Robotically-controlled surgical stapling devices that produce formed staples having different lengths

• US 9,237,891 B2
• Filed: 05/27/2011
• Issued: 01/19/2016
• Est. Priority Date: 08/31/2005
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Shelton, Frederick E. IV
• Primary Examiner(s): CHUKWURAH, NATHANIEL C
• Application Number:
  US13/118,278
• Publication Number:
  US 20110290851A1
• Time in Patent Office: 1,698 Days
• Field of Search: 227/175.1, 227/176.1, 227/180.1, 606/219
• US Class Current: 1/1
• CPC Class Codes: A61B 17/0644 penetrating the tissue, deformable to closed position
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/115 Staplers for performing anastomosis in a single operation
• CPC Class Codes: A61B 17/32053 Punch like cutting instruments, e.g. using a cylindrical or oval knife A61B17/326 takes precedence; trepans A61B17/1695; for use on the cornea A61F9/007
• 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 2017/0023 disposable
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• 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 2017/00473 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 2017/00685 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 2017/07235 containing different staples, e.g. staples of different shapes, sizes or materials
• CPC Class Codes: A61B 2017/07242 achieving different staple heights during the same shot, e.g. using an anvil anvil having different heights or staples of different sizes
• CPC Class Codes: A61B 2017/07264 characterised by its staple forming cavities, e.g. geometry or material
• 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 2017/2943 : 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 2017/320069 : for ablating tissue
• CPC Class Codes: A61B 2017/320071 : with articulating means for working tip
• 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 2090/0811 : 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 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• 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: B25C 5/0292 : with the objects to be stapled together introduced perpendicularly to the longitudinal axis of the tool in an opening formed by an anvil and a plunger
• CPC Class Codes: F04C 2270/041 : Controlled or regulated

Abstract

A surgical stapling device that comprises an end effector that is configured to receive various control motions from a robotic system.

Claims

1. A surgical stapling device, comprising:

a robotic system operable to produce a firing motion and a closing motion;

an implement portion responsive to the firing and closing motions from the robotic system, the implement portion comprising;

an elongate channel coupled to the robotic system and configured to support a staple cartridge therein;

an anvil movably coupled to the elongate channel and having an anvil channel therein and a staple forming portion having a plurality of staple forming pockets, said anvil being movable between open and closed positions in response to said closing motion applied thereto by said robotic system;

a firing device including a distally presented cutting edge longitudinally movable within the elongate channel in response to said firing motion applied thereto by said robotic system;

an upper member on said firing device engageable to the anvil channel and a lower portion longitudinally engaging the elongate channel during distal movement for firing, wherein said upper member is configured to position the anvil relative to the elongate channel during the distal movement for firing, and wherein said staple cartridge comprises;

a cartridge body supportable within the elongate channel, said cartridge body having a non-planar deck surface configured to confront the staple forming portion when the anvil is in said closed position;

a plurality of first staple drivers movably supported within said cartridge body and being sequentially movable from an unactuated position to an actuated position upon sequential interaction with said firing device, each said first staple driver defining a first staple support cradle therein for supporting a staple thereon, each said first staple support cradle located a first staple forming distance from a corresponding said staple-forming pocket of the closed anvil; and

a plurality of second staple drivers movably supported within said cartridge body and being laterally spaced from said first staple drivers, each said second staple driver being sequentially movable from another unactuated position to another actuated position upon sequential interaction with said firing device, each said second staple driver defining a second staple support cradle therein for supporting another staple thereon, each said second staple support cradle located a second staple forming distance from a said staple forming pocket of the closed anvil that corresponds to the second staple support cradle and wherein said second staple forming distance differs in magnitude from said first staple forming distance; and

a rotary motion connector configured to connect the robotic system with said implement portion, wherein said rotary motion connector is configured to translate a rotary motion between the robotic system and said implement portion.

2. The surgical stapling device of claim 1 wherein each said first staple driver supports at least two of said staples thereon.

3. The surgical stapling device of claim 2 wherein said first staple support cradle is in a primary driver portion of said first staple driver and wherein each said first staple driver further comprises a secondary driver portion attached to said primary driver portion and defining a secondary staple support cradle located a secondary staple forming distance from a corresponding said staple-forming pocket when the anvil is in a closed position, said secondary staple cradle support supporting another one of said staples thereon.

4. The surgical stapling device of claim 3 wherein said secondary staple forming distance is substantially equal to said first staple forming distance.

5. The surgical stapling device of claim 3 wherein said secondary staple forming distance differs in magnitude from said first staple forming distance and said second staple forming distance.

6. The surgical stapling device of claim 1 wherein said plurality of first staple drivers are axially aligned in a first row of first staple drivers and wherein said plurality of second staple driver are aligned in a second row of said second staple drivers.

