Lockout mechanism for use with robotic electrosurgical device

• US 9,326,788 B2
• Filed: 06/29/2012
• Issued: 05/03/2016
• Est. Priority Date: 06/29/2012
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery LLC (Johnson & Johnson)
• Inventors: Batross, Jonathan T., Trees, Gregory A., Stulen, Foster B., Stewart, Randolph, Boudreaux, Chad P.
• Primary Examiner(s): DIETRICH, JOSEPH M
• Application Number:
  US13/539,110
• Publication Number:
  US 20140005654A1
• Time in Patent Office: 1,404 Days
• Field of Search: 606/27
• US Class Current: 1/1
• CPC Class Codes: A61B 17/320092 with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
• CPC Class Codes: A61B 18/14 Probes or electrodes therefor
• CPC Class Codes: A61B 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• 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 2017/320093 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 2018/00642 with feedback, i.e. closed loop control
• CPC Class Codes: A61B 2018/00994 combining two or more different kinds of non-mechanical energy or combining one or more non-mechanical energies with ultrasound
• CPC Class Codes: A61B 2018/1455 having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• 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 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/03 : Automatic limiting or abutting means, e.g. for safety

Abstract

A robotically controlled surgical tool including a lockout mechanism is provided. The surgical tool may comprise an instrument mounting portion. The instrument mounting portion includes a housing, a plate, a shaft assembly comprising an end effector, and a coupler to couple the shaft assembly to the instrument mounting portion. The end effector comprises a first jaw member and a second jaw member, the first and second jaw members defining a channel therebetween, and a blade slideably receivable within the channel to cut tissue located between the first and second jaw members. The surgical tool may include an actuation mechanism to actuate the end effector to provide reciprocating movement of the blade within the channel. A lockout mechanism is coupled to the actuation mechanism. The lockout mechanism may selectively enable reciprocating movement of the blade. An interface mechanically and electrically couples the instrument mounting portion to a robotic manipulator.

Claims

1. A surgical tool, comprising:

an instrument mounting portion comprising;

a housing;

a plate;

a shaft assembly comprising an end effector, the end effector comprising a first jaw member and a second jaw member, the first and second jaw members defining a channel therebetween, and a blade slideably receivable within the channel, the blade configured to cut tissue located between the first and second jaw members; and

a coupler configured to couple the shaft assembly to the instrument mounting portion;

an actuation mechanism configured to actuate the end effector, wherein the actuation mechanism provides reciprocating movement of the blade within the channel;

a lockout mechanism coupled to the instrument mounting portion and in communication with the actuation mechanism, the lockout mechanism configured to selectively enable reciprocating movement of the blade; and

an interface configured to mechanically and electrically couple the instrument mounting portion to a manipulator.

2. The surgical tool of claim 1, wherein:

the end effector has a first state and a second state, wherein the lockout mechanism is configured to enable operation of the end effector actuation mechanism when the end effector is in the first state and to disable operation of the end effector actuation mechanism when the end effector is in the second state.

3. The surgical tool of claim 2, wherein the first state comprises an energized state and the second state comprises a de-energized state.

4. The surgical tool of claim 3, wherein the energized state comprises energizing the end effector with electrosurgical energy.

5. The surgical tool of claim 3, wherein the energized state comprises energizing the end effector with ultrasonic energy.

6. The surgical tool of claim 3, wherein the energized state comprises energizing the end effector with electrosurgical energy and ultrasonic energy.

7. The surgical tool of claim 1, wherein the lockout mechanism comprises a mechanical actuator arranged to engage the actuation mechanism when in a deployed state, wherein the mechanical actuator prevents movement of the actuation mechanism while in the deployed state.

8. The surgical tool of claim 7, wherein the mechanical actuator is a solenoid.

9. The surgical tool of claim 1, comprising an end of stroke indicator coupled to the end effector actuation mechanism such that the end of stroke indicator prevents the end effector actuation mechanism from extending beyond a predetermined maximum deployment.

10. A surgical system, comprising:

a surgical tool, comprising;

an instrument mounting portion comprising;

a housing;

a plate;

a shaft assembly comprising an end effector, the end effector comprising a first jaw member and a second jaw member, the first and second jaw members defining a channel therebetween, and a blade slideably receivable within the channel to cut tissue located between the first and second jaw members; and

a coupler configured to couple the shaft assembly to the instrument mounting portion;

an actuation mechanism configured to actuate the end effector, wherein the actuation mechanism provides reciprocating movement of the blade within the channel;

a lockout mechanism coupled to the instrument mounting portion and in communication with the actuation mechanism, the lockout mechanism configured to selectively enable reciprocating movement of the blade; and

an interface configured to mechanically and electrically couple the instrument mounting portion to a manipulator; and

a triggering mechanism for selectively activating the lockout mechanism.

11. The surgical system of claim 10, wherein the controller controls a state of the end effector, wherein the end effector has a first state wherein the end effector is energized by an energy source and a second state wherein the end effector is not energized by an energy source, and wherein the controller may selectively place the end effector in the first and second states.

12. The surgical system of claim 11,

wherein the lockout mechanism is configured to allow actuation of the end effector actuation mechanism when the end effector is in the first state;

and

wherein the lockout mechanism is configured to prevent actuation of the end effector actuation mechanism when the end effector is in the second state.

13. The surgical system of claim 11, wherein the controller is a foot pedal.

14. The surgical system of claim 10, comprising an end of stroke indicator.

15. The surgical system of claim 14, wherein the end of stroke indicator activates a return-path action for the blade.

16. The surgical system of claim 10, wherein the end effector actuation mechanism comprises a rack and pinion.

17. The surgical system of claim 10, wherein the end effector actuation mechanism comprises one or more worm gears.

18. The surgical system of claim 10, wherein the lockout mechanism comprises a mechanical actuator arranged to engage the end effector actuation mechanism when in a deployed state.

19. The surgical system of claim 18, wherein the mechanical actuator is a solenoid.

20. A surgical tool, comprising:

an instrument mounting portion housing;

an instrument mounting portion plate;

a coupler to couple a shaft assembly to the instrument mounting portion plate, the shaft assembly comprising a radio frequency (RF) end effector, the RF end effector having a first state wherein the RF end effector is energized with RF energy and a second state wherein the RF end effector is not energized with RF energy;

an end effector actuation mechanism configured to actuate the RF end effector;

a lockout mechanism coupled to the instrument mounting portion housing and the end effector actuation mechanism, wherein the lockout mechanism is mechanically coupled to the end effector actuation mechanism configured to allow actuation of the end effector actuation mechanism when the RF end effector is in the first state and to prevent actuation of the end effector actuation mechanism when the RF end effector is in the second state, and wherein the lockout mechanism is a solenoid; and

an interface configured to mechanically and electrically couple the instrument mounting portion plate to a manipulator.