surgical system that comprises a joint retraction

专利摘要:
The present invention relates to a surgical instrument set configured to be connected and separated from a surgical robot. The surgical instrument set comprises a drive system that can be actuated in a first direction and in a second direction that is opposite the first direction, and the drive system is configured to perform an instrument function, a drive shaft and an actuator. far end. The surgical instrument set additionally comprises a retraction of the actuation system which comprises means of indicating the position to indicate the position of the actuation system and an actuation member configured to actuate the actuation system in the first direction and in the second direction, being that the direction in which the drive system is operated is based on the position of the drive system indicated by the position indication means.
公开号:BR112020002009A2
申请号:R112020002009-5
申请日:2018-07-30
公开日:2020-07-28
发明作者:Frederick E. Shelton Iv；Gregory J. Bakos；Jason L. Harris
申请人:Ethicon Llc；
IPC主号:

专利说明:

[001] [001] The present invention relates to surgical instruments and, in various provisions, to surgical instruments for stapling and cutting, and staple cartridges for use with them, which are designed to staple and cut fabric. BRIEF DESCRIPTION OF THE DRAWINGS
[002] [002] Several characteristics of the modalities described here, together with their advantages, can be understood according to the description presented below, considered together with the attached drawings, as shown below:
[003] [003] Figure 1 is a perspective view of a surgical instrument configured to be operationally coupled to a robotic surgical system according to at least one modality;
[004] [004] Figure 2 is an elevation view of the surgical instrument in Figure 1;
[005] [005] Figure 3 is a partial perspective view of the surgical instrument of Figure 1 illustrated in a disassembled condition;
[006] [006] Figure 4 is a perspective view of an interconnection between a set of driving axes and a transmission set of the surgical instrument of Figure 1;
[007] [007] Figure 5 is a perspective view of the interconnection of Figure 4 in a disassembled condition;
[008] [008] Figure 6 is an exploded view of the drive shaft assembly of the surgical instrument of Figure 1;
[009] [009] Figure 7 is a partial exploded view of the transmission set of the surgical instrument of Figure 1;
[0010] [0010] Figure 8 is an exploded view of the interconnection of the
[0011] [0011] Figure 9 is an elevation view of an end actuator of the driving shaft assembly of the surgical instrument of Figure 1 illustrated in an open and non-clamped configuration;
[0012] [0012] Figure 10 is an elevation view of the end actuator of Figure 9 illustrated in a closed and secured configuration;
[0013] [0013] Figure 11 is a plan view of the end actuator of Figure 9 illustrated in an articulated configuration;
[0014] [0014] Figure 12 is a plan view of the end actuator of Figure 9 illustrated in a non-articulated configuration;
[0015] [0015] Figure 13 is a cross-sectional elevation view of the transmission set and a housing set for the surgical instrument of Figure 1;
[0016] [0016] Figure 13A is a partial perspective view of a sliding element assembly of the transmission assembly of Figure 13;
[0017] [0017] Figure 13B is a partial perspective view of the slide element assembly of Figure 13A illustrated with some components removed;
[0018] [0018] Figure 13C is a cross-sectional elevation view of the slide element assembly of Figure 13A corresponding to the open configuration of the end actuator illustrated in Figure 9;
[0019] [0019] Figure 13D is a cross-sectional elevation view of the slide element assembly of Figure 13A corresponding to the closed configuration of the end actuator illustrated in Figure 10;
[0020] [0020] Figure 14 is a plan view of the housing assembly of Figure 13 illustrated with some components removed;
[0021] [0021] Figure 15 is a partial cross-sectional view of the surgical instrument of Figure 1 corresponding to the closed and secured configuration of the end actuator illustrated in Figure 10;
[0022] [0022] Figure 16 is a partial cross-sectional view of the surgical instrument of Figure 1 corresponding to the open and non-attached configuration of the end actuator illustrated in Figure 9;
[0023] [0023] Figure 17 is a partial cross-sectional view of the housing assembly of Figure 13 illustrating a portion of a retraction of the closure system;
[0024] [0024] Figure 18 is a partial cross-sectional view of the housing assembly of Figure 13 illustrating the retraction of the closing system of Figure 17 in an actuated configuration;
[0025] [0025] Figure 19 is a partial perspective view of the surgical instrument of Figure 1 illustrating another retraction of the closure system;
[0026] [0026] Figure 20 is a perspective view of the transmission and housing assemblies of Figure 13 illustrated with some components removed;
[0027] [0027] Figure 21 is a perspective view of the transmission and housing assemblies of Figure 13 illustrating the retraction of the closing system of Figure 19 in a released configuration;
[0028] [0028] Figure 22 is a perspective view of the transmission and housing assemblies of Figure 13 illustrated with some components removed;
[0029] [0029] Figure 23 is a perspective view of the transmission and housing assemblies of Figure 13 illustrating the retraction of the closing system of Figure 19 in the configuration released in Figure 21;
[0030] [0030] Figure 24 is an end view in cross section of the slide element assembly of Figure 13A and the retraction of the closure system of Figure 19;
[0031] [0031] Figure 25 is an end view in cross section of the slide element assembly of Figure 13A and the retraction of the closing system of Figure 19 in the configuration released in Figure 21;
[0032] [0032] Figure 26 is a perspective view in partial cross section of the surgical instrument of Figure 1 illustrated in the open configuration of Figure 9;
[0033] [0033] Figure 27 is a plan view in partial cross section of the transmission assembly of Figure 13 illustrating the slide element assembly of Figure 13A;
[0034] [0034] Figure 28 is another plan view in partial cross section of the transmission assembly of Figure 13 illustrating the slide element assembly of Figure 13A;
[0035] [0035] Figure 29 is a plan view in partial cross section of the transmission assembly of Figure 13 illustrated in an articulated configuration;
[0036] [0036] Figure 30 is a partial plan view of a firing system in the housing assembly of Figure 13;
[0037] [0037] Figure 31 is a partial plan view of the firing system of Figure 30 illustrated with a retraction of the firing system operationally coupled to the firing system;
[0038] [0038] Figure 32 is a partial plan view of the firing system of Figure 30 being retracted by the retraction of the firing system; of Figure 31;
[0039] [0039] Figure 33 is a perspective view of a surgical instrument configured to be operationally coupled to a robotic surgical system according to at least one modality;
[0040] [0040] Figure 34 is a perspective view illustrating a drive shaft assembly of the surgical instrument of Figure 33 disassembled from a transmission assembly and a housing assembly from the surgical instrument of Figure 33;
[0041] [0041] Figure 35 is an exploded perspective view of the drive shaft assembly of Figure 34;
[0042] [0042] Figure 36 is an exploded perspective view of a column of the drive shaft assembly of Figure 34;
[0043] [0043] Figure 37 is an exploded perspective view of the transmission assembly of Figure 34;
[0044] [0044] Figure 38 is a perspective view of an interconnection between the drive shaft assembly and the transmission assembly of Figure 34;
[0045] [0045] Figure 39 is a perspective view of the interconnection of Figure 38 in a disconnected configuration;
[0046] [0046] Figure 40 is a cross-sectional view of the interconnection of Figure 38;
[0047] [0047] Figure 41 is a perspective view of the interconnection of Figure 38 in a disconnected configuration illustrated with some components removed;
[0048] [0048] Figure 42 is an elevation view in partial cross section of the housing assembly of Figure 34;
[0049] [0049] Figure 43 is an elevation view in partial cross section of the transmission assembly of Figure 34 illustrating a sliding element assembly;
[0050] [0050] Figure 44 is an elevation view in partial cross section of the transmission set of Figure 34 illustrated in an articulated configuration;
[0051] [0051] Figure 45 is a perspective view of the transmission and housing assemblies of Figure 34 illustrated with some components removed;
[0052] [0052] Figure 46 is a partial elevation view of the transmission and housing assemblies of Figure 34;
[0053] [0053] Figure 47 is a cross-sectional end view of the transmission assembly of Figure 34 taken along line 47-47 in Figure 46;
[0054] [0054] Figure 47A is a partial cross-sectional view of a first sliding element of the sliding element assembly of Figure 43 taken along line 47A-47A in Figure 47 illustrating a retraction of the closing system;
[0055] [0055] Figure 47B is a partial cross-sectional view of the first sliding element of Figure 47A taken along line 47A-47A in Figure 47 illustrated in a closed or secured configuration;
[0056] [0056] Figure 47C is a partial cross-sectional view of the first sliding element of Figure 47A taken along line 47A-47A in Figure 47 illustrating the retraction of the closure system in a released configuration;
[0057] [0057] Figure 48 is a partial perspective view of the surgical instrument of Figure 33 illustrating an end actuator of the drive shaft assembly of Figure 34 in a closed or secured configuration;
[0058] [0058] Figure 49 is a partial perspective view of the surgical instrument of Figure 33 illustrating the end actuator of Figure 48 in an open or non-secured configuration and the retraction of the closure system of Figure 47A in the released configuration of Figure 47C;
[0059] [0059] Figure 50 is a bottom view in partial cross section of the transmission assembly of Figure 34;
[0060] [0060] Figure 51 is a partial perspective view of the housing assembly of Figure 34 illustrating an illustrated firing system with some components removed;
[0061] [0061] Figure 52 is a partial perspective view of the housing assembly of Figure 34 illustrating a retraction of the firing system;
[0062] [0062] Figure 53 is a partial perspective view of the housing assembly of Figure 34 illustrating the retraction of the firing system of Figure 52 in an actuated configuration;
[0063] [0063] Figure 54 illustrates a portion of the firing system of Figure 51 and the retraction of the firing system of Figure 52;
[0064] [0064] Figure 55 illustrates the retraction of the triggering system of Figure 52 in a released configuration;
[0065] [0065] Figure 56 illustrates the retraction of the trigger system of Figure 52 in the actuated configuration of Figure 53;
[0066] [0066] Figure 57 is a bottom view in partial perspective of the housing assembly of Figure 34 illustrating a retract door in a closed configuration;
[0067] [0067] Figure 58 is a bottom view in partial perspective of the housing assembly of Figure 34 illustrating the retract door of Figure 57 in an open configuration;
[0068] [0068] Figure 59 is an end view in cross section of the housing assembly of Figure 34 illustrating the retract door of Figure 57 in the closed configuration of Figure 57;
[0069] [0069] Figure 60 is an end view in cross section of the housing assembly of Figure 34 illustrating the retract door of Figure 57 in the open configuration of Figure 58;
[0070] [0070] Figure 61 is a bottom view in partial cross section of the housing assembly of Figure 34 illustrating the retract door of Figure 57 in the closed configuration of Figure 57;
[0071] [0071] Figure 62 is a bottom plan view of the surgical instrument of Figure 33 illustrating the end actuator of Figure 48 in an articulated configuration and the retraction door of Figure 57 in the open configuration of Figure 58;
[0072] [0072] Figure 63 is a bottom plan view of the surgical instrument of Figure 33 illustrating the end actuator of Figure 48 hinged in an opposite direction and the retraction door of Figure 57 in the open configuration of Figure 58;
[0073] [0073] Figure 64 is a bottom plan view of the surgical instrument of Figure 33 illustrating a joint retraction system being actuated to move the end actuator of Figure 48 to an unarticulated configuration;
[0074] [0074] Figure 65 is a partial perspective view of the surgical instrument of Figure 33 illustrated with some components removed illustrating the joint retraction system of Figure 64 in a disengaged configuration;
[0075] [0075] Figure 65A is a partial perspective view of the surgical instrument of Figure 33 illustrated with some components removed illustrating the joint retraction system of Figure 64 in the disengaged configuration of Figure 65;
[0076] [0076] Figure 66 is a partial perspective view of the surgical instrument of Figure 33 illustrated with some components removed illustrating the joint retraction system of Figure 64 in an engaged configuration;
[0077] [0077] Figure 67 is a perspective view of a surgical instrument set comprising a surgical instrument and a sterile adapter according to at least one embodiment, in which the surgical instrument is configured to be fixed and removed from the sterile adapter, and in which the surgical instrument is illustrated in a pre-assembled state;
[0078] [0078] Figure 68 is a perspective view of a drive system for the surgical instrument of Figure 67;
[0079] [0079] Figure 69 is a perspective view in cross section of the surgical instrument set of Figure 67;
[0080] [0080] Figure 70 is a perspective view in cross section of the surgical instrument set of Figure 67, in which the surgical instrument is illustrated in a partially fixed state;
[0081] [0081] Figure 71 is a perspective view in cross section of the surgical instrument set of Figure 67, in which the surgical instrument is illustrated in a completely fixed state;
[0082] [0082] Figure 72 is a perspective view of a surgical instrument set comprising a surgical instrument and a sterile adapter according to at least one embodiment, in which the surgical instrument is configured to be fixed and removed from the sterile adapter, and where the surgical instrument is illustrated in a pre-assembled state;
[0083] [0083] Figure 73 is a perspective view in cross section of the surgical instrument set of Figure 72;
[0084] [0084] Figure 74 is a perspective view in cross section of the surgical instrument set of Figure 72, in which the surgical instrument is illustrated in a partially fixed state;
[0085] [0085] Figure 75 is a perspective view in cross section of the surgical instrument set of Figure 72, in which the surgical instrument is illustrated in a completely fixed state;
[0086] [0086] Figure 76 is a perspective view in cross section of the surgical instrument set of Figure 72, in which the surgical instrument is illustrated in a partially removed state;
[0087] [0087] Figure 77 is a perspective view in cross section of the surgical instrument set of Figure 72, in which the surgical instrument is illustrated in a disassembled state; and
[0088] [0088] Figure 78 is a perspective view of a surgical robot.
[0089] [0089] Corresponding reference characters indicate corresponding parts through the various views. The exemplifications described herein illustrate various embodiments of the invention, in one form, and such exemplifications should not be considered to limit the scope of the invention in any way. DETAILED DESCRIPTION
[0090] [0090] The applicant for this application holds the following US patent applications, which were filed on the same date as this application and which are each incorporated herein by reference in their respective totalities:
[0091] [0091] - U.S. patent application serial number _______ ___, entitled METHOD FOR OPERATING A SURGICAL SYSTEM BAILOUT; Attorney document number END8172USNP / 170111M;
[0092] [0092] - U.S. patent application serial number _______ ___, entitled SURGICAL SYSTEM SHAFT INTERCONNECTION; Attorney document number END8173USNP / 170114M; and
[0093] [0093] - U.S. patent application serial number _______ ___, entitled SURGICAL SYSTEM BAILOUT; search engine document number END8174USNP / 170112.
[0094] [0094] The applicant for this application holds the following US patent applications that were filed on June 28, 2017, and which are each incorporated herein by reference in their respective totalities:
[0095] [0095] - U.S. Patent Application Serial No. 15/635. 693, entitled SURGICAL INSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT;
[0096] [0096] - U.S. Patent Application Serial No. 15/635. 729, entitled SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO;
[0097] [0097] - U.S. Patent Application Serial No. 15/635. 785, entitled SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO;
[0098] [0098] - U.S. Patent Application Serial No. 15/635. 808, entitled SURGICAL INSTRUMENT COMPRISING FIRING MEMBER SUPPORTS;
[0099] [0099] - U.S. Patent Application Serial No. 15/635. 837, entitled SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME;
[00100] [00100] - U.S. Patent Application Serial No. 15/635,941, entitled SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE BY A CLOSURE SYSTEM;
[00101] [00101] - U.S. Patent Application Serial No. 15/636,029, entitled SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSING ARRANGEMENT;
[00102] [00102] - U.S. Patent Application Serial No. 15/635 .958, entitled SURGICAL INSTRUMENT COMPRISING SELECTIVELY ACTUATABLE ROTATABLE COUPLERS;
[00103] [00103] - U.S. Patent Application Serial No. 15/635,981, entitled SURGICAL STAPLING INSTRUMENTS COMPRISING SHORTENED STAPLE CARTRIDGE NOSES;
[00104] [00104] - U.S. Patent Application Serial No. 15/636 .009, entitled SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURE TUBE PROFILE;
[00105] [00105] - U.S. Patent Application Serial No. 15/635 .663, entitled METHOD FOR ARTICULATING A SURGICAL INSTRUMENT;
[00106] [00106] U.S. Patent Application Serial No. 15 / 635.5 30, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH AXIALLY SHORTENED ARTICULATION JOINT CONFIGURATIONS;
[00107] [00107] U.S. Patent Application Serial No. 15 / 635.5 49, entitled SURGICAL INSTRUMENTS WITH OPEN AND CLOSABLE JAWS AND AXIALLY MOVABLE FIRING MEMBER THAT IS INITIALLY PARKED IN CLOSE PROXIMITY TO THE JAWS PRIOR TO FIRING;
[00108] [00108] U.S. Patent Application Serial No. 15 / 635,559, entitled SURGICAL INSTRUMENTS WITH JAWS CONSTRAINED TO PIVOT ABOUT AN AXIS UPON CONTACT WITH A CLOSURE MEMBER THAT IS PARKED IN CLOSE PROXIMITY TO THE PIVOT AXIS;
[00109] [00109] - U.S. Patent Application Serial No. 15/635,578, entitled SURGICAL END EFFECTORS WITH IMPROVED JAW APERTURE ARRANGEMENTS;
[00110] [00110] U.S. Patent Application Serial No. 15 / 635,594, entitled SURGICAL CUTTING AND FASTENING DEVICES WITH PIVOTABLE ANVIL WITH A TISSUE LOCATING ARRANGEMENT IN CLOSE PROXIMITY TO AN ANVIL PIVOT AXIS;
[00111] [00111] U.S. Patent Application Serial No. 15 / 635.6 12, entitled JAW RETAINER ARRANGEMENT FOR RETAINING A PIVOTABLE SURGICAL INSTRUMENT JAW IN PIVOTABLE RETAINING ENGAGEMENT WITH A SECOND SURGICAL INSTRUMENT JAW;
[00112] [00112] - U.S. Patent Application Serial No. 15/635,621, entitled SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES;
[00113] [00113] - U.S. Patent Application Serial No. 15/635,631, entitled SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER;
[00114] [00114] - U.S. Patent Application Serial No. 15/635,521, entitled SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT;
[00115] [00115] - U.S. industrial design patent application serial number 29 / 609,083, entitled SURGICAL INSTRUMENT SHAFT;
[00116] [00116] - U.S. industrial design patent application serial number 29 / 609,087, entitled SURGICAL FORMING ANVIL;
[00117] [00117] - U.S. industrial design patent application serial number 29 / 609,093, entitled SURGICAL FASTENER CARTRIDGE;
[00118] [00118] - U.S. industrial design patent application serial number 29 / 609,121, entitled SURGICAL INSTRUMENT;
[00119] [00119] - U.S. industrial design patent application serial number 29 / 609,125, entitled SURGICAL INSTRUMENT;
[00120] [00120] - U.S. industrial design patent application serial number 29 / 609,128, entitled SURGICAL INSTRUMENT; and
[00121] [00121] - U.S. industrial design patent application serial number 29 / 609,129, entitled DISPLAY SCREEN PORTION OF A SURGICAL INSTRUMENT HAVING A GRAPHICAL USER INTERFACE.
[00122] [00122] The applicant for this application holds the following US patent applications that were filed on June 27, 2017, and which are each incorporated herein by reference in their respective totalities:
[00123] [00123] - U.S. Patent Application Serial No. 15/634,024, entitled SURGICAL ANVIL MANUFACTURING METHODS;
[00124] [00124] - U.S. Patent Application Serial No. 15/634,035, entitled SURGICAL ANVIL ARRANGEMENTS;
[00125] [00125] - U.S. Patent Application Serial No. 15/634,046, entitled SURGICAL ANVIL ARRANGEMENTS;
[00126] [00126] - U.S. Patent Application Serial No. 15/634 .054, entitled SURGICAL ANVIL ARRANGEMENTS;
[00127] [00127] - U.S. Patent Application Serial No. 15/634 .068, entitled SURGICAL FIRING MEMBER ARRANGEMENTS;
[00128] [00128] - U.S. patent application serial number 15/634 .076, entitled STAPLE FORMING POCKET ARRANGEMENTS;
[00129] [00129] - U.S. Patent Application Serial No. 15/634,090, entitled STAPLE FORMING POCKET ARRANGEMENTS;
[00130] [00130] - U.S. Patent Application Serial No. 15/634,099, entitled SURGICAL END EFFECTORS AND ANVILS; and
[00131] [00131] - U.S. Patent Application Serial No. 15/634 .117, entitled ARTICULATION SYSTEMS FOR SURGICAL INSTRUMENTS.
