LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS

• US 20160174976A1
• Filed: 12/18/2014
• Published: 06/23/2016
• Est. Priority Date: 12/18/2014
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Morgan, Jerome R., Baxter, Chester O. III, Shelton, Frederick E. IV, Knight, Gary W.
• Granted Patent: US 10,085,748 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00407 Ratchet means
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable for prosthetic joint-implanting tools A61F2/4603
• 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 2017/00734 battery operated
• CPC Class Codes: A61B 2017/07271 characterised by its cartridge
• CPC Class Codes: A61B 2017/07285 characterised by its cutter
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2946 Locking means
• CPC Class Codes: A61B 34/30 Surgical robots

Abstract

A surgical instrument. In one form, the surgical instrument includes a housing that has an interchangeable shaft assembly removably attached thereto. The interchangeable shaft assembly includes an elongate shaft that has a surgical end effector operably coupled thereto for selective articulation relative to the elongate shaft. An articulation system is configured to selectively apply articulation motions to the surgical end effector when the articulation system is in an actuated orientation. A locking arrangement prevents detachment of the interchangeable shaft assembly from the housing when the articulation system is in the actuated orientation.

Claims

1. A surgical instrument comprising:

a housing;

an interchangeable shaft assembly removably attached to said housing and comprising an elongate shaft;

a surgical end effector operably coupled to said elongate shaft for selective articulation relative thereto;

an articulation system configured to selectively apply articulation motions to said surgical end effector when said articulation system is in an actuated orientation; and

means for preventing detachment of said interchangeable shaft assembly from said housing when said articulation system is in said actuated orientation.

2. The surgical instrument of claim 1 wherein said interchangeable shaft assembly is removably coupled to said housing by a latch member that is selectively movable between a latched position and an unlatched position and wherein said means for preventing detachment operable interfaces with said articulation system and said latch member.

3. The surgical instrument of claim 2 wherein said articulation system comprises:

an articulation actuator movably supported on said interchangeable shaft assembly and being selectively movable between an unactuated orientation wherein said surgical end effector is in an unarticulated orientation and a plurality of actuated orientations wherein said surgical end effector is articulated relative to a shaft axis defined by said elongate shaft;

a first articulation member operably interfacing with said surgical end effector and said articulation actuator; and

a second articulation member operably interfacing with said surgical end effector and said articulation actuator.

4. The surgical instrument of claim 3 wherein said articulation actuator comprises an articulation drive gear assembly in meshing engagement with said first and second articulation members.

5. The surgical instrument of claim 4 wherein said articulation drive gear assembly is movable between said unactuated and said actuated orientations and wherein said means for preventing detachment comprises a lock member operably interfacing with said articulation drive gear assembly and said latch member such that when said articulation drive gear assembly is in said unactuated position, said latch member is movable to said unlatched position and when said articulation drive gear assembly is in any one of said actuated positions, said lock member prevents said latch member from being moved to said unlatched position.

6. The surgical instrument of claim 5 wherein said articulation drive gear assembly comprises:

a locking flange operably communicating with said articulation actuator;

an articulation drive gear coupled to said locking flange; and

a detachment notch in said locking flange, said detachment notch located on said locking flange such that when said articulation drive gear assembly is in said unactuated orientation, a portion of said lock member may extend into said detachment notch in response to movement of said latch member from said latched position to said unlatched position and when said articulation drive gear assembly is in said any one of said actuated positions, said portion of said lock member engages said locking flange to retain said locking member in a locked position wherein said latch member is prevented from being moved from said latched position to said unlatched position.

7. The surgical instrument of claim 1 wherein said surgical end effector comprises a pair of jaws wherein one said jaw is selectively movable relative to the other said jaw upon application of a closure motion thereto and wherein said elongate shaft further comprises a closure member operably interfacing with said one of said jaw to apply said closure motion thereto upon actuation of a closure system operably supported by said housing.

