robotic accessory comprising external actuator

专利摘要:
A set of surgical instruments (4000) configured to be operationally fixed and separated from a surgical robot interface is revealed. The surgical instrument set comprises a drive shaft assembly (6000) comprising an end actuator (2100) and a closing drive member configured to move a second jaw (2202) relative to a first jaw (2150) of the end actuator. The surgical instrument set additionally comprises a control set (5000), in which the drive shaft set is operationally coupled to the control set, and in which the control set comprises a compartment (5100, 5200), a control system closing drive configured to actuate the closing drive member and an external closing actuator (10610) outside the compartment and configured to be actuated by a physician to manually rotate a rotary input drive of the closing drive system to move the second claw compared to the first claw, when the surgical instrument set is not operationally attached to the surgical robot interface.
公开号:BR112020012193A2
申请号:R112020012193-2
申请日:2018-12-14
公开日:2020-11-24
发明作者:Frederick E. Shelton Iv；Jason L. Harris；Mark D. Overmyer；Vincenzo Barbato；Robert L. Koch Jr.；Nathan D. Grubbs
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 in this document described, 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 an example of a robotic controller, according to an aspect of the present description;
[004] [004] Figure 2 is a perspective view of an example of a robotic surgical carriage / arm manipulator form of a robotic surgical system that operationally supports a plurality of surgical tools, in accordance with an aspect of the present description;
[005] [005] Figure 3 is a side view of the car / robotic surgical arm manipulator shown in Figure 2, according to an aspect of the present description;
[006] [006] Figure 4 is a rear perspective view of a surgical tool modality, according to an aspect of the present description;
[007] [007] Figure 5 is a perspective view of a distal portion of the surgical tool of Figure 4 in an articulated position with the anvil thereof in an open position;
[008] [008] Figure 6 is an exploded perspective view of the set of a distal portion of the surgical tool of Figures 4 and 5;
[009] [009] Figure 7 is a perspective view in cross section of a portion of an elongated drive shaft assembly of the surgical tool of Figures 4 to 6;
[0010] [0010] Figure 8 is a rear perspective view of a portion of a surgical end actuator and the articulation joint of the surgical tool of Figures 4 to 7;
[0011] [0011] Figure 9 is a top view in cross section of portions of the surgical end actuator and the elongated drive shaft assembly of the surgical tool of Figures 4 to 8;
[0012] [0012] Figure 10 is a top view of portions of an articulation system and the surgical end actuator of the surgical tool of Figures 4 to 9, wherein the surgical end actuator is in an articulated configuration;
[0013] [0013] Figure 11 is another top view of portions of the articulation system and the surgical end actuator of the surgical tool of Figures 4 to 10, in which the surgical end actuator is in a non-articulated configuration;
[0014] [0014] Figure 12 is another top view of portions of the articulation system and the surgical end actuator of the surgical tool of Figures 4 to 11, in which the surgical end actuator is in a non-articulated configuration;
[0015] [0015] Figure 13 is another top view of portions of the articulation system and the surgical end actuator of the surgical tool of Figures 4 to 12, in which the surgical end actuator has been pivoted to the left;
[0016] [0016] Figure 14 is another top view of portions of the articulation system and the surgical end actuator of the surgical tool of Figures 4 to 13, in which the surgical end actuator has been pivoted to the right;
[0017] [0017] Figure 15 is another top view of portions of the articulation system and the surgical end actuator of the surgical tool of Figures 4 to 14, in which the surgical end actuator has been pivoted to the left;
[0018] [0018] Figure 16 is a perspective view of a portion of the elongated drive shaft assembly of the surgical tool of Figures 4 to 15, with the proximal coupler portions thereof in their respective neutral coupling positions;
[0019] [0019] Figure 17 is a side view in cross section of a portion of the drive shaft assembly of Figure 16;
[0020] [0020] Figure 18 is a perspective view of a portion of the proximal end of the surgical tool of Figures 4 to 15;
[0021] [0021] Figure 19 is a side view in cross section of the proximal portion of the surgical tool of Figure 18;
[0022] [0022] Figure 20 is a side elevation view of a proximal end of the elongated drive shaft assembly of Figures 16 and 17 and a spacing lock modality shown in cross section and in a locked position;
[0023] [0023] Figure 21 is an end view in cross section of the elongated drive shaft assembly and the spacing lock of Figure 20 taken along line 21-21 in Figure 20;
[0024] [0024] Figure 22 is an exploded side view of the assembly of a portion of a surgical tool and a controller interface comprising a hand held surgical system;
[0025] [0025] Figure 23 is an exploded perspective view of the set of the surgical tool and the hand surgical system of Figure 22;
[0026] [0026] Figure 24 is a cross-sectional view of a proximal portion of the surgical tool attached to the hand's surgical system.
[0027] [0027] Figure 25 is another cross-sectional view of a portion of the surgical tool and the hand surgical system of Figure 24;
[0028] [0028] Figure 26 is a side elevation view of a proximal end of the elongated drive shaft assembly and Figure 20 spacing lock, with the spacing lock shown in cross section and in an unlocked position;
[0029] [0029] Figure 27 is an end view in cross section of the elongated drive shaft assembly and the spacing lock of Figure 26 taken along line 27-27 in Figure 26;
[0030] [0030] Figure 28 is an exploded perspective view of the assembly of a portion of the surgical tool of Figures 4 to 15 and a second controller interface comprising a tool retainer portion of a robotically controlled system in accordance with an aspect of the present. description;
[0031] [0031] Figure 29 is a cross-sectional view of a portion of the surgical tool of Figure 28 attached to the tool retainer portion of Figure 28;
[0032] [0032] Figure 30 is a perspective view of a surgical instrument set comprising a sterile adapter, a control assembly and a drive shaft assembly;
[0033] [0033] Figure 31 is a bottom perspective view of the surgical instrument set of Figure 30;
[0034] [0034] Figure 32 is a bottom plan view of the sterile adapter of the surgical instrument set of Figure 30, wherein the sterile adapter comprises a plurality of drive inputs;
[0035] [0035] Figure 33 is a partially exploded view of the surgical instrument set of Figure 30;
[0036] [0036] Figure 34 is a perspective view of the sterile adapter and the control set of the surgical instrument set of Figure 30;
[0037] [0037] Figure 35 is a partial cross-sectional view of the control set of the surgical instrument set of Figure 30;
[0038] [0038] Figure 36 is a cross-sectional view of the control set and the sterile adapter of the surgical instrument set of Figure 30;
[0039] [0039] Figure 37 is a perspective view of the control set of the surgical instrument set of Figure 30 with several components removed for the purpose of illustration;
[0040] [0040] Figure 38 is a perspective view of the drive shaft assembly and various components of the control set of the surgical instrument assembly of Figure 30;
[0041] [0041] Figure 39 is a detailed view of the drive shaft assembly and articulation drive components of the control set for the surgical instrument set of Figure 30;
[0042] [0042] Figure 40 is a partially exploded view of the control set and the sterile adapter of the surgical instrument set of Figure 30;
[0043] [0043] Figure 41 is a perspective view in partial cross section of a portion of the drive shaft assembly of the surgical instrument assembly of Figure 30;
[0044] [0044] Figure 42 is a detailed view of the articulation actuators of the control set of the surgical instrument set of Figure 30;
[0045] [0045] Figure 43 is a perspective view of the drive shaft assembly of the surgical instrument set of Figure 30;
[0046] [0046] Figure 44 is a partial perspective view of the drive shaft assembly of the surgical instrument assembly of Figure 30 and various components of a joint drive system from the illustrated control assembly with some components removed for the purpose of illustration ;
[0047] [0047] Figure 45 is a partial plan view of the surgical instrument set of Figure 30 highlighting various components inside the surgical instrument set of Figure 30;
[0048] [0048] Figure 46 is a partial plan view of the surgical instrument set of Figure 30 highlighting various components inside the surgical instrument set of Figure 30;
[0049] [0049] Figure 47 is a perspective view of the drive shaft assembly of the surgical instrument set of Figure 30 illustrated in a non-articulated configuration;
[0050] [0050] Figure 48 is a plan view of the drive shaft assembly of the surgical instrument set of Figure 30 illustrated in a first articulated configuration;
[0051] [0051] Figure 49 is a plan view of the drive shaft assembly of the surgical instrument set of Figure 30 illustrated in a second, non-articulated configuration;
[0052] [0052] Figure 50 is a partial perspective view of the surgical instrument set of Figure 30, illustrated with some components removed for the purpose of illustration;
[0053] [0053] Figure 51 is a detailed view of the drive shaft assembly and articulation drive components of the control set for the surgical instrument set of Figure 30;
[0054] [0054] Figure 52 is a partial perspective view of the surgical instrument set of Figure 30, illustrated with some components removed for purposes of illustration;
[0055] [0055] Figure 53 is a bottom plan view of a closing drive system for the surgical instrument set of Figure 30;
[0056] [0056] Figure 54 is a perspective view of the bottom of the closing drive system of Figure 53;
[0057] [0057] Figure 55 is a partial cross-sectional view of a spiral cam gear and a closing body pin of the closing drive system of Figure 53 illustrated in a completely non-clamped configuration;
[0058] [0058] Figure 56 is a partial cross-sectional view of the spiral cam gear and the closing body pin of the closing drive system of Figure 55 illustrated in a partially secured configuration;
[0059] [0059] Figure 57 is a partial cross-sectional view of the spiral cam gear and the closing body pin of the closing drive system of Figure 55 illustrated in a completely secured configuration;
[0060] [0060] Figure 58 is an elevation view of the closing drive system of Figure 53 illustrated in the completely non-attached configuration of Figure 55;
[0061] [0061] Figure 59 is an elevation view of the closing drive system of Figure 53 illustrated in the completely attached configuration of Figure 57;
[0062] [0062] Figure 60 is a perspective view of a trigger locking system for the surgical instrument set of Figure 30 illustrated in a locked state;
[0063] [0063] Figure 61 is a perspective view of the trigger locking system of Figure 60 illustrated in an unlocked state;
[0064] [0064] Figure 62 is a top view of the trigger locking system of Figure 60 illustrated in the locked state;
[0065] [0065] Figure 63 is a top view of the trigger locking system of Figure 60 illustrated in the unlocked state;
[0066] [0066] Figure 64 is a partial cross-sectional view of the control set, the trigger trigger lock of Figure 60 and the trigger trigger system of the surgical instrument set of Figure 30;
[0067] [0067] Figure 65 is a partial perspective view of a double locking and firing lock system for the surgical instrument set of Figure 30;
[0068] [0068] Figure 66 is an exploded view of the double lock and trigger lock system of Figure 65;
[0069] [0069] Figure 67 is a partial cross-sectional view of the double locking and firing locking system of Figure 65 illustrated in the configuration where a firing rod of the drive shaft assembly is locked;
[0070] [0070] Figure 68 is a partial cross-sectional view of the double locking and firing locking system of Figure 65 illustrated in the configuration where a firing rod of Figure 67 is unlocked;
[0071] [0071] Figure 69 is a partial cross-sectional view of the double locking and firing locking system of Figure 65 illustrated in a configuration where a firing rod of Figure 67 is unlocked and partially advanced and a closing tube of the assembly drive shaft is locked;
[0072] [0072] Figure 70 is a perspective view of the control set and the sterile adapter of the surgical instrument set of Figure 30, wherein the control set comprises a manually operated closing actuator;
[0073] [0073] Figure 71 is a perspective view of the trigger retractor of the surgical instrument set of Figure 30 illustrated with some components removed for the purpose of illustration;
[0074] [0074] Figure 72 is a perspective view of the closing drive system of Figure 53, wherein the closing drive system comprises a closing drive retractor;
[0075] [0075] Figure 73 is an elevation view of the closing drive system of Figure 53, in which the closing drive retractor is illustrated in a partially retracted configuration;
[0076] [0076] Figure 74 is an elevation view of the closing drive system of Figure 53, in which the closing drive retraction is illustrated in a fully retracted configuration;
[0077] [0077] Figure 75 is a partial elevation view of the surgical instrument set of Figure 30, illustrated with some components removed for purposes of illustration;
[0078] [0078] Figure 76 is a cross-sectional view of the surgical instrument set in Figure 30 taken along line 76-76 in Figure 75;
[0079] [0079] Figure 77 is a cross-sectional view of the surgical instrument set of Figure 30, in which the closing drive retractor of Figure 72 is illustrated in a fully retracted configuration;
[0080] [0080] Figure 78 is a plan view of a closing drive system comprising two different drive input arrangements and a spiral cam gear;
[0081] [0081] Figure 79 is a perspective view of the closing drive system of Figure 78;
[0082] [0082] Figure 80 is a plan view of a closing drive system comprising two different drive input arrangements and a spiral cam gear;
[0083] [0083] Figure 81 is a perspective view of the closing drive system of Figure 80;
[0084] [0084] Figure 82 is a graph representing a closing drive system based on cam gear output using dissimilar drive input arrangements;
[0085] [0085] Figure 83 is a graph that represents a relationship between an angle of a cam gear outlet and a difference in the angles of the dissimilar drive input arrangements of Figure 82;
[0086] [0086] Figure 84 is a perspective view of a closing drive system that uses various components of the closing drive system of the surgical instrument set of Figure 30;
[0087] [0087] Figure 85 is a perspective view of the closing drive system of Figure 84; and
[0088] [0088] Figure 86 is a top plan view of the bottom of the closing drive system of Figure 84.
[0089] [0089] Corresponding reference characters indicate corresponding parts through the various views. The exemplifications described in this document illustrate various embodiments of the invention, in one form, and such exemplifications are not to be construed as limiting the scope of the invention in any way. DETAILED DESCRIPTION
[0090] [0090] The applicant for this application holds the following US patent applications that were filed on December 19, 2017, and which are each incorporated herein by reference in their respective totalities:
[0091] [0091] - US patent application serial number 15 / 847,306, entitled METHOD FOR DETERMINING THE POSITION OF A ROTATABLE JAW OF A SURGICAL INSTRUMENT ATTACHMENT ASSEMBLY;
[0092] [0092] - US patent application serial number 15 / 847,297, entitled SURGICAL INSTRUMENTS WITH DUAL ARTICULATION DRIVERS;
[0093] [0093] - US patent application serial number 15 / 847,325, entitled SURGICAL TOOLS CONFIGURED FOR INTERCHANGEABLE USE WITH DIFFERENT CONTROLLER INTERFACES;
[0094] [0094] - US patent application serial number 15 / 847,293, entitled
[0095] [0095] - US industrial design patent application serial number 29 / 630,115, entitled SURGICAL INSTRUMENT ASSEMBLY;
[0096] [0096] The applicant for this application holds the following US patent applications that were filed on December 15, 2017, and which are each incorporated herein by reference in their respective totalities:
[0097] [0097] - patent application serial number US 15 / 843,485, entitled SEALED ADAPTERS FOR USE WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS;
[0098] [0098] - patent application serial number US 15 / 843,518, entitled END EFFECTORS WITH POSITIVE JAW OPENING FEATURES FOR USE WITH ADAPTERS FOR ELECTROMECHANICAL SURGICAL INSTRUMENTS;
[0099] [0099] - US patent application serial number 15 / 843,535, entitled SURGICAL END EFFECTORS WITH ICLAMPING ASSEMBLIES CONFIGURED TO INCREASE JAW APERTURE RANGES;
[00100] [00100] - patent application in serial numbers 15 / 843,558, entitled SURGICAL END EFFECTORS WITH PIVOTAL JAWS CONFIGURED TO TOUCH AT THEIR RESPECTIVE DISTAL ENDS WHEN FULLY CLOSED;
[00101] [00101] - US patent application serial number 15 / 843,528, entitled SURGICAL END EFFECTORS WITH JAW STIFFENER ARRANGEMENTS CONFIGURED TO PERMIT MONITORING OF FIRING MEMBER;
[00102] [00102] - US patent application serial number 15 / 843,567, entitled ADAPTERS WITH END EFFECTOR POSITION SENSING AND CONTROL ARRANGEMENTS FOR USE IN CONNECTION WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS;
[00103] [00103] - US patent application serial number 15 / 843,556, entitled DYNAMIC CLAMPING ASSEMBLIES WITH IMPROVED WEAR CHARACTERISTICS FOR USE IN CONNECTION WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS;
[00104] [00104] - US patent application serial number 15 / 843,514, entitled ADAPTERS WITH FIRING STROKE SENSING ARRANGEMENTS FOR USE IN CONNECTION WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS;
[00105] [00105] - US patent application serial number 15 / 843,501, entitled ADAPTERS WITH CONTROL SYSTEMS FOR CONTROLLING MULTIPLE MOTORS OF AN ELECTROMECHANICAL SURGICAL INSTRUMENT;
[00106] [00106] - US patent application serial number 15 / 843,508, entitled HANDHELD ELECTROMECHANICAL SURGICAL INSTRUMENTS WITH IMPROVED MOTOR CONTROL ARRANGEMENTS FOR POSITIONING COMPONENTS OF AN ADAPTER COUPLED THERETO;
[00107] [00107] - US patent application serial number 15 / 843,682, entitled SYSTEMS AND METHODS OF CONTROLLING A CLAMPING MEMBER FIRING RATE OF A SURGICAL INSTRUMENT;
[00108] [00108] - US patent application serial number 15 / 843,689, entitled
[00109] [00109] - US patent application serial number 15 / 843,704, entitled METHODS OF OPERATING SURGICAL END EFFECTORS.
