Robotically-controlled endoscopic accessory channel

• US 8,992,422 B2
• Filed: 05/27/2011
• Issued: 03/31/2015
• Est. Priority Date: 03/23/2006
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Spivey, James T., Ortiz, Mark S., Shelton, Frederick E. IV
• Primary Examiner(s): Kasztejna, Matthew J
• Assistant Examiner(s): BARRY III, KEVIN GRANT
• Application Number:
  US13/118,194
• Publication Number:
  US 20110295242A1
• Time in Patent Office: 1,404 Days
• Field of Search: 600/102, 600/104, 600/139, 600/141, 600/142, 600/146, 600/153
• US Class Current: 600/153
• CPC Class Codes: A61B 1/00042 for mechanical operation
• CPC Class Codes: A61B 1/0052 Constructional details of control elements, e.g. handles
• CPC Class Codes: A61B 1/0058 using shape-memory elements
• 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 17/115 Staplers for performing anastomosis in a single operation
• CPC Class Codes: A61B 17/320016 Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes A61B10/0233, A61B17/29, A61B17/3207 take precedence
• 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 2017/00057 Light
• 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 2017/003 Steerable
• CPC Class Codes: A61B 2017/00309 Cut-outs or slits
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/00367 Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
• CPC Class Codes: A61B 2017/0042 with special provisions for gripping
• 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 2017/2905 : flexible
• CPC Class Codes: A61B 2017/291 : the position of the handle being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2919 : details of linkages or pivot points
• 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 2017/2933 : camming or guiding means
• CPC Class Codes: A61B 2017/2937 : with flexible part
• CPC Class Codes: A61B 2017/2946 : Locking means
• CPC Class Codes: A61B 2017/2947 : Pivots
• CPC Class Codes: A61B 2017/320052 : Guides for cutting instruments
• CPC Class Codes: A61B 2034/306 : Wrists with multiple vertebrae
• 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 2090/372 : Details of monitor hardware
• 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: A61B 90/37 : Surgical systems with images on a monitor during operation

Abstract

Devices and systems are provided for controlling movement of a working end of a surgical device by means of a robotic system. In one embodiment, systems and devices are provided for moving an end effector on a distal end of a surgical fastening device. Movement can include rotational movement of the end effector about an axis of the shaft, articulation of the end effector relative to the shaft, and actuation of an end effector, e.g., closing, firing, and/or cutting.

Claims

1. A surgical device, comprising:

an end effector configured to perform at least one surgical procedure in response to at least one rotary control motion applied thereto from a control unit of a robotic system, said end effector comprising;

an elongate channel operably coupled to an elongate shaft and operably supporting a surgical staple cartridge therein; and

an anvil movably supported relative to the elongate channel and movable between open and closed positions relative thereto in response to anvil control motions applied thereto and

wherein said elongate shaft is coupled to said end effector and defines a shaft axis and is further configured to facilitate articulation of said end effector in two planes that are substantially perpendicular to the shaft axis upon manipulation of the control unit relative to said elongate shaft such that movement of the control unit is mimicked by said end effector,

said elongate shaft defining at least one inner lumen therethrough and wherein said surgical device further comprises a rotary drive shaft operably extending through said lumen and operably interfacing with the control unit of the robotic system and at least one portion of the end effector to apply the at least one rotary control motion thereto upon rotation of said rotary drive shaft, said rotary drive shaft further configured to apply said anvil control motions to said anvil when said rotary drive shaft is axially translated along said shaft axis.

2. The surgical device of claim 1 wherein said elongate shaft comprises:

a flexible hollow tube; and

a plurality of flexible actuators operably interfacing with the control unit and operably supported along said flexible hollow tube to be operably coupled to said end effector.

3. The surgical device of claim 1 wherein said end effector is pivotally or rotatably coupled to said elongate shaft.

4. The surgical device of claim 1 wherein the rotary drive shaft is axially shiftable within the elongate shaft upon application of axial control motions thereto by the control unit of the robotic system and wherein said surgical device further comprises:

a cutting instrument movably supported within the elongate channel and being operably coupled to the rotary drive shaft such that upon application of one of the axial control motions in a distal direction to the rotary drive shaft, the cutting instrument is moved distally within the elongate channel and upon application of another one of the axial control motions in a proximal direction causes the cutting instrument to move proximally in the elongate channel.

5. The surgical device of claim 4 further comprising:

a closure tube supported for axial movement relative to the anvil; and

a closure drive nut in threaded engagement with the closure tube and in operable engagement with the rotary drive shaft such that upon application of one of said at least one rotary control motion to the rotary drive shaft in a first rotary direction from the control unit of the robotic system, said closure drive nut causes the closure tube to move distally to apply a closure motion to the anvil and upon application of another one of said at least one rotary control motion to the rotary drive shaft in a second rotary direction, said closure drive nut causes the closure tube to move proximally to apply an opening motion to the anvil.

6. A surgical device, comprising:

an end effector configured to perform at least one surgical procedure in response to at least one rotary control motion applied thereto from a control unit of a robotic system, said end effector comprising;

a first end effector portion operably coupled to an elongate shaft; and

a second end effector portion movably supported relative to the first end effector portion and movable between first and second positions relative thereto in response to second portion control motions applied thereto and wherein said elongate shaft is coupled to said end effector and defines a shaft axis and is further configured to facilitate articulation of said end effector in two planes that are substantially perpendicular to the shaft axis upon manipulation of the control unit relative to said elongate shaft such that movement of the control unit is mimicked by said end effector, said elongate shaft defining at least one inner lumen therethrough and wherein said surgical device further comprises a rotary drive shaft operably extending through said lumen and operably interfacing with the control unit of the robotic system and at least one of said first and second portions of the end effector to apply the at least one rotary control motion thereto upon rotation of said rotary drive shaft, said rotary drive shaft further configured to apply said second portion control motions to said second portion when said rotary drive shaft is axially translated along said shaft axis.

7. The surgical device of claim 6 further comprising:

a closure tube supported for axial movement relative to the second end effector portion;

a closure drive nut in threaded engagement with the closure tube; and

an axially shiftable closure clutch movable from a first axial position wherein said closure clutch engages said closure drive nut such that upon application of a rotary control motion thereto in a first direction from the control unit of the robotic system, said closure drive nut causes the closure tube to move distally to apply one of said second portion control motions to the second end effector portion and upon application of another rotary control motion thereto in a second direction, said closure drive nut causes the closure tube to move proximally to apply another of said second portion control motions to the second end effector portion.

8. The surgical device of claim 7 further comprising a cutting instrument movably supported within the first end effector portion and being movable between a starting position and an ending position in response to the rotary control motions applied thereto by the rotary drive shaft.

9. The surgical device of claim 8 further comprising a knife drive shaft rotatably supported within the first end effector portion and operably supporting the cutting instrument thereon, said knife drive shaft selectively engagable by said closure clutch when said closure clutch is in a second axial position such that upon application of a corresponding one of the rotary control motions thereto in the first direction from the control unit of the robotic system, said knife drive shaft causes the cutting instrument to move distally in the first end effector portion and upon application of another corresponding one of said rotary control motions thereto in the second direction, said knife drive shaft causes the cutting instrument to move proximally in the first end effector portion.

10. The surgical device of claim 6 wherein said elongate shaft comprises:

a flexible hollow tube; and

a plurality of flexible actuators operably interfacing with the control unit and operably supported along said flexible hollow tube to be operably coupled to said end effector.

11. The surgical device of claim 6 wherein said end effector is pivotally or rotatably coupled to said elongate shaft.