ROBOTICALLY-CONTROLLED SHAFT BASED ROTARY DRIVE SYSTEMS FOR SURGICAL INSTRUMENTS

• US 20160015390A1
• Filed: 09/28/2015
• Published: 01/21/2016
• Est. Priority Date: 06/04/2007
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Timm, Richard W., Shelton, Frederick E. IV
• Granted Patent: US 9,750,498 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• 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 17/0684 having a forming anvil staying above the tissue during stapling
• 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 17/105 Wound clamp magazines for packaging sharps A61B50/3001
• CPC Class Codes: A61B 17/32 Surgical cutting instruments A61B18/042 takes precedence; suture cutters A61B17/0467; instruments for ligaturing or cutting A61B17/128; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133
• CPC Class Codes: A61B 17/320068 using mechanical vibrations, e.g. ultrasonic A61B17/22012 takes precedence; dental tooth drilling devices operated by vibration A61C3/03; removing intra-ocular material using mechanical vibrations A61F9/00745
• 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 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00323 Cables or rods
• 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 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• 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 2017/00685 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 2017/07257 characterised by its anvil
• 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 2017/07285 : characterised by its cutter
• 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 2017/2933 : camming or guiding means
• CPC Class Codes: A61B 2017/2937 : with flexible part
• 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 2018/1455 : having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2034/302 : specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• 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 50/30 : Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments for wound clamps A61B17/10; for ligaturing clips A61B17/122; packages or dispensers for surgical gloves or finger-stalls A61B42/40
• CPC Class Codes: A61B 50/36 : for collecting or disposing of used articles
• CPC Class Codes: Y10T 29/53 : Means to assemble or disassemble

Abstract

A surgical instrument including an end effector that has a selectively reciprocatable implement movably supported therein. The implement is selectively advanceable in a distal direction upon application of a rotary actuation motion thereto and retractable in a proximal direction upon application of a rotary retraction motion thereto. An elongate shaft assembly is coupled to the end effector and is configured to transmit the rotary actuation motion and rotary retraction motion to the reciprocatable implement from a robotic system that is configured to generate the rotary actuation motion and said rotary retraction motion.

Claims

1. A surgical instrument comprising:

an end effector having a selectively reciprocatable implement movably supported therein, said implement being selectively advanceable in a distal direction upon application of a rotary actuation motion thereto and retractable in a proximal direction upon application of a rotary retraction motion thereto;

an elongate shaft assembly coupled to said end effector and configured to transmit said rotary actuation motion and rotary retraction motion to said reciprocatable implement from a robotic system configured to generate said rotary actuation motion and said rotary retraction motion; and

a firing drive comprising;

a first rotary drive assembly operably interfacing with a first corresponding drive portion of said robotic system, said first rotary drive assembly selectively interfacing with said elongate shaft assembly and configured to apply said rotary actuation motion thereto when activated; and

a second rotary drive assembly operably interfacing with a second corresponding drive portion of said robotic system, said second rotary drive assembly interfacing with said elongate shaft assembly and configured to apply said rotary retraction motion thereto when said first rotary drive assembly is deactivated and said second rotary drive assembly is activated.

2. The surgical instrument of claim 1, wherein said end effector comprises:

an elongate channel configured to operably support a staple cartridge therein; and

an anvil movably coupled to said elongate channel and wherein said reciprocatable implement comprises a cutting member operably supported within said elongate channel.

3. The surgical instrument of claim 2, further comprising a closure drive assembly operably interfacing with a third corresponding portion of said robotic system configured to selectively generate a closing motion and an opening motion, wherein said anvil is operably engaged with said closure assembly and is movably responsive to said opening motion and said closing motion.

4. The surgical instrument of claim 1, wherein said first rotary drive assembly includes a plurality of first gear teeth, wherein said second rotary drive member includes a plurality of second gear teeth, wherein said elongate shaft assembly includes a rotatable drive shaft operably engaged with said reciprocatable implement, and wherein said drive shaft includes a first gear operably engaged with said first gear teeth and a second gear operably engaged with said second gear teeth.

5. The surgical instrument of claim 4, wherein said drive shaft defines an axis, wherein a portion of said first rotary drive assembly is positioned on a first side of said axis and is configured to rotate said drive shaft about said axis in a first direction, and wherein a portion of said second rotary assembly member is positioned on a second side of said axis to rotate said drive shaft about said axis in a second direction, wherein said second direction is opposite said first direction.

6. A surgical instrument, comprising:

an end effector having a selectively reciprocatable implement member movably supported therein and being selectively advanceable in a distal direction upon application of a rotary actuation motion thereto and is retractable in a proximal direction upon application of a rotary retraction motion thereto;

an elongate shaft assembly coupled to said end effector and configured to transmit said rotary actuation motion and rotary retraction motion to said reciprocatable implement from a robotic system; and

a transmission operably interfacing with said robotic system and configurable in a first configuration for rotating said elongate shaft assembly about an axis in a first direction and a second configuration for rotating said elongate shaft assembly about said axis in a direction opposite said first direction.

7. The surgical instrument of claim 6, wherein said end effector comprises:

an elongate channel configured to operably support a staple cartridge therein; and

an anvil movably coupled to said elongate channel and wherein said reciprocatable implement comprises a cutting member operably supported within said elongate channel.

8. The surgical instrument of claim 6, wherein said transmission further comprises a closure drive assembly operably interfacing with a corresponding portion of said robotic system for generating a closing motion and an opening motion, wherein said anvil is operably engaged with said closure drive and is movably responsive to said opening motion and said closing motion.

9. A surgical instrument, comprising:

an elongate shaft assembly coupled to a remotely actuatable system capable of generating a plurality of control motions, wherein said elongate shaft assembly is operably engaged with a first drive member and a second drive member;

an end effector coupled to said elongate shaft assembly, said end effector comprising;

an elongate channel configured to operably support a staple cartridge therein;

an anvil movably coupled to said elongate channel; and

a cutting member operably supported within said elongate channel, wherein said cutting member is operably engaged with said elongate shaft assembly;

wherein, when said remotely actuatable system is engaged with said first drive member, a first actuation advances said cutting member a first distance, wherein, when said remotely actuatable system engaged with said second drive member, a second actuation retracts said cutting member a second distance, and wherein said second distance is greater than said first distance.

10. The surgical instrument of claim 9, wherein said remotely actuatable system is configured to apply opening and closing motions to a closure drive operably engaged with said anvil.

11. The surgical instrument of claim 9, wherein, when said remotely actuatable system is controllably engaged with said first drive member, said remotely actuatable system is not controllably engaged with said second drive member, and wherein, when said remotely actuatable system is controllably engaged with said second drive member, said remotely actuatable system is not controllably engaged with said first drive member.

12. The surgical instrument of claim 9, wherein said first actuation of said remotely actuatable system causes said first drive member to apply a first rotary drive motion to advance said cutting member said first distance and wherein said second actuation causes said second drive member to apply a second rotary drive motion to retract said cutting member said second distance.