[00110] [00110] The applicant for this application holds the following US patent applications that were filed on June 29, 2017, and which are each incorporated into this document in their respective totalities:
[00111] [00111] - US patent application serial number 15 / 636,829, entitled CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT;
[00112] [00112] - patent application serial number 15 / 636,837, entitled CLOSED LOOP VELOCITY CONTROL TECHNIQUES BASED ON SENSED TISSUE PARAMETERS FOR ROBOTIC SURGICAL INSTRUMENT;
[00113] [00113] - US patent application serial number 15 / 636,844, entitled CLOSED LOOP VELOCITY CONTROL OF CLOSURE MEMBER FOR ROBOTIC SURGICAL INSTRUMENT;
[00114] [00114] - US patent application serial number 15 / 636,854, entitled ROBOTIC SURGICAL INSTRUMENT WITH CLOSED LOOP FEEDBACK
[00115] [00115] - US patent application serial number 15 / 636,858, entitled SYSTEM FOR CONTROLLING ARTICULATION FORCES.
[00116] [00116] The applicant for this application holds the following US patent applications that were filed on June 28, 2017, and which are each incorporated into this document in their respective totalities:
[00117] [00117] - U.S. patent application serial number 15 / 635,693, entitled SURGICAL INSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT;
[00118] [00118] - US patent application serial number 15 / 635,729, entitled SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO;
[00119] [00119] - US patent application serial number 15 / 635,785, entitled SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO;
[00120] [00120] - U.S. patent application serial number 15 / 635,808, entitled SURGICAL INSTRUMENT COMPRISING FIRING MEMBER SUPPORTS;
[00121] [00121] - U.S. patent application serial number 15 / 635,837, entitled SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME;
[00122] [00122] - U.S. patent application serial number 15 / 635,941, entitled SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE BY A CLOSURE SYSTEM;
[00123] [00123] - U.S. patent application serial number 15 / 636,029, entitled SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSING ARRANGEMENT;
[00124] [00124] - U.S. patent application serial number 15 / 635,958, entitled SURGICAL INSTRUMENT COMPRISING SELECTIVELY ACTUATABLE ROTATABLE COUPLERS;
[00125] [00125] - U.S. patent application serial number 15 / 635,981, entitled SURGICAL STAPLING INSTRUMENTS COMPRISING SHORTENED STAPLE CARTRIDGE NOSES;
[00126] [00126] - U.S. patent application serial number 15 / 636,009, entitled SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURE TUBE PROFILE;
[00127] [00127] - U.S. patent application serial number 15 / 635,663, entitled METHOD FOR ARTICULATING A SURGICAL INSTRUMENT;
[00128] [00128] - U.S. patent application serial number 15 / 635,530, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH AXIALLY SHORTENED ARTICULATION JOINT CONFIGURATIONS;
[00129] [00129] - U.S. patent application serial number 15 / 635,549, 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;
[00130] [00130] - US patent application serial number 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;
[00131] [00131] - US patent application serial number 15 / 635,578, entitled SURGICAL END EFFECTORS WITH IMPROVED JAW APERTURE ARRANGEMENTS;
[00132] [00132] - US patent application serial number 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;
[00133] [00133] - U.S. patent application serial number 15 / 635,612, entitled JAW RETAINER ARRANGEMENT FOR RETAINING A PIVOTABLE SURGICAL INSTRUMENT JAW IN PIVOTABLE RETAINING ENGAGEMENT WITH A SECOND SURGICAL INSTRUMENT JAW;
[00134] [00134] - U.S. patent application serial number 15 / 635,621, entitled SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES;
[00135] [00135] - U.S. patent application serial number 15 / 635,631, entitled SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER;
[00136] [00136] - U.S. patent application serial number 15 / 635,521, entitled SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT;
[00137] [00137] - US industrial design patent application serial number 29 / 609,087, entitled SURGICAL FORMING ANVIL;
[00138] [00138] - U.S. industrial design patent application serial number 29 / 609,083, entitled SURGICAL INSTRUMENT SHAFT; and
[00139] [00139] - US industrial design patent application serial number 29 / 609,093, entitled "SURGICAL FASTENER CARTRIDGE".
[00140] [00140] 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:
[00141] [00141] - U.S. patent application serial number 15 / 634,024, entitled SURGICAL ANVIL MANUFACTURING METHODS;
[00142] [00142] - US patent application serial number 15 / 634,035, entitled SURGICAL ANVIL ARRANGEMENTS;
[00143] [00143] - US patent application serial number 15 / 634,046, entitled SURGICAL ANVIL ARRANGEMENTS;
[00144] [00144] - US patent application serial number 15 / 634,054, entitled SURGICAL ANVIL ARRANGEMENTS;
[00145] [00145] - U.S. patent application serial number 15 / 634,068, entitled SURGICAL FIRING MEMBER ARRANGEMENTS;
[00146] [00146] - US patent application serial number 15 / 634,076, entitled STAPLE FORMING POCKET ARRANGEMENTS;
[00147] [00147] - US patent application serial number 15 / 634,090, entitled STAPLE FORMING POCKET ARRANGEMENTS;
[00148] [00148] - US patent application serial number 15 / 634,099, entitled SURGICAL END EFFECTORS AND ANVILS; and
[00149] [00149] - U.S. patent application serial number 15 / 634,117, entitled ARTICULATION SYSTEMS FOR SURGICAL INSTRUMENTS.
[00150] [00150] 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 totals:
[00151] [00151] - US patent application serial number 15 / 386,185, entitled SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL THEREOF ASSEMBLIES;
[00152] [00152] - US patent application serial number 15 / 386,230, entitled ARTICULATABLE SURGICAL STAPLING INSTRUMENTS;
[00153] [00153] - US patent application serial number 15 / 386,221, entitled LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS;
[00154] [00154] - US patent application serial number 15 / 386,209, entitled SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF;
[00155] [00155] - US patent application serial number 15 / 386,198, entitled LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES;
[00156] [00156] - US patent application serial number 15 / 386,240, entitled SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR;
[00157] [00157] - US patent application serial number 15 / 385,939, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN;
[00158] [00158] - 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;
[00159] [00159] - US patent application serial number 15 / 385,943, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS;
[00160] [00160] - US patent application serial number 15 / 385,950, entitled SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES;
[00161] [00161] - US patent application serial number 15 / 385,945, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN;
[00162] [00162] - US patent application serial number 15 / 385,946, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS;
[00163] [00163] - US patent application serial number 15 / 385,951, entitled SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE;
[00164] [00164] - US patent application serial number 15 / 385,953, entitled METHODS OF STAPLING TISSUE;
[00165] [00165] - US patent application serial number 15 / 385,954, entitled FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS;
[00166] [00166] - US patent application serial number 15 / 385,955, entitled SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS;
[00167] [00167] - US patent application serial number 15 / 385,948, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS;
[00168] [00168] - US patent application serial number 15 / 385,956, entitled SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES;
[00169] [00169] - 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;
[00170] [00170] - US patent application serial number 15 / 385,947, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN.
[00171] [00171] - US patent application serial number 15 / 385,896, entitled METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT;
[00172] [00172] - US patent application serial number 15 / 385,898, entitled STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES;
[00173] [00173] - US patent application serial number 15 / 385,899, entitled SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL;
[00174] [00174] - US patent application serial number 15 / 385,901, entitled STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN;
[00175] [00175] - US patent application serial number 15 / 385,902, entitled SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER;
[00176] [00176] - US patent application serial number 15 / 385,904, entitled STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND / OR SPENT CARTRIDGE LOCKOUT;
[00177] [00177] - US patent application serial number 15 / 385,905, entitled FIRING ASSEMBLY COMPRISING A LOCKOUT;
[00178] [00178] - US patent application serial number 15 / 385,907, entitled SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT;
[00179] [00179] - US patent application serial number 15 / 385,908, entitled FIRING ASSEMBLY COMPRISING A FUSE;
[00180] [00180] - US patent application serial number 15 / 385,909, entitled FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE;
[00181] [00181] - US patent application serial number 15 / 385,920, entitled STAPLE FORMING POCKET ARRANGEMENTS;
[00182] [00182] - US patent application serial number 15 / 385,913, entitled ANVIL ARRANGEMENTS FOR SURGICAL STAPLE / FASTENERS;
[00183] [00183] - 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;
[00184] [00184] - US patent application serial number 15 / 385,893, entitled BILATERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS;
[00185] [00185] - 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;
[00186] [00186] - US patent application serial number 15 / 385,911, entitled SURGICAL STAPLE / FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS;
[00187] [00187] - US patent application serial number 15 / 385,927, entitled SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES;
[00188] [00188] - US patent application serial number 15 / 385,917, entitled STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS;
[00189] [00189] - US patent application serial number 15 / 385,900, entitled STAPLE FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS;
[00190] [00190] - US patent application serial number 15 / 385,931, entitled NO- CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLERS / FASTENERS;
[00191] [00191] - US patent application serial number 15 / 385,915, entitled FIRING MEMBER PIN ANGLE;
[00192] [00192] - US patent application serial number 15 / 385,897, entitled STAPLE FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES;
[00193] [00193] - US patent application serial number 15 / 385,922, entitled SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES;
[00194] [00194] - US patent application serial number 15 / 385,924, entitled SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS;
[00195] [00195] - 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;
[00196] [00196] - US patent application serial number 15 / 385,910, entitled ANVIL HAVING A KNIFE SLOT WIDTH;
[00197] [00197] - US patent application serial number 15 / 385,906, entitled FIRING MEMBER PIN CONFIGURATIONS;
[00198] [00198] - US patent application serial number 15 / 386,188, entitled STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES;
[00199] [00199] - US patent application serial number 15 / 386,192, entitled STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES;
[00200] [00200] - US patent application serial number 15 / 386,206, entitled STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES;
[00201] [00201] - US patent application serial number 15 / 386,226, entitled DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS;
[00202] [00202] - US patent application serial number 15 / 386,222, entitled SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES;
[00203] [00203] - US patent application serial number 15 / 386,236, entitled CONNECTION PORTIONS FOR DISPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS;
[00204] [00204] - US patent application serial number 15 / 385,887, entitled METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT;
[00205] [00205] - US patent application serial number 15 / 385,889, entitled "SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM ";
[00206] [00206] - US patent application serial number 15 / 385,890, entitled SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS;
[00207] [00207] - 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;
[00208] [00208] - 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;
[00209] [00209] - US patent application serial number 15 / 385,894, entitled SHAFT ASSEMBLY COMPRISING A LOCKOUT;
[00210] [00210] - US patent application serial number 15 / 385,895, entitled SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS;
[00211] [00211] - US patent application serial number 15 / 385,916, entitled SURGICAL STAPLING SYSTEMS;
[00212] [00212] - US patent application serial number 15 / 385,918, entitled SURGICAL STAPLING SYSTEMS;
[00213] [00213] - US patent application serial number 15 / 385,919, entitled SURGICAL STAPLING SYSTEMS;
[00214] [00214] - US patent application serial number 15 / 385,921, entitled SURGICAL STAPLE / FASTENER CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES;
[00215] [00215] - U.S. patent application serial number 15 / 385,923, entitled SURGICAL STAPLING SYSTEMS;
[00216] [00216] - 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;
[00217] [00217] - US patent application serial number 15 / 385,926, entitled AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS;
[00218] [00218] - 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;
[00219] [00219] - US patent application serial number 15 / 385,930, entitled SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS;
[00220] [00220] - US patent application serial number 15 / 385,932, entitled ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT;
[00221] [00221] - US patent application serial number 15 / 385,933, entitled ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK;
[00222] [00222] - 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;
[00223] [00223] - US patent application serial number 15 / 385,935, entitled LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS
[00224] [00224] - US patent application serial number 15 / 385,936, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES.
[00225] [00225] The applicant for this application holds the following US patent applications that were filed on June 24, 2016, and which are each incorporated into this document by reference in their respective totals:
[00226] [00226] - US patent application serial number 15 / 191,775, entitled STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES;
[00227] [00227] - US patent application serial number 15 / 191.807, entitled STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES;
[00228] [00228] - US patent application serial number 15 / 191,834, entitled "STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME";
[00229] [00229] - US patent application serial number 15 / 191,788, entitled STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES; and
[00230] [00230] - US patent application serial number 15 / 191,818, entitled STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS.
[00231] [00231] 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 totals:
[00232] [00232] - US industrial design patent application serial number
[00233] [00233] - US industrial design patent application serial number 29 / 569,227, entitled SURGICAL FASTENER;
[00234] [00234] - US industrial design patent application serial number 29 / 569,259, entitled "SURGICAL FASTENER CARTRIDGE"; and
[00235] [00235] - US industrial design patent application serial number 29 / 569,264, entitled "SURGICAL FASTENER CARTRIDGE".
[00236] [00236] The applicant for this application holds the following patent applications that were filed on April 1, 2016 and which are each incorporated into this document by reference in their respective totalities:
[00237] [00237] - US patent application serial number 15 / 089,325, entitled
[00238] [00238] - US patent application serial number 15 / 089,321, entitled "MODULAR SURGICAL INSTRUMENT SYSTEM", now, publication of US patent application No. 2017/0281163;
[00239] [00239] - US patent application serial number 15 / 089,326, entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT", now, publication of patent application No. 2017/0281172;
[00240] [00240] - US patent application serial number 15 / 089,263, entitled "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES", now, publication of US patent application No. 2017/0281165;
[00241] [00241] - US patent application serial number 15 / 089,262, entitled "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS", now, publication of US patent application No. 2017/0281161;
[00242] [00242] - US patent application serial number 15 / 089,277, entitled
[00243] [00243] - US patent application serial number 15 / 089,296, entitled INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A
[00244] [00244] - US patent application serial number 15 / 089,258, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE", now, publication of US patent application No. 2017/0281178;
[00245] [00245] - US patent application serial number 15 / 089,278, entitled
[00246] [00246] - US patent application serial number 15 / 089,284, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE", now, publication of US patent application No. 2017/0281186;
[00247] [00247] - US patent application serial number 15 / 089,295, entitled
[00248] [00248] - patent application serial number US 15 / 089,300, entitled
[00249] [00249] - US patent application serial number 15 / 089,196, entitled
[00250] [00250] - US patent application serial number 15 / 089,203, entitled
[00251] [00251] - US patent application serial number 15 / 089,210, entitled
[00252] [00252] - US patent application serial number 15 / 089,324, entitled "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT", now, publication of US patent application No. 2017/0281170;
[00253] [00253] - US patent application serial number 15 / 089,335, entitled
[00254] [00254] - US patent application serial number 15 / 089,339, entitled "POWERED SURGICAL STAPLER", now, publication of US patent application No. 2017/0281173;
[00255] [00255] - US patent application serial number 15 / 089,253, entitled "SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR
[00256] [00256] - US patent application serial number 15 / 089,304, entitled
[00257] [00257] - US patent application serial number 15 / 089,331, entitled "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE", now, publication of US patent application No. 2017/0281180;
[00258] [00258] - US patent application serial number 15 / 089,336, entitled POWERED LINEAR SURGICAL STAPLE / FASTENER, now, publication of US patent application No. 2017/0281164;
[00259] [00259] - US patent application serial number 15 / 089,312, entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION", now, publication of US patent application No. 2017/0281189;
[00260] [00260] - patent application serial number US 15 / 089,309, entitled
[00261] [00261] - US patent application serial number 15 / 089,349, entitled "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION", now, publication of US patent application No. 2017/0281174.
[00262] [00262] The applicant for this application also holds the US patent applications identified below, which were filed on December 30, 2015, which are each included in this document for reference in their respective totalities:
[00263] [00263] - US patent application serial number 14 / 984,488, entitled "USE
[00264] [00264] - US patent application serial number 14 / 984,525, entitled
[00265] [00265] - US patent application serial number 14 / 984,552, entitled
[00266] [00266] The applicant for this application also holds the US patent applications identified below, which were filed on February 9, 2016, which are each incorporated into this document by reference in their respective totalities:
[00267] [00267] - US patent application serial number 15 / 019.220, entitled
[00268] [00268] - US patent application serial number 15 / 019,228, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", now, publication of US patent application No. 2017/0224342;
[00269] [00269] - US patent application serial number 15 / 019,196, entitled "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES", now, publication of US patent application No. 2017/0224330;
[00270] [00270] - US patent application serial number 15 / 019.206, entitled "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS
[00271] [00271] - US patent application serial number 15 / 019,215, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", now, publication of US patent application No. 2017/0224332;
[00272] [00272] - patent application serial number US 15 / 019.227, entitled SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING
[00273] [00273] - US patent application serial number 15 / 019,235, entitled
[00274] [00274] - US patent application serial number 15 / 019,230, entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS", now, publication of US patent application No. 2017/0224335; and
[00275] [00275] - US patent application serial number 15 / 019.245, entitled "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE", now, publication of US patent application No. 2017/0224343;
[00276] [00276] The applicant for this application also holds the US patent applications identified below, which were filed on February 12, 2016, which are each incorporated into this document by reference in their respective totalities:
[00277] [00277] - US patent application serial number 15 / 043,254, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS;
[00278] [00278] - US patent application serial number 15 / 043,259, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS;
[00279] [00279] - U.S. patent application serial number 15 / 043,275, entitled
[00280] [00280] - US patent application serial number 15 / 043,289, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS".
