Robotic surgical system with removable motor housing

• US 9,271,799 B2
• Filed: 06/25/2014
• Issued: 03/01/2016
• Est. Priority Date: 05/27/2011
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery LLC (Johnson & Johnson)
• Inventors: Shelton, Frederick E. IV, Morgan, Jerome R.
• Primary Examiner(s): Lopez, Michelle
• Application Number:
  US14/314,367
• Publication Number:
  US 20140305995A1
• Time in Patent Office: 615 Days
• Field of Search: 227/175.1, 227/176.1, 227/180.1, 227/19, 606/130, 606/219
• 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 17/072 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 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• 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 2017/07214 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• 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 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: Y10T 29/53404 including turret-type conveyor
• CPC Class Codes: Y10T 29/53417 Means to fasten work parts together
• CPC Class Codes: Y10T 29/53687 : by rotation of work part

Abstract

A robotic system. A housing is removably attachable to a tool interface portion of the robotic system and includes a drive system. In various arrangements, the drive system includes at least one onboard motor that is configured to generate a rotary control motion for application to a surgical end effector. A first drive assembly operably interfaces with portions of the tool interface portion to generate another rotary control motion for application to the surgical end effector.

Claims

1. A surgical system, comprising:

a robotic system including a tool interface portion, said tool interface portion including at least one rotary output member;

a surgical end effector configured to perform a first action in response to a first actuation motion applied thereto and a second action in response to a second actuation motion applied thereto;

a housing removably attachable to the tool interface portion of the robotic system;

a latching arrangement for removably attaching said removable housing to said tool interface portion; and

a drive system, comprising;

a first drive assembly operably interfacing with a corresponding one of the at least one rotary output members on the tool interface portion such that when said removable housing is operably attached to said tool interface portion, actuation of said corresponding one of said at least one rotary output members causes said first drive assembly to generate rotary control motion;

a drive transmission operably interfacing with said first drive assembly to receive said rotary control motion therefrom, said drive transmission movable between a first position wherein said drive transmission applies said first actuation motion to said surgical end effector in response to said rotary control motion and a second position wherein said drive transmission applies said second actuation motion to said surgical end effector in response to said rotary control motion; and

an onboard motor supported on said removable housing and operably interfacing with said drive transmission to selectively shift said drive transmission between said first and second positions.

2. The surgical system of claim 1, wherein said surgical end effector comprises:

a surgical staple cartridge;

an anvil supported for selective movement relative to the surgical staple cartridge in response to an application of said first actuation motion thereto from the drive transmission; and

a cutting instrument supported for axial travel through the surgical staple cartridge in response to an application of said second actuation motion from said drive transmission.

3. The surgical system of claim 1, wherein said drive system further comprises:

a first cable drive assembly operably interfacing with said drive transmission and said surgical end effector to apply said first actuation motion to said surgical end effector; and

a second cable drive assembly operably interfacing with said drive transmission and said surgical end effector to apply said second actuation motion to said surgical end effector.

4. The surgical system of claim 3, wherein said surgical end effector comprises:

a surgical staple cartridge; and

an anvil supported for selective movement relative to the surgical staple cartridge between an open position and closed positions, said anvil operably interfacing with said first cable drive assembly such that application of said first actuation motion to said anvil in a first direction causes said anvil to move from said open position to one of said closed positions and upon application of said first actuation motion to said anvil in a second direction causes said anvil to move from said one of said closed positions to said open position.

5. The surgical system of claim 4, wherein said surgical end effector further comprises a cutting instrument supported for axial travel through the surgical staple cartridge between a starting position and an ending position in response to an application of said second actuation motion from second cable drive assembly in another said first direction.

6. The surgical system of claim 5 wherein the robotic system comprises a robotic control system configured to apply control signals to the onboard motor when the housing is operably coupled to the tool interface portion of the robotic system.

7. The surgical system of claim 3 further comprising a braking system operably interfacing with said first and second cable drive assemblies to prevent said second cable drive assembly from applying said second actuation motion to said surgical end effector when said drive transmission is in said first position, said braking system further preventing said first cable drive assembly from applying said first actuation motion to said surgical end effector when said drive transmission is in said second position.

8. The surgical system of claim 1 wherein said at least one rotary output member of said tool interface portion comprises:

a first rotary output member operably supported by said tool interface portion and configured to operably interface with said first drive assembly; and

a second rotary output member operably supported by said tool interface portion and being configured to operably interface with a second drive assembly supported by said housing, the second drive assembly configured to generate another rotary control motion.

9. The surgical system of claim 8 wherein said surgical end effector is operably coupled to said removable housing by an elongated shaft assembly defining a longitudinal tool axis and wherein said second drive assembly is configured to apply said another rotary control motion to said elongated shaft assembly to rotate said elongate shaft assembly about said longitudinal tool axis relative to said removable housing.

