Electromechanical driver device for use with anastomosing, stapling, and resecting instruments

• US 6,443,973 B1
• Filed: 06/02/1999
• Issued: 09/03/2002
• Est. Priority Date: 06/02/1999
• Status: Expired due to Term

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Power Medical Interventions, Inc. (Medtronic Plc)
• Inventors: Whitman, Michael P.
• Primary Examiner(s): Robert, Eduardo C.
• Application Number:
  US09/324,452
• Time in Patent Office: 1,189 Days
• Field of Search: 606/219, 606/170, 606/167, 606/171, 606/75, 227/176.1, 227/179
• US Class Current: 606/219
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/1114 of the digestive tract, e.g. bowels or oesophagus
• CPC Class Codes: A61B 17/1155 Circular staplers comprising a plurality of staples
• CPC Class Codes: A61B 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00464 for use with different instruments
• CPC Class Codes: A61B 2017/00473 Distal part, e.g. tip or head A61B2017/00464 takes precedence
• CPC Class Codes: A61B 2017/07214 Stapler heads
• CPC Class Codes: A61B 2017/07278 characterised by its sled or its staple holder
• CPC Class Codes: A61B 2017/2905 flexible

Abstract

An electromechanical driver for use in gastrointestinal tract surgery, including a flexible sheath and a handle, is provided. Also dislosed are a series of surgical attachments which may be utilized in conjunction with the electromechanical driver. The handle of the driver includes at least one motor which is selectively engageable by the actuation of a trigger. The motor is coupled to a flexible drive shaft which extends through the flexible sheath. At a distal end of the flexible sheath, and correspondingly at the end of the drive shaft, the various surgical attachments may be coupled. The turning of the drive shaft provides the necessary power to actuate the surgical instrument.

Claims

1. An electromechanical driver assembly for remotely driving surgical attachments having turning members therein, comprising:

a flexible shaft including at least two flexible and axially rotating members disposed within the shaft,

said rotating members having distal and proximal ends,

each rotating member being capable of transmitting a torque applied to the proximal end thereof, therealong to said distal end thereof,

said distal ends including means for coupling to said corresponding turning members of said surgical attachments;

at least one steering wire disposed along the shaft and configured to steer the flexible shaft; and

a handle portion including

at least two selectively engageable motors disposed therein and coupled with corresponding ones of said rotating members whereby selective engagement of either of the at least two motors causes the corresponding rotating shaft to rotate, thus transmitting a torque to a corresponding turning member of a surgical attachment.

2. The electromechanical driver assembly as set forth in claim 1, wherein the handle further includes a power source coupled to said at list two motors for independently driving them.

3. The electromechanical driver assembly as set forth in claim 2, wherein the power source is a direct current source.

4. The electromechanical driver assembly as set forth in claim 2, wherein said power source is reversible such that the motors may be reversed biased, thereby driving the motors in the opposite rotational direction.

5. The electromechanical driver assembly as set forth in claim 4, including a manually actuatable switch which is coupled to said power source for selectively reversing the power source.

6. The electromechanical driver assembly as set forth in claim 1, including an actuatable electrical circuit and an indicator means coupled thereto, wherein the actuatable electrical circuit is coupleable to corresponding sensors in said attachment, whereby said indicator means may indicate positions of said attachment in response to the state of the electrical circuit.

7. The electromechanical driver assembly as set forth in claim 6, wherein the indicator means comprises an LCD.

8. The electromechanical driver assembly as set forth in claim 1, wherein the distal ends of the flexible and axially rotating members are hexagonally shaped, and the turning members of the surgical attachment each include corresponding hexagonal sockets, so that the rotating members may couple and transmit torque to the corresponding turning members of the surgical attachment by an interference fit with said turning members.

9. A combined electromagnetic driver and linear clamping and stapling attachment assembly, comprising

an electromagnetic driver including

a flexible shaft including at least two flexible and axially rotating members,

said rotating members having distal and proximal ends,

each rotating member being capable of transmitting a torque applied to the proximal end thereof, therealong to said distal end thereof,

said distal ends including means for coupling to said corresponding linear clamping and stapling attachments;

at least one steering wire disposed along the shaft and configured to steer the flexible shaft; and

a handle portion, including

at least two selectively engageable motors disposed therein coupled to corresponding ones of said rotating members of said flexible shaft, whereby selective engagement of either of the at least two motors causes the corresponding rotating shaft to rotate; and

a linear clamping and stapling attachment including

an interfacing portion having at least two turning members, each of said turning members being coupleable to one of said at least two flexible and axially rotating members,

a pair of opposing jaws which are selectively separable and closeable in accordance with the rotation of one of the at least two turning members,

a plurality of staples and a staple driver mechanism, said staple driver mechanism being selectively coupled in staple driving relation to a second one of the at least two turning members.

10. The electromechanical driver assembly as set forth in claim 9, wherein the handle includes a power source coupled to said at least two motors for independently driving them.

11. The electromechanical driver assembly as set forth in claim 10, wherein the power source is a direct current source.

12. The electromechanical driver assembly as set forth in claim 9, wherein said power source is reversible such that the motors may be reverse biased, thereby driving the motors in the opposite rotational direction.

13. The electromechanical driver assembly as set forth in claim 12, including a manually actuatable switch which is coupled to said power source for selectively reversing the power source.

14. The electromechanical driver assembly as set forth in claim 9, including an actuatable electrical circuit and an indicator means coupled thereto, wherein the actuatable electrical circuit is coupleable to corresponding sensors in said attachment, whereby said indicator means may indicate positions of said attachment in response to the state of the electrical circuit.

