SURGICAL INSTRUMENT WITH MOTOR

• US 20170181804A1
• Filed: 03/13/2017
• Published: 06/29/2017
• Est. Priority Date: 05/31/2011
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: MANZO, Scott E., BURBANK, William A.
• Granted Patent: US 10,835,332 B2
• Time in Patent Office: Days
• 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 17/295 combined with cutting implements
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/2926 Details of heads or jaws
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/32 operating autonomously
• CPC Class Codes: A61B 34/35 for telesurgery
• 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: A61B 34/77 Manipulators with motion or force scaling

Abstract

A method of operating an end effector of a surgical instrument includes supplying voltage to a motor disposed in a transmission mechanism of a surgical instrument having a shaft and an end effector at a distal end of the shaft; moving a component of the end effector between a first position and a second position via a drive system coupled to the motor; and placing a limit switch in a first state during moving of the end effector component, and in a second state when the end effector component is at one of the first position or the second position.

Claims

1. A method of operating an end effector of a surgical instrument, the method comprising:

supplying voltage to a motor disposed in a transmission mechanism of a surgical instrument having a shaft and an end effector at a distal end of the shaft;

moving a component of the end effector between a first position and a second position via a drive system coupled to the motor; and

placing a limit switch in a first state during moving of the end effector component, and in a second state when the end effector component is at one of the first position or the second position.

2. The method according to claim 1, wherein placing the limit switch in the first state comprises one of depressing and releasing a button associated with the limit switch, and placing the limit switch in the second state comprises the other of depressing and releasing the button.

3. The method according to claim 2, wherein moving the component of the end effector comprises moving the component between a home position and a fully-operational position.

4. The method according to claim 1, wherein the component of the end effector comprises a cutting blade and moving the component comprises moving the cutting blade distally and proximally along a length of the end effector.

5. The method according to claim 1, wherein the component of the end effector comprises a cutting blade and moving the cutting blade between the first and second position comprises moving the cutting blade between a fully-retracted position relative to the end effector and a fully-extended distal-most position relative to the end effetor.

6. The method according to claim 1, wherein placing the limit switch in the first and second state comprises engaging a portion of the limit switch with a portion of a gear of the drive system.

7. The method according to claim 1, further comprising altering the voltage supplied to the motor based on a state of the limit switch.

8. The method according to claim 1, wherein the component of the end effector comprises a cutting blade and moving the cutting blade via the drive system comprises exerting pushing and pulling forces on a drive component attached to the cutting blade.

9. A teleoperated robotic surgical system, comprising:

a surgical instrument comprising a shaft, an end effector configured to perform one or more surgical procedures, and a transmission mechanism configured to transmit forces to actuate the surgical instrument, wherein the transmission mechanism comprises an electric motor configured to control a component of the end effector;

a patient side console configured to interface with the transmission mechanism via servo actuators to control the surgical instrument;

a surgeon side console comprising one or more input devices configured to be manipulated by a surgeon and to transmit signals to control the surgical instrument; and

a control console configured to receive and transmit signals to and from the patient side console and the surgeon side console to control the surgical instrument, wherein the control console is configured to transmit voltage signals to the motor.

10. The system according to claim 9, wherein the transmission mechanism further comprises a limit switch operably coupled to the motor and having a first state corresponding to the end effector component being between a first position and a second position, and a second state corresponding to the end effector component being at one of the first position or the second position.

11. The system according to claim 10, wherein the end effector component comprises a cutting blade, and the first position is a fully-retracted position of the cutting blade relative to the end effector and the second position is a fully-extended position of the cutting blade relative to the end effector.