SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR

• US 20140246479A1
• 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: Baber, Daniel L., Leimbach, Richard L., Albrecht, Thomas E.
• Granted Patent: US 9,468,438 B2
• 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 17/1155 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
• 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
• 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 2017/00482 : 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

In various forms, a sensor-straightened end effector is disclosed. The sensor-straightened end effector may comprise an end effector coupled to a shaft at an articulation point. The end effector may be articulable at an angle with respect to the shaft. A sensor may be disposed on the sensor-straightened end effector, such as on the shaft or on the end effector. The sensor is configured to detect a gross proximal movement. When detecting a gross proximal movement, the sensor may generate a signal to control a motor to begin a straightening process to straighten the end effector with respect to the shaft.

Claims

1. A surgical instrument comprising:

an end effector;

a shaft;

a motor to control an angle of articulation of the end effector with respect to the shaft;

a first sensor in electrical communication with the motor, the first sensor configured to detect a proximal movement of the surgical instrument, wherein when the first sensor detects the proximal movement of the surgical instrument, the first sensor activates the motor to straighten the angle of articulation of the end effector.

2. The surgical instrument of claim 1, comprising:

a second sensor coupled to the end effector, the second sensor configured to detect the proximal movement of the surgical instrument, wherein when the second sensor detects the proximal movement of the surgical instrument, the second sensor activates the motor to straighten the angle of articulation of the end effector.

3. The surgical instrument of claim 2, wherein the first and second sensors are configured to detect the proximal movement of the surgical instrument above a predetermined threshold.

4. The surgical instrument of claim 2, wherein the first sensor comprises an accelerometer.

5. The surgical instrument of claim 2, wherein the second sensor is configured to detect a distance between the second sensor and a predetermined, stationary location.

6. The surgical instrument of claim 5, wherein the second sensor comprises a magnetic proximity sensor.

7. The surgical instrument of claim 6, wherein the second sensor comprises a Hall Effect sensor.

8. A surgical instrument comprising:

a housing;

a shaft extending distally from the housing, the shaft comprising a proximal and distal end;

an end effector articulably coupled to the distal end of the shaft;

a motor to control the angle of articulation of the end effector with respect to the shaft;

a first sensor coupled to the motor configured to sense a proximal movement of the surgical instrument, wherein when the first sensor senses the proximal movement of the surgical instrument, the first sensor activates the motor to straighten the angle of articulation of the end effector; and

a second sensor coupled to the motor configured to sense a proximal movement of the surgical instrument, wherein when the second sensor senses the proximal movement of the surgical instrument, the second sensor activates the motor to straighten the angle of articulation of the end effector.

9. The surgical instrument of claim 8, wherein the first sensor is an accelerometer.

10. The surgical instrument of claim 8, wherein the second sensor is configured to detect a distance between the second sensor and a predetermined, stationary location.

11. The surgical instrument of claim 8, wherein the first and second sensors are configured to detect the proximal movement of the surgical instrument above a predetermined threshold.

12. A method for controlling a surgical instrument having a motor-controlled articulating end effector, the method comprising:

detecting, by a first sensor, a proximal movement of the surgical instrument;

generating, by the first sensor, a signal indicative of the proximal movement of the surgical instrument;

transmitting, by the first sensor, the signal indicative of the proximal movement of the surgical instrument;

receiving, by a motor, the signal from the first sensor;

straightening, by the motor, an angle of articulation of the motor-controlled articulating end effector in response to the received signal.

13. The method of claim 12, wherein first signal represents an acceleration of the surgical instrument detected by the first sensor.

14. The method of claim 12, wherein the first signal represents a proximity of a fixed point to a predetermined point of the surgical instrument.

15. The method of claim 12, comprising:

detecting, by a second sensor, the proximal movement of the surgical instrument;

generating, by the second sensor, a second signal indicative of the proximal movement of the surgical instrument;

receiving, by the motor, the second signal from the second sensor,

straightening, by the motor, the angle of articulation of the motor-controlled articulating end effector in response to the second signal.

16. The method of claim 15, wherein the second signal represents an acceleration of the surgical instrument detected by the second sensor.

17. The method of claim 15, wherein the second signal represents a proximity of a fixed point to a predetermined point of the surgical instrument.