Electro-mechanical surgical device

• US 9,113,847 B2
• Filed: 01/09/2013
• Issued: 08/25/2015
• Est. Priority Date: 06/02/1999
• Status: Expired due to Fees

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Whitman, Michael P., Burbank, John E., Zeichner, David A.
• Primary Examiner(s): Farah, Ahmed
• Assistant Examiner(s): LIPITZ, JEFFREY BRIAN
• Application Number:
  US13/737,084
• Publication Number:
  US 20130131650A1
• Time in Patent Office: 958 Days
• Field of Search: 606/1, 606/130, 600/102, 600/104
• US Class Current: 1/1
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/00491 Surgical glue applicators surgical adhesives A61L24/00; two-component delivery syringes A61M5/19
• 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 17/11 for performing anastomosis; Buttons for anastomosis
• CPC Class Codes: A61B 17/1114 of the digestive tract, e.g. bowels or oesophagus
• CPC Class Codes: A61B 17/115 Staplers for performing anastomosis in a single operation
• CPC Class Codes: A61B 2010/0208 Biopsy devices with actuators, e.g. with triggered spring mechanisms
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• 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 2017/00482 with a code
• CPC Class Codes: A61B 2017/00734 : battery operated
• CPC Class Codes: A61B 2017/07214 : Stapler heads
• CPC Class Codes: A61B 2017/0725 : with settable gap between anvil and cartridge, e.g. for different staple heights at different shots
• CPC Class Codes: A61B 2017/07271 : characterised by its cartridge
• CPC Class Codes: A61B 2017/2905 : flexible
• CPC Class Codes: A61B 2017/2927 : the angular position of the head being adjustable with respect to the shaft
• 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 2017/32113 : with extendable or retractable guard or blade
• CPC Class Codes: A61B 2034/2059 : Mechanical position encoders
• CPC Class Codes: A61B 2034/301 : for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• 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 34/30 : Surgical robots
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms

Abstract

An electromechanical surgical device includes a motor system configured to drive drive-shafts and a steering cable arrangement. A control system may be provided for controlling the motor system. A remote control unit may also be provided for controlling the motor system via the control system. Optical or Hall-effect devices, may be provided for determining the position of the elements of the surgical instrument based on the detected rotation of the drive-shafts. A memory unit stores a plurality of operating programs or algorithms, each corresponding to a type of surgical instrument attachable to the electro-mechanical surgical device. The control system reads or selects from the plurality of operating programs or algorithms, the operating program or algorithm corresponding to the type of surgical instrument attached to the electromechanical surgical device.

Claims

1. An electro-mechanical surgical device, comprising:

a housing;

an elongated shaft extending from the housing;

a controller provided in the housing, the controller configured to control operations of the electro-mechanical surgical device;

a first, second, third, and fourth steering cable, each cable extending through the shaft and configured to mechanically cooperate with a surgical instrument attachable to a distal end of the shaft;

a plurality of motors connected to the controller, where the plurality of motors are attached to a proximal portion of at least one of the first, second, third, and fourth steering cables;

a wired remote control unit (RCU) electrically and logically connected to the controller; and

a wireless remote control unit (RCU) configured to communicate with a transceiver electrically and logically connected to the controller,

wherein the wired RCU and the wireless RCU each include;

a first set of switches arranged under a four-way rocker for controlling the first and second steering cables via one motor of the plurality of motors, and the third and fourth steering cables via another motor of the plurality of motors;

a second set of switches arranged under a two-way rocker for controlling one or more functions of the surgical instrument attached to the distal end of the elongated shaft; and

a third switch, separate and distinct from the first and second set of switches, the third switch configured to transmit at least one data signal to the transceiver, the at least one data signal including identification data to prevent unauthorized operation of the electro-mechanical surgical device.

2. The electro-mechanical surgical device according to claim 1, wherein a memory unit is electrically and logically connected to the controller.

3. The electro-mechanical surgical device according to claim 2, wherein the controller is configured to read and select from the memory unit an operating program or algorithm corresponding to a type of surgical instrument attached to the elongated shaft.