[00281] [00281] 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:
[00282] [00282] - patent application serial number US 14 / 742,925, entitled
[00283] [00283] - US patent application serial number 14 / 742,941, entitled
[00284] [00284] - US patent application serial number 14 / 742,914, entitled
[00285] [00285] - US patent application serial number 14 / 742,900, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE
[00286] [00286] - US patent application serial number 14 / 742,885, entitled DUAL
[00287] [00287] - US patent application serial number 14 / 742,876, entitled PUSH / PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now publication of US patent application No. 2016/0367245.
[00288] [00288] The applicant for the present 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:
[00289] [00289] - US patent application serial number 14 / 640,746, entitled SURGICAL STAPLING INSTRUMENT SYSTEM, now US patent No.
[00290] [00290] - US patent application serial number 14 / 640,795, entitled
[00291] [00291] - US patent application serial number 14 / 640,832, entitled
[00292] [00292] - 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;
[00293] [00293] - US patent application serial number 14 / 640,831, entitled
[00294] [00294] - US patent application serial number 14 / 640,859, entitled
[00295] [00295] - US patent application serial number 14 / 640,817, entitled
[00296] [00296] - US patent application serial number 14 / 640,844, entitled CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED
[00297] [00297] - US patent application serial number 14 / 640,837, entitled SMART SENSORS WITH LOCAL SIGNAL PROCESSING, now, publication of US patent application No. 2016/0256163;
[00298] [00298] - US patent application serial number 14 / 640,765, entitled SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER, now publication of US patent application No. 2016/0256160;
[00299] [00299] - US patent application No. 14 / 640,799, entitled SIGNAL
[00300] [00300] - US patent application serial number 14 / 640,780, entitled
[00301] [00301] The applicant for this application holds the following patent applications that were filed on February 27, 2015 and which are each incorporated into this document by reference in their respective totalities:
[00302] [00302] - patent application serial number US 14 / 633,576, entitled
[00303] [00303] - US patent application serial number 14 / 633,546, entitled "SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A
[00304] [00304] - patent application serial number US 14 / 633,560, entitled SURGICAL CHARGING SYSTEM THAT CHARGES AND / OR CONDITIONS ONE OR MORE BATTERIES, now publication of US patent application No. 2016/0249910;
[00305] [00305] - US patent application serial number 14 / 633,566, entitled
[00306] [00306] - US patent application serial number 14 / 633,555, entitled
[00307] [00307] - US patent serial number 14 / 633,542, entitled REINFORCED BATTERY FOR A SURGICAL INSTRUMENT, now publication of US patent application No. 2016/0249908;
[00308] [00308] - US patent application serial number 14 / 633,548, entitled POWER ADAPTER FOR A SURGICAL INSTRUMENT, now publication of US patent application No. 2016/0249909;
[00309] [00309] - US patent application serial number 14 / 633,526, entitled ADAPTABLE SURGICAL INSTRUMENT HANDLE, now publication of US patent application No. 2016/0249945;
[00310] [00310] - US patent application serial number 14 / 633,541, entitled MODULAR STAPLING ASSEMBLY, now publication of US patent application No. 2016/0249927; and
[00311] [00311] - US patent application serial number 14 / 633,562, entitled SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF- LIFE PARAMETER, now publication of US patent application No.
[00312] [00312] 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:
[00313] [00313] - US patent application serial number 14 / 574,478, entitled SURGICAL INSTRUMENT SYSTEMS COMPRISING AN
[00314] [00314] - US patent application serial number 14 / 574,483, entitled
[00315] [00315] - US patent application serial number 14 / 575,139, entitled
[00316] [00316] - US patent application serial number 14 / 575,148, entitled
[00317] [00317] - US patent application serial number 14 / 575,130, entitled
[00318] [00318] - US patent application serial number 14 / 575,143, entitled
[00319] [00319] - US patent application serial number 14 / 575,117, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END
[00320] [00320] - US patent application serial number 14 / 575,154, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END
[00321] [00321] - US patent application 14 / 574,493, entitled SURGICAL
[00322] [00322] - US patent application serial number 14 / 574,500, entitled
[00323] [00323] The applicant for this application holds the following patent applications that were filed on March 1, 2013 and which are each incorporated into this document by reference in their respective totalities:
[00324] [00324] - US patent application serial number 13 / 782,295, entitled Articulatable Surgical Instruments With Conductive Pathways For Signal Communication, now US patent No. 9,700,309;
[00325] [00325] - US patent application serial number 13 / 782,323, entitled Rotary Powered Articulation Joints For Surgical Instruments, now US patent No. 9,782,169;
[00326] [00326] - US patent application serial number 13 / 782,338, entitled "Thumbwheel Switch Arrangements For Surgical Instruments", now publication of US patent application No. 2014/0249557;
[00327] [00327] - US patent application serial number 13 / 782,499, entitled Electromechanical Surgical Device with Signal Relay Arrangement, now US patent No. 9,358,003;
[00328] [00328] - US patent application serial number 13 / 782,460, entitled Multiple Processor Motor Control for Modular Surgical Instruments, now US patent No. 9,554,794;
[00329] [00329] - US patent application serial number 13 / 782,358, entitled Joystick Switch Assemblies For Surgical Instruments, now US patent No.
[00330] [00330] - US patent application serial number 13 / 782,481, entitled Sensor Straightened End Effector During Removal Through Trocar, now US patent No. 9,468,438;
[00331] [00331] - US patent application serial number 13 / 782,518, entitled "Control Methods for Surgical Instruments with Removable Implement Portions", now publication of US patent application No. 2014/0246475;
[00332] [00332] - US patent application serial number 13 / 782,375, entitled Rotary Powered Surgical Instruments With Multiple Degrees of Freedom, now US patent No. 9,398,911; and
[00333] [00333] - US patent application serial number 13 / 782,536, entitled Surgical Instrument Soft Stop, now US patent No. 9,307,986.
[00334] [00334] The applicant for this application also holds the following patent applications that were filed on March 14, 2013 and which are each incorporated into this document by reference in their respective totalities:
[00335] [00335] - US patent application serial number 13 / 803,097, entitled
[00336] [00336] - US patent application serial number 13 / 803,193, entitled
[00337] [00337] - US patent application serial number 13 / 803,053, entitled "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT", now, publication of US patent application No. 2014/0263564;
[00338] [00338] - US patent application serial number 13 / 803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", now publication of US patent application No. 2014/0263541;
[00339] [00339] - US patent application serial number 13 / 803,210, entitled
[00340] [00340] - US patent application serial number 13 / 803,148, entitled "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT", now publication of US patent application No. 2014/0263554;
[00341] [00341] - US patent application 13 / 803,066, entitled DRIVE TRAIN
[00342] [00342] - US patent application serial number 13 / 803,117, entitled ROBOTICALLY-CONTROLLED CABLE-BASED SURGICAL END EFFECTORS, now US patent No. 9,351,726;
[00343] [00343] - US patent application 13 / 803,130, entitled DRIVE TRAIN
[00344] [00344] - US patent application serial number 13 / 803,159, entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT", now publication of US patent application No. 2014/0277017.
[00345] [00345] The applicant for this application also holds the following patent application that was filed on March 7, 2014 and is incorporated in this document by reference in its entirety:
[00346] [00346] - US patent application serial number 14 / 200,111, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now US patent No. 9,629,629.
[00347] [00347] The applicant for this application also holds the following patent applications that were filed on March 26, 2014 and which are each incorporated into this document by reference in their respective totalities:
[00348] [00348] - US patent application serial number 14 / 226,106, entitled "POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", now publication of US patent application No. 2015/0272582;
[00349] [00349] - US patent application serial number 14 / 226,099, entitled SURGICAL STAPLING INSTRUMENT SYSTEM, now US patent No.
[00350] [00350] - US patent application serial number 14 / 226,094, entitled
[00351] [00351] - US patent application serial number 14 / 226,117, entitled "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL", now publication of US patent application No. 2015/0272574;
[00352] [00352] - US patent application serial number 14 / 226,075, entitled
[00353] [00353] - US patent application serial number 14 / 226,093, entitled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS", now publication of US patent application No. 2015/0272569;
[00354] [00354] - US patent application serial number 14 / 226,116, entitled
[00355] [00355] - US patent application serial number 14 / 226,071, entitled
[00356] [00356] - US patent application serial number 14 / 226,097, entitled SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now US patent No. 9,820,738;
[00357] [00357] - US patent application serial number 14 / 226,126, entitled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS", now publication of US patent application No. 2015/0272572;
[00358] [00358] - US patent application serial number 14 / 226,133, entitled "MODULAR SURGICAL INSTRUMENT SYSTEM", now publication of US patent application No. 2015/0272557;
[00359] [00359] - US patent application serial number 14 / 226,081, entitled
[00360] [00360] - US patent application serial number 14 / 226,076, entitled
[00361] [00361] - US patent application serial number 14 / 226,111, entitled SURGICAL STAPLING INSTRUMENT SYSTEM, now US patent No.
[00362] [00362] - US patent application serial number 14 / 226.125, entitled "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT", now, publication of US patent application No. 2015/0280384.
[00363] [00363] The applicant for this application also holds the following patent applications that were filed on September 5, 2014 and which are each incorporated into this document by reference in their respective totalities:
[00364] [00364] - US patent application serial number 14 / 479,103, entitled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE", now, publication of US patent application No. 2016/0066912;
[00365] [00365] - US patent application serial number 14 / 479,119, entitled
[00366] [00366] - US patent application serial number 14 / 478,908, entitled
[00367] [00367] - US patent application serial number 14 / 478,895, entitled "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION", now, publication of US patent application No. 9,757,128;
[00368] [00368] - US patent application serial number 14 / 479,110, entitled
[00369] [00369] - US patent application serial number 14 / 479,098, entitled "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION", now, publication of US patent application No. 2016/0066911;
[00370] [00370] - US patent application serial number 14 / 479,115, entitled MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE, now US patent No. 9,788,836; and
[00371] [00371] - US patent application serial number 14 / 479,108, entitled "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION", now, publication of US patent application No. 2016/0066913.
[00372] [00372] The applicant for this application also holds the following patent applications that were filed on April 9, 2014 and which are each incorporated in this document for reference in their respective totalities:
[00373] [00373] - US patent application serial number 14 / 248,590, entitled
[00374] [00374] - US patent application serial number 14 / 248,581, entitled SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A
[00375] [00375] - US patent application serial number 14 / 248,595, entitled
[00376] [00376] - US patent application serial number 14 / 248,588, entitled POWERED LINEAR SURGICAL STAPLE / FASTENER, now publication of US patent application No. 2014/0309666;
[00377] [00377] - US patent application serial number 14 / 248,591, entitled TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT, now publication of US patent application No. 2014/0305991;
[00378] [00378] - US patent application serial number 14 / 248,584, entitled MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH
[00379] [00379] - US patent application serial number 14 / 248,587, entitled POWERED LINEAR SURGICAL STAPLER / FASTENER, now publication of US patent application No. 2014/0309665;
[00380] [00380] - US patent application serial number 14 / 248,586, entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT", now publication of patent application No. 2014/0305990;
[00381] [00381] - US patent application serial number 14 / 248,607, entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS", now, publication of US patent application No. 9,814,460.
[00382] [00382] The applicant for this application also holds the following patent applications that were filed on April 16, 2013 and which are each incorporated in this document for reference in their respective totalities:
[00383] [00383] - US provisional patent application serial number 61 / 812,365, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR";
[00384] [00384] - US provisional patent application serial number 61 / 812,376, entitled "LINEAR CUTTER WITH POWER";
[00385] [00385] - US provisional patent application serial number 61 / 812,382, entitled "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP";
[00386] [00386] - US provisional patent application serial number 61 / 812,385, entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL"; and
[00387] [00387] - US provisional patent application serial number 61 / 812,372, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR".
[00388] [00388] 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,
[00389] [00389] 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.
[00390] [00390] The terms "proximal" and "distal" are used in the present invention with reference to a physician who handles the handle portion of a 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.
[00391] [00391] 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 described in the present invention can be used in a number of surgical procedures and applications, including, for example, in relation to open surgical procedures. As this Detailed Description advances, the reader will also understand that the various instruments described in this document 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.
[00392] [00392] 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.
[00393] [00393] 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, in which the staples are 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.
[00394] [00394] 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.
[00395] [00395] 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 distally advanced, 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.
[00396] [00396] The modalities described in this document can be used with the modalities described in the following patent applications: US patent application serial number 15 / 636.829, entitled CLOSED LOOP
[00397] [00397] Various modalities described in the present invention can be used in connection with a robotic system 1000 of the type shown in Figures 1 to 3, for example. Figure 1 represents a version of a robotic master controller 1001 that can be used in connection with a robotic arm servo 1100 of the type shown in Figure 2. Master controller 1001 and robotic arm servo 1100, as well as their respective components and control systems, are collectively referred to in the present invention as robotic system 1000. Examples of such systems and devices are described in US Patent No. 7,524,320, entitled
[00398] [00398] As can be seen in Figure 2, in a form, the robotic arm carriage 1100 can be configured to act on one or more pluralities of surgical tools, generically designated as
[00399] [00399] In one aspect, a surgical tool generically designated as 2000 is configured to be selectively employed interchangeably with a first controller interface 3000 (Figures 22 to 25) and a second controller interface 3500 (Figures 28 and 29), for example. In the example illustrated in Figures 4 to 14, a tool retainer shape comprises a surgical end actuator 2100 that is configured to cut and staple or secure the tissue. The surgical end actuator 2100 comprises a first "cartridge" jaw 2110 and a second "anvil" jaw
[00400] [00400] As can be seen in Figures 6 and 8, in one aspect, anvil 2202 is pivotally supported on structure 2112 for selective pivoting displacement in relation to it. In one arrangement, for example, anvil 2202 comprises an anvil body 2204 and an anvil assembly portion 2210. See Figure
[00401] [00401] With reference to Figure 6, according to an example, the drive shaft assembly 2300 of the surgical tool 2000 comprises an external closing tube which, in at least one form, comprises an external cabinet 2410 that has a portion of coupler 2412 attached to it. In one arrangement, for example, the coupler portion 2412 can be welded to the outer cabinet 2410 or attached to it via a suitable adhesive, for example. The drive shaft assembly 2300 additionally comprises a distal housing 2420 which is pivotally connected to the coupler portion 2412 by two connector plates 2430 positioned on opposite sides of the hinge joint 2350. The distal housing 2420 is movable distally to engage the anvil 2202 and move the anvil 2202 towards the staple cartridge 2150. Each connector plate 2430 is connected to the coupler portion 2412 on a pivot 2414 and, similarly, to the distal cabinet 2420 on a pivot 2422. Similar to the above, connector plates 2430 allow the coupler portion 2412 and the distal housing 2420 to slide in relation to the hinge joint 2350 when the surgical end actuator 2100 is in an articulated position where, as a result, anvil 2202 can be opened and closed while the surgical end actuator 2100 is in an articulated position. In addition to the above, the distal enclosure 2420 comprises the distal claw opening feature 2424 and a proximal claw opening feature 2426 which serve to apply claw opening movements to the anvil mounting portion 2210 when the distal enclosure 2420 is retracted in a proximal direction PD. When the distal enclosure 2420 is driven in a distal DD direction, it is configured to contact cam movement with a corresponding portion of the anvil mounting portion 2210 to transfer a closing motion to the anvil
[00402] [00402] In the illustrated arrangement, the surgical end actuator 2100 is pivotally mounted on a 2320 tool frame assembly around a fixed pivot 2550 of the articulation joint
[00403] [00403] Referring again to Figure 6, the surgical tool 2000 further comprises a hinge system 2500 including a first right hinge driver 2510 and a second left hinge driver 2530 that extend through an internal opening 2415 defined within the tube proximal locking or external cabinet 2410 of the drive shaft assembly 2300. The hinge system 2500 additionally comprises a first hinge link or right hinge link 2520 that is rotationally coupled to a distal end of the right hinge driver 2510 in a first fixation location 2525 around a proximal right pin 2522. The articulation system 2500 also comprises a second articulation link or left articulation link 2540 that is rotationally coupled to one end of the left articulation driver 2530 in a second fixation location 2545 around a proximal left pin 2542. Returning to Figure 12, in at least one arrangement, for example, the proximal right pin 2522 is displaced laterally from the longitudinal geometric axis LA at a first lateral distance XR and the proximal left pin 2542 is displaced laterally from the axis longitudinal geometric LA at a second lateral distance XL.
