Motor-driven surgical cutting and fastening instrument with articulatable end effector

• US 7,568,603 B2
• Filed: 01/31/2006
• Issued: 08/04/2009
• Est. Priority Date: 01/31/2006
• Status: Active Grant

• Current Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Shelton, Frederick E. IV, Gillum, Christoph L.
• Primary Examiner(s): Rada; Rinaldi I.
• Assistant Examiner(s): LOW, LINDSAY M
• Application Number:
  US11/343,562
• Publication Number:
  US 20070175959A1
• Time in Patent Office: 1,281 Days
• Field of Search: 2271751-1821, 227/19
• US Class Current: 227/178.1
• 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 2017/00685 Archimedes screw
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/07278 characterised by its sled or its staple holder
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

A surgical cutting and fastening instrument is disclosed. According to various embodiments, the instrument includes an end effector comprising a moveable cutting instrument. The instrument also includes a main drive shaft assembly for actuating the cutting instrument in the end effector. The instrument also includes a handle comprising a gear drive train connected to the main drive shaft assembly, a motor for actuating the gear drive train, a closure trigger for causing the end effector to clamp an object positioned in the end effector when the closure trigger is retracted, and a firing trigger separate from the closure trigger for actuating the motor when the firing trigger is retracted. The instrument further comprises means for articulating the end effector.

Claims

1. A surgical cutting and fastening instrument comprising:

an end effector comprising;

an elongate channel;

a clamping member pivotably connected to the channel; and

a moveable cutting instrument for traversing the channel to cut an object clamped in the end effector by the clamping member when the clamping member is in a clamped position;

a rotary main drive shaft assembly for actuating the cutting instrument in the end effector;

a handle comprising;

a gear drive train connected to the main drive shaft assembly for rotating the main drive shaft assembly;

an electric motor for actuating the gear drive train;

a battery connected to the motor for powering the motor;

a closure trigger for causing the clamping member to pivot to the clamped position when retracted;

a firing trigger separate from the closure trigger for actuating the motor when the firing trigger is retracted, wherein a loading force on the firing trigger is related to a loading force experienced by the cutting instrument when the cutting instrument traverses the channel, wherein the firing trigger comprises an upper gear portion that meshes with a gear of the gear drive train;

a sensor circuit comprising at least one sensor for (i) sensing retraction of the firing trigger, wherein, when retraction of the firing trigger is sensed, the motor is signaled to forward rotate to cause cutting of the object positioned in the end effector by the cutting instrument, (ii) detecting a condition indicative of an end of a cutting stroke by the cutting instrument in the end effector, wherein, when the condition indicative of the end of the cutting stroke is sensed, the motor is signaled to reverse rotate, and (iii) detecting a condition indicative of full retraction of the cutting instrument in the end effector, wherein, when the condition indicative of full retraction is sensed, the motor is signaled to stop rotating; and

means for articulating the end effector.

2. The surgical cutting and fastening instrument of claim 1, further comprising an articulation control for allowing an operator of the instrument to control the means for articulating.

3. The surgical cutting and fastening instrument of claim 1, wherein the means for articulating comprises a universal-joint.

4. The surgical cutting and fastening instrument of claim 1, wherein the means for articulating comprises a bevel gear assembly.

5. The surgical cutting and fastening instrument of claim 1, wherein the means for articulating comprises a torsion cable.

6. The surgical cutting and fastening instrument of claim 1, wherein:

the main drive shaft assembly comprises a proximate drive shaft and a distal drive shaft; and

the means for articulating are connected to the main drive shaft assembly between the proximate drive shaft and the distal drive shaft.

7. The surgical cutting and fastening instrument of claim 1, wherein the sensor circuit comprises:

a run motor sensor for sensing retracting of the firing trigger;

a reverse motor sensor for detecting the condition indicative of the end of the cutting stroke by the cutting instrument in the end effector; and

a stop motor sensor for detecting the condition indicative of full retraction of the cutting instrument in the end effector.

8. The surgical cutting and fastening instrument of claim 6, further comprising a mechanical closure system connected to the closure trigger and to the clamping member for causing the clamping member to pivot to the clamped position when the closure trigger is retracted.

9. The surgical cutting and fastening instrument of claim 8, wherein the mechanical closure system comprises:

a bracket connected to the closure trigger; and

a closure tube assembly having a distal end connected to the clamping member and a proximate end seated in the bracket.

