Motor-powered articulatable surgical instruments

• US 9,924,942 B2
• Filed: 08/23/2013
• Issued: 03/27/2018
• Est. Priority Date: 08/23/2013
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Swayze, Jeffrey S., Baxter, III, Chester O., Shelton, IV, Frederick E.
• Primary Examiner(s): Desai, Hemant M
• Assistant Examiner(s): Neacsu, Valentin
• Application Number:
  US13/974,209
• Publication Number:
  US 20150053744A1
• Time in Patent Office: 1,677 Days
• Field of Search: 2271751-1821
• 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 17/072 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 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00084 Temperature
• CPC Class Codes: A61B 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00123 and automatic shutdown
• CPC Class Codes: A61B 2017/00137 Details of operation mode
• CPC Class Codes: A61B 2017/00154 pulsed
• CPC Class Codes: A61B 2017/0019 Means for setting or varying the pulse width
• 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 2017/00367 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 2017/00402 Piezo electric actuators
• CPC Class Codes: A61B 2017/00407 Ratchet means
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable for prosthetic joint-implanting tools A61F2/4603
• CPC Class Codes: A61B 2017/00464 : for use with different instruments with hole for different instruments A61B2017/22072
• 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 2017/00486 : Adaptors for coupling parts with incompatible geometries
• CPC Class Codes: A61B 2017/00734 : battery operated
• CPC Class Codes: A61B 2017/07214 : Stapler heads
• CPC Class Codes: A61B 2017/07228 : Arrangement of the staples
• 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 2017/2901 : Details of shaft
• CPC Class Codes: A61B 2017/291 : the position of the handle being adjustable with respect to the shaft
• 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 2017/2941 : Toggle linkages
• CPC Class Codes: A61B 2017/2946 : Locking means
• CPC Class Codes: A61B 2034/252 : indicating steps of a surgical procedure
• CPC Class Codes: A61B 2034/254 : being adapted depending on the stage of the surgical procedure
• CPC Class Codes: A61B 2034/256 : having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/035 : preventing further rotation
• CPC Class Codes: A61B 2090/037 : with a frangible part, e.g. by reduced diameter
• CPC Class Codes: A61B 2090/0803 : Counting the number of times an instrument is used
• CPC Class Codes: A61B 2090/0804 : Counting number of instruments used; Instrument detectors
• CPC Class Codes: A61B 2090/0807 : Indication means
• 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 2090/372 : Details of monitor hardware
• CPC Class Codes: A61B 2560/0214 : of power generation or supply
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/03 : Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/90 : Identification means for patients or instruments, e.g. tags
• CPC Class Codes: A61B 90/96 : using barcodes
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: G06F 21/60 : Protecting data
• CPC Class Codes: G06F 3/016 : Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0416 : Control or interface arrangements specially adapted for digitisers
• CPC Class Codes: G06F 3/04817 : using icons graphical or visual programming using iconic symbols G06F8/34
• CPC Class Codes: G06F 3/0482 : Interaction with lists of selectable items, e.g. menus
• CPC Class Codes: G06F 3/04845 : for image manipulation, e.g. dragging, rotation, expansion or change of colour
• CPC Class Codes: G06F 3/0488 : using a touch-screen or digitiser, e.g. input of commands through traced gestures
• CPC Class Codes: G06T 11/60 : Editing figures and text; Combining figures or text
• CPC Class Codes: G09G 5/14 : Display of multiple viewports
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 : for local operation
• CPC Class Codes: G16Z 99/00 : Subject matter not provided for in other main groups of this subclass
• CPC Class Codes: H01M 10/425 : Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing printed circuits H05K1/00
• CPC Class Codes: H01M 10/48 : Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte constructional details of current conducting connections for detecting conditions inside cells or batteries, e.g. details of voltage sensing terminals, H01M50/569
• CPC Class Codes: H01M 2220/30 : Batteries in portable systems, e.g. mobile phone, laptop
• CPC Class Codes: H02J 2310/23 : The load being a medical device, a medical implant, or a life supporting device
• CPC Class Codes: H02J 7/00 : Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
• CPC Class Codes: H02J 7/0068 : Battery or charger load switching, e.g. concurrent charging and load supply H02J7/0013 takes precedence
• CPC Class Codes: H02J 7/342 : The other DC source being a battery actively interacting with the first one, i.e. battery to battery charging with circuits for polarity protection H02J7/0034
• CPC Class Codes: H02J 9/061 : for DC powered loads
• CPC Class Codes: H03K 2217/96062 : with tactile or haptic feedback
• CPC Class Codes: Y02E 60/10 : Energy storage using batteries

