Drive train control arrangements for modular surgical instruments

• US 10,893,867 B2
• Filed: 10/03/2018
• Issued: 01/19/2021
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Leimbach, Richard L., Lytle, IV, Thomas W., Sackett, Kevin D., Overmyer, Mark D.
• Primary Examiner(s): Chukwurah, Nathaniel C
• Application Number:
  US16/150,413
• Publication Number:
  US 20190099183A1
• Time in Patent Office: 839 Days
• Field of Search: 2271752-1801
• 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 17/0686 having a forming anvil staying below the tissue during stapling
• 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 17/32 Surgical cutting instruments A61B18/042 takes precedence; suture cutters A61B17/0467; instruments for ligaturing or cutting A61B17/128; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133
• 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 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00123 and automatic shutdown
• CPC Class Codes: A61B 2017/00367 Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
• CPC Class Codes: A61B 2017/00389 Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector
• CPC Class Codes: A61B 2017/00393 with means for switching between functions
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• 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 2017/00464 for use with different instruments with hole for different instruments A61B2017/22072
• 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 2017/00716 simulating physical properties
• CPC Class Codes: A61B 2017/00734 : battery operated
• 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 2017/2913 : cams or guiding means
• 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 2017/2931 : with releasable head
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2018/00172 : Connectors and adapters therefor
• CPC Class Codes: A61B 2018/00297 : Means for providing haptic feedback
• CPC Class Codes: A61B 2018/00303 : active, e.g. with a motor creating vibrations
• CPC Class Codes: A61B 2018/1455 : having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2034/2059 : Mechanical position encoders
• CPC Class Codes: A61B 2090/064 : for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/067 : for measuring angles
• CPC Class Codes: A61B 2090/0808 : for indicating correct assembly of components, e.g. of the surgical apparatus
• 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 2090/0814 : Preventing re-use
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: G01D 5/145 : influenced by the relative movement between the Hall device and magnetic fields see G01R33/06

Abstract

A surgical instrument comprises an end effector, a shaft, and a housing extending proximally from the shaft. The surgical instrument includes an articulation assembly configured to articulate the end effector relative to the shaft, a firing assembly configured to fire a plurality of staples, for example, and a locking member movable between a locked configuration and an unlocked configuration. The housing is removably couplable to the shaft when the locking member is in the unlocked configuration and the housing includes a motor configured to drive at least one of the firing assembly and the articulation assembly. The housing also includes a controller in communication with the motor, wherein the controller is configured to activate the motor to reset at least one of the firing assembly and the articulation assembly to a home state when the locking member is moved between the locked configuration and the unlocked configuration.

Claims

1. A surgical instrument, comprising:

an interchangeable shaft assembly, comprising;

a shaft portion;

an end effector extending from the shaft portion, wherein the end effector is movable from a home state, wherein the end effector comprises;

a first jaw; and

a second jaw movable relative to the first jaw to transition the end effector from an open configuration to a closed configuration;

a housing;

a locking member movable between an unlocked configuration and a locked configuration, wherein the housing is detachably couplable to the interchangeable shaft assembly in the unlocked configuration, and wherein the locking member is configured to resist detaching the interchangeable shaft assembly from the housing in the locked configuration;

a controller configured to;

cause an alert to be issued in response to a transition of the locking member from the locked configuration to the unlocked configuration while the end effector is not in the open configuration; and

cause the end effector to move toward the home state based on a user override input.

2. The surgical instrument of claim 1, wherein the end effector is configured to receive a staple cartridge that includes a plurality of staples.

3. The surgical instrument of claim 2, further comprising a firing assembly, wherein the home state is a firing home state, and wherein the firing assembly is movable from the firing home state to deploy the plurality of staples from the staple cartridge.

4. The surgical instrument of claim 1, further comprising an articulation assembly, wherein the home state is an articulation home state, and wherein the articulation assembly is movable from the articulation home state to articulate the end effector relative to the shaft portion.

5. A surgical instrument, comprising:

an interchangeable shaft assembly, comprising;

a shaft portion;

an end effector extending from the shaft portion, wherein the end effector is movable from a home state, wherein the end effector comprises;

a first jaw; and

a second jaw movable relative to the first jaw to transition the end effector from an open configuration to a closed configuration;

a housing detachably couplable to the interchangeable shaft assembly;

a controller configured to;

cause an alert to be issued based on an action performed to decouple the housing from the shaft portion while the end effector is in the closed configuration; and

cause the end effector to move toward the home state based on a user override input.

6. The surgical instrument of claim 5, wherein the end effector is configured to receive a staple cartridge that includes a plurality of staples.

7. The surgical instrument of claim 6, further comprising a firing assembly, wherein the home state is a firing home state, and wherein the firing assembly is movable from the firing home state to deploy the plurality of staples from the staple cartridge.

8. The surgical instrument of claim 5, further comprising an articulation assembly, wherein the home state is an articulation home state, and wherein the articulation assembly is movable from the articulation home state to articulate the end effector relative to the shaft portion.

9. A surgical instrument, comprising:

an interchangeable shaft assembly, comprising;

a shaft portion;

an end effector extending from the shaft portion, wherein the end effector is movable from a home state, wherein the end effector comprises;

a first jaw; and

a second jaw movable relative to the first jaw to transition the end effector from an open configuration to a closed configuration;

a housing;

an actuator movable between a first configuration and a second configuration, wherein the housing is detachably couplable to the interchangeable shaft assembly in the first configuration, and wherein the interchangeable shaft assembly is prevented from detaching from the housing in the second configuration;

a controller configured to;

cause an alert to be issued in response to a transition of the actuator from the first configuration to the second configuration while the end effector is not in the open configuration; and

cause the end effector to move toward the home state based on a user override input.

10. The surgical instrument of claim 9, wherein the end effector is configured to receive a staple cartridge that includes a plurality of staples.

11. The surgical instrument of claim 10, further comprising a firing assembly, wherein the home state is a firing home state, and wherein the firing assembly is movable from the firing home state to deploy the plurality of staples from the staple cartridge.

12. The surgical instrument of claim 11, further comprising an articulation assembly, wherein the home state is an articulation home state, and wherein the articulation assembly is movable from the articulation home state to articulate the end effector relative to the shaft portion.

13. A surgical instrument, comprising:

an interchangeable shaft assembly, comprising;

a shaft portion;

an end effector extending from the shaft portion, wherein the end effector is movable from a home state, wherein the end effector comprises;

a first jaw; and

a second jaw movable relative to the first jaw to transition the end effector from an open configuration to a closed configuration;

a housing;

a locking member movable between an unlocked configuration and a locked configuration, wherein the housing is detachably couplable to the interchangeable shaft assembly when the locking member is in the unlocked configuration, and wherein the housing is prevented from detaching from the interchangeable shaft assembly when the locking member is in the locked configuration;

a controller configured to;

cause a notification to be issued in response to a transition of the locking member from the locked configuration to the unlocked configuration while the end effector is not in the open configuration; and

cause the end effector to move toward the home state based on a user override input.

14. The surgical instrument of claim 13, wherein the end effector is configured to receive a staple cartridge that includes a plurality of staples.

15. The surgical instrument of claim 14, further comprising a firing assembly, wherein the home state is a firing home state, and wherein the firing assembly is movable from the firing home state to deploy the plurality of staples from the staple cartridge.

16. The surgical instrument of claim 13, further comprising an articulation assembly, wherein the home state is an articulation home state, and wherein the articulation assembly is movable from the articulation home state to articulate the end effector relative to the shaft portion.