[00132] [00132] The applicant for this application holds the following US patent applications that were filed on December 21, 2016, and which are each incorporated herein by reference in their respective totalities:
[00133] [00133] - US patent application serial number 15 / 386.1 85, entitled SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF;
[00134] [00134] - US patent application serial number 15 / 386.2 30, entitled ARTICULATABLE SURGICAL STAPLING INSTRUMENTS;
[00135] [00135] - US patent application serial number 15 / 386.2 21, entitled LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS;
[00136] [00136] - US patent application serial number 15 / 386.2 09, entitled SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF;
[00137] [00137] - US patent application serial number 15 / 386.1 98, entitled LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES;
[00138] [00138] - US patent application serial number 15 / 386.2 40, entitled SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR;
[00139] [00139] - U.S. Patent Application Serial No. 15/385,939, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN;
[00140] [00140] US patent application serial number 15 / 385,941, entitled SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION AND FIRING SYSTEMS;
[00141] [00141] - U.S. Patent Application Serial No. 15/385,943, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS;
[00142] [00142] - US patent application serial number 15 / 385.9 50, entitled SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES;
[00143] [00143] - U.S. Patent Application Serial No. 15/385,945, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN;
[00144] [00144] - U.S. Patent Application Serial No. 15/385,946, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS;
[00145] [00145] - US patent application serial number 15 / 385.9 51, entitled SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE;
[00146] [00146] - US patent application serial number 15 / 385.9 53, entitled METHODS OF STAPLING TISSUE;
[00147] [00147] US patent application serial number 15 / 385,954, entitled FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS;
[00148] [00148] - US patent application serial number 15 / 385.9 55, entitled SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS;
[00149] [00149] - US patent application serial number 15 / 385.9 48, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS;
[00150] [00150] - US patent application serial number 15 / 385.9 56, entitled SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES;
[00151] [00151] US patent application serial number 15 / 385,958, entitled SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT;
[00152] [00152] US patent application serial number 15 / 385,947, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN.
[00153] [00153] US patent application serial number 15 / 385,896, entitled METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT;
[00154] [00154] - US patent application serial number 15 / 385.8 98, entitled STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES;
[00155] [00155] - US patent application serial number 15 / 385.8 99, entitled SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL;
[00156] [00156] - US patent application serial number 15 / 385.9 01, entitled STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN;
[00157] [00157] - US patent application serial number 15 / 385.9 02, entitled SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER;
[00158] [00158] - US patent application serial number 15 / 385.9 04, entitled STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND / OR SPENT CARTRIDGE LOCKOUT;
[00159] [00159] - US patent application serial number 15 / 385.9 05, entitled FIRING ASSEMBLY COMPRISING A LOCKOUT;
[00160] [00160] - US patent application serial number 15 / 385.9 07, entitled SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT;
[00161] [00161] - US patent application serial number 15 / 385.9 08, entitled FIRING ASSEMBLY COMPRISING A FUSE;
[00162] [00162] - US patent application serial number 15 / 385.9 09, entitled FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE;
[00163] [00163] - US patent application serial number 15 / 385.9 20, entitled STAPLE FORMING POCKET ARRANGEMENTS;
[00164] [00164] - US patent application serial number 15 / 385.9 13, entitled ANVIL ARRANGEMENTS FOR SURGICAL STAPLE / FASTENERS;
[00165] [00165] US patent application serial number 15 / 385,914, entitled METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT;
[00166] [00166] - US patent application serial number 15 / 385.8 93, entitled BILATERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS;
[00167] [00167] US patent application serial number 15 / 385,929, entitled CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS;
[00168] [00168] US patent application serial number 15 / 385,911, entitled URGICAL STAPLE / FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS;
[00169] [00169] US patent application serial number 15 / 385,927, entitled SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES;
[00170] [00170] US patent application serial number 15 / 385,917, entitled STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS;
[00171] [00171] US patent application serial number 15 / 385,900, entitled STAPLE FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS;
[00172] [00172] - US patent application serial number 15 / 385.9 31, entitled NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLERS / FASTENERS;
[00173] [00173] - US patent application serial number 15 / 385.9 15, entitled FIRING MEMBER PIN ANGLE;
[00174] [00174] - US patent application serial number 15 / 385.8 97, entitled STAPLE FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES;
[00175] [00175] - US patent application serial number 15 / 385.9 22, entitled SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES;
[00176] [00176] - US patent application serial number 15 / 385.9 24, entitled SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS;
[00177] [00177] US patent application serial number 15 / 385,912, entitled SURGICAL INSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT A FIXED AXIS AND INCLUDE SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS;
[00178] [00178] - US patent application serial number 15 / 385.9 10, entitled ANVIL HAVING A KNIFE SLOT WIDTH;
[00179] [00179] - US patent application serial number 15 / 385.9 06, entitled FIRING MEMBER PIN CONFIGURATIONS;
[00180] [00180] - US patent application serial number 15 / 386.1 88, entitled STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES;
[00181] [00181] US patent application serial number 15 / 386,192, entitled STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES;
[00182] [00182] - US patent application serial number 15 / 386.2 06, entitled STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES;
[00183] [00183] - US patent application serial number 15 / 386.2 26, entitled DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS;
[00184] [00184] - US patent application serial number 15 / 386.2 22, entitled
[00185] [00185] - US patent application serial number 15 / 385.8 87, entitled METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT;
[00186] [00186] - US patent application serial number 15 / 385.8 89, entitled "SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM ";
[00187] [00187] US patent application serial number 15 / 385,890, entitled SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS;
[00188] [00188] US patent application serial number 15 / 385,891, entitled SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS;
[00189] [00189] US patent application serial number 15 / 385,892, entitled SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM;
[00190] [00190] - US patent application serial number 15 / 385.8 94, entitled SHAFT ASSEMBLY COMPRISING A LOCKOUT;
[00191] [00191] - US patent application serial number 15 / 385.8 95, entitled SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS;
[00192] [00192] - U.S. Patent Application Serial No. 15/385,916, entitled SURGICAL STAPLING SYSTEMS;
[00193] [00193] - U.S. Patent Application Serial No. 15/385,918, entitled SURGICAL STAPLING SYSTEMS;
[00194] [00194] - U.S. Patent Application Serial No. 15/385,919, entitled SURGICAL STAPLING SYSTEMS;
[00195] [00195] US patent application serial number 15 / 385,921, entitled SURGICAL STAPLE / FASTENER CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES;
[00196] [00196] - U.S. Patent Application Serial No. 15/385,923, entitled SURGICAL STAPLING SYSTEMS;
[00197] [00197] US patent application serial number 15 / 385,925, entitled JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED CARTRIDGE IS INSTALLED IN THE END EFFECTOR;
[00198] [00198] US patent application serial number 15 / 385,926, entitled AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS;
[00199] [00199] US patent application serial number 15 / 385,928, entitled PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT;
[00200] [00200] US patent application serial number 15 / 385.93 0, entitled SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS;
[00201] [00201] - US patent application serial number 15 / 385.9 32, entitled ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT;
[00202] [00202] - US patent application serial number 15 / 385.9 33, entitled ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK;
[00203] [00203] US patent application serial number 15 / 385,934, entitled ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM;
[00204] [00204] US patent application serial number 15 / 385,935, entitled LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS
[00205] [00205] - US patent application serial number 15 / 385.9 36, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES.
[00206] [00206] The applicant for this application holds the following US patent applications that were filed on June 24, 2016, and which are each incorporated herein by reference in their respective totalities:
[00207] [00207] - US patent application serial number 15 / 191.7 75, entitled STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES;
[00208] [00208] - US patent application serial number 15 / 191.8 07, entitled STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES;
[00209] [00209] - US patent application serial number 15 / 191.8 34, entitled "STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME";
[00210] [00210] - US patent application serial number 15 / 191.7 88, entitled STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES; and
[00211] [00211] - US patent application serial number 15 / 191.8 18, entitled STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS.
[00212] [00212] The applicant for this application holds the following US patent applications that were filed on June 24, 2016, and which are each incorporated herein by reference in their respective totalities:
[00213] [00213] - U.S. industrial design patent application serial number 29 / 569,218, entitled SURGICAL FASTENER;
[00214] [00214] - US industrial design patent application serial number 29 / 569,227, entitled SURGICAL FASTENER;
[00215] [00215] - US industrial design patent application serial number 29 / 569,259, entitled "SURGICAL FASTENER CARTRIDGE"; and
[00216] [00216] - US industrial design patent application serial number 29 / 569.264, entitled "SURGICAL FASTENER CARTRIDGE".
[00217] [00217] The applicant for this application holds the following patent applications that were filed on April 1, 2016 and which are each incorporated herein by reference in their respective totalities:
[00218] [00218] - US patent application serial number 15 / 089.3 25, entitled METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM;
[00219] [00219] - US patent application serial number 15 / 089.3 21, entitled MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY;
[00220] [00220] - US patent application serial number 15 / 089.3 26, entitled SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD;
[00221] [00221] - US patent application serial number 15 / 089.2 63, entitled SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION;
[00222] [00222] - US patent application serial number 15 / 089.2 62, entitled ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM;
[00223] [00223] - US patent application serial number 15 / 089.2 77, entitled SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER;
[00224] [00224] - US patent application serial number 15 / 089.2 96, entitled INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS;
[00225] [00225] - US patent application serial number 15 / 089.2 58, entitled SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION;
[00226] [00226] - US patent application serial number 15 / 089.2 78, entitled SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE;
[00227] [00227] - US patent application serial number 15 / 089.2 84, entitled SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT;
[00228] [00228] - US patent application serial number 15 / 089.2 95, entitled SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT;
[00229] [00229] - US patent application serial number 15 / 089.3 00, entitled SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT;
[00230] [00230] - US patent application serial number 15 / 089.1 96, entitled SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT;
[00231] [00231] - US patent application serial number 15 / 089.2 03, entitled SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT;
[00232] [00232] - US patent application serial number 15 / 089.2 10, entitled SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT;
[00233] [00233] - US patent application serial number 15 / 089.3 24, entitled SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM;
[00234] [00234] - US patent application serial number 15 / 089.3 35, entitled SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS;
[00235] [00235] - US patent application serial number 15 / 089.3 39, entitled SURGICAL STAPLING INSTRUMENT;
[00236] [00236] US patent application serial number 15 / 089,253, entitled SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DIFFERENT HEIGHTS;
[00237] [00237] - US patent application serial number 15 / 089.3 04, entitled SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET;
[00238] [00238] - US patent application serial number 15 / 089.3 31, entitled ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLE / FASTENERS;
[00239] [00239] - US patent application serial number 15 / 089.3 36, entitled STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES;
[00240] [00240] - US patent application serial number 15 / 089.3 12, entitled CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT;
[00241] [00241] - US patent application serial number 15 / 089.3 09, entitled
[00242] [00242] - US patent application serial number 15 / 089.3 49, entitled CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL.
[00243] [00243] The applicant for this application also holds the US patent applications identified below, which were filed on December 31, 2015, which are each incorporated by reference in their respective totalities:
[00244] [00244] - US patent application serial number 14 / 984.4 88, entitled "MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS";
[00245] [00245] - US patent application serial number 14 / 984.5 25, entitled
[00246] [00246] - US patent application serial number 14 / 984.5 52, entitled "SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS".
[00247] [00247] The applicant for this application also holds the US patent applications identified below, which were filed on February 9, 2016, which are each incorporated by reference in their respective totalities:
[00248] [00248] - US patent application serial number 15 / 019.2 20, entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR";
[00249] [00249] - US patent application serial number 15 / 019.2 28, entitled "SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS";
[00250] [00250] - US patent application serial number 15 / 019.1 96, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT";
[00251] [00251] - US patent application serial number 15 / 019.2 06, entitled "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY ";
[00252] [00252] - US patent application serial number 15 / 019.2 15, entitled "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS";
[00253] [00253] - US patent application serial number 15 / 019.2 27, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS";
[00254] [00254] - US patent application serial number 15 / 019.2 35, entitled "SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS";
[00255] [00255] - US patent application serial number 15 / 019.2 30, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS"; and
[00256] [00256] - US patent application serial number 15 / 019.2 45, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS".
[00257] [00257] The applicant for this application also holds the US patent applications identified below, which were filed on February 12, 2016, which are each incorporated herein by reference in their respective totalities:
[00258] [00258] - U.S. Patent Application Serial No. 15/043 .254, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS;
[00259] [00259] - U.S. Patent Application Serial No. 15/043 .259, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS;
[00260] [00260] - U.S. Patent Application Serial No. 15/043 .275, entitled
[00261] [00261] - US patent application serial number 15 / 043.2 89, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS".
[00262] [00262] The applicant for this application holds the following patent applications that were filed on June 18, 2015 and which are each incorporated herein by reference in their respective totalities:
[00263] [00263] - Patent application serial number US 14 / 742.9 25, entitled
[00264] [00264] - US patent application serial number 14 / 742.9 41, entitled
[00265] [00265] - US patent application serial number 14 / 742.9 14, entitled
[00266] [00266] - US patent application serial number 14 / 742.9 00, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE
[00267] [00267] - US patent application serial number 14 / 742.8 85, entitled
[00268] [00268] - US patent application serial number 14 / 742.8 76, entitled PUSH / PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now publication of US patent application No. 2016/0367245.
[00269] [00269] The applicant for this application holds the following patent applications that were filed on March 6, 2015 and which are each incorporated herein by reference in their respective totalities:
[00270] [00270] - US patent application serial number 14 / 640.7 46, entitled "POWERED SURGICAL STAPLER", now publication of US patent application No. 2016/0256184;
[00271] [00271] - US patent application serial number 14 / 640.7 95, entitled
[00272] [00272] - US patent application serial number 14 / 640.8 32, entitled
[00273] [00273] - US patent application No. 14 / 640,935, entitled OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION, now publication of US patent application No. 2016/0256071;
[00274] [00274] - US patent application serial number 14 / 640.8 31, entitled
[00275] [00275] - US patent application serial number 14 / 640.8 59, entitled
[00276] [00276] - US patent application serial number 14 / 640.8 17, entitled
[00277] [00277] - US patent application serial number 14 / 640.8 44, entitled CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED
[00278] [00278] - US patent application serial number 14 / 640.8 37, entitled SMART SENSORS WITH LOCAL SIGNAL PROCESSING, now, publication of US patent application No. 2016/0256163;
[00279] [00279] - US patent application serial number 14 / 640.7 65, entitled SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER, now publication of US patent application No. 2016/0256160;
[00280] [00280] - US patent application n ° 14 / 640,799, entitled ulado SIGNAL
[00281] [00281] - US patent application serial number 14 / 640.7 80, entitled
[00282] [00282] The applicant for this application holds the following patent applications that were filed on February 27, 2015 and which are each incorporated herein by reference in their respective totalities:
[00283] [00283] - US patent application serial number 14 / 633.5 76, entitled
[00284] [00284] - US patent application serial number 14 / 633.5 46, entitled "SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A
[00285] [00285] - US patent application serial number 14 / 633.5 60, entitled SURGICAL CHARGING SYSTEM THAT CHARGES AND / OR CONDITIONS ONE OR MORE BATTERIES, now publication of US patent application No. 2016/0249910;
[00286] [00286] - US patent application serial number 14 / 633.5 66, entitled
[00287] [00287] - US patent application serial number 14 / 633.5 55, entitled
[00288] [00288] - US patent application serial number 14 / 633.5 42, entitled REINFORCED BATTERY FOR A SURGICAL INSTRUMENT, now publication of US patent application No. 2016/0249908;
[00289] [00289] - US patent application serial number 14 / 633.5 48, entitled POWER ADAPTER FOR A SURGICAL INSTRUMENT, now publication of US patent application No. 2016/0249909;
[00290] [00290] - US patent application serial number 14 / 633.5 26, entitled ADAPTABLE SURGICAL INSTRUMENT HANDLE, now publication of US patent application No. 2016/0249945;
[00291] [00291] - US patent application serial number 14 / 633.5 41, entitled MODULAR STAPLING ASSEMBLY, now publication of US patent application No. 2016/0249927; and
[00292] [00292] - US patent application serial number 14 / 633.5 62, entitled SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER, now publication of US patent application No. 2016/0249917.
[00293] [00293] The applicant for this application holds the following patent applications that were filed on December 18, 2014 and which are each incorporated herein by reference in their respective totalities:
[00294] [00294] - US patent application serial number 14 / 574.4 78, entitled SURGICAL INSTRUMENT SYSTEMS COMPRISING AN
[00295] [00295] - US patent application serial number 14 / 574.4 83, entitled
[00296] [00296] - US patent application serial number 14 / 575.1 39, entitled
[00297] [00297] - US patent application serial number 14 / 575.1 48, entitled
[00298] [00298] - US patent application serial number 14 / 575.1 30, entitled
[00299] [00299] - US patent application serial number 14 / 575.1 43, entitled
[00300] [00300] - US patent application serial number 14 / 575.1 17, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END
[00301] [00301] - US patent application serial number 14 / 575.1 54, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END
[00302] [00302] - US patent application 14 / 574,493, entitled SURGICAL
[00303] [00303] - US patent application serial number 14 / 574.5 00, entitled
[00304] [00304] The applicant for this application holds the following patent applications that were filed on March 1, 2013 and which are each incorporated herein by reference in their respective totalities:
[00305] [00305] - US patent application serial number 13 / 782.2 95, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION", now publication of US patent application No. 2014/0246471;
[00306] [00306] - US patent application serial number 13 / 782.3 23, entitled "ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS", now publication of US patent application No. 2014/0246472;
[00307] [00307] - US patent application serial number 13 / 782.3 38, entitled "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL
[00308] [00308] - US patent application serial number 13 / 782.4 99, entitled
[00309] [00309] - US patent application serial number 13 / 782.4 60, entitled
[00310] [00310] - US patent application serial number 13 / 782.3 58, entitled JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now US patent No. 9,326,767;
[00311] [00311] - US patent application serial number 13 / 782.4 81, entitled
[00312] [00312] - US patent application serial number 13 / 782.5 18, entitled "CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS", now publication of US patent application No. 2014/0246475;
[00313] [00313] - US patent application serial number 13 / 782.3 75, entitled
[00314] [00314] - US patent application serial number 13 / 782.5 36, entitled SURGICAL INSTRUMENT SOFT STOP, now US patent No.
[00315] [00315] The applicant for this application also holds the following patent applications that were filed on March 14, 2013 and which are each incorporated herein by reference in their respective totalities:
[00316] [00316] - US patent application serial number 13 / 803.0 97, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A
[00317] [00317] - US patent application serial number 13 / 803.1 93, entitled
[00318] [00318] - US patent application serial number 13 / 803.0 53, entitled "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT", now, publication of US patent application No. 2014/0263564;
[00319] [00319] - US patent application serial number 13 / 803.0 86, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", now publication of US patent application No. 2014/0263541;
[00320] [00320] - US patent application serial number 13 / 803.2 10, entitled "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS", now publication of US patent application No. 2014/0263538;
[00321] [00321] - US patent application serial number 13 / 803.1 48, entitled "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT", now publication of US patent application No. 2014/0263554;
[00322] [00322] - US patent application 13 / 803,066, entitled DRIVE TRAIN
[00323] [00323] - US patent application serial number 13 / 803.1 17, entitled ROBOTICALLY-CONTROLLED CABLE-BASED SURGICAL END EFFECTORS, now US patent No. 9,351,726;
[00324] [00324] - US patent application 13 / 803,130, entitled DRIVE TRAIN
[00325] [00325] - US patent application serial number 13 / 803.1 59, entitled
[00326] [00326] The applicant for this application also holds the following patent application that was filed on March 7, 2014 and is hereby incorporated by reference in its entirety:
[00327] [00327] - US patent application serial number 14 / 200.1 11, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now US patent No. 9,629,629.
