Rotary powered articulation joints for surgical instruments

• US 9,782,169 B2
• Filed: 03/01/2013
• Issued: 10/10/2017
• Est. Priority Date: 03/01/2013
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Kimsey, John S., Auld, Michael D.
• Primary Examiner(s): Tecco, Andrew M
• Assistant Examiner(s): Ahmed, Mobeen
• Application Number:
  US13/782,323
• Publication Number:
  US 20140246472A1
• Time in Patent Office: 1,684 Days
• Field of Search: None
• 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 17/072 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 17/1155 Circular staplers comprising a plurality of staples
• CPC Class Codes: A61B 17/32002 with continuously rotating, oscillating or reciprocating cutting instruments
• CPC Class Codes: A61B 18/085 Forceps, scissors
• 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 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2017/00075 Motion
• CPC Class Codes: A61B 2017/00115 with audible or visual output
• CPC Class Codes: A61B 2017/00123 and automatic shutdown
• CPC Class Codes: A61B 2017/00128 related to intensity or progress of surgical action
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• 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 2017/00393 : 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
• CPC Class Codes: A61B 2017/00464 : for use with different instruments
• 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 2017/00482 : with a code
• CPC Class Codes: A61B 2017/0069 : with universal joint, cardan joint
• 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 2017/2923 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2925 : Pistol grips
• 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 2017/320069 : for ablating tissue
• CPC Class Codes: A61B 2017/320071 : with articulating means for working tip
• CPC Class Codes: A61B 2017/320089 : node location
• 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 2018/00607 : Coagulation and cutting with the same instrument
• CPC Class Codes: A61B 2018/00619 : Welding
• CPC Class Codes: A61B 2018/00791 : Temperature
• CPC Class Codes: A61B 2018/00875 : Resistance or impedance
• CPC Class Codes: A61B 2018/1455 : having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2034/742 : Joysticks
• CPC Class Codes: A61B 2090/033 : Abutting means, stops, e.g. abutting on tissue or skin
• CPC Class Codes: A61B 2090/034 : abutting on parts of the device itself
• CPC Class Codes: A61B 2090/061 : for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/064 : for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/065 : for measuring contact or contact pressure
• 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 34/30 : Surgical robots
• CPC Class Codes: A61B 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 90/90 : Identification means for patients or instruments, e.g. tags
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: G05G 2009/04777 : with additional push or pull action on the handle
• CPC Class Codes: G05G 9/04796 : for rectilinear control along the axis of the controlling member
• CPC Class Codes: Y02A 90/10 : Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

An articulation joint for a surgical instrument. In at least one form, the articulation joint includes a proximal joint portion that is coupled to an elongate shaft assembly of the surgical instrument. A distal joint portion is movably coupled to the proximal joint portion and is configured to interface with a surgical end effector. A first gear train operably interfaces with a proximal firing shaft segment within the elongate shaft assembly and a distal firing shaft segment that is configured to operably interface with the surgical end effector for transmitting a rotary firing motion thereto from the proximal firing shaft segment to the surgical end effector. A second gear train operably interfaces with a proximal rotation shaft portion of the elongate shaft assembly for transmitting a distal rotational control motion to the surgical end effector to cause the surgical end effector to rotate relative to the elongate shaft assembly while facilitating articulation of the distal joint portion relative to the proximal joint portion.

Claims

1. An articulation joint for a surgical instrument that includes an elongate shaft assembly and a drive system that is configured to generate and apply a plurality of rotary control motions to the elongate shaft assembly, the articulation joint comprising:

a proximal joint portion coupled to the elongate shaft assembly, wherein the elongate shaft assembly defines a shaft axis;

a distal joint portion movably coupled to the proximal joint portion and configured to interface with a surgical end effector;

a first gear train operably interfacing with a proximal firing shaft portion of the elongate shaft assembly and a distal firing shaft portion operably interfacing with the surgical end effector for transmitting a rotary firing motion from the proximal firing shaft portion to the surgical end effector while facilitating articulation of the distal joint portion relative to the proximal joint portion, the first gear train comprising;

a first input gear rotatable about the shaft axis;

a first idler gear operably meshed with the first input gear, wherein the first idler gear defines an intermediate axis, and wherein the first idler gear is rotatable about the intermediate axis; and

a first output gear operably meshed with the first idler gear, wherein the first output gear is rotatable about the shaft axis; and

a second gear train operably interfacing with a proximal rotation shaft portion of the elongate shaft assembly for transmitting a distal rotational control motion to the surgical end effector to cause the surgical end effector to rotate relative to the elongate shaft assembly while facilitating articulation of the distal joint portion relative to the proximal joint portion, the second gear train comprising;

a second input gear rotatable about the shaft axis;

a second idler gear operably meshed with the second input gear, wherein the second idler gear is rotatable about the intermediate axis; and

a second output gear operably meshed with the second idler gear, wherein the second output gear is rotatable about the shaft axis, and wherein the first output gear and the second output gear are concentric,

wherein the first gear train is nested within the second gear train such that no portion of the first gear train extends radially beyond a portion of the second gear train,

wherein the distal joint portion is configured to interface with an articulation shaft portion of the elongate shaft assembly to receive articulation motions therefrom,

wherein the distal joint portion is configured to pivot relative to the proximal joint portion upon application of rotary articulation motions to the articulation shaft portion of the elongate shaft assembly,

wherein the articulation joint further comprises an articulation drive link operably coupled to the distal joint portion, the articulation drive link interfacing with the articulation shaft portion and being constrained to move axially relative to the articulation joint in response to the application of the rotary articulation motions to the articulation shaft portion, and

wherein the articulation drive link threadably engages the articulation shaft portion.