10. The surgical system of claim 8 wherein said at least one rotary output member of said tool interface portion further comprises a third rotary output member operably supported by said tool interface portion and being configured to operably interface with a third drive assembly supported by said removable housing, the third drive assembly configured to generate an end effector control motion.

11. The surgical system of claim 10 further comprising an articulation joint in said elongated shaft assembly to facilitate articulation of said surgical end effector about an articulation axis that is transverse to said longitudinal tool axis.

12. The surgical system of claim 11 wherein said third drive assembly operably interfaces with said surgical end effector such that upon application of said end effector control motion thereto, said surgical end effector is articulated about said articulation axis.

13. The surgical system of claim 1 further comprising a braking system operably interfacing with said drive transmission to prevent said application of said second actuation motion to said surgical end effector when said drive transmission is in said first position, said braking system further preventing said application of said first actuation motion to said surgical end effector when said drive transmission is in said second position.

14. A surgical system, comprising:

a robotic system including a tool interface portion, said tool interface portion including at least one rotary output member;

a housing removably attachable to the tool interface portion of the robotic system;

a latching arrangement for removably attaching said removable housing to said tool interface portion;

a surgical end effector operably coupled to said removable housing by an elongated shaft assembly; and

a drive system operably supported on said removable housing, the drive system comprising;

a first onboard motor supported on said removable housing and being configured to apply a first rotary control motion to said surgical end effector;

a second onboard motor supported on said removable housing and being configured to apply a second rotary control motion to said surgical end effector; and

a first drive assembly operably supported on said removable housing, said first drive assembly including a first rotary drive portion configured to operably interface with a corresponding one of the at least one rotary output members on the tool interface portion when the removable housing is coupled to said tool interface portion such that rotation of said corresponding one of the at least one rotary output members causes said first rotary drive portion to apply a third rotary control motion to the surgical end effector.

15. The surgical system of claim 14 wherein said surgical end effector comprises:

a surgical staple cartridge;

an anvil supported for selective movement relative to the surgical staple cartridge in response to an application of the first rotary control motion thereto; and

a cutting instrument supported for axial travel through the surgical staple cartridge in response to an application of said second rotary control motion to a cutting instrument drive assembly operably interfacing with said cutting instrument.

16. The surgical system of claim 15 wherein the robotic system comprises a robotic control system configured to apply control signals to the first and second onboard motors when the housing is operably coupled to the tool interface portion of the robotic system.

17. The surgical system of claim 15, wherein said surgical end effector further comprises an elongate channel for operably supporting said surgical staple cartridge therein and wherein said elongated shaft assembly comprises a rotary closure shaft operably interfacing with said elongate channel and said first onboard motor such that an application of said first rotary control motion in a first rotary direction to said rotary closure shaft causes said elongate channel to move in a first axial direction relative to another portion of said elongated shaft assembly and an application of said first rotary control motion in a second rotary direction to said rotary closure shaft causes said elongate channel to move in a second axial direction relative to said another portion of said elongated shaft assembly.

18. The surgical system of claim 17, wherein said anvil is supported relative to said elongate channel such that when said elongate channel is axially moved in said first axial direction, said anvil is moved in one direction relative to the elongate channel and when said elongate channel is axially moved in said second axial direction said anvil is moved in another direction relative to the elongate channel.

19. The surgical system of claim 17, wherein said elongated shaft assembly further comprises a knife bar supported for axial travel therein, said knife bar operably interfacing with said cutting instrument and said second onboard motor such that actuation of said second onboard motor in another first rotary direction causes said knife bar to axially move in a primary axial direction and actuation of said second onboard motor in another second rotary direction causes said knife bar to move in a secondary axial direction.

20. The surgical system of claim 14 wherein said at least one rotary output member of said tool interface portion comprises:

a first rotary output member operably supported by said tool interface portion and configured to operably interface with said first rotary drive portion; and

a second rotary output member operably supported by said tool interface portion and being configured to operably interface with a second rotary drive portion supported by said removable housing, the second rotary drive portion configured to generate an end effector control motion.

21. The surgical system of claim 20, wherein said elongated shaft assembly defines a longitudinal tool axis and wherein said first drive assembly is configured to apply said third rotary control motion to said elongated shaft assembly to rotate said elongate shaft assembly about said longitudinal tool axis relative to said removable housing.

22. The surgical system of claim 21 further comprising an articulation joint in said elongated shaft assembly to facilitate articulation of said surgical end effector about an articulation axis that is transverse to said longitudinal tool axis.

23. The surgical system of claim 22 wherein said second drive assembly operably interfaces with said surgical end effector such that upon application of said end effector control motion thereto, said surgical end effector is articulated about said articulation axis.