[00328] [00328] The applicant for this application also holds the following patent applications that were filed on March 26, 2014 and which are each incorporated herein by reference in their respective totalities:
[00329] [00329] - US patent application serial number 14 / 226.1 06, entitled "POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", now publication of US patent application No. 2015/0272582;
[00330] [00330] - US patent application serial number 14 / 226.0 99, entitled "STERILIZATION VERIFICATION CIRCUIT", now publication of US patent application No. 2015/0272581;
[00331] [00331] - US patent application serial number 14 / 226.0 94, entitled "VERIFICATION OF NUMBER OF BATTERY EXCHANGES / PROCEDURE COUNT", now publication of US patent application No. 2015/0272580;
[00332] [00332] - US patent application serial number 14 / 226.1 17, entitled "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL", now publication of US patent application No. 2015/0272574;
[00333] [00333] - US patent application serial number 14 / 226.0 75, entitled "MODULAR POWERED SURGICAL INSTRUMENT WITH
[00334] [00334] - US patent application serial number 14 / 226.0 93, entitled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS", now publication of US patent application No. 2015/0272569;
[00335] [00335] - US patent application serial number 14 / 226.1 16, entitled "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION", now publication of US patent application No. 2015/02 72571;
[00336] [00336] - US patent application serial number 14 / 226.0 71, entitled "SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR", now publication of US patent application No. 2015/0272578;
[00337] [00337] - US patent application serial number 14 / 226.0 97, entitled "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS", now publication of US patent application No. 2015/02 72570;
[00338] [00338] - US patent application serial number 14 / 226.1 26, entitled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS", now publication of US patent application No. 2015/0272572;
[00339] [00339] - US patent application serial number 14 / 226.1 33, entitled "MODULAR SURGICAL INSTRUMENT SYSTEM", now publication of US patent application No. 2015/0272557;
[00340] [00340] - US patent application serial number 14 / 226.0 81, entitled "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT", now publication of US patent application No. 2015/0277471;
[00341] [00341] - US patent application serial number 14 / 226.0 76, entitled "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION", now publication of US patent application No. 2015/0280424;
[00342] [00342] - US patent application serial number 14 / 226.1 11, entitled "SURGICAL STAPLING INSTRUMENT SYSTEM", now publication of US patent application No. 2015/0272583; and
[00343] [00343] - US patent application serial number 14 / 226.1 25, entitled "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT", now, publication of US patent application No. 2015/0 280384.
[00344] [00344] The applicant for this application also holds the following patent applications that were filed on September 5, 2014 and which are each incorporated herein by reference in their respective totalities:
[00345] [00345] - US patent application serial number 14 / 479.1 03, entitled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE", now, publication of US patent application No. 2016/0 066912;
[00346] [00346] - US patent application serial number 14 / 479.1 19, entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION", now, publication of US patent application No. 2016/0066914;
[00347] [00347] - US patent application serial number 14 / 478.9 08, entitled "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION", now, publication of US patent application No. 2016/0066910;
[00348] [00348] - US patent application serial number 14 / 478.8 95, entitled "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION", now, publication of US patent application n ° 2016/0066909;
[00349] [00349] - US patent application serial number 14 / 479.1 10, entitled
[00350] [00350] - US patent application serial number 14 / 479.0 98, entitled
[00351] [00351] - US patent application serial number 14 / 479.1 15, entitled "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE", now, publication of US patent application No. 2016/0 066916; and
[00352] [00352] - US patent application serial number 14 / 479.1 08, entitled "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION", now, publication of US patent application No. 2016/0066913.
[00353] [00353] The applicant for this application also holds the following patent applications that were filed on April 9, 2014 and which are each incorporated herein by reference in their respective totalities:
[00354] [00354] - US patent application serial number 14 / 248.5 90, entitled "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS", now, publication of US patent application No. 2014/0305987;
[00355] [00355] - US patent application serial number 14 / 248.5 81, entitled
[00356] [00356] - US patent application serial number 14 / 248.5 95, entitled "SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR
[00357] [00357] - US patent application serial number 14 / 248.5 88, entitled POWERED LINEAR SURGICAL STAPLE / FASTENER, now publication of US patent application No. 2014/0309666;
[00358] [00358] - US patent application serial number 14 / 248.5 91, entitled
[00359] [00359] - US patent application serial number 14 / 248.5 84, entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH
[00360] [00360] - US patent application serial number 14 / 248.5 87, entitled POWERED LINEAR SURGICAL STAPLER / FASTENER, now publication of US patent application No. 2014/0309665;
[00361] [00361] - US patent application serial number 14 / 248.5 86, entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT", now publication of patent application No. 2014/0305990; and
[00362] [00362] - US patent application serial number 14 / 248.6 07, entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS", now publication of US patent application No. 2014/0305992.
[00363] [00363] The applicant for this application also holds the following patent applications that were filed on April 16, 2013 and which are each incorporated by reference in their respective totalities:
[00364] [00364] - US Provisional Patent Application Serial No. 61 / 812,365, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR";
[00365] [00365] - US Provisional Patent Application Serial No. 61 / 812,376, entitled "LINEAR CUTTER WITH POWER";
[00366] [00366] - US Provisional Patent Application Serial No. 61 / 812,382, entitled "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP";
[00367] [00367] - US provisional patent application serial number ie 61 / 812,385,
[00368] [00368] - US Provisional Patent Application Serial No. 61 / 812,372, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR".
[00369] [00369] Numerous specific details are presented to provide a complete understanding of the structure, function, manufacture and general use of the modalities described in the specification and illustrated in the attached drawings. Well-known operations, components and elements have not been described in detail, so as not to obscure the modalities described in the specification. The reader will understand that the modalities described and illustrated in the present invention are non-limiting examples and, therefore, it can be understood that the specific structural and functional details disclosed in the present invention can be representative and illustrative. Variations and changes can be made to this, without departing from the scope of the claims.
[00370] [00370] The terms "understands" (and any form of understands, such as "understands" and "that understands"), "has" (and any form of has, such as "has" and "that has"), "includes" (and any form of includes, such as "includes" and "which includes") and "contains" (and any form of contains, such as "contains" and "which contains") are unrestricted linking verbs. As a result, a surgical system, device or apparatus that "comprises", "has", "includes" or "contains" one or more elements has those one or more elements, but is not limited to having only those one or more elements. Likewise, an element of a surgical system, device or apparatus that "comprises", "has", "includes" or "contains" one or more resources has those one or more resources, but is not limited to having only those one or more features.
[00371] [00371] The terms "proximal" and "distal" are used in the present invention with reference to a physician who handles the handle portion of the surgical instrument. The term "proximal" refers to the portion closest to the doctor, and the term "distal" refers to the portion located opposite the doctor. It will also be understood that, for the sake of convenience and clarity, spatial terms such as "vertical", "horizontal", "up" and "down" can be used in the present invention with respect to the drawings. However, surgical instruments can be used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.
[00372] [00372] Various devices and exemplifying methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily understand that the various methods and devices disclosed in the present invention can be used in a number of surgical procedures and applications, including, for example, in relation to open surgical procedures. With the advancement of this Detailed Description, the reader will also understand that the various instruments disclosed here can be inserted into a body in any way, such as through a natural orifice, through an incision or perforation formed in tissue, etc. Functional portions or portions of the instrument end actuator can be inserted directly into a patient's body or can be inserted via an access device that has a working channel through which the end actuator and the elongated drive shaft surgical instrument can be advanced.
[00373] [00373] The surgical stapling system can comprise a drive shaft and an end actuator that extends from the drive shaft. The end actuator comprises a first jaw and a second jaw. The first jaw comprises a staple cartridge. The staple cartridge is insertable into, and removable from, the first jaw; however, other modalities are provided for in which a staple cartridge is not removable, or at least readily replaceable, from the first gripper. The second claw comprises an anvil configured to deform the staples ejected from the staple cartridge. The second claw is pivoting relative to the first claw around a geometric axis of the lid; however, other modalities are foreseen in which the first claw is pivoting in relation to the second claw. The surgical stapling system additionally comprises an articulation joint configured to allow the end actuator to be rotated or articulated in relation to the drive shaft. The end actuator is rotatable about a geometric pivot axis that extends through the pivot joint. Other modalities are foreseen that do not include an articulation joint.
[00374] [00374] The staple cartridge comprises a cartridge body. The cartridge body includes a proximal end, a distal end, and a platform that extends between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of the fabric to be stapled and the anvil is positioned on a second side of the fabric. The anvil is moved towards the staple cartridge to compress and secure the fabric against the platform. After that, the staples removably stored in the cartridge body can be implanted in the fabric. The cartridge body includes staple cavities defined therein, the staples being removably stored in the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may be possible.
[00375] [00375] The clamps are supported by clamp actuators on the cartridge body. The actuators are movable between a first position, or non-triggered position, and a second position, or triggered position, to eject the clamps from the clamp cavities. The drivers are retained in the cartridge body by a retainer that extends around the bottom of the cartridge body and includes resilient members configured to secure the cartridge body and retain the retainer in the cartridge body. The actuators are mobile between their non-triggered positions and their positions triggered by a slider. The slider is movable between a proximal position adjacent to the proximal end and a distal position adjacent to the distal end. The slider comprises a plurality of inclined surfaces configured to slide under the actuators and lift the actuators, and the staples held therein, towards the anvil.
[00376] [00376] In addition to the above, the slider is moved distally by a firing member. The firing member is configured to contact the slide and push the slide towards the distal end. The longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further comprises a first cam that engages the first claw and a second cam that engages the second claw. As the firing member is advanced distally, the first cam and the second cam can control the distance, or fabric span, between the staple cartridge platform and the anvil. The firing member also comprises a knife configured to make an incision in the tissue captured between the anvil and the staple cartridge. It is desirable for the knife to be positioned at least partially proximal to the inclined surfaces, so that the clamps are ejected in front of the knife.
[00377] [00377] A surgical instrument 1000 is illustrated in Figures 1 to
[00378] [00378] The drive shaft assembly 4000 comprises, among others, a 4100 drive shaft and an end actuator
[00379] [00379] In several alternative modalities, the first jaw 4210 is rotatable in relation to the second jaw 4220. In these modalities, both the jaw movement and the clamping firing movement occur on the same side of the end actuator.
[00380] [00380] The drive shaft assembly 4000 additionally comprises an articulation joint 4300 that swivelly connects the end actuator 4200 to the drive shaft 4100. As described in more detail below, the drive assembly 3000 is operationally coupled to a third linear entry of the robotic surgical system that is configured to articulate the 4200 end actuator in a first direction, for example, to the right (Figure 11). The transmission set 3000 is operationally coupled to a fourth linear entry of the robotic surgical system that is configured to articulate the end actuator 4200 in a second direction, for example, to the left. In use, the third and fourth linear inputs of the robotic surgical system can be selectively actuated to rotate the 4200 end actuator between a non-articulated configuration (Figure 12) and an articulated configuration, or between two different articulated configurations, as needed in order to properly position the 4200 end actuator in relation to a patient's tissue within a surgical site.
[00381] [00381] The drive shaft assembly 4000 is also rotatable around the longitudinal geometric axis LA to position the 4200 end actuator in relation to a patient's tissue within a surgical site. As discussed in more detail below, the drive shaft assembly 4000 is pivotally supported by a housing 3100 of the drive assembly 3000 and is operationally coupled to a rotation drive system of the end actuator 2900 in the housing assembly 2000. The system end drive actuator 2900 comprises a drive input which is accessible through an opening 2180 defined in a housing 2100 of housing assembly 2000. The end actuator 2900 drive system is operationally coupled to a first revolving entry of the robotic surgical system when the 1000 surgical instrument is mounted on it. When the drive input of the 2900 end actuator drive system is rotated in a first direction, the drive shaft assembly 4000 is rotated about the longitudinal axis LA in a first direction, for example, clockwise . When the drive input of the 2900 end actuator drive system is rotated in a second or opposite direction, the drive shaft assembly 4000 is rotated about the longitudinal axis LA in a second direction, for example, in anticlockwise. The 2900 end actuator drive system can be selectively operated in the first and second directions as many times as necessary to properly position the 4200 end actuator in relation to the desired tissue.
[00382] [00382] The drive shaft assembly 4000 additionally comprises a clamp trigger system configured to eject the clamps from the 4230 clamp cartridge. The clamp trigger system of the drive shaft assembly 4000 is operationally coupled to a drive system clamp trigger system 2500 in the housing assembly 2000. The clamp trigger system 2500 comprises a drive input that is accessible through an opening 2150 defined in housing 2100 of the housing assembly 2000. The trigger system for 2500 clamps are operationally coupled to a second revolving entry of the robotic surgical system when the surgical instrument 1000 is mounted on it. When the trigger input of the clamp trigger system 2500 is rotated in a first direction, a trigger bar of the clamp trigger system is advanced distally through, or at least partially through, a clamp trigger stroke. When the trigger input of the clamp trigger drive system 2500 is rotated in a second or opposite direction, the trigger bar is retracted proximally through a retraction stroke. In several cases, the staple cartridge 4230 at least partially fired or used can be replaced with an unused staple cartridge and the staple firing system 2500 can be operated again to perform another staple firing stroke, if desired.
[00383] [00383] During various surgical procedures, the 4200 end actuator of the surgical instrument 4000 is placed in a closed, non-articulated configuration and inserted through a trocar into the surgical site within a patient. In several cases, a trocar comprises a tube that includes a sharp tip at a distal end of the same that is configured to be pushed through an incision in a patient and also a sealed door at a proximal end of the same that is configured to receive the 4200 end actuator in a sealed manner and seal against the 4100 drive shaft of the surgical instrument 1000. Once the 4200 end actuator has been positioned in the surgical site by the robotic surgical system, the drive shaft assembly 4000 can be rotated about its longitudinal geometric axis LA to properly orient the end actuator 4200. Once the pivot joint 4300 of the drive shaft assembly 4000 has released the distal end of the trocar, the end actuator 4200 can be pivoted. In many cases, the end actuator 4200 is rotated about the longitudinal axis LA before the end actuator 4200 is pivoted around the pivot joint 4300; however, in some cases, it is possible to articulate the end actuator around the articulation joint 4300 before the end actuator 4200 is rotated around the longitudinal axis LA and / or while the end actuator 4200 is rotated around the longitudinal geometric axis LA.
[00384] [00384] In many cases, the 4200 end actuator is in its closed configuration when it is rotated and / or articulated as discussed above; however, in some cases, the 4200 end actuator may be in its open configuration when it is rotated and / or pivoted as discussed above. The robotic surgical system and / or surgical instrument 1000 may comprise one or more locks configured to prevent the 4200 end actuator from being pivoted and / or rotated when the 4200 end actuator is in its closed configuration. These locks can be mechanical and / or electronic locks, for example. In addition, these arrangements may reduce the possibility that the 4200 end actuator will twist the patient's tissue when the 4200 end actuator is attached to the patient. Alternatively, the robotic surgical system and / or surgical instrument 1000 may comprise one or more locks configured or programmed to prevent the 4200 end actuator from being rotated and / or pivoted, unless the 4200 end actuator is in its closed configuration. In any case, the end actuator 4200 is opened by the robotic surgical system before the desired tissue is positioned between the claws 4210 and 4220 of the end actuator 4200, and then closed when the tissue is properly positioned between them. Thereafter, the robotic surgical system operates, or can be controlled to operate, the clamp firing system of the surgical instrument 1000 to perform a clamp firing stroke. Similar to what was described above, the robotic surgical system and / or surgical instrument 1000 may comprise one or more mechanical and / or electronic locks configured to prevent the clamping trigger stroke from being performed, unless the 4200 end actuator is in its closed or properly closed configuration.
[00385] [00385] When the staple firing stroke has been completed, or at least partially completed, the robotic surgical system can use the staple firing system 2500 to retract the firing bar of the staple firing system. In several cases, the robotic surgical system and / or surgical instrument 1000 may comprise one or more locks configured to prevent the second claw 4220 from being opened until the firing member has been completely, or at least sufficiently, retracted. That said, the surgical instrument 1000 can comprise one or more retraction systems that can overcome these locks, as described in more detail below. When the 4200 end actuator has been released from the tissue, the robotic surgical system can move, or be controlled to move, the 4200 end actuator in the opposite direction to the tissue and close again and straighten the 4200 end actuator before pulling the actuator. end 4200 back through the trocar. In several cases, the robotic surgical system can completely retract the 4200 end actuator out of the trocar, however, in some cases, the surgical instrument 1000 may need to be removed from the robotic surgical instrument and manually removed from the trocar.
[00386] [00386] In some cases, the robotic surgical system and surgical instrument 1000 can be used to perform an open surgical procedure. In these procedures, a larger incision is made on the patient to access the surgical site without the use of a trocar.
[00387] [00387] Additional details of the closure system, the articulation system, the rotation system and the clip trigger system of the surgical instrument 1000 are provided below. In several cases, however, one or more of these systems can become dysfunctional during use. In addition, the robotic surgical system can become dysfunctional during use, which can prevent one or more of the systems of the surgical instrument 1000 from being operated, or at least properly operated. As further described in more detail below, the surgical instrument 1000 comprises retraction systems configured to manually operate the surgical instrument 1000, at least to some extent, to allow a physician to remove the surgical instrument 1000 from the surgical site, among other things. These manually operated retraction systems are also useful for handling the surgical instrument 1000 when the surgical instrument 1000 is removed from the robotic surgical system.
[00388] [00388] As discussed above, the transmission set 3000 of surgical instrument 1000 is configured to receive four linear inputs from a robotic surgical system. That said, other modalities are foreseen in which a transmission set of a surgical instrument comprises more or less than four linear inputs. Referring mainly to Figures 21 to 29, the transmission set 3000 comprises a set of sliding element 3700 configured to transmit the four linear movements provided by the robotic surgical system for closing the end actuator and articulation systems of the surgical instrument 1000. More specifically, the sliding element assembly 3700 comprises a first sliding element 3710 and a second sliding element 3720 configured to receive, respectively, the first and second linear inputs of the robotic surgical system to operate the closure system of the surgical instrument 1000. The assembly sliding element 3700 additionally comprises a third sliding element 3730 and a fourth sliding element 3740 configured to receive, respectively, the third and fourth linear inputs of the robotic surgical system to operate the articulation system of the surgical instrument 1000.
[00389] [00389] Referring mainly to Figures 21 to 29, the first sliding element 3710 comprises a first inlet fitting, or cup, 3712 extending therefrom. The first 3712 inlet fitting is configured to be pushed proximally by a first linear actuator of the robotic surgical system to push the first 3710 sliding element proximally. Notably, the first linear actuator is not attached to the first input fitting 3712 in a way that allows the first linear actuator to pull the first sliding element 3710 distally. Similarly, the second sliding element 3720 comprises a second inlet, or cup, 3722 which extends therefrom. The second inlet fitting 3722 is configured to be pushed proximally by a second linear actuator of the robotic surgical system to push the second sliding element 3720 proximally. Notably, the second linear actuator is not attached to the second input fitting 3722 in a way that allows the second linear actuator to pull the second sliding element 3720 distally. Referring to Figures 27 to 29, housing 3100 of transmission 3000 is configured to limit the movement of sliding elements 3710 and 3720 to longitudinal or at least substantially longitudinal paths within housing 3100.
[00390] [00390] In addition to the above, with reference to Figures 21 to 25, the first sliding element 3710 comprises a first longitudinal rack of teeth 3716 defined therein. Similarly, the second sliding element 3720 comprises a second longitudinal tooth rack 3726 defined therein. The first longitudinal tooth rack 3716 is parallel, or at least substantially parallel, to the second longitudinal tooth rack 3726. The first longitudinal tooth rack 3716 is operatively coupled to the second tooth rack 3726 by a 2896 pinion gear so that, when the first sliding element 3710 is pushed proximally by the robotic surgical system, the second sliding element 3720 is pushed distally by the first sliding element 3710. Correspondingly, the first sliding element 3710 is pushed distally by the second sliding element 3720 when the second sliding element 3720 is pushed proximally by the robotic surgical system. In any case, the pinion gear 2896 rotates about a geometric axis defined by a drive axis, or pin, 2890 extending therefrom. As discussed in more detail below, pinion gear 2896 is displaceable in the opposite direction to racks 3716 and 3726 to operationally disengage the first sliding element 3710 and the second sliding element 3720 (Figure 25), so that the sliding elements 3710 and 3720 can be operated independently of each other to manually retract the closure system of surgical instrument 1000.
[00391] [00391] In addition to the above, with reference to Figures 13 to 13D, the second sliding element 3720 comprises a drive portion 3724 coupled to a drive disk 3820. More specifically, with reference mainly to Figures 13A and 13B, the portion of drive 3724 of the second sliding element 3720 is engaged with an annular groove 3824 defined in the drive disk
[00392] [00392] With reference to Figure 13C, the drive disk 3820 is mounted on a 3120 closing tube of the transmission assembly
[00393] [00393] In addition to the above, the closing tube 3120 of the transmission set 3000 does not directly engage the second claw
[00394] [00394] Referring again to Figures 21 to 29, the third sliding element 3730 of the sliding element assembly 3700 comprises a third inlet fitting, or cup, 3732 extending therefrom. The third entry socket 3732 is configured to be pushed proximally by a third linear actuator of the robotic surgical system to push the third sliding element 3730 proximally. Notably, the third linear actuator is not attached to the third 3732 inlet fitting in a way that allows the third linear actuator to pull the third sliding element 3730 distally. Similarly, the fourth sliding element 3740 comprises a fourth inlet, or cup, 3742 which extends therefrom. The fourth input socket 3742 is configured to be pushed proximally by a fourth linear actuator of the robotic surgical system to push the fourth slide element 3740 proximally. Notably, the fourth linear actuator is not attached to the fourth input socket 3742 in a way that allows the fourth linear actuator to pull the fourth slide element 3740 distally. Referring mainly to Figures 27 to 29, housing 3100 of transmission 3000 is configured to limit the movement of sliding elements 3730 and 3740 to longitudinal or at least substantially longitudinal paths within housing 3100.