15. The electromechanical driver assembly as set forth in claim 14, wherein the indicator means comprises an LCD.

16. The electromechanical driver assembly as set forth in claim 9, wherein the distal ends of the flexible and axially rotating members are hexagonally shaped, and the turning members of the surgical attachment each include corresponding hexagonal sockets, so that the rotating members may couple and transmit torque to the corresponding turning members of the surgical attachment by an interference fit with said turning members.

17. A combined electromagnetic driver and linear clamping and stapling attachment assembly, comprising

an electromagnetic driver including

a flexible shaft including at least two flexible and axially rotating members,

said rotating members having distal and proximal ends,

each rotating member being capable of transmitting a torque applied to the proximal end thereof, therealong to said distal end thereof,

said distal ends including means for coupling to said corresponding linear clamping and stapling attachment;

at least one steering wire disposed along the shaft and configured to steer the flexible shaft; and

a handle portion, including

corresponding at least two selectively engageable motors coupled to corresponding ones of said at least two flexible and axially rotating members of said flexible shaft, whereby selective engagement of either of the at least two motors causes the corresponding one of the flexible and axially rotating shaft to rotate; and

an anastomosing and stapling attachment including

an interfacing portion having at least two turning members, each of said turning members being coupleable to one of said at least two flexible and axially rotating members,

an anvil portion which is selectively advanceable and retractable in accordance with the rotation of one of the at least two turning members,

a blade and staple housing portion, selectively coupleable to said anvil portion, which housing portion further includes a blade and staple driver assembly which is coupled to a second one of the at least two turning members such that selective actuation of said second turning member causes said blade and said staple driver to advance out of the housing and toward the anvil portion.

18. An electromechanical driver for driving a surgical attachment, comprising:

an elongated shaft;

at least two axially rotatable drive shafts situated within the elongated shaft, a distal end of each of the drive shafts configured to couple to the surgical attachment to drive the surgical attachment;

at least one steering wire disposed along the elongated shaft and configured to steer the elongated shaft; and

a motor arrangement to drive the drive shafts.

19. The electromechanical driver according to claim 18, wherein the motor arrangement includes a respective motor for each of the drive shafts.

20. The electromechanical driver according to claim 18, wherein the motor arrangement is configured to drive the drive shafts independently of one another.

21. The electromechanical driver according to claim 18, wherein the elongated shaft and drive shafts are flexible.

22. The electromechanical driver according to claim 18, comprising:

a respective trigger corresponding to each of the drive shafts, each respective trigger independently controlling a respective one of the drive shafts.

23. The electromechanical driver according to claim 18, wherein the distal end of each of the drive shafts is configured to be releasably coupled to the surgical attachment.

24. The electromechanical driver according to claim 18, wherein a distal end of the elongated shaft is configured to be coupled to the surgical attachment.

25. The electromechanical driver according to claim 24, wherein the distal end of the elongated shaft is configured to be releasably coupled to the surgical attachment.

26. The electromechanical driver according to claim 18, wherein the distal end of each of the drive shafts is configured to be received in a respective socket of the surgical attachment.

27. The electromechanical driver according to claim 26, wherein the distal end of each of the drive shafts is configured to be releasably received in a respective socket of the surgical attachment.

28. A combined electromechanical driver and a surgical attachment assembly, comprising:

an electromagnetic driver including;

an elongated shaft,

at least two axially rotatable drive shafts situated within the elongated shaft,

at least one steering wire disposed along the elongated shaft and configured to steer the elongated shaft,

a motor arrangement to drive the drive shafts; and

a surgical attachment, a distal end of each of the drive shafts of the electromagnetic driver coupled to the surgical attachment to drive the surgical attachment.

29. The assembly according to claim 28, wherein the surgical attachment includes:

a first jaw;

a second jaw in opposed correspondence with the first jaw, the first and second jaws being relatively movable between an open position and a closed position, a first respective one of the drive shafts effecting the relative movement of the first and second jaws between the open position and the closed position, and a staple driver to drive fasteners through tissue and toward the first jaw, a second respective one of the drive shafts driving the staple driver.

30. The assembly according to claim 28, wherein the motor arrangement includes a respective motor for each of the drive shafts.

31. The assembly according to claim 28, wherein the motor arrangement is configured to drive the drive shafts independently of one another.

32. The assembly according to claim 28, wherein the elongated shaft and drive shafts are flexible.

33. The assembly according to claim 28, comprising:

a respective trigger corresponding to each of the drive shafts, each respective trigger independently controlling a respective one of the drive shafts.

34. The assembly according to claim 28, wherein the distal end of each of the drive shafts is configured to be releasably coupled to the surgical attachment.

35. The assembly according to claim 28, wherein a distal end of the elongated shaft is configured to be coupled to the surgical attachment.

36. The assembly according to claim 35, wherein the distal end of the elongated shaft is configured to be releasably coupled to the surgical attachment.

37. The assembly according to claim 28, wherein the distal end of each of the drive shafts is configured to be received in a respective socket of the surgical attachment.

38. The assembly according to claim 37, wherein the distal end of each of the drive shafts is configured to be releasably received in a respective socket of the surgical attachment.

39. The assembly according to claim 28, wherein the distal end of each of the drive shafts is configured to be received in a respective socket of the surgical attachment.

40. The assembly according to claim 39, wherein the distal end of each of the drive shafts is configured to be releasably received in a respective socket of the surgical attachment.

41. The assembly according to claim 28, wherein the surgical attachment includes:

an axially moveable anvil, a first respective one of the drive shafts effecting the movement of the anvil; and

a staple driver to drive staples through tissue toward the anvil, a second respective one of the drive shafts driving the staple driver.

42. The assembly according to claim 28, wherein the elongated shaft includes a first coupling mechanism and wherein the surgical attachment includes a second coupling mechanism complementary to the first coupling mechanism.