[00404] [00404] Again with reference to Figure 9, the right distal pin 2130 and the left distal pin 2132 are displaced longitudinally in relation to the geometric axis of pivot PA which can create longitudinal, or axial (ATA) torsion arms. In several cases, the ATA twist arms are between 0.0500 inch and 0.1500 inch, for example. In many cases, the ATA twist arms are between 0.0750 inches and 0.1250 inches, for example. In several cases, the ATA twist arms are about 0.0917 inches, for example. For example, the ATA twist arms are about 0.0917 inches, for example. Other torsion arms are provided and can be used. In addition, the right distal pin 2130 can be moved laterally from the central longitudinal axis LA a right lateral distance X1 and the left distal pin 2132 can be moved laterally from the central longitudinal axis LA a left lateral distance X2. In the illustrated arrangement, for example, X1> X2. In several cases, X1 is between 0.1000 inches and 0.2000 inches, for example. In several cases, X1 is between 0.1250 inches and 0.1750 inches, for example. In several cases, X1 is about 0.1455 inches, for example. For example, X1 is 0.1455 inches, for example. In several cases, X2 is between 0.0500 inch and 0.1500 inch, for example. In several cases, X2 is between 0.0750 inches and 0.1250 inches, for example. In several cases, X2 is about 0.1137 inch, for example. For example, X2 is 0.1137 inch, for example. Other lateral distances X1, X2 are designed and can be used.
[00405] [00405] The asymmetry of this design can serve several purposes. For example, the asymmetric design can create a more stable configuration when the pivot links are oriented over each other. The effects of gravity create a need for greater stability on the top of the end actuator, suggesting that an imbalance of forces needs to be applied to the articulation links. Second, the asymmetric design also creates a control algorithm with asymmetric properties. This creates a set of force ratios between the two articulation links that is unique at each point, in the sense that the force ratio between the two articulation links will always be different. This design can help diagnose problems and debugging issues between the interaction of the two articulation links because it is known that the strength ratio profile is unique at each point.
[00406] [00406] With reference to Figures 12 to 14, examples are shown of how the movements of the articulation arms 2510, 2530 cause the surgical end actuator 2100 to articulate, according to some aspects. In Figure 12, the surgical end actuator 2100 is in a neutral or straight position in relation to the hinge actuators 2510, 2530 as well as the longitudinal geometric axis LA. This arrangement can, for example, facilitate the insertion of the surgical tool 2000 through a trocar cannula or similar arrangement. In Figure 13, the left articulation driver 2530 is moved distally (distal direction DD), while simultaneously the right articulation driver 2510 is moved proximally (proximal direction PD). Since the hinges (links 2520, 2540) of the articulation actuators 2510, 2530 that connect to the cartridge claw 2110 of the surgical end actuator 2100 are positioned on opposite sides of the fixed articulation pivot 2550, these described movements cause the actuator surgical end cap 2100 hinges counterclockwise in the L direction as shown. Similarly, as the right pivot link 2520 connecting the right pivot driver 2510 is connected to the left of fixed pivot 2550, the movement of the right pivot driver 2510 in a proximal direction PD is consistent with the cause of an anti-movement -schedule. On the other hand, as shown in Figure 14, the inverse movements of the articulation actuators 2510, 2530 cause the surgical end actuator 2100 to move in the opposite direction, that is, clockwise, in the R direction. of the right articulation actuator 2510 in the distal direction DD, and any simultaneous movement of the left articulation actuator 2530 in the proximal direction PD, creates a clockwise movement of the surgical end actuator 2100 around the fixed pivot 2550.
[00407] [00407] As can be seen in Figure 12, the center of the right proximal pin 2522 is on the non-articulated geometric axis UAR when the surgical end actuator 2100 is in the non-articulated position and the left and right articulation drivers 2510, 2530 are in their respective neutral positions. Similarly, the center of the proximal left pin 2542 rests on a UAL non-articulated geometric axis. In the illustrated arrangement, the UAR non-articulated geometric axis is slightly proximal to the non-articulated UAL geometric axis when the surgical end actuator 2100 is in the non-articulated position. In other words, the RAU is axially displaced in relation to the UAL. In yet another way, when the first hinge driver 2510 is in the first neutral position (Figure 12), and the second hinge driver 2530 is in a second neutral position (Figure 12), the first link 2525 attachment location is axially displaced from the second attachment location of link 2545.
[00408] [00408] As indicated above, Figure 12 illustrates the neutral positions 2527, 2547 of the first and second articulation actuators 2510, 2530, respectively. When in this position, the surgical end actuator 2100 is axially aligned with the longitudinal geometric axis LA or put another way, the surgical end actuator 2100 is in a non-articulated position. Returning to Figure 13, to make the surgical end actuator 2100 rotate or articulate in a counterclockwise direction (arrow L), the left articulation actuator 2530 is moved axially a second distal articulation stroke LS1 (measured from the second neutral position 2547 to a second distal position 2560) and the right hinge driver 2510 is axially moved a first length of proximal articulation stroke RS1 (measured from the first neutral position 2527, to a first proximal position 2562). The movement of the right articulation driver 2510 through the first length of proximal articulation stroke RS1 can occur simultaneously with the movement of the left articulation driver 2530 through the second length of distal articulation stroke. In the illustrated example, LS1> RS1. In use, the surgical end actuator 2100 is rotatable around the joint joint 2350 between a fully articulated left position (Figure 13), indicated by the αL angle, and a fully articulated left position (Figure 14), indicated by the αR angle - and / or any suitable position between them.
[00409] [00409] In some respects, causing the surgical end actuator 2100 to act involves applying forces to both articulation links 2520, 2540 in an antagonistic relationship. For example, each source of articulation movements (eg motor) that interfaces operationally with the right and left articulation actuators 2510, 2530 can exert traction / thrust forces on both articulation links at the same time. The ratio of the amount of pulling force (or thrust) between the two pivot links can determine the angle at which the 2100 surgical end actuator is pivoted. Referring to Figure 10, another example of how forces can be applied to the two articulation links 2520, 2540 is shown to cause the surgical end actuator to articulate 30 ° from the center line of the longitudinal geometric axis LA, according to with some aspects. In the present document, a motor or other source of articulation movement that is coupled to the right articulation actuator 2510 can apply an actuation force that is greater than the actuation force being applied to the left articulation actuator 2530 by a second motor or another second source of joint movement. The difference in forces may not be as substantial as necessary, for example, to articulate the surgical end actuator 2100 through its maximum left articulation angle α L. As an example, the exact ratio of forces between the two articulation arms can be determined, for example, by a control algorithm graph such as those described in US patent application serial number 15 / 636,858, entitled SYSTEM FOR CONTROLLING ARTICULATION FORCES, the description of which is hereby incorporated by reference, in its entirety. For example, Figure 15 illustrates the surgical end actuator 2100 in a left pivot position where the left pivot angle α L is approximately sixty degrees (60 °). From the hinge position in the illustration in Figure 15, the change in forces applied to the two hinge actuators 2510, 2530 results in an effective FE force applied to the surgical end actuator in Figure 10. Arrows 2560 and 2562 represent changes in force applied to their respective articulation actuators in relation to the forces illustrated in Figure 15.
[00410] [00410] With reference to Figure 11, a third example is shown of how forces can be applied to the two articulation actuators 2510, 2530 to cause the surgical end actuator 2100 to articulate back to the central or neutral position, according to with some aspects. In this document, the motor or other actuator that interfaces operationally with the 2510 right pivot actuator can apply a lower actuating force than an actuating force that is applied to the left pivot actuator 2530 by a second motor or other actuator. For example, the antagonistic actuation force of the left hinge driver 2530 may actually be greater than the actuation force that is applied to the right hinge driver 2510 at point 0 ° (without articulation). This makes sense when the 2550 pivot pivot is considered to be off center and closer to the hinge (left pivot link 2540) of the left pivot actuator.
[00411] [00411] The right hinge link 2520 has an LLR length and the left hinge link 2540 has a left LLL link. In the illustrated example, LLR is approximately equal to LLL. However, other modalities are contemplated in which LLR ≠ LLL.
[00412] [00412] In addition to the drive shaft assembly 2300, a surgical end actuator 2100 and a hinge joint 2350, the surgical tool 2000 additionally comprises a clamp firing system 2600, for example, which includes a firing bar 2610 which extends through the hinge joint 2350. See Figures 6 and 7. In use, the firing bar 2610 is translatable distally to execute a staple firing stroke and retracts proximally after at least a portion of the staple firing course. be completed. The firing bar 2610 extends through a channel or slot 2324 defined in the proximal portion of the tool frame 2322 and a slot 2332 in the distal portion of the tool structure 2330 of the drive shaft assembly 2300 that are configured to receive and / or guide firing bar 2610 closely as firing bar 2610 moves relative to the drive shaft assembly
[00413] [00413] In addition to the above, channels 2324 and 2332 do not extend into the hinge joint 2350 and, without further ado, the firing bar 2610 may not be supported within the hinge joint
[00414] [00414] In addition to the above, the distal portion 2652 of the firing bar 2650 is fixedly mounted to the structure 2112 and does not move, or at least substantially, move in relation to the structure 2112. An intermediate portion 2654 of the support of the firing bar 2650 comprises one or more portions having a reduced cross section which, among other things, allows the firing bar 2650 support to flex within the hinge joint 2350 when the surgical end actuator 2100 is pivoted. A proximal portion 2656 of the firing bar holder 2650 is slidably mounted on the distal portion of the tool frame 2330 so that the firing bar holder 2650 can translate relative to the distal portion of the tool structure 2330 when the actuator surgical end 2100 is articulated. That said, the proximal portion 2656 of the firing bar 2650 comprises a support 2658 which is a sliding proximal head within a chamber, or cavity, 2331 defined within the distal portion of the tool structure 2330 which can limit the displacement of the tool holder firing bar 2650. However, the modalities are provided without such restriction of travel. In any case, the distal portion 2652, the intermediate portion 2654 and the proximal portion 2656 of the firing bar holder 2650 cooperatively define a channel, or slot, 2659 that is configured to support the firing bar 2610 - especially within the firing joint. articulation 2350 - and reduce the possibility of the firing bar 2610 warping during the staple firing stroke, for example.
[00415] [00415] In several cases, the firing bar 2610 is comprised of a plurality of parallel layers, or at least substantially parallel 2612. See Figure 7. The layers are affixed to a firing or distal cutting member 2620 and can partially move or slide longitudinally in relation to each other - especially within the 2350 articulation joint. Each of these layers is configured to transmit a load in the same direction, that is, proximally or distally, although such layers can move, or slide, one in relation to the other. In addition to the above, such layers can widen laterally relative to each other - especially within the 2350 hinge joint - when the surgical end actuator 2100 has been hinged. The intermediate portion 2654 of the firing bar holder 2650 comprises a plurality of connected control elements which can at least reduce, if not prevent, the relative lateral widening of the firing bar layers. Alternatively, as mentioned above, one or more of the control elements can be disconnected from each other. Examples of various firing bar and firing bar arrangements are described in US patent application serial number 15 / 635,808, entitled
[00416] [00416] As can also be seen in Figure 6, a firing member or cutting member 2620 is attached to the distal end of the firing bar 2610. In an exemplary form, firing member 2620 comprises a body portion 2622 that supports a knife or fabric cutting portion 2624. Body portion 2622 projects through an elongated slot or channel 2113 in frame 2112 and ends at a base member 2626 that extends laterally on each side of body portion 2622. As the firing member 2620 is driven distally through the surgical clamp / clamp cartridge 2150, the base member 2626 moves within a passage in the frame 2112 which is located under the clamp / clamp cartridge 2150. The fabric section 2624 is disposed between a distally projecting top tip portion and the base member 2626. As can be seen further in Figure 6, the firing member 2620 can additionally include two ab the top, pin or anvil hitch features 2628 that extend laterally. As the firing member 2620 is driven distally, a top portion of the body portion 2622 extends through an anvil slot 2206 centrally arranged and the anvil engaging features 2634 slide over the corresponding anvil projections 2208 formed on each side of the anvil slot 2206. See Figure 7. The firing member 2620 is configured to interface operationally with a slide assembly that is operationally supported within a 2152 body of the 2150 surgical clamp / clamp cartridge. The slide assembly is movable from sliding way within the 2152 surgical staple / clamp cartridge body from a proximal starting position adjacent to the proximal end of the 2152 cartridge body to a final position adjacent to the distal end of the 2152 cartridge body. The 2152 cartridge body sustains operationally in inside it a plurality of clip drivers that are lined up in rows on each side of the nda centrally arranged 2154. As indicated above, the centrally arranged slot 2154 allows the firing member 2620 to pass through it and cut the tissue that is trapped between the anvil 2202 and the surgical staple cartridge 2150. Staple drivers are associated to corresponding 2156 clamp / clamp pockets that open across the upper platform surface of the 2152 cartridge body. Each clamp driver supports one or more clamps or surgical clamps in it. The slider assembly includes a plurality of inclined or wedge-shaped cams, each cam corresponding to a specific line of fasteners or drivers located on one side of the slot. In addition, a firing member locking system 2630 can be employed to prevent inadvertent triggering or indicate another form of distal advancement of firing member 2620 from an initial position, unless a new "surgical clamp cartridge" "not fired 2150 has been properly supported on the structure. For example, the body of the firing member 2622 is provided with a folding element 2632 which is movable between a locked and unlocked position. A locking spring 2633 is provided to force the tilting element 2632 to the locked position, unless the tilting element 2632 is moved to the unlocked position when engaged with a slide assembly on the surgical clamp cartridge.
[00417] [00417] According to at least one general aspect, the firing bar 2610 is configured to be fixed to a firing rod 3230 which is movably supported within the tool frame assembly 2320 of the elongated drive shaft assembly 2300. In particular, a firing bar fixing tab 2614 is formed at a proximal end 2616 of firing bar 2610 (Figure 6) and is configured to be received inside a fixing slot that is provided in a distal portion the end of the 3230 firing bar.
[00418] [00418] Figures 16 and 17 illustrate the various components described above of the drive shaft assembly 2300 in the respective neutral coupling positions that facilitate its operational interface with the corresponding portions of drive systems and support structures of a controller interface a which the surgical tool is attached. As can be seen in these Figures, the external enclosure or proximal closing tube 2410 includes a proximal end or proximal coupling portion 2416 that includes an annular fixing groove 2418. Figures 16 and 17 illustrate the proximal coupling portion 2416 in its position corresponding coupling neutral, generically designated as 2417. As described above, the outer housing or proximal closing tube 2410 is supported for axial movable displacement in the tool frame assembly 2320 and more particularly over the proximal portion of the tool frame 2322 thereof. . As shown in Figures 16 and 17, the tool frame assembly 2320 includes a proximal coupler portion 2326 that includes two frame fixing grooves 2328. Figures 16 and 17 illustrate the proximal coupler portion 2326 in its neutral coupling position correspondent, generically designated as 2327.
[00419] [00419] As discussed above, the right articulation driver 2510 is supported for selective axial mobile displacement in relation to the 2320 tool structure set. Figures 16 and 17 illustrate in more detail than in at least one way, the right hinge 2510 includes a proximal tubular end portion or proximal coupler portion 2514 that includes a right fixing collar 2516. Figures 16 and 17 illustrate the proximal coupling portion 2514 in their corresponding neutral coupling position, generally designated as 2517. similarly, the left articulation driver 2530 is supported for selective axial mobile displacement in relation to the 2320 tool frame assembly. Figures 16 and 17 illustrate in more detail than in at least one form, the left articulation driver 2530 includes a tubular proximal end portion or proximal coupler portion 2534 that includes a left fixing collar 2536. Figures 16 and 17 illustrate the proximal coupling portion 2534 in its corresponding neutral coupling position, generically designated as 2537.
[00420] [00420] As mentioned above, the trigger rod 3230 is movably supported within the tool frame assembly 2320. More particularly, the trigger rod 3230 is supported for axial displacement within the tool frame assembly 2320. The firing rod 3230 includes a proximal end or proximal coupler portion 3232 that has a fixing pin 3234 formed therein. Figures 16 and 17 illustrate the proximal coupling portion 3232 in its corresponding neutral coupling position, generically designated as 3237.
[00421] [00421] According to one aspect, when the proximal coupler portions 2416, 2326, 2534, 2514, 3232 are each in their respective neutral coupling positions, they are in a predetermined serial axial alignment to facilitate interface with the systems corresponding drive units or components of a controller interface. In the example shown in Figures 16 and 17, the neutral coupling position 3237 is proximal to the neutral coupling position 2517, which is proximal to the neutral coupling position 2537, which is proximal to the neutral coupling position 2527, which is proximal to the neutral position 2417 coupling positions. These neutral coupling positions can also be called start positions. Other serial axial arrangements of neutral coupling positions are contemplated.