10. The surgical cutting and fastening instrument of claim 6, wherein the end effector includes a staple cartridge seated in the elongate channel and the clamping member comprises an anvil.

11. The surgical cutting and fastening instrument of claim 6, further comprising a locking mechanism for locking the closure trigger when retracted.

12. The surgical cutting and fastening instrument of claim 1, wherein the end effector further comprises a helical drive screw, such that forward rotation of the helical drive screw causes the cutting instrument to undertake the cutting stroke by traveling distally along the channel, and reverse rotation of the helical drive screw causes the cutting instrument to retract by traveling proximately along the channel.

17. The surgical cutting and fastening instrument of claim 7, wherein the run motor sensor comprises a proportional switch such that the rate of rotation of the motor is proportional to the retraction force applied to the firing trigger.

13. A surgical cutting and fastening instrument comprising:

an end effector comprising a moveable cutting instrument;

a rotary main drive shaft assembly for actuating the cutting instrument in the end effector;

a handle comprising;

a gear drive train connected to the main drive shaft assembly for rotating the main drive shaft assembly;

an electric motor for actuating the gear drive train;

a battery connected to the motor for powering the motor;

a closure trigger for causing the end effector to clamp an object positioned in the end effector when the closure trigger is retracted; and

a firing trigger separate from the closure trigger for actuating the motor when the firing trigger is retracted, wherein a loading force on the firing trigger is related to a loading force experienced by the cutting instrument when the cutting instrument longitudinally traverses the end effector, wherein the firing trigger comprises an upper gear portion that meshes with a gear of the gear drive train;

a sensor circuit comprising at least one sensor for (i) sensing retraction of the firing trigger, wherein, when retraction of the firing trigger is sensed, the motor is signaled to forward rotate to cause cutting of the object positioned in the end effector by the cutting instrument, (ii) detecting a condition indicative of an end of a cutting stroke by the cutting instrument in the end effector, wherein, when the condition indicative of the end of the cutting stroke is sensed, the motor is signaled to reverse rotate, and (iii) detecting a condition indicative of full retraction of the cutting instrument in the end effector, wherein, when the condition indicative of full retraction is sensed, the motor is signaled to stop rotating; and

means for articulating the end effector.

14. The surgical cutting and fastening instrument of claim 13, wherein:

the main drive shaft assembly comprises a proximate drive shaft and a distal drive shaft; and

the means for articulating are connected to the main drive shaft assembly between the proximate drive shaft and the distal drive shaft.

15. The surgical cutting and fastening instrument of claim 14, further comprising an articulation control adjacent to the handle for allowing an operator of the instrument to control the means for articulating.

18. The surgical cutting and fastening instrument of claim 13, wherein the sensor circuit comprises:

a run motor sensor for sensing retracting of the firing trigger;

a reverse motor sensor for detecting the condition indicative of the end of the cutting stroke by the cutting instrument in the end effector; and

a stop motor sensor for detecting the condition indicative of full retraction of the cutting instrument in the end effector.

16. A surgical cutting and fastening instrument comprising:

an end effector comprising a moveable cutting instrument;

a rotary main drive shaft assembly for actuating the cutting instrument in the end effector, wherein the main drive shaft assembly comprises means for articulating the end effector;

a handle connecting to the main drive shaft comprising;

a gear drive train connected to the main drive shaft assembly for rotating the main drive shaft assembly;

an electric motor for actuating the gear drive train;

a battery connected to the motor for powering the motor;

a closure trigger, closeable by rotation toward a grip portion of the handle, for causing the end effector to clamp an object positioned in the end effector when the closure trigger is retracted;

a firing trigger separate from the closure trigger and closeable by rotation toward the grip portion of the handle, wherein the firing trigger is for actuating the motor when the firing trigger is retracted, wherein a loading force on the firing trigger is related to a loading force experienced by the cutting instrument when the cutting instrument longitudinally traverses the end effector, and wherein the firing trigger comprises an upper gear portion that meshes with a gear of the gear drive train; and

a sensor circuit comprising at least one sensor for (i) sensing retraction of the firing trigger, wherein, when retraction of the firing trigger is sensed, the motor is signaled to forward rotate to cause cutting of the object positioned in the end effector by the cutting instrument, (ii) detecting a condition indicative of an end of a cutting stroke by the cutting instrument in the end effector, wherein, when the condition indicative of the end of the cutting stroke is sensed, the motor is signaled to reverse rotate, and (iii) detecting a condition indicative of full retraction of the cutting instrument in the end effector, wherein, when the condition indicative of full retraction is sensed, the motor is signaled to stop rotating.

