ELECTROSURGICAL DEVICE WITH DISPOSABLE SHAFT HAVING RACK AND PINION DRIVE

• US 20140276723A1
• Filed: 03/13/2013
• Published: 09/18/2014
• Est. Priority Date: 03/13/2013
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Parihar, Shailendra K., Worrell, Barry C., Martin, David T., White, William J., Johnson, Gregory W. IV
• Granted Patent: US 9,737,300 B2
• Time in Patent Office: Days
• US Class Current: 606/33
• 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 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 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/2903 transferring rotary motion
• CPC Class Codes: A61B 2017/2905 flexible
• 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 2017/320093 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 2018/1455 having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 34/30 Surgical robots

Abstract

An apparatus comprises an end effector, a shaft assembly, and an interface assembly. The end effector is coupled with the shaft assembly. The shaft assembly comprises a translating member extending through the shaft assembly. The interface assembly is operable to engage the shaft assembly and comprises a plurality of drive shafts and a rack. One of the drive shafts is operable to drive the rack along a path that is parallel to the longitudinal axis of the shaft assembly. A plurality of racks may be used to rotate the shaft assembly, articulate the shaft assembly, and/or drive the translating member through the shaft assembly to thereby actuate the end effector.

Claims

1. An apparatus for operating on tissue, the apparatus comprising:

(a) an end effector;

(b) a shaft assembly, wherein the end effector is coupled with the shaft assembly, wherein the shaft assembly comprises a translating member extending through the shaft assembly, wherein the shaft assembly defines a longitudinal axis; and

(c) an interface assembly operable to engage the shaft assembly, wherein the interface assembly comprises;

(i) a plurality of independently rotatable drive shafts, wherein the plurality of drive shafts are parallel with each other, wherein the plurality of drive shafts are perpendicular to the shaft assembly, wherein the plurality of drive shafts includes a first drive shaft, wherein the drive shaft is rotatable about a first drive shaft axis, wherein the first drive shaft axis is perpendicular to the longitudinal axis of the shaft assembly, and

(ii) a first rack in communication with the first drive shaft, wherein the first rack is further in communication with the shaft assembly, wherein the first drive shaft is operable to drive the first rack along a path that is parallel to the longitudinal axis of the shaft assembly.

2. The apparatus of claim 1, wherein the translating member of the shaft assembly comprises a firing beam, wherein the first rack is configured to drive the firing beam through the shaft assembly.

3. The apparatus of claim 1, wherein the shaft assembly includes an articulation section, wherein the first rack is operable to deflect the end effector from the longitudinal axis at the articulation section.

4. The apparatus of claim 3, wherein the interface assembly further comprises a second rack in communication with the first drive shaft, wherein the second rack is further in communication with the shaft assembly, wherein the first drive shaft is operable to drive the second rack along a path that is parallel to the longitudinal axis of the shaft assembly.

5. The apparatus of claim 4, wherein the second rack is operable to deflect the end effector from the longitudinal axis at the articulation section.

6. The apparatus of claim 5, wherein the first drive shaft is operable to drive the first and second racks simultaneously in opposing directions along respective paths that are parallel to the longitudinal axis of the shaft assembly.

7. The apparatus of claim 1, wherein the interface assembly comprises a base portion and a housing portion, wherein the first drive shaft is integral with the base portion, wherein the first rack is integral with the housing portion.

8. The apparatus of claim 7, wherein the shaft assembly is integral with the housing portion.

9. The apparatus of claim 7, wherein the interface assembly further comprises a pinion coupling the first drive shaft with the first rack, wherein the pinion is integral with the housing portion.

10. The apparatus of claim 9, wherein the first drive shaft has a non-circular cross-section, wherein the pinion defines a non-circular opening having a shape complementing the cross-section of the first drive shaft.

11. The apparatus of claim 1, wherein the shaft assembly is configured to selectively engage a portion of the interface assembly along a path that is transverse to the longitudinal axis of the shaft assembly.

12. The apparatus of claim 1, wherein the first drive shaft is secured to a drive disc having a pair of coupling pins, wherein the coupling pins are configured to couple with a dock of a robotic drive system.

13. The apparatus of claim 1, wherein the plurality of drive shafts further includes a second drive shaft, wherein the second drive shaft is rotatable about a second drive shaft axis, wherein the second drive shaft axis is perpendicular to the longitudinal axis of the shaft assembly, wherein the interface assembly further comprises a second rack in communication with the second drive shaft, wherein the second drive shaft is operable to drive the second rack along a path that is perpendicular to the longitudinal axis of the shaft assembly.

14. The apparatus of claim 13, wherein the shaft assembly includes an outer gear fixed to the shaft assembly, wherein the second rack meshes with the outer gear such that the second rack is operable to rotate the shaft assembly via the outer gear.

15. The apparatus of claim 1, wherein the plurality of drive shafts further includes a second drive shaft, wherein the second drive shaft is operable to translate the translating member within the shaft assembly.

16. The apparatus of claim 15, further comprising a cam cylinder eccentrically disposed on the second drive shaft, wherein the interface assembly further comprises a firing beam drive block defining an elongate opening, wherein the cam cylinder is disposed in the elongate opening, wherein the cam cylinder is operable to translate the drive block longitudinally in response to rotation of the cam cylinder.

17. The apparatus of claim 1, wherein a first set of the drive shafts is positioned on one lateral side of the shaft assembly, wherein a second set of the drive shafts is positioned on another lateral side of the shaft assembly.

18. The apparatus of claim 1, wherein the end effector comprises at least one electrode operable to deliver RF energy to tissue.

19. An apparatus for operating on tissue comprising:

(a) an end effector operable to manipulate tissue;

(b) a shaft assembly in communication with the end effector, wherein the shaft assembly defines a longitudinal axis; and

(c) an interface assembly in communication with the shaft assembly, wherein the interface assembly comprises;

(i) a housing operable to rotate and articulate the shaft assembly, and

(ii) a base having a plurality of drive shafts, wherein the drive shafts are operable independently of each other, wherein the plurality of shafts are configured to engage the housing to drive rotation and articulation of the shaft assembly, wherein the plurality of drive shafts are oriented perpendicularly in relation to the longitudinal axis defined by the shaft assembly.

20. An apparatus for operating on tissue, the apparatus comprising:

(a) an end effector, wherein the end effector comprises a clamping jaw feature;

(b) a shaft assembly, wherein the end effector is coupled with the shaft assembly, wherein the shaft assembly comprises a translating member;

(c) a housing assembly, wherein the shaft assembly is secured to the housing assembly, wherein the housing assembly includes an integral rack, wherein the integral rack is translatable relative to the shaft assembly to translate the translating member of the shaft assembly; and

(d) a base assembly, wherein the housing assembly is configured to removably couple with the base assembly, wherein the base assembly comprises a drive shaft operable to drive the integral rack of the housing assembly, wherein the base assembly is configured to couple with a dock of a robotic drive system.