Interchangeable shaft assemblies for use with a surgical instrument

• US 9,883,860 B2
• Filed: 03/14/2013
• Issued: 02/06/2018
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Leimbach, Richard L., Lytle, IV, Thomas W., Kerr, Wendy A., Swensgard, Brett E., Sackett, Kevin D., Overmyer, Mark D.
• Primary Examiner(s): Desai, Hemant M
• Assistant Examiner(s): Imam, Tanzim
• Application Number:
  US13/803,053
• Publication Number:
  US 20140263564A1
• Time in Patent Office: 1,790 Days
• Field of Search: None
• CPC Class Codes: A61B 17/064 Surgical staples, i.e. penetrating the tissue
• 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 17/105 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 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 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00123 and automatic shutdown
• 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 2017/00389 Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector
• 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 2017/00716 simulating physical properties
• 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 2017/2913 : cams or guiding means
• 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 2017/2931 : with releasable head
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2018/00172 : Connectors and adapters therefor
• CPC Class Codes: A61B 2018/00297 : Means for providing haptic feedback
• CPC Class Codes: A61B 2018/00303 : active, e.g. with a motor creating vibrations
• CPC Class Codes: A61B 2018/1455 : having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2034/2059 : Mechanical position encoders
• CPC Class Codes: A61B 2090/064 : for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/067 : for measuring angles
• CPC Class Codes: A61B 2090/0808 : for indicating correct assembly of components, e.g. of the surgical apparatus
• 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 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: G01D 5/145 : influenced by the relative movement between the Hall device and magnetic fields see G01R33/06

Abstract

An interchangeable shaft assembly for use with a surgical instrument. The surgical instrument may include a frame that operably supports a plurality of drive systems and defines an actuation axis. The shaft assembly may comprise a first shaft that is configured to apply first actuation motions to a surgical end effector that is operably coupled thereto. A proximal end of the first shaft is configured to be operably releasably coupled to a first one of the drive systems supported by the frame in a direction that is substantially transverse to the actuation axis.

Claims

1. An interchangeable shaft assembly for use with a surgical instrument, the surgical instrument including a frame that defines an actuation axis and operably supports a plurality of drive systems, the shaft assembly comprising:

a shaft frame;

a shaft attachment module on a proximal end of the shaft frame and configured to be releasably coupled to a portion of the frame in a direction that is transverse to the actuation axis;

an end effector operably coupled to a distal end of the shaft frame, the end effector comprising;

a surgical staple cartridge; and

an anvil movably supported relative to the surgical staple cartridge, wherein the interchangeable shaft assembly further comprises;

an outer shaft assembly including a distal end configured to apply control motions to the anvil, the outer shaft assembly including a proximal end configured to be operably, releasably, and directly coupled to and decoupled from an output drive of a first one of the drive systems supported by the frame in a direction that is transverse to the actuation axis, and wherein, when coupled, the outer shaft assembly and the output drive of the first drive system share a common drive axis; and

a firing shaft assembly including a distal cutting portion configured to move between a starting position and an ending position within the end effector, the firing shaft assembly including a proximal end that is configured to be operably, releasably, and directly coupled to and decoupled from an output drive of a firing drive system supported by the frame in the direction that is transverse to the actuation axis, and wherein, when coupled, the firing shaft assembly and the output drive of the firing drive system share a common drive axis,

wherein said firing drive system comprises a motor, and

wherein said outer shaft assembly further comprises an articulation joint, and wherein a distal portion of said articulation joint is coupled to said end effector to facilitate articulation of the end effector relative to a proximal portion of said articulation joint in response to articulation motions applied thereto.

2. The interchangeable shaft assembly of claim 1 wherein the frame comprises a portion of a hand-held handle assembly.

3. The interchangeable shaft assembly of claim 1 wherein the frame comprises a portion of a robotic system.

4. The interchangeable shaft assembly of claim 2 wherein said first drive system comprises a closure trigger movably supported by said hand-held handle assembly.

5. The interchangeable shaft assembly of claim 1 further comprising an articulation member operably coupled with said end effector, wherein said articulation member is selectively engageable with said firing shaft assembly such that said articulation member is operably engaged with said firing shaft assembly in an engaged configuration and such that said articulation member is operably disengaged from said firing shaft assembly in a disengaged configuration, and wherein said firing shaft assembly is configured to apply articulation control motions to said articulation member to rotate said end effector about said articulation joint when said articulation member and said firing shaft assembly are in said engaged configuration.

6. The interchangeable shaft assembly of claim 1 wherein the shaft attachment module is configured to be removably pivotally supported on the portion of the frame to facilitate pivotal travel of the interchangeable shaft assembly relative to the frame about a pivot axis that is transverse to the actuation axis.

7. The interchangeable shaft assembly of claim 1 wherein the shaft attachment module is configured to slidably engage a dovetail slot in the portion of the frame in the direction that is transverse to the actuation axis.

10. The interchangeable shaft assembly of claim 1 wherein the direction that is transverse to the actuation axis is perpendicular to the actuation axis.

8. A surgical system, comprising:

a frame supporting a plurality of drive systems and defining an actuation axis; and

a plurality of interchangeable shaft assemblies wherein each said interchangeable shaft assembly comprises;

an elongate shaft configured to apply first actuation motions to a surgical end effector operably coupled thereto, wherein a proximal end of the elongate shaft is configured to be operably, releasably, and directly coupled to and decoupled from an output drive of a first one of the drive systems supported by the frame in a direction that is transverse to the actuation axis, and wherein, when coupled, the elongate shaft and the output drive of the first drive system share a common drive axis; and

a control shaft assembly operably supported within the elongate shaft and being configured to apply control motions to the end effector and wherein a proximal end of the control shaft assembly is configured to be operably, releasably, and directly coupled to and decoupled from an output drive of a second one of the drive systems supported by the frame in the direction that is transverse to the actuation axis, wherein, when coupled, the control shaft assembly and the output drive of the second drive system share a common drive axis, and wherein at least one of the surgical end effectors differs from another one of the surgical end effectors.

11. The surgical system of claim 8 wherein the direction that is transverse to the actuation axis is perpendicular to the actuation axis.

9. A surgical instrument, comprising:

a handle, comprising;

a frame;

a first locking portion;

a first alignment portion; and

an input drive system comprising an input drive, wherein the input drive defines a drive axis; and

an interchangeable shaft assembly configured to be operably coupled to and decoupled from the handle, the interchangeable shaft assembly comprising;

a shaft defining a shaft axis;

an output drive system comprising an output drive, wherein the output drive is configured to be operably coupled to the input drive when the interchangeable shaft assembly is operably coupled to the handle;

an end effector; and

a shaft attachment module, comprising;

a second locking portion; and

a second alignment portion defining a pivot axis that is transverse to the shaft axis, wherein the second alignment portion is configured to be received by the first alignment portion such that, when the first alignment portion and the second alignment portion are in operable engagement, the interchangeable shaft assembly is rotatable about the pivot axis to couple the first locking portion and the second locking portion together in a direction transverse to the drive axis.

12. The surgical instrument of claim 9 wherein the direction that is transverse to the drive axis is perpendicular to the drive axis.