Robotically-driven surgical instrument

• US 10,420,561 B2
• Filed: 04/28/2016
• Issued: 09/24/2019
• 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., Setser, Michael E., Doll, Kevin R., Morgan, Jerome R.
• Primary Examiner(s): Lopez, Michelle
• Application Number:
  US15/141,402
• Publication Number:
  US 20160235403A1
• Time in Patent Office: 1,244 Days
• Field of Search: 2271751
• CPC Class Codes: A61B 17/064 Surgical staples, i.e. penetrating the tissue
• 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 17/0682 for applying U-shaped staples or clamps, e.g. without a forming anvil
• 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 17/320092 with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
• 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 2017/00017 Electrical control of surgical instruments
• 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 2017/00734 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 2017/2923 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 2017/320052 Guides for cutting instruments by marking A61B2090/395
• CPC Class Codes: A61B 2017/320093 : additional movable means performing cutting operation
• 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 2018/00607 : Coagulation and cutting with the same instrument
• CPC Class Codes: A61B 2018/0063 : Sealing
• CPC Class Codes: A61B 2034/302 : specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 50/20 : Holders specially adapted for surgical or diagnostic appliances or instruments drapes with means to hold surgical instruments A61B46/23; for catheters A61M25/02
• CPC Class Codes: A61B 50/36 : for collecting or disposing of used articles

Abstract

A surgical instrument is disclosed. The surgical instrument includes an elongate channel configured to support a staple cartridge, an anvil connected to the elongate channel, a movable cam member, an elongate shaft connected to the elongate channel, a housing coupled to the elongate shaft, and a transmission system. The anvil is movable between an unclamped position and a clamped position. The housing comprises a first rotary drive member, a second rotary drive member, a third rotary drive member and a fourth rotary drive member, each configured to be driven by a robotic surgical device. The transmission system is coupled to the first rotary drive member and is configured to drive at least two independent motions of the surgical instrument based on a rotation of the first rotary drive member. The at least two independent motions include a clamping motion and a firing motion.

Claims

1. A surgical instrument, comprising:

an elongate channel configured to support a staple cartridge;

an anvil connected to the elongate channel, wherein the anvil is movable between an unclamped position and a clamped position;

a movable cam member configured to urge the anvil to the clamped position;

an elongate shaft connected to the elongate channel;

a housing coupled to the elongate shaft, wherein the housing comprises a first rotary drive member, a second rotary drive member, a third rotary drive member and a fourth rotary drive member, and wherein each rotary drive member is configured to be driven by a robotic surgical device; and

a transmission system coupled to the first rotary drive member, wherein the transmission system is configured to drive at least two independent motions of the surgical instrument based on a rotation of the first rotary drive member, wherein the at least two independent motions comprise;

a clamping motion; and

a firing motion.

2. The surgical instrument of claim 1, wherein the elongate channel further comprises the staple cartridge.

3. The surgical instrument of claim 2, wherein the staple cartridge comprises a replaceable staple cartridge.

4. The surgical instrument of claim 1, wherein the movable cam member is driven by the transmission system.

5. The surgical instrument of claim 1, wherein the transmission system comprises a movable shift member, wherein:

the rotation of the first rotary drive member operates to drive the clamping motion when the movable shift member is in a first position; and

the rotation of the first rotary drive operates to drive the firing motion when the movable shift member is in a second position.

6. The surgical instrument of claim 5, further comprising an electric motor coupled to the movable shift member.

7. The surgical instrument of claim 1, further comprising a firing member coupled to the transmission system.

8. The surgical instrument of claim 7, wherein the firing member comprises a cutting portion.

9. A surgical instrument, comprising:

a jaw assembly movable between an unclamped configuration and a clamped configuration, wherein the jaw assembly is configured to support a staple cartridge;

a movable cam member configured to urge the jaw assembly to the clamped configuration;

an elongate shaft connected to the jaw assembly;

a housing coupled to the elongate shaft, wherein the housing comprises a first rotary drive member, a second rotary drive member, a third rotary drive member and a fourth rotary drive member, wherein each rotary drive member is configured to be driven by a robotic surgical device; and

a transmission system coupled to the first rotary drive member, wherein the transmission system is configured to drive a closing motion and a firing motion of the surgical instrument based on a rotation of the first rotary drive member, and wherein the closing motion is independent of the firing motion.

10. The surgical instrument of claim 9, wherein the jaw assembly comprises:

an elongate channel; and

an anvil pivotably connected to the elongate channel, wherein the anvil is movable between the unclamped configuration and the clamped configuration.

11. The surgical instrument of claim 9, wherein the jaw assembly comprises the staple cartridge.

12. The surgical instrument of claim 11, wherein the staple cartridge comprises a replaceable staple cartridge.

13. The surgical instrument of claim 9, wherein the movable cam member is coupled to the transmission system.

14. The surgical instrument of claim 9, wherein the transmission system comprises a movable shift member, wherein:

the rotation of the first rotary drive member operates to drive the closing motion when the movable shift member is in a first position; and

the rotation of the first rotary drive member operates to drive the firing motion when the movable shift member is in a second first position.

15. The surgical instrument of claim 14, further comprising an electric motor coupled to the movable shift member.

16. The surgical instrument of claim 9, further comprising a firing member coupled to the transmission system.

17. The surgical instrument of claim 16, wherein the firing member comprises a cutting portion.

18. A surgical instrument, comprising:

a staple cartridge;

an anvil movable between an unclamped position and a clamped position;

an elongate shaft;

a housing coupled to the elongate shaft, wherein the housing comprises at least four rotary drive members configured to be driven by a robotic surgical device; and

means for driving two independent motions of the surgical instrument based on a rotation of one of the at least four rotary drive members, wherein the at least two independent motions comprise a closing motion and a firing motion.