ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS

• US 20140246472A1
• Filed: 03/01/2013
• Published: 09/04/2014
• Est. Priority Date: 03/01/2013
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Kimsey, John S., Auld, Michael D.
• Granted Patent: US 9,782,169 B2
• Time in Patent Office: Days
• US Class Current: 227/175.1
• 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 17/1155 Circular staplers comprising a plurality of staples
• CPC Class Codes: A61B 17/32002 with continuously rotating, oscillating or reciprocating cutting instruments
• CPC Class Codes: A61B 18/085 Forceps, scissors
• CPC Class Codes: A61B 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• 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 2017/00026 Conductivity or impedance, e.g. of tissue
• 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 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2017/00123 and automatic shutdown
• CPC Class Codes: A61B 2017/00128 related to intensity or progress of surgical action
• 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 2017/00314 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 2017/00367 : Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
• CPC Class Codes: A61B 2017/00393 : with means for switching between functions
• 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 for prosthetic joint-implanting tools A61F2/4603
• CPC Class Codes: A61B 2017/00464 : for use with different instruments with hole for different instruments A61B2017/22072
• 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 2017/00482 : with a code
• CPC Class Codes: A61B 2017/0069 : with universal joint, cardan joint
• CPC Class Codes: A61B 2017/00734 : battery operated
• 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 2017/2903 : transferring rotary motion
• CPC Class Codes: A61B 2017/2923 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2925 : Pistol grips
• 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 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/320069 : for ablating tissue
• CPC Class Codes: A61B 2017/320071 : with articulating means for working tip
• CPC Class Codes: A61B 2017/320089 : node location
• 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 2018/00607 : Coagulation and cutting with the same instrument
• CPC Class Codes: A61B 2018/00619 : Welding
• CPC Class Codes: A61B 2018/00791 : Temperature
• CPC Class Codes: A61B 2018/00875 : Resistance or impedance
• CPC Class Codes: A61B 2018/1455 : having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2034/742 : Joysticks
• CPC Class Codes: A61B 2090/033 : Abutting means, stops, e.g. abutting on tissue or skin
• CPC Class Codes: A61B 2090/034 : abutting on parts of the device itself
• CPC Class Codes: A61B 2090/061 : for measuring dimensions, e.g. length
• 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 2090/0811 : 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 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 90/90 : Identification means for patients or instruments, e.g. tags
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: G05G 2009/04777 : with additional push or pull action on the handle
• CPC Class Codes: G05G 9/04796 : for rectilinear control along the axis of the controlling member
• CPC Class Codes: Y02A 90/10 : Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

An articulation joint for a surgical instrument. In at least one form, the articulation joint includes a proximal joint portion that is coupled to an elongate shaft assembly of the surgical instrument. A distal joint portion is movably coupled to the proximal joint portion and is configured to interface with a surgical end effector. A first gear train operably interfaces with a proximal firing shaft segment within the elongate shaft assembly and a distal firing shaft segment that is configured to operably interface with the surgical end effector for transmitting a rotary firing motion thereto from the proximal firing shaft segment to the surgical end effector. A second gear train operably interfaces with a proximal rotation shaft portion of the elongate shaft assembly for transmitting a distal rotational control motion to the surgical end effector to cause the surgical end effector to rotate relative to the elongate shaft assembly while facilitating articulation of the distal joint portion relative to the proximal joint portion.

Claims

1. An articulation joint for a surgical instrument that includes an elongate shaft assembly and a drive system that is configured to generate and apply a plurality of rotary control motions to the elongate shaft assembly, the articulation joint comprising:

a proximal joint portion coupled to the elongate shaft assembly;

a distal joint portion movably coupled to the proximal joint portion and configured to interface with a surgical end effector,

a first gear train operably interfacing with a proximal firing shaft portion of the elongate shaft assembly and a distal firing shaft operably interfacing with the surgical end effector for transmitting a rotary firing motion from the proximal firing shaft to the surgical end effector while facilitating articulation of the distal joint portion relative to the proximal joint portion; and

a second gear train operably interfacing with a proximal rotation shaft portion of the elongate shaft assembly for transmitting a distal rotational control motion to the surgical end effector to cause the surgical end effector to rotate relative to the elongate shaft assembly while facilitating articulation of the distal joint portion relative to the proximal joint portion.

2. The articulation joint of claim 1 wherein the first gear train is nested within the second gear train.

3. The articulation joint of claim 1 wherein the distal joint portion is configured to interface with an articulation shaft portion of the elongate shaft assembly to receive articulation motions therefrom.

7. The articulation joint of claim 1 wherein the distal joint portion rotatably interfaces with a coupler assembly that is configured to be removably coupled to the surgical end effector.

8. The articulation joint of claim 7 wherein a portion of the second gear train interfaces with the coupler assembly to cause the coupler assembly to rotate relative to the distal joint portion upon the application of the distal rotational control motion to the proximal rotation shaft portion of the elongate shaft assembly.

9. The articulation joint claim 7 further comprising locking assembly on the coupler assembly for releasably locking the surgical end effector to the coupler assembly.

10. The articulation joint of claim 1 wherein the distal firing shaft segment is configured to transfer the rotary firing motion to an end effector drive screw that is operably supported in the surgical end effector while facilitating the rotation of the surgical end effector relative to the articulation joint.

