Robotic arm DLUs for performing surgical tasks

• US 6,231,565 B1
• Filed: 06/18/1998
• Issued: 05/15/2001
• Est. Priority Date: 06/18/1997
• Status: Expired due to Term

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: United States Surgical Corporation (Medtronic Plc)
• Inventors: Hinchliffe, Peter W. J., Ratcliff, Keith, Toso, Kenneth E., Tovey, H. Jonathan
• Primary Examiner(s): Dvorak, Linda C. M.
• Assistant Examiner(s): YARNELL, BRYAN KEITH
• Application Number:
  US09/099,740
• Time in Patent Office: 1,062 Days
• Field of Search: 606/1, 606/130, 128/897, 128/898, 414/1, 600/101, 600/102
• US Class Current: 606/1
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/0491 Sewing machines for surgery
• CPC Class Codes: A61B 17/062 Needle manipulators
• 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 17/1285 for minimally invasive surgery
• CPC Class Codes: A61B 17/32053 Punch like cutting instruments, e.g. using a cylindrical or oval knife A61B17/326 takes precedence; trepans A61B17/1695; for use on the cornea A61F9/007
• CPC Class Codes: A61B 17/3211 Surgical scalpels, knives; Accessories therefor
• CPC Class Codes: A61B 18/20 using laser
• CPC Class Codes: A61B 2017/0023 disposable
• CPC Class Codes: A61B 2017/00247 Making holes in the wall of the heart, e.g. laser Myocardial revascularization
• CPC Class Codes: A61B 2017/00464 for use with different instruments with hole for different instruments A61B2017/22072
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00778 Operations on blood vessels A61B2017/22097, A61B2017/320741 take precedence
• CPC Class Codes: A61B 2017/06047 located at the middle of the needle
• CPC Class Codes: A61B 2017/0609 having sharp tips at both ends, e.g. shuttle needle alternately retained and released by first and second facing jaws of a suturing instrument MIS suturing instruments A61B17/0469; jaws of MIS forceps A61B2017/2926
• CPC Class Codes: A61B 2018/00392 Transmyocardial revascularisation
• 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 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

Disposable loading units (DLUs) configured for mounting to a robotic arm for performing at least one surgical task are presented. Each DLU includes an attachment platform having at least one connector for engaging at least one connector on a distal end of the robotic arm for connecting the DLU to the robotic arm, a head portion connected to the attachment platform at one end and configured for housing an electro-mechanical actuation assembly therein, and at least one surgical tool member extending from the head portion and operatively associated with the electro-mechanical actuation assembly for controlling the operation and movement of the at least one surgical tool member. The at least one surgical tool member may include a cutting assembly, an aortic hole punch assembly, a lasing assembly, a coring assembly, or a vascular suturing assembly.

Claims

1. A robotic system for performing surgical tasks comprising:

a) a robotic arm defining a longitudinal axis;

b) an actuation assembly operatively associated with the robotic arm for controlling operation and movement of the robotic arm;

c) a disposable loading unit (DLU) mounted to the robotic arm, the DLU including at least one surgical tool member and control means for controlling operation and movement of the at least one surgical tool member, the DLU being releasably mounted to the robotic arm and defining an electrical interface therewith, wherein mechanical mounting of the DLU to the robotic arm electrically couples the actuation assembly and the control means, and wherein mechanical release of the DLU and the robotic arm electrically isolates the actuation assembly and the control means.

2. A robotic system as recited in claim 1, wherein the control means includes a processor and a receiver for receiving electrical signals transmitted from the actuation assembly to control the operation and movement of the at least one surgical tool member.

3. A robotic system as recited in claim 1, wherein the DLU is electro-mechanically coupled to the robotic arm for electrically operating the DLU and for articulating the DLU with respect to the longitudinal axis.

4. A robotic system as recited in claim 1, wherein the at least one surgical tool member is selected from a group consisting of a cutting assembly, an aortic hole punch assembly, a lasing assembly, a fastener applying assembly, a coring assembly, or a vascular suturing assembly.

5. A robotic system as recited in claim 1, wherein the DLU includes at least one mechanical connector for connecting the DLU to the robotic arm.

6. A robotic system as recited in claim 5, wherein the at least one mechanical connector and the robotic arm define the electrical interface.

7. A robotic system for performing surgical tasks comprising:

a) means for communicating commands in the form of electrical signals from a processor within an actuation assembly to an electro-mechanical device having at least one surgical tool member and configured for releasably mounting at a distal end of a robotic arm;

b) control means within the electro-mechanical device operatively associated with the communicating means for receiving the electrical signals from the actuation assembly for actuating at least one electrical device within the electro-mechanical device for controlling the operation and movement of the at least one surgical tool member; and

c) electrical connection means operable to electrically isolate the control means and the actuation assembly when the electro-mechanical device is mechanically released from the robotic arm.

8. A robotic system as recited in claim 7, wherein the at least one surgical tool member is selected from a group consisting of a cutting assembly, an aortic hole punch assembly, a lasing assembly, a coring assembly, or a vascular suturing assembly.

9. A robotic system as recited in claim 7, wherein the at least one surgical tool member is configured for endoscopic surgical tasks.

10. A robotic system as recited in claim 7, wherein the at least one surgical tool member is configured for laparoscopic surgical tasks.

11. A robotic system for performing surgical tasks which comprises:

a) means for communicating commands in the form of electrical signals from a processor within an actuation assembly to an electro-mechanical device having at least one surgical tool member and configured for releasably mounting at a distal end of a robotic arm;

b) control means within the electro-mechanical device operatively associated with the communicating means for receiving the electrical signals from the actuation assembly for actuating at least one electrical device within the electro-mechanical device for controlling the operation and movement of the at least one surgical tool member; and

c) electrical connection means operable to electrically isolate the control means and the actuation assembly when the electro-mechanical device is released from the robotic arm and being adapted to electrically couple the control means and the actuation assembly when the electro-mechanical device is mounted to the robotic arm.

12. A robotic system for performing surgical tasks, which comprises:

a frame;

a robotic arm connected to the frame and movable relative to the frame;

an electro-mechanical device releasably mounted to the robotic arm and having a surgical effector for performing a surgical task;

an actuator for controlling movement of the robotic arm and the surgical effector through transmission of respective electrical signals thereto; and

an electrical interface for electrically coupling the electro-mechanical device and the actuator, the electrical interface being operable to electrically isolate the electro-mechanical device and the actuator upon removal of the electro-mechanical device from mounting to the robotic arm.

13. A robotic system as recited in claim 12 wherein the electrical interface is operable to electrically couple the electro-mechanical device and the actuator upon mounting of the electro-mechanical device to the robotic arm.

14. A robotic system for performing surgical tasks, which comprises:

a frame;

a robotic arm connected to the frame and movable relative to the frame;

an electro-mechanical device having a surgical effector for performing a surgical task;

an actuator for controlling movement of the robotic arm and the surgical effector through transmission of respective electrical signals thereto; and

a mechanical and electrical connection for releasably mounting the electro-mechanical device and the robotic arm wherein mounting of the electro-mechanical device to the robotic arm electrically couples the actuator and the electro-mechanical device, and wherein release of the electro-mechanical device from the robotic arm electrically isolates the actuator and the electro-mechanical device.