ROBOTICALLY-CONTROLLED END EFFECTOR

• US 20140296874A1
• Filed: 06/19/2014
• Published: 10/02/2014
• Est. Priority Date: 01/31/2006
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Morgan, Jerome R., Shelton, Frederick E. IV
• Granted Patent: US 10,052,100 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• 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 17/32 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 2017/00115 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 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• 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 2017/0053 Loading magazines or sutures into applying tools
• 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 2017/07214 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 2017/2903 : transferring rotary motion
• 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 2017/2929 : with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2018/00297 : Means for providing haptic feedback
• 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 2034/302 : specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/303 : specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
• 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 2090/0803 : Counting the number of times an instrument is used
• CPC Class Codes: A61B 2090/0805 : automatically, e.g. by means of magnetic, optical or photoelectric detectors
• CPC Class Codes: A61B 2090/0807 : Indication 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 2090/0814 : Preventing re-use
• CPC Class Codes: A61B 34/20 : Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 : User interfaces for surgical systems
• 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 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/73 : Manipulators for magnetic surgery
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 50/36 : for collecting or disposing of used articles

Abstract

The present invention is directed to a surgical instrument with a robotics system, a memory device and an end effector having an elongate channel, knife position sensor(s) and a firing bar coupled to a knife. In response to drive motions initiated by the robotics system, the firing bar may translate within the elongate channel. As the firing bar translates, the sensor(s) transmit a signal to the memory device. The position of the knife may be determined from the output signals and may be communicated to the robotics system or instrument user. The sensors may be Hall Effect sensors.

Claims

1. A surgical instrument comprising:

a robotics system;

a surgical end effector comprising;

an elongate channel comprising an interior surface, wherein said interior surface comprises a plurality of sensors; and

a firing bar comprising a magnetic element;

wherein said firing bar is configured to translate between positions within said elongate channel in response to drive motions imparted thereto from said robotics system;

a memory device operably interfacing with said plurality of sensors to record the positions of said magnetic element.

2. The surgical instrument of claim 1, wherein said interior surface comprises a slot and wherein said magnetic element translates along said slot within said elongate channel.

3. The surgical instrument of claim 2, wherein said plurality of sensors comprises a first sensor proximate to said translating magnetic element and a second sensor distal to said translating magnetic element.

4. The surgical instrument of claim 1, wherein said plurality of sensors are Hall Effect Sensors.

5. The surgical instrument of claim 1, wherein said end effector further comprises a staple cartridge.

6. The surgical instrument of claim 1 further comprising a means for indicating said positions recorded by said memory device.

7. The surgical instrument of claim 6, wherein said means for indicating comprises a visual indication device.

8. The surgical instrument of claim 6, wherein said means for indicating comprises a haptic indication arrangement.

9. The surgical instrument of claim 1, wherein said memory device communicates said positions of said magnetic element to said robotics system.

10. The surgical instrument of claim 1, wherein said memory device wirelessly interfaces with said plurality of sensors.

11. A surgical instrument comprising:

a robotics system;

a surgical end effector comprising;

an elongate channel;

a firing bar comprising a magnetic element;

wherein said firing bar is configured to translate between positions within said elongate channel in response to drive motions imparted thereto from said robotics system;

a coil positioned around a portion of said firing bar;

a memory device operably interfacing with said coil to record said positions of said magnetic element.

12. The surgical instrument of claim 11, wherein said end effector further comprises a staple cartridge.

13. The surgical instrument of claim 11, further comprising a means for indicating said positions recorded by said memory device.

14. The surgical instrument of claim 13, wherein said means for indicating comprises a visual indication device.

15. The surgical instrument of claim 13, wherein said means for indicating comprises a haptic indication arrangement.

16. The surgical instrument of claim 11, wherein said memory device communicates said positions of said magnetic element to said robotics system.

17. The surgical instrument of claim 11, wherein said memory device wirelessly interfaces with said plurality of sensors.