SURGICAL INSTRUMENT WITH WIRELESS COMMUNICATION BETWEEN A CONTROL UNIT OF A ROBOTIC SYSTEM AND REMOTE SENSOR

• US 20140171966A1
• Filed: 02/10/2014
• Published: 06/19/2014
• Est. Priority Date: 01/10/2007
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Giordano, James R., Swayze, Jeffrey S., Shelton, Frederick E. IV
• Granted Patent: US 10,441,369 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• 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 17/1222 Packages or dispensers therefor clip magazines incorporated in a clip-applying instrument A61B17/128; for surgical articles A61B50/30
• CPC Class Codes: A61B 17/295 combined with cutting implements
• CPC Class Codes: A61B 17/32 Surgical cutting instruments A61B18/042 takes precedence; suture cutters A61B17/0467; instruments for ligaturing or cutting A61B17/128; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133
• 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 2017/00022 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 2017/00212 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 2017/00362 Packages or dispensers for MIS instruments A61B2017/0479 takes precedence
• 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 2017/00477 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 2017/07214 Stapler heads
• 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 2017/2927 : the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• 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 2034/2053 : Tracking an applied voltage gradient
• CPC Class Codes: A61B 2034/2059 : Mechanical position encoders
• CPC Class Codes: A61B 2034/2072 : Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/302 : specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2090/065 : for measuring contact or contact pressure
• 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 2090/0814 : Preventing re-use
• CPC Class Codes: A61B 2562/028 : Microscale sensors, e.g. electromechanical sensors [MEMS]
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 50/36 : for collecting or disposing of used articles
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: B65B 5/04 : Packaging single articles
• CPC Class Codes: B65B 55/16 : by irradiation
• CPC Class Codes: B65B 55/18 : by liquids or gases B65B55/14 takes precedence

Abstract

A surgical instrument for use with a robotic system that has a control unit and a shaft portion that includes an electrically conductive elongated member that is attached to a portion of the robotic system. The elongated member is configured to transmit control motions from the robotic system to an end effector.

Claims

1-20. -20. (canceled)

21. A surgical instrument for use with a robotic system, said surgical instrument, comprising:

an elongate shaft assembly defining a longitudinal tool axis, said elongate shaft assembly, comprising;

a proximal portion;

an articulation joint operably coupled to the proximal portion; and

a drive shaft and wherein the surgical instrument further comprises;

an end effector operably coupled to the articulation joint, said end effector comprising a first member operably interfacing with the drive shaft to cause the end effector to perform an end effector function;

a cable driven articulation system interfacing with said end effector to apply articulation motions thereto; and

a robotic system interface, comprising;

a first rotary input member configured to operably engage a first rotary output member of the robotic system and impart firing motions to said drive shaft; and

a second rotary input member configured to operably engage a second rotary output member of the robotic system and impart second rotary input motions to said cable driven system to apply said articulation motions to said end effector.

22. The surgical instrument of claim 21, wherein said articulation joint is configured to facilitate articulation of said end effector about a first articulation axis in response to a first articulation motion from said cable driven system, and wherein said articulation joint is configured to facilitate articulation of said end effector about a second articulation axis in response to a second articulation motion from said cable driven system.

23. The surgical instrument of claim 22 wherein the first articulation axis is transverse to the longitudinal tool axis and wherein the second articulation axis is transverse to the longitudinal tool axis and the first articulation axis.

24. The surgical instrument of claim 21, wherein said articulation joint is configured to facilitate articulation of said end effector about first and second axes that are parallel to each other and transverse to the longitudinal tool axis and third and fourth axes that are parallel to each other and transverse to the longitudinal tool axis and the first and second axes.

25. The surgical instrument of claim 21 wherein the robotic interface further comprises a third rotary input member configured to operably engage a third rotary output member of the robotic system to generate end effector control motions for application to said end effector to cause said end effector to perform another end effector function.

26. The surgical instrument of claim 25, wherein said end effector, comprises:

a first jaw member; and

a second jaw member mounted relative to the first jaw member such that, upon application of said end effector control motions to said end effector, one of said first and second jaw members moves relative to the other one of said first and second jaw members.

