Robotically-controlled cable-based surgical end effectors

• US 8,800,838 B2
• Filed: 02/09/2012
• Issued: 08/12/2014
• Est. Priority Date: 08/31/2005
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Shelton, Frederick E. IV
• Primary Examiner(s): Elve, Alexandra
• Assistant Examiner(s): CHUKWURAH, NATHANIEL C
• Application Number:
  US13/369,629
• Publication Number:
  US 20120138660A1
• Time in Patent Office: 915 Days
• Field of Search: 227/175.1, 227/176.1, 227/180.1, 606/1, 606/130, 600/102
• US Class Current: 227/175.1
• CPC Class Codes: A61B 17/0644 penetrating the tissue, deformable to closed position
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/115 Staplers for performing anastomosis in a single operation
• 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 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/0023 disposable
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/00473 Distal part, e.g. tip or head A61B2017/00464 takes precedence
• 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 2017/07235 containing different staples, e.g. staples of different shapes, sizes or materials
• CPC Class Codes: A61B 2017/07242 achieving different staple heights during the same shot, e.g. using an anvil anvil having different heights or staples of different sizes
• CPC Class Codes: A61B 2017/07264 characterised by its staple forming cavities, e.g. geometry or material
• 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 2017/2943 Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/320052 Guides for cutting instruments by marking A61B2090/395
• CPC Class Codes: A61B 2017/320069 : for ablating tissue
• CPC Class Codes: A61B 2017/320071 : with articulating means for working tip
• 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 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: B25C 5/0292 : with the objects to be stapled together introduced perpendicularly to the longitudinal axis of the tool in an opening formed by an anvil and a plunger

Abstract

A cable-driven surgical tool configured to receive various control motions from a robotic system.

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 an anvil that is selectively movable between first and second positions relative to a surgical staple cartridge;

a cable drive assembly configured to apply at least one control motion to said anvil, said cable drive assembly comprising;

a closure cable operably interfacing with said anvil to apply a closing motion and an opening motion thereto; and

a cable drive transmission configured to operably interface with at least one of the rotary body portions of the tool drive assembly, said surgical tool further comprising;

a tool mounting portion operably interfacing with said cable drive assembly and the at least one rotary body portion of the tool drive assembly of the robotic system such that application of at least one of the rotary output motions to the rotatable body portion causes said cable drive assembly to apply at least one of said closing and opening motions to said anvil;

an elongated shaft assembly extending between said surgical end effector and said cable drive transmission; and

a preclamping collar axially movable on said elongated shaft assembly and interfacing with said anvil and said closure cable such that said application of said rotary output motion to the rotatable body portion in a first rotary direction causes said preclamping collar to apply said closing motion to said anvil and upon another application of said rotary output motion to the rotatable body portion in a second rotary direction causes said preclamping collar to apply said opening motion to said anvil.

2. The surgical tool of claim 1 further comprising a tissue cutting member 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 cable drive assembly.

3. The surgical tool of claim 2 further comprising a firing cable operably interfacing with said tissue cutting member and said cable drive transmission and wherein said cable drive transmission is selectively shiftable between a closure position wherein said application of said rotary output motion to the rotatable body portion in said first rotary direction causes said closure cable to apply said closing motion to said anvil and upon said another rotary output motion to the rotatable body portion in said second rotary direction causes said closure cable to apply said opening motion to said anvil and a firing position wherein said application of said rotary output motion to the rotatable body portion in said first rotary direction causes said firing cable to apply a firing motion to said tissue cutting member and upon said another application of said rotary output motion to the rotatable body portion in said second rotary direction causes said firing cable to apply a retraction motion to said tissue cutting member.

4. The surgical tool of claim 3 further comprising a shifter motor operably interfacing with said cable drive transmission for moving said cable drive transmission between said closure position and said firing position in response to corresponding control signals applied thereto from the control unit of the robotic system.

5. The surgical tool of claim 3 further comprising:

a firing brake engageable with said cable drive transmission to prevent said firing cable from applying said firing motion to said tissue cutting member when said cable drive transmission is in said closure position; and

a closure brake engageable with said cable drive transmission to prevent said closure cable from applying said opening motion to said anvil when said cable drive transmission is in said firing position.

6. The surgical tool of claim 1 further comprising a tissue cutting member 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 cable drive assembly and wherein said surgical tool further comprises a knife bar operably interfacing with said cable drive assembly and the at least one rotary body portion of the tool drive assembly of the robotic system such that application of said at least one of the rotary output motions to the rotatable body portion causes said knife bar to apply a firing control motion to said cable drive assembly.