[00422] [00422] According to another general aspect, a spacing lock 2710 is operationally supported in a 2700 coupling cabinet of the surgical tool 2000 to retain the proximal coupler portions 2416, 2326, 2534, 2514, 3232 in their respective neutral positions coupling. More specifically and with reference to Figures 18 to 21, the coupling cabinet 2700 is attached to a proximal end 2301 of the elongated drive shaft assembly 2300 and movably supports the spacing lock 2710 therein. As will be further discussed below, the 2700 coupling cabinet can serve to facilitate the operational fixation of the surgical tool to a suitable controller interface. As can be seen in Figures 18 to 21, in at least one example, the spacing lock 2710 is supported for mobile displacement between a locked position and an unlocked position represented by arrows 2712 and 2714. Spacing lock 2710 is configured to engage each of the proximal coupler portions 2416, 2326, 2534, 2514, 3232 and keep them in their respective neutral coupling positions when the tool assembly is not coupled to a controller interface. In at least one arrangement, to maintain the spacing lock 2710 in an axially aligned position, at least one sliding element support 2711 extends laterally from the spacing lock 2710 to be slidably received in a slot that is formed in the coupling cabinet
[00423] [00423] As can be seen in Figures 18 to 21, in the illustrated example, the spacing lock 2710 includes a lock or locking key 2720 that is configured to be received inside the annular groove 2418 in the proximal coupler portion 2416 of the cabinet or the proximal closing tube 2410 to prevent axial movement. Spacing lock 2710 further comprises a frame lock arrangement comprising a pair of frame keys 2722 which are configured to be received within annular grooves 2328 in the proximal coupler portion 2326 of tool frame assembly 2320. In addition, the spacing lock 2710 comprises a left pivot groove or locking holder 2726 which is configured to engage retaining the left clamping collar 2536 of the proximal coupler portion 2534 of the left pivoting driver 2530. Similarly, the spacing lock 2710 comprises a right pivot groove or locking holder 2728 which is configured to engage by retaining the right clamping collar 2516 over the proximal coupler portion 2514 of the right pivot driver
[00424] [00424] In one aspect of the description, the surgical tool 2000 can be used interchangeably with a first control interface that supports a plurality of corresponding control systems that are configured to apply the appropriate control movements to the various components of the drive of the surgical tool 2000 and at least a second control interface that is not identical or different from the first control interface, but has similar control systems (at least from a functional point of view) that are configured to apply the appropriate control movements to the various driver arrangements of the surgical tool 2000. In one aspect, for example, a first controller interface may comprise a hand controller and a second controller interface may comprise a tool assembly portion of a robotic or other automated system designed to support and manipulate the tool (or tools) ci surgical. In this context, for example, a "hand held" controller can be configured to be supported in the doctor's hand and manually manipulated. Although such portable controllers may, in some cases, include motors and integrated power sources and / or microprocessor (or microprocessors) etc., to provide and / or monitor or control the respective control systems necessary to power the various controllers and other elements of the surgical tool 2000, such devices may also, or alternatively, include cables or supply chains that are designed to facilitate the transport of energy and / or electrical signals to the device. In any case, such portable controllers are designed to be kept in hand and manually manipulated.
[00425] [00425] An example of a first controller interface 3000 that comprises a hand controller 3002 that is configured to interface with a surgical tool 2000 is shown in Figures 23 to 25. An example of a second controller interface 3500 that comprises a tool mounting portion 3502 that is operably fixable to a tool retainer of a robotic system 1000 is shown in Figures 28 and 29. Other forms of first controller and second controller interfaces are contemplated, including other forms of hand controllers, and tool retainer / robotically controlled systems are contemplated.
[00426] [00426] As can be seen in Figures 22 and 23, hand controller 3002 comprises a handle assembly 3010 comprising a handle cabinet 3012 that includes a pistol grip portion 3014. A mouthpiece assembly 3030 is mounted rotating handle 3012 for selective rotation around an HA handle geometric axis. In the illustrated arrangement, a 3032 coupling cavity is provided in the 3030 nozzle assembly to facilitate the assembly of the 2700 coupling cabinet of a surgical tool 2000 inside it. The 2700 coupling cabinet can be removably retained in the coupling with the 3030 nozzle assembly by friction, release latch arrangements etc. To operationally couple the surgical tool 2000 to the 3010 handle assembly, the 2700 coupling cabinet is positioned for insertion into the 3032 coupling cavity in an ID installation direction that is orthogonal to an HA handle geometric axis. As can be seen in Figure 18, the 2700 coupling cabinet can include electrical connectors 2705 that are configured to interface with the corresponding electrical connectors that are supported on the controller interface to which the surgical tool 2000 is attached. This arrangement serves to facilitate the transfer of energy and electrical signals between the various components of the controller interface and the integrated electrical components (switches, microprocessors, etc.) that are included in the surgical tool 2000.
[00427] [00427] In at least one example, a frame bezel 3016 is fixedly coupled to the nozzle assembly 3030 and includes two frame fixing features or tabs 3017 that are adapted to be received in the frame fixing grooves 2328 on the coupler portion proximal 2326 of the 2320 tool frame assembly when the surgical tool 2000 is attached to the hand controller
[00428] [00428] As indicated above, the 3012 grip cabinet can operationally support a plurality of drive systems within it. For example, the handle cabinet 3012 can operationally support a closing drive system, generically designated as 3100, which can be employed to apply closing and opening movements to the surgical tool 2000 that is operationally attached or coupled to the handle assembly 3010. In at least one way, the closing drive system 3100 may include an actuator in the form of a closing trigger 3104 that is pivotally supported by the handle cabinet 3012. This arrangement allows the closing trigger 3104 to be manipulated by a physician, so that when the physician holds the pistol grip portion 3014 of the handle assembly 3010, the lock trigger 3104 can be easily rotated from an initial or "not acted" position to an "acted" position, and more particularly, to a fully compressed or fully actuated position.
[00429] [00429] In at least one form, the 3012 handle can operationally support another drive system called in the present invention a 3200 trigger drive system, which is configured to apply trigger movements to the corresponding portions of the interchangeable surgical tool 2000 which is fixed to it. As described in more detail in US patent application publication No. 2015/0272575, the trigger drive system 3200 may employ an electric motor 3210 which is located in the pistol grip portion 3014 of the handle assembly 3010. Under various In some ways, the 3210 motor can be a brushless DC drive motor with a maximum speed of approximately 25,000 RPM, for example. In other arrangements, the 3210 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. The 3210 motor can be powered by a 3212 power source which, in one form, can comprise a removable battery. The power source can support a plurality of lithium ion batteries ("Li ions") or other suitable ones therein. Several batteries connected in series can be used as the 3212 power source for the surgical controller 3000. In addition, the 3212 power source can be replaceable and / or rechargeable.
[00430] [00430] Returning to Figures 24 and 25, the electric motor 3210 is configured to axially drive a longitudinally movable driving member 3220 in the distal and proximal directions depending on the polarity of the voltage applied to the motor. For example, when the motor is driven in a rotating direction, the longitudinally movable driving member 3220 will be driven axially in a distal direction DD. When the 3210 motor is driven in the opposite rotating direction, the longitudinally movable drive member will be driven axially in a PD direction. The handle set 3010 can include a switch 3214 that can be configured to reverse the polarity applied to the electric motor 3210 by the power source 3212 or otherwise control the motor 3210. The handle set 3010 can also include a sensor or sensors that they are configured to detect the position of the drive member and / or the direction in which the drive member is being moved. The activation of the 3210 motor can be controlled by a trigger trigger 3216 (Figure 22) pivotally supported on the handle assembly 3010. The trigger trigger 3216 can be pivoted between an unacted position and an acted position. The trigger trigger 3216 can be propelled to the unacted position by means of a spring or other bias arrangement so that when the doctor releases trigger trigger 3216, trigger trigger 3216 can be rotated or otherwise , returned to the unactivated position by means of the spring or the propensity arrangement. In at least one way, trigger trigger 3216 can be positioned "distant" from closing trigger 3104, as discussed above. As discussed in US patent application publication no.
[00431] [00431] In at least one form, the 3220 longitudinally movable drive member may have a toothed rack formed in gear for engagement with a corresponding drive gear arrangement that interfaces with the 3210 motor. Additional details regarding those features can be found in US Patent Application Publication No. 2015/0272575. In at least one form, the 3010 handle assembly also includes a manually actionable retraction assembly that is configured to enable the physician to manually retract the longitudinally movable driving member if the 3210 motor is disabled. The retract assembly may include a retract lever or handle assembly that is stored inside the 3010 handle assembly under a removable door 3018. See Figure 23. The lever can be configured to be manually pivoted in ratchet hitch. teeth on the drive member. In this way, the physician can manually retract the drive member 3220 using the retract handle assembly to engage the drive member in the proximal direction PD. US patent No. 8,608,045, entitled POWERED SURGICAL CUTTING
[00432] [00432] When the surgical tool 2000 is attached to the first interface of controller 3002, the locking tab 3234 on the proximal coupling portion 3232 of the firing rod 3230 is operationally received inside a fixing support 3226 which is formed at one end distal 3224 of the longitudinally movable drive member 3220. When the securing tab 3234 is received inside the securing support 3226, the trigger rod 3230 is operationally coupled to the trigger drive system 3200. The actuation of the trigger drive system 3200 will cause the longitudinally movable drive member 3220 as well as the trigger rod 3230 to move axially. The movement of the firing rod 3230 in the distal direction DD will cause the firing bar 2610 as well as the cutting member 2620 attached to it to also move distally. When the fabric is attached between the cartridge grip and the anvil grip, the distal movement of the firing bar 2610 will cause the fabric attached to it to be cut and the staples stored in the cartridge to be attached to the fabric cut on each side of the line. cutting the fabric.
[00433] [00433] The hilt cabinet 3012 can operationally support another drive system called in the present document the hinge drive system 3300 which is configured to apply hinge movements to the corresponding portions of the interchangeable surgical tool 2000 that are attached to it. For example, the hinge drive system 3300 can apply hinge movements to the right hinge driver 2510 and the left hinge driver 2530 to selectively hinge the surgical end actuator 2100 around the pivot geometric axis PA defined by the hinge joint 2350. See Figure 8. In the illustrated arrangement, for example, the 3300 hinge drive system may comprise a 3310 hinge motor that is operationally supported by the 3012 grip cabinet. See Figure 25. In at least one arrangement, one pivot drive gear 3312 is attached to the pivot motor 3310. pivot drive gear 3312 is in engagement with a right pivot drive rack 3320 that is supported for axial displacement on the 3010 handle assembly. As can be seen in Figure 25, for example, a proximal end portion 2514 of the hinge driver right 2510 has a tubular nature.
[00434] [00434] When the surgical tool 2000 is separated from the handle set 3010 or the tool mounting portion of a robotic system, the external cabinet or the proximal closing tube 2410, the right articulator 2510, the left articulator 2530 as well as the firing rod 3230 are maintained in a serial coupling alignment with respect to each other in their respective neutral coupling positions by the 2710 spacing lock
[00435] [00435] As noted above, the surgical tool 2000 is configured to be operably fixable interchangeably to a first control interface that supports a plurality of corresponding control systems that are configured to apply the appropriate control movements to the various components of the tool 2000 and at least a second control interface that is not identical or different from the first control interface, but has similar control systems (at least from a functional point of view) that are configured to apply the appropriate control movements to various actuator arrangements of the surgical tool 2000. For example, in addition to being operably interchangeable with a first controller interface 3000 which can comprise a hand controller 3002, the surgical tool 2000 can be operationally attachable to a second controller interface who can, for example, understand a portion of a robotically controlled system.
[00436] [00436] Returning to Figures 28 and 29, the surgical tool 2000 can be configured to interface with a second controller interface 3500 comprising a tool mounting portion 3502 that is operably attached to a tool retainer 1000 of a system robotic, for example. In at least one arrangement, the tool mounting portion 3502 comprises an enclosure 3510 that operationally supports a plurality of robotically controlled drive systems. For example, the 3500 tool mounting portion supports a closing drive system, generically referred to as 3600, which can be employed to apply closing and opening movements on the surgical tool 2000 which is fixed or operationally coupled to the tool mounting portion.
[00437] [00437] Still referring to Figure 29, in the illustrated arrangement, the tool mounting portion 3502 comprises a mounting channel retainer 3520 that has frame fixing tabs 3522 that are configured to be received in a retaining manner within the grooves for fixing the corresponding frame 2328 of the proximal coupler portion 2326 of the tool frame assembly 2320. Such an arrangement serves to removably couple the proximal coupler portion 2326 of the tool frame assembly 2320 to the tool mounting portion 3502. Under at least one shape, the tool mounting portion 3502 operationally supports a trigger drive system 3700 that is configured to apply trigger movements to the trigger rod 3230 of the surgical tool 2000. As can be seen in Figure 29, an axis of firing drive 3702 is supported for axial displacement in response to firing control movements generated by the system robotically controlled trigger actuators 3700. The fixing pin 3234 on the trigger rod 3230 is adapted to be operationally received inside a fixing support 3706 formed at a distal end 3704 of the 3702 longitudinally movable trigger drive shaft. fixing tab 3234 is received inside fixing support 3706, the trigger rod 3230 is operationally coupled to the 3700 robotically controlled trigger drive system. The actuation of the firing drive system 3700 will cause the longitudinally movable firing drive shaft 3702 as well as the firing stem 3230 to move axially. The movement of the firing rod 3230 in the distal direction DD will cause the firing bar 2610 as well as the cutting member 2620 attached to it to also move distally. When the fabric is attached between the cartridge grip and the anvil grip, the distal movement of the firing bar 2610 will cause the fabric attached to it to be cut and the staples stored in the cartridge to be attached to the fabric cut on each side of the line. cutting the fabric.
[00438] [00438] The 3500 tool mounting portion can operationally support another drive system called herein 3800 robotically controlled hinge drive system that is configured to apply hinge movements to the corresponding portions of the surgical tool 2000 that are coupled to he. For example, the 3800 robotically controlled hinge drive system can apply hinge movements to the right hinge driver 2510 and the left hinge driver 2530 to selectively hinge the surgical end actuator 2100 around the pivot geometric axis PA defined by the joint pivot 2350. In the illustrated arrangement, for example, a 3820 right pivot drive element is supported for axial displacement in the 3500 tool mounting portion in response to the robotically generated control movements controlled by the 3800 pivot drive system. right hinge drive 3820 includes the right hitch support 3822 which is configured to receive the right hinge collar 2516 from the proximal coupler portion 2514 of the right hinge driver
[00439] [00439] As can be seen in Figure 28, an open coupling cavity 3512 sized to receive the coupling housing 2700 in it is provided in the housing 3510 of the tool mounting portion 3502. To operationally couple the surgical tool 2000 to the portion of tool assembly 3502, the 2700 coupling housing is positioned for insertion into the 3512 coupling cavity and is moved in an ID installation direction that is orthogonal to a longitudinal MA geometry axis up to the nozzle portion of the 2700 modular drive shaft retentively engage the 3512 cabinet. The 2700 modular coupling cabinet can be removably retained in the coupling with the chafing cabinet, releasable latch arrangements, pressure snap features, etc. When the practitioner correctly couples the 2700 coupling box inside the 3512 coupling cavity to the 3510 box, the unlocking member 2740 in the spacing lock 2710 is brought into the coupling with the longitudinally movable trigger drive shaft 3702 to deflect the lock of spacing 2710 of the retaining coupling with the coupler portions 2416, 2326, 2534, 2514, 3232 in the manner described above. See Figure 29. However, since the surgical tool 2000 is separated from the tool mounting portion 3502 (moved in the direction 2714), the springs 2730 will propose the spacing lock 2710 back to the locked orientation. This locked arrangement allows the surgical tool 2000 to be fixed again to the hand cabinet or robotic system, as desired.
[00440] [00440] Thus, according to at least one aspect, the surgical tool can be used interchangeably with a plurality of controller interfaces that may not be identical to each other. For example, the surgical tool 2000 can be operationally coupled to one of the control interface 3000 and the second control interface 3500, used on it, and then separated from it to be operationally attached to the second controller interface 3500 or vice versa . This can occur during a single operation where both f 3000, 3500 controller interfaces are located within a single surgical site. In other provisions, the surgical tool 2000 can be used in connection with one of the controller interfaces 3000, 3500 and then resterilized for use in connection with another between the first and the second control interface. Regardless of the controller interface with which the surgical tool 2000 is initially used, after the end of the use of the surgical tool, the drive systems must be operated to return each of the coupler portions 2416, 2326, 2534, 2514, 3232 to its respective neutral coupling position before the surgical tool 2000 is separated from the controller interface. Once the proximal coupler portions 2416, 2326, 2534, 2514, 3232 have been placed in their respective neutral coupling positions, the surgical tool 2000 can be removed from the controller interface by moving the 2700 coupling cabinet in a separating direction opposite the direction of installation ID. Since the unlocking member 2740 in the spacing lock 2710 is disengaged from the longitudinally movable firing drive shaft 3702, the spacing lock will be provided in the locking hitch with each of the proximal coupler portions 2416, 2326, 2534, 2514 , 3232.
[00441] [00441] Figures 30 to 77 represent a set of surgical tools 4000 configured to be used with a surgical robot. The surgical instrument set 4000 is configured to staple and cut tissues, although the surgical instrument set 4000 can be adapted to treat tissue in any suitable manner, such as by applying thermal energy, electrical energy and / or vibrations to the tissue, for example . In addition, the surgical instrument set 4000 is modular and is configured to be interchangeable with other surgical instrument sets that have the same and / or different functionality. Referring to Figure 30, the surgical instrument set 4000 comprises, one, a 4100 sterile barrier configured to receive drive movements from a surgical robot interface of the surgical robot to which the 4100 sterile barrier is attached and, two, a set of control 5000 configured to receive the drive movements of the 4100 sterile barrier. As discussed in more detail below, the surgical instrument set additionally comprises a drive shaft assembly
[00442] [00442] As discussed above, the 4100 sterile barrier is configured to be operationally attached to a surgical robot interface and the control set 5000 is configured to be operationally coupled to the 4100 sterile barrier. When the 4100 sterile barrier is attached to the interface surgical robot, the 4100 sterile barrier is configured to transmit drive movements from the surgical robot interface to the 5000 control set via a plurality of drive disks. The 5000 control set and the surgical robot interface are physically separated by the 4100 sterile barrier and, as a result, can be handled by different doctors in different sterile fields. The drive disks of the surgical interface robot are configured to drive five primary drive systems of the 5000 control set which are discussed below.
