Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status

• US 9,044,230 B2
• Filed: 02/13/2012
• Issued: 06/02/2015
• Est. Priority Date: 02/13/2012
• 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
• Primary Examiner(s): Lopez, Michelle
• Application Number:
  US13/372,205
• Publication Number:
  US 20130206814A1
• Time in Patent Office: 1,205 Days
• Field of Search: 227/175.1, 227/175.3, 227/180.1, 606/41
• US Class Current: 1/1
• 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 17/105 Wound clamp magazines for packaging sharps A61B50/3001
• CPC Class Codes: A61B 2017/00128 related to intensity or progress of surgical action
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00685 Archimedes screw
• CPC Class Codes: A61B 2017/07285 characterised by its cutter
• CPC Class Codes: A61B 2017/2903 transferring rotary motion
• 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 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

Sensor arrangements for determining the position of a firing element in an end effector of a surgical instrument. In various forms, the sensor arrangement comprises a resistive element supported in the end effector. As the firing element translates within the end effector, it movingly contacts the resistive element to generate signals indicative of the firing element position. In other arrangements, the sensor can detect the status or presence of a staple cartridge in the end effector. The sensor arrangement can communicate with a memory device, processor and indicator.

Claims

1. A surgical instrument, comprising:

a surgical end effector, comprising;

an elongate channel having a proximal end and a distal end;

a firing element configured to selectively translate between said proximal end of said elongate channel and said distal end of said elongate channel upon application of a driving motion thereto, wherein said firing element comprises a cutting element; and

a resistive member supported for moving contact by said firing element as said firing element is driven from said proximal end to said distal end of said elongate channel, wherein said resistive member comprises;

a proximal node, a distal node, and an intermediate node positioned intermediate said proximal node and said distal node;

a first severable resistor positioned intermediate said proximal node and said intermediate node; and

a second severable resistor positioned intermediate said intermediate node and said distal node;

wherein said cutting element is configured to sequentially sever said first severable resistor and said second severable resistor as said firing element translates between said proximal end and said distal end of said elongate channel, and wherein said resistive member generates output signals indicative of updated positions of said firing element within said elongate channel as said firing element sequentially traverses said proximal node, said intermediate node, and said distal node; and

a memory device operably communicating with said resistive member and configured to record said output signals as said firing element translates through said elongate channel.

2. The surgical instrument of claim 1, wherein said resistive member comprises a plurality of resistors including said first severable resistor and said second severable resistor, and wherein said resistors of said resistive member are connected in parallel.

3. The surgical instrument of claim 1, wherein said resistive member comprises a plurality of nodes including said proximal node, said intermediate node, and said distal node, and wherein said output signals comprise signals indicative of voltage at said nodes in said resistive member.

4. The surgical instrument of claim 3, further comprising a processor that operably interfaces with said memory device and computes positions of said firing element in said surgical end effector from said signals indicative of voltage at said nodes in said resistive member.

5. The surgical instrument of claim 4, further comprising an indicator communicating with said processor to indicate positions of said firing element within said elongate channel.

6. The surgical instrument of claim 5, wherein said indicator comprises a visual indication device.

7. The surgical instrument of claim 5, wherein said indicator comprises a haptic indication arrangement.

8. The surgical instrument of claim 1, wherein said firing element translates in response to drive motions applied thereto by a robotic system operably interfacing with said surgical end effector, said robotic system comprising a processor that operably interfaces with said memory device and computes positions of said firing element in said surgical end effector.

9. The surgical instrument of claim 1, wherein said surgical end effector is configured to operably support a surgical staple cartridge.

10. The surgical instrument of claim 9 wherein said resistive member is supported on said staple cartridge.

11. A staple cartridge for use in connection with a surgical instrument, said staple cartridge comprising:

a cartridge body configured to be operably supported by the surgical instrument such that a firing element of the surgical instrument may longitudinally translate through said cartridge body upon application of a driving motion thereto; and

a resistive member supported on said cartridge body for moving contact by the firing element as the firing element is translated therethrough, wherein said resistive member comprises;

a proximal resistor; and

a distal resistor;

wherein the firing element is configured to sequentially traverse said proximal resistor and said distal resistor as the firing element longitudinally translates through said cartridge body, and wherein said resistive member is configured to operably communicate output signals indicative of positions of the firing element within said cartridge body to a memory portion of the surgical instrument.

12. The staple cartridge of claim 11, wherein said cartridge body has an elongate slot therein configured to receive at least a portion of the firing element therein, wherein the firing element comprises a cutting element, and wherein portions of said resistive member are so oriented relative to said elongate slot such that the cutting element sequentially severs said portions of said resistive member as the cutting element is driven from a proximal end to a distal end of said cartridge body.

13. The staple cartridge of claim 12, wherein said resistive member comprises:

a plurality of resistors including said proximal resistor and said distal resistor; and

a plurality of nodes, wherein a said node is positioned between adjacent resistors in said resistive member.

14. The staple cartridge of claim 13, wherein said resistors in said resistive member are connected in parallel.

15. The staple cartridge of claim 13, wherein said output signals comprise signals indicative of voltage at said nodes in said resistive member.

16. A surgical instrument, comprising:

a robotic system comprising a processor; and

a surgical end effector operably interfacing with said robotic system to receive drive motions therefrom, said surgical end effector comprising;

an elongate channel having a proximal end and a distal end;

a firing element configured to selectively translate between said proximal end of said elongate channel and said distal end of said elongate channel upon application of a driving motion thereto from said robotic system; and

a resistive member supported for moving contact by said firing element as said firing element is driven from said proximal end to said distal end of said elongate channel, wherein said resistive member comprises;

a proximal resistor; and

a distal resistor;

wherein said firing element is configured to sequentially engage said proximal resistor and said distal resistor as said firing element is driven from said proximal end to said distal end of said elongate channel, and wherein said resistive member generates output signals indicative of positions of said firing element within said elongate channel and communicates said output signals to said processor.

17. The surgical instrument of claim 16, further comprising an indicator communicating with said processor to provide indications of positions of said firing element as said firing element is driven from said proximal end to said distal end of said elongate channel.

18. The surgical instrument of claim 17, wherein said indicator comprises a haptic indication arrangement.