AUTOMATED END EFFECTOR COMPONENT RELOADING SYSTEM FOR USE WITH A ROBOTIC SYSTEM

• US 20140259591A1
• Filed: 05/30/2014
• Published: 09/18/2014
• Est. Priority Date: 05/27/2011
• 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 R.
• Granted Patent: US 10,071,452 B2
• Time in Patent Office: Days
• US Class Current: 29/402.03
• 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 17/320092 with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
• 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 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2017/00075 Motion
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• 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 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• 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 2017/0688 Packages or dispensers for surgical staplers
• CPC Class Codes: A61B 2017/07214 Stapler heads
• 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 2017/2946 : Locking means
• 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 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 2090/0803 : 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 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 50/36 : for collecting or disposing of used articles
• CPC Class Codes: A61B 90/08 : Accessories or related features not otherwise provided for
• CPC Class Codes: B23P 6/00 : Restoring or reconditioning objects straightening or restoring form of sheet metal, metal rods, metal tubes, metal profiles, or specific articles made therefrom B21D1/00, B21D3/00; repairing defective or damaged objects by casting techniques B22D19/10
• CPC Class Codes: B23Q 3/1554 : Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
• CPC Class Codes: Y10T 29/49721 : with disassembling
• CPC Class Codes: Y10T 29/5191 : Assembly

Abstract

A surgical instrument. The surgical instrument includes an end effector that comprises a staple channel and an anvil that is movably translatable relative to the staple channel. A tool mounting portion is configured to interface with a robotic system and operably communicate with the end effector. The instrument further includes a first sensor that has an output that represents a first condition of a portion of the robotic system. A second sensor has an output that represents a position of the anvil. A third sensor has an output that represents a position of a reciprocating knife within the end effector. An externally accessible memory device communicates with the first, second and third sensors.

Claims

1. An automated reloading system for replacing a spent surgical end effector in a manipulatable robotic tool portion of a robotic surgical system, said automated reloading system comprising a selectively movable support assembly configured to support a plurality of new surgical end effectors in a corresponding loading orientation within a work envelope of the manipulatable robotic tool portion, said selectively movable support member further defining at least one unloading station for receiving a portion of said spent surgical end effector therein while remaining attached to said manipulatable robotic tool portion, said unloading station configured to operably support said spent surgical end effector while being automatically detached from said manipulatable robotic tool portion.

2. The automated reloading system of claim 1 wherein at least a rotary detachment motion must be applied to at least one of said spent surgical end effector and said manipulatable robotic tool portion to detach said spent surgical end effector therefrom.

3. The automated reloading system of claim 2 wherein at least another rotary attachment motion must be applied to at least one of said new surgical end effector and said manipulatable robotic tool portion to attach said new surgical end effector to said manipulatable robotic tool portion.

4. The automated reloading system of claim 1 wherein said movable support assembly comprises a selectively rotatable carrousel supportable within said work envelope and communicating with said robotic system, said carrousel defining a plurality of reloading positions therein, each said reloading position configured to receive a corresponding one of said new surgical end effectors therein and wherein an empty one of said reloading positions comprises said unloading station.

5. The automated reloading system of claim 4 wherein each said reloading position is configured to receive a corresponding orientation tube therein, each said orientation tube configured to receive a portion of a corresponding new or spent surgical end effector therein in a non-rotatable predetermined orientation.

6. The automated reloading system of claim 5 wherein said movable support assembly further comprises a drive assembly configured to selectively apply at least one rotary detachment motion and at least one rotary attachment motion to said orientation tubes when said orientation tubes are serially brought into engagement therewith.

7. The automated reloading system of claim 5 further comprising a portable tray configured to transport a plurality of orientation tubes therein in positions that correspond to loading positions in said rotatable carrousel.

8. The automated reloading system of claim 1 wherein said spent and new surgical end effectors comprise disposable loading units.

9. A method for automatically replacing a spent end effector component operably coupled to a manipulatable robotic tool portion of a robotic system with a new end effector component, said method comprising:

orienting an automated reloading system within a work envelope of the manipulatable robotic tool portion, the automated reloading system comprising at least one said new end effector oriented in a loading orientation, the automated reloading system defining an unloading position;

activating the robotic system to move the manipulatable robotic tool portion to locate the spent end effector component in the unloading position;

automatically applying an extraction motion to at least one of the spent end effector component and the manipulatable robotic tool portion when in the unloading position to detach the spent end effector component from a corresponding portion of the manipulatable robotic tool portion;

reactivating the robotic system to move the corresponding portion of the manipulatable robotic tool portion into loading engagement with the new end effector component; and

applying a loading motion to at least one of the new end effector component and the corresponding portion of the manipulatable robotic tool portion to operably couple the new end effector component to the corresponding portion of the manipulatable robotic tool portion.

10. The method of claim 9 wherein said automatically applying an extraction motion comprises applying a rotary extraction motion to said spent end effector component.

11. The method of claim 10 wherein said applying a rotary extraction motion comprises:

engaging a portion of the spent end effector component with a rotary hook member; and

activating the robotic system to apply a rotary motion to the rotary hook member.

12. The method of claim 9 wherein said applying a loading motion comprises applying a rotary loading motion to at least one of said new end effector component and said manipulatable robotic tool portion.

13. The method of claim 9 wherein said end effector component comprises a new surgical staple cartridge configured to be mounted to an elongated channel portion of the manipulatable robotic tool portion and wherein said applying a loading motion comprises applying a closing motion to an anvil movably attached to the elongated channel to force the new surgical staple cartridge into seating engagement with the elongated channel.