4. The articulation joint of claim 4 wherein the distal joint portion is configured to pivot relative to the proximal joint portion upon application of rotary articulation motions to the articulation shaft portion of the elongate shaft assembly.

5. The articulation joint of claim 4 wherein the articulation joint further comprises an articulation drive link operably coupled to the distal joint portion, the articulation drive link interfacing with the articulation shaft and being constrained to move axially relative to the articulation joint in response to the application of the rotary articulation motions to the articulation shaft.

6. The articulation joint of claim 5 wherein the articulation drive link threadably engages the articulation shaft.

11. An articulation joint for a surgical instrument including an elongate shaft assembly and a drive system configured to generate and apply a plurality of rotary control motions to the elongate shaft assembly, the articulation joint comprising:

a proximal clevis coupled to the elongate shaft assembly;

a distal clevis pivotally pinned to the proximal clevis for selective pivotal travel relative thereto about an articulation axis that is substantially transverse to a shaft axis defined by the elongate shaft assembly;

a first gear train supported in a gear area defined between the proximal and distal clevises such that no portion of the first gear train extends radially outwardly beyond any portion of the articulation joint, the first gear train operably interfacing with a proximal firing shaft portion of the elongate shaft assembly and a distal firing shaft operably interfacing with the surgical end effector for transmitting a rotary firing motion from the proximal firing shaft to the surgical end effector while facilitating pivotal travel of the distal clevis relative to the proximal clevis; and

a second gear train supported in the gear area such that no portion of the first gear train extends radially outwardly beyond any portion of the articulation joint, the second gear train operably interfacing with a proximal rotation shaft portion of the elongate shaft assembly for transmitting a distal rotational control motion to the surgical end effector to cause the surgical end effector to rotate relative to the elongate shaft assembly while facilitating articulation of the distal clevis relative to the proximal clevis.

12. The articulation joint of claim 11 wherein the first gear train is nested within the second gear train such that no portion of the first gear train extends radially beyond a portion of the second gear train.

13. The articulation joint of claim 11 wherein the first gear train comprises:

a proximal drive shaft bevel gear attached to the proximal firing shaft portion;

a drive shaft transfer gear in meshing engagement with the proximal drive shaft bevel gear; and

a distal drive shaft bevel gear in meshing engagement with the drive shaft transfer gear and coupled to the distal firing shaft and wherein the second gear train comprises;

an input bevel gear coupled to the proximal rotation shaft portion;

a rotation shaft transfer gear in meshing engagement with the input bevel gear; and

an out put bevel gear in meshing engagement with the rotation shaft transfer gear and coupled to a coupler assembly rotatably interfacing with the distal clevis portion and being couplable to the surgical end effector.

14. The articulation joint of claim 11 wherein the distal clevis is configured to interface with an articulation shaft portion of the elongate shaft assembly to receive articulation motions therefrom.

15. The articulation joint of claim 14 further comprising:

an articulation drive link interfacing with the articulation shaft and being constrained to move axially relative to the articulation joint in response to an application of rotary articulation motions to the articulation shaft; and

an articulation bar coupled to the distal clevis and the articulation drive link and extending therebetween.

16. The articulation joint of claim 11 wherein the distal drive shaft is operably supported in a coupling assembly rotatably interfacing with the distal clevis, the distal drive shaft configured to releasably engage an end effector drive screw in the surgical end effector when the surgical end effector is coupled to the coupling assembly.

17. A surgical instrument comprising:

a drive system configured to generate a plurality of rotary control motions;

an elongate shaft assembly operable interfacing with the drive system, the elongate shaft assembly comprising;

an outer shaft segment operably interfacing with the drive system to receive distal rotational control motions therefrom;

an articulation shaft operably interfacing with the drive system to receive rotary articulation motions therefrom; and

a proximal firing shaft segment operably interfacing with the drive system to receive rotary firing motions therefrom and wherein the surgical instrument further comprises;

an articulation joint further comprising;

a proximal clevis coupled to the elongate shaft assembly;

a distal clevis pivotally pinned to the proximal clevis for selective pivotal travel relative thereto about an articulation axis that is substantially transverse to a shaft axis defined by the elongate shaft assembly;

a coupling assembly rotatably interfacing with the distal clevis and configured for attachment to a surgical end effector;

a distal firing shaft segment operably supported by the coupling assembly and configured to interface with a drive shaft portion of the surgical end effector;

a first gear train operably interfacing with the proximal firing shaft segment and the distal firing shaft segment for transmitting the rotary firing motions from the proximal firing shaft segment to the distal firing shaft segment while enabling the distal clevis to be selectively pivoted relative to the proximal clevis;

a second gear train operably interfacing with a proximal rotation shaft for transmitting the distal rotational control motions to the coupling assembly while enabling the distal clevis to be selectively pivoted relative to the proximal clevis; and

an articulation drive link interfacing with the articulation shaft and the distal clevis and being constrained to move axially relative to the articulation joint in response to applications of the rotary articulation motions to the articulation shaft.

18. The surgical instrument of claim 17 wherein the first gear train is nested within the second gear train.

19. The surgical instrument of claim 17 wherein the drive system is operably supported in a handle assembly operably coupled to the elongate shaft assembly.

20. The surgical instrument of claim 17 wherein the drive system comprises a portion of a robotic system.