2. The articulation joint of claim 1 wherein the distal joint portion rotatably interfaces with a coupler assembly that is configured to be removably coupled to the surgical end effector.

3. The articulation joint of claim 2 wherein a portion of the second gear train interfaces with the coupler assembly to cause the coupler assembly to rotate relative to the distal joint portion upon application of the distal rotational control motion to the proximal rotation shaft portion of the elongate shaft assembly.

4. The articulation joint claim 2 further comprising a locking assembly on the coupler assembly for releasably locking the surgical end effector to the coupler assembly.

5. An articulation joint for a surgical instrument that includes an elongate shaft assembly and a drive system that is configured to generate and apply a plurality of rotary control motions to the elongate shaft assembly, the articulation joint comprising:

a proximal clevis coupled to the elongate shaft assembly, wherein the elongate shaft assembly defines a shaft axis;

a distal clevis movably coupled to the proximal clevis and configured to interface with a surgical end effector;

a first gear train operably interfacing with a proximal firing shaft segment of the elongate shaft assembly and a distal firing shaft segment operably interfacing with the surgical end effector for transmitting a rotary firing motion from the proximal firing shaft segment to the surgical end effector while facilitating articulation of the distal clevis relative to the proximal clevis, the first gear train comprising;

a first input gear rotatable about the shaft axis;

a first idler gear operably meshed with the first input gear, wherein the first idler gear defines an intermediate axis, and wherein the first idler gear is rotatable about the intermediate axis; and

a first output gear operably meshed with the first idler gear, wherein the first output gear is rotatable about the shaft axis; and

a second gear train operably interfacing with a proximal rotation shaft segment of the elongate shaft assembly for transmitting a distal rotational control motion to the surgical end effector to cause the surgical end effector to rotate relative to the elongate shaft assembly while facilitating articulation of the distal clevis relative to the proximal clevis, the second gear train comprising;

a second input gear rotatable about the shaft axis;

a second idler gear operably meshed with the second input gear, wherein the second idler gear is rotatable about the intermediate axis; and

a second output gear operably meshed with the second idler gear, wherein the second output gear is rotatable about the shaft axis, and wherein the first output gear and the second output gear are concentric,

wherein the distal clevis is configured to pivot relative to the proximal clevis upon application of rotary articulation motions to an articulation shaft segment of the elongate shaft assembly,

wherein said articulation joint further comprises an articulation drive link operably coupled to the distal clevis and interfacing with the articulation shaft segment, wherein the articulation drive link is constrained to move axially relative to the articulation joint in response to the application of the rotary articulation motions to the articulation shaft segment to pivot the distal clevis relative to the proximal clevis, and

wherein the articulation drive link threadably engages the articulation shaft segment.

6. An articulation joint for a surgical instrument that includes an elongate shaft assembly and a drive system that is configured to generate and apply a plurality of rotary control motions to the elongate shaft assembly, the articulation joint comprising:

a proximal joint portion coupled to the elongate shaft assembly, wherein the elongate shaft assembly defines a shaft axis;

a distal joint portion movably coupled to the proximal joint portion and configured to interface with a surgical end effector;

a first gear train operably interfacing with a proximal firing shaft portion of the elongate shaft assembly and a distal firing shaft portion operably interfacing with the surgical end effector for transmitting a rotary firing motion from the proximal firing shaft portion to the surgical end effector while facilitating articulation of the distal joint portion relative to the proximal joint portion, the first gear train comprising;

a first input gear rotatable about the shaft axis;

a first idler gear operably meshed with the first input gear, wherein the first idler gear defines an intermediate axis, and wherein the first idler gear is rotatable about the intermediate axis; and

a first output gear operably meshed with the first idler gear, wherein the first output gear is rotatable about the shaft axis; and

a second gear train operably interfacing with a proximal rotation shaft portion of the elongate shaft assembly for transmitting a distal rotational control motion to the surgical end effector to cause the surgical end effector to rotate relative to the elongate shaft assembly while facilitating articulation of the distal joint portion relative to the proximal joint portion, the second gear train comprising;

a second input gear rotatable about the shaft axis;

a second idler gear operably meshed with the second input gear, wherein the second idler gear is rotatable about the intermediate axis; and

a second output gear operably meshed with the second idler gear, wherein the second output gear is rotatable about the shaft axis, and wherein the first output gear and the second output gear are concentric; and

an articulation drive link operably coupled to the distal joint portion and interfacing with an articulation shaft portion of the elongate shaft assembly, wherein the articulation drive link is constrained to move axially relative to the articulation joint in response to application of rotary articulation motions to the articulation shaft portion,

wherein said articulation drive link threadably engages the articulation shaft portion.