive assembly to receive the output motions therefrom;

a first rotary driven gear operably supported by the tool mounting portion in meshing engagement with the drive gear; and

a second rotary driven gear on a portion of the drive shaft assembly and in meshing engagement with the first rotary driven gear.

4. The surgical tool of claim 3 wherein the shifting system comprises:

a shifter solenoid operably interfacing with the drive shaft assembly and configured to receive the shifter control signals from the robotic system; and

a shaft spring for biasing the second rotary driven gear into meshing engagement with the first rotary driven gear as the drive shaft assembly is moved between the first and second axial positions by the shifter solenoid.

5. The surgical tool of claim 1 wherein the surgical end effector is configured to rotate relative to the elongate shaft upon application of the first rotary control motion thereto.

6. The surgical tool of claim 1 wherein the surgical end effector includes a movable firing member that is movable from a starting position to an ending position upon application of the second rotary control motion to the end effector.

7. A surgical instrument, comprising:

a handle assembly;

a drive motor operably supported by the handle assembly;

an elongate shaft assembly operably extending from the handle assembly including a drive shaft assembly operably interfacing with the drive motor and being selectively axially movable between a first position and a second position;

a surgical end effector rotatably coupled to the elongate shaft assembly for selective rotation relative thereto; and

a rotary transmission operably interfacing with the drive shaft assembly and the surgical end effector such that when the drive shaft assembly is in the first axial position, application of a rotary drive motion to the drive shaft assembly by the drive motor causes the rotary transmission to apply a first rotary control motion to the surgical end effector and when the drive shaft assembly is in the second axial position, application of the rotary drive motion to the drive shaft assembly by the drive motor causes the rotary transmission to apply a second rotary control motion to the surgical end effector.

8. The surgical instrument of claim 7 wherein the surgical end effector is configured to rotate relative to the elongate shaft assembly upon application of the first rotary control motion thereto.

9. The surgical instrument of claim 7 wherein the surgical end effector includes a movable firing member that is movable from a starting position to an ending position upon application of the second rotary control motion to the end effector.

10. The surgical instrument of claim 8 wherein the surgical end effector is movably coupled to an articulation joint operably mounted to the elongate shaft assembly such that the surgical end effector rotates relative to the articulation joint upon application of the first rotary control motion to the surgical end effector.

11. A rotary drive arrangement for a surgical instrument including a surgical end effector, the rotary drive arrangement comprising:

a rotary drive system configured to generate rotary drive motions;

a drive shaft assembly operably interfacing with the rotary drive system and being selectively axially movable between a first position and a second position; and

a rotary transmission operably interfacing with the drive shaft assembly and the surgical end effector such that when the drive shaft assembly is in the first axial position, application of one of the rotary drive motions to the drive shaft assembly by the rotary drive system causes the rotary transmission to apply a first rotary control motion to the surgical end effector and when the drive shaft assembly is in the second axial position, application of the rotary drive motion to the drive shaft assembly by the rotary drive system causes the rotary transmission to apply a second rotary control motion to the surgical end effector.

12. The rotary drive arrangement of claim 11 wherein the surgical instrument includes an elongate shaft assembly and wherein the surgical end effector is movably supported relative to the elongate shaft assembly for selective rotation relative thereto upon application of the first rotary control motion to the surgical end effector

13. The rotary drive arrangement of claim 11 wherein the surgical end effector includes a movable firing member that is movable from a starting position to an ending position upon application of the second rotary control motion to the end effector.

14. The rotary drive arrangement of claim 12 wherein the rotary transmission comprises:

a differential housing rotatably supported within a portion of the elongate shaft assembly;

a ring gear in the differential housing oriented for meshing engagement with a sun gear on the drive shaft assembly when the drive shaft assembly is in the first axial position; and

a plurality of planet gears rotatably supported within the differential housing and in meshing engagement with a portion of the surgical end effector, the planet gears further configured for meshing engagement with the sun gear when the drive shaft assembly is in the second axial position.

15. The rotary drive arrangement of claim 14 wherein the surgical end effector further comprises:

an end effector drive housing rotatably coupled to the elongate shaft assembly for selective rotation relative thereto;

a first end effector ring gear in the end effector drive housing in meshing engagement with the plurality of planet gears;

an implement drive shaft rotatably supported in the end effector and including an implement drive gear in meshing engagement with a second end effector ring gear in the end effector housing; and

a firing member in operable engagement with the implement drive shaft.

16. The rotary drive arrangement of claim 12 wherein the surgical end effector is movably coupled to an articulation joint operably mounted to the elongate shaft assembly such that the surgical end effector rotates relative to the articulation joint upon application of the first rotary control motion to the surgical end effector.

17. The rotary drive arrangement of claim 11 wherein the rotary drive system is configured to generate the rotary drive motions in response to corresponding rotary output motions applied thereto from a robotic system operably interfacing with the rotary drive system.

18. The rotary drive arrangement of claim 11 wherein the rotary drive system is configured to generate the rotary drive motions in response to corresponding rotary output motions applied thereto from a hand held drive motor.

19. The rotary drive arrangement of claim 11 wherein the surgical end effector comprises:

a first jaw;

a second jaw movably supported relative to the first jaw in response to opening and closing motions applied thereto; and

a firing member supported for movement between a starting and ending position upon application of the second rotary control motion to the surgical end effector.

20. The rotary drive arrangement of claim 19 wherein the first jaw comprises a surgical staple cartridge operably supporting surgical staples therein and wherein the second jaw comprises an anvil movably supported relative to the surgical staple cartridge in response to opening and closing motions applied thereto and wherein the firing member comprises:

a tissue cutting portion; and

a staple driving portion.