Robotically-controlled surgical stapling devices that produce formed staples having different lengths

• US 10,729,436 B2
• Filed: 03/13/2017
• Issued: 08/04/2020
• Est. Priority Date: 08/31/2005
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Shelton, IV, Frederick E., Hueil, Joseph C., Swayze, Jeffrey S.
• Primary Examiner(s): Chukwurah, Nathaniel C
• Application Number:
  US15/457,315
• Publication Number:
  US 20170311949A1
• Time in Patent Office: 1,240 Days
• Field of Search: 2271761, 2271781, 2271791, 227 19
• CPC Class Codes: A61B 17/0644 penetrating the tissue, deformable to closed position
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/115 Staplers for performing anastomosis in a single operation
• CPC Class Codes: A61B 17/32053 Punch like cutting instruments, e.g. using a cylindrical or oval knife A61B17/326 takes precedence; trepans A61B17/1695; for use on the cornea A61F9/007
• CPC Class Codes: A61B 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/0023 disposable
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable for prosthetic joint-implanting tools A61F2/4603
• 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 2017/07235 containing different staples, e.g. staples of different shapes, sizes or materials
• CPC Class Codes: A61B 2017/07242 achieving different staple heights during the same shot, e.g. using an anvil anvil having different heights or staples of different sizes
• CPC Class Codes: A61B 2017/07264 characterised by its staple forming cavities, e.g. geometry or material
• 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 2017/2903 transferring rotary motion
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/320052 : Guides for cutting instruments by marking A61B2090/395
• 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 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 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 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: B25C 5/0292 : with the objects to be stapled together introduced perpendicularly to the longitudinal axis of the tool in an opening formed by an anvil and a plunger
• CPC Class Codes: F04C 2270/041 : Controlled or regulated

Abstract

A surgical stapling device that comprises an end effector that is configured to receive various control motions from a robotic system.

Claims

1. A stapling system for use with a surgical robot, wherein the stapling system comprises:

a housing, comprising,

an attachment portion configured to be mounted to the surgical robot; and

a drive system configured to receive rotary motions from the surgical robot;

an elongate shaft extending from said housing; and

a loading unit attached to said elongate shaft, wherein said loading unit comprises;

a loading unit shaft extending from said elongate shaft; and

an end effector extending from said loading unit shaft, wherein said end effector comprises;

a first jaw;

a second jaw, wherein said second jaw is movable relative to said first jaw between an open position and a closed position;

an anvil, comprising;

a tissue facing surface;

a plurality of staple forming pockets defined in said tissue facing surface; and

a longitudinal cavity;

a staple cartridge, comprising;

a longitudinal slot;

a first deck surface positioned a first distance from said tissue facing surface when said second jaw is in said closed position;

a second deck surface positioned a second distance from said tissue facing surface when said second jaw is in said closed position, wherein said first distance and said second distance are different;

a plurality of staple cavities; and

a plurality of staples removably stored in said staple cavities; and

a camming member configured to move within said longitudinal slot of said staple cartridge, wherein said camming member is further configured to move within said longitudinal cavity of said anvil.

2. The stapling system of claim 1, wherein the staple cartridge is replaceable.

3. The stapling system of claim 1, wherein said drive system comprises a rotary disk configured to receive said rotary motions from the surgical robot.

4. The stapling system of claim 1, wherein said camming member is operably responsive to said drive system, and wherein said camming member is configured to perform a staple firing stroke.

5. The stapling system of claim 4, further comprising a firing lockout configured to prevent said camming member from performing said firing stroke unless said second jaw is in said closed position.