Modular motor driven surgical instruments with alignment features for aligning rotary drive shafts with surgical end effector shafts

• US 9,801,626 B2
• Filed: 04/09/2014
• Issued: 10/31/2017
• Est. Priority Date: 04/16/2013
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Parihar, Shailendra K., Koch, Jr., Robert L., Shelton, IV, Frederick E.
• Primary Examiner(s): Smith, Scott A.
• Application Number:
  US14/248,584
• Publication Number:
  US 20140305994A1
• Time in Patent Office: 1,301 Days
• Field of Search: 227 19, 2271751, 2271761, 2271801, 606139, 606153, 606213, 606219
• 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 17/115 Staplers for performing anastomosis in a single operation
• CPC Class Codes: A61B 17/1155 Circular staplers comprising a plurality of staples
• CPC Class Codes: A61B 17/282 Jaws
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00115 with audible or visual output
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/0023 disposable
• 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 2017/00734 battery operated
• CPC Class Codes: A61B 2017/0688 Packages or dispensers for surgical staplers
• CPC Class Codes: A61B 2017/07214 : Stapler heads
• CPC Class Codes: A61B 2017/07221 : curved
• CPC Class Codes: A61B 2017/07235 : containing different staples, e.g. staples of different shapes, sizes or materials
• CPC Class Codes: A61B 2017/07242 : achieving different staple heights during the same shot, e.g. using an anvil anvil having different heights or staples of different sizes
• CPC Class Codes: A61B 2017/0725 : with settable gap between anvil and cartridge, e.g. for different staple heights at different shots
• CPC Class Codes: A61B 2017/2902 : characterized by features of the actuating rod
• CPC Class Codes: A61B 2017/2903 : transferring rotary motion
• CPC Class Codes: A61B 2017/2912 : transmission of forces to actuating rod or piston
• CPC Class Codes: A61B 2017/2922 : toggle linkages
• CPC Class Codes: A61B 2017/2923 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2932 : Transmission of forces to jaw members
• CPC Class Codes: A61B 2017/2933 : camming or guiding means
• CPC Class Codes: A61B 2017/2936 : Pins in guiding slots
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2946 : Locking means
• CPC Class Codes: A61B 2090/038 : during shipment
• 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: Y02A 90/10 : Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

Coupling systems for removably coupling dual rotary drive shafts of a surgical instrument to corresponding driven shafts of a surgical end effector. The surgical instrument may include a first rotary drive shaft that includes a first drive shaft axis and a second rotary drive shaft that includes a second drive shaft axis. The second drive shaft axis may be offset from and parallel with the first drive shaft axis. The coupling systems may facilitate simultaneous operable attachment of the first and second drive shafts of the surgical instrument with corresponding first and second driven shafts of a surgical end effector such that rotation of the first drive shaft rotates the first driven shaft and rotation of the second drive shaft rotates the second driven shaft.

Claims

1. A surgical instrument system, comprising:

a surgical instrument, comprising;

a first rotary drive system including a first rotary drive shaft including a first drive shaft axis; and

a second rotary drive system independently operable from the first rotary drive system and including a second rotary drive shaft including a second drive shaft axis that is offset from and parallel with the first drive shaft axis wherein said surgical instrument system further comprises;

at least one surgical end effector, comprising;

a first end effector drive system including a first end effector driven shaft; and

a second end effector drive system including a second end effector driven shaft

wherein the surgical instrument system further comprises;

means for simultaneously removably and operably coupling the first rotary drive shaft to the first end effector driven shaft and the second rotary drive shaft to the second end effector driven shaft such that rotation of the first rotary drive shaft rotates the first end effector driven shaft and rotation of the second rotary drive shaft rotates the second end effector driven shaft, wherein the means for simultaneously removably and operably coupling the first rotary drive shaft to the first end effector driven shaft and the second rotary drive shaft to the second end effector driven shaft comprises;

a male coupler on each of the first and second rotary drive shafts; and

a female socket coupler on each of the first and second end effector driven shafts such that when the first drive shaft axis of the first rotary drive shaft is coaxially aligned with a first driven shaft axis of the first end effector driven shaft and when the second drive shaft axis of the second rotary drive shaft is coaxially aligned with a second driven shaft axis of the second end effector driven shaft, the male couplers on the first and second rotary drive shafts are simultaneously operably insertable into the female socket couplers on the first and second end effector driven shafts, wherein the male couplers are attached to the first and second rotary drive shafts such that at least one male coupler is angularly movable for a first predetermined amount of angular travel.

2. The surgical instrument system of claim 1 wherein the at least one surgical end effector further comprises:

an open linear stapler;

a curved cutter stapler; and

a circular surgical stapler.

3. The surgical instrument system of claim 1 wherein the surgical instrument further comprises:

a housing operably supporting the first and second rotary drive systems therein;

a motor operably supported by the housing; and

a shiftable transmission assembly supported by the housing and operably interfacing with the motor and the first and second rotary drive systems to selectively drivingly couple the motor to the first and second rotary drive systems one at a time such that when the first rotary drive system is drivingly coupled to the motor, the second rotary drive system is drivingly uncoupled to the motor and when the second rotary drive system is drivingly coupled to the motor, the first drive system is drivingly uncoupled to the motor wherein each of the at least one surgical end effectors comprises;

an end effector housing configured to be releasably coupled to the housing of the surgical instrument such that when the end effector housing and surgical instrument housing are coupled together, said first and second drive shafts remain operably coupled to the first and second end effector driven shafts, respectively, by the means for simultaneously removably and operably coupling.

