Electro-mechanical surgical device

• US 9,364,200 B2
• Filed: 07/27/2015
• Issued: 06/14/2016
• 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, Zeichner, David A.
• Primary Examiner(s): Thomson, William
• Assistant Examiner(s): LIPITZ, JEFFREY BRIAN
• Application Number:
  US14/809,661
• Publication Number:
  US 20150327845A1
• Time in Patent Office: 323 Days
• Field of Search: 606/1, 606/130, 227/176.1
• 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. A handheld electromechanical driver assembly, comprising:

a handle portion including;

a handle housing;

a power source disposed within the handle housing;

at least one electric steering motor disposed within the handle housing and connected to the power source for actuation by the power source;

at least one force transmission steering member connected to and actuatable by the at least one electric steering motor; and

an manually actuatable steering device supported on the handle housing, wherein actuation of the steering device effects actuation of the at least one electric steering motor; and

a shaft portion extending from the handle portion, the shaft portion including a proximal end connected to the housing portion and a free distal end, wherein each of the proximal end and the distal end of the shaft portion defines a longitudinal axis, wherein the shaft portion includes a straight configuration wherein the longitudinal axis of the proximal end and the longitudinal axis of the distal end are parallel to one another, and wherein the shaft portion includes an articulated configuration wherein the longitudinal axis of the proximal end and the longitudinal axis of the distal end are non-parallel with respect to one another;

wherein the at least one force transmission steering member includes a distal end secured to the distal end of the shaft portion, wherein actuation of the at least one steering motor acts on the at least one force transmission steering member to actuate the shaft portion between the straight configuration and the articulated configuration; and

wherein the at least one steering motor mechanically communicates with a pulley around which the at least one force transmission steering member is coiled, wherein actuation of the at least one steering motor rotates the pulley to advance or retract the at least one force transmission steering member.

2. The electromechanical driver assembly of claim 1, wherein the at least one steering motor mechanically communicates with a pulley around which the at least one force transmission steering member is coiled, wherein actuation of the at least one steering motor rotates the pulley to advance or retract the at least one force transmission steering member.

3. The electromechanical driver assembly of claim 1, wherein the at least one electric steering motor includes a pair of electric steering motors, wherein each of the pair of electric steering motors operates a respective at least one force transmission steering member.

4. The electromechanical driver assembly of claim 1, wherein the at least one electric steering motor includes two electric steering motors,

a) a first electric steering motor of the two electric steering motors engaging a first force transmission steering member of the at least one force transmission steering member, wherein actuation of the first electric steering motor selectively translates the first force transmission steering member to articulate the distal end of the shaft portion within a first spatial plane, and

b) a second electric steering motor of the two electric steering motors engaging a second force transmission steering member of the at least one force transmission steering member, wherein actuation of the second steering motor selectively translates the second force transmission steering member to articulate the distal end of the shaft portion within a second spatial plane which is perpendicular to the first spatial plane.

5. The electromechanical driver assembly of claim 4, wherein:

a) the first electric steering motor mechanically communicates with a first pulley around which the first force transmission steering member is coiled to selectively rotate the first pulley to selectively advance or retract the first force transmission steering member; and

b) the second electric steering motor mechanically communicates with a second pulley around which the second force transmission steering member is coiled to selectively rotate the second pulley to selectively advance or retract the second force transmission steering member.

6. The electromechanical driver assembly of claim 5, further comprising at least one selectively engagable drive motor for engaging a rotatable drive shaft of the shaft portion.

7. The electromechanical driver assembly of claim 5, wherein each force transmission steering member is a steering cable, and further comprising a spring member for biasing each steering cable toward a taut state, an electric steering motor carriage and a pulley carriage each disposed within the handle housing, wherein:

a) the handle housing includes an interior wall;

b) the first electric steering motor and the second electric steering motor travel on the electric steering motor carriage within the handle housing,

c) the first pulley and the second pulley travel on the pulley carriage;

d) the spring member biases the pulley carriage away from the interior wall, and

e) the electric steering motor carriage mechanically communicates with the pulley carriage to selectively allow the pulley carriage to succumb to the bias of the spring member or push the pulley carriage toward the interior wall with a force great enough to overcome the bias of the spring member.

8. The electromechanical driver assembly of claim 7, further comprising at least one selectively engagable electric drive motor which selectably rotates an attached rotatable drive shaft of the shaft portion.

