Automated reloading devices for replacing used end effectors on robotic surgical systems

• US 10,130,366 B2
• Filed: 05/29/2015
• Issued: 11/20/2018
• 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): Lopez, Michelle
• Application Number:
  US14/725,181
• Publication Number:
  US 20150265357A1
• Time in Patent Office: 1,271 Days
• Field of Search: 2271761
• 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 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• 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 2017/07214 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• 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: Y10T 29/53404 including turret-type conveyor
• CPC Class Codes: Y10T 29/53417 Means to fasten work parts together
• CPC Class Codes: Y10T 29/53687 : by rotation of work part

Abstract

An automated reloading system for replacing a used end effector is disclosed. Various embodiments include a drive assembly configured to apply a rotary decoupling motion to a used end effector and a rotary coupling motion to a new end effector. An end effector support member is configured to support the new end effector and support and receive the used end effector while defining a decoupling orientation.

Claims

1. An automated reloading system for replacing a used end effector that is attached to a tool portion of a robotic surgical system, comprising:

an end effector support member configured to support at least one new end effector therein and defining a decoupling location for receiving and supporting the used end effector in a decoupling orientation while remaining coupled to the tool portion; and

a drive assembly adjacent said end effector support member, said drive assembly configured to apply a rotary decoupling motion to the used end effector when supported in said decoupling orientation and configured to apply a rotary coupling motion to the new end effector when the new end effector is in a loading orientation and the tool portion is positioned in loading engagement therewith.

2. The automated reloading system of claim 1, wherein the used end effector comprises a used disposable loading unit that is rotatably coupled to the tool portion and wherein the new end effector comprises a new disposable loading unit that is rotatably couplable to the tool portion.

3. The automated reloading system of claim 2, wherein said end effector support member comprises a rotary carrousel defining a plurality of end effector support locations therein.

4. The automated reloading system of claim 3, wherein each said end effector support location comprises an orientation member configured to orient a new end effector therein in said loading orientation.

5. The automated reloading system of claim 4, wherein each said orientation member comprises a tubular member sized to receive the new end effector therein and includes a locating member configured to locatingly interface with a corresponding locating feature on said end effector support member, each said tubular member being supported for rotation relative to said end effector support member.

6. The automated reloading system of claim 5, wherein each said tubular member further comprises means for non-rotatably locating the new end effector therein.

7. The automated reloading system of claim 6, wherein said means for non-rotatably locating the new end effector comprises a locating surface within said tubular member configured to slidably interface with an axial drive assembly on the new end effector inserted therein.

8. The automated reloading system of claim 4, wherein each said orientation member comprises:

an open ended tubular body defining a cavity sized to receive the new end effector therein;

a locating surface within the cavity for facilitating insertion of the new end effector into the cavity in a desired predetermined non-rotatable orientation; and

a flange formed on the open ended tubular body to facilitate suspension of the open ended tubular body through a hole in said end effector support member corresponding to one of said end effector support locations so that the orientation member is selectively rotatable relative to said end effector support member.

9. The automated reloading system of claim 8, further comprising a cushioning medium in each of said open ended tubular bodies.

10. An automated reloading system for replacing a used end effector that is rotatably coupled to a tool portion of a robotic surgical system, comprising:

a rotary drive assembly configured to selectively generate rotary drive motions; and

a movable end effector support member defining at least two end effector support locations wherein;

at least one of said end effector support locations operably supports a new end effector therein in a loading orientation wherein said new end effector is positioned to be operably coupled to the tool portion of the robotic surgical system; and

another of said end effector support locations is configured to receive the used end effector therein, said movable end effector support member being selectively movable to move the used end effector received within said another of said end effector support locations into driving engagement with said rotary drive assembly such that an application of a rotary detachment motion from said rotary drive assembly to the used end effector causes the used end effector to rotatably decouple from the tool portion and when said movable end effector support member moves the new end effector into driving engagement with said rotary drive assembly, an application of a rotary attachment motion from said rotary drive assembly to the new end effector causes the new end effector to be rotatably coupled to the tool portion when the tool portion is positioned in loading engagement with the new end effector.

11. The automated reloading system of claim 10, wherein the used end effector comprises a used disposable loading unit that is rotatably coupled to the tool portion and wherein each of the new end effectors comprises a new disposable loading unit that is rotatably couplable to the tool portion.

12. The automated reloading system of claim 11, wherein said movable end effector support member comprises a rotary carrousel including said end effector support locations therein.

13. The automated reloading system of claim 12, wherein each said end effector support location comprises an orientation member corresponding to each of said end effector support locations and being configured to orient a new disposable loading unit therein in a desired starting orientation.

14. The automated reloading system of claim 13, wherein each said orientation member comprises a tubular member sized to receive the new disposable loading unit and including a locating member configured to locatingly interface with a corresponding locating feature on said movable end effector support member, each said tubular member being supported for rotation relative to said end effector support member.

15. The automated reloading system of claim 14, wherein each said tubular member further comprises means for non-rotatably locating the new disposable loading unit therein.

16. The automated reloading system of claim 15, wherein said means for non-rotatably locating the new disposable loading unit comprises a locating surface within said tubular member configured to slidably interface with an axial drive assembly on the new disposable loading unit inserted therein.

17. The automated reloading system of claim 13, wherein each said orientation member comprises:

an open ended tubular body defining a cavity sized to receive the new disposable loading unit therein;

a locating surface within the cavity for facilitating insertion of the new disposable loading unit into the cavity in a desired predetermined non-rotatable orientation; and

a flange formed on the open ended tubular body to facilitate suspension of the open ended tubular body through a hole in said movable end effector support member corresponding to one of said end effector support locations so that the orientation member is selectively rotatable relative to said end effector support member.

18. The automated reloading system of claim 17, further comprising a cushioning medium in each of said open ended tubular bodies.

19. An automated reloading system for replacing a used disposable loading unit that is attached to a tool portion of a robotic surgical system, comprising:

means for supporting at least one new disposable loading unit in a loading orientation;

means for supporting the used disposable loading unit in a decoupling orientation while remaining coupled to the tool portion;

means for applying a decoupling rotary motion to the used disposable loading unit while the used disposable loading unit is in said decoupling orientation to decouple the used disposable loading unit from the tool portion; and

means for applying a coupling rotary motion to the new disposable loading unit when the new disposable loading unit is in the loading orientation and when the tool portion is in loading engagement therewith to operably couple the new disposable loading unit to the tool portion.

20. The automated reloading system of claim 19, wherein said means for supporting at least one new disposable loading unit comprises a rotatable carousel comprising a plurality of holes therein wherein at least two of said holes rotatably support therein a corresponding one of the new disposable loading units therein and wherein said means for supporting the used disposable loading unit comprises at least one of said holes in said rotatable carousel that does not support one of the new disposable loading units therein.