[00443] [00443] Control set 5000 is configured to be attached to the 4100 sterile barrier after the 4100 sterile barrier is already attached to the surgical robot. Alternatively, the 5000 control set and the 4100 sterile barrier can be assembled before being attached to the surgical robot. Referring mainly to Figure 31, the sterile barrier 4100 comprises a portion of frame 4101 and a floating plate assembly 4108 comprising a plurality of drive disks nested therein. Floating plate assembly 4108 is configured to move vertically within frame portion 4101 to allow disengagement between the 4100 sterile barrier drive disks and control set 5000 drive disks so that control set 5000 can be fixed and separated from the 4100 sterile barrier. The surgical robot interface may comprise corresponding vertically movable drive outlets to allow vertical movement of the floating plate assembly 4108 while maintaining the drive engagement between the drive outlets and the drive disks of the surgical robot interface.
[00444] [00444] Referring mainly to Figures 32, 36 and 40, the floating set 4108 of the 4100 sterile barrier comprises a plate facing the 4110 robot, a plate facing the 4120 instrument and a plurality of drive disks 7100, 8100, 9100 , 10100 and 11100 nested between the plate facing the 4110 robot and the plate facing the 4120 instrument. The plate facing the 4110 robot faces the interface of the surgical robot and comprises 4112 spring members configured to prop the plate facing the the 4110 robot and, thus, the plate facing the 4120 instrument and the drive disks 7100, 8100, 9100, 10100 and 11100 towards the control set 5000. The floating plate set 4108 is propelled towards the set of control 5000 to maintain the drive hitch between the drive disks 7100, 8100, 9100, 10100 and 11100 and the drive disks of the control set 5000. The spring members 4112 enable the set of pl Floating housing 4108 is pushed in the opposite direction to the control set to disengage the drive disks from the control set 5000 of the drive disks 7100, 8100, 9100, 10100 and 11100. The plate facing the 4110 robot also includes the alignment features 4114 configured to align with the corresponding alignment features of the surgical robot interface and, as a result, align the 4100 sterile barrier with the surgical robot interface when the 4100 sterile barrier is mounted on the surgical robot interface.
[00445] [00445] To couple the 4100 sterile barrier and the 5000 control set, the 4100 sterile barrier and the 5000 control set comprise various cooperative alignment elements that assist in the assembly of the 4100 sterile barrier and the control set
[00446] [00446] Now with reference to Figure 36, the sterile barrier 4100 also comprises a notch 4106 defined therein to accommodate the floating plate set 4108. The notch 4106 allows the plate facing the robot 4110, the plate facing the instrument 4120 and drive disks 7100, 8100, 9100, 10100 and 11100 move in relation to the structure portion 4101 of the 4100 sterile barrier. This relative movement allows space between the plate facing the 4110 robot and the surgical robot interface so that the drive disks 7100, 8100, 9100, 10100 and 11100 and the corresponding drive disks of the surgical robot interface can be correctly aligned before engaging each other. This relative movement also makes it possible for a 5400 decoupling mechanism to disengage the drive disks 7100, 8100, 9100, 10100 and 11100 from the control set 5000 so that the control set 5000 can be decoupled from the sterile barrier
[00447] [00447] With reference mainly to Figure 40, the decoupling mechanism 5400 comprises two levers 5410 configured to disengage the control set 5000 and the sterile barrier 4100. Each lever 5410 is mounted to a bar 5420 comprising a plurality of pushing members 5430 Each lever 5410 is spring-loaded against the lower cabinet 5100 with the springs 5412 so that when the levers 5410 are tightened, the bars 5420 rotate downward and thus the pushing members 5430 rotate downward. Upon releasing levers 5410, levers 5410 are configured to extend outwardly in their configuration disengaged by springs 5412. Compression elements 5430 extend through openings 5150 defined in lower cabinet 5100 so that pushing members 5430 can push the plate facing the instrument 4120 downwards to disengage the 5120 alignment features from the openings 4122 and disengage the drive disks 7100, 8100, 9100, 10100 and 11100 from the control set 5000 so that the control set 5000 can be disengaged of the 4100 sterile barrier.
[00448] [00448] With reference mainly to Figures 31 and 32, the surgical instrument set 4000 comprises a drive system of rotation of the drive shaft 7000, a first drive system of articulation 8000, a second drive system of articulation 9000, a closing drive system 10000, and a triggering system 11000. Drive disk 7100 is configured to drive the drive system for rotating drive shaft 7000, drive disk 8100 is configured to drive the first drive system hinge drive 8000, drive disk 9100 is configured to drive the second hinge drive system 9000, drive disks 10100 are configured to drive locking drive system 10000, and drive disk 11100 is configured to drive the 11000 trigger drive system.
[00449] [00449] With reference to Figure 31, the drive shaft rotation drive system 7000 is configured to rotate the drive shaft assembly 6000 around a longitudinal geometric axis LA. Now with reference to Figure 38, the drive shaft drive system 7000 comprises an input drive disk 7110 operationally coupled to the drive disk 7100 (Figure 32) of the sterile barrier 4100. The input drive disk 7110 is connected fixed way to a 7120 drive shaft and is configured to rotate the 7120 drive shaft when the 7110 input drive disk is rotated. The 7120 drive shaft is configured to rotate to a 7130 gear wheel that is fixedly connected to the 7120 drive shaft. The 7130 gear wheel is operationally interlaced with a 7150 gear wheel. The 7150 gear wheel is fixedly connected to a transfer drive shaft 7160 which, when rotated by sprocket wheel 7150, is configured to rotate a helical gear 7170 which is also fixed to the drive shaft 7160. Helical gear 7170 is operatively interlaced with another helical gear 7180 which, with reference to Figure 31, is operationally coupled to a proximal end 6702 (Figure 33) of a central column 6700 of the drive shaft assembly 6000 so that the rotation of the helical gear 7180 rotates the central column 6700 and thus the shaft assembly drive 6000 around its longitudinal LA geometric axis.
[00450] [00450] As seen in Figure 31, the first articulation drive system 8000 and the second articulation drive system 9000 are configured to cooperatively articulate the end actuator 2100 of the drive shaft assembly 6000. The first control system articulation drive 8000 and the second articulation drive system 9000 are configured to actuate the articulation drives cooperatively 2510, 2530 (Figure 43). The articulation drive systems 8000 and 9000 are configured to be antagonically operated so that one of the articulation drive systems 8000, 9000 pulls one of the articulation actuators 2510, 2530 proximally and the other of the articulation drive systems 8000, 9000 push the other one between the articulation actuators 2510, 2530 distally. That said, the 8000 and 9000 drive systems can be operated independently without the other being operated.
[00451] [00451] Referring again to Figure 38, the first articulation drive system 8000 comprises an input drive disk 8110 operationally coupled to the drive disk 8100 (Figure 32) of the sterile barrier 4100. The input drive disk 8110 is fixedly connected to an 8120 drive shaft and is configured to rotate the 8120 drive shaft when the input drive disk 8110 is rotated. The drive shaft 8120 is configured to rotate to a pinion gear 8130 which is fixedly connected to the drive shaft 8120. Pinion gear 8130 is operationally interlaced with a portion of rack gear 8142 of a pivot drive member 8140 so that as the 8130 pinion gear is rotated in a first rotational direction, the hinge drive member 8140 is configured to translate in a first translational direction. As the 8130 pinion gear is rotated in a second rotational direction, the hinge drive member 8140 is configured to translate in a second translational direction. The second rotational direction is opposite to the first rotational direction.
[00452] [00452] Still referring to Figure 38, the hinge drive member 8140 additionally comprises an actuator flap 8144 configured to translate an actuating fork 8150. Specifically, the flap of actuator 8144 is configured to be received in an annular slot 8152 of the 8150 fork so that the 8150 actuating fork can rotate around the longitudinal axis LA (Figure 31) in relation to the 8144 actuator flap. Such rotation will occur when the drive system of the 7000 drive shaft, discussed above , is acted upon. As shown in Figure 51, actuating fork 8150 comprises an opening 8154 defined within it. Opening 8154 is configured to receive a proximal end 2511 of a hinge driver
[00453] [00453] With reference to Figure 50, the second articulation drive system 9000 comprises an input drive disk 9110 operationally coupled to the drive disk 9100 (Figure 32) of the sterile barrier 4100. The input drive disk 9110 is connected fixedly to a drive shaft 9120 and is configured to rotate drive shaft 9120 when input drive disk 9110 is rotated. The 9120 drive shaft is configured to rotate to a 9130 pinion gear that is fixedly connected to the drive shaft
[00454] [00454] Still referring to Figure 50, the hinge drive member 9140 additionally comprises an actuator flap 9144 configured to translate an actuation fork 9150. Specifically, the flap of actuator 9144 is configured to be received in an annular slot 9152 of the fork 9150 so that the actuation fork 9150 can rotate around the longitudinal axis LA (Figure 31) in relation to the flap of the actuator 9144. Such rotation will occur when the drive system of rotation of the drive shaft 7000, discussed above , is acted upon. As shown in Figure 38, actuation fork 9150 comprises an opening 9154 defined within it. The opening 9154 is configured to receive a proximal end 2531 of the articulation driver 2530 therein. The proximal end 2531 of the articulation driver 2530 is attached to the actuation fork 8150 so that, as the actuation fork 9150 is transferred by the actuation member of articulation 9140, the articulation actuator 2530 is transferred. As the hinge actuator 2530 is moved, the end actuator 2100 (Figure 31) hinges as described above.
[00455] [00455] With reference to Figure 41, the actuation fork 8150 comprises a pair of protrusion sections of the drive shaft 8156 and the actuation fork 9150 comprises protrusion sections of the drive shaft 9156. The sections of the drive shaft protrusion 8156 are configured to be received into slots 9158 of actuation fork 9150. Similarly, the sections of the 9156 drive shaft protrusion are configured to be received into slots 8158 of the 8150 actuating fork. drive units 8156, 9156 are configured to provide a support system for the actuation forks 8150, 9150. The actuation forks 8150, 9150 are configured to rotate together in the same direction and translate longitudinally in relation to each other in different directions.
[00456] [00456] The performance of the articulation drive systems 8000, 9000 will now be discussed in connection with Figures 45 to 49. To articulate the end actuator 2100, the drive disks 8100, 9100 are actuated in the same rotational direction. The actuation of both drive disks 8100, 9100 in the same rotational direction provides the antagonistic performance of the articulation drives 2530, 2510 as discussed above. As shown in Figure 48, pivot driver 2510 is pushed in a distal direction DD and pivot driver 2530 is pulled in a proximal direction PD to pivot end actuator 2100 in a first direction. To achieve this movement, the hinge drive disk 8100 and the hinge drive disk 9100 are rotated clockwise (Figure 45). As shown in Figure 49, pivot driver 2510 is pulled in a proximal direction PD and pivot driver 2530 is pushed in a distal direction DD to pivot end actuator 2100 in a second direction. The second direction is opposite to the first direction. To achieve this movement, the hinge drive disk 8100 and the hinge drive disk 9100 are rotated anti-
[00457] [00457] Again with reference to Figure 31, the closing drive system 10000 is configured to secure and unsnap the fabric with the end actuator 2100. The closing drive system 10000 is configured to translate a closing tube 6100 with respect to to the central column 6700 (Figure 36) to move the anvil claw 2200 (Figure 52) between the open and closed positions. Referring mainly to Figures 38 and 50, the closing drive system 10000 comprises two inlet drive disks
[00458] [00458] As shown in Figures 53 to 59, the primary drive gear 10140 comprises a central recess 10142 configured to receive the projection of the drive shaft 5140 thereon. The projection of the drive shaft 5140 and the central recess 10142 define a drive shaft around which the primary drive gear 10140 can rotate. The primary drive gear 10140 additionally comprises a spiral cam slot 10144 (Figure 54) configured to act as a cam and translate a pin 10152 (Figures 55 to 57) extending from a 10150 closure body. Figure 55 illustrates pin 10152 contiguous with a first end wall 10145 of the spiral cam slot
[00459] [00459] To transfer the closing tube 6100 (Figure 31), the closing drive system 10000 comprises a first fork 10160 pivotally coupled to the closing body 10150 by a pin 10191, a second fork 10170 (Figure 36) coupled pivotally to the first fork 10160 by a pin 10192, and a reciprocating member of the closing tube 10180 comprising a tab 10182 that is pivotally coupled to the second fork 10170 by a pin 10193. The reciprocating element of the closing tube 10180 is coupled to the 6100 closing tube via a drive shaft coupler
[00460] [00460] Again with reference to Figure 31, the trigger drive system 11000 is configured to advance and retract the trigger bar 2610 (Figure 41) of the drive shaft assembly
[00461] [00461] Now referring mainly to Figures 60 to 63, the control set 5000 additionally comprises a trigger locking system 10400 configured to prevent the firing bar 6200 (Figure 35) from being actuated when the end actuator 2100 (Figure 31) is in its non-attached configuration. More specifically, the trigger drive locking system 10400 prevents the drive shaft 11120 from rotating (Figure 50) when the closing body 10150 is in a non-clamped position. The trigger locking system 10400 comprises a locking link of the triggering rod 10410 and a lock 10420. A distal end 10412 of the locking link of the triggering rod 10410 is pivotally coupled to a flange that extends laterally
[00462] [00462] Lock 10420 additionally comprises a locking tooth 10426 configured to engage a 11340 gear. Again with reference to Figure 50, gear 11340 is fixedly attached to a drive shaft 11330. Another gear 11320 is also secured by fixed mode to the drive shaft 11330. Referring to Figure 64, the 11320 gear is operatively engaged with a 11310 gear which is fixedly attached to the 11120 drive shaft. The 11340 gear is operatively engaged with a 11350 gear which is also secured fixedly to the 11120 drive shaft. As a result, preventing the 11340 gear from turning prevents the 11120 drive shaft from rotating and the 6200 drive rod drive (Figure 35).
[00463] [00463] Figures 60 and 62 illustrate the closing body 10150 in a position where the end actuator 2100 (Figure 31) is in a non-clamped configuration. In that position, the locking body 10150 rotated locking tooth 10426 to locking engagement with gear 11340 to prevent the trigger drive shaft 11120 from rotating. Preventing the firing drive shaft 11120 from rotating while the instrument is unlocked prevents premature movement of the firing rod 6200 (Figure 35). The movement of the 2100 end actuator in a stuck configuration unlocks the trigger drive. Figures 61 and 63 illustrate the closing body 10150 in a position where the end actuator 2100 is in a secured configuration. The closing body 10150 moves distally from its position in Figures 60 and 62 when end actuator 2100 is attached. The distal movement of the closing body 10150 causes the locking link of the firing rod 10410 to rotate lock 10420 away from gear 11340 to disengage locking tooth 10426 from gear 11340 thus allowing rotation of gear 11340. In that position, gears 11320, 11340 are allowed to rotate freely and, as a result, firing drive shaft 11120 can rotate to actuate firing rod 6200.
[00464] [00464] Now referring mainly to Figures 65 to 69, the control set 5000 (Figure 30) additionally comprises a double locking and firing lock system 10500 configured to prevent the firing member 2610 (Figure 41) from being advanced before the end actuator 2100 (Figure 31) is in a completely secured configuration. More specifically, the 10500 double locking and firing lock system is configured to prevent the firing bar 6200 (Figure 35) from advancing before the closing tube 6100 (Figure 35) is in its completely distal position, or position distal enough. In addition, once the firing bar 6200 is advanced, the double firing closing and locking system 10500 is configured to prevent closing tube 6100 from being triggered before firing bar 6200 is fully retracted back to its position not fired.
[00465] [00465] As shown in Figure 65, the double locking system 10500 comprises a locking tab 10510 pivotally coupled to the central column 6700. The locking tab 10510 is positioned inside a cavity in the central column 6750 defined in the central column 6700. The locking tab 10510 comprises a distal portion 10516 which is pivotally coupled to the central column 6700 by a pin 10520. As shown in Figure 66, the locking tab 10510 additionally comprises a locking protrusion of the closing tube 10512, a latch of the firing rod lock 10514, and a key portion 10517. Figure 67 illustrates the closing tube 6100 in a non-clamped position and the locking tab 10510 in a configuration that prevents the firing rod 6200 from being advanced before the closing tube 6100 is moved distally to completely secure the end actuator 2100 (Figure 31) as described above. In this position, a distal edge 6152 of an opening 6150 defined in the closing tube 6100 is contiguous with the key portion 10517. In addition, in this position, the protrusion of the firing rod lock 10514 is contiguous to a protrusion 6212 defined in the firing 6200. This contiguity prevents the firing rod 6200 from being advanced distally.
