Robotic arms DLUs for performing surgical tasks

• US 8,512,318 B2
• Filed: 07/27/2011
• Issued: 08/20/2013
• Est. Priority Date: 06/18/1997
• Status: Expired due to Fees

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Tovey, H. Jonathan, Ratcliff, Keith, Toso, Kenneth E., Hinchliffe, Peter W. J.
• Primary Examiner(s): Thomson, Bill
• Assistant Examiner(s): LIPITZ, JEFFREY BRIAN
• Application Number:
  US13/191,560
• Publication Number:
  US 20110282360A1
• Time in Patent Office: 755 Days
• Field of Search: 606/1, 606/130, 606/139
• 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 electromechanical actuation assembly therein, and at least one surgical tool member extending from the head portion and operatively associated with the electromechanical 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 robotic arm; and

a disposable loading unit configured and dimensioned for releasable connection to the robotic arm, the disposable loading unit including at least one surgical tool for performing a surgical task, and storing operational information specific to the surgical task to be performed by the at least one surgical tool, the robotic arm and the disposable loading unit each including circuitry establishing bidirectional electrical communication between the robotic arm and the disposable loading unit upon connection such that a first electrical signal is generated by the disposable loading unit including the operational information that is communicated to the robotic arm to program the robotic arm with the operational information stored in the disposable loading unit, and a second, different electrical signal is generated by the robotic arm that is communicated to the disposable loading unit to regulate operation of the surgical tool according to the operational information included in the first electrical signal.

2. The robotic system according to claim 1, wherein the robotic arm includes a mounting member with a receiving surface, and the disposable loading unit includes an engagement surface, the receiving surface and the engagement surface having corresponding configurations and dimensions to facilitate releasable connection of the disposable loading unit to the robotic arm.

3. The robotic system of claim 2, wherein the engagement surface includes a protrusion, and the receiving surface includes a slot configured and dimensioned to receive the protrusion.

4. The robotic system of claim 2, wherein the engagement surface and the receiving surface are configured and dimensioned for frictional engagement.

5. The robotic system of claim 2, wherein at least one of the engagement surface and the receiving surface is threaded.

6. The robotic system of claim 1, further including an actuation assembly operatively associated with the robotic arm, wherein connection of the disposable loading unit to the robotic arm electrically and operatively couples the actuation assembly with the disposable loading unit to facilitate control over operation and movement of the surgical tool via manipulation of the actuation assembly.

7. The robotic system of claim 1, wherein the surgical tool is configured and dimensioned to fasten tissue.

8. The robotic system of claim 1, wherein the surgical tool is configured and dimensioned to remove tissue.

9. The robotic system of claim 1, wherein the surgical tool is configured and dimensioned to transmit energy.

10. The robotic system of claim 1, wherein the surgical tool is configured and dimensioned to sever tissue.

11. The robotic system of claim 1, wherein the surgical tool is configured and dimensioned to apply a suture to tissue.

12. A robotic system for performing surgical tasks, comprising:

a robotic arm;

a first disposable loading unit configured and dimensioned for releasable connection to the robotic arm, the first disposable loading unit including a first surgical tool configured and dimensioned to perform a surgical task, and storing first operational information specific to the surgical task to be performed by the first surgical tool, the robotic arm and the first disposable loading unit each including circuitry establishing bidirectional electrical communication between the robotic arm and the first disposable loading unit upon connection such that a first electrical signal is generated by the first disposable loading unit including the first operational information that is communicated to the robotic arm to program the robotic arm with the first operational information stored in the first disposable loading unit, and a second electrical signal different than the first electrical signal is generated by the robotic arm that is communicated to the first disposable loading unit to regulate operation of the first surgical tool according to the first operational information included in the first electrical signal; and

a second disposable loading unit configured and dimensioned for releasable connection to the robotic arm, the second disposable loading unit including a second, different surgical tool configured and dimensioned to perform a surgical task, and storing second operational information specific to the surgical task to be performed by the second surgical tool, the second disposable loading unit including circuitry establishing bidirectional electrical communication between the robotic arm and the second disposable loading unit upon connection such that a third electrical signal is generated by the second disposable loading unit including the second operational information that is communicated to the robotic arm to program the robotic arm with the second operational information stored in the second disposable loading unit, and a fourth electrical signal different than the third electrical signal is generated by the robotic arm that is communicated to the second disposable loading unit to regulate operation of the second surgical tool according to the second operational information included in the third electrical signal.

13. The robotic system of claim 12, further including an actuation assembly operatively associated with the robotic arm, wherein connection of the first disposable loading unit or the second disposable loading unit to the robotic arm electrically and operatively couples the actuation assembly with the first disposable loading unit or the second disposable loading unit to facilitate control over operation and movement of the first surgical tool or the second surgical tool via manipulation of the actuation assembly.

14. The robotic system according to claim 12, wherein the robotic arm includes a mounting member with a receiving surface, and the first and second disposable loading units each include an engagement surface, the configuration and dimensions of the receiving surface corresponding to those of the engagement surface to facilitate releasable connection of the first disposable loading unit and the second disposable loading unit to the robotic arm.

15. The robotic system of claim 14, wherein each engagement surface includes a protrusion, and the receiving surface includes a slot configured and dimensioned to receive the protrusion.

16. The robotic system of claim 14, wherein each engagement surface is configured and dimensioned for frictional engagement with the receiving surface.

17. The robotic system of claim 14, wherein each engagement surface and/or the receiving surface is threaded.

18. A robotic system for performing surgical tasks, comprising:

a robotic arm; and

a disposable loading unit configured and dimensioned for releasable connection to the robotic arm, the disposable loading unit including at least one surgical tool for performing a surgical task, the disposable loading unit storing operational information specific to the surgical task to be performed by the at least one surgical tool, the disposable loading unit communicating the operational information to the robotic arm upon connection of the disposable loading unit and the robotic arm such that the disposable loading unit programs the robotic arm with the operational information stored in the disposable loading unit to permit operation of the surgical tool by the robotic arm.

19. The robotic system according to claim 18, wherein the robotic arm includes first circuitry, and the disposable loading includes second circuitry, the first circuitry and the second circuitry establishing bidirectional electrical communication between the robotic arm and the disposable loading unit upon connection such that a first electrical signal is generated by the disposable loading unit including the operational information, and a second, different electrical signal is generated by the robotic arm that is communicated to the disposable loading unit to regulate operation of the surgical tool according to the operational information included in the first electrical signal.

20. The robotic system according to claim 18, wherein the robotic arm includes a mounting member with a receiving surface, and the disposable loading unit includes an engagement surface, the receiving surface and the engagement surface having corresponding configurations and dimensions to facilitate releasable connection of the disposable loading unit to the robotic arm.

21. The robotic system of claim 20, wherein the engagement surface includes a protrusion, and the receiving surface includes a slot configured and dimensioned to receive the protrusion.

22. The robotic system of claim 20, wherein the engagement surface and the receiving surface are configured and dimensioned for frictional engagement.

23. The robotic system of claim 20, wherein at least one of the engagement surface and the receiving surface is threaded.

24. The robotic system of claim 18, further including an actuation assembly operatively associated with the robotic arm, wherein connection of the disposable loading unit to the robotic arm electrically and operatively couples the actuation assembly with the disposable loading unit to facilitate control over operation and movement of the surgical tool via manipulation of the actuation assembly.