27. The surgical instrument of claim 26 wherein said first jaw member comprises an anvil and wherein said second jaw member comprises a surgical staple cartridge and wherein said first member comprises a tissue-cutting member.

28. The surgical instrument of claim 27, wherein said end effector function comprises distally driving said tissue cutting-member through said surgical staple cartridge to deploy surgical staples from said surgical staple cartridge.

29. The surgical instrument of claim 26 further comprising a closure system operably interfacing with the third rotary input member to apply said end effector control motions to at least one of the first and second jaw members.

30. The surgical instrument of claim 29 wherein said closure system comprises a closure tube assembly movably supported for selective axial travel relative to said end effector in response to said end effector control motions such that an application of a first one of said end effector control motions to the closure tube assembly causes one of said first and second jaw members to move toward the other one of said first and second jaw members and an application of a second one of said end effector control motions causes the one of said first and second jaw members to move away from the other one of said first and second jaw members.

31. The surgical instrument of claim 30 wherein said end effector further comprises at least one sensor transponder and wherein said closure tube comprises an antenna to transmit signals from said at least one sensor transponder to a control unit of the robotic system.

32. The surgical instrument of claim 21, wherein said cable-driven articulation system further comprises:

a cable drive member operably interfacing with said second input member to receive said second rotary input motions from said second input member;

a first pair of articulation cables operably coupled to said cable drive member and said end effector and extending along a right side of said longitudinal tool axis; and

a second pair of articulation cables operably coupled to said cable drive member and second end effector and extending along a left said of said longitudinal tool axis.

33. The surgical instrument of claim 32 wherein said cable drive member comprises a gear-driven ball joint assembly operably coupled to said first pair of articulation cables and said second pair of articulation cables.

34. A surgical instrument for use with a robotic system, said surgical instrument, comprising:

an elongate shaft assembly defining a longitudinal tool axis, said elongate shaft assembly, comprising;

a proximal portion;

an articulation joint operably coupled to the proximal portion; and

a drive shaft and wherein the surgical instrument further comprises;

an end effector operably coupled to the articulation joint, said end effector comprising a first member operably interfacing with the drive shaft to cause the end effector to perform an end effector function;

a cable driven articulation system interfacing with said end effector to apply articulation motions thereto; and

means for interfacing rotary drive outputs of the robotic system with said drive shaft and said cable driven articulation system.

35. The surgical instrument of claim 34, wherein said articulation joint is configured to facilitate articulation of said end effector about four separate axes that are each transverse to said longitudinal tool axis.

36. The surgical instrument of claim 34, wherein said end effector, comprises:

a first jaw member, comprising an anvil;

a second jaw member, comprising a staple cartridge, wherein one of said first jaw member and said second jaw member is moveable relative to the other of said first jaw member and said second jaw member between an open position and a closed position;

a plurality of staples; and

a plurality of staple drivers and wherein said first member comprises a firing member, comprising a cutting surface.

37. The surgical instrument of claim 36, wherein said end effector function comprises distally driving said firing member to cut tissue and deploy said staples.

38. The surgical instrument of claim 36 wherein the robotic interface further comprises a third rotary input member configured to operably engage a third rotary output of the robotic system and wherein said surgical instrument further comprises a closure system operably interfacing with a third rotary input member to apply opening and closing motions to at least one of the first and second jaw members.

39. The surgical instrument of claim 38 wherein said closure system comprises a closure tube assembly movably supported for selective axial travel relative to said end effector in response to said opening and closing motions such that an application of said closing motion to the closure tube assembly causes one of said first and second jaw members to move toward the other of said first and second jaw members and an application of the closing motion to the closure tube assembly causes the one of said first and second jaw members to move away from the other one of said first and second jaw member.

40. The surgical instrument of claim 34, wherein said cable-driven articulation system further comprises:

a gear-driven ball joint assembly operably interfacing with said second input member to receive said second rotary input motions from said second input member;

a first pair of articulation cables operably coupled to said gear-driven ball joint assembly and said end effector and extending along a right side of said longitudinal tool axis; and

a second pair of articulation cables operably coupled to said gear-driven ball joint assembly and said end effector and extending along a left said of said longitudinal tool axis.