Robotically-controlled motorized surgical end effector system with rotary actuated closure systems having variable actuation speeds

• US 8,602,288 B2
• Filed: 02/09/2012
• Issued: 12/10/2013
• Est. Priority Date: 09/23/2008
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Shelton, Frederick E. IV, Knight, Gary W.
• Primary Examiner(s): Elve, Alexandra
• Application Number:
  US13/369,588
• Publication Number:
  US 20120199631A1
• Time in Patent Office: 670 Days
• Field of Search: 227/175.1, 227/178.1, 227/180.1, 227/19, 227/176.1, 606/130, 606/167, 606/219, 606/151
• US Class Current: 227/176.1
• 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 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 2017/00075 Motion
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00362 Packages or dispensers for MIS instruments A61B2017/0479 takes precedence
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00685 Archimedes screw
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/0688 Packages or dispensers for surgical staplers
• 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 2017/2923 Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2943 Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/320093 additional movable means performing cutting operation
• CPC Class Codes: A61B 2017/320094 additional movable means performing clamping operation
• CPC Class Codes: A61B 2017/320095 : with sealing or cauterizing means
• CPC Class Codes: A61B 2017/320097 : with stapling means
• CPC Class Codes: A61B 2090/065 : for measuring contact or contact pressure
• 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 2090/0814 : Preventing re-use
• 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 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 50/30 : Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments for wound clamps A61B17/10; for ligaturing clips A61B17/122; packages or dispensers for surgical gloves or finger-stalls A61B42/40
• CPC Class Codes: A61B 50/36 : for collecting or disposing of used articles
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: H02J 2310/23 : The load being a medical device, a medical implant, or a life supporting device
• CPC Class Codes: H02J 7/0031 : using battery or load disconnect circuits H02J9/002 takes precedence

Abstract

A surgical tool for use with a robotic system includes an end effector comprising at least one component portion selectively movable between first and second positions and a shaft including an axially movable portion in operable communication with the at least one selectively movable component portion and a rotatably movable portion in operable engagement with the axially movable portion. An initial rotation of the rotatably movable portion causes the axially movable portion to move the selectively movable component portion from the first position into an intermediate position at a first rate. A subsequent rotation of the rotatably movable portion in a same direction causes the axially movable portion to move the selectively movable component portion from the intermediate position to the second position at a second rate different from the first rate.

Claims

1. A surgical tool for use with a robotic system that has a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly, said surgical tool comprising:

a surgical end effector comprising at least one component portion that is selectively movable between first and second positions relative to at least one other component portion thereof; and

an elongated shaft assembly operably coupled to said surgical end effector, said elongated shaft assembly comprising;

an axially movable portion in operable communication with said at least one selectively movable component portion of said surgical end effector; and

a rotatably movable portion in operable engagement with said axially movable portion wherein an initial rotation of said rotatably movable portion causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said first position into an intermediate position at a first rate and wherein subsequent rotation of said rotatably movable portion in a same direction causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said intermediate position to said second position at a second rate different from said first rate and wherein said surgical tool further comprises a transmission arrangement in operable engagement with said at least one rotatable body portion supported on the tool drive assembly and in operable engagement with said rotatably movable portion of said elongated shaft assembly to apply said rotary output motions thereto from said at least one rotatable body portion to cause said axially movable portion of said elongated shaft assembly to move said selectively movable component portion between said first and second positions.

2. The surgical tool of claim 1 wherein said another component portion of said end effector comprises a surgical staple cartridge and wherein one of said at least one component portion that is selectively movable comprises an anvil that is selectively movable between a first open position, said intermediate position, and a second closed position relative to said surgical staple cartridge.

3. The surgical tool of claim 2 wherein said surgical end effector further comprises a cutting instrument that is axially movable within said surgical staple cartridge between a starting position and an ending position in response to a firing motion applied thereto by said transmission arrangement.

