Automated end effector component reloading system for use with a robotic system

• US 10,071,452 B2
• Filed: 05/30/2014
• Issued: 09/11/2018
• Est. Priority Date: 05/27/2011
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Shelton, IV, Frederick E., Morgan, Jerome R.
• Primary Examiner(s): Tecco, Andrew M
• Application Number:
  US14/292,205
• Publication Number:
  US 20140259591A1
• Time in Patent Office: 1,565 Days
• 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 17/320092 with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2017/00075 Motion
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00212 using remote controls
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• 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 2017/07214 Stapler heads
• 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 2017/2943 Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2946 : Locking means
• CPC Class Codes: A61B 2017/320094 : additional movable means performing clamping operation
• CPC Class Codes: A61B 2017/320095 : with sealing or cauterizing means
• CPC Class Codes: A61B 2017/320097 : with stapling means
• CPC Class Codes: A61B 2090/064 : for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/065 : for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/0803 : Counting the number of times an instrument is used
• 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 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 50/36 : for collecting or disposing of used articles
• CPC Class Codes: A61B 90/08 : Accessories or related features not otherwise provided for
• CPC Class Codes: B23P 6/00 : Restoring or reconditioning objects straightening or restoring form of sheet metal, metal rods, metal tubes, metal profiles, or specific articles made therefrom B21D1/00, B21D3/00; repairing defective or damaged objects by casting techniques B22D19/10
• CPC Class Codes: B23Q 3/1554 : Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
• CPC Class Codes: Y10T 29/49721 : with disassembling
• CPC Class Codes: Y10T 29/5191 : Assembly

Abstract

An automated reloading system for replacing a spent surgical end effector in a manipulatable robotic tool portion of a robotic surgical system is disclosed. The automated reloading system comprises a drive assembly configured to generate rotary drive motions and a selectively movable support assembly defining a plurality of end effector reloading positions. Each reloading position being configured to support a new surgical end effector or a spent surgical end effector therein. The selectively movable support assembly being further configured to selectively serially move each reloading position into a driving position wherein the new surgical end effector or the spent surgical end effector therein is configured to selectively receive the rotary drive motions. The automated reloading system further comprises means for releasably locking the movable support assembly in the driving position during the application of the driving motion to the new surgical end effector or the spent surgical end effector.

Claims

1. An automated reloading system for replacing a spent surgical end effector in a manipulatable robotic tool portion of a robotic surgical system, said automated reloading system comprising:

a drive assembly configured to generate rotary drive motions;

a selectively movable support assembly defining a plurality of end effector reloading positions, each said reloading position being configured to support a new surgical end effector or a spent surgical end effector therein within a work envelope of the manipulatable robotic tool portion, said selectively movable support assembly being further configured to selectively serially move each reloading position into a driving position wherein the new surgical end effector or the spent surgical end effector therein is configured to selectively receive said rotary drive motions from said drive assembly; and

means for releasably locking said movable support assembly in said driving position during the application of said driving motion to said new surgical end effector or said spent surgical end effector.

2. The automated reloading system of claim 1, wherein said movable support assembly comprises a selectively rotatable carrousel supportable within said work envelope and communicating with said robotic system, wherein each said reloading position is configured to receive a corresponding one of said new surgical end effectors therein and wherein an empty one of said reloading positions is configured to receive said spent surgical end effector therein.

3. The automated reloading system of claim 2 wherein each said reloading position is configured to receive a corresponding orientation tube therein, each said orientation tube configured to receive a portion of a corresponding new or spent surgical end effector therein in a non-rotatable predetermined orientation.

4. The automated reloading system of claim 3 wherein said drive assembly is configured to selectively apply at least one rotary detachment motion and at least one rotary attachment motion to said orientation tubes when said orientation tubes are serially brought into engagement therewith.

5. The automated reloading system of claim 3 further comprising a portable tray configured to transport a plurality of orientation tubes therein in positions that correspond to loading positions in said rotatable carrousel.

6. The automated reloading system of claim 1 wherein said spent and new surgical end effectors comprise disposable loading units.

7. A method for automatically replacing a spent end effector operably coupled to a manipulatable robotic tool portion of a robotic system with a new end effector, said method comprising:

orienting an automated reloading system within a work envelope of the manipulatable robotic tool portion, the automated reloading system comprising;

a drive assembly configured to generate rotary drive motions;

a selectively movable support assembly defining a plurality of reloading positions, each reloading position being configured to support a new end effector or a spent end effector therein, the selectively movable support assembly further configured to selectively serially move each reloading position into a driving position wherein the new end effector or the spent end effector therein is configured to selectively receive the rotary drive motions from the drive assembly; and

means for releasably locking the movable support assembly in the driving position and wherein said method further comprises;

supporting at least one new end effector in less than all of the reloading positions in the movable support assembly;

moving the movable support assembly into a driving position wherein an empty one of the reloading positions is located adjacent the drive assembly;

releasably locking the movable support assembly in the driving position;

activating the robotic system to move the manipulatable robotic tool portion to locate the spent end effector in the empty one of the reloading positions in the driving position;

actuating the drive assembly to apply a detachment drive motion to the spent end effector in the driving position to detach the spent end effector from a corresponding portion of the manipulatable robotic tool portion;

moving the movable support assembly into another driving position wherein one of the reloading positions supporting a new end effector therein is located adjacent the drive assembly;

reactivating the robotic system to move the corresponding portion of the manipulatable robotic tool portion into loading engagement with the new end effector supported in the another driving position; and

actuating the drive assembly to apply an attachment drive motion to the new end effector to operably couple the new end effector to the corresponding portion of the manipulatable robotic tool portion.