Abstract

A motor driven surgical instrument that includes a surgical end effector configured to perform at least one surgical procedure in response to firing motions applied thereto from a firing system. The surgical instrument further includes an articulation system that is configured to facilitate articulation of the end effector relative to an elongated tool axis. The instrument further includes a coupler assembly configured to enable the motor to selectively power the firing system and the articulation system.

Claims

1. A surgical instrument comprising:

an elongated shaft assembly defining a longitudinal tool axis;

a surgical end effector operably coupled to the elongated shaft assembly for selective articulation of the surgical end effector about an articulation axis which is transverse to the longitudinal tool axis, the surgical end effector being configured to perform at least one surgical procedure in response to firing motions applied thereto, wherein the surgical end effector comprises a first jaw and a second jaw, wherein the first jaw is pivotable relative to the second jaw about a pivot axis, and wherein the pivot axis and the articulation axis are not the same;

an articulation system operably interfacing with the elongated shaft assembly for applying articulation motions to the surgical end effector;

a firing member assembly operably interfacing with the elongated shaft assembly to apply the firing motions to the surgical end effector;

a motor comprising a housing, wherein said housing is immovably fixed to said elongated shaft assembly such that said housing does not move relative to said elongated shaft assembly, and wherein said motor is configured to selectively generate rotary actuation motions; and

a drive coupler assembly interfacing with the motor and the articulation system such that when the drive coupler assembly is in a first configuration, operation of the motor will result in rotary actuation motions being applied to the articulation system resulting in articulation of the surgical end effector about the articulation axis, and when the drive coupler assembly is in a second configuration, operation of the motor will result in rotary actuation motions being applied to the firing member assembly causing the firing member assembly to apply at least one of the firing motions to the surgical end effector.

2. The surgical instrument of claim 1 wherein the articulation system comprises:

an articulation link assembly supported by the elongated shaft assembly and configured to operably interface with an articulation joint facilitating articulation of the surgical end effector relative to the longitudinal tool axis; and

an articulation actuation mechanism interfacing with the drive coupler assembly and the articulation link assembly to apply articulation actuation motions to the articulation link assembly.

3. The surgical instrument of claim 2 wherein the motor is operably coupled to a gear assembly comprising:

a gear box housing coupled to a portion of the motor;

a gear arrangement operably supported within the gear box housing and interfacing with a shaft of the motor and the articulation actuation mechanism; and

an output shaft unit operably interfacing with the gear arrangement and the firing member assembly.

4. The surgical instrument of claim 3 wherein the articulation system further comprises an articulation drive shaft operably interfacing with the articulation actuation mechanism and the gear arrangement.

5. The surgical instrument of claim 4 wherein the gear arrangement comprises:

a planetary gear arrangement operably supported by the gear box housing and interfacing with the motor shaft and the output shaft unit; and

a coupler gear assembly configured to operably interface with the planetary gear arrangement and an articulation drive gear on the articulation drive shaft.

6. The surgical instrument of claim 5 wherein the drive coupler assembly further comprises a coupler selector member selectively movable between a first selector position and a second selector position wherein while in the first selector position, the output shaft unit is prevented from rotating when the motor shaft is applying rotary actuation motions to portions of the planetary gear arrangement and the coupler gear assembly is permitted to rotate in response to rotation of the portions of the planetary gear arrangement to apply rotary actuation motions to the articulation drive shaft, and while in the second selector position, the coupler gear assembly is prevented from rotating when the motor shaft is applying rotary actuation motions to the portions of the planetary gear arrangement and the output shaft unit is permitted to rotate in response to rotation of the portions of the planetary gear arrangement to apply the rotary actuation motions to the firing member assembly.