8. The surgical instrument of claim 7 wherein said surgical end effector further comprises a firing member operably supported for axial travel through said surgical end effector upon application of a firing motion thereto and wherein said elongate shaft further comprises a firing rod operably interfacing with said firing member to apply said firing motion thereto upon actuation of a firing system operably supported by said housing.

9. The surgical instrument of claim 1 wherein said housing comprises a handle.

10. A surgical instrument comprising:

an articulation system actuatable between an unactuated orientation and actuated orientations wherein said articulation system generates a corresponding articulation motion;

a surgical end effector; and

an elongate shaft assembly operably interfacing with said surgical end effector to permit selective articulation of said surgical end effector relative to said elongate shaft assembly, said elongate shaft assembly comprising;

at least one articulation member operably interfacing with said surgical end effector and said articulation system, said at least one articulation member supported for selective axial movement in response to an application of said articulation motions thereto by said articulation system; and

means supported within said elongate shaft assembly configured to retainingly engage said at least one articulation member and prevent axial movement thereof when said articulation system is in said unactuated orientation.

11. The surgical instrument of claim 10 wherein said articulation system is operably supported by a housing and wherein said elongate shaft assembly is removably attachable to said housing and wherein each of said at least one articulation members is axially movable from a neutral position wherein each of said at least one articulation member is operably attachable to said articulation system upon attachment of said elongate shaft assembly to said housing and wherein said means for retainingly engaging retains each said at least one articulation member in said neutral position when said elongate shaft assembly is detached from said housing.

12. The surgical instrument of claim 10 wherein said means for retainingly engaging comprises a serrated portion on each of said articulation members, each said serrated portion in meshing engagement with at least one corresponding lock tooth on another portion of said elongate shaft assembly.

13. The surgical instrument of claim 12 wherein each of said at least one articulation member is supported for axial movement within a hollow member and wherein each said corresponding lock tooth protrudes inwardly from said hollow member.

14. The surgical instrument of claim 12 wherein said surgical end effector comprises a pair of jaws wherein one said jaw is selectively movable relative to the other said jaw upon application of a closure motion thereto and wherein said elongate shaft further comprises a hollow closure tube operably interfacing with said one of said jaws and housing each of said at least one articulation members therein and wherein each said corresponding tooth is formed on an inner wall of said hollow closure tube.

15. The surgical instrument of claim 10 wherein said at least one articulation member comprises:

a first articulation member operably interfacing with said surgical end effector; and

a second articulation member operably interfacing with said surgical end effector and wherein said articulation system comprises a dual acting solenoid configured to selectively engage each of said first and second articulation members.

16. The surgical instrument of claim 15 wherein said means for retainingly engaging comprises:

a first serrated portion on said first articulation member;

a first lock member on said elongate shaft assembly configured to retainingly engage said first serrated portion;

a second serrated portion on said second articulation member; and

a second lock member on said elongate shaft assembly configured to retainingly engage said second serrated portion.

17. The surgical instrument of claim 16 wherein when said dual acting solenoid engages said first articulation member, said dual acting solenoid moves said first serrated portion out of engagement with said first lock member and when said dual acting solenoid engages said second articulation member, said dual acting solenoid moves said second serrated portion out of engagement with said second lock member.

18. The surgical instrument of claim 17 wherein said dual acting solenoid operably interfaces with a firing drive system of the surgical instrument.

19. A surgical instrument comprising:

an elongate shaft assembly including an articulation joint;

a surgical end effector operably coupled to said elongate shaft assembly for selective articulation about the articulation joint;

a first articulation member operably interfacing with said surgical end effector and supported for selective axial movement in response to an application of first articulation motions by a first articulation motor operably coupled thereto; and

a second articulation member operably interfacing with said surgical end effector and supported for selective axial movement in response to an application of second articulation motions by a second articulation motor operably coupled thereto.

20. The surgical instrument of claim 19 further comprising a control system for controlling said first and second articulation motors, such that when said first articulation motor is operated to move said first articulation member in one axial direction a first axial distance, said second articulation motor is operated to move said second articulation member in an opposite axial direction a second axial distance that is equal to the first axial distance.