ROBOTIC ULTRASONIC SURGICAL DEVICE WITH ARTICULATING END EFFECTOR

• US 20140276931A1
• 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., Stulen, Foster B.
• Granted Patent: US 9,314,308 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• 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 2017/00128 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 2017/00309 Cut-outs or slits
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of 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 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence

Abstract

An apparatus for operating on tissue comprises an end effector, a shaft assembly, and an interface assembly. The end effector comprises an ultrasonic blade. The shaft assembly includes an articulation section operable to deflect the end effector away from the longitudinal axis. The interface assembly is operable to drive the end effector. The interface assembly comprises a base and a plurality of drive shafts. The base is configured to couple with a dock of a robotic control system. The drive shafts are oriented perpendicular to the longitudinal axis of the shaft assembly. A first drive shaft may be operable to rotate the shaft assembly relative to the base. A second drive shaft may be operable to drive the articulation section. A third drive shaft may be operable to drive a clamping arm to pivot toward the ultrasonic blade.

Claims

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

(a) an end effector, wherein the end effector comprises an ultrasonic blade;

(b) a shaft assembly, wherein the end effector is disposed at a distal end of the shaft assembly, wherein the shaft assembly defines a longitudinal axis, wherein the shaft assembly includes an articulation section operable to deflect the end effector away from the longitudinal axis; and

(c) an interface assembly, wherein the interface assembly is configured to drive the end effector, wherein the interface assembly comprises;

(i) a base, wherein the base is configured to couple with a dock of a robotic control system, and

(ii) a plurality of drive shafts oriented perpendicular to the longitudinal axis.

2. The apparatus of claim 1, wherein the shaft assembly is rotatable relative to the interface assembly.

3. The apparatus of claim 2, wherein a first drive shaft of the plurality of drive shafts is rotatable to rotate the shaft assembly relative to the interface assembly.

4. The apparatus of claim 3, wherein the shaft assembly and the first drive shaft include meshing helical gears.

5. The apparatus of claim 1, wherein the end effector further comprises a clamp arm, wherein the clamp arm is operable to pivot relative to the ultrasonic blade.

6. The apparatus of claim 5, wherein a first drive shaft of the plurality of drive shafts is rotatable to pivot the clamp arm toward the ultrasonic blade.

7. The apparatus of claim 6, wherein the shaft assembly comprises a translating member coupled between the first drive shaft and the clamp arm.

8. The apparatus of claim 7, wherein the interface assembly further comprises:

(i) an eccentric cam secured to the first drive shaft, and

(ii) a rack coupled with the translating member, wherein the eccentric cam is operable to drive the rack proximally in response to rotation of the first drive shaft, to thereby pivot the clamp arm toward the ultrasonic blade.

9. The apparatus of claim 1, wherein the articulation section comprises a first articulation band, wherein the first articulation band is translatable relative to the shaft assembly to deflect the end effector away from the longitudinal axis.

10. The apparatus of claim 9, wherein the articulation section further comprises a second articulation band, wherein the first articulation band is translatable relative to the shaft assembly to deflect the end effector away from the longitudinal axis in a first direction, wherein the second articulation band is translatable relative to the shaft assembly to deflect the end effector away from the longitudinal axis in a second direction.

11. The apparatus of claim 9, wherein a first drive shaft of the plurality of drive shafts is rotatable to translate the first articulation band.

12. The apparatus of claim 11, wherein the interface assembly further comprises:

(i) an eccentric cam secured to the first drive shaft, and

(ii) a pivoting arm coupled with the first articulation band, wherein the eccentric cam is operable to drive the pivoting arm proximally in response to rotation of the first drive shaft, to thereby deflect the end effector away from the longitudinal axis.

13. The apparatus of claim 9, wherein the articulation section comprises a pair of ribbed bodies, wherein the first articulation band is apposed between the pair of ribbed bodies.

14. The apparatus of claim 1, wherein the shaft assembly comprises:

(i) a rigid acoustic waveguide, and

(ii) a flexible acoustic waveguide, wherein the flexible acoustic waveguide extends through the articulation section,

wherein the rigid acoustic waveguide and the flexible acoustic waveguide are coupled together, wherein the rigid acoustic waveguide and the flexible acoustic waveguide are operable to transmit ultrasonic vibrations to the ultrasonic blade.

15. The apparatus of claim 14, wherein the flexible acoustic waveguide includes a narrowed section configured to provide flexing of the flexible acoustic waveguide.

16. The apparatus of claim 15, wherein the flexible acoustic waveguide further comprises a distal flange and a proximal flange, wherein the narrowed section is longitudinally positioned between the distal flange and the proximal flange.

17. The apparatus of claim 1, wherein the base comprises a plurality of drive discs, wherein the drive discs are operable to rotate the drive shafts.

18. The apparatus of claim 17, wherein the drive discs each comprise a respective pair of pins, wherein the pins are configured to couple with complementary drive features of a robotic control system.

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

(a) an end effector, wherein the end effector comprises an ultrasonic blade;

(b) a shaft assembly, wherein the end effector is disposed at a distal end of the shaft assembly, wherein the shaft assembly defines a longitudinal axis, wherein the shaft assembly includes an articulation section operable to deflect the end effector away from the longitudinal axis; and

(c) an interface assembly, wherein the interface assembly is configured to drive the end effector, wherein the interface assembly comprises;

(i) a base, wherein the base is configured to couple with a dock of a robotic control system,

(ii) a plurality of drive shafts, wherein at least one of the drive shafts is operable to drive the articulation section, and

(iii) a plurality of drive discs associated with the plurality of drive shafts, wherein the drive discs each comprise a respective pair of pins, wherein the pins are configured to couple with complementary drive features of a robotic control system.

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

(a) an end effector, wherein the end effector comprises an ultrasonic blade;

(b) a shaft assembly, wherein the end effector is disposed at a distal end of the shaft assembly, wherein the shaft assembly defines a longitudinal axis, wherein the shaft assembly includes an articulation section operable to deflect the end effector away from the longitudinal axis;

(c) an interface assembly, wherein the interface assembly is configured to drive the end effector, wherein the interface assembly comprises;

(i) a base, and

(ii) a plurality of drive shafts, wherein the drive shafts are rotatable relative to the base; and

(d) a robotic control system, wherein the robotic control system comprises;

(i) a robotic arm including a dock, wherein the base is configured to couple with the dock, wherein the dock includes drive features operable to couple with the drive shafts, and

(ii) a user interface assembly, wherein the user interface assembly is operable to remotely control the drive features.