[00395] [00395] In addition to the above, with reference mainly to Figures 13C, 13D, and 28, the drive disk array 3800 additionally comprises a drive disk 3830 and a drive disk 3840. The third sliding element 3730 comprises a portion of drive 3734 engaged with an annular groove 3834 defined on drive disk 3830. When the third sliding element 3730 is pushed proximally by the robotic surgical system, the third sliding element 3730 pushes the drive disk 3830 proximally. In addition, the drive disk 3830 is rotatable with respect to the third slide element 3730. As a result, the drive disk 3830 can rotate with the drive shaft assembly 4000, and in relation to the slide element 3730, when the shaft assembly drive 4000 is rotated about the longitudinal geometric axis LA. Similarly, the fourth sliding element 3740 comprises a driving portion 3744 engaged with an annular groove 3844 defined in the driving disk
[00396] [00396] With reference mainly to Figures 11, 12, and 28, a first articulation drive 3410 is mounted on the drive disk 3830. The first articulation drive 3410 comprises a proximal end 3414 (Figure 7) attached to the drive disk 3830 , so that the first hinge drive 3410 and drive disc 3830 translate and rotate together. When the drive disk 3830 is moved proximally by the third sliding element 3730, as described above, the first hinge drive 3410 is pulled proximally to pivot the end actuator 4200 in a first direction, or to the right (Figure 11). That said, the first articulation drive 3410 is not directly engaged with end actuator 4200. Instead, with reference mainly to Figures 6 and 7, the first articulation drive 3410 of the transmission set 3000 is operationally coupled to a first drive linkage 4410 of the drive shaft assembly 4000, wherein the first linkage drive 4410 is directly engaged with end actuator 4200. The first linkage drive 4410 comprises a proximal end 4412 which is operatively engaged with a distal end 3412 of the first articulation drive 3410 and also a distal end 4414 which is operatively engaged with the first jaw 4210 of end actuator 4200.
[00397] [00397] Referring mainly to Figure 29, a second 3420 articulation drive is mounted on the drive disk
[00398] [00398] In addition to the above, with reference again to Figure 29, the second articulation drives 3420 and 4420 are retracted by the end actuator 4200 when the end actuator 4200 is articulated to the right by the first articulation drives 3410 and 4410. In other words, the second hinge drives 3420 and 4420, the fourth sliding element 3740 and the drive disk 3840 are pulled distally when the first hinge drives 3410 and 4410, the third slide element 3730 and the drive disk 3830 are pushed proximally. Correspondingly, the first articulation drives 3410 and 4410 are retracted by the end actuator 4200 when the end actuator 4200 is pivoted to the left by the second articulation drives 3420 and 4420. In other words, the first articulation drives 3410 and 4410, the third sliding element 3730 and the driving disk 3830 are pulled distally when the second hinge drives 3420 and 4420, the fourth sliding element 3740 and the driving disk 3840 are pushed proximally.
[00399] [00399] Surgical instrument 1000 additionally comprises a hinge lock configured to lock the end actuator 4200 in position and prevent the end actuator 4200 from pivoting in relation to the 4100 drive shaft. The hinge lock comprises a proximal lock portion 3610 (Figure 7) on the transmission set 3000 and a distal locking portion 4610 (Figure 6) on the drive shaft assembly 4000. The proximal locking portion 3610 comprises a proximal end 3614 mounted on the drive disk 3820 and, in addition , a distal end
[00400] [00400] As discussed above, the articulation lock of the surgical instrument 1000 is automatically activated by the closing system. As a result, the end actuator 4200 of the surgical instrument 1000 must be pivoted in position before the end actuator 4200 is placed in its closed configuration or, alternatively, the end actuator 4200 must be reopened, so that the end actuator 4200 can be articulated again. In such cases, the 4200 end actuator is prevented from articulating while attached to the patient's tissue. In several alternative modalities, the articulation lock of a surgical instrument can be operated separately and is not automatically activated by any other system of the surgical instrument. In these modalities, the surgical instrument end actuator can be articulated while in a closed configuration and, as a result, may be able to access smaller spaces within a surgical site.
[00401] [00401] As discussed above, the sliding elements 3710, 3720, 3730 and 3740 of the sliding element assembly 3700 can be pushed distally by the linear actuators of the robotic surgical system. In some cases, linear actuators comprise solenoids that produce a linear output, for example. In many cases, linear actuators can comprise any suitable linear motor, for example. As also discussed above, the linear actuators of the robotic surgical system are configured to push, but not pull, the sliding elements 3710, 3720, 3730 and 3740. In several other modalities, the actuators of the robotic surgical system are configured to push and / or pull the sliding elements 3710, 3720, 3730 and 3740. In these cases, the actuators that operate the sliding elements 3710 and 3720 can work co-operationally to control the closing system of the surgical instrument and, similarly, the actuators that operate the Sliding elements 3730 and 3740 can work co-operatively to control the articulation system of the surgical instrument.
[00402] [00402] As discussed above, the drive shaft set 4000 of the surgical instrument 1000 is rotatable about its longitudinal geometric axis LA in relation to the housing set 2000. Referring mainly to Figures 20 to 23, 28, and 29, the housing assembly 2000 comprises a 2900 rotary drive system configured to rotate the drive shaft assembly 4000 about the longitudinal axis LA. The 2900 rotary drive system comprises a 2980 rotary drive input that is operably coupled to a rotary outlet of the robotic surgical system. The rotary drive input 2980 extends into an opening 2180 (Figure 22) defined in housing 2100 of housing assembly 2000. Drive input 2980 comprises a drive shaft that is pivotally supported by housing 2100 and rotates in a first direction to rotate the drive shaft assembly 4000 about the longitudinal axis LA in a first direction and in a second direction to rotate the drive shaft assembly 4000 about the longitudinal axis LA in a second direction, as discussed with more details below.
[00403] [00403] In addition to the above, the 2900 rotation drive system comprises a gear train configured to transmit the rotation of the drive input 2980 to an output drive shaft 2940. The gear train comprises a 2970 pinion gear mounted fixedly to the drive input 2980 which rotates with the drive input 2980. The gear train additionally comprises a pulley gear 2960 interlocked with the pinion gear 2970 and, in addition, an output gear 2950 interlocked geared to the 2960 pulley gear. The 2950 output gear is fixedly mounted on the 2940 output drive shaft and rotates with the 2940 output drive shaft. The 2960 pulley gear is pivotally mounted in housing 2100 and the drive shaft. output drive 2940 is pivotally supported by housing 2100 of housing assembly 2000 and / or housing 3100 of transmission assembly o 3000. As a result of the above, the gear train transmits the rotation of drive input 2980 to output drive shaft 2940 when drive input 2980 is rotated by the robotic surgical instrument.
[00404] [00404] The 2900 rotary drive system additionally comprises an elongated sprocket 2930 fixedly mounted on the output drive shaft 2940 which rotates with the output drive shaft 2940. The elongated sprocket 2930 is engaged in engagement with an annular gear 2920 fixedly mounted on the closing tube 3120 of the transmission set 3000, so that the rotation of the output drive shaft 2940 is transmitted to the closing tube 3120. As discussed above, the closing tube 3120 is operationally engaged with the 4120 closing tube of the drive shaft assembly 4000, so that the 3120 and 4120 closing tubes rotate together. The closing tube 4120 is linked and / or otherwise sufficiently coupled to the other components of the drive shaft 4100, the end actuator 4200 and the articulation joint 4300, so that the closing tube 4120 rotates the entire shaft assembly drive 4000 around the longitudinal geometric axis LA when the closing tube 4120 is rotated by the 2900 rotation drive system.
[00405] [00405] As discussed above, the elongated sprocket 2930 is configured to transmit the movement of the rotation drive system 2900 to the closing tube 3120 by means of the annular gear 2920. The sprocket 2930 is elongated, so that the sprocket 2930 remains operationally engaged, or interspersed, with the 2920 ring gear throughout the closing stroke of the closing tube 3120. In other words, the elongated sprocket 2930 is operationally engaged with the 2920 ring gear when the closing tube 3120 is in its open position (Figures 13C and
[00406] [00406] As discussed above, the driving shaft assembly 4000 of the surgical instrument 1000 is configured to staple and cut the tissue captured between the staple cartridge 4230 positioned in the first claw 4210 and the anvil of the second claw 4220. With reference mainly to Figures 20 and 28, the housing assembly 2000 comprises a firing drive system 2500 configured to advance a firing drive 3500 distally through end actuator 4200 to staple and cut the fabric. The 2500 trigger drive system comprises a 2550 rotary drive input that is operably interlockable with a rotary output from the robotic surgical system. The rotary drive input 2550 extends into an opening 2150 (Figure 22) defined in housing 2100 of housing assembly 2000. Drive input 2550 comprises a drive shaft that is pivotally supported by housing 2100 and rotates in a first direction to advance the 3500 trigger drive distally and also in a second direction to retract the 3500 trigger drive proximally.
[00407] [00407] The firing drive system 2500 additionally comprises a first bevel gear 2540 fixedly mounted on the drive input 2550, so that the first bevel gear 2540 rotates with the drive input 2550. The firing drive system 2500 additionally comprises a second bevel gear 2530 engaged in engagement with the first bevel gear 2540, so that the second bevel gear 2530 is rotated by the first bevel gear 2540. The second bevel gear 2530 is fixedly mounted to a transfer drive shaft 2520, so that the transfer drive shaft 2520 rotates with the second bevel gear 2530. The transfer drive shaft 2520, or at least one end of the transfer drive shaft 2520, is pivotally supported by housing 2100. The system firing drive 2500 also comprises a pinion gear 2510 fixedly mounted to the transfer drive shaft 2520, so that the pinion gear 2510 rotates with the transfer drive shaft 2520. Pinion gear 2510 is engaged in gear with a rack 3510 of the drive drive 3500 that is driven proximally and distally by the 2500 trigger drive system, as described in more detail below.
[00408] [00408] Referring mainly to Figure 26, the 3510 rack of the 3500 firing drive is slidably positioned in an opening 2190 defined in the housing 2100 of the housing assembly 2000. The 3510 rack comprises the first longitudinal array of teeth 3514 defined in a first lateral side thereof and a second longitudinal tooth array 3514 defined on a second lateral side thereof. The pinion gear 2510 of the firing drive system 2500 described above is engaged in engagement with the first longitudinal tooth array 3514. As described in more detail below, the second longitudinal tooth array 3514 is selectively engageable by a firing drive system. retraction trigger. When the drive input 2550 of the 2500 trigger drive system is rotated in a first direction by the robotic surgical system, the 3510 rack is advanced distally. Correspondingly, rack 3510 is retracted proximally when drive input 2550 is rotated in a second direction, or in the opposite direction.
[00409] [00409] Referring mainly to Figure 6, in addition to the above, the 3500 firing drive additionally comprises a firing rod 4510 and a 4520 firing bar. The 3510 rack of the 3500 firing drive comprises a distal end 3512 which is operationally engaged with a proximal end 4512 of firing rod 4510, so that rack 3510 and firing rod 4510 translate together. Notably, the interconnection between rack 3510 and firing rod 4510 allows firing rod 4510 to rotate with respect to rack 3510 when the drive shaft assembly 4000 is rotated relative to housing assembly 2000 as described above. The firing rod 4510 additionally comprises a distal end 4514 engaged with the proximal end 4524 of firing bar 4520, so that firing rod 4510 and firing bar 4520 translate together.
[00410] [00410] The firing bar 4520 comprises a plurality of parallel layers that extend longitudinally; however, modalities are provided in which the firing bar 4520 is comprised of a piece of solid material. The firing bar 4520 additionally comprises a cutting member 4530 at the distal end thereof. The cutting member 4530 comprises a sharp knife edge, but can comprise any suitable means for cutting the fabric. When the firing drive 3500 is advanced distally by the firing drive system 2500 during a firing stroke, the cutting member 4530 cuts the captured tissue between the anvil of the second claw 4220 and the staple cartridge 4230. In addition, the cutting member cutter 4530 pushes a staple trigger slide positioned inside the 4230 staple cartridge distally during the trigger stroke to eject the staples from the staple cartridge 4230. In many cases, the staple trigger slide may not be retracted with cutting member 4530 when cutting member 4530 is retracted after the firing stroke. In alternative embodiments, the staple firing slide can be integrally formed with the cutting member 4530. In these embodiments, the staple firing slide is retracted with the cutting member
[00411] [00411] The cutting member 4530 also comprises a first cam configured to engage the first jaw 4210 and a second cam configured to engage the second jaw 4220. The first and second cams co-operate the second jaw 4220 in position in relation to the 4230 staple cartridge during the firing stroke. In such cases, the firing drive 3500 can control the forming height of the clamps being formed against the anvil of the second claw 4220. In some embodiments, the first and second cams of the cutting member 4530 can be used to close the second claw 4220 during a closing stroke and then retain the second jaw 4220 in relation to the first jaw 4210 during the firing stroke. In any case, the second claw 4220 cannot be reopened to its fully open position to release the tissue from the end actuator 4200 until the cutting member 4530 has been sufficiently retracted. In alternative embodiments, the cutting member 4530 does not comprise the first and second cams. In these embodiments, the second claw 4220 can be opened to release the tissue from the end actuator 4200 before the cutting member
[00412] [00412] In several cases, the robotic surgical system may not be able to retract the 3500 trigger drive completely, or in any way. These cases can occur when the robotic surgical system is not functioning properly. These cases can also occur when the surgical instrument 1000 has been operationally decoupled from the robotic surgical system. In any case, referring now to Figures 30 to 32, the surgical instrument comprises a retraction of the firing system 2700. The retraction of the firing system 2700 is contained in the housing set 2000, but can be anywhere in the instrument surgical 1000. The retraction of the firing system 2700 comprises a ratchet that includes a tongue 2710 and a handle 2720. The tongue 2710 is pivotally mounted on the handle 2720 around a pivot 2715 and the handle 2720 is pivotally mounted in the housing 2100 around of a pivot
[00413] [00413] In addition to the above, the robotic surgical instrument can be used to open the second claw 4220 after the firing drive 3500 has been sufficiently retracted, or retracted. If one or both of the first and second linear actuators of the robotic surgical system are not functioning properly, or if the surgical instrument 1000 has been operationally removed from the robotic surgical system, the closure system can be retracted in one or more ways as discussed below.
[00414] [00414] As discussed above, with reference to Figures 20 to 22, the first sliding element 3710 and the second sliding element 3720 are coupled to each other by the pinion gear
[00415] [00415] In addition to the above, the surgical instrument 1000 additionally comprises a column that extends through the transmission set 3000 and the drive shaft assembly
[00416] [00416] The housing 3100 of the transmission set 3000 is fixedly mounted in the housing 2100 of the housing set
[00417] [00417] With reference now to Figures 14 to 18, the drive shaft assembly 1000 additionally comprises another retraction of the closing system, that is, the retraction of the closing system 2800, which is configured to open and / or close the end actuator 4200. Contrary to the retraction of the closing system discussed above, which moves the closing tubes 3120 and 4120 in relation to the column of the surgical instrument 1000, the retraction of the closing system 2800 moves the column in relation to the closing tubes 3120 and 4120. In other words, the retraction of the closing system 2800 moves the cam surface 4229 of the second claw 4220 towards the cam 4129, and in the opposite direction to it, of the closing tube 4120 to open and close the second claw 4220. As a result of the above, the retraction of the 2800 closing system can be operated in a first direction to open the 4200 end actuator and in a second direction to close the actuator end cap 4200. The retracts of the closing system can be used independently of each other or co-operationally.
[00418] [00418] The retraction of the closing system 2800 comprises a rotary actuator, or manual rotary selector, 2860 rotatably mounted by the housing 2100. The retraction of the closing system 2800 additionally comprises a sprocket 2850 fixedly mounted on the actuator 2860, so that the sprocket 2850 rotates with the actuator 2860 and, in addition, a sprocket 2840 engaged in gear with the sprocket 2850. The sprocket 2840 is fixedly mounted to a drive shaft 2830 of the retraction of the closing system 2800 which is pivotally supported by housing 2100 of housing assembly 2000 and / or housing 3100 of drive assembly 3000. The drive shaft 2830 comprises a threaded distal end that is threadedly engaged with a sliding-mounted drive nut 2820 inside the housing 3100. When the drive shaft 2830 is rotated in a first direction by the actuator 2860, the drive nut 2820 it is moved distally. Correspondingly, drive nut 2820 is moved proximally when drive shaft 2830 is rotated in a second direction by actuator 2860. Drive nut 2820 is engaged with a drive flange 2810 extending from the instrument column surgical 1000, so that the column translates with the drive nut 2820. That said, the drive nut 2820 and the drive flange 2810 are configured to allow relative rotational movement between them, so that the column can rotate with the drive shaft assembly 4000 as discussed above.
[00419] [00419] As discussed above, the 2800 closing retraction system can be operated in a first direction to retract surgical instrument 1000 to a first condition, or configuration, and in a second direction to retract surgical instrument 1000 to a second condition , or configuration. In addition, the 2800 closing retraction system is configured to manipulate the 4200 end actuator between open and closed configurations regardless of whether the robotic surgical system is operating and / or operating properly the first and second 3710 sliding elements. and 3720 of the slide element assembly 3700. That said, the retraction of the slide element assembly 3700 can be released before operation and / or during operation of the closing retraction system 2800. In other words, the pinion gear 2896 can be disengaged from the 3700 slide element assembly to relieve the tissue clamping pressure within the 4200 end actuator, which can reduce the force that needs to be applied to the 2896 manual rotary selector to operate the 2800 closing retraction system.
[00420] [00420] In several alternative modalities, the 2800 closing retraction system, or a closing retraction system similar to the 2800 closing retraction system, can be configured to move the closing system through its closing stroke and / or of your opening course. For example, the 2800 closing retraction system can be operated in a first direction to move the closing tubes 3120 and 4120 distally and a second direction to move the closing tubes 3120 and 4120 proximally.
[00421] [00421] As discussed above, with reference mainly to Figures 3 and 4, the drive shaft assembly 4000 is operably fixable and removable from the transmission set 3000 of the surgical instrument 1000. The drive shaft assembly 4000 comprises a connection portion proximal 4900 that is operably interlockable to a distal connection portion 3900 of the transmission set 3000. With reference mainly to Figure 5, the interconnection between connection portions 3900 and 4900 is accomplished by translating the connection portion 4900 to engage with the connection 3900, or vice versa. In at least one case, the drive shaft assembly 4000 is moved transversely or orthogonally with respect to the longitudinal geometric axis LA of the surgical instrument 1000 to couple and decouple the drive shaft assembly 4000 to the drive assembly 3000.
[00422] [00422] When the drive shaft assembly 4000 is mounted on the transmission assembly 3000, the respective column components, the closing system, the articulation system, the articulation lock system, the drive system firing system 3000 and the drive shaft assembly 4000 are operationally engaged at the same time. For example, with reference to Figure 8, the distal end 3112 of the column 3110 is engaged with the proximal end 4112 of the spring 4110, the distal end 3122 of the closing tube 3120 is engaged with the proximal end 4122 of the closing tube 4120, the distal end 3512 of the 3510 rack is engaged with the proximal end 4512 of the firing member 4510, the distal end 3612 of the hinge lock 3610 is engaged with the proximal end 4612 of the hinge lock 4610 and the distal ends 3412 and 3422 of the hinge drives 3410 and 3420 they are attached to the proximal ends 4412 and 4422 of the articulation drives 4410 and 4420, respectively.
[00423] [00423] In addition to the above, with reference again to Figures 4 and 5, the drive shaft assembly 4000 comprises a drive shaft lock 4124 that is configured to engage a drive shaft lock 3124 to the drive assembly 3000 and lock the drive shaft assembly 4000 to the drive assembly 3000, so that the connection portions 3900 and 4900 of the drive assembly 3000 and the drive shaft assembly 4000, respectively, remain engaged with each other until the shaft lock drive shaft 4124 is disengaged from drive shaft lock 3124. Drive shaft lock 4124 is translatable distally in the opposite direction to drive shaft lock 3124 to unlock drive shaft assembly 4000 from transmission set 3000. At that point , the drive shaft set 4000 can be moved laterally in the opposite direction and can be decoupled from the drive set 3000. In such cases, the set The drive shaft 4000 can be replaced with another drive shaft set and the surgical instrument 1000 can be used again. In addition, the staple cartridge 4300 can be replaced inside the end actuator 4200 with another staple cartridge. As a result, the surgical instrument 1000 comprises several layers of modularity.