4. A surgical tool for use with a robotic system that has a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly, said surgical tool comprising:

a surgical end effector comprising at least one component portion that is selectively movable between first and second positions relative to at least one other component portion thereof; and

an elongated shaft assembly operably coupled to said surgical end effector, said elongated shaft assembly comprising;

an axially movable portion in operable communication with said at least one selectively movable component portion of said surgical end effector; and

a rotatably movable portion in operable engagement with said axially movable portion wherein an initial rotation of said rotatably movable portion causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said first position into an intermediate position at a first rate, wherein subsequent rotation of said rotatably movable portion in a same direction causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said intermediate position to said second position at a second rate, wherein said surgical tool further comprises a transmission arrangement in operable engagement with said at least one rotatable body portion supported on the tool drive assembly and in operable engagement with said rotatably movable portion of said elongated shaft assembly to apply said rotary output motions thereto from said at least one rotatable body portion to cause said axially movable portion of said elongated shaft assembly to move said selectively movable component portion between said first and second positions, and wherein said first rate is greater than said second rate.

5. A surgical tool for use with a robotic system that has a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly, said surgical tool comprising:

a surgical end effector comprising at least one component portion that is selectively movable between first and second positions relative to at least one other component portion thereof; and

an elongated shaft assembly operably coupled to said surgical end effector, said elongated shaft assembly comprising;

an axially movable portion in operable communication with said at least one selectively movable component portion of said surgical end effector; and

a rotatably movable portion in operable engagement with said axially movable portion wherein an initial rotation of said rotatably movable portion causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said first position into an intermediate position at a first rate, wherein subsequent rotation of said rotatably movable portion in a same direction causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said intermediate position to said second position at a second rate, wherein said surgical tool further comprises a transmission arrangement in operable engagement with said at least one rotatable body portions supported on the tool drive assembly and in operable engagement with said rotatably movable portion of said elongated shaft assembly to apply said rotary output motions thereto from said at least one rotatable body portion to cause said axially movable portion of said elongated shaft assembly to move said selectively movable component portion between said first and second positions, wherein said another component portion of said end effector comprises a surgical staple cartridge and wherein one of said at least one component portion that is selectively movable comprises an anvil that is selectively movable between a first open position, said intermediate position, and a second closed position relative to said surgical staple cartridge, and wherein said rotatably movable portion comprises a closure member in threaded engagement with said axially movable portion.

6. The surgical tool of claim 5 wherein one of said closure member and said axially movable portion has a series of threads formed thereon and the other one of said closure member and said axially movable portion has a thread engagement member thereon.

7. The surgical tool of claim 6 wherein said series of threads comprises a proximal thread section that transitions into a distal thread section.

8. The surgical tool of claim 7 wherein said proximal thread section is coarser than said distal thread section.

9. The surgical tool of claim 8 wherein said elongated shaft assembly is coupled to a tool mounting portion that operably supports said transmission arrangement thereon, said tool mounting portion attachable to said tool drive assembly such that said transmission arrangement is in operable engagement with said at least one rotatable body portion supported on the tool drive assembly of the robotic system.

10. A surgical tool for use with a robotic system that has a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator, said surgical tool comprising:

a surgical end effector comprising at least one component portion that is selectively movable between first and second positions relative to at least one other component portion thereof; and

an elongated shaft assembly operably coupled to said surgical end effector, said elongated shaft assembly comprising;

an axially movable portion in operable communication with said at least one selectively movable component portion of said surgical end effector; and

a rotatably movable portion in operable engagement with said axially movable portion wherein an initial rotation of said rotatably movable portion causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said first position into an intermediate position at a first rate, wherein a subsequent rotation of said rotatably movable portion in a same direction causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said intermediate position to said second position at a second rate, and wherein said first rate is greater than said second rate.

11. A surgical tool for use with a robotic system that has a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator, said surgical tool comprising:

a surgical end effector comprising at least one component portion that is selectively movable between first and second positions relative to at least one other component portion thereof; and

an elongated shaft assembly operably coupled to said surgical end effector, said elongated shaft assembly comprising;

an axially movable portion in operable communication with said at least one selectively movable component portion of said surgical end effector; and

a rotatably movable portion in operable engagement with said axially movable portion wherein an initial rotation of said rotatably movable portion causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said first position into an intermediate position at a first rate, wherein a subsequent rotation of said rotatably movable portion in a same direction causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said intermediate position to said second position at a second rate, and wherein said rotatably movable portion comprises a closure member in threaded engagement with said axially movable portion.