4. The surgical instrument system of claim 1 wherein the at least one surgical end effector comprises:

a first end effector component movably supported relative to a second end effector component between open and closed positions relative to each other by the first end effector drive system; and

a third end effector component supported for axial travel relative to at least one of the first and second end effector components between a starting and an ending position by the second end effector drive system.

5. The surgical instrument system of claim 4 wherein the first end effector component comprises an anvil wherein the second end effector component comprises a surgical staple cartridge and wherein the third end effector component includes a tissue cutting surface.

6. The surgical instrument system of claim 1 wherein the male couplers are coupled to the first and second end effector driven shafts and the female socket couplers are attached to the first and second rotary drive shafts.

7. The surgical instrument system of claim 1 wherein the first predetermined amount of angular travel comprises a first range of predetermined angular travel from ten to fifteen degrees.

8. The surgical instrument system of claim 1 wherein the female socket couplers are attached to the first and second end effector driven shafts such that at least one female socket coupler is angularly movable for a second predetermined amount of angular travel.

9. The surgical instrument system of claim 8 wherein the second predetermined amount of angular travel comprises a second range of predetermined angular travel from ten to fifteen degrees.

10. The surgical instrument system of claim 1 wherein the male couplers are attached to the first and second rotary drive shafts such that at least one male coupler is angularly movable for a first predetermined amount of angular travel and wherein each of the female socket couplers are attached to the first and second end effector driven shafts such that at least one female socket coupler is angularly movable for a second predetermined amount of angular travel.

11. The surgical instrument system of claim 10 wherein the first and second predetermined amounts of angular travel are equal.

12. A mechanical coupling system for removably coupling dual rotary drive shafts of a surgical instrument wherein a first rotary drive shaft of the surgical instrument includes a first drive shaft axis wherein a second rotary drive shaft of the surgical instrument includes a second drive shaft axis that is offset from and parallel with the first drive shaft axis to corresponding dual rotary driven shafts of a surgical end effector, the mechanical coupling system comprising:

a male coupler on each of the first and second rotary drive shafts of the surgical instrument, each male coupler comprising;

a male body portion attachable to a corresponding one of the first and second rotary drive shafts, the male body portion including a center portion; and

at least three elongate drive ribs formed in the male body portion and being equally spaced around the center portion, each elongate drive rib including a pointed distal end wherein the mechanical coupling system further comprises;

a female socket coupler on each of the dual rotary driven shafts of the surgical end effector, each female socket coupler comprising;

a female body portion attached to a corresponding one of the end effector driven shafts, the female body portion including a plurality of elongate socket grooves formed therein wherein the plurality of elongate socket grooves correspond in number and position relative to the at least three elongate drive ribs on a corresponding one of the male couplers wherein each elongate socket groove includes a tapered proximal entrance portion to facilitate insertion of a corresponding elongate drive rib therein, and wherein at least one of the male body portions is movably coupled to the corresponding one of the first and second rotary drive shafts for angular travel thereon for a first predetermined range of angular travel.

13. The mechanical coupling system of claim 12 wherein at least one of the female body portions is movably coupled to the corresponding one of the end effector driven shafts for angular travel thereon for a second predetermined range of angular travel.

14. The mechanical coupling system of claim 12 wherein:

each of the male body portions is movably coupled to the corresponding one of the first and second rotary drive shafts for angular travel thereon for a first predetermined range of angular travel; and

each of the female body portions is movably coupled to the corresponding one of the end effector driven shafts for angular travel thereon for a second predetermined range of angular travel.

15. A surgical instrument system, comprising:

a surgical instrument, comprising;

a first rotary drive system including a first rotary drive shaft including a first drive shaft axis; and

a second rotary drive system independently operable from the first rotary drive system and including a second rotary drive shaft that includes a second drive shaft axis that is offset and parallel to the first drive shaft axis wherein the surgical instrument system further comprises;

at least one surgical end effector, comprising;

a first end effector drive system including a first end effector driven shaft; and

a second end effector drive system including a second end effector driven shaft wherein the surgical instrument system further comprises;

a mechanical coupling system for removably and operably coupling the first rotary drive shaft to the first end effector driven shaft and the second rotary drive shaft to the second end effector driven shaft, the mechanical coupling system comprising;

a male coupler on each of the first and second rotary drive shafts of the surgical instrument, each male coupler comprising;

a male body portion attachable to a corresponding one of the first and second rotary drive shafts, the male body portion including a center portion;

at least three elongate drive ribs formed in the male body portion and being equally spaced around the center portion, each elongate drive rib including a pointed distal end and wherein the mechanical coupling system further comprises;

a female socket coupler on each of the first and second end effector driven shafts of the surgical end effector, each female socket coupler comprising;

a female body portion attached to a corresponding one of the end effector driven shafts, the female body portion including a plurality of elongate socket grooves formed therein wherein the plurality of elongate socket grooves correspond in number and position relative to the at least three elongate drive ribs on a corresponding one of the male couplers wherein each elongate socket groove includes a tapered proximal entrance portion to facilitate insertion of a corresponding elongate drive rib therein, and wherein each of the male body portions is movably coupled to the corresponding one of the first and second rotary drive shafts for angular travel thereon for a first predetermined range of angular travel; and

each of the female body portions is movably coupled to the corresponding one of the end effector driven shafts for angular travel thereon for a second predetermined range of angular travel.

16. The surgical instrument system of claim 15 wherein the male couplers are coupled to the first and second end effector driven shafts and the female socket couplers are attached to the first and second rotary drive shafts.