[00466] [00466] To raise the trigger rod latch 10514 in the opposite direction from the protrusion 6212 so that the protrusion 6212 can release the trigger rod latch 10514, the closing tube 6100 is advanced distally to tighten the end actuator 2100 completely. This distal movement of the closing tube 6100 causes a proximal edge 6151 of the opening 6150 to engage the key portion 10517. In such cases, the proximal edge 6151 rotates the locking tab 10510 to the position shown in Figure 68. When the tab locking element 10510 is turned to this position, the locking protuberance of the closing tube 10512 is received inside another opening 6153 defined in the closing tube 6100. As can be seen in Figures 67 to 69, opening 6153 is proximal to the aperture 6150. Once the locking tab 10510 rotates to the position shown in Figure 68, the latch of the firing rod lock 10514 is released from the protrusion 6212 and the firing rod 6200 can be advanced through a firing stroke. Bobby pins.
[00467] [00467] Figure 69 illustrates the firing rod 6200 in a partially advanced state. As the protrusion 6212 advances beyond the protrusion of the firing rod lock 10514, the locking tab 10510 is unable to be rotated as it is held in position by the firing rod 6200. In addition, as a result, the protrusion of the firing rod lock closing tube 10512 resides in opening 6153 within the duration of the firing stroke. As a result, the closing tube 6100 is unable to actuate during the clamping stroke of firing rod 6200. Once firing rod 6200 is completely retracted back to the position shown in Figure 67, the lock 10510 can rotate back to the lock hitch with the firing bar 6200 to prevent firing bar 6200 from being triggered again. In many cases, a spring can be used to force locking tab 10510 back to that position. In other cases, the locking tab 10510 may require a preliminary proximal movement of the closing tube 6100 to rotate the locking tab 10510 in engagement with the firing rod
[00468] [00468] The surgical instrument set 4000 (Figure 31) additionally comprises a manually operated firing retraction system 11400. With reference mainly to Figures 50 and 71, the firing retraction system 11400 is configured to retract firing member 2610 in the event that the 11000 trigger drive system becomes inoperable. For example, when the load on firing member 2610 and firing drive system 11000 exceeds a limit load, the surgical robot to which the surgical instrument set 4000 is attached may not be able to supply sufficient torque to the firing disk. input 11110 to overcome the load. In such a case, the physician can use the 11400 firing retraction system to manually retract firing member 2610. Such manual retraction of firing member 2610 also allows the claws of end actuator 2100 to be opened, especially in cases where the firing member 2610 comprises an I-profile configuration that locks the claws of the end actuator 2100 together.
[00469] [00469] With reference to Figures 50, 51 and 71, the 11400 firing retraction system comprises a 11410 retract lever, a 11420 cam shoulder, a 11430 pin and a 11440 ratchet portion. The 11410 retract lever is accessible through a user-removable window 5420 of the upper cabinet 5200 (Figure 40). Retract lever 11410 and cam shoulder 11420 are pivotally coupled to the internal housing 5300 via pin 11430. Retract lever 11410 is configured to rotate cam shoulder 11420 around pin 11430 to push on a plate of the cam
[00470] [00470] During a retraction stroke of retract lever 11410, retract lever 11410 is configured to position the ratchet portion 11440 in engagement with a tooth arrangement 11220 defined on top of the firing member 11200. The ratchet portion 11440 is pivotally coupled to retract lever 11410 around a geometry axis 11441 that is off-center with respect to pin 11430. A distal end 11445 of ratchet portion 11440 is connected to retract lever 11410 by means of a spring
[00471] [00471] Additionally, the actuation of the retraction lever 11410 activates the ratchet portion 11440 proximally which, in turn, pulls the firing member 11200 proximally. In several cases, a single stroke of lever 11410 is sufficient to completely retract trigger member 11200. In some cases, more than one stroke of lever 11410 is required to completely retract trigger member 11200. In such cases, the trigger lever retraction 11410 is pushed down to reset lever 11410 so that lever 11410 can be activated again. As lever 11410 is reset, teeth 11444 slide distally across the top of teeth 11220 without triggering the firing member
[00472] [00472] Referring to Figures 72 to 77, the surgical instrument set 4000 additionally comprises a manually actuating closing overlap system 10300. As discussed in more detail below, the closing overlap system 10300 can open the claws of the actuator. end 2100. The closing overlap system 10300 can be used when the surgical instrument set 4000 is operationally coupled with a surgical robot and / or when the surgical instrument set 4000 is not coupled with a surgical robot. Referring to Figures 37 and 50, the lock overlap system 10300 comprises, among other things, a lever 10301 and a lock 10310. To use the lock overlap system 10300, the clinician needs to unlock lock 10310 by sliding the lock 10310 laterally outwardly relative to the overlap lever 10301. Lock 10310 comprises a pin 10311 extending from it, which is positioned in a recess 10303 defined in lever arm 10301. Once pin 10311 is pulled out of recess 10303, lever 10301 can be rotated out of its unacted position.
[00473] [00473] With reference mainly to Figure 73, the overlap lever 10301 is pivotally coupled to the upper cabinet 5200 (Figure 40) by a pin 10195 and is configured to use components of the closing drive system 10000 for, regardless of the body closing tube 10150, actuating the closing tube 6100. The overlap lever 10301 comprises pin projections 10194 extending from it. The pin projections 10194 are positioned within a pair of slots 10162 defined in the first fork 10160 of the closing drive system 10000. When the lever 10301 is pulled upwards in the position shown in Figure 73, the pin projections 10194 move from the the proximal ends 10163 of the slits 10162 towards the distal ends 10164 of the slits 10162. When the pins 10194 come into contact with the side walls of the slits 10162, lever 10301 can pull the first fork 10160 upwards and cause the first fork 10160 rotate around the pin
[00474] [00474] Now with reference to Figures 75 to 77, the closing tube 6100 and the reciprocating element of the closing tube 10180 are configured to be actuated by the closing drive system 10000 or the closing overlap system
[00475] [00475] As illustrated in Figure 36, the center column 6700 of the drive shaft assembly 6000 is nested within the 5100, 5200 and 5300 cabinets. The center column 6700 of the drive shaft assembly 6000, which is swiveled within of cabinets 5100, 5200 and 5300 (Figure 40), extends through the closing tube 6100. The firing rod 6200, which is translatable in relation to the central column 6700, extends through the central column 6700.
[00476] [00476] Figure 77 is a cross-sectional view of Figure 75 and illustrates the closing tube 6100 and the reciprocating element of the closing tube 10180 in an unacted position. As discussed above, rotation of gears 10130 in opposite directions rotates primary drive gear 10140. Rotation of primary drive gear 10140 moves closure body 10150 proximally or distally due to the spiral cam slot 10144 (Figures 55 to 57) defined in the primary drive gear 10140 and the pin 10152 extending from the closing body 10150 into the spiral cam slot 10144. As can be seen from Figure 77, the translation of the closing body 10150 in the proximal direction translates the closing tube 6100 and the reciprocating element of the closing tube 10180 proximally, and the translation of the closing body 10150 in the distal direction translates the closing tube 6100 and the reciprocating element of the closing tube 10180 distally.
[00477] [00477] Referring mainly to Figure 70, the surgical instrument set 4000 additionally comprises a secondary closing actuator actuator 10600 that is accessible to a user outside the control set 5000. The secondary closing actuator actuator 10600 enables a doctor manually activates the closing drive system 10000 when the surgical instrument set 4000 is not attached to a surgical robot, for example. The secondary closing actuator 10600 is positioned in the upper cabinet 5200 and comprises a button 10610 removably attached to the closing actuation shaft 10120 (Figure 72). The button 10610 is removably fixed to the closing drive shaft 10120 by means of a drive flap that extends from the button 10610 and the receiving slot 10126 defined on the closing drive shaft 10120 configured to receive the closing flap. activation in it. The secondary closing drive 10600 rotates with the closing drive shaft 10120 when the closing drive system 10000 is operated by the surgical robot. In an alternative embodiment, the second closing actuator 10600 is configured to remain stationary in relation to the closing actuating shaft 10120 by means of a sliding joint until a physician chooses to rotate the closing actuating shaft 10120 with the actuating actuator. secondary closure 10600. Such an arrangement can eliminate unnecessary movement of button 10610 when the closing drive system 10000 is operated by the surgical robot. The secondary closing actuator 10600 can be particularly useful for a physician when the surgical instrument set 4000 is not connected to a surgical robot. Having the ability to open and close the claws of an end actuator via the secondary closing actuator 10600 can eliminate the need to put inadvertent stress on internal components during the opening and closing of the claws of an end actuator by grasping their own claws. A physician is able to fully tighten and completely loosen the claws of an end actuator with the secondary close actuator 10600.
[00478] [00478] Referring mainly to Figure 70, the button 10610 is configured to be removably attachable to the control set 5000. In the case that a doctor wants to manually open the claws when the instrument is still attached to a surgical robot, the physician can turn the 10610 knob in an attempt to open the end actuator 2100 before resorting to the 10300 closing overlap system. In the illustrated embodiment, lever 10301 of the 10300 closing overlap system is positioned below the 10610 button. Thus, button 10610 may need to be removed before the closing overlap system 10300 operates. In certain cases, lever 10301 can automatically lift and disengage button 10610 from cabinet 5200 of control set 5000. That said, a The doctor can also press the button 10610 and / or the closing overlap system 10300 when the surgical instrument set 4000 is separated from the surgical robot. In this case, a doctor is able to open the 2100 end actuator and install a new staple cartridge, for example.
[00479] [00479] As discussed above, the surgical instrument set 4000 comprises two closing drive inputs. These two closing drive inputs can be used to monitor the position of the rotating jaw of the end actuator by different transmission ratios between the 10130 input drive gear and each 10140 primary drive gear. Different transmission ratios between the drive gear Inlet and the primary drive gear require the input gears to be rotated in different amounts to drive the primary drive gear by a given amount of rotation. In this way, the difference in the amount of rotation between the two input gears defines the amount of rotation of the primary drive gear. The amount of rotation of the primary drive gear directly corresponds to the position of the rotating jaw. As a result, the difference in the amount of rotation between the two input gears is monitored by the surgical robot to identify the position of the rotating jaw. As discussed in detail below, the closing drive systems 12100, 12200 illustrated in Figures 78 to 81 use different drive input arrangements and can be used with the surgical instrument set 4000 to monitor the angle at which the rotating jaw of the actuator edge is rotated. Different gear ratio systems discussed above can also be adapted for use with any of the other drive systems in the 4000 surgical instrument set to monitor their respective outputs. For example, a trigger drive system can use two drive inputs having two different gear ratios with a common drive output to monitor the position of the trigger member.
[00480] [00480] In addition to the above, closing actuating systems 12100, 12200 can be used to determine the angle at which the rotating jaw is rotated the instant the surgical instrument set is attached to the surgical robot. To achieve this, the surgical robot monitors its actuation discs during fixation. The operating discs of the surgical robot can start in a starting or reference position and, when attaching the 5000 control set to the robot, the robot can rotate its drive discs to align the operating discs of the surgical robot with the activation of the surgical instrument set. During this alignment phase, the surgical robot monitors the amount of rotation its drive discs undergo to determine the position of the corresponding drive discs in the surgical instrument set. The surgical robot and / or surgical robot interface can contain encoders to monitor the position of your drive disks. Once the positions of the drive disks in the surgical instrument set are identified, the surgical robot can assess the difference in the amount of rotation between the drive disks and thereby determine the angle at which the rotating jaw of the end actuator is rotated.
[00481] [00481] Figures 78 and 79 represent a closing drive system 12100. According to at least one alternative modality, the closing drive system 12100 comprises two different drive input connections that can separately or simultaneously drive a gear. spiral cam 12140. The closing drive system 12100 comprises a first input gear 12110 comprising a first number of teeth and a second input gear 12120 comprising a second number of teeth. The first number of teeth and the second number of teeth are different. Both the 12110, 12120 gears are operationally interlaced with the 12140 spiral cam gear. The first 12110 inlet gear is directly interlaced with the 12140 spiral cam gear while the second 12120 inlet is interlaced with the 12140 spiral cam gear. through a double-sided rack gear 12130. The double-sided rack gear 12130 is provided to keep the center-to-center distances equal between the input gears 12110, 12120 and the spiral cam gear 12140. Center-to-center distances center are defined between the center of the input gears 12110, 12120 and the center of the spiral cam gear 12140, as shown in Figure 78. This arrangement allows the closing drive system 12100 to have two different gear ratios between the first input gear 12110 and spiral cam gear 12140 and second input gear 12120 and gear m of spiral cam 12140. The spiral cam gear 12140 comprises a spiral cam slot 12142 configured to engage with a closure body, such as closure body 10150 (Figure 75), for example, to move the body closure 10150 proximally and distally. In many cases, the 12130 rack gear is flexible to be wound inside cabinets such as 5100, 5200 and 5300 cabinets (Figure 40).
[00482] [00482] Figures 80 and 81 show a closing drive system 12200 comprising two different drive input arrangements that can separately or simultaneously drive a primary drive gear
[00483] [00483] The primary drive gear 12240 and the secondary drive gear 12230 share a common drive geometry. As a result, the closing drive system 12200 comprises two separate and different gear ratios that share the common drive shaft. Spiral cam gear 12240 comprises a spiral cam slot 12242 configured to engage a closing body, such as the closing body (Figure 75), for example, to move the closing body 10150 proximally and distally.
[00484] [00484] As discussed above, the different gear ratios between the drive inputs and the primary drive output result in different amounts of input speed up to a common output speed. This relationship is illustrated in graph 12300 seen in Figure 82. To drive a primary drive gear, such as primary drive gear 12140, for example, a given amount of rotation, the amount of rotation of the first input gear is different from the amount of rotation of the second input gear. As discussed above, differing the amount of rotation required by the input gears 12110 and 12120 to rotate the primary drive gear 12140 by a certain amount results in a difference in the amount of rotation between the two input gears 12110, 12120.
[00485] [00485] The difference in the amount of rotation between the two input gears corresponds to a defined amount of rotation of the primary drive gear, such as the primary drive gear 12140, for example. This relationship can be seen in graph 12310 seen in Figure 83 and can be used to check, or evaluate, the amount by which the primary drive gear 12140 has been turned, as discussed in more detail below. The output speed amount of the primary drive gear 12140 is then used to obtain data from a lookup table. The lookup table refers to a range of calculated speed differences corresponding to the input gears for a range of speed output quantities. The look-up table also refers to the range of calculated speed differences corresponding to the input gears for the angle at which the rotating jaw of the end actuator is rotated.
[00486] [00486] The angles of rotation of the primary drive gears 12140, 12240 correspond directly to the position of the closing tube 6100. In addition, the position of the closing tube 6100 reveals the angle at which the 2100 rotary end actuator claw is rotated. This direct relationship between the angle of rotation of the primary drive gear and the angle of the rotating jaw is also contained within the reference table. This way, the instant the surgical instrument set is attached to the surgical robot, the surgical robot can determine whether the 2100 end actuator is attached, not attached, partially attached, and for how much. The surgical robot can then determine how much to adjust the position of the rotating jaw, if necessary, for the next stage of the surgical procedure. The surgical robot can determine that the end actuator 2100 is not fully attached and that the end actuator 2100 needs to be fully attached to insert the end actuator 2100 through a trocar, for example. The surgical robot can also assess how much the rotating jaw needs to be rotated and in which direction to move to a fully stapled or fully un-stapled position. In certain instances, the surgical robot may determine to fully release the rotating jaw to allow a physician to insert a staple cartridge into the 2100 end actuator and / or to ensure the 2100 end actuator is ready for insertion into the trocar. For example, a doctor can replace a staple cartridge positioned inside the 2100 end actuator in such a case.
[00487] [00487] In addition to the above, the transmission ratios between the input drive gears and the primary drive gear need not be significantly different. In fact, keeping similar, but still different, relationships can prevent the input gears from creating large differences in the speed inputs that, in some cases, can confuse the robot controller, especially when the input gears make more than one revolution complete during a closing course. In this case, a single difference in rotation angle can correspond to two different end actuator configurations where the rotating jaw is angled at two different angles. Keeping similar but different ratios will increase the number of unique difference angles of rotation that correspond to a set of unique claw angles.
[00488] [00488] When a surgical instrument set, such as surgical instrument set 4000, is not operationally coupled to a surgical robot interface of a surgical robot, one of the methods for opening and closing the claws of the end actuator may comprise opening and closing the claws manually. For example, a physician can tighten the closed claws to insert the 2100 end actuator (Figure 30) into a trocar before attaching the surgical instrument set to a surgical robot. Closing the claws manually in such a way causes the closing tube and, thus, the reciprocating element of the closing tube 10180, to move distally. A closing drive system 13000 illustrated in Figures 84 to 86 can drive the closing drive disks back when the jaws are closed manually, as discussed in more detail below.
[00489] [00489] The closing drive set 13000 comprises several components of the closing drive system 10000 of the surgical instrument set 4000 of the Figure
[00490] [00490] When tightening the closed claws, the reciprocating element of the closing tube 10180 will pull the closing body distally and, instead of turning the primary drive gear 10140 'with the pin 10152 that extends from the closing body to the slot of cam 10142 ', the closing body and the primary drive gear 10140' overcome the spring force applied by torsional spring 13110 and move distally. This distal movement causes primary drive gear 10140 'to disengage gears 10130 and causes pin 10141' to move distally within opening 13102 towards the distal end 13106 of opening 13102. When the surgical instrument set 4000 is separate from the surgical robot, the 13000 closing drive system provides sufficient flexibility to allow a physician to pull the end actuator out through a trocar in the event that a surgical robot operator does not secure the claws prior to removal.