[00424] [00424] A 5000 surgical instrument is illustrated in Figures 33 to
[00425] [00425] In addition to the above, with reference to Figures 35 to 41, the proximal connection portion 8900 of the drive shaft assembly 8000 is pivotally connected to the distal connection portion 7900 of the transmission assembly 7000. More particularly, the assembly of drive shaft 8000 is rotated relative to the drive assembly 7000 to couple the drive shaft assembly 8000 to the drive assembly 7000. Referring mainly to Figure 41, the drive assembly 7000 comprises a column portion 7110 which is engaged with a column portion 8110 of the drive shaft assembly 8000. Unlike the column of the surgical instrument 1000, the column of the surgical instrument 5000 is not translatable proximally and distally, but could be in alternative modalities. Referring to Figure 43, the proximal end of the column portion 7110 comprises a flange 7111 that extends therefrom and is intimately received in a side slot 7101 defined in the transmission housing 7100, which prevents the column from moving proximally and distally to the transmission housing 7100. That said, flange 7111 and side slot 7101 are configured to allow rotational movement between column portion 7110 and transmission housing 7100, so that the shaft assembly of drive 8000 can rotate in relation to the 7000 transmission set.
[00426] [00426] In addition to the above, with reference again to Figure 41, the column portion 7110 is comprised of two side portions 7112 that are coupled together by a connector 7114 (Figure 37). This arrangement can facilitate the assembly of the components of the 7000 transmission assembly; however, arrangements are provided in which the column portion 7110 is comprised of a piece of solid material. Similarly, the column portion 8110 is comprised of two side portions 8112 that are coupled together. Furthermore, similarly, this arrangement can facilitate the assembly of the components of the drive shaft assembly 8000, although arrangements are provided in which the column portion 8110 is comprised of a piece of solid material. Each side column portion 7112 comprises a distal end that includes at least one hook connector 7111 extending therefrom, and also each side column portion 8112 comprises a distal end that includes at least one hook connector 8111 that extends from there. extends from it. When the drive shaft assembly 8000 is pivotally mounted to the transmission assembly 7000, the hook connectors 8111 engage the hook connectors 7111. In such cases, the column portion 8110 is locked in the column portion 7110, so there is little relative longitudinal movement, if any, between them.
[00427] [00427] In addition to the above, with reference again to Figure 41, each side portion 7112 comprises at least one stop 7113 extending from it. Similarly, each side portion 8112 comprises at least one stop 8113 extending therefrom. When the column portion 8110 of the drive shaft assembly 8000 is rotated relative to the column portion 7110 of the transmission assembly 7000, the stops 7113 and 8113 can cooperate to limit the rotational movement between the column portion 8110 and the portion of column 7110. Referring mainly to Figures 39 and 40, the drive shaft assembly 8000 comprises a drive shaft lock 8124 that is configured to engage a drive shaft lock 7124 of the drive assembly
[00428] [00428] In addition to the above, the drive shaft locks 7124 and 8124 are also configured to maintain joint interconnections within the closure system, the joint system, the joint lock system and the trigger system of the surgical instrument 5000 when the drive shaft lock 8124 is engaged with the drive shaft lock 7124. Each of these systems, with reference mainly to Figure 41, comprises a portion within the drive assembly 7000 and a portion within the drive shaft assembly 8000 which are operationally engaged at the interface between the distal connection portion 7900 and the proximal connection portion 8900 when the drive shaft assembly 8000 is rotatably coupled to the transmission assembly 7000, as described in more detail below.
[00429] [00429] The articulation system of the surgical instrument 5000 is similar to the articulation system of the surgical instrument 1000 in many aspects. Referring mainly to Figures 35 and 37, the transmission set 7000 comprises a first hinge drive 7410 and a second hinge drive 7420 that are similar to the first hinge drive 3410 and the second hinge drive 3420, respectively. Similarly, the drive shaft assembly 8000 comprises a first hinge drive 8410 and a second hinge drive 8420 that are similar to the first hinge drive 4410 and the second hinge drive 4420, respectively. Notably, however, the first hinge drive 7410 comprises a distal end 7412 that is pivotally coupled to a proximal end 8412 of hinge drive 8410 when the drive shaft assembly 8000 is pivotally coupled to the drive assembly 7000. Similarly , the second hinge drive 7420 comprises a distal end 7422 that is pivotally coupled to a proximal end 8422 of hinge drive 8420 when the drive shaft assembly 8000 is pivotally coupled to the drive assembly 7000.
[00430] [00430] The surgical instrument hinge lock system 5000 is similar to the surgical instrument hinge lock system 1000 in many ways. Referring again to Figures 35 and 37, the transmission set 7000 comprises a proximal lock portion 7610 which is similar to the proximal lock portion
[00431] [00431] The closure system for surgical instrument 5000 is similar to the closure system for surgical instrument 1000 in many respects. With reference to Figures 35, 37, and 39, the transmission set 7000 comprises a closing tube 7120 which is similar to the closing tube 3120 in many respects. Similarly, the drive shaft assembly 8000 comprises a closure tube 8120 that is similar to closure tube 4120 in many respects. Notably, however, the closing tube 7120 comprises a distal end 7122 which is pivotally coupled to a proximal end 8122 of the closing tube 8120 when the drive shaft assembly 8000 is pivotally coupled to the transmission set 7000. Referring primarily to the 39, the distal end 7122 of closure tube 7120 comprises one or more bayonet or locking twist slots 7121 defined therein. The proximal end 8122 of closure tube 8120 comprises one or more bayonet projections that are configured to be moved into slots 7121 and then rotated to seat them in slots 7121 when the drive shaft assembly 8000 is rotatably coupled to the 7000 transmission assembly. The distal end 7122 comprises two bayonet slots 7121 positioned on opposite sides of them and the proximal end 8122 comprises two corresponding bayonet projections positioned on opposite sides of them, but the ends 7122 and 8122 of the closing tubes 7120 and 8120 can include any suitable number of 7121 bayonet slots and projections.
[00432] [00432] Similar to what has been described above, a firing system 7500 of surgical instrument 5000 is similar to firing system 3500 of surgical instrument 1000 in many respects. Referring to Figures 35, 37, and 39, the 7000 transmission assembly comprises a 7510 firing rod that is similar to the 3510 rack in many respects. Similarly, the drive shaft assembly 8000 comprises a firing member 8510 which is similar to firing member 4510 in many respects. Notably, however, firing rod 7510 comprises a distal end 7512 that is pivotally coupled to a proximal end 8512 of firing member 8510 when drive shaft assembly 8000 is pivotally coupled to drive assembly 7000. Referring primarily to 39, the distal end 7512 of the firing rod 7510 comprises one or more bayonet or locking twist slots 7511 defined therein. The proximal end 8512 of firing member 8510 comprises one or more bayonet projections 8511 that are configured to be moved into slots 7511 and then rotated to seat them in slots 7511 when the drive shaft assembly 8000 is rotatable coupled to the 7000 transmission assembly. The distal end 7512 of the firing rod 7510 comprises two bayonet slots 7511 positioned on opposite sides thereof and the proximal end 8512 of the firing member 8510 comprises two corresponding bayonet projections 8511 positioned on opposite sides of the same. That said, ends 7512 and 8512 of firing rod 7510 and firing member 8510 can include any suitable number of 7511 bayonet slots and 8511 projections.
[00433] [00433] As discussed above, with reference again to Figure 41, the interconnections within the closing system, the joint system, the joint lock system and the firing system are operationally interlockable at the interface between the distal connection portion 7900 and the proximal connection portion 8900 when the drive shaft assembly 8000 is pivotally coupled to the drive assembly 7000. In several cases, each of these systems is in an initial state when the drive shaft assembly 8000 is mounted on the drive assembly. transmission 7000, which can allow the drive shaft assembly 8000 to be easily mounted on the transmission set 7000. For example, modalities are contemplated in which the initial state of the closing system, the articulation system, the locking system of articulation and / or the trigger system occur at the beginning or at the end of the system courses. In at least one of these cases, the initial state of the closure system of the surgical instrument 5000 is at the beginning of the closing stroke when the end actuator 4200 is in its fully open position. Similarly, in at least one of these cases, the initial state of the firing system of the surgical instrument 5000 is at the beginning, or in the non-firing position, of the firing stroke.
[00434] [00434] That said, designing the 5000 surgical instrument systems, so that they are coupled and / or uncoupled at the beginning or at the end of their system courses, can have certain disadvantages. For example, the interconnection between the 7120 and 8120 closure tubes may be laterally constricted at the beginning of the closing system stroke and, as a result, the 7120 and 8120 closure tubes may be prone to disengage as the closure system is loaded. at the beginning of its closing stroke, if the initial state for coupling and uncoupling the 7120 and 8120 closing tubes is at the beginning of the closing stroke. In addition, the 7120 and 8120 closing tubes may be prone to decoupling at the end of the closing stroke - when the loading in the closing system may be at a maximum level - if the initial state for coupling or uncoupling the 7120 closing tubes and 8120 is at the end of the closing stroke. Similarly, the interconnection between firing rod 7510 and firing member 8510 may be laterally constricted at the start of the firing stroke and, as a result, firing rod 7510 and firing member 8510 may be prone. to decouple as the firing system is loaded at the start of its firing stroke, if the initial state for coupling and uncoupling the firing rod 7510 and firing member 8510 is at the beginning of the firing stroke. In addition, the firing rod 7510 and firing member 8510 may be prone to disengage at certain points within the firing stroke at which the firing system undergoes high or maximum loading. As described in more detail below, designing the various systems of the 5000 surgical instrument, so that their initial coupling or uncoupling states are not at the beginning or end of their system strokes, or in line with their maximum loading points, can reduce the unwanted coupling of your systems.
[00435] [00435] That said, the initial state for coupling and uncoupling the closing tube 7120 and 8120 of the surgical instrument 5000 is intermediate between the beginning and the end of the closing course. After the closing tube 8120 has been operationally coupled to the closing tube 7120, the closing system can be retracted proximally to its unacted position, or opened, to align the closing tubes 7120 and 8120 with the beginning of the closing stroke. . At this point, the interconnection between the closing tubes 7120 and 8120 is prevented from deflecting laterally by the column of the surgical instrument 5000. During the closing course, the interconnection between the closing tubes 7120 and 8120 will pass through the initial state of the closing system; however, the initial state can be selected so that it is aligned with a low loading condition of the closing system. To uncouple the 7120 and 8120 closing tubes, the closing system is returned to its initial state.
[00436] [00436] As discussed above, the joint locking system and the closing system of the surgical instrument 5000 are operationally coupled, so that they move together. Thus, the initial state of the articulation lock system of the surgical instrument 5000 is between the beginning and the end of its articulation lock course. In at least one case, the hinge lock portion 8610 is operationally coupled and decoupled from the hinge lock 7610 when the closing tube 8120 is operationally coupled and uncoupled from the closing tube 7120 in a location that is not at the beginning or at the end articulation lock and closing courses. That said, modalities are provided for in which the joint locking system and the closing system of a surgical instrument are operated independently and, in at least one of these modalities, there may be different and / or independent initial positions.
[00437] [00437] That said, the initial state for coupling and uncoupling the firing rod 7510 and firing member 8510 of the surgical instrument 5000 is intermediate between the beginning and the end of the firing stroke. After the firing member 8510 has been operationally coupled to firing rod 7510, the firing system can be retracted proximally to its unactivated, or non-firing position, to align firing rod 7510 and firing member 8510 with the start of the firing stroke. At this point, the interconnection between the firing rod 7510 and the firing member 8510 is prevented from deflecting laterally by the column of the surgical instrument
[00438] [00438] Similar to what was described above, the initial state for the articulation system of the surgical instrument 5000 can be selected to prevent accidental decoupling of the articulation drives 7410, 7420, 8410 and 8420. In certain cases, the system The articulation drives can be configured so that the articulation drives 7410, 7420, 8410 and 8420 are coupled and uncoupled when the end actuator 4200 is in its non-articulated configuration. In other cases, the articulation system can be configured so that the articulation drives 7410, 7420, 8410 and 8420 are coupled and uncoupled when the end actuator 4200 is partially articulated between its non-articulated configuration and a fully articulated configuration. In these cases, the articulation drives 7410, 7420, 8410 and 8420 are coupled and uncoupled when the end actuator is not in its non-articulated position or in a fully articulated position. Similar to what was described above, the 4200 end actuator can expand through its initial position when the 4200 end actuator is being pivoted.
[00439] [00439] Alternatively, the initial position of the closing system, the articulation system, the articulation lock system and / or the firing system are not within the operational course of these systems. In such cases, the coupling and uncoupling points of one or more of these systems are outside their operational zones. For example, the initial state of the closing system can be positioned proximally to the beginning of the closing stroke. In such cases, the closing tube 8120 is coupled to the closing tube 7120 in an initial state of the closing system and then advancing distally to the unacted, or open, position of the closing system. In addition to or instead of the above, the firing member 8510 can be coupled to the firing rod 7510 in an initial state of the firing system and then advancing distally to the non-firing position of the firing system. In many cases, the components of these systems have sufficient flexibility to accommodate these mounting and dismounting positions out of reach. In at least one case, there is sufficient slope in the systems to accommodate the mounting and dismounting positions. In some cases, systems are able to stretch sufficiently to accommodate mounting and dismounting positions.
[00440] [00440] In several cases, in addition to the above, the robotic surgical system can be configured to move the surgical instrument 5000 systems from their initial positions to their start-of-course positions, unactivated, or neutral, as the case may be, once the drive shaft assembly 8000 has been operationally attached to the drive assembly 7000. In at least one case, the robotic surgical system and / or surgical instrument 5000 comprises a "home-to-ready" button and / or control that instructs the controller of the robotic surgical system to move the closing system to its open position, the articulation system to its non-articulated position, the articulation lock system to its unlocked position and the firing system to its position not fired. Similarly, the robotic surgical system can be configured to move the systems of the surgical instrument 5000 to their initial positions, so that the drive shaft assembly 8000 can be disassembled from the transmission assembly 7000. In at least one case, the robotic surgical system and / or surgical instrument 5000 comprise a "home" button and / or control that instructs the controller of the robotic surgical system to move the closure system, the joint system, the joint lock system and the firing system to its initial positions.
[00441] [00441] The robotic surgical system and / or surgical instrument 5000 may comprise a control system configured to detect the assembly and / or disassembly of the drive shaft assembly 8000 and the transmission assembly 7000. In at least one case, the The control system comprises a microprocessor and the 7100 transmission housing comprises one or more sensors in signal communication with the microprocessor that are configured to detect when the drive shaft assembly 8000 is disassembled from the transmission assembly 7000, partially mounted on the assembly of transmission 7000 and / or completely mounted on the 7000 transmission assembly. The control system is programmed to interpret this detected information according to an algorithm to determine whether the drive shaft assembly 8000 is being mounted on the transmission assembly 7000 or if the drive shaft assembly 8000 is being disassembled from the transmission assembly
[00442] [00442] When the control system detects that the drive shaft assembly 8000 is being mounted on the transmission assembly 7000, in addition to the above, the control system can automatically position the closing, articulation, articulation lock and / or triggering the 7000 drive assembly in its initial condition to facilitate assembly of the 8000 drive shaft assembly on the 7000 drive assembly. When the control system detects that the 8000 drive shaft assembly has been completely mounted on the drive assembly 7000, the control system can automatically set the closing system in its unactivated condition, the articulation system in its non-articulated condition, the articulation lock system in its unlocked condition and / or the triggering system in its condition not fired.
[00443] [00443] When the control system detects that the drive shaft assembly 8000 is being disassembled from the transmission assembly 7000, in addition to the above, the control system can automatically position the closing, articulation, articulation lock and / or triggering the 7000 transmission set in its initial conditions to facilitate disassembly of the 8000 drive shaft set from the 7000 transmission set. That said, modalities are provided for in which the control system does not automatically change the condition of one or more closing, articulation, articulation and firing systems. In at least one of these modalities, the control system may comprise one or more keys or inputs in which the automatic control features of the closing system, the articulation system, the articulation lock system and / or the firing system can selectively activated, deactivated and / or reactivated.
[00444] [00444] In several cases, with reference to Figure 39, the transmission set 7000 and / or the drive shaft assembly 8000 comprise one or more sensors configured to detect the rotation of the drive shaft assembly 8000 in relation to the assembly drive 7000 to determine whether the drive shaft assembly 8000 is being mounted or disassembled from the drive assembly 7000. In certain cases, the drive assembly 7000 and / or the drive shaft assembly 8000 comprises one or more sensors configured to detect the pressing of the 8920 button portions and / or the actuation of the 8923 locking members to determine whether the 8000 drive shaft assembly is being assembled or disassembled from the 7000 transmission assembly. In at least one case, the control system can be configured to evaluate more than one condition of the surgical instrument 5000, for example, the rotation of the drive shaft assembly 8000 in relation to the transmission assembly 7000 and pressing the 8920 button portions, for example, to determine whether the 8000 drive shaft assembly is being mounted or disassembled from the 7000 drive assembly. This arrangement can reduce the possibility of inaccurate evaluations of the surgical instrument 5000, among other things.
[00445] [00445] As described in the present invention, there will be cases where the movable components of the drive shaft assembly 8000 will not be aligned with the corresponding moving components of the drive assembly 7000 when the drive shaft assembly 8000 is mounted on the drive assembly 7000 In some cases, the movable components of the 7000 drive assembly and the 8000 drive shaft assembly have oscillation, or angular coefficient, sufficient to allow these components to align or self-adjust during the assembly of the drive shaft assembly to the transmission set 7000. In other cases, one or more of the systems of the surgical instrument 5000 are manually manipulated to align the moving components of the transmission set 7000 and the drive shaft assembly
[00446] [00446] As discussed above, the 7000 transmission assembly comprises a 7700 sliding element assembly that is configured to receive linear inputs from a robotic surgical instrument to operate the closure and hinge systems of the surgical instrument 5000. The sliding element assembly 7700 is similar to the 3700 sliding element assembly in many ways.
[00447] [00447] In addition to the above, the second drive housing 3722 is fixedly mounted to the second slide element 3720, the third drive housing 3732 is fixedly mounted to the third slide element 3730, and the fourth drive housing 3742 is fixedly mounted to the fourth slide element 3740. Referring to Figures 46 to 47C, however, the first drive insert 7712 is pivotally mounted on the first slide element 7710 of the slide element assembly 7700. The first drive insert 7712 comprises an arm , or link, 7714 which is pivotally mounted on the first sliding element 7710 around a column 7716 which extends through an elongated opening 7718 defined at one end of the arm 7714. This arrangement comprises a connection of two bars, although any suitable arrangement can be used. As additionally described in detail below, the first sliding element 7710 can be manually manipulated to retract the closing drive of the surgical instrument 5000.
[00448] [00448] In addition to being pivotally mounted on the first sliding element 7710, the first drive insert 7712 is also selectively fixed, or can be fixed, to the 7100 transmission housing by a 7790 retraction pin. The 7100 transmission housing comprises pin 7414 extending therefrom, which include pin openings extending therethrough, which are aligned with a pin opening defined in arm 7714 of the first drive socket 7712 when retract pin 7790 is engaged to the first drive slot 7712 and the housing 7100. The retraction pin 7790 comprises a pin drive shaft 7794 that extends through the pin openings defined in the pin mounts 7414 and the first drive slot 7712 and prevents relative translation between the first drive housing 7712 and the transmission housing 7100. This arrangement, however, allows for relative rotation between the first drive housing 7712 and transmission housing 7100. For example, with reference to Figure 47A, the first drive housing 7712 is rotated to a distally rotated position when the first sliding element 7710 is pushed proximally. In addition, with reference to Figure 47B, the first drive insert 7712 is rotated to a proximally rotated position when the first slide element 7710 is pushed distally.
[00449] [00449] In addition to the above, with reference to Figure 48, the engagement between the first drive socket 7712 and the transmission housing 7100 can at least partially resist or prevent the movement of the first sliding element 7710 and the closing system. As a result, the 7790 retract pin can maintain the clamping pressure inside the 4200 end actuator when the 4200 end actuator is in its closed position. When the retraction pin 7790 is pulled, or disengaged, from the first drive socket 7712 by a doctor, as shown in Figure 47C, the first drive socket 7712 is no longer attached to the transmission housing 3100. In these cases, the first element 7710 slide can react, or can be moved by the physician, to release at least part of the clamping pressure within the 4200 end actuator, as shown in Figure 49.
