Robotic arms DLUs for performing surgical tasks

• US 8,663,203 B2
• Filed: 10/30/2007
• Issued: 03/04/2014
• Est. Priority Date: 06/18/1997
• Status: Expired due to Term

• 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:
  US11/928,053
• Publication Number:
  US 20080065112A1
• Time in Patent Office: 2,317 Days
• Field of Search: 606/1, 606/130
• 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 electro-mechanical actuation assembly therein, and at least one surgical tool member extending from the head portion and operatively associated with the electro-mechanical 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 having a proximal end, and a distal end with a mounting member;

a disposable loading unit having a proximal end and a distal end, the proximal end of the disposable loading unit having an engagement surface configured and dimensioned for releasable connection to a receiving surface of the mounting member to permit selective detachment of the disposable loading unit from the robotic arm; and

a programmable actuation assembly operatively associated with the proximal end of the robotic arm, wherein the mounting of the disposable loading unit to the robotic arm removably couples, electrically and operatively, the actuation assembly with the disposable loading unit for controlling the operation and movement of the disposable loading unit, wherein the disposable loading unit includes an outer housing, a surgical tool supported by the outer housing configured and dimensioned to perform a surgical task, and an integrated circuitry positioned within the outer housing establishing electrical communication between the disposable loading unit and the actuation assembly, wherein the robotic arm is programmable by the actuation assembly to actuate the surgical tool to perform the surgical task, the integrated circuitry establishing bidirectional communication between the disposable loading unit and the actuation assembly to program the robotic arm utilizing information communicated from the disposable loading unit.

2. The robotic system of claim 1, wherein the engagement surface includes a protrusion, and the receiving surface includes a slot configured and dimensioned to receive the protrusion.

3. The robotic system of claim 1, wherein the engagement surface and the receiving surface are configured and dimensioned for frictional engagement.

4. The robotic system of claim 1, wherein at least one of the engagement surface and the receiving surface is threaded.

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

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

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

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

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

10. The robotic system of claim 1, wherein the integrated circuitry is adapted to receive signals from the actuation assembly.

11. The robotic system of claim 10, wherein the integrated circuitry is adapted to receive digital signals from the actuation assembly.

12. The robotic system of claim 10, wherein the integrated circuitry includes a receiver and a processor to interpret the signals received from the actuation assembly.

13. The robotic system of claim 12, wherein the disposable loading unit further includes an electromechanical assembly in electrical communication with the integrated circuitry, the electromechanical assembly being adapted to actuate the surgical tool, and perform the surgical task.

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

a robotic arm including a receiving surface;

a first disposable loading unit including a first surgical tool configured and dimensioned to perform a first surgical task, and a first outer housing supporting the first surgical tool and defining a first engagement surface; and

a second disposable loading unit including a second engagement surface, and a second surgical tool configured and dimensioned to perform a second surgical task different from the first surgical task, and a second outer housing supporting the second surgical tool and defining a second engagement surface, wherein the first and second engagement surfaces of the first and second disposable loading units are configured and dimensioned for releasable connection to the receiving surface of the robotic arm to facilitate replacement of the first disposable loading unit by the second disposable loading unit; and

an actuation assembly operatively associated with the robotic arm, wherein connection of one of the first and second disposable loading units to the robotic arm electrically and operatively couples the actuation assembly with the disposable loading unit for controlling the operation and movement of the disposable loading unit;

wherein the first outer housing includes first integrated circuitry establishing electrical communication between the first disposable loading unit and the actuation assembly, whereby manipulation of the actuation assembly facilitates manipulation of the first disposable loading unit;

wherein the second outer housing includes second integrated circuitry establishing electrical communication between the second disposable loading unit and the actuation assembly, whereby manipulation of the actuation assembly facilitates manipulation of the second disposable loading unit; and

wherein the first integrated circuitry establishes bidirectional communication between the first disposable loading unit and the actuation assembly to program the robotic arm utilizing information communicated from the first disposable loading unit upon connection of the first disposable loading unit to the robotic arm.

15. The robotic system of claim 14, wherein the first integrated circuitry and the second integrated circuitry are each adapted to receive signals from the actuation assembly.

16. The robotic system of claim 15, wherein the first integrated circuitry and the second integrated circuitry are each adapted to receive digital signals from the actuation assembly.

17. The robotic system of claim 15, wherein the first integrated circuitry includes a first receiver and a first processor to interpret the signals received from the actuation assembly, and the second integrated circuitry includes a second receiver and a second processor to interpret the signals received from the actuation assembly.

18. The robotic system of claim 17, wherein the first disposable loading unit further includes a first electromechanical assembly in electrical communication with the first integrated circuitry, the first electromechanical assembly being adapted to actuate the first surgical tool and perform the first surgical task, the second disposable loading unit further including a second electromechanical assembly in electrical communication with the second integrated circuitry, the second electromechanical assembly being adapted to actuate the second surgical tool and perform the second surgical task.

19. The robotic system of claim 14, wherein the second integrated circuitry establishes bidirectional communication between the second disposable loading unit and the actuation assembly to facilitate programming of the robotic arm utilizing information communicated from the disposable loading unit upon connection of the second disposable loading unit to the robotic arm.

20. The robotic system of claim 14, wherein the receiving surface includes a slot, and each of the first and second engagement surfaces includes a protrusion configured and dimensioned for positioning within the slot.

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

an actuation assembly;

a robotic arm in electrical communication with the actuation assembly; and

a disposable loading unit connected to the robotic arm, wherein the disposable loading unit includes;

an outer housing;

a surgical tool supported by the outer housing configured and dimensioned to perform a surgical task; and

integrated circuitry positioned within the outer housing establishing electrical communication between the disposable loading unit and the actuation assembly, whereby manipulation of the actuation assembly facilitates manipulation of the disposable loading unit, wherein the integrated circuitry establishes bidirectional communication between the disposable loading unit and the actuation assembly to program the robotic arm utilizing information communicated from the disposable loading unit upon connection of the disposable loading unit to the robotic arm.

22. The robotic system of claim 21, wherein the integrated circuitry is adapted to receive signals from the actuation assembly.

23. The robotic system of claim 22, wherein the integrated circuitry is adapted to receive digital signals from the actuation assembly.

24. The robotic system of claim 22, wherein the integrated circuitry includes a receiver and a processor to interpret the signals received from the actuation assembly.

25. The robotic system of claim 24, wherein the disposable loading unit further includes an electromechanical assembly in electrical communication with the integrated circuitry, the electromechanical assembly being adapted to actuate the surgical tool, and perform the surgical task.

26. The robotic system of claim 21, wherein the robotic arm and the disposable loading unit are configured and dimensioned to establish a releasable connection therebetween such that the disposable unit is selectively detachable from the robotic arm.

27. The robotic system of claim 26, wherein the robotic arm includes a mounting member having a receiving surface, and the disposable loading unit includes an engagement surface configured and dimensioned for releasable connection to the receiving surface.

28. The robotic system of claim 27, wherein the receiving surface includes a slot, and the engagement surface includes a protrusion configured and dimensioned for positioning within the slot.