[00491] [00491] Many of the surgical instrument systems described in this document are driven by an electric motor; however, the surgical instrument systems described in this document can be induced in any suitable manner. In several examples, the surgical instrument systems described herein can be induced, for example, by a manually operated trigger. In certain cases, the engines described in this document may comprise a portion or portions of a robotically controlled system. In addition, any of the end actuators and / or tool sets shown in the present invention can be used with a robotic surgical instrument system. US patent application serial number 13 / 118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now US patent No.
[00492] [00492] The surgical instrument systems described in this document 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. Examples
[00493] [00493] Example 1 - A surgical instrument that comprises a drive shaft. The drive axis comprises a proximal end, a distal end and a longitudinal geometric axis extending between the proximal end and the distal end. The surgical instrument additionally comprises an end actuator comprising an end actuator structure pivotally coupled to the drive shaft around a pivot pivot, where the pivot pivot defines a fixed articulation geometric axis, and in which the fixed articulation geometry axis is positioned laterally offset from the longitudinal geometry axis, a first selectively movable articulation driver between a first neutral position, a first distal position, and a first proximal position in response to the first corresponding joint control movements applied to it, and a first articulation link operationally coupled to the first articulation actuator, in which the first articulation link extends transversely to the longitudinal geometric axis and coupled to the structure of the end actuator in a first fixation location. The surgical instrument additionally comprises a second selectively movable articulation actuator between a second neutral position, a second distal position, and a second proximal position in response to the corresponding second articulation control movements applied to it and a second articulation link operatively coupled to the second articulation actuator and extending transversely to the longitudinal geometric axis and the first articulation link to be coupled to the structure of the end actuator in a second attachment location.
[00494] [00494] Example 2 - The surgical instrument of Example 1, in which when the first articulation actuator is moved from the first neutral position to the first distal position, the second articulation actuator is moved to the second proximal position to rotate the actuator. end to a fully articulated first position around the pivot pivot and when the second pivot driver is moved from the second neutral position to the second distal position, the first pivot driver is moved to the first proximal position to rotate the end actuator to a second fully articulated position around the pivot pivot.
[00495] [00495] Example 3 - The surgical instrument of Examples 1 or 2, in which when the first articulation driver is in the first neutral position and the second articulation driver is in the second neutral position, the end actuator is axially aligned with the axis longitudinal geometric in an unarticulated position.
[00496] [00496] Example 4 - The surgical instrument of Examples 1, 2 or 3, in which the first neutral position and the first distal position define a first distal articulation course of the first articulation driver, the first neutral position and the first proximal position define a first proximal articulation course of the first articulation trigger, the second neutral position and the second distal position define a second distal articulation course of the second articulation driver, the second neutral position and the second proximal position define a second articulation course proximal to the second articulation trigger and the first distal articulation stroke is not the same as the second distal articulation stroke.
[00497] [00497] Example 5 - The surgical instrument of Example 4, in which the first course of distal articulation is smaller than the second course of distal articulation.
[00498] [00498] Example 6 - The surgical instrument of Examples 4 or 5, in which the first course of proximal articulation is not the same as the second course of proximal articulation.
[00499] [00499] Example 7 - The surgical instrument of Examples 4, 5 or
[00500] [00500] Example 8 - The surgical instrument of Examples 1, 2, 3, 4, 5, 6 or 7, in which the first articulation link comprises a first link length and in which the second articulation connection comprises a second length of link that differs from the first link length.
[00501] [00501] Example 9 - The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7 or 8, in which the first fixation site is displaced from the longitudinal geometric axis at a first displacement distance and in which the the second attachment location is displaced from the longitudinal geometric axis at a second travel distance that differs from the first travel distance.
[00502] [00502] Example 10 - The surgical instrument of Example 9, in which the first travel distance is greater than the second travel distance.
[00503] [00503] Example 11 - The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, 8, 9 or 10, in which the first articulation link is pivotally connected to the first articulation actuator in a first link attachment location, where the second link link is pivotally connected to the second link drive at a second link attachment location, and where when the first link drive is in the first neutral position and the second link articulation actuator is in the second neutral position, the first link attachment location is axially displaced from the second link attachment location.
[00504] [00504] Example 12 - The surgical instrument of Example 11, in which the first location of the link is displaced laterally from the longitudinal geometric axis at a first lateral distance, and in which the second location of the link is displaced laterally from the axis longitudinal geometric pattern at a second lateral distance that differs from the first lateral distance.
[00505] [00505] Example 13 - The surgical instrument of Example 12, in which the second lateral distance is less than the first lateral distance.
[00506] [00506] Example 14 - A surgical instrument comprising a controller comprising a source of first articulation control movements, a source of second articulation control movements and a source of firing control movements. The surgical instrument additionally comprises a surgical tool operably coupled to the controller, wherein the surgical tool comprises a drive axis comprising a proximal end, a distal end and a longitudinal geometric axis extending between the proximal end and the distal end. The surgical tool additionally comprises an end actuator comprising an end actuator structure pivotally coupled to the drive shaft around a pivot pivot, where the pivot pivot defines a fixed pivot geometry axis, and in which the fixed articulation geometry axis is positioned laterally offset from the longitudinal geometry axis, a first selectively movable articulation driver between a first neutral position, a first distal position, and a first proximal position in response to the first corresponding joint control movements applied to it by the source of the first articulation control movements, and a first articulation link operationally coupled to the first articulation driver, the first articulation link that extends transversely to the longitudinal geometric axis and coupled to the end actuator structure in one first place of fixation. The surgical tool additionally comprises a second selectively movable articulation driver between a second neutral position, a second distal position and a second proximal position in response to the corresponding second articulation control movements applied to it by the source of the second articulation control movements, a second articulation link operatively coupled to the second articulation actuator and extending transversely to the longitudinal geometric axis and to the first articulation link to be coupled to the end actuator structure at a second attachment location, and a firing member supported for travel selective axial between a start and end position within the end actuator in response to the trigger control movements applied to it by the trigger control movements source, where the source of the first articulation control movements applies an amount of the first movements contr articulation ole to the first articulation actuator that corresponds to a desired articulated position of the end actuator and where the source of the second articulation control movements applies another amount of second articulation control movements to the second articulation actuator that corresponds to the position desired articulation while firing control movements are applied to the firing member.
[00507] [00507] Example 15 - The surgical instrument of Example 14, in which the controller comprises a hand cabinet.
[00508] [00508] Example 16 - The surgical instrument of Examples 14 or 15, wherein the controller comprises a tool mounting portion of a robotic system.
[00509] [00509] Example 17 - The surgical instrument of Examples 14, 15 or 16, wherein the end actuator further comprises a staple cartridge including removably stored staples therein.
[00510] [00510] Example 18 - A surgical instrument comprising a drive shaft comprising a proximal end, a distal end and a longitudinal geometric axis that extends between the proximal end and the distal end.
[00511] [00511] Example 19 - The surgical instrument of Example 18, in which the first course of proximal articulation is not the same as the second course of proximal articulation.
[00512] [00512] Example 20 - The surgical instrument of Examples 18 or 19, in which the first articulation actuator is coupled to the structure of the end actuator by a first articulation link comprising a first length of the link and extending transversely to the geometric axis longitudinal, and wherein the second pivot drive is coupled to the end actuator structure by a second pivot link comprising a second link length that differs from the first link length and extends transversely with respect to the longitudinal geometric axis and the first link of articulation.
[00513] [00513] Example 21 - A surgical tool configured to interface in an operationally interchangeable way with a hand controller and a tool retainer of a robotic system. The surgical tool comprises a drive shaft comprising a proximal end and a distal end, an end actuator operably coupled to the distal end of the drive shaft, a plurality of movable drive members operatively supported by the drive shaft and configured to apply control corresponding portions of the end actuator, each movable drive member comprising a proximal coupler portion and a coupling cabinet coupled to the proximal end of the drive shaft, the coupling cabinet configured to be interchangeably attachable to any of the hand controller and tool retainer, the coupling cabinet operationally supporting the proximal coupler portion of each movable drive member in a corresponding neutral coupling position to allow each proximal coupler portion to interact operationally with an s corresponding drive system of the hand controller and tool retainer of the robotic system when the coupling cabinet is connected to it.
[00514] [00514] Example 22 - The surgical tool of Example 21, wherein the plurality of movable drive members comprises a first axially mobile drive member comprising a first proximal coupler portion, a second axially mobile drive member comprising a second portion of proximal coupler, a third axially movable drive member comprising a third proximal coupler portion and a fourth axially mobile drive member comprising a fourth proximal coupler portion.
[00515] [00515] Example 23 - The surgical tool of Example 22, in which the coupling cabinet operationally supports the first proximal coupler portion in a first neutral coupling position, the second proximal coupler portion in a second neutral coupling position, the third proximal coupler portion in a third neutral coupler position and the fourth proximal coupler portion in a fourth neutral coupler position, where the first neutral coupling position, the second neutral coupling position, the third neutral coupling position and the fourth neutral coupler position is spaced in a serial axial alignment predetermined by the coupling cabinet.
[00516] [00516] Example 24 - The surgical tool of Example 23, wherein the coupling cabinet comprises a movable locking member between a locked position where the locking member retains the first proximal coupler portion in the first neutral coupling position, the second portion of proximal coupler in second position of neutral coupler, third portion of proximal coupler in third position of neutral coupler and fourth fourth portion of proximal coupler in fourth position of neutral coupler when the surgical tool is separated from any of the hand and the tool retainer of the robotic system and an unlocked position when the coupling cabinet is operationally attached to any of the hand controller and the tool retainer of the robotic system to thus allow axial movement of the first proximal coupler portion, the second portion of the proximal coupler, the third portion of the proximal coupler and the fourth portion proximal coupler.
[00517] [00517] Example 25 - The surgical tool of Example 24, in which the locking member is propelled to the locked position when the coupling cabinet is separated from any of the hand controller and the tool retainer and moves automatically to the unlocked position when the coupling housing is operationally coupled to any of the handhold and the tool retainer.
[00518] [00518] Example 26 - The surgical tool of Examples 21, 22, 23, 24 or 25, in which each of the hand controller and the robotic system comprises an electrical power source and in which the coupling cabinet is configured to facilitate the transmission of electrical energy to the surgical tool when the coupling cabinet is operationally coupled to any of the hand controller and the tool retainer of the robotic system.
[00519] [00519] Example 27 - The surgical tool of Examples 21, 22, 23, 24, 25 or 26, in which each of the hand controller and the tool retainer defines a geometric axis of operation, and in which the The coupling is operably interchangeable with any of the hand controllers and the tool retainers in an installation direction that is orthogonal to the geometric axis of operation.
[00520] [00520] Example 28 - surgical tool of Examples 21, 22, 23, 24, 25, 26 or 27, in which the hand controller comprises a handle holder, in which the tool holder comprises a tool holder cabinet and wherein the coupling cabinet is configured to be interchangeably attachable and releasable to any one of the grip handles and the tool retainer cabinet.
[00521] [00521] Example 29 - The surgical tool of Examples 21, 22, 23, 24, 25, 26, 27 or 28, additionally comprising a longitudinal geometric axis between the proximal end and the distal end, where the drive axis and the a plurality of movable drive members are supported by the coupling cabinet to facilitate rotation of the end actuator about the longitudinal geometric axis when the coupling cabinet is operationally connected to any of the hand controller and the tool retainer.
[00522] [00522] Example 30 - The surgical tool of Examples 21, 22, 23, 24, 25, 26, 27, 28 or 29, in which the end actuator is configured to cut and staple the tissue.
[00523] [00523] Example 31 - A surgical tool configured to interface operationally with any one of a hand controller and a tool retainer in a robotic system. The surgical tool comprises a drive shaft comprising a proximal end and a distal end, an end actuator rotationally coupled to the drive shaft around a pivot pivot and a pivot driver arrangement operably supported by the drive shaft and coupled to the end actuator for pivoting the end actuator around the pivot pivot, wherein the pivot actuator arrangement comprises a proximal pivot coupler arrangement. The surgical tool additionally comprises a firing member supported for selective axial displacement between a start and end position within the end actuator, a firing driver supported by the drive shaft and configured to move the firing member between the start and end position, the trigger actuator comprising a proximal trigger coupler and a coupling cabinet coupled to the proximal end of the shaft and configured to be interchangeably connected to any of the hand controller and tool retainer, the coupling cabinet supporting the arrangement of proximal articulation coupler in a neutral articulation coupler position oriented to interface operationally with the hand controller articulation control systems and the robotic system tool retainer and the proximal firing coupler in a firing coupler position neutral oriented to make operational interface with the trigger control systems of the manipulated controller and the tool retainer of the robotic system when the coupling cabinet is operationally connected to it.
[00524] [00524] Example 32 - The surgical tool of Example 31, wherein the hinge driver arrangement additionally comprises a first axially movable hinge driver and a second axially movable hinge driver. The proximal hinge coupler arrangement comprises a first hinge coupler at a first proximal end of the first hinge driver and configured to interface operationally with a first hinge control system from any of the hand controller and tool retainer and a second pivot coupler at a second proximal end of the second pivot driver and configured to interface operationally with a second pivot control system from any of the hand controllers and the tool retainer.
[00525] [00525] Example 33 - The surgical tool of Example 32, in which when the first hinge driver moves in a first direction, the second hinge driver moves in a second direction that is opposite the first direction.
[00526] [00526] Example 34 - The surgical tool of Examples 31, 32 or 33, in which the end actuator comprises a first claw rotatably coupled to the axis around the articulation pivot and a second claw movably supported in relation to the first claw , wherein the surgical tool further comprises a closure assembly supported by the drive shaft and configured to selectively move at least one of the first and second jaws between the open and closed positions, the closure assembly comprising a proximal closure coupler that is supported by the coupling cabinet in a neutral closing coupler position oriented to interface operationally with a closing control system in any of the hand controller and tool retainer.
[00527] [00527] Example 35 - The surgical tool of Example 34, in which one of the first and second jaws is configured to operationally support a staple cartridge including removably stored staples therein.
[00528] [00528] Example 36 - The surgical tool of Examples 31, 32, 33, 34 or 35, further comprising a longitudinal geometric axis between the proximal end and the distal end of the drive shaft, wherein the drive shaft and the arrangement of hinge actuator and trigger actuator are supported by the coupling cabinet to facilitate rotation of the end actuator around the longitudinal geometric axis when the coupling cabinet is operationally connected to any of the hand controller and tool retainer.
[00529] [00529] Example 37 - The surgical tool of Examples 31, 32, 33, 34, 35 or 36, in which the coupling cabinet operationally supports the coupling arrangement of the proximal joint in a neutral joint coupling position and the coupling proximal firing in a neutral firing coupling position, and in which the neutral firing coupling position, the neutral hinge coupling position and the neutral closing coupling position are spaced in a serial axial alignment predetermined by the coupling cabinet.
[00530] [00530] Example 38 - The surgical tool of Example 37, wherein the coupling cabinet comprises a movable locking member between a locked position where the locking member retains the proximal firing coupler in the neutral firing coupling position, the arrangement of the proximal joint coupler in the neutral joint coupling position and the proximal closing coupler in the neutral closing coupler position when the surgical tool is separated from any of the hand controller and the robotic system tool retainer and one position Unlocked when the coupling cabinet is operationally attached to any of the hand controller and tool retainer of the robotic system to thereby allow axial movement of the proximal firing coupler, proximal joint coupler arrangement and coupler proximal closure.
[00531] [00531] Example 39 - A surgical tool configured to interface in an operationally interchangeable way with any one of a hand controller and a tool retainer in a robotic system. The surgical tool comprises an axis comprising a proximal end and a distal end, an end actuator operably coupled to the distal end of the geometry axis, a plurality of axially movable drive members operatively supported by the geometry axis and configured to apply axial control movements to the corresponding portions of the end actuator, each axially movable drive member comprising a proximal coupler portion and a coupling means coupled to the proximal end of the shaft to interchangeably attach the surgical tool to any of the hand controller and tool retainer of the robotic system and operationally support the proximal coupler portion of each mobile drive member in a corresponding neutral coupling position to allow each proximal coupler portion to interact operationally with a corresponding control drive system handpiece and tool retainer of the robotic system when the coupling means is connected to it.
[00532] [00532] Example 40 - The surgical tool of Example 39, in which the end actuator is configured to cut and staple the tissue.
[00533] [00533] Example 41 - A surgical instrument set comprising an end actuator, comprising a staple cartridge comprising a plurality of staples removably stored therein, an anvil, a first jaw and a second movable jaw in relation to the first jaw . The surgical instrument set further comprises a drive shaft assembly comprising a distal end, wherein the end actuator extends from the distal end, a closing member configured to move the second jaw relative to the first jaw and a limb trigger set to eject the staples from the staple cartridge. The surgical instrument set additionally comprises a closing drive system configured to drive the closing member through a closing stroke, wherein the closing stroke comprises a proximal closing stroke position where the second claw is in a non configuration clamping and a distal closing stroke position where the second claw is in a clