ROBOTICALLY POWERED SURGICAL DEVICE WITH MANUALLY ACTUATABLE REVERSING SYSTEM

• US 20160206310A1
• Filed: 03/24/2016
• Published: 07/21/2016
• Est. Priority Date: 06/28/2012
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery LLC (Johnson & Johnson)
• Inventors: Shelton, Frederick E. IV
• Granted Patent: US 10,485,541 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 17/295 combined with cutting implements
• CPC Class Codes: A61B 17/320016 Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes A61B10/0233, A61B17/29, A61B17/3207 take precedence
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00309 Cut-outs or slits
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• 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 2017/00464 for use with different instruments with hole for different instruments A61B2017/22072
• 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 2017/00876 magnetic
• 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 2017/2903 : transferring rotary motion
• CPC Class Codes: A61B 2017/2905 : flexible
• CPC Class Codes: A61B 2017/2908 : Multiple segments connected by articulations
• 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 2017/2929 : with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2931 : with releasable head
• CPC Class Codes: A61B 2017/2939 : Details of linkages or pivot points
• 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 2034/306 : Wrists with multiple vertebrae
• 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 2090/0812 : indicating loosening or shifting of parts of an instrument, signaling maladjustment of parts
• CPC Class Codes: A61B 2090/0814 : Preventing re-use
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• 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 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61M 2039/1061 : Break-apart tubing connectors or couplings
• CPC Class Codes: A61M 39/00 : Tubes, tube connectors, tube couplings, valves, access sites or the like, specially adapted for medical use for respiratory devices, e.g. tracheal tubes A61M16/00; artificial heart valves A61F2/24
• CPC Class Codes: A61M 39/1055 : Rotating or swivel joints in general F16L27/00
• CPC Class Codes: Y10T 29/49826 : Assembling or joining
• CPC Class Codes: Y10T 74/18056 : Rotary to or from reciprocating or oscillating
• CPC Class Codes: Y10T 74/20329 : Joint between elements

Abstract

A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate output motions. A drive system is configured to interface with a corresponding portion of the tool drive assembly for receiving the robotically-generated output motions and applying the output motions to a drive shaft assembly which is configured to apply control motions to a surgical end effector operably coupled thereto. A manually-actuatable control system operably interfaces with the drive shaft assembly to facilitate the selective application of manually-generated control motions to the drive shaft assembly.

Claims

1. A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate output motions, said surgical tool comprising:

a drive system configured to interface with a corresponding portion of the tool drive assembly of the robotic system for receiving the robotically-generated output motions therefrom;

a drive shaft assembly operably interfacing with the drive system and configured to receive the robotically-generated output motions from the drive system and apply control motions to a surgical end effector operably interfacing with the drive shaft assembly; and

a manually-actuatable control system operably interfacing with the drive shaft assembly to selectively apply manually-generated control motions to the drive shaft assembly.

2. The surgical tool of claim 1 wherein the drive system is configured to transfer a first one of the robotically-generated output motions to the drive shaft assembly for causing the drive shaft assembly to apply a first one of the control motions in first direction and wherein the drive system is further configured to transfer a second one of the robotically-generated output motions to the drive shaft assembly for causing the drive shaft assembly to apply a second one of the control motions in a second direction that is opposite to the first direction and wherein the manually-generated control motions are applied to the drive shaft assembly in the second direction.

3. The surgical tool of claim 1 wherein the drive system is configured to operably interface with a corresponding rotatable body portion supported on the tool drive assembly for receiving the robotically-generated output motions therefrom, the drive system comprising:

a rotation drive gear operably interfacing with the corresponding rotatable body portion;

a first rotary driven gear in meshing engagement with the rotation drive gear; and

a second rotary driven gear movably mounted to the drive shaft assembly for movement into and out of meshing engagement with the first rotary driven gear and wherein the manually-actuated control system is selectively operably engagable with the second rotary driven gear to move the second rotary driven gear out of meshing engagement with the first rotary driven gear and apply the manually-generated drive motions to the second rotary driven gear.

4. The surgical tool of claim 3 wherein the manually-actuatable control system comprises:

a reversing gear in meshing engagement with the second rotary driven gear; and

a ratchet gear supported for selective meshing engagement with the reversing gear such that a manual actuation of the ratchet gear applies the manually-generated control motions to the reversing gear.

5. The surgical tool of claim 4 wherein said ratchet gear is mounted for selective pivotal travel relative to the reversing gear between an actuated and unactuated position such that as the reversing gear is pivoted from the unactuated position to the actuated position, the reversing gear axially biases the second rotary driven gear out of meshing engagement with the first rotary driven gear.

6. The surgical tool of claim 1 wherein the surgical end effector comprises a firing element operably interfacing with the drive shaft assembly and being movably responsive to the first and second control motions applied thereto.

7. The surgical tool of claim 6 wherein the firing element is movable between a starting position and an ending position upon application of the first and second control motions to the drive shaft assembly.

8. The surgical tool of claim 7 wherein the surgical end effector comprises

an anvil selectively movable between open and closed positions;

an anvil closure system operably interfacing with the anvil and robotic system, the anvil closure system applying opening and closing control motions upon application of other robotically-generated output motions to the anvil closure system by the robotic system;

a surgical staple cartridge operably supported adjacent the anvil and supporting a plurality of surgical staples therein and wherein the firing member comprises;

a tissue cutting portion; and

a staple-driving sled.

9. The surgical tool of claim 8 wherein the firing member is driven from the starting to ending position upon application of the first control motion to the drive shaft assembly and wherein the firing member is driven from the ending position to the starting position upon application of the second control motion to the drive shaft assembly.

10. The surgical tool of claim 8 wherein application of the first control motion to the drive shaft assembly causes the firing member to move from the starting position toward the ending position in a first axial direction and application of the second control motion to the drive shaft assembly causes the firing member to move from the ending position to the starting position in a second direction opposite to the first direction and wherein application of the manually-generated control motion to the drive shaft assembly causes the firing member to move in the second direction.

11. A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly, said surgical tool comprising:

a surgical end effector comprising at least one component portion that is selectively movable between first and second positions relative to at least one other component portion thereof in response to control motions applied to the selectively movable component portion;

an elongate shaft assembly operably coupled to the surgical end effector, the elongate shaft assembly comprising at least one gear-driven portion that is in operable communication with the at least one selectively movable component portion of the surgical end effector;

a tool mounting portion operably coupled to the elongate shaft assembly, the tool mounting portion being configured to operably interface with the tool drive assembly when coupled thereto, said tool mounting portion comprising;

a driven element rotatably supported on said tool mounting portion and configured for driving engagement with a corresponding one of the at least one rotatable body portions of the tool drive assembly to receive corresponding rotary output motions therefrom; and

a drive system in operable engagement with the driven element to apply robotically-generated actuation motions thereto to cause the corresponding one of said at least one gear driven portions to apply at least one control motion to the selectively movable component and wherein the surgical tool further comprises;

a manually-actuatable reversing system operably interfacing with the elongate shaft assembly to selectively apply manually-generated control motions thereto.

12. The surgical tool of claim 11 wherein the drive system comprising:

a rotary drive gear in driving engagement with the driven element;

a first rotary driven gear in meshing engagement with the rotation drive gear; and

a second rotary driven gear movably mounted to the rotary drive shaft portion of the elongate shaft assembly for movement into and out of meshing engagement with the first rotary driven gear and wherein the manually-actuated reversing system is selectively operably engagable with the second rotary driven gear to move the second rotary driven gear out of meshing engagement with the first rotary driven gear and apply the manually-generated control motions to the second rotary driven gear.

13. The surgical tool of claim 12 wherein the manually-actuatable reversing system comprises:

a reversing gear in meshing engagement with the second rotary driven gear; and

a ratchet gear supported for selective meshing engagement with the reversing gear such that manual actuation of the ratchet gear applies the manually-generated control motions to the reversing gear.

14. The surgical tool of claim 13 wherein said ratchet gear is mounted for selective pivotal travel relative to the reversing gear between an actuated and an unactuated position such that as the reversing gear is pivoted from the unactuated position to the actuated position, the reversing gear axially biases the second rotary driven gear out of meshing engagement with the first rotary driven gear.

15. A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate rotary output motions, said surgical tool comprising:

a rotary drive system configured to interface with a corresponding portion of the tool drive assembly of the robotic system for receiving the robotically-generated rotary output motions therefrom;

a rotary drive shaft assembly operably interfacing with the rotary drive system and configured to receive the robotically-generated rotary output motions from the rotary drive system and apply rotary drive motions to a surgical end effector operably interfacing with the rotary drive shaft assembly; and

a manually-actuatable reversing system operably interfacing with the rotary drive shaft assembly to selectively apply manually-generated rotary drive motions to the rotary drive shaft assembly.

16. The surgical tool of claim 15 wherein the rotary drive system is configured to transfer a first one of the robotically-generated rotary output motions to the drive shaft assembly for causing the drive shaft assembly to apply a first one of the rotary drive motions in a first rotary direction and wherein the drive system is further configured to transfer a second one of the robotically-generated rotary output motions to the rotary drive shaft assembly for causing the rotary drive shaft assembly to apply a second one of the rotary drive motions in a second rotary direction that is opposite to the first rotary direction and wherein the manually-generated control motions are applied to the rotary drive shaft assembly in the second rotary direction.

17. The surgical tool of claim 15 wherein the rotary drive system is configured to operably interface with a corresponding rotatable body portion supported on the tool drive assembly for receiving the rotary output motions therefrom, the rotary drive system comprising:

a rotation drive gear operably interfacing with the corresponding rotatable body portion;

a first rotary driven gear in meshing engagement with the rotation drive gear; and

a second rotary driven gear movably mounted to the rotary drive shaft assembly for movement into and out of meshing engagement with the first rotary driven gear and wherein the manually-actuated reversing system is selectively operably engagable with the second rotary driven gear to move the second rotary driven gear out of meshing engagement with the first rotary driven gear and apply the manually-generated rotary drive motions to the second rotary driven gear.

18. The surgical tool of claim 17 wherein the manually-actuatable reversing system comprises:

a reversing gear in meshing engagement with the second rotary driven gear; and

a ratchet gear supported for selective meshing engagement with the reversing gear such that manual actuation of the ratchet gear applies the manually-generated rotary drive motions to the reversing gear.

19. The surgical tool of claim 18 wherein said ratchet gear is mounted for selective pivotal travel relative to the reversing gear between an actuated and unactuated position such that as the reversing gear is pivoted from the unactuated position to the actuated position, the reversing gear axially biases the second rotary driven gear out of meshing engagement with the first rotary driven gear.

20. The surgical tool of claim 15 wherein the surgical end effector comprises a firing element operably interfacing with the rotary drive shaft assembly and movably responsive to the first and second rotary drive motions applied thereto.