Robotic actuator assembly

• US 9,987,003 B2
• Filed: 07/19/2017
• Issued: 06/05/2018
• Est. Priority Date: 06/04/2007
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Timm, Richard W., Shelton, IV, Frederick E.
• Primary Examiner(s): Lopez, Michelle
• Application Number:
  US15/654,201
• Publication Number:
  US 20170311945A1
• Time in Patent Office: 321 Days
• Field of Search: 2271751
• 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 robotic actuator assembly is disclosed. The robotic actuator assembly comprises a robotic system. The robotic actuator assembly also comprises a mounting portion selectively engageable with a drive assembly, an end effector, and an elongate shaft assembly. The robotic actuator assembly further comprises a transmission operably supported by the mounting portion. The transmission is configured to operably interface with the rotatable drive element of the drive assembly to receive a rotary output motion from the drive assembly.

Claims

1. A robotic actuator assembly configured to selectively perform at least two actions in response to control motions applied by a drive assembly within a robotic system, wherein the robotic system comprises a control unit, and wherein said robotic actuator assembly comprises:

a mounting portion;

an end effector;

an elongate shaft assembly, comprising;

a proximal end portion operably supported by said mounting portion; and

a distal end portion operably interfacing with said end effector to apply said control motions to said end effector; and

a transmission operably supported by said mounting portion, wherein said transmission is configured to operably interface with a rotatable drive element of said drive assembly to receive a rotary output motion from said drive assembly when said mounting portion is attached to said drive assembly, wherein said transmission is configured to communicate with the control unit of the robotic system and is movable between a first position and a second position, wherein said rotary output motion causes a first control motion of said control motions to be applied to said end effector through said elongate shaft assembly when said transmission is in said first position, and wherein said rotary output motion causes a second control motion of said control motions to be applied to said end effector through said elongate shaft assembly when said transmission is in said second position.

2. The robotic actuator assembly of claim 1, wherein said end effector comprises:

a staple cartridge; and

an anvil selectively movable relative to said staple cartridge between an open position and a closed position in response to a closure control motion.

3. A robotic actuator assembly, comprising:

a robotic system comprising a drive assembly and a control unit, wherein said drive assembly comprises a rotatable drive element;

a mounting portion selectively engageable with said drive assembly;

an end effector;

an elongate shaft assembly, comprising;

a proximal portion operably supported by said mounting portion; and

a distal portion operably interfacing with said end effector; and

a transmission operably supported by said mounting portion, wherein said transmission is configured to operably interface with said rotatable drive element of said drive assembly to receive a rotary output motion from said drive assembly when said mounting portion is engaged with said drive assembly, wherein said transmission is configured to communicate with said control unit of said robotic system and is movable between a first position and a second position, wherein said rotary output motion causes a first control motion to be applied to said end effector through said elongate shaft assembly when said transmission is in said first position, wherein said rotary output motion causes a second control motion to be applied to said end effector through said elongate shaft assembly when said transmission is in said second position, and wherein said first control motion is different than said second control motion.

4. The robotic actuator assembly of claim 3, wherein said end effector comprises:

a staple cartridge; and

an anvil selectively movable relative to said staple cartridge between an open position and a closed position in response to a closure control motion.