# US 11,998,228 B2 · Ultrasonic surgical instrument with a carrier kart and reusable stage > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,998,228 B2 - Document ID: US11998228B2 - Status: Granted - Kind: B2 - Application number: 17/077,250 - Filed: 2020-10-22 - Published: 2022-04-28 - Granted: 2024-06-04 - Earliest claimed: 2020-10-22 - Assignees: Cilag GmbH International - Applicants: Cilag GmbH International - Inventors: Andrew T. Beckman; Brian D. Black; Charles J. Scheib; Matthew T. Stone - Web page: https://patentgrep.com/patent/US11998228B2 ## CPC - A61B 17/320092: {with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw} - A61B 34/25: {User interfaces for surgical systems} - A61B 34/30: Surgical robots - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 17/07207: {the staples being applied sequentially} - A61B 17/07292: {Reinforcements for staple line, e.g. pledgets} - A61B 90/98: using electromagnetic means, e.g. transponders - A61B 2017/00022: {Sensing or detecting at the treatment site} - A61B 2017/00084: {Temperature} - A61B 2017/00119: {alarm; indicating an abnormal situation} - A61B 2017/00314: {Separate linked members} - A61B 2017/00367: {Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2017/00991: {Telescopic means} - A61B 2017/07285: {characterised by its cutter} - A61B 2017/320071: {with articulating means for working tip} - A61B 2017/320074: {blade} - A61B 2017/320088: {with acoustic insulation, e.g. elements for damping vibrations between horn and surrounding sheath} - A61B 2017/320094: {additional movable means performing clamping operation} - A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities} - A61B 2034/306: {Wrists with multiple vertebrae} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - A61B 2090/0808: {for indicating correct assembly of components, e.g. of the surgical apparatus} - A61B 2090/0813: {Accessories designed for easy sterilising, i.e. re-usable} - A61B 2090/571: {for clamping a support arm to a bed or other supports} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A surgical instrument includes an end effector, a shaft assembly, a carrier, and a support structure. Shaft assembly extends proximally from the end effector. The shaft assembly defines a longitudinal axis. The carrier is configured to translate the end effector along the longitudinal axis. The carrier includes a carriage, an actuation driver, and an actuation assembly. The actuation driver is configured to rotate along an axis parallel to the longitudinal axis. The actuation assembly is operatively coupled with the actuation driver and the carriage. The support structure includes a supporting portion. The supporting portion is configured to reduce torsional forces exerted on the carriage as the actuation assembly transfers the rotation of the actuation driver into translation of a portion of the shaft assembly to actuate the end effector. ## Claims ### Claim 1 A surgical instrument, comprising: (a) an end effector including a first jaw and a second jaw; (b) a shaft assembly extending proximally from the end effector, wherein the shaft assembly defines a longitudinal axis; (c) a carrier configured to translate the end effector along the longitudinal axis, the carrier comprising: (i) a carriage, (ii) an actuation driver configured to rotate along an axis parallel to the longitudinal axis and including a splined shaft, and (iii) an actuation assembly operatively coupled with the actuation driver and the carriage, wherein the actuation assembly is configured to translate a portion of the shaft assembly to cause least one of the first and second jaws to pivot relative to the other of the first and second jaws to compress tissue therebetween; and (d) a support structure that includes a supporting portion, wherein the supporting portion is configured to reduce torsional forces exerted on the carriage as the actuation assembly transfers the rotation of the actuation driver into translation of a portion of the shaft assembly to actuate the end effector. ### Claim 2 (depends on 1) The surgical instrument of claim 1, wherein the supporting portion includes first and second inwardly facing portions configured to reduce torsional deflection on the carriage. ### Claim 3 (depends on 1) The surgical instrument of claim 1, wherein the supporting portion is C-shaped along a plane perpendicular to the longitudinal axis. ### Claim 4 (depends on 1) The surgical instrument of claim 1, wherein the carriage defines an outer profile, wherein the supporting portion closely accommodates at least a portion of an outer profile of the carriage. ### Claim 5 (depends on 1) The surgical instrument of claim 1, wherein the supporting portion extends at least partially along the longitudinal axis. ### Claim 6 (depends on 1) The surgical instrument of claim 1, wherein the shaft assembly is removably couplable with the carriage. ### Claim 7 (depends on 1) The surgical instrument of claim 1, wherein the carriage is integrally formed together as a unitary piece. ### Claim 8 (depends on 1) The surgical instrument of claim 1, wherein the carriage includes an input receiving feature, the surgical instrument further comprising a translation driver operably engaged with the input receiving feature, wherein the translation driver is configured to translate the carriage along the supporting portion of the support structure to translate the end effector. ### Claim 9 (depends on 8) The surgical instrument of claim 8, wherein the translation driver includes a threaded lead screw, wherein the input receiving feature carriage includes a threaded receiver that is configured to threadedly engage the threaded lead screw to translate the carriage along the threaded lead screw. ### Claim 10 (depends