Robotic arms DLUs for performing surgical tasks

• US 8,968,278 B2
• Filed: 07/15/2013
• Issued: 03/03/2015
• 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, William
• Assistant Examiner(s): LIPITZ, JEFFREY BRIAN
• Application Number:
  US13/941,928
• Publication Number:
  US 20130304086A1
• Time in Patent Office: 596 Days
• Field of Search: 606/1, 606/130, 606/139, 700245-263
• 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
• 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
• 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 method of performing a robotic surgical procedure comprising:

releasably connecting a first disposable loading unit having a first surgical tool configured to perform a surgical task to a robotic arm;

establishing electrical bidirectional communication between the robotic arm and the first disposable loading unit;

transmitting information specific to the surgical task to be performed by the first surgical tool to the robotic arm through the established communication; and

manipulating an actuation assembly that is in communication with the robotic arm, and that is in electrical communication with the first disposable loading unit, to control the first surgical tool based at least in part on the transmitted information.

2. The method according to claim 1, wherein establishing bidirectional communication includes establishing bidirectional communication between the robotic arm and a tissue fastening apparatus comprising the first surgical tool.

3. The method according to claim 1, wherein establishing bidirectional communication includes establishing bidirectional communication between the robotic arm and a suture applying apparatus comprising the first surgical tool.

4. The method according to claim 1, wherein establishing bidirectional communication includes establishing bidirectional communication between the robotic arm and a tissue removal apparatus comprising the first surgical tool.

5. The method according to claim 1, wherein establishing bidirectional communication includes establishing bidirectional communication between the robotic arm and an apparatus configured to transmit energy to target tissue comprising the first surgical tool.

6. The method according to claim 1, wherein establishing bidirectional communication includes establishing bidirectional communication between the robotic arm and an apparatus configured to sever tissue comprising the first surgical tool.

7. The method according to claim 1 further comprising:

disconnecting the first disposable loading unit from the robotic arm; and

releasably connecting a second disposable loading unit to the robotic arm having a second surgical tool configured to perform a different surgical task from that of the first surgical tool;

establishing bidirectional communication between the robotic arm and the second disposable loading unit; and

transmitting information specific to the surgical task to be performed by the second surgical tool to the robotic arm through the established communication.

8. The method according to claim 7 Further comprising manipulating the actuation assembly to control the second surgical tool based at least in part on the transmitted information specific to the surgical task performed by the second surgical tool.

9. The method according to claim 1, wherein releasably connecting the first disposable loading unit to the robotic arm includes releasably connecting an engagement surface on the first disposable loading unit to a corresponding receiving surface on a mounting member of the robotic arm.

10. The robotic system of claim 9, wherein releasably connecting the first disposable loading unit to the robotic arm includes inserting a protrusion on the first disposable loading unit into a slot in the mounting member to releasably connect the first disposable loading unit to the robotic arm.

11. The robotic system of claim 9, wherein releasably connecting the first disposable loading unit to the robotic arm includes establishing a friction lit between the engagement surface and the receiving surface.

12. The robotic system of claim 9, wherein releasably connecting the first disposable loading unit to the robotic arm includes causing a threaded portion of the engagement surface to traverse a threaded portion of the receiving surface during a relative rotation between the engagement surface and the receiving surface.

13. The robotic system of claim 1, wherein releasably connecting the first disposable loading unit to the robotic arm includes electrically and operatively coupling the actuation assembly to the disposable loading unit.

14. A method of performing a robotic surgical procedure comprising:

releasably connecting and disconnecting a plurality of disposable loading units to a robotic arm, each disposable loading unit having a surgical tool configured to perform a surgical task; and

responsive to connecting each disposable loading unit to the robotic arm;

establishing electrical bidirectional communication between the robotic arm and each respective disposable loading unit;

transmitting information specific to the surgical task to be performed by each respective surgical tool from the respective disposable loading unit to the robotic arm; and

electrically and mechanically coupling each respective disposable loading unit to an actuation assembly controlling an operation of the first surgical tool.

15. The method according to claim 14, wherein releasably connecting and disconnecting the disposable loading units to the robotic arm includes releasably connecting an engagement surface on at least one of the disposable loading units to a corresponding receiving surface on a mounting member of the robotic arm.

16. The robotic system of claim 15, wherein releasably connecting and disconnecting the disposable loading units to the robotic arm includes inserting a protrusion on at least one of the disposable loading units into a slot in the receiving surface.

17. The robotic system of claim 15, wherein releasably connecting and disconnecting the plurality of disposable loading units to the robotic arm includes establishing a friction fit between the engagement surface and the receiving surface.

18. The robotic system of claim 15, wherein releasably connecting and disconnecting the plurality of disposable loading units to the robotic arm includes causing a threaded portion of the engagement surface to traverse a threaded portion of the receiving surface during a relative rotation between the engagement surface and the receiving surface.

19. A method of performing a robotic surgical procedure comprising:

connecting a first disposable loading unit having a surgical tool configured to perform a surgical task to a robotic arm;

establishing bidirectional communication between the robotic arm and the first disposable loading unit responsive to the connecting; and

electrically transmitting information specific to the surgical tool of the first disposable loading unit from the first disposable loading unit to an actuation assembly controlling the surgical tool through the bidirectional communication.

20. The method according to claim 19, further comprising repeating the method of claim 19 with a second disposable loading unit after disconnecting the first disposable loading unit.