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US 12,239,316 B2Granted
Automated end effector component reloading system for use with a robotic system
AssigneeCilag GmbH International
InventorsJerome R. Morgan, Frederick E. Shelton, IV
Life of this patent
Estimating the term…
Abstract
A surgical instrument. The surgical instrument includes an end effector that comprises a staple channel and an anvil that is movably translatable relative to the staple channel. A tool mounting portion is configured to interface with a robotic system and operably communicate with the end effector. The instrument further includes a first sensor that has an output that represents a first condition of a portion of the robotic system. A second sensor has an output that represents a position of the anvil. A third sensor has an output that represents a position of a reciprocating knife within the end effector. An externally accessible memory device communicates with the first, second and third sensors.
Claims18
A surgical stapling assembly, comprising:
- a first replaceable surgical device, comprising:
- a housing comprising a first attachment interface attachable to and detachable from a surgical robot, wherein the first attachment interface comprises a rotatable input drive coupleable to and decouplable from a robotic output drive of the surgical robot;
- a first shaft extending distally from the housing, wherein the first shaft defines a longitudinal axis, and wherein the first shaft is rotatable about the longitudinal axis;
- and
- a drive rod movable axially within the first shaft by the rotational input drive;
- a second replaceable surgical device, comprising:
- a second shaft comprising a second attachment interface attachable to and detachable from the first shaft;
- an articulation joint;
- and
- an end effector articulatable relative to the second shaft by way of the articulation joint, wherein the end effector comprises:
- a first jaw;
- a second jaw movable relative to the first jaw;
- a cartridge channel;
- and
- a firing driver movable axially by the rotatable input drive through the end effector to staple and cut tissue, wherein the drive rod is operably couplable to the firing driver when the second shaft is attached to the first shaft;
- and
- a third replaceable surgical device structured and dimensioned to be received within the cartridge channel, the third replaceable surgical device comprising a replaceable staple cartridge.
14 more elements
A surgical stapling assembly, comprising:
- a first interchangeable surgical device, comprising:
- a housing, comprising:
- a first rotatable input drive coupleable to and decouplable from a first output drive of a robotic control interface;
- a second rotatable input drive coupleable to and decouplable from a second output drive of the robotic control interface;
- and
- a third rotatable input drive coupleable to and decouplable from a third output drive of the robotic control interface;
- a first shaft extending distally from the housing along a longitudinal axis, wherein the first shaft is rotatable about the longitudinal axis;
- and
- a drive rod movable axially within the first shaft by the first rotatable input drive;
- a second interchangeable surgical device, wherein the second interchangeable surgical device comprises:
- a second shaft attachable to and detachable from the first shaft;
- an articulation joint;
- and
- an end effector articulatable relative to the second shaft by way of the articulation joint, wherein the end effector comprises:
- a first jaw;
- a second jaw movable relative to the first jaw;
- a cartridge channel;
- and
- a firing driver actuatable axially across the articulation joint by the first rotatable input drive to clamp, staple, and cut tissue, wherein the drive rod is operably couplable to the firing driver when the second shaft is attached to the first shaft;
- and
- a third interchangeable surgical device structured and dimensioned to be installed into the cartridge channel, wherein the third interchangeable surgical device comprises a replaceable staple cartridge.
18 more elements
A surgical stapling assembly, comprising:
- a proximal attachment, comprising:
- a housing;
- a first rotatable input drive coupleable to and decouplable from a first output drive of a robotic control interface;
- a second rotatable input drive coupleable to and decouplable from a second output drive of the robotic control interface;
- a third rotatable input drive coupleable to and decouplable from a third output drive of the robotic control interface;
- a first shaft extending from the housing along an axis, wherein the first shaft is rotatable about the axis;
- and
- a drive rod movable axially within the first shaft by the first rotatable input drive;
- an end effector attachment, comprising:
- a second shaft attachable to and detachable from the first shaft;
- an articulation joint;
- a first jaw;
- a second jaw movable relative to the first jaw;
- a cartridge channel;
- and
- a firing bar actuatable axially across the articulation joint by the first rotatable input drive to clamp, staple, and cut tissue, wherein the drive rod is operably couplable to the firing bar when the second shaft is attached to the first shaft;
- and
- a replaceable staple cartridge configured to be installed into the cartridge channel, wherein the replaceable staple cartridge comprises:
- a cartridge body;
- a plurality of staples stored within the cartridge body;
- and
- a pan extending around a bottom of the cartridge body.
19 more elements
Dependencies are inferred from the claim text.