7. A surgical stapling device, comprising:

a robotic system operable to produce a firing motion and a closing motion;

an implement portion responsive to the firing and closing motions from the robotic system, the implement portion comprising;

an elongate channel coupled to the robotic system and configured to support a staple cartridge therein;

an anvil movably coupled to the elongate channel and having an anvil channel therein and a staple forming portion having a plurality of staple forming pockets, said anvil being movable between open and closed positions in response to said closing motion applied thereto by said robotic system;

a firing device including a distally presented cutting edge longitudinally movable within the elongate channel in response to said firing motion applied thereto by said robotic system;

an upper member on said firing device engageable to the anvil channel and a lower portion longitudinally engaging the elongate channel during distal movement for firing, and wherein said staple cartridge comprises;

a cartridge body supportable within the elongate channel, said cartridge body having a non-planar deck surface configured to confront the staple forming portion when the anvil is in said closed position;

a plurality of first staple drivers movably supported within said cartridge body and being sequentially movable from an unactuated position to an actuated position upon sequential interaction with said firing device, each said first staple driver defining a first staple support cradle therein for supporting a staple thereon, each said first staple support cradle located a first staple forming distance from a corresponding said staple-forming pocket of the closed anvil;

a plurality of second staple drivers movably supported within said cartridge body and being laterally spaced from said first staple drivers, each said second staple driver being sequentially movable from another unactuated position to another actuated position upon sequential interaction with said firing device, each said second staple driver defining a second staple support cradle therein for supporting another staple thereon, each said second staple support cradle located a second staple forming distance from a said staple forming pocket of the closed anvil that corresponds to the second staple support cradle and wherein said second staple forming distance differs in magnitude from said first staple forming distance;

wherein said plurality of first staple drivers are axially aligned in a first row of said staple drivers and wherein said plurality of second staple driver are aligned in a second row of said second staple drivers; and

wherein said first staple forming distance of one of said first staple drivers in said first row of said first staple drivers differs in magnitude from said first staple forming distance of another one of said first staple drivers in said first row of first staple drivers; and

a rotary motion connector configured to connect the robotic system with said implement portion, wherein said rotary motion connector is configured to translate a rotary motion between the robotic system and said implement portion.

8. The surgical stapling device of claim 7 wherein said second staple forming distance of one of said second staple drivers in said second row of said second staple drivers differs in magnitude from said second staple forming distance of another one of said second staple drivers in said second row of said second staple drivers.

9. A surgical stapling device, comprising:

a rotary motion generator configured to produce a firing motion;

an implement portion, wherein said implement portion is configured to be moved between an open configuration and a closed configuration, and wherein said implement portion comprises;

a first jaw member comprising an upper camming portion;

a second jaw member comprising a lower camming portion, wherein said first jaw member is movable relative to said second jaw member;

an anvil, wherein said anvil comprises;

a longitudinal row of first forming pockets; and

a longitudinal row of second forming pockets;

a firing device comprising a cutting surface, wherein said firing device is movable between a proximal position and a distal position in response to the firing motion of said rotary motion generator, and wherein said firing device comprises;

an upper member, wherein said upper member is configured to engage said upper camming portion; and

a lower member, wherein said lower member is configured to engage said lower camming portion, and wherein said upper member and said lower member are configured to position said first jaw member relative to said second jaw member; and

a staple cartridge, comprising;

a cartridge body comprising a stepped deck surface;

a first row of first staple drivers movably supported within said cartridge body, wherein each first staple driver in said first row of first staple drivers is sequentially movable relative to another first staple driver in said first row of first staple drivers between a first unactuated position and a first actuated position by said firing device, wherein each said first staple driver comprises a first staple support cradle for supporting a first staple, wherein, when each said first staple support cradle is in said first unactuated position and said implement portion is in said closed configuration, said first staple support cradle is positioned a first staple driver cradle distance from a corresponding said first forming pocket, and wherein said first staples are configured to be formed to a first formed staple height; and

a second row of second staple drivers movably supported within said cartridge body, wherein each second staple driver in said second row of second staple drivers is sequentially movable relative to another second staple driver in said second row of second staple drivers between a second unactuated position and a second actuated position by said firing device, wherein each said second staple driver comprises a second staple support cradle for supporting a second staple, wherein, when each said second staple support cradle is in said second unactuated position and said implement portion is in said closed configuration, said second staple support cradle is positioned a second staple driver cradle distance from a corresponding said second forming pocket, wherein said second staples are configured to be formed to a second formed staple height, wherein said first staple driver cradle distance is different than said second staple driver cradle distance, and wherein said first formed staple height is different than said second formed staple height.

10. The surgical stapling device of claim 9, wherein said first staple driver cradle distance is larger than said second staple driver cradle distance.

11. The surgical stapling device of claim 10, wherein said first formed staple height is larger than said second formed staple height.