[00450] [00450] As discussed above, the sliding element assembly 7700 is also configured to operate the articulation system of the surgical instrument 5000. With reference to Figure 43, the third sliding element 3730 is engaged with the drive disk 3830 which is engaged with the first pivot drive 7410 so that when the third sliding element 3730 is moved proximally, the third sliding element 3730 drives the drive disk 3830 and the first pivot drive 7410 proximally to pivot the end actuator 4200 in its first direction, or that is, to the right. Referring to Figure 44, the fourth sliding element 3740 is engaged with the drive disk 3840 which is engaged with the second hinge drive 7420 so that when the fourth sliding element
[00451] [00451] With reference to Figures 51 to 65A, the surgical instrument 5000 additionally comprises a retraction of the 6800 articulation system that is configured to return the 4200 end actuator to its non-articulated position. As described in more detail below, the 6800 hinge system retraction is operable in a first direction to move the 4200 end actuator from a right hinged position (Figure 62) to its non-hinged position (Figure 64) and also it is operable in a second direction to move the 4200 end actuator from a left pivoted position (Figure 63) to its non-pivoted position (Figure 64). In several cases, the 6800 hinge system retraction can be used to change the hinged position of the 4200 end actuator as needed. In any case, with reference mainly to Figures 57 and 58, the hinge system retraction 6800 is positioned in housing 6100 of housing assembly 6000 and is accessible by opening a retract door 6090 that is pivotally mounted in housing 6100 around hinge 6020. The housing assembly 6000 comprises at least one lock or latch that is configured to release the retractable door 6090 in its closed position (Figure 57), but allow the retractable door 6090 to be released rotated to its open position (Figure 58).
[00452] [00452] Referring mainly to Figure 65A, the 6800 hinge system retraction comprises a 6810 handle, or crank, which is pivotally mounted in the 6100 housing and, in addition, a 6820 toothed wheel fixedly mounted on the 6810 handle. As a result, the 6810 handle and 6820 sprocket rotate together. The 6800 hinge system retraction additionally comprises a 6830 toothed wheel fixedly mounted on a proximal end of a 6840 rotary drive shaft that is pivotally supported within the 6100 housing. As described in more detail below, the 6820 toothed wheel is interlockable to the 6830 sprocket so that the rotational movement can be transmitted from the 6810 handle to the drive shaft
[00453] [00453] In addition to the above, with reference again to Figure 65A, the third sliding element 3730 of the sliding element assembly 7700 comprises a rack 7730 extending proximally thereto. Similarly, the fourth slide element 3740 of the slide element assembly 7700 comprises a rack 7740 extending proximally thereto. Each rack 7730, 7740 comprises a longitudinal inward tooth rack that is engaged in engagement with pinion gear 6880 of the hinge system retraction 6800. As a result, the third sliding element 3730 drives the fourth sliding element 3740 distally when the third sliding element 3730 is moved proximally to pivot end actuator 4200 to the right. Similarly, the fourth sliding element 3740 drives the third sliding element 3730 distally when the fourth sliding element 3740 is moved proximally to pivot the end actuator 4200 to the left. In addition, the hinge system retraction 6800 drives the third sliding element 3730 proximally and the fourth sliding element 3740 distally when the pinion gear 6880 is rotated in a first direction to articulate the end actuator 4200 in its first direction, i.e. , to the right, as shown in Figure 66 and correspondingly, the hinge system retraction 6800 drives the third sliding element 3730 distally and the fourth sliding element 3740 proximally when the pinion gear 6880 is rotated in a second direction, or opposite direction, to articulate the 4200 end actuator in its second direction, that is, to the left.
[00454] [00454] As a result of the above, the 6800 articulation system retraction can be acted in a first direction to retract the articulation system in one direction and acted in a second direction to retract the articulation system in another direction. In many cases, the 6810 handle is rotated clockwise and counterclockwise to trigger the 6800 hinge system retraction in its first and second directions. This double direction retraction system can be adapted to any of the retraction systems disclosed in the present invention and / or any other suitable retraction system for a surgical instrument.
[00455] [00455] As mentioned above, the 6820 sprocket of the 6800 hinge system retraction is interlockable with the 6830 sprocket. More specifically, the 6820 sprocket is kept out of the operable hitch with the 6830 sprocket when the 6090 retract port is in its closed position, as shown in Figure 61, and then operationally engaged with sprocket 6830 when retract door 6090 is open, as shown in Figures 58 and 62 to 64. Referring mainly to Figure 58, the retraction 6090 comprises a separator 6010 extending from it and which is configured to move the sprocket 6820 and the handle 6810 distally out of the operable hitch with the 6830 sprocket and / or to secure the 6820 sprocket out of the operable hitch with the 6830 sprocket when the retract door 6090 is in its closed position (Figure 61). In such cases, the separator 6010 is positioned between the gear wheel 6820 and a side wall of the housing 6100. When the retract door 6090 is opened, referring again to Figure 58, the separator 6010 is no longer positioned between the gear wheel 6820 and the side wall of the housing
[00456] [00456] When the 6820 sprocket of the 6800 articulation system retraction is operationally coupled to the 6830 sprocket, the 6810 handle can be rotated in a first direction to articulate the 4200 end actuator in its first direction, that is, to the right, and in a second direction to articulate the 4200 end actuator in its second direction, that is, to the left, as discussed above. In several cases, the 6800 pivoting system retraction is configured so that a quarter turn, or revolution, of the 6810 grip can pivot the end actuator 4200 from its non-pivoted position to its pivot position completely to the right, for example. Similarly, in such cases, a quarter turn, or revolution, of the 6810 grip in the opposite direction can pivot the end actuator 4200 from its non-pivoted position to its pivoted position completely to the left. In other embodiments, the 6810 handle rotates less than a quarter turn or more than a quarter turn to fully articulate the 4200 end actuator from its non-articulated position, that is, to its articulated position both completely to the right and completely to the left. In at least one embodiment, the 6810 handle is rotated more than a complete revolution until it completely articulates the 4200 end actuator from its non-articulated position, that is, to its articulated position both completely to the right and completely to the left. In certain embodiments, the 6810 handle may comprise a bidirectional ratchet, for example, configured so that the end actuator 4200 can be fully articulated without having to rotate the 6810 handle over a wide range of positions.
[00457] [00457] In several cases, in addition to the above, the physician attempting to articulate the 4200 end actuator to its non-articulated position using the 6800 joint system retraction may not be able to view the 4200 end actuator at the same time as it is using the 6800 joint system retraction. In at least one case, the 4200 end actuator can still be positioned on a patient, for example. Furthermore, as a result, the physician may not know in which direction to turn the 6810 handle and / or how much to turn the 6810 handle to properly position the 4200 end actuator. Referring mainly to Figure 58, the surgical instrument 5000 additionally comprises an indicator 6890 which is configured to transmit enough information to the physician to return the 4200 end actuator to its non-hinged position, for example. Now referring to Figure 65A, indicator 6890 is fixedly mounted on the transfer drive shaft 6870 and is rotatable with the transfer drive shaft 6870 when the transfer drive shaft 6870 is rotated by the racks 7730 and 7740 that are extend proximally from the third sliding element 3730 and the fourth sliding element 3740, respectively, and / or when the transfer drive shaft 6870 is rotated by retracting the hinge system 6800. Referring mainly to Figures 62 to 64, the housing 6100 of the housing set 6000 further comprises demarcations R, C, and L defined therein and, when the end actuator 4200 is in its non-articulated position (Figure 64), the indicator 6890 points to the demarcation C, that is, center. When the 4200 end actuator is in its fully hinged position to the right (Figure 62), the 6890 indicator points to the R mark. Similarly, the 6890 indicator points to the L mark when the 4200 end actuator is in its position. articulated completely to the left. Any other provision and / or appropriate demarcation can be used. In at least one case, the indicator comprises an electronic indicator, for example.
[00458] [00458] In several cases, the housing assembly 6000 may additionally comprise a detent that can at least inhibit the movement of the 4200 hinge system retraction when the 4200 end actuator has reached its non-articulated or centralized position. In certain cases, the holder can be configured to allow the 4200 end actuator to pass through its non-hinged position to the opposite side, but it can provide some form of feedback to the physician. In many cases, feedback can be tactile and / or auditory, for example. In some cases, the housing assembly 6000 may comprise a rigid stop which may prevent the 4200 end actuator from being manually pivoted beyond its non-pivoted position.
[00459] [00459] With reference to Figures 51 to 56, the housing set 6000 of the surgical instrument 5000 comprises a trigger drive system 6500 configured to advance and retract the trigger drive 7500. The trigger drive system 6500 comprises an input 6590 swivel drive that is operably coupled to the swivel outlet of the robotic surgical instrument. The trigger input 6590 is pivotally supported by housing 6100 and is accessible through opening 2150 defined in housing 6100. The trigger system 6500 additionally comprises a bevel gear 6580 fixedly mounted on trigger input 6590, so that the bevel gear 6580 rotates with the trigger drive input 6590 and, in addition, a bevel gear 6570 interlocked with the bevel gear 6580, so that the bevel gear 6570 is rotated by the bevel gear 6580.
[00460] [00460] In addition to the above, the firing drive system 6500 additionally comprises a transfer drive shaft 6560 and a gear wheel 6550. The bevel gear 6570 is fixedly mounted to the transfer drive shaft 6560, so that the transfer drive shaft 6560 is rotated by the bevel gear 6570. The transfer drive shaft 6560 is pivotally supported by the 6100 housing and the sprocket 6550 is fixedly mounted on the transfer drive shaft 6560, so that the wheel gear 6550 rotate with the transfer drive shaft 6560. The drive system 6500 additionally comprises a gear wheel 6540, a translatable drive shaft 6530 and a bevel gear 6520. The gear wheel 6540 and bevel gear 6520 are mounted in a fixed way on the translatable drive shaft 6530 and rotate with the translatable drive shaft
[00461] [00461] In addition to the above, with reference to Figure 55, the translatable drive shaft 6530 is slidably supported by the housing 6100 between its drive position, discussed above, and a retracted position, discussed below. When the translatable drive shaft 6530 is moved to its retracted position from its drive position, bevel gear 6520 is lifted out and in the opposite direction of engagement with the bevel gear 6510.
[00462] [00462] In addition to the above, the surgical instrument 5000 additionally comprises a retraction of the 6700 firing system. The retraction of the 6700 firing system comprises a 6710 drive gear engaged in gear to the 6510 bevel gear and, in addition, a handle 6730 which includes an internal ratchet tongue 6720. The internal ratchet tongue 6720 is positioned inside a window, or opening, defined in the 6730 handle and is pivotally mounted on the 6730 handle around a pin. Notably, the 6710 drive gear and the 6730 handle are rotatable about a common pin and / or axis of rotation. When the handle 6730 is rotated from its position shown in Figure 55 to its position shown in Figure 56, the ratchet tongue 6720 engages an internal tooth array defined in drive gear 6710 and at that point
[00463] [00463] Notably, in addition to the above, the internal tooth array defined in the 6710 drive gear which is driven by the 6720 ratchet tongue is not engaged with the 6510 bevel gear; instead, an external tooth array defined on drive gear 6710 is engaged in gear with bevel gear 6710 which is different from the internal tooth array engaged by ratchet tongue 6720. When handle 6730 is rotated back from its position shown in Figure 56 to its position shown in Figure 55, the ratchet tongue 6720 slides over the teeth of the drive gear 6710 without retracting, or at least substantially retracting, the drive gear
[00464] [00464] In many cases, in addition to the above, the 5000 surgical instrument is operationally decoupled from the robotic surgical instrument when the 6700 firing system retraction is used to retract the 7500 firing drive. In these cases, a 6790 retract button can it does not have to be pulled to retract the 7500 trigger drive as the 7500 trigger drive is no longer operationally coupled to the robotic surgical system.
[00465] [00465] Robotic surgical systems can be used with various types of surgical instruments that are fixable on a common robotic output interface. A user can release a surgical instrument fixture from the robotic outlet interface and then attach a different surgical instrument fixture to the robotic outlet interface instead. The first surgical instrument fixation and the second surgical instrument fixation can perform the same or different functions. In any case, it may be advantageous to provide a sterile barrier between the fixation of the surgical instrument and the robotic outlet interface to limit contamination from the reusable robotic outlet interface. In many cases, surgical instrument fixations are configured to be fixed and removed from a sterile adapter while the sterile adapter is attached to the robotic outlet interface. The sterile adapter provides a sterile barrier between the fixation of the surgical instrument and the robotic outlet interface, while also allowing the operable coupling of the robotic outlet interface to the fixation of the surgical instrument, so that the robotic outlet interface can actuate the triggering the fixation of a surgical instrument.
[00466] [00466] In current designs, an intermediate fixation portion between a surgical instrument fixture and a common robotic output interface requires pulley drive units interfaces to couple the robotic output interface outputs to the actions of the surgical instrument fixations. In these designs, the outputs of the robotic output interface not only trigger the inputs of the surgical instrument fixation, but also the pulley traction unit interfaces of the intermediate fixation portion. This presents a challenge to a physician when trying to remove the surgical instrument fixation from the adapter when the surgical instrument fixture drive systems are stuck and / or are in an overloaded state, for example. When the fixation of a surgical instrument is stuck, the physician not only faces the task of overcoming the primary means of fixing the intermediate fixation portion and fixing the surgical instrument, but must also combat the pressure being applied to the interfaces of the surgical unit. pulley traction by the drive systems for fixing the surgical instrument. Thus, by providing a sterile adapter that does not require a drive interface between a surgical instrument fixture, the sterile adapter and the robotic outlet interface can provide previously unavailable advantages.
[00467] [00467] Referring now to Figures 67 to 71, a surgical instrument set 10000 comprises a surgical instrument holder 10100 and a sterile adapter 10200. The sterile adapter 10200 is configured to be attached and removed from a robotic outlet interface. The 10100 surgical instrument fixture is configured to be fixed and removed from the 10200 sterile adapter, so that one or more drives of the 10100 surgical instrument fixation can be directly actuated by one or more corresponding drive outputs from the robotic output interface. The surgical instrument fixation 10100 comprises a fixation interface portion 10110 (Figure 69) configured to be received by the sterile adapter 10200 and a main body portion 10150 that comprises various components 10170 (Figure 69) of one or more fixation drives. surgical instrument 10100. The fixation interface portion 10110 and the main body portion 10150 of the surgical instrument fixation 10100 share a wrap, or housing, in common
[00468] [00468] Now with reference to Figure 68, the 10100 surgical instrument fixation comprises one or more linearly actuated drives. Each linearly actuated drive comprises a slide element 10160, an actuation arm 10161 that extends from slide element 10160 and a drive shaft 10162. Each slide element 10160 is slidably mounted on a drive shaft 10162. Each drive linearly actuated additionally comprises a spring 10164 configured to deflect the sliding element 10160 in the proximal direction. Each slide element 10160 comprises a drive assembly portion 10163 and each of the linearly actuated drives additionally comprises a linear drive output 10165 fixed in their respective drive assembly portions
[00469] [00469] In addition to the above, the 10100 surgical instrument fixation additionally comprises one or more rotary drives 10180, 10190. The rotary drive 10180 comprises a drive input 10181 configured to be coupled to a drive output of the robotic output interface, a flexible drive member 10182 and a drive shaft 10183 coupled to drive input 10181 by the flexible drive member
[00470] [00470] The openings, or cavities, 10211 are provided on the sterile adapter 10200 to allow the actuation arms 10161 to be coupled to corresponding drive outputs of the robotic output interface. The sterile adapter 10200 comprises two side portions 10210, each side portion 10210 comprising two cavities 10211 providing a total of four passages - one for each actuating arm 10161. As a result, the actuating arms 10161 of the sliding elements 10160 can be coupled four corresponding drive outputs of the robotic interface and can move longitudinally within the corresponding 10211 cavities. Arrangements are provided which comprise more or less than four sliding elements 10160 and, in these embodiments, the sterile adapter 10200 can comprise any suitable number of cavities 10211 to accommodate the sliding elements 10160. The sterile adapter 10200 additionally comprises an alignment opening 10213 defined in a corresponding face 10201 of the sterile adapter 10200. Alignment opening 10213 is configured to receive an alignment projection 10113 from the fixing interface portion 10110. Alignment projection 10113 extends distally from a corresponding face 10102 of housing 10101 of the surgical instrument fixation 10100 and is a primary support feature for fixing the surgical instrument fixation 10100 and the sterile adapter 10200.
[00471] [00471] To fix the fixation of surgical instrument 10100 to the sterile adapter 10200 and, thus, connect the actuation arms 10161 to the drive outputs of the robotic output interface, the alignment projection 10113 is aligned with the opening 10213 and the fixation surgical instrument 10100 is pushed or pulled distally to bring the corresponding face 10102 closer to the surgical instrument 10100 attachment to the corresponding face 10201 of the sterile adapter 10200. When approaching the corresponding faces 10102, 10201, the projections 10220 of the sterile adapter 10200 are received within the openings 10106 defined in housing 10101 and are configured to engage corresponding locking mechanisms of the fixing interface portion 10110. Each locking mechanism first comprises a lever 10120 pivotally mounted on a column 10114 of the surgical instrument fixation 10100 by a pin 10112 and, second, a spring 10115 configured to deflect the handle nca 10120 for a locked configuration (Figures 69 and 71). A stop pin 10117 is also provided on the sterile adapter 11200 for each lever 10120 to prevent the 10120 levers from rotating beyond their locked configuration. Each spring 10115 is grounded to column 10114 and is mounted on a lever 10120 by a protrusion 10122 defined on lever 10120. The projections 10220 of the sterile adapter 10200 are configured to engage the levers 10120 so that when the sterile adapter 10200 and the fixation surgical instrument 10100 are fully attached to each other, the 10220 projections are configured to secure the 10120 levers in their locked configurations and secure the 10100 surgical instrument fixation to the sterile adapter
[00472] [00472] In addition to the above, each lever 10120 comprises an engaging surface 10121 which is engaged by a corresponding engaging surface 10221 defined in a projection 10220 when the corresponding faces 10201, 10102 are brought together to connect the surgical instrument fixation 10100 to the sterile adapter 10200. During an initial approach stage, the 10220 projections overcome the spring deflection force applied to the 10120 levers by the 10115 springs and rotate the 10120 levers around pins 10112 towards an unlocked configuration (Figure 70). When the corresponding faces 10201, 10102 are completely close together, or when the engaging surface 10121 is distal to the engaging surface 10221, the springs 10115 return the levers 10120 to their locked configuration (Figure 71). In their locked configuration, each 10220 projection comprises a proximal projection that engages and releasably locks the 10120 levers in position.
[00473] [00473] To release the surgical instrument fixation 10100 from the sterile adapter 10200, a user can press proximal portions 10123 of levers 10120 inward, or towards each other, into the openings 10105 defined in housing 10101. Pressing levers 10120 to overcome the spring forces applied to the 10120 levers by the 10115 springs allows the 10100 surgical instrument fixation to be pulled in the opposite direction to the 10200 sterile adapter. In such cases, the 10120 levers are rotated in the opposite direction to the 10117 stop pins and up to a position in which the engaging surfaces 10121, 10221 are at least substantially parallel to each other to allow projections 10220 to disengage from locking mechanisms, or levers 10120, and to allow projections 10220 to be retracted back through openings 10106. The 10100 surgical instrument fixture can then be removed in the opposite direction to the 10200 sterile adapter and, since the sterile adapter 10200 is not directly engaged with the linearly actuable arms 10161, removing the surgical instrument fixation 10100 does not imply overcoming the residual forces applied to the linearly actuating arms 10161 by the drive outputs of the robotic output interface. When the 10220 projections are disengaged from the 10120 levers, the 10120 levers can be released and deflected back to their locked configuration by the 10115 springs.
[00474] [00474] Referring now to Figures 72 to 77, a surgical instrument set 11000 comprises a surgical instrument fixture 11100 and a sterile adapter 11200. Similar to the sterile adapter 10200, the sterile adapter 11200 is configured to be fixed and removed of a robotic output interface. The 11100 surgical instrument fixture is configured to be fixed and removed from the 11200 sterile adapter, so that one or more drives of the 11100 surgical instrument fixation can be directly actuated by one or more corresponding drive outputs from the robotic output interface. The surgical instrument fixation 11100 comprises a fixation interface portion 11110 (Figure 73) configured to be received inside the sterile adapter 11200 and a main body portion 11150 comprising various components 11170 (Figure 73) of one or more fixation drives of surgical instrument 11100. The fixture interface portion 11110 and the main body portion 11150 of the surgical instrument fixture 11100 share a wrap, or housing, in common 11101, although the fixture interface portion 11110 and the main body portion 11150 can comprise separate housing.
