Articulation control system for articulatable surgical instruments

• US 9,351,726 B2
• Filed: 03/14/2013
• Issued: 05/31/2016
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery LLC (Johnson & Johnson)
• Inventors: Leimbach, Richard L., Overmyer, Mark D., Adams, Shane R.
• Primary Examiner(s): Chukwurah, Nathaniel
• Application Number:
  US13/803,117
• Publication Number:
  US 20140263553A1
• Time in Patent Office: 1,174 Days
• Field of Search: 227/175.1, 227/175.2, 227/176.1, 227/180.1, 227/179.1, 606/139, 606/142, 606/153, 606/219
• US Class Current: 1/1
• CPC Class Codes: A61B 17/064 Surgical staples, i.e. penetrating the tissue
• 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 17/0686 having a forming anvil staying below the tissue during stapling
• 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 17/105 Wound clamp magazines for packaging sharps A61B50/3001
• CPC Class Codes: A61B 17/32 Surgical cutting instruments A61B18/042 takes precedence; suture cutters A61B17/0467; instruments for ligaturing or cutting A61B17/128; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133
• 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 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00123 and automatic shutdown
• 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 2017/00389 Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector
• CPC Class Codes: A61B 2017/00393 with means for switching between functions
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable for prosthetic joint-implanting tools A61F2/4603
• CPC Class Codes: A61B 2017/00464 for use with different instruments with hole for different instruments A61B2017/22072
• 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 2017/00716 simulating physical properties
• CPC Class Codes: A61B 2017/00734 : battery operated
• 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 2017/2903 : transferring rotary motion
• CPC Class Codes: A61B 2017/2913 : cams or guiding means
• 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 2017/2931 : with releasable head
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2018/00172 : Connectors and adapters therefor
• CPC Class Codes: A61B 2018/00297 : Means for providing haptic feedback
• CPC Class Codes: A61B 2018/00303 : active, e.g. with a motor creating vibrations
• CPC Class Codes: A61B 2018/1455 : having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2034/2059 : Mechanical position encoders
• CPC Class Codes: A61B 2090/064 : for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/067 : for measuring angles
• CPC Class Codes: A61B 2090/0808 : for indicating correct assembly of components, e.g. of the surgical apparatus
• 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 2090/0814 : Preventing re-use
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: G01D 5/145 : influenced by the relative movement between the Hall device and magnetic fields see G01R33/06

Abstract

A surgical instrument comprises an end effector, a shaft, and a housing extending proximally from the shaft. The end effector is movable relative to the shaft between an articulation home state position and an articulated position and comprises a surgical stapler including a plurality of staples and a firing member that fires the plurality of staples. The firing member is movable between a firing home state position and a fired position. The housing includes a motor operably supported by the housing, a controller in communication with the motor, and a home state input configured to transmit a home state input signal to the controller which is configured to activate the motor in response to the home state input signal to effectuate a return of the end effector to the articulation home state position and a return of the firing member to the firing home state position.

Claims

1. A housing for use with a surgical instrument that includes a shaft and an end effector, wherein the surgical instrument includes an articulation assembly configured to move the end effector relative to the shaft, the housing comprising:

a motor operably supported by the housing;

an articulation drive configured to transmit at least one articulation motion to the articulation assembly to move the end effector between an articulation home state position and an articulated position;

a controller in communication with the motor;

a first input configured to transmit a first input signal to the controller, wherein the controller is configured to activate the motor to generate the at least one articulation motion to move the end effector to the articulated position in response to the first input signal; and

a reset input configured to transmit a reset input signal to the controller, wherein the controller is configured to activate the motor to generate at least one reset motion to move the end effector to the articulation home state position in response to the reset input signal.

2. The housing of claim 1, wherein the housing comprises a portion of a handle.

3. The housing of claim 1, wherein the housing further comprises a second input configured to transmit a second input signal to the controller, wherein the controller is configured to move the end effector in a first direction in response to the first input signal and in a second direction opposite the first direction in response to the second input signal.

4. The housing of claim 3, wherein the reset input signal comprises a simultaneous transmission of the first input signal and the second input signal to the controller.

5. The housing of claim 3, wherein the housing comprises a rocker switch which includes the first input, the second input, and the reset input.

6. The housing of claim 1, wherein the articulation home state position comprises positioning the end effector in longitudinal alignment with the shaft.

7. The housing of claim 1, wherein the housing is removably coupleable to the shaft.

8. A surgical instrument, comprising:

an end effector;

a shaft extending proximally from the end effector;

an articulation assembly configured to move the end effector relative to the shaft between an unarticulated position, a first articulated position on a first side of the unarticulated position, and a second articulated position on a second side of the unarticulated position, wherein the first side is opposite the second side;

a motor;

a controller in communication with the motor;

a first input configured to transmit a first input signal to the controller, wherein the controller is configured to activate the motor to move the end effector to the first articulated position in response to the first input signal;

a second input configured to transmit a second input signal to the controller, wherein the controller is configured to activate the motor to move the end effector to the second articulated position in response to the second input signal; and

a reset input configured to transmit a reset input signal to the controller, wherein the controller is configured to activate the motor to move the end effector to the unarticulated position in response to the reset input signal.

9. The surgical instrument of claim 8, wherein the unarticulated position comprises positioning the end effector in longitudinal alignment with the shaft.

10. The surgical instrument of claim 8, further comprising a handle.

11. The surgical instrument of claim 10, wherein the handle is removably coupleable to the shaft.

12. A surgical instrument, comprising:

an end effector;

a shaft extending proximally from the end effector;

an articulation assembly configured to move the end effector relative to the shaft between an unarticulated position, a first range of articulated positions on a first side of the unarticulated position, and a second range of articulated positions on a second side of the unarticulated position, wherein the first side is opposite the second side;

a motor;

a controller in communication with the motor;

a first input configured to transmit a first input signal to the controller, wherein the controller is configured to activate the motor to move the end effector to an articulated position within the first range of articulated positions in response to the first input signal;

a second input configured to transmit a second input signal to the controller, wherein the controller is configured to activate the motor to move the end effector to an articulated position within the second range of articulated positions in response to the second input signal; and

a reset input configured to transmit a reset input signal to the controller, wherein the controller is configured to activate the motor to move the end effector to the unarticulated position in response to the reset input signal.

13. A surgical instrument, comprising:

a shaft;

an end effector extending distally from the shaft, wherein the end effector is configured to articulate relative to the shaft between an unarticulated position and a plurality of articulated positions;

a motor;

a controller;

an articulation input, wherein the controller is configured to activate the motor to move the end effector to an articulated position in response to an actuation of the articulation input; and

a return input, wherein the controller is configured to activate the motor to move the end effector to the unarticulated position in response to an actuation of the return input.

14. A surgical instrument assembly, comprising:

a shaft;

an end effector, wherein a portion of the end effector is configured to articulate relative to the shaft between a home position and a plurality of articulated positions;

a motor;

a controller;

an articulation input, wherein the controller is configured to activate the motor and move the articulatable end effector portion in response to an actuation of the articulation input; and

a return input, wherein the controller is configured to activate the motor and move the articulatable end effector portion to the home position in response to an actuation of the return input.