Robotically-controlled motorized surgical instrument

• US 9,386,983 B2
• Filed: 05/27/2011
• Issued: 07/12/2016
• Est. Priority Date: 09/23/2008
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery LLC (Johnson & Johnson)
• Inventors: Swensgard, Brett E., Yates, David C., Shelton, Frederick E. IV
• Primary Examiner(s): SZPIRA, JULIE ANN
• Application Number:
  US13/118,253
• Publication Number:
  US 20110295269A1
• Time in Patent Office: 1,873 Days
• Field of Search: 606/180, 606/130, 318/400.08, 318/247, 320/167, 700/245
• 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 2017/00075 Motion
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00362 Packages or dispensers for MIS instruments A61B2017/0479 takes precedence
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• 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 2017/07271 characterised by its cartridge
• CPC Class Codes: A61B 2017/07278 characterised by its sled or its staple holder
• CPC Class Codes: A61B 2017/07285 characterised by its cutter
• 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 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2943 Toothed members, e.g. rack and pinion
• 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 2090/065 : for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/0803 : Counting the number of times an instrument is used
• 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 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• 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 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: H02J 2310/23 : The load being a medical device, a medical implant, or a life supporting device
• CPC Class Codes: H02J 7/0031 : using battery or load disconnect circuits H02J9/002 takes precedence

Abstract

A surgical cutting and fastening instrument that is motorized and configured for operation in connection with a robotic system. The instrument comprises in one embodiment a charge accumulator device, separate from a battery, that provides additional power to the motor under certain conditions. In addition, the motor may comprise multiple windings.

Claims

1. A robotically-controlled surgical instrument system comprising:

an end effector comprising a moveable cutting instrument;

an electric motor communicating with said end effector for actuating the cutting instrument;

a motor control circuit for controlling the motor, wherein the motor control circuit comprises;

a robotic system operably communicating with said electric motor, the robotic system comprising a power supply for supplying power to the electric motor;

a charge accumulator device; and

a switching circuit communicating with the robotic system and the charge accumulator device for (i) temporarily connecting the charge accumulator device to the robotic system not in series with the power supply to charge the charge accumulator device, and (ii) selectively connecting the charge accumulator device in series between the motor and the robotic system to provide additional power to the motor.

2. The surgical instrument system of claim 1, wherein the charge accumulator device comprises a capacitor.

3. The surgical instrument system of claim 2, wherein the charge accumulator device comprises an ultracapacitor.

4. The surgical instrument system of claim 1, wherein the robotic system comprises a plurality of power sources.

5. The surgical instrument of claim 4, wherein said plurality of power sources comprises series-connected battery cells.

6. The surgical instrument system of claim 4, further comprising a power source selection switch connected to the robotic system for connecting, when in a first state, all of the power sources to the motor, and, when in a second state, a subset of the power sources to the motor.

7. The surgical instrument system of claim 1, wherein the end effector comprises a circular-cutting end effector.

8. The surgical instrument system of claim 1, wherein the end effector comprises a linear-cutting end effector.

9. The surgical instrument system of claim 1, wherein the motor control circuit further comprises a current control circuit, connected to the power supply, for varying the current supplied to the motor from the power supply, such that the motor has at least:

a first, low power operational mode for a first portion of a cutting stroke cycle of the cutting instrument; and

a second, high power operational mode for a second portion of the cutting stroke cycle of the cutting instrument.

10. The surgical instrument system of claim 1, wherein:

the motor comprises at least two windings; and

the motor control circuit is for selectively connecting the at least two windings in series or in parallel.

11. A surgical instrument system comprising:

a robotic system;

an end effector coupled to a portion of said robotic system, said end effector comprising a moveable cutting instrument;

an electric motor for actuating the cutting instrument, wherein the motor comprises at least two windings; and

a motor control circuit connected to the motor, the motor control circuit having a first configuration where the at least two motor windings are connected in series and a second configuration where the at least two motor windings are connected in parallel.

12. The surgical instrument system of claim 11, wherein said robotic system comprises a power source connected to the motor.

13. The surgical instrument system of claim 12, wherein the power source comprises a plurality of series-connected power sources.

14. The surgical instrument system of claim 13, further comprising a power source selection switch connected to the power sources for connecting, when in a first state, all of the power sources to the motor, and, when in a second state, a subset of the power sources to the motor.

15. A surgical instrument system comprising:

an end effector operably coupled to a robotic system, said end effector comprising

a moveable cutting instrument;

an electric motor for actuating the cutting instrument;

a removable battery pack within said robotic system for powering the motor, wherein the battery pack comprises a plurality of battery cells, wherein the plurality of battery cells comprises a first plurality of series-connected battery cells and a second plurality of series-connected battery cells;

a battery cell connector, separate from the battery pack and in mechanical communication with the battery pack, that connects the battery pack to the surgical instrument system and connects in series the first plurality of series-connected battery cells to the second plurality of series-connected battery cells when the battery pack is connected to the surgical instrument system, wherein the first plurality of series-connected battery cells and the second plurality of series-connected battery cells are not connected in series prior to connection to the surgical instrument system; and

a switch electrically connected to the battery pack, wherein the switch has a first position in which the first plurality of series-connected battery cells and the second plurality of series-connected battery cells are electrically coupled to power the electric motor and a second position in which less than all of the first plurality of series-connected battery cells and the second plurality of series-connected battery cells are electrically coupled to power the electric motor.

16. The surgical instrument system of claim 15, wherein the battery pack comprises a third plurality of series-connected battery cells, and wherein the battery cell connector connects in series the first, second, and third plurality of series-connected battery cells when the battery pack is in communication with the surgical instrument system.

17. The surgical instrument system of claim 15, wherein the first plurality of series-connected battery cells comprises three series-connected Lithium primary battery cells and the second plurality of series-connected battery cells comprises three series-connected Lithium primary battery cells.

18. The surgical instrument system of claim 15, wherein the surgical instrument system further comprises:

a charge accumulator device; and

a switching circuit connected to the battery pack and the charge accumulator device for (i) temporarily connecting the charge accumulator device to the battery pack not in series with the battery pack to charge the charge accumulator device, and (ii) selectively connecting the charge accumulator device in series with the battery pack to provide additional power to the motor.