[00475] [00475] The fixing of the 11100 surgical instrument comprises the same linear actuating drives discussed above. Each actuating arm 10161 is configured to move within a longitudinal opening 11103 defined in housing 11101 when the actuating arm 10161 is actuated by the robotic output interface. The openings, or cavities, 11211 are provided on the sterile adapter 11200 to allow the 10161 actuating arms to be coupled to corresponding drive outputs on the robotic output interface. The sterile adapter 11200 comprises two side portions 11210, each side portion 11210 comprising two cavities 11211 providing a total of four passages - one for each 10161 actuating arm. As a result, the 10161 actuating arms can be coupled to four output ports. corresponding drives of the robotic interface and can move longitudinally within the corresponding 11211 cavities. Arrangements are provided that comprise more or less than four sliding elements 10160 and, in these embodiments, the sterile adapter 11200 can comprise any suitable number of cavities 11211 to accommodate the sliding elements 10160. The sterile adapter 11200 additionally comprises an alignment opening 11213 defined in a corresponding face 11201 of the sterile adapter 11200. The alignment opening 11213 is configured to receive an alignment projection 11113 of the fixation interface portion 11110 and extends distally from a corresponding face 11102 of the housing 11101 of the surgical instrument fixation 11100 The 11113 alignment projection is a primary support feature for fixing the 11100 surgical instrument fixation and the 11200 sterile adapter.
[00476] [00476] To fix the fixation of surgical instrument 11100 to the sterile adapter 11200 and, thus, connect the actuation arms 10161 to the drive outputs of the robotic output interface, the alignment projection 11113 is aligned with the opening 11213 and the fixation surgical instrument 11100 is pushed or pulled distally to bring the corresponding face 11102 closer to the surgical instrument 11100 attachment to the corresponding face 11201 of the sterile adapter 11200. When approaching the corresponding faces 11102, 11201, the projection 11220 of the sterile adapter 11200 is received within an opening 11105 defined in housing 11101 and engages a corresponding locking mechanism of the fixing interface portion 11110. Although only one locking mechanism is illustrated, more than one locking mechanism is contemplated. Each locking mechanism comprises a lever 11120 pivotally mounted on a column 11114 of the surgical instrument fixation 11100 by a pin 11112, a cam 11130 nestled within lever 11120 and pivotally mounted on the column 11114 by a pin 11117, and a spring 11115 fixed to column 11114 configured to deflect lever 11120 and cam 11130 to a locked configuration (Figures 73 and 75). The 11220 projection is configured to engage lever 11120 and cam 11130 so that when the sterile adapter 11200 and surgical instrument fixation 11100 are fully attached to each other, the 11220 projection is configured to keep the 11120 lever in its locked configuration to attach the 11100 surgical instrument fixation to the 11200 sterile adapter.
[00477] [00477] In addition to the above, the cam 11130 comprises an unlocked surface 11131 which is engaged by an engaging surface 11221 defined in the projection 11220 when the corresponding faces 11201, 11102 are brought together to connect the fixation of the surgical instrument 11100 to the sterile adapter 11200 During an initial approach stage, with reference to Figure 73, the projection 11220 overcomes the spring deflection force applied to lever 11120 by spring 11115. When the engaging surface 11221 engages the unlocked surface 11131, with reference to Figure 74, cam 11130 is rotated around pin 11117. When cam 11130 is rotated around pin 11117, a shoulder 11135 of cam 11130 pushes an engaging surface 11125 of lever 11120 to rotate lever 11120 towards its unlocked configuration (Figure 74). When the corresponding faces 11201, 11102 are completely close together, or when the locking surface 11223 of the projection 11220 is released, or is proximal to the engaging surface 11131 of the cam 11130, the spring 11115 returns the lever 11120 to its locked configuration (Figure 75). In its locked configuration, with reference to Figure 75, the 11220 projection comprises a proximal projection that releasably engages and secures the lever
[00478] [00478] Now with reference to Figure 76, a user can press a proximal portion 11123 of lever 11120 into the opening 11105 defined in housing 11101 to compress the 11115 spring and release the 11100 surgical instrument fixation from the 11200 sterile adapter. lever 11120 and overriding the spring force applied to lever 11120 by spring 11115 allows cam shoulder 11135 to release clamping surface 11126 from lever 11120. When shoulder 11135 can rotate beyond clamping surface 11126, clamping surgical instrument 11100 can be pulled proximally from the sterile 11200 adapter to a partially removed state. When the surgical instrument fixture 11100 is pulled out of the sterile adapter 11200, the locking surface 11223 of the projection 11220 pulls the snail-shaped portion 11133 of the cam 11130, thereby rotating the cam 11130 to an unlocked position. When the engagement surface 11221 of the projection 11220 releases the snail-shaped portion 11133 of cam 11130, with reference to Figure 77, spring 11115 deflects lever 11120 and cam 11130 back to their locked configuration. At that point, the 11220 projection and the 11120 locking mechanism are then disengaged to allow the 11220 projection to be retracted back through the 11105 opening. The 11100 surgical instrument fixation can then be removed from the 11200 sterile adapter in a proximal direction and, since the sterile adapter 11200 is not directly engaged with the linearly actuating arms 10161 of the surgical instrument fixation 11100, removing the surgical instrument fixation 11100 does not imply overcoming the residual force applied to the linearly actuating arms 10161 via the activation of the robotic output interface. In other words, the means for fixing the fixation of the surgical instrument 11100 to the sterile adapter 11200 is independent of the means for engaging the drive outputs to the linearly actuable arms 10161.
[00479] [00479] As discussed above, the surgical instruments disclosed in the present invention can be operationally attached to a robotic surgical system, for example, the robotic surgical system 9000 illustrated in Figure 78. In several cases, the robotic surgical system 9000 comprises one or more arms configured to handle one or more of the surgical instruments disclosed in the present invention. Several robotic surgical systems are disclosed in U.S. Patent No. 2012/0298719, entitled SURGICAL
[00480] [00480] Example 1 - A method for retracting a robotic surgical accessory attached to a surgical robot, the method comprising the steps of disengaging a trigger output from the surgical robot with an actuator of the robotic surgical accessory, removing the robotic surgical accessory from the surgical robot and act a closing retraction of the robotic surgical accessory in a first direction to open the claws of an end actuator of the robotic surgical accessory and in a second direction to close the claws of the end actuator.
[00481] [00481] Example 2 - The method of Example 1, in which the disengagement step comprises pulling a pin to uncouple the drive output and the actuator.
[00482] [00482] Example 3 - The method of Examples 1 or 2, in which the disengagement step can occur before or after the removal step.
[00483] [00483] Example 4 - The method of Examples 1, 2, or 3 which additionally comprises the step of actuation of a firing retraction to retract a firing member of the robotic surgical accessory.
[00484] [00484] Example 5 - The method of Examples 1, 2, 3, or 4 which additionally comprises the step of activating an additional retraction to selectively open and close the claws of the end actuator of the robotic surgical accessory.
[00485] [00485] Example 6 - The method of Example 5, in which the additional retraction actuation step can occur before or after the disengagement step.
[00486] [00486] Example 7 - The method of Examples 5 or 6, in which the additional retraction is configured to transfer a column member of the robotic surgical accessory in relation to a closing tube of the robotic surgical accessory, and in which the closing retraction is configured to translate the closing tube in relation to the column member.
[00487] [00487] Example 8 - The method of Examples 1, 2, 3, 4, 5, 6, or 7, in which the end actuator is configured to be articulated in relation to a driving axis of the robotic surgical accessory, and in that the method additionally comprises the stage of actuation of a joint retraction to dismantle the end actuator of the robotic surgical accessory.
[00488] [00488] Example 9 - A method for retracting a set of surgical instruments fixed to a control interface, the method comprising the steps of acting a retraction of firing to retract a member of firing of the set of surgical instrument, acting a first closing retraction to loosen the tissue within an end actuator of the surgical instrument set, act a second closing retract to loosen the tissue within an end actuator of the surgical instrument set, act the first closing retraction or the second closing retraction to secure the end actuator, remove the surgical instrument set from a patient using a trocar, and remove the surgical instrument set from the control interface.
[00489] [00489] Example 10 - The method of Example 9, in which the first closing retraction is configured to translate a column member of the surgical instrument set in relation to a closing tube of the surgical instrument set.
[00490] [00490] Example 11 - The method of Example 10, in which the second closing retraction is configured to translate the closing tube in relation to the column member.
[00491] [00491] Example 12 - A method to retract a set of surgical instruments attached to a control interface, the method comprising the steps of operating an operating system of the surgical instrument set through an operational course, operating a retraction system manually triggered to retract at least partially the operating system and activate the manually triggered retraction system to advance the operating system at least partially through the operational course.
[00492] [00492] Example 13 - A surgical instrument set configured to be fixed and removed from a surgical robot, in which the surgical instrument set comprises a firing system, a closing system, a driving shaft, and an end actuator comprising a first claw, a second claw, a clamped configuration and a non-clamped configuration, in which the closing system is configured to be actuated by the surgical robot to selectively place the end actuator in the clamped configuration and in the non-clamped configuration when the surgical instrument set is operationally attached to the surgical robot. The surgical instrument set additionally comprises a manually actuated retraction configured to actuate the closing system to manually place the end actuator in the stuck and non-stuck configuration when the surgical instrument set is removed from the surgical robot.
[00493] [00493] Example 14 - The surgical instrument set of Example 13, in which the drive shaft comprises a column, in which the closing system comprises a closing tube, in which the closing tube is configured to be actuated in a first direction to place the end actuator in the stuck configuration and a second direction to place the end actuator in the non-stuck configuration, and the first direction is opposite the second direction.
[00494] [00494] Example 15 - The surgical instrument set of Example 14, in which the manually actuated retraction is configured to actuate the column in the first direction to place the end actuator in the non-clamped configuration and in the second direction to place the end actuator in the stuck configuration.
[00495] [00495] Example 16 - The surgical instrument set of Examples 14 or 15, in which the manually actuated retraction comprises a rotary drive input, a drive screw configured to be actuated by the rotary drive input, and an attached actuator portion drive screw and column.
[00496] [00496] Example 17 - The surgical instrument set of Examples 13, 14, 15, or 16, in which the closure system comprises a linearly actuated actuation portion configured to be actuated by a surgical robot actuation output, and in that the linearly actuated drive portion is additionally configured to be manually actuated when the surgical instrument set is removed from the surgical robot.
[00497] [00497] Example 18 - The surgical instrument set of Examples 13, 14, 15, 16, or 17 which additionally comprises an articulation system configured to articulate the end actuator in relation to the drive shaft, in which the articulation system comprises actuators configured to be manually actuated when the surgical instrument set is removed from the surgical robot.
[00498] [00498] Example 19 - The surgical instrument set of Examples 13, 14, 15, 16, 17, or 18, in which the firing system comprises a movable firing member by means of a firing stroke, and in which the The firing system further comprises a firing system retraction configured to retract the firing member.
[00499] [00499] Example 20 - The surgical instrument set of Examples 13, 14, 15, 16, 17, 18, or 19, in which the manually acted retraction comprises a first manually acted retraction, and in which the surgical instrument set comprises additionally a second manually actuated retraction configured to actuate the closing system to manually place the end actuator in the secured and non-secured configuration when the surgical instrument set is attached to the surgical robot.
[00500] [00500] Example 21 - The surgical instrument set of Examples 13, 14, 15, 16, 17, 18, 19, or 20 which further comprises means for operationally disengaging a motorized actuator from the surgical robot with a linear actuator of the closure system , so that the manually actuated retraction can be used without interference from the motorized actuator of the surgical robot.
[00501] [00501] Example 22 - The surgical instrument set of Examples 13, 14, 15, 16, 17, 18, 19, 20 or 21 which further comprises a staple cartridge comprising a plurality of staples removably stored therein.
[00502] [00502] Example 23 - A surgical instrument set configured to be fixed and removed from a surgical robot, in which the surgical instrument set comprises a firing system, a closing system, a drive shaft and an end actuator that comprises a first claw, a second claw, a clamped configuration and a non-clamped configuration, in which the closing system is configured to be actuated by the surgical robot to place the end actuator in the clamped configuration and in the clamped configuration when the surgical instrument is attached to the surgical robot. The surgical instrument set additionally comprises a first retraction configured to actuate the closing system to manually place the end actuator in the secured and non-secured configuration when the surgical instrument set is removed from the surgical robot, and a second retraction configured for actuate the closing system to manually place the end actuator in the secured and non-secured configuration when the surgical instrument set is attached or removed from the surgical robot.
[00503] [00503] Example 24 - The surgical instrument set of Example 23, in which the drive shaft comprises a column, in which the closing system comprises a closing tube, in which the closing tube is configured to be actuated in a first direction to place the end actuator in the stuck configuration and a second direction to place the end actuator in the non-stuck configuration, and the first direction is opposite the second direction.
[00504] [00504] Example 25 - The surgical instrument set of Example 24, in which the first retraction is configured to actuate the column in the first direction to place the end actuator in the non-clamped configuration and in the second direction to place the end actuator in stuck configuration.
[00505] [00505] Example 26 - The surgical instrument set of the
[00506] [00506] Example 27 - The surgical instrument set of Examples 24, 25, or 26, in which the closure system comprises a linearly actuating actuation portion configured to be actuated by a surgical robot actuation outlet to actuate the tube closing, and where the linearly actuating actuation portion comprises the second retraction.
[00507] [00507] Example 28 - The surgical instrument set of Examples 23, 24, 25, 26, or 27, in which the firing system comprises a movable firing member by means of a firing stroke, and in which the firing system The trigger additionally comprises a retraction of the trigger system configured to retract the trigger member.
[00508] [00508] Example 29 - The surgical instrument set of Examples 23, 24, 25, 26, 27, or 28 which additionally comprises means for operationally disengaging a motorized actuator from the surgical robot with a linear actuator of the closing system, so that the first retraction can be used without interference from the surgical robot's motorized actuator.
[00509] [00509] Example 30 - The surgical instrument set of Examples 23, 24, 25, 26, 27, 28 or 29 additionally comprising a staple cartridge comprising a plurality of staples removably stored therein.
[00510] [00510] Example 31 - A surgical system comprising a fixation set for the surgical instrument comprising a drive shaft and an end actuator. The surgical system additionally comprises a transmission set configured to be operationally fixed and removed from a surgical robot, in which the fixation set of the surgical instrument is configured to be operationally fixed and removed from the transmission set. The drive assembly comprises a drive system comprising a movable drive member in a first direction during a drive stroke and a second direction during a return stroke, and a manually operated retraction configured to selectively move the drive member in the first and in the second directions when the transmission set is attached to the surgical robot.
[00511] [00511] Example 32 - The surgical system of Example 31, in which the manually operated retraction is configured to act on a component of the transmission set that is not otherwise acted upon during the actuation stroke and the actuation member return stroke .
[00512] [00512] Example 33 - The surgical system of Examples 31 or 32, wherein the drive system comprises a closing drive system configured to secure and detach the end actuator.
[00513] [00513] Example 34 - The surgical system of Examples 31, 32 or 33, which additionally comprises a staple cartridge comprising a plurality of staples removably stored therein.
[00514] [00514] Example 35 - A surgical instrument set configured to be fixed and removed from a surgical robot, in which the surgical instrument set comprises an articulation system, a drive shaft, an end actuator configured to be articulated in relation to to the drive shaft by means of the hinge system and a hinge retraction. The hinge retract comprises a retract hitch feature configured to prevent the hinge retract from operationally engaging the hinge system until the hinge retract is activated, a position indication means to show the hinged position of the end actuator during use of joint retraction, and a manually actuated member configured to manually actuate the joint system.
[00515] [00515] Example 36 - The surgical instrument set of Example 35, in which the manually actuating member comprises a ratchet mechanism.
[00516] [00516] Example 37 - The surgical instrument set of Examples 35 or 36, in which the articulation system comprises double articulation links and double articulation drives, and in which the position indication means is linked to the double articulation drives .
[00517] [00517] Example 38 - The surgical instrument set of Examples 35, 36, or 37, in which the retract coupling feature comprises a separator, in which the manually actuating member is held in a position where the articulation retraction is operationally disengaged from the articulation system until the separator is moved in the opposite direction to the manually actuating member.
[00518] [00518] Example 39 - The surgical instrument set of Example 38, in which the joint retraction additionally comprises an activation feature, and in which the separator is positioned over the activation feature, so that the separator allows the engagement of the articulation retraction to the articulation system when the activation feature is activated.
[00519] [00519] Example 40 - The surgical instrument set of Example 39, in which the activation feature comprises an access door configured to allow the joint retraction to be accessed when opened and to prevent the joint retraction from being accessed when closed .
[00520] [00520] Example 41 - The surgical instrument set of Examples 35, 36, 37, 38, 39, or 40, wherein the position indication means comprises an indicating disk and double antagonistic rack gears configured to rotate the disk indication when the articulation system articulates the end actuator.
[00521] [00521] Example 42 - The surgical instrument set of Example 41, in which the position indication means additionally comprises a drive shaft and a pinion gear, in which the pinion gear and the indicating disc are coupled to the shaft drive, and in which the dual rack gears are configured to move in opposite directions when the end actuator is pivoted and rotates the pinion gear.
[00522] [00522] Example 43 - The surgical instrument set of Examples 35, 36, 37, 38, 39, 40, 41 or 42 which further comprises a staple cartridge comprising a plurality of staples removably stored therein.
[00523] [00523] Example 44 - A surgical instrument set configured to be fixed and removed from a surgical robot, in which the surgical instrument set comprises a closing system configured to be actuated by a first linear actuator of the surgical robot, a articulation configured to be actuated by a second linear actuator of the surgical robot, a drive shaft, an end actuator configured to be closed by means of the closing system and articulated in relation to the drive shaft by means of the articulation system and a joint retraction. The hinge retraction comprises a manually operated actuation member, configured to drive the hinge system and a hinge position member operatively coupled to the hinge system and configured to indicate the hinge position of the end actuator when using the hinge retraction. .
[00524] [00524] Example 45 - The surgical instrument set of Example 44, in which the manually operated actuation member comprises a manually actuating ratchet mechanism.
[00525] [00525] Example 46 - The surgical instrument set of Examples 44 or 45, in which the articulation system comprises an articulation link and an articulation actuation, and in which the articulation position member is operationally coupled to the articulation actuation .
[00526] [00526] Example 47 - The surgical instrument set of Examples 44, 45, or 46 which additionally comprises a retract hitch feature configured to prevent the hinge retract from operationally engaging the hinge system until the hinge retraction is activated , in which the retract hitch feature comprises a separator, in which the manually operated actuation member is held in a position where the articulation retraction is operationally disengaged from the articulation system until the separator is moved in the opposite direction to the member manually operated actuator.
[00527] [00527] Example 48 - The surgical instrument set of Example 47, in which the joint retraction additionally comprises an activation member, and in which the separator is positioned over the activation member, so that the separator allows the coupling of the articulation retraction to the articulation system when the activation member is activated.
[00528] [00528] Example 49 - The surgical instrument set of Example 48, in which the activation member comprises an access door configured to allow the joint retraction to be accessed when opened and to prevent the joint retraction from being accessed when closed .
[00529] [00529] Example 50 - The surgical instrument set of Examples 44, 45, 46, 47, 48, or 49, in which the hinge retraction additionally comprises a double antagonist hinge disk and rack gears configured to rotate the hinge disk articulation when the articulation system articulates the end actuator.
[00530] [00530] Example 51 - The surgical instrument set of Example 50, in which the articulation retraction additionally comprises a drive shaft and a pinion gear, in which the pinion gear and the articulation position member are coupled to the axis drive, and in which the dual rack gears are configured to move in opposite directions when the end actuator is pivoted and rotates the pinion gear.
[00531] [00531] Example 52 - The surgical instrument set of Examples 44, 45, 46, 47, 48, 49, 50 or 51, which further comprises a staple cartridge comprising a plurality of staples removably stored therein.
[00532] [00532] Example 53 - The surgical instrument set of Examples 44, 45, 46, 47, 48, 49, 50, 51, or 52, in which the joint system comprises a joint drive, and in which the set of The surgical instrument further comprises means for indicating an intermediate position of the articulation drive.
[00533] [00533] Example 54 - A surgical instrument set configured to be fixed and removed from a surgical robot, in which the surgical instrument set comprises a drive system that can be actuated in a first direction and in a second direction that is opposite to the first direction , in which the drive system is configured to perform an instrument function, a drive shaft, an end actuator, and a drive system retraction. The drive system retraction comprises position indication means to indicate the position of the drive system and an actuation member configured to actuate the drive system in the first direction and the second direction, in which direction the system retraction is located. drive is operated is based on the position of the drive system indicated by the position indication means.
[00534] [00534] Example 55 - The surgical instrument set of Example 54, in which the drive system comprises an articulation drive system configured to articulate the end actuator in relation to the drive shaft.
[00535] [00535] Example 56 - The surgical instrument set of Examples 54 or 55, in which the end actuator is pivotable between a non-hinged position and a plurality of hinged positions, and where the surgical instrument set additionally comprises a configured holder to indicate the non-hinged position of the end actuator.
