Drive train control arrangements for modular surgical instruments

• US 9,351,727 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., Lytle, Thomas W. IV, Sackett, Kevin D., Overmyer, Mark D.
• Primary Examiner(s): Chukwurah, Nathaniel
• Application Number:
  US13/803,130
• Publication Number:
  US 20140263543A1
• Time in Patent Office: 1,174 Days
• Field of Search: 227/19, 227/175.1, 227/176.1, 227/175.2, 227/180.1, 606/151, 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 surgical instrument includes an articulation assembly configured to articulate the end effector relative to the shaft, a firing assembly configured to fire a plurality of staples, for example, and a locking member movable between a locked configuration and an unlocked configuration. The housing is removably couplable to the shaft when the locking member is in the unlocked configuration and the housing includes a motor configured to drive at least one of the firing assembly and the articulation assembly. The housing also includes a controller in communication with the motor, wherein the controller is configured to activate the motor to reset at least one of the firing assembly and the articulation assembly to a home state when the locking member is moved between the locked configuration and the unlocked configuration.

Claims

1. A surgical instrument, comprising:

an end effector;

a shaft extending proximally from the end effector;

a firing assembly configured to fire a plurality of staples;

an articulation assembly configured to articulate the end effector relative to the shaft;

a locking member movable between a locked configuration and an unlocked configuration; and

a housing extending proximally from the shaft, wherein the housing is removably couplable to the shaft when the locking member is in the unlocked configuration, the housing comprising;

a motor configured to drive at least one of the firing assembly and the articulation assembly; and

a controller in communication with the motor, wherein the controller is configured to activate the motor to reset at least one of the firing assembly and the articulation assembly to a home state when the locking member is moved between the locked configuration and the unlocked configuration.

2. The surgical instrument of claim 1, wherein the housing further comprises a firing drive system, and wherein the firing assembly is in the home state where the firing assembly is operably couplable to the firing drive system.

3. The surgical instrument of claim 2, wherein the articulation assembly is operably couplable to the firing drive system.

4. The surgical instrument of claim 3, wherein the motor is configured to motivate the firing drive system to move the articulation assembly to articulate the end effector relative to the shaft.

5. The surgical instrument of claim 1, wherein the articulation assembly is in the home state where the end effector is in longitudinal alignment with the shaft.

6. The surgical instrument of claim 1, wherein the housing comprises a handle.

7. The surgical instrument of claim 1, wherein the controller is configured to provide a warning prior to resetting the at least one of the firing assembly and the articulation assembly to the home state.

8. A surgical instrument, comprising:

an end effector;

a shaft extending proximally from the end effector;

a firing assembly configured to fire a plurality of staples;

an articulation assembly configured to articulate the end effector relative to the shaft;

a locking member movable between a locked configuration and an unlocked configuration; and

a housing extending proximally from the shaft, wherein the housing is removably couplable to the shaft when the locking member is in the unlocked configuration, the housing comprising;

a motor configured to drive at least one of the firing assembly and the articulation assembly;

a controller in communication with the motor; and

a home state input operably coupled to the locking member, wherein the home state input is configured to transmit a home state input signal to the controller, and wherein the controller is configured to activate the motor to reset at least one of the firing assembly and the articulation assembly to a home state in response to the home state input signal.

9. The surgical instrument of claim 8, wherein the home state input is configured to transmit the home state input signal to the controller when the locking member is moved to the unlocked configuration.

10. The surgical instrument of claim 8, wherein the housing further comprises a firing drive system, and wherein the firing assembly is in the home state where it is operably couplable to the firing drive system.

11. The surgical instrument of claim 10, wherein the firing drive system comprises a firing drive, wherein the articulation assembly comprises an articulation drive, and wherein the articulation drive is operably couplable to the firing drive.

12. The surgical instrument of claim 11, wherein the motor is configured to motivate the firing drive to move the articulation drive to articulate the end effector relative to the shaft.

13. The surgical instrument of claim 8, wherein the articulation assembly is in the home state where the end effector is in longitudinal alignment with the shaft.

14. The surgical instrument of claim 8, wherein the housing comprises a handle.

15. The surgical instrument of claim 8, wherein the controller is configured to provide a warning prior to resetting the at least one of the firing assembly and the articulation assembly to the home state.

16. A surgical instrument, comprising:

an end effector;

a shaft extending proximally from the end effector;

an articulation assembly configured to articulate the end effector relative to the shaft between a home state position and an articulated position;

a locking member movable between a locked configuration and an unlocked configuration; and

a housing extending proximally from the shaft, wherein the housing is removably couplable to the shaft when the locking member is in the unlocked configuration, the housing comprising;

a motor configured to drive the articulation assembly; and

a controller in communication with the motor, wherein the controller is configured to activate the motor to effectuate a return of the end effector to the home state position when the locking member is moved between the locked configuration and the unlocked configuration.

17. The surgical instrument of claim 16, wherein the housing comprises a handle.

18. The surgical instrument of claim 16, wherein the controller is configured to provide a warning prior to returning the end effector to the home state position.

19. The surgical instrument of claim 16, wherein the end effector is in the home state position where the end effector is in longitudinal alignment with the shaft.

20. The surgical instrument of claim 16, further comprising a home state input operably coupled to the locking member, wherein the home state input is configured to transmit a home state input signal to the controller when the locking member is moved between the locked configuration and the unlocked configuration.