Surgical instrument with force-feedback capabilities

• US 8,157,153 B2
• Filed: 02/04/2011
• Issued: 04/17/2012
• Est. Priority Date: 01/31/2006
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Shelton, Frederick E. IV, Ouwerkerk, John N., Morgan, Jerome R., Swayze, Jeffrey S.
• Primary Examiner(s): Nash, Brian D
• Application Number:
  US13/021,121
• Publication Number:
  US 20110174860A1
• Time in Patent Office: 438 Days
• Field of Search: 227/180.1, 227/19, 227/175.1, 227/177.1, 227/179.1
• US Class Current: 227/180.1
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• 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 17/105 Wound clamp magazines for packaging sharps A61B50/3001
• CPC Class Codes: A61B 17/1114 of the digestive tract, e.g. bowels or oesophagus
• CPC Class Codes: A61B 17/115 Staplers for performing anastomosis in a single operation
• CPC Class Codes: A61B 17/1155 Circular staplers comprising a plurality of staples
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2017/00353 one mechanical instrument performing multiple functions, e.g. cutting and grasping
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/0042 with special provisions for gripping
• CPC Class Codes: A61B 2017/00685 Archimedes screw
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/07214 Stapler heads
• 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 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2090/033 : Abutting means, stops, e.g. abutting on tissue or skin
• CPC Class Codes: A61B 2090/064 : for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/065 : for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/069 : using a plummet or weight
• CPC Class Codes: A61B 2090/0803 : Counting the number of times an instrument is used
• 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 34/30 : Surgical robots
• 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 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 5/4836 : Diagnosis combined with treatment in closed-loop systems or methods A61B5/0036 takes precedence

Abstract

A surgical instrument. The surgical instrument has an end effector and a trigger in communication with the end effector. The surgical instrument also has a first sensor and an externally accessible memory device in communication with the first sensor. The first sensor has an output that represents a first condition of either the trigger or the end effector. The memory device is configured to record the output of the first sensor. In various embodiments, memory device may include an output port and/or a removable storage medium.

Claims

1. A surgical cutting and fastening instrument comprising:

a tissue-engaging end effector having a moveable tissue-cutting implement operably supported therein;

a main drive shaft assembly operably interfacing with the end effector for transmitting an actuation motion to the movable tissue-cutting implement therein;

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

a motor for actuating the gear drive train;

a motor actuator for controlling said motor;

a reverse motor sensor for sensing an end of a cutting stroke of the tissue-cutting implement such that when the reverse motor sensor senses the end of the cutting stroke, the motor is signaled to reverse rotate to retract the tissue-cutting implement; and

a stop motor sensor for sensing retraction of the cutting implement such that when the stop motor sensor senses retraction of the cutting implement, the motor is signaled to stop rotating.

2. The surgical cutting and fastening instrument of claim 1, wherein the end effector includes a staple cartridge.

3. The surgical cutting and fastening instrument of claim 1, wherein the end effector includes a helical drive screw, such that forward rotation of the helical drive screw causes the tissue-cutting implement to undertake the cutting stroke, and reverse rotation of the helical drive screw causes the tissue-cutting implement to retract.

4. The surgical cutting and fastening instrument of claim 1, wherein the main drive shaft includes articulation means for articulating the end effector.

5. The surgical cutting and fastening instrument of claim 1, wherein said end effector has a anvil movably supported thereon.

6. The surgical cutting and fastening instrument of claim 5 further comprising a closure actuator interfacing with said main drive shaft assembly to selectively apply opening and closing motions to said anvil.

7. The surgical cutting and fastening instrument of claim 6 wherein said main drive shaft assembly further comprises a closure tube movably interfacing with said anvil such that movement of said closure tube in a distal direction causes said anvil to move to a closed position and movement of said closure tube in a proximal direction, said closure tube causes said anvil to open.

8. The surgical cutting and fastening instrument of claim 1, wherein the end effector comprises:

an elongate channel for carrying the cutting instrument; and

an anvil pivotably connected to the elongate channel.

9. The surgical cutting and fastening instrument of claim 1, wherein the motor comprises a DC brushed motor.

10. A surgical instrument, comprising:

an end effector comprising;

an elongated channel configured to operably support a staple cartridge therein;

an anvil movably supported relative to said elongated channel and being movable to a open positions relative to a staple cartridge within said elongated channel upon application of opening motions thereto, said anvil being movable to closed positions relative to the staple cartridge upon application of closing motions to said anvil; and

a tissue cutting implement operably supported for reciprocatable movement within said elongated channel upon application of actuation and retraction motions thereto and wherein said surgical instrument further comprises;

a shaft assembly connected to the end effector, said shaft assembly comprising;

a drive shaft operably interfacing with said tissue cutting implement for transmitting said actuation and retraction motions thereto;

a gear drive train operably interfacing with said drive shaft;

a motor for actuating the gear drive train;

means for controlling said motor;

means for communicating resistive forces experienced by said tissue cutting implement to said means for controlling as said tissue cutting implement is driven through tissue clamped between said staple cartridge and said anvil; and

a closure tube movably interfacing with said anvil such that movement of said closure tube in a distal direction causes said anvil to move to a closed position and movement of said closure tube in a proximal direction, said closure tube causes said anvil to open.

11. The surgical cutting and fastening instrument of claim 10 further comprising means for applying control motions to said closure tube.

12. A surgical cutting and fastening instrument comprising:

an elongate channel configured to operably support a surgical staple cartridge therein;

a clamping member pivotally connected to the elongate channel for selectively pivotal travel relative thereto upon application of opening and closing motions to said clamping member;

a tissue-cutting implement operably supported within said elongate channel;

a main drive shaft assembly operably interfacing with the end effector for transmitting an actuation motion to the movable cutting implement therein;

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

a motor for actuating the gear drive train;

a motor actuator for controlling said motor; and

a sensor arrangement operably interfacing with said end effector and said motor actuator to communicate resistive forces experienced by said tissue-cutting implement to said motor actuator as said tissue cutting implement is driven through tissue supported between said clamping member and said staple cartridge.

13. The surgical cutting and fastening instrument of claim 12 wherein said main drive shaft assembly further comprises a closure tube movably interfacing with said anvil such that movement of said closure tube in a distal direction causes said anvil to move to a closed position and movement of said closure tube in a proximal direction, said closure tube causes said anvil to open.