[00536] [00536] Example 57 - The surgical instrument set of Examples 54, 55 or 56, the actuating member comprising a manually actuating ratchet mechanism.
[00537] [00537] Example 58 - The surgical instrument set of Examples 54, 55, 56, or 57, in which the drive system retraction additionally comprises an activation feature configured to prevent the actuating member from being able to act on the system until the activation feature is disengaged from the acting member.
[00538] [00538] Example 59 - The surgical instrument set of Examples 54, 55, 56, 57 or 58, the actuating member being configured to be manually actuated.
[00539] [00539] Example 60 - The surgical instrument set of Examples 54, 55, 56, 57, 58 or 59 which additionally comprises a staple cartridge comprising a plurality of staples removably stored therein.
[00540] [00540] Example 61 - A surgical instrument set comprising a proximal drive shaft assembly comprising a proximal drive member, and a fixable and removable distal drive shaft assembly from the proximal drive shaft assembly, wherein the The distal drive shaft assembly comprises a distal drive member configured to be coupled and decoupled from the proximal drive member, wherein the distal drive member is configured to be actuated through a drive stroke by the proximal drive member to act a function of the surgical instrument set. The drive stroke comprises a start position, an end position distal to the start position and a start position. The surgical instrument set additionally comprises an end actuator, the proximal actuating member and the distal actuating member being configured to be coupled and uncoupled when the proximal actuating member and the distal actuating member are in the initial position , the start position being neither the start position nor the end position.
[00541] [00541] Example 62 - The surgical instrument set of Example 61 in which the starting position is proximal to the start position.
[00542] [00542] Example 63 - The surgical instrument set of Example 61 in which the initial position is distal to the start position and proximal to the end position.
[00543] [00543] Example 64 - The surgical instrument set of Examples 61, 62, or 63 in which the actuation stroke additionally comprises at least one interval actuation stroke position corresponding to at least one specific event of the instrument set function surgical, being that at least one position of the interval actuation is distal to the position of beginning of course and proximal to the position of end of course, and the initial position is not at least one position of actuation of interval.
[00544] [00544] Example 65 - The surgical instrument set of Examples 61, 62, 63, or 64 additionally comprising a control system, the proximal drive member and the distal drive member being automatically moved to the start position of travel by the control system after the proximal drive shaft assembly and the distal drive shaft assembly are fixed.
[00545] [00545] Example 66 - The surgical instrument set of Examples 61, 62, 63, 64, or 65, in which the proximal drive member and the distal drive member are automatically moved to the home position when the drive shaft assembly distal drive is decoupled from the proximal drive shaft assembly.
[00546] [00546] Example 67 - The surgical instrument set of Examples 61, 62, 63, 64, 65, or 66, in which the proximal drive member is a first proximal drive member and the distal drive member is a first member distal drive shaft, wherein the proximal drive shaft assembly further comprises a second proximal drive member and the distal drive shaft assembly further comprises a second distal drive member, and wherein the second proximal drive member and the second distal drive member are configured to be coupled and uncoupled when the second proximal drive member and the second distal drive member are in a second home position.
[00547] [00547] Example 68 - The surgical instrument set of Example 67, in which the initial position comprises a first initial position, and in which the second initial position is aligned with the first initial position.
[00548] [00548] Example 69 - The surgical instrument set of Example 67, in which the initial position comprises a first initial position, and in which the second initial position is not aligned with the first initial position.
[00549] [00549] Example 70 - The surgical instrument set of Examples 61, 62, 63, 64, 65, 66, 67, 68, or 69, in which the proximal drive shaft assembly and the distal drive shaft assembly employ a twisting motion to secure and remove the proximal drive shaft assembly and the distal drive shaft assembly.
[00550] [00550] Example 71 - The surgical instrument set of Examples 61, 62, 63, 64, 65, 66, 67, 68, 69 or 70, which further comprises a staple cartridge comprising a plurality of removably stored staples the same.
[00551] [00551] Example 72 - A surgical instrument set comprising an end actuator, a proximal drive shaft set comprising a proximal drive member and a fixed and removable distal drive shaft set from the proximal drive shaft set , in which the distal drive shaft assembly comprises a distal drive member configured to be coupled and decoupled from the proximal drive member, wherein the distal drive member is configured to be actuated through a drive stroke by the drive member proximal drive to articulate the end actuator. The drive stroke comprises a first articulated position in which the end actuator is completely articulated in a first direction, a second articulated position in which the end actuator is completely articulated in a second direction which is opposite to the first direction, a position not articulated in which the end actuator is non-articulated, and in which the non-articulated position is intermediate between the first articulated position and the second articulated position, and an initial position. The proximal drive member and the distal drive member are configured to be coupled and uncoupled when the proximal drive member and the distal drive member are in the starting position, and the starting position is not in the first hinged position, in the second hinged or non-hinged position.
[00552] [00552] Example 73 - The surgical instrument set of Example 72, in which the initial position is between the first articulated position and the non-articulated position and between the second articulated position and the non-articulated position.
[00553] [00553] Example 74 - The surgical instrument set of Examples 72 or 73 which additionally comprises a control system, in which the proximal drive member and the distal drive member are automatically moved to the non-articulated position by the control system afterwards that the proximal drive shaft assembly and the distal drive shaft assembly are fixed.
[00554] [00554] Example 75 - The surgical instrument set of the
[00555] [00555] Example 76 - The surgical instrument set of Examples 72, 73, 74, or 75, in which the proximal drive shaft assembly and the distal drive shaft assembly employ a twisting motion to secure and remove the assembly proximal drive shaft and the distal drive shaft assembly.
[00556] [00556] Example 77 - The surgical instrument set of Examples 72, 73, 74, 75 or 76 which additionally comprises a staple cartridge comprising a plurality of staples removably stored therein.
[00557] [00557] Example 78 - A surgical instrument set comprising a proximal drive shaft assembly comprising a proximal drive member, and a fixed and removable distal drive shaft assembly from the proximal drive shaft assembly, wherein the The distal drive shaft assembly comprises a distal drive member configured to be coupled and decoupled from the proximal drive member, wherein the distal drive member is configured to be actuated through a drive stroke by the proximal drive member to act a function of the surgical instrument set. The actuation stroke comprises a start position, an end position distal to the start position, at least one interval stroke position corresponding to at least one specific event of the function of the surgical instrument set , with the at least one position of the interval actuation stroke being distal to the start position and proximal to the end position, and one stop position. The proximal drive member and the distal drive member are configured to be coupled and uncoupled when the proximal drive member and the distal drive member are in the stop position, and the stop position is not the stop position. start of stroke, the end of stroke position, or at least one position of the interval trigger stroke.
[00558] [00558] Example 79 - The surgical instrument set of Example 78 in which the stop position is proximal to the start position.
[00559] [00559] Example 80 - The surgical instrument set of Example 78 in which the stop position is distal to the start position and proximal to the end position.
[00560] [00560] Example 81 - The surgical instrument set of Examples 78, 79, or 80 that additionally comprises a control system, the proximal drive member and the distal drive member being automatically moved to the start position by the control system after the proximal drive shaft assembly and the distal drive shaft assembly are fixed.
[00561] [00561] Example 82 - The surgical instrument set of Examples 78, 79, 80, or 81 additionally comprising a control system, in which the proximal drive member and the distal drive member are automatically moved to the stop position by the control system when the distal drive shaft assembly is decoupled from the proximal drive shaft assembly.
[00562] [00562] Example 83 - The surgical instrument set of Examples 78, 79, 80, 81, or 82, in which the proximal drive member is a first proximal drive member, the distal drive member is a first drive member distal, and the stop position is a first stop position, wherein the proximal drive shaft assembly further comprises a second proximal drive member and the distal drive shaft assembly further comprises a second distal drive member, and in that the second proximal drive member and the second distal drive member are configured to be coupled and decoupled when the second proximal drive member and the second distal drive member are in a second stop position.
[00563] [00563] Example 84 - The surgical instrument set of Examples 78, 79, 80, 81, 82, or 83, in which the proximal drive shaft assembly and the distal drive shaft assembly employ a twisting motion to secure and removing the proximal drive shaft assembly and the distal drive shaft assembly.
[00564] [00564] Example 85 - The surgical instrument set of Examples 78, 79, 80, 81, 82, 83 or 84 which additionally comprises a staple cartridge comprising a plurality of staples removably stored therein.
[00565] [00565] Many of the surgical instrument systems described here are driven by an electric motor; however, the surgical instrument systems described herein can be induced in any suitable manner. In addition, as discussed above, the engines disclosed herein can comprise a portion or portions of a robotically controlled system. US patent application serial number 13 / 118,241, entitled SURGICAL STAP LING
[00566] [00566] The surgical instrument systems described here have been described in connection with the implantation and deformation of the clamps; however, the embodiments described in the present invention are not so limited. Several modalities are foreseen, which implant fasteners in addition to staples, such as claws or tacks, for example. In addition, several modalities are contemplated, which use any suitable means to seal the fabric. For example, an end actuator, according to various modalities, may comprise electrodes configured to heat and seal the tissue. Likewise, for example, an end actuator according to certain modalities, can apply vibrational energy to seal the tissue.
[00567] [00567] All the disclosures of:
[00568] [00568] - US Patent No. 5,403,312, entitled "ELEC TROSURGICAL HEMOSTATIC DEVICE", which was granted on April 4, 1995;
[00569] [00569] - US Patent No. 7,000,818, entitled "SURG ICAL
[00570] [00570] - US Patent No. 7,422,139, entitled "MOTO R-DRIVEN
[00571] [00571] - US Patent No. 7,464,849, entitled "ELEC TRO-
[00572] [00572] - US Patent No. 7,670,334, entitled "SURG ICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR", which was granted on March 2, 2010;
[00573] [00573] - US Patent No. 7,753,245, entitled "SURG ICAL
[00574] [00574] - US Patent No. 8,393,514, entitled "SELE CTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE", which was granted on March 12, 2013;
[00575] [00575] - US patent application serial number 11 / 343.8 03, entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES"; now US patent No. 7,845,537;
[00576] [00576] - US patent application serial number 12 / 031.5 73, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES", filed on February 14, 2008;
[00577] [00577] - US patent application serial number 12 / 031.8 73, entitled "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT", filed on February 15, 2008, now US patent No. 7,980,443;
[00578] [00578] - US patent application serial number 12 / 235.7 82, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT", now US patent No. 8,210,411;
[00579] [00579] - US patent application serial number 12 / 249.1 17, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM", now US patent No. 8,608,045;
[00580] [00580] - US patent application serial number 12 / 647.1 00, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY", filed on December 24, 2009; now US patent no.
[00581] [00581] - US patent application serial number 12 / 893.4 61, entitled "STAPLE CARTRIDGE", filed on September 29, 2012, now US patent No. 8,733,613;
[00582] [00582] - US patent application serial number 13 / 036.6 47, entitled
[00583] [00583] - US patent application serial number 13 / 118.2 41, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", now US patent No. 2012 / 9,072,535;
[00584] [00584] - US patent application serial number 13 / 524.0 49, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE", filed on June 15, 2012; now US patent No. 9,101,358;
[00585] [00585] - US patent application serial number 13 / 800.0 25, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", filed on March 13, 2013, now US patent No. 9,345,481;
[00586] [00586] - US patent application serial number 13 / 800.0 67, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on March 13, 2013, now publication of US patent application No. 2014/0263552;
[00587] [00587] - Publication of US patent application No. 200 7/0175955, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM", filed on January 31, 2006; and
[00588] [00588] - Publication of US patent application No. 201 0/0264194, entitled "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR", filed on April 22, 2010, now US patent No. 8,308,040, are hereby incorporated. by reference.
[00589] [00589] Although several devices have been described here in connection with certain modalities, modifications and variations of these modalities can be implemented. The specific resources, structures or characteristics can be combined in any suitable way in one or more modalities. Therefore, the specific resources, structures or characteristics illustrated or described in connection with a modality may be combined, in whole or in part, with the resources, structures or characteristics of one or more other modalities, without limitation. In addition, where materials for certain components are disclosed, other materials can be used. In addition, according to various modalities, a single component can be replaced by multiple components and multiple components can be replaced by a single component, to perform one or more specific functions. The description mentioned above and the following claims are intended to cover all such modifications and variations.
[00590] [00590] The devices disclosed herein can be designed to be discarded after a single use, or can be designed to be used multiple times. In either case, however, a device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of steps including, but not limited to, disassembling the device followed by cleaning or replacing specific parts of the device and subsequent reassembly of the device. In particular, a reconditioning facility and / or surgical staff can disassemble a device and, after cleaning and / or replacing particular parts of the device, the device can be reassembled for subsequent use. Those skilled in the art will understand that reconditioning a device can use a variety of techniques to disassemble, clean / replace and reassemble. The use of these techniques, as well as the resulting refurbished device, are all within the scope of this application.
[00591] [00591] The devices disclosed here can be processed before surgery. First, a new or used instrument can be obtained and, if necessary, cleaned. The instrument can then be sterilized. In a sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and the instrument can then be placed in a radiation field that can penetrate the container, such as gamma radiation, X-rays and / or high-energy electrons. Radiation can kill bacteria on the instrument and the container. The sterile instrument can then be stored in a sterile container. The sealed container can keep the instrument sterile until it is opened at the medical facility. A device can also be sterilized using any other known technique, including, but not limited to, beta radiation, gamma radiation, ethylene oxide, plasma peroxide and / or water vapor.
[00592] [00592] Although this invention has been described as having exemplary designs, the present invention can be further modified within the spirit and scope of the disclosure. It is intended, therefore, that this application covers any variations, uses or adaptations of the invention with the use of its general principles.
[00593] [00593] Any patent, publication or other description material, in whole or in part, that is said to be incorporated into the present invention as a reference, is incorporated into the present invention only to the extent that the incorporated materials do not conflict with existing definitions, statements or other description material presented in this description. Accordingly, and to the extent necessary, disclosure as explicitly presented herein replaces any conflicting material incorporated by reference to the present invention. Any material, or portion thereof, which is incorporated herein by reference, but which conflicts with the definitions, statements, or other disclosure materials contained herein, will be incorporated here only to the extent that there is no conflict between the embedded material and existing advertising material.

权利要求:
Claims (26)
[1]
1. Surgical instrument set configured to be connected and disconnected from a surgical robot, characterized by the fact that it comprises: an articulation system; an axis; an end actuator configured to be articulated with respect to said drive shaft by means of said articulation system; and a hinge retraction comprising: a retract hitch feature configured to prevent said hinge retraction from operating with said hinge system until said hinge retract is activated; means for indicating the position to show the articulated position of said end actuator during the use of said articulation retraction; and a manually actuable member configured to actuate said articulation system manually.
[2]
2. Surgical instrument set, according to claim 1, characterized by the fact that said manually actuating member comprises a ratchet mechanism.
[3]
3. Surgical instrument set, according to claim 1, characterized by the fact that said articulation system comprises two articulation links and double articulation actuators, and the said position indication means is linked to said double actuators of articulation articulation.
[4]
4. Surgical instrument set, according to claim 1, characterized by the fact that said coupling feature comprises a separator, the said manually actuating member being held in a position where said articulation retraction is operationally disengaged from said articulation system until said separator is moved in the opposite direction to said manually actuated member.
[5]
5. Surgical instrument set, according to claim 4, characterized in that said articulation retraction additionally comprises an activation feature, and in that said separator is positioned in said activation feature so that said separator allows the engaging said articulation retraction with said articulation system when said activation feature is activated.
[6]
6. Surgical instrument set, according to claim 5, characterized in that said activation feature comprises an access door configured to enable said articulation retraction to be accessed when opened and to prevent said articulation retraction accessed when closed.
[7]
7. Surgical instrument set, according to claim 1, characterized in that said position indication means comprise an indication dial and antagonistic double rack gears configured to rotate said indication dial when said articulation system articulates said end actuator.
[8]
8. Surgical instrument set, according to claim 7, characterized in that said position indication means additionally comprises a drive shaft and pinion gear, said pinion gear and said indication dial they are coupled to said drive shaft, and said double rack gears being configured to move in opposite directions when said end actuator is articulated and rotates said pinion gear.
[9]
9. Surgical instrument set according to claim 1, characterized in that it additionally comprises a staple cartridge comprising a plurality of staples removably stored therein.
[10]
10. Surgical instrument set configured to be connected and disconnected from a surgical robot, characterized by the fact that it comprises: a closing system configured to be actuated by a first linear actuator of the surgical robot; an articulation system configured to be actuated by a second linear actuator of the surgical robot; an axis; an end actuator configured to be closed by means of said closing system and articulated in relation to said drive axis by means of said articulation system; and an articulation retraction comprising: a manually operated actuation member and configured to activate said articulation system; and a hinge position member operatively coupled to said hinge system and configured to indicate the hinge position of said end actuator during the use of said hinge retraction.
[11]
11. Surgical instrument set, according to claim 10, characterized in that said manually operated actuation member comprises a manually actuated ratchet mechanism.
[12]
12. Surgical instrument set according to claim 10, characterized in that said articulation system comprises an articulation link and an articulation actuator, and said articulation position member is operationally coupled to said limb articulation actuator.
[13]
13. Surgical instrument set, according to claim 10, characterized in that it additionally comprises a retraction hitch feature configured to prevent said hinge retraction operationally engaging said hinge system until said hinge retraction is activated, the said actuation member of manually operated retraction being kept in a position in which said articulation retraction is operationally disengaged from said articulation system until said separator is moved in the opposite direction to said manually operated actuation member .
[14]
14. Surgical instrument set according to claim 13, characterized in that said articulation retraction additionally comprises an activating member, and said separator is positioned on said activating member so that said separator enables engagement said articulation retraction with said articulation system when said activation member is activated.
[15]
15. Surgical instrument set, according to claim 14, characterized in that said activation member comprises an access door configured to allow said articulation retraction to be accessed when opened and to prevent said articulation retraction accessed when closed.
[16]
16. Surgical instrument set, according to claim 10, characterized in that said articulation retraction additionally comprises an articulation dial and antagonistic double rack gears configured to rotate said articulation dial when said articulation system articulates said end actuator.
[17]
17. Surgical instrument set, according to claim 16, characterized in that said articulation retraction additionally comprises a drive shaft and pinion gear, said pinion gear and said articulation position member they are coupled to said drive shaft, and said double rack gears being configured to move in opposite directions when said end actuator is articulated and rotates said pinion gear.
[18]
18. Surgical instrument set according to claim 10, characterized in that it additionally comprises a staple cartridge comprising a plurality of staples removably stored therein.
[19]
19. Surgical instrument set, according to claim 10, characterized in that said articulation system comprises an articulation actuator, said surgical instrument set additionally comprising means to indicate the midpoint position of said actuator articulation.
[20]
20. Surgical instrument set configured to be connected and disconnected from a surgical robot, characterized by the fact that it comprises: a drive system that can be actuated in a first direction and in a second direction that is opposite to said first direction, and said system drive is configured to perform an instrument function; an axis; an end actuator; and a drive system retraction comprising: position indicating means for indicating the position of said drive system; and an actuation member configured to act on said drive system in said first direction and in said second direction, the direction in which said drive system retraction is operated based on the position of said drive system indicated by said position indication means.
[21]
21. Surgical instrument set according to claim 20, characterized in that said drive system comprises an articulation drive system configured to articulate said end actuator in relation to said drive shaft.
[22]
22. Surgical instrument set according to claim 21, characterized in that said end actuator is articulable between a non-articulated position and a plurality of articulated positions, and said said surgical instrument set additionally comprises a holder configured to indicate the non-articulated position of said end actuator.
[23]
23. Surgical instrument set, according to claim 20, characterized by the fact that said actuation member comprises a manually actuated ratchet mechanism.
[24]
24. Surgical instrument set, according to claim 20, characterized by the fact that said drive system retraction additionally comprises an activation feature configured to prevent said actuation member from acting on said drive system until the said activation feature is disengaged from said acting member.
[25]
25. Surgical instrument set, according to claim 20, characterized by the fact that said actuation member is configured to be manually actuated.
[26]
26. Surgical instrument set according to claim 20, characterized in that it additionally comprises a staple cartridge comprising a plurality of staples removably stored therein.

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同族专利:

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法律状态:
2021-11-03| B350| Update of information on the portal [chapter 15.35 patent gazette]|

优先权:

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申请号 | 申请日 | 专利标题

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US15/668,319|US20190038283A1|2017-08-03|2017-08-03|Surgical system comprising an articulation bailout|

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US15/668,319|2017-08-03|

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PCT/IB2018/055695|WO2019025951A1|2017-08-03|2018-07-30|Surgical system comprising an articulation bailout|

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