US 10,278,780 B2Granted

Surgical instrument for use with robotic system

AssigneeEthicon, Inc.

InventorFrederick E. Shelton, IV

Life of this patent

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Abstract

A surgical instrument for use with a robotic system is disclosed. The robotic system comprises a drive assembly and a control unit. The drive assembly is configured to provide rotary output motions to a rotatable member supported by the drive assembly. The surgical instrument comprises an end effector, an elongate shaft assembly, an instrument mounting portion, and a closure system. The effector comprises a closable jaw. The elongate shaft assembly comprises a longitudinal axis, a distal end, and a proximal end comprising a gear segment. The instrument mounting portion comprises a transmission assembly including a rotational gear assembly. The closure system comprises a first portion engaged with the closable jaw to close the closable jaw at a first speed and a second portion engageable with the closable jaw to close the closable jaw at a slower speed than the first speed.

Claims6

Dependent claims

A surgical instrument for use with a robotic system, wherein the robotic system comprises a drive assembly and a controller, wherein the drive assembly is configured to provide rotary output motions to a plurality of rotatable members supported by the drive assembly, and wherein said surgical instrument comprises:

an end effector, comprising:
an elongate channel;
a staple cartridge positioned in said elongate channel;
a cutting instrument movable axially within said staple cartridge between a starting position and an ending position;
and
an anvil selectively movable between an open position and a closed position relative to said staple cartridge;
an elongate shaft assembly, comprising:
a spine, comprising:
a distal spine end coupled to said elongate channel;
and
a proximal spine end;
a closure system configured to operably interact with said anvil, wherein said closure system comprises a first portion engaged with said anvil to close said anvil at a first speed during a first closure mode and a second portion engageable with said anvil to close said anvil at a slower speed than said first speed during a second closure mode, wherein said second portion is not engaged with said anvil during said first closure mode;
and
a mounting portion coupled to said proximal spine end, wherein said mounting portion is configured to operably interface with the drive assembly of the robotic system, and wherein said mounting portion comprises:
a first driven disc rotatably supported by said mounting portion, wherein said first driven disc is configured to be operably engaged with one of said rotatable members of the drive assembly of the robotic system to receive a first rotary output motion, wherein said first driven disc is operably coupled with said closure system;
a second driven disc rotatably supported by said mounting portion, wherein said second driven disc is configured to be operably engaged with one of said rotatable members of the drive assembly of the robotic system to receive a second rotary output motion, wherein said second driven disc is operably coupled with said cutting instrument, and wherein said cutting instrument is driven toward said ending position in response to said second rotary output motion;
and
a third driven disc rotatably supported by said mounting portion, wherein said third driven disc is configured to be operably engaged with one of said rotatable members of the drive assembly of the robotic system to receive a third rotary output motion, and wherein said third driven disc is operably coupled to said elongate shaft assembly to rotate said end effector about a longitudinal shaft axis extending through said elongate shaft assembly in response to said third rotary output motion.

15 more elements

A surgical instrument for use with a robotic system, wherein the robotic system comprises a drive assembly and a control unit, wherein the drive assembly is coupled to the control unit of the robotic system, wherein the drive assembly is configured to provide a rotary output motion to a rotatable member supported by the drive assembly, and wherein said surgical instrument comprises:

an end effector, comprising:
an anvil;
an elongate channel;
a staple cartridge positioned in said elongate channel;
a rotary drive shaft operably supported within said elongate channel;
and
a knife member comprising a tissue-cutting portion, wherein the rotation of said rotary drive shaft in a first direction causes said knife member to move in a distal direction through said staple cartridge, and wherein the rotation of said rotary drive shaft in a second direction causes said knife member to move in a proximal direction through said staple cartridge;
a closure system configured to operably interact with said anvil, wherein said closure system comprises a first portion engaged with said anvil to close said anvil at a first rate and a second portion engageable with said anvil to close said anvil at a slower rate than said first rate;
an elongate shaft assembly, wherein said end effector extends distally from said elongate shaft assembly, and wherein said elongate shaft assembly comprises a gear-driven portion that is in operable communication with said rotary drive shaft;
and
a mounting portion, wherein said elongate shaft assembly extends distally from said mounting portion, wherein said mounting portion is configured to operably interface with the drive assembly, and wherein said mounting portion comprises:
a driven element rotatably supported by said mounting portion, wherein said driven element is configured to be operably engaged with the rotatable member of the drive assembly to receive the rotary output motion from the rotatable member;
and
a transmission assembly operably engaged with said driven element and said gear-driven portion to apply a control motion to said rotary drive shaft.

11 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/652,916Filed 18 Jul 2017 · continuation
Priority: 10 Jan 2007
Published: US 2017/0312040 A12 Nov 2017
Granted: 7 May 2019
Term ends: Not estimatedThe source records don’t support an estimate.

Classification46 codes

A61B 17/07207
For applying a row of staples in a single action, e.g. the staples being applied simultaneously: the staples being applied sequentially
A61B 17/00234
Surgical instruments, devices or methods: for minimally invasive surgery
A61B 17/068
Surgical instruments, devices or methods: surgical staplers , e.g. containing multiple staples or clamps
A61B 17/295
Forceps for use in minimally invasive surgery: combined with cutting implements

Family

Application11/651,807Parent of this continuation-in-part · filed 10 Jan 2007
Application13/118,259Parent of this continuation · filed 27 May 2011
US 8,459,520 B2Parent of this continuation-in-part · filed 11 Jun 2013
Application14/176,671Parent of this continuation · filed 10 Feb 2014
US 8,684,253 B2Parent of this continuation · filed 1 Apr 2014
US 2017/0312040 A1Pre-grant publication · published 2 Nov 2017
Application13/118,259Parent of this continuation-in-part
US 10,441,369 B2Related patent
US 2008/0167672 A1Published application
US 2011/0295270 A1Published application
US 2014/0171966 A1Published application
US 10,278,780 B2This patent

From the US filing history. Foreign family members aren’t listed.