9. The electromechanical driver assembly of claim 1, wherein the handle assembly further includes at least one electric drive motor disposed within the handle housing and connected to the power source for actuation by the power source;

and wherein the shaft portion further includes a rotatable drive shaft connectable to and actuatable by the at least one electric drive motor.

10. The electromechanical driver assembly of claim 1, wherein each force transmission steering member transmits both axial and rotational forces.

11. A handheld electromechanical driver assembly, comprising:

a handle portion including;

a handle housing;

a power source disposed within the handle housing;

at least one electric drive motor disposed within the handle housing and connected to the power source for actuation by the power source;

at least one electric steering motor disposed within the handle housing and connected to the power source for actuation by the power source;

at least one force transmission steering member connected to and actuatable by the at least one electric steering motor; and

an manually actuatable steering device supported on the handle housing, wherein actuation of the steering device effects actuation of the at least one electric steering motor; and

a shaft portion extending from the handle portion, the shaft portion including a proximal end connected to the housing portion and a free distal end, wherein each of the proximal end and the distal end of the shaft portion defines a longitudinal axis, wherein the shaft portion includes a straight configuration wherein the longitudinal axis of the proximal end and the longitudinal axis of the distal end are parallel to one another, and wherein the shaft portion includes an articulated configuration wherein the longitudinal axis of the proximal end and the longitudinal axis of the distal end are non-parallel with respect to one another;

wherein the at least one force transmission steering member includes a distal end secured to the distal end of the shaft portion, wherein actuation of the at least one electric steering motor acts on the at least one force transmission steering member to actuate the shaft portion between the straight configuration and the articulated configuration; and

wherein the at least one electric steering motor mechanically communicates with a pulley around which the at least one force transmission steering member is coiled, wherein actuation of the at least one electric steering motor rotates the pulley to advance or retract the at least one force transmission steering member.

12. The electromechanical driver assembly of claim 11, wherein the at least one electric steering motor mechanically communicates with a pulley around which the at least one force transmission steering member is coiled, wherein actuation of the at least one electric steering motor rotates the pulley to advance or retract the at least one force transmission steering member.

13. The electromechanical driver assembly of claim 11, wherein the at least one electric steering motor includes a pair of electric steering motors, wherein each of the pair of electric steering motors operates a respective at least one force transmission steering member.

14. The electromechanical driver assembly of claim 11, wherein the at least one electric steering motor includes two electric steering motors,

a) a first electric steering motor of the two electric steering motors engaging a first force transmission steering member of the at least one force transmission steering member, wherein actuation of the first electric steering motor selectively translates the first force transmission steering member to articulate the distal end of the shaft portion within a first spatial plane, and

b) a second electric steering motor of the two electric steering motors engaging a second force transmission steering member of the at least one force transmission steering member, wherein actuation of the second electric steering motor selectively translates the second force transmission steering member to articulate the distal end of the shaft portion within a second spatial plane which is perpendicular to the first spatial plane.

15. The electromechanical driver assembly of claim 14, wherein:

a) the first electric steering motor mechanically communicates with a first pulley around which the first force transmission steering member is coiled to selectively rotate the first pulley to selectively advance or retract the first force transmission steering member; and

b) the second electric steering motor mechanically communicates with a second pulley around which the second force transmission steering member is coiled to selectively rotate the second pulley to selectively advance or retract the second force transmission steering member.

16. The electromechanical driver assembly of claim 15, further comprising at least one selectively engagable electric drive motor for engaging a rotatable drive shaft of the shaft portion.

17. The electromechanical driver assembly of claim 15, wherein each force transmission steering member is a steering cable, and further comprising a spring member for biasing each steering cable toward a taut state, an electric steering motor carriage and a pulley carriage each disposed within the handle housing, wherein:

a) the handle housing includes an interior wall;

b) the first electric steering motor and the second electric steering motor travel on the steering motor carriage within the handle housing,

c) the first pulley and the second pulley travel on the pulley carriage;

d) the spring member biases the pulley carriage away from the interior wall, and

e) the electric steering motor carriage mechanically communicates with the pulley carriage to selectively allow the pulley carriage to succumb to the bias of the spring member or push the pulley carriage toward the interior wall with a force great enough to overcome the bias of the spring member.

18. The electromechanical driver assembly of claim 17, further comprising at least one selectively engagable electric drive motor which selectably rotates an attached rotatable drive shaft of the shaft portion.

19. The electromechanical driver assembly of claim 11, wherein each force transmission steering member transmits both axial and rotational forces.