7. 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;

a non-movable portion;

a first movable component portion that is selectively movable between first and second positions relative to said non-movable portion;

a second movable component portion that is selectively movable between third and fourth positions relative to said non-movable portion and wherein said surgical tool further comprises;

an elongated shaft assembly operably coupled to said non-movable portion, said elongated shaft assembly at least partially operably supporting a cable drive assembly comprising;

a first cable operably interfacing with said first movable component portion; and

a second cable operably interfacing with said second movable component portion and wherein said surgical tool further comprises;

a tool mounting portion operably coupled to said elongated shaft assembly, said tool mounting portion being configured to operably interface with the tool drive assembly when coupled thereto, said tool mounting portion comprising;

a driven element rotatably supported on said tool mounting portion and configured for driving engagement with a corresponding one of said at least one rotatable body portions of the tool drive assembly to receive corresponding rotary output motions therefrom; and

a cable drive transmission assembly operably interfacing with said driven element and being selectively shiftable in response to control signals from the control unit of the robotic system between a first actuation position wherein an application of one of said rotary output motions to the corresponding rotatable body portion causes said first cable to move said first movable component portion between said first and second positions and a second actuation position wherein said application of said one of said rotary output motions to the corresponding rotatable body portion causes said second cable to move said second movable component portion between said third and fourth positions.

8. The surgical tool of claim 7 wherein an application of said one of said rotary output motions in a first rotary direction causes said first movable component portion to move from said first position to said second position when said cable drive transmission assembly is in said first actuation position and another application of said one of said rotary output motions in said first rotary direction causes said second movable component portion to move from said third position to said fourth position when said cable drive transmission assembly is in said second actuation position.

9. The surgical tool of claim 7 further comprising:

a first brake engageable with said cable drive transmission assembly to prevent said first cable from moving said first movable component portion between said first and second positions when said cable drive transmission assembly is in said second actuation position; and

a second brake engageable with said cable drive transmission assembly to prevent said second cable from moving said second movable component portion between said third and fourth positions when said cable drive transmission assembly is in said first actuation position.

10. The surgical tool of claim 9 wherein said cable drive transmission assembly is movable between said first and second actuation positions and a neutral position and wherein when said cable drive transmission assembly is in said neutral position, said first brake prevents said first cable from moving said first movable component portion between said first and second positions and said second brake prevents said second cable from moving said second movable component portion between said third and fourth positions.

11. The surgical tool of claim 7 further comprising a shifter motor operably supported by said tool mounting portion and interfacing with said cable drive transmission assembly and the control unit of the robotic system.

12. The surgical tool of claim 11 wherein said shifter motor is powered by at least one battery.

13. 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;

an elongated channel configured to support a surgical staple cartridge;

an anvil movably supported relative to the elongated channel and being selectively movable between open and closed positions relative to said elongated channel; and

a tissue cutting member selectively axially movable between unfired and fired positions and wherein said surgical tool further comprises;

an elongated shaft assembly operably coupled to said elongated channel;

a preclamping collar axially movable on said elongated shaft assembly for selective operable engagement with said anvil;

a closure cable operably interfacing with said preclamping collar; and

a firing cable operably interfacing with said tissue cutting member;

a tool mounting portion operably coupled to said elongated shaft assembly, said tool mounting portion being configured to operably interface with the tool drive assembly when coupled thereto, said tool mounting portion comprising;

a driven element rotatably supported on said tool mounting portion and configured for driving engagement with a corresponding one of said at least one rotatable body portions of the tool drive assembly to receive corresponding rotary output motions therefrom; and

a cable drive transmission assembly operably interfacing with said driven element and being selectively shiftable in response to control signals from the control unit of the robotic system between a closure position wherein an application of one of said rotary output motions to the corresponding rotatable body portion in a first rotary direction causes said closure cable to move said preclamping collar into closing engagement with said anvil and a firing position wherein said application of said one of said rotary output motions in said first rotary direction to the corresponding rotatable body portion causes said firing cable to move said tissue cutting member from a starting position to an ending position within said elongated channel.

14. The surgical tool of claim 13 wherein said application of one of said rotary output motions in a second rotary direction when said cable drive transmission assembly is in said closure position causes said closure cable to move said preclamping collar to move out of said closing engagement with said anvil and when said cable drive transmission assembly is in said firing position, said application of said one of said rotary output motions in said second rotary directions causes said firing cable to move said tissue cutting member from said ending position to said starting position.

15. The surgical tool of claim 14 further comprising:

a closure brake engageable with said cable drive transmission assembly to prevent said closure cable from moving said anvil between said open and closed positions when said cable drive transmission assembly is in said firing position; and

a firing brake engageable with said cable drive transmission assembly to prevent said firing cable from moving said tissue cutting member between said starting and ending positions when said cable drive transmission assembly is in said closure position.

16. The surgical tool of claim 15 wherein said cable drive transmission assembly is movable between said closure and firing positions and a neutral position and wherein when said cable drive transmission assembly is in said neutral position, said closure brake prevents said closure cable from moving said anvil between said open and closed positions and said firing brake prevents said firing cable from moving said tissue cutting member between said starting and ending positions.

17. The surgical tool of claim 16 further comprising a shifter motor operably supported by said tool mounting portion and interfacing with said cable drive transmission assembly and the control unit of the robotic system.