on 1) The surgical instrument of claim 1, wherein the first jaw includes an ultrasonic blade and the second jaw includes a clamp arm, the surgical instrument further comprising: (a) an acoustic waveguide in acoustic communication with the ultrasonic blade; and (b) an ultrasonic transducer assembly translatably coupled with the acoustic waveguide and the carriage. ### Claim 11 (depends on 10) The surgical instrument of claim 10, further comprising a translation driver configured to translate the carriage along the longitudinal axis so that the ultrasonic transducer assembly moves from a proximal position along the longitudinal axis to a distal position along the longitudinal axis for inserting the ultrasonic blade into a patient. ### Claim 12 (depends on 10) The surgical instrument of claim 10, wherein the actuation assembly is configured to translate the portion of the shaft assembly causing the clamp arm to pivot relative to the ultrasonic blade. ### Claim 13 (depends on 11) The surgical instrument of claim 11, further comprising an attachment interface configured to operatively couple with a robotic arm of a robotic surgical system, wherein the attachment interface comprises: (i) a first drive input operatively coupled with the translation driver, wherein the first drive input is configured to actuate the translation driver to translate the carriage along the supporting portion of the support structure and along the longitudinal axis, and (ii) a second drive input operatively coupled with the actuation driver, wherein the second drive input is configured to actuate the actuation driver to pivot the clamp arm relative to the ultrasonic blade. ### Claim 14 (depends on 1) The surgical instrument of claim 1, wherein the support structure further comprises: (i) a first frame member, and (ii) a second frame member that is spaced a distance along the longitudinal axis from the first frame member, wherein the supporting portion extends between the first and second frame members to support the carriage as the carriage is moved along the longitudinal axis. ### Claim 15 A surgical instrument, comprising: (a) an end effector; (b) a shaft assembly extending proximally from the end effector, wherein the shaft assembly defines a longitudinal axis; and (c) a carrier configured to translate the end effector along the longitudinal axis, the carrier comprising: (i) a carriage comprising: (A) a first outwardly extending portion that includes an input receiving feature, and (B) a second outwardly extending portion that includes a through hole, (ii) a translation driver operably engaged with the first input receiving feature of the carriage and configured to translate the carriage and the end effector along the longitudinal axis, and (iii) an actuation driver configured to extend through the through hole of the second outwardly extending portion, wherein the actuation driver is configured to actuate the end effector. ### Claim 16 (depends on 15) The surgical instrument of claim 15, further comprising a support structure that includes a supporting portion extending at least partially along the longitudinal axis, wherein the supporting portion is configured to reduce torsional forces exerted on the carriage as the actuation driver directs translation of a portion of the shaft assembly to actuate the end effector. ### Claim 17 (depends on 16) The surgical instrument of claim 16, wherein the supporting portion closely accommodates at least a portion of an outer profile of the carriage. ### Claim 18 A surgical instrument, comprising: (a) an end effector including an ultrasonic blade and a clamp arm, wherein the clamp arm is configured to selectively pivot relative to the ultrasonic blade; (b) a shaft assembly extending proximally from the end effector, wherein the shaft assembly defines a longitudinal axis; (c) a carrier configured to translate the end effector along the longitudinal axis, the carrier comprising: (i) a carriage, (ii) an actuation driver configured to rotate along an axis parallel to the longitudinal axis, and (iii) an actuation assembly operatively coupled with the actuation driver and the carriage; (d) a support structure that includes a supporting portion, wherein the supporting portion is configured to reduce torsional forces exerted on the carriage as the actuation assembly transfers the rotation of the actuation driver into translation of a portion of the shaft assembly to actuate the end effector; and (e) an attachment interface configured to operatively couple with a robotic arm of a robotic surgical system, wherein the attachment interface includes a first drive input operatively coupled with the actuation driver, wherein the first drive input is configured to actuate the actuation driver to pivot the clamp arm relative to the ultrasonic blade. ### Claim 19 (depends on 18) The surgical instrument of claim 18, further comprising: (a) an acoustic waveguide in acoustic communication with the ultrasonic blade; (b) an ultrasonic transducer assembly translatably coupled with the acoustic waveguide and the carriage; and (c) a translation driver configured to translate the carriage along the longitudinal axis so that the ultrasonic transducer assembly moves from a proximal position along the longitudinal axis to a distal position along the longitudinal axis for inserting the ultrasonic blade into a patient. ### Claim 20 (depends on 19) The surgical instrument of claim 19, wherein the attachment interface further includes a second drive input operatively coupled with the translation driver, wherein the second drive input is configured to actuate the translation driver to translate the carriage along the supporting portion of the support structure and along the longitudinal axis.