ROBOTICALLY-CONTROLLED MOTORIZED SURGICAL INSTRUMENT WITH AN END EFFECTOR

• US 20190029677A1
• Filed: 09/28/2018
• Published: 01/31/2019
• Est. Priority Date: 09/23/2008
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Yates, David C., Shelton, IV, Frederick E., Huitema, Thomas W.
• Granted Patent: US 10,765,425 B2
• Time in Patent Office: Days
• 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 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 2017/00075 Motion
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00362 Packages or dispensers for MIS instruments A61B2017/0479 takes precedence
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• 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 2017/07271 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 2017/2929 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 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 2090/065 : 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 2090/0811 : 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 34/70 : Manipulators specially adapted for use in surgery
• 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: 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: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: H02J 2310/23 : The load being a medical device, a medical implant, or a life supporting device
• CPC Class Codes: H02J 7/0031 : using battery or load disconnect circuits H02J9/002 takes precedence

Abstract

A surgical tool configured for operation in connection with a robotic system. The surgical tool includes a shaft and an end effector extending distally from the shaft. The end effector comprises a first jaw member and a second jaw member movable relative to the first jaw member from a closed position to an open position in response to at least one axial motion. In addition, the surgical tool includes a motor configured to generate at least one rotational motion and a motion conversion assembly operably coupled to the motor and the second jaw member, wherein the motion conversion assembly is configured to convert the at least one rotational motion to the at least one axial motion.

Claims

1-22. -22. (canceled)

23. A surgical stapling system, comprising:

a shaft;

a motor configured to generate rotary motion;

an end effector, comprising;

a first jaw; and

a second jaw movable relative to said first jaw between an open position and a clamped position;

an articulation joint disposed proximal to said end effector, wherein said end effector is rotatable relative to said shaft about said articulation joint;

a drive member; and

a rotatable member operably coupled with said motor, wherein said rotatable member is in operable engagement with said drive member, wherein said rotary motion from said motor moves said drive member to drive said second jaw toward said clamped position, and wherein an opposite rotary motion from said motor moves said drive member in an opposite direction to release said second jaw and allow said second jaw to move toward said open position.

24. The surgical tool of claim 23, wherein said second jaw is pulled toward said open position.

25. The surgical tool of claim 23, wherein said rotatable member is in threaded engagement with said drive member.

26. The surgical tool of claim 23, wherein said first jaw comprises a staple cartridge.

27. The surgical tool of claim 26, wherein said staple cartridge is replaceable.

28. A surgical stapling system, comprising:

a shaft;

a motorized system configured to produce rotary motion;

an end effector, comprising;

a jaw;

a pivot; and

an anvil rotatable relative to said jaw about said pivot between an open position and a closed position, wherein said anvil comprises a camming surface;

an articulation joint disposed proximal to said pivot, wherein said end effector is rotatable relative to said shaft about said articulation joint;

a camming member; and

a rotatable member operably coupled with said motorized system, wherein said rotatable member is in operable engagement with said camming member, wherein said rotary motion from said motorized system moves said camming member relative to said camming surface, wherein said camming member is configured to drive said anvil toward said closed position, and wherein an opposite rotary motion from said motorized system moves said camming member in an opposite direction to release said anvil and allow said anvil to move toward said open position.

29. The surgical tool of claim 28, wherein said anvil is pulled toward said open position.

30. The surgical tool of claim 28, wherein said rotatable member is in threaded engagement with said camming member.

31. The surgical tool of claim 28, wherein said jaw comprises a staple cartridge.

32. The surgical tool of claim 31, wherein said staple cartridge is replaceable.

33. A surgical stapling system, comprising:

a shaft assembly;

a motorized system;

an end effector, comprising;

a frame comprising a staple cartridge;

a pivot;

an anvil positionable relative to said frame between an open position and a clamped position;

an articulation joint disposed proximal to said pivot, wherein said end effector is rotatable relative to said shaft assembly about said articulation joint;

a drive member; and

a rotatable member operably coupled with said motor, wherein said rotatable member is in operable engagement with said drive member, wherein a first rotary motion from said motorized system moves said drive member, wherein said drive member controls the position of said anvil, and wherein a second rotary motion from said motorized system moves said drive member in an opposite direction to allow said second jaw to move toward said open position.

34. The surgical tool of claim 33, wherein said anvil is pulled toward said open position.

35. The surgical tool of claim 33, wherein said rotatable member is in threaded engagement with said drive member.

36. The surgical tool of claim 33, wherein said staple cartridge is replaceable.