Motor-driven surgical cutting and fastening instrument with tactile position feedback

• US 9,370,358 B2
• Filed: 10/19/2012
• Issued: 06/21/2016
• Est. Priority Date: 01/31/2006
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery LLC (Johnson & Johnson)
• Inventors: Shelton, Frederick E. IV, Ouwerkerk, John N., Morgan, Jerome R., Swayze, Jeffrey S.
• Primary Examiner(s): Chukwurah, Nathaniel
• Application Number:
  US13/656,257
• Publication Number:
  US 20130126582A1
• Time in Patent Office: 1,341 Days
• Field of Search: 227/176.1, 227/178.1, 227/180.1, 227/19, 606/153, 606/219
• US Class Current: 1/1
• 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 17/07207 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 17/320016 Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes A61B10/0233, A61B17/29, A61B17/3207 take precedence
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

A surgical instrument is disclosed. The surgical instrument comprises a motor, an end effector, a drive shaft, and a closure trigger, wherein actuation of the closure trigger causes the end effector to clamp an object. The surgical instrument further comprises a firing trigger distinct from the closure trigger for actuating the motor, a run motor sensor capable of communicating with the motor and configured to sense actuation of the firing trigger, and a tactile feedback system for applying a feedback force to the firing trigger.

Claims

1. A surgical instrument comprising:

a motor;

an end effector;

a drive shaft;

a closure trigger, wherein actuation of the closure trigger causes the end effector to clamp an object;

a firing trigger distinct from the closure trigger for actuating the motor;

a run motor sensor capable of communicating with the motor and configured to sense actuation of the firing trigger; and

a tactile feedback system for applying a feedback force to the firing trigger.

2. The surgical instrument of claim 1, further comprising a cutting instrument operably engaged with the drive shaft, wherein the feedback force applied to the firing trigger is related to a loading force experienced by the cutting instrument.

3. The surgical instrument of claim 2, wherein the tactile feedback system comprises a gear assembly attached to the drive shaft, wherein the firing trigger comprises a geared portion, and wherein the gear assembly is geared with the geared portion of the firing trigger.

4. The surgical instrument of claim 1, wherein the feedback force applied to the firing trigger is related to the speed of the motor.

5. The surgical instrument of claim 1, wherein the feedback force applied to the firing trigger is related to the position of a cutting instrument.

6. The surgical instrument of claim 5, wherein the tactile feedback system comprises:

an encoder for sensing rotation of the drive shaft;

a second motor operable at a speed related to the rotation of the drive shaft sensed by the encoder; and

an actuating member connected to the second motor, wherein the actuating member applies force to the firing trigger.

7. The surgical instrument of claim 6, wherein the actuating member comprises a threaded rod.

8. The surgical instrument of claim 6, further comprising a control circuit for receiving signals from the encoder related to rotation of the drive shaft and for sending control signals to the second motor based on the signals received from the encoder.

9. The surgical instrument of claim 1, wherein the run motor sensor is configured to send a signal to the motor to rotate at a rate proportional to an actuation force applied to the firing trigger.

10. The surgical instrument of claim 1, wherein the run motor sensor comprises an on/off switch.

11. The surgical instrument of claim 1, wherein the end effector comprises a staple cartridge.

12. The surgical instrument of claim 1, wherein the end effector comprises a helical drive screw, wherein forward rotation of the helical drive screw causes a cutting instrument to undertake a cutting stroke, and wherein reverse rotation of the helical drive screw causes the cutting instrument to retract.

13. The surgical instrument of claim 1, wherein the drive shaft comprises articulation means for articulating the end effector.

14. The surgical instrument of claim 1, further comprising a handle comprising a locking system, wherein the locking system is configured to lock the closure trigger to the handle.

15. A surgical instrument comprising:

an electric motor;

an end effector configured to receive a firing member;

a drive shaft;

a closure trigger, wherein actuation of the closure trigger causes the end effector to clamp an object;

a firing trigger distinct from the closure trigger for actuating the motor;

a run motor sensor capable of communicating with the motor and configured to sense actuation of the firing trigger; and

a haptic feedback system for positioning the firing trigger relative to the position of the firing member.

16. The surgical instrument of claim 15, wherein the end effector comprises a staple cartridge.

17. A surgical instrument comprising:

an electric motor;

an end effector configured to receive a cutting instrument;

a drive shaft;

a closure trigger, wherein actuation of the closure trigger causes the end effector to clamp an object;

a firing trigger distinct from the closure trigger for actuating the motor;

a run motor sensor capable of communicating with the motor and configured to sense actuation of the firing trigger; and

a haptic feedback system for applying a feedback force to the firing trigger in relation to the position of the cutting instrument.

18. The surgical instrument of claim 17, wherein the end effector comprises a staple cartridge.

19. A surgical instrument comprising:

an electric motor;

an end effector configured to receive a cutting instrument;

a drive shaft;

a closure trigger, wherein actuation of the closure trigger causes the end effector to clamp an object;

a firing trigger distinct from the closure trigger for actuating the motor;

a run motor sensor capable of communicating with the motor and configured to sense actuation of the firing trigger; and

a haptic feedback system for applying a feedback force to the firing trigger in relation to a loading force of the cutting instrument.

20. The surgical instrument of claim 19, wherein the end effector comprises a staple cartridge.

21. A surgical instrument comprising:

an electric motor;

an end effector configured to receive a cutting instrument;

a drive shaft;

a closure trigger, wherein actuation of the closure trigger causes the end effector to clamp an object;

a firing trigger distinct from the closure trigger for actuating the motor;

a run motor sensor capable of communicating with the motor and configured to sense actuation of the firing trigger; and

a haptic feedback system for applying a feedback force to the firing trigger in relation to the speed of the motor.

22. The surgical instrument of claim 21, wherein the end effector comprises a staple cartridge.

23. A surgical instrument comprising:

an electric motor rotatable in a firing direction;

an end effector;

a drive shaft;

a closure trigger, wherein actuation of the closure trigger causes the end effector to clamp an object;

a firing trigger for actuating the motor upon the application of an actuation force to the firing trigger, wherein the firing trigger is distinct from the closure trigger;

a haptic feedback system for applying a feedback force to the firing trigger; and

a run motor sensor capable of communicating with the motor, wherein the run motor sensor is configured to sense actuation of the firing trigger such that when the firing trigger is actuated, the run motor sensor signals the motor to rotate in the firing direction at a firing rate proportional to the actuation force applied to the firing trigger.

24. The surgical instrument of claim 23, wherein the end effector comprises a staple cartridge.