4. The electro-mechanical surgical device according to claim 3, wherein, once the controller reads and selects the operating program or algorithm, the controller causes the operating program or algorithm to be executed in accordance with operations performed by the wired RCU or the wireless RCU.

5. The electro-mechanical surgical device according to claim 1, wherein the wireless RCU includes a steering engage/disengage switch for selectively engaging/disengaging a steering mechanism operably coupled to at least one motor of the plurality of motors.

6. The electro-mechanical surgical device according to claim 1, wherein the plurality of motors includes at least a first motor and a second motor, the first and second motors operably coupled to a first encoder and a second encoder, respectively, the first and second encoders positioned within a coupling adapted to detachably secure the surgical instrument to the elongated shaft.

7. The electro-mechanical surgical device according to claim 1, wherein the elongated shaft includes at least two rotatable drive shafts disposed therein, each of the rotatable drive shafts configured to include a magnet mounted thereon for producing a magnetic field in operable communication with at least one encoder including at least two sensors disposed approximately 90°

apart relative to a longitudinal axis of each of the rotatable drive shafts.

8. The electro-mechanical surgical device according to claim 7, wherein an output of the at least two sensors is adapted to be adjusted as a function of a change of polarity of the magnetic field in a detection range of the at least two sensors.

9. An electro-mechanical surgical device, comprising:

a housing;

an elongated shaft extending from the housing;

a controller provided in the housing;

a steering arrangement extending through the elongated shaft and mechanically cooperating with a surgical instrument attachable to a distal end of the shaft;

a plurality of motors connected to the controller, at least one of the plurality of motors configured to drive the steering arrangement;

a wired remote control unit (RCU) electrically and logically connected to the controller; and

a wireless remote control unit (RCU) configured to communicate with a transceiver electrically and logically connected to the controller,

wherein the wired RCU and the wireless RCU each include;

a first set of switches arranged under a four-way rocker for controlling first and second steering cables of the steering arrangement via one motor of the plurality of motors, and third and fourth steering cables of the steering arrangement via another motor of the plurality of motors;

a second set of switches arranged under a two-way rocker for controlling one or more functions of the surgical instrument attached to the distal end of the elongated shaft; and

a third switch, separate and distinct from the first and second set of switches, the third switch configured to transmit at least one data signal to the transceiver, the at least one data signal including identification data to prevent unauthorized operation of the surgical device.

10. The electro-mechanical surgical device according to claim 9, wherein a memory unit is electrically and logically connected to the controller.

11. The electro-mechanical surgical device according to claim 10, wherein the controller is configured to read and select from the memory unit an operating program or algorithm corresponding to a type of surgical instrument attached to the elongated shaft.

12. The electro-mechanical surgical device according to claim 11, wherein, once the controller reads and selects the operating program or algorithm, the controller causes the operating program or algorithm to be executed in accordance with operations performed by the wired RCU or the wireless RCU.

13. The electro-mechanical surgical device according to claim 9, wherein the wireless RCU includes a steering engage/disengage switch for selectively engaging/disengaging the steering arrangement operably coupled to the at least one motor of the plurality of motors.

14. The electro-mechanical surgical device according to claim 9, wherein the plurality of motors includes a first motor and a second motor, the first and second motors operably coupled to a first encoder and a second encoder, respectively, the first and second encoders positioned within a coupling adapted to detachably secure the surgical instrument to the elongated shaft.

15. The electro-mechanical surgical device according to claim 9, wherein the elongated shaft includes at least two rotatable drive shafts disposed therein, each of the rotatable drive shafts configured to include a magnet mounted thereon for producing a magnetic field in operable communication with at least one encoder including at least two sensors disposed approximately 90°

apart relative to a longitudinal axis of each of the rotatable drive shafts.

16. The electro-mechanical surgical device according to claim 15, wherein an output of the at least two sensors is adapted to be adjusted as a function of a change of polarity of the magnetic field in a detection range of the at least two sensors.