7. The surgical instrument of claim 1 wherein the surgical end effector comprises a loading unit.

8. A surgical instrument comprising:

a handle;

an elongated shaft assembly operably coupled to the handle and defining a longitudinal tool axis;

a loading unit operably coupled to the elongated shaft assembly and configured to sever and staple tissue in response to firing motions applied thereto, the loading unit being configured to be selectively articulated relative to the longitudinal tool axis about an articulation joint which defines an articulation axis that is transverse to the longitudinal tool axis, wherein the loading unit further comprises a first jaw and a second jaw, wherein the first jaw is pivotable relative to the second jaw about a pivot axis, and wherein the pivot axis and the articulation axis are not the same;

an articulation system comprising;

an articulation link assembly supported by the elongated shaft assembly and configured to operably interface with an articulation joint portion in one of the elongated shaft assembly and the loading unit; and

an articulation actuation mechanism supported by the handle and interfacing with the articulation link assembly to apply articulation actuation motions thereto and wherein the surgical instrument further comprises;

a firing member assembly operably interfacing with the loading unit to apply the firing motions thereto;

a motor comprising a housing, wherein said housing is immovably fixed to said elongated shaft assembly, and wherein said motor is configured to generate rotary actuation motions; and

a drive coupler assembly interfacing with the motor and the articulation actuation mechanism such that when the drive coupler assembly is in a first configuration, operation of the motor will result in rotary actuation motions being applied to the articulation system resulting in articulation of the loading unit about the articulation axis and when the drive coupler assembly is in a second configuration, operation of the motor will result in rotary actuation motions being applied to the firing member assembly causing the firing member assembly to apply at least one of the firing motions to the loading unit.

9. The surgical instrument of claim 8 wherein the motor is operably coupled to a gear assembly supported in the handle, the gear assembly comprising:

a gear box housing coupled to a portion of the motor;

a gear arrangement operably supported within the gear box housing and interfacing with a shaft of the motor and the articulation actuation mechanism; and

an output shaft unit operably interfacing with the gear arrangement and the firing member assembly.

10. The surgical instrument of claim 9 wherein the articulation system further comprises an articulation drive shaft operably interfacing with the articulation actuation mechanism and the gear arrangement.

11. The surgical instrument of claim 10 wherein the gear arrangement comprises:

a planetary gear arrangement operably supported by the gear box housing and interfacing with the motor shaft and the output shaft unit; and

a coupler gear assembly operably interfacing with the planetary gear arrangement and an articulation drive gear on the articulation drive shaft.

12. The surgical instrument of claim 11 wherein the drive coupler assembly further comprises a coupler selector member selectively movable between a first selector position wherein

the output shaft unit is prevented from rotating when the motor shaft is applying rotary actuation motions to portions of the planetary gear arrangement and the coupler gear assembly is permitted to rotate in response to rotation of the portions of the planetary gear arrangement to apply rotary actuation motions to the articulation drive shaft,

and a second selector position wherein

the coupler gear assembly is prevented from rotating when the motor shaft is applying rotary actuation motions to the portions of the planetary gear arrangement and the output shaft unit is permitted to rotate in response to rotation of the portions of the planetary gear arrangement to apply the rotary actuation motions to the firing member assembly.

13. A surgical instrument comprising:

an elongated shaft assembly defining a longitudinal tool axis;

a surgical end effector operably coupled to the elongated shaft assembly for selective articulation of the surgical end effector about an articulation axis which is transverse to the longitudinal tool axis, the surgical end effector being configured to perform at least one surgical procedure in response to firing motions applied thereto, wherein the surgical end effector comprises a first jaw and a second jaw, wherein the first jaw is pivotable relative to the second jaw about a pivot axis, and wherein the pivot axis and the articulation axis are not the same;

an articulation system operably interfacing with the elongated shaft assembly for applying articulation motions to the surgical end effector;

a firing member assembly operably interfacing with the elongated shaft assembly to apply the firing motions to the surgical end effector;

a motor immovably mounted to said elongated shaft assembly such that said motor does not translate relative to said elongated shaft assembly, and wherein said motor is configured to generate rotary actuation motions; and

means for selectively applying an output motion from the motor to either the articulation system or the firing member assembly.

14. The surgical instrument of claim 13 wherein the surgical end effector comprises a loading unit.