Surgical instrument having force feedback capabilities

• US 10,098,636 B2
• Filed: 07/29/2016
• Issued: 10/16/2018
• Est. Priority Date: 01/31/2006
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Shelton, IV, Frederick E., Morgan, Jerome R., Leimbach, Richard L., Ouwerkerk, John N.
• Primary Examiner(s): Tecco, Andrew M
• Assistant Examiner(s): Jallow, Eyamindae
• Application Number:
  US15/223,791
• Publication Number:
  US 20170014129A1
• Time in Patent Office: 809 Days
• Field of Search: 2271751-1821, 606 8
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• 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 17/1114 of the digestive tract, e.g. bowels or oesophagus
• 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 2017/00017 Electrical control of surgical instruments
• 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 2017/00353 one mechanical instrument performing multiple functions, e.g. cutting and grasping channel for multiple instruments A61B2017/3445; instrument channel A61B2017/22072; replaceable heads A61B2017/2931; suction A61M1/00
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/0042 with special provisions for gripping
• CPC Class Codes: A61B 2017/00685 Archimedes screw
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/07214 Stapler heads
• 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 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2090/033 : Abutting means, stops, e.g. abutting on tissue or skin
• 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 2090/069 : using a plummet or weight
• 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 34/71 : Manipulators operated by drive cable mechanisms
• 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 5/4836 : Diagnosis combined with treatment in closed-loop systems or methods A61B5/0036 takes precedence

Abstract

A surgical instrument system is disclosed. The surgical instrument system comprises an end effector configured to be articulated between a first position and a second position, a motor configured to provide a vibratory force to a user of the surgical instrument system when the end effector moves into the first position and when the end effector moves into the second position, and a sensor. The sensor is configured to sense a first condition of the end effector when the end effector moves into the first position, sense a second condition of the end effector when the end effector moves into the second position, and send a signal to the motor indicative of the first condition and the second condition when one of the first condition and the second condition is sensed. The signal comprises one of the group consisting of a square wave signal and a sine wave signal.

Claims

1. A surgical instrument system, comprising:

a handle assembly;

a shaft extending from said handle assembly and defining a shaft axis;

an articulation joint;

an end effector attached to said shaft by way of said articulation joint, wherein said end effector is configured to be articulated relative to said shaft axis between a first position and a second position, said end effector comprising;

a first jaw;

a second jaw movable relative to said first jaw;

a staple cartridge comprising a plurality of staples removably stored within said staple cartridge, wherein said staples are configured to be ejected from said staple cartridge; and

an anvil configured to deform said staples;

a motor configured to provide a vibratory force to a user of said surgical instrument system through said handle assembly to signal the user when said end effector moves into said first position and when said end effector moves into said second position; and

a sensor configured to;

sense a first condition of said end effector when said end effector moves into said first position;

sense a second condition of said end effector when said end effector moves into said second position; and

send a signal to said motor indicative of said first condition and said second condition when one of said first condition and said second condition is sensed, wherein said signal comprises one of the group consisting of a square wave signal and a sine wave signal.

2. The surgical instrument system of claim 1, wherein said first position is indicative of an articulation limit of said end effector.

3. The surgical instrument system of claim 1, wherein said vibratory force comprises a variable force.

4. The surgical instrument system of claim 1, wherein articulation of said end effector is actuated by said motor.

5. The surgical instrument system of claim 1, wherein said second jaw comprises said anvil.

6. A surgical instrument system, comprising:

a handle assembly;

a shaft extending from said handle assembly and defining a shaft axis;

an articulation joint, wherein said articulation joint defines an articulation axis which is transverse to said shaft axis;

an end effector attached to said shaft by way of said articulation joint, wherein said end effector is configured to be articulated relative to said shaft axis between a first position and a second position, said end effector comprising;

a first jaw;

a second jaw movable relative to said first jaw;

a staple cartridge comprising a plurality of staples removably stored within said staple cartridge, wherein said staples are configured to be ejected from said staple cartridge; and

an anvil configured to deform said staples;

a tactile feedback system configured to provide tactile feedback to a user of said surgical instrument system through said handle assembly when said end effector assumes said first position and when said end effector assumes said second position; and

a sensor configured to;

sense a first state of said end effector when said end effector moves into said first position;

sense a second state of said end effector when said end effector moves into said second position; and

send a signal to said tactile feedback system indicative of said first state and said second state when one of said first state and said second state is sensed, wherein said signal comprises one of the group consisting of a square wave signal and a sine wave signal.

7. The surgical instrument system of claim 6, wherein said first position is indicative of an articulation limit of said end effector.

8. The surgical instrument system of claim 6, wherein said tactile feedback comprises a vibratory force.

9. The surgical instrument system of claim 8, wherein said vibratory force comprises a variable force.

10. The surgical instrument system of claim 6, wherein said tactile feedback system comprises a motor, and wherein articulation of said end effector is actuated by said motor.

11. The surgical instrument system of claim 6, wherein said second jaw comprises said anvil.