Robotically-controlled shaft based rotary drive systems for surgical instruments

• US 9,795,381 B2
• Filed: 04/07/2016
• Issued: 10/24/2017
• Est. Priority Date: 06/04/2007
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery LLC (Johnson & Johnson)
• Inventors: Shelton, IV, Frederick E.
• Primary Examiner(s): Lopez, Michelle
• Application Number:
  US15/093,024
• Publication Number:
  US 20160220247A1
• Time in Patent Office: 565 Days
• Field of Search: 2271751, 2271781
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• 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 17/0684 having a forming anvil staying above 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 17/320068 using mechanical vibrations, e.g. ultrasonic A61B17/22012 takes precedence; dental tooth drilling devices operated by vibration A61C3/03; removing intra-ocular material using mechanical vibrations A61F9/00745
• 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 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00323 Cables or rods
• 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 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• 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 2017/00685 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 2017/07257 characterised by its anvil
• 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 2017/2905 : flexible
• 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 2017/2933 : camming or guiding means
• CPC Class Codes: A61B 2017/2937 : with flexible part
• 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 2018/1455 : having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2034/302 : specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• 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 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: Y10T 29/53 : Means to assemble or disassemble

Abstract

A stapling system comprising a housing is disclosed. The housing comprises a first rotatable drive disk. The stapling system further comprises a closure member configured to transmit a closing motion from the first rotatable drive disk to an anvil to move the anvil into a closed position. The stapling system further comprises a second rotatable drive disk, wherein the second rotatable drive disk is operable independently of the first rotatable drive disk and is configured to transmit a second operative motion. The stapling system further comprises a firing member configured to perform a firing stroke in response to the second operative motion. The stapling system further comprises a control system that assures that the closing motion and the firing stroke are separate and distinct and that prevents the firing stroke from occurring prior to the completion of the closing motion.

Claims

1. A stapling system, comprising:

a housing comprising a first rotatable drive disk, wherein said first rotatable drive disk is rotatable about an axis to complete a rotation about said axis;

an elongate shaft extending from said housing;

an end effector, comprising;

a jaw configured to support a staple cartridge; and

an anvil rotatable relative to said jaw between an open position and a closed position;

a closure member configured to transmit a closing motion from said first rotatable drive disk to said anvil to move said anvil into said closed position;

a second rotatable drive disk, wherein said second rotatable drive disk is operable independently of said first rotatable drive disk and is configured to transmit a second operative motion;

a firing member configured to perform a firing stroke in response to said second operative motion; and

a control system that assures that said closing motion and said firing stroke are separate and distinct and that prevents said firing stroke from occurring prior to the completion of said closing motion.

2. The stapling system of claim 1, wherein said axis is transverse to a longitudinal axis defined by said elongate shaft.

3. The stapling system of claim 1, further comprising said staple cartridge.

4. The stapling system of claim 3, wherein said staple cartridge is removably replaceable within said jaw.

5. The stapling system of claim 1, further comprising a rotary motion generator configured to rotate said first drive disk.