19. The surgical cutting and fastening instrument of claim 16, wherein the sensor circuit comprises:

a run motor sensor for sensing retracting of the firing trigger;

a reverse motor sensor for detecting the condition indicative of the end of the cutting stroke by the cutting instrument in the end effector; and

a stop motor sensor for detecting the condition indicative of full retraction of the cutting instrument in the end effector.

20. A surgical cutting and fastening instrument comprising:

an end effector comprising;

an elongate channel;

a clamping member pivotably connected to the channel; and

a moveable cutting instrument for traversing the channel to cut an object clamped in the end effector by the clamping member when the clamping member is in a clamped position;

a rotary main drive shaft assembly for actuating the cutting instrument in the end effector;

a handle comprising;

a gear drive train connected to the main drive shaft assembly for rotating the main drive shaft assembly, wherein the gear drive train comprises a helical drum gear and a ring threaded on the helical gear drum;

an electric motor for actuating the gear drive train;

a battery connected to the motor for powering the motor;

a closure trigger for causing the clamping member to pivot to the clamped position when retracted;

a firing trigger separate from the closure trigger for actuating the motor when the firing trigger is retracted, wherein a loading force on the firing trigger is related to a loading force experienced by the cutting instrument when the cutting instrument traverses the channel;

an arm connecting the firing trigger to the ring threaded on the helical gear drum;

a sensor circuit comprising at least one sensor for (i) sensing retraction of the firing trigger, wherein, when retraction of the firing trigger is sensed, the motor is signaled to forward rotate to cause cutting of the object positioned in the end effector by the cutting instrument, (ii) detecting a condition indicative of an end of a cutting stroke by the cutting instrument in the end effector, wherein, when the condition indicative of the end of the cutting stroke is sensed, the motor is signaled to reverse rotate, and (iii) detecting a condition indicative of full retraction of the cutting instrument in the end effector, wherein, when the condition indicative of full retraction is sensed, the motor is signaled to stop rotating; and

means for articulating the end effector.

21. The surgical cutting and fastening instrument of claim 20, further comprising an articulation control for allowing an operator of the instrument to control the means for articulating.

22. The surgical cutting and fastening instrument of claim 20, wherein the means for articulating comprises a universal-joint.

23. The surgical cutting and fastening instrument of claim 20, wherein the means for articulating comprises a bevel gear assembly.

24. The surgical cutting and fastening instrument of claim 20, wherein the means for articulating comprises a torsion cable.

25. The surgical cutting and fastening instrument of claim 20, wherein:

the main drive shaft assembly comprises a proximate drive shaft and a distal drive shaft; and

the means for articulating are connected to the main drive shaft assembly between the proximate drive shaft and the distal drive shaft.

26. The surgical cutting and fastening instrument of claim 20, wherein the sensor circuit comprises:

a run motor sensor for sensing retracting of the firing trigger;

a reverse motor sensor for detecting the condition indicative of the end of the cutting stroke by the cutting instrument in the end effector; and

a stop motor sensor for detecting the condition indicative of full retraction of the cutting instrument in the end effector.

27. The surgical cutting and fastening instrument of claim 26, wherein the run motor sensor comprises a proportional switch such that the rate of rotation of the motor is proportional to the retraction force applied to the firing trigger.

28. The surgical cutting and fastening instrument of claim 20, further comprising a mechanical closure system connected to the closure trigger and to the clamping member for causing the clamping member to pivot to the clamped position when the closure trigger is retracted.

29. The surgical cutting and fastening instrument of claim 28, wherein the mechanical closure system comprises:

a bracket connected to the closure trigger; and

a closure tube assembly having a distal end connected to the clamping member and a proximate end seated in the bracket.

30. The surgical cutting and fastening instrument of claim 20, wherein the end effector includes a staple cartridge seated in the elongate channel and the clamping member comprises an anvil.

31. The surgical cutting and fastening instrument of claim 20, further comprising a locking mechanism for locking the closure trigger when retracted.

32. The surgical cutting and fastening instrument of claim 20, wherein the end effector further comprises a helical drive screw, such that forward rotation of the helical drive screw causes the cutting instrument to undertake the cutting stroke by traveling distally along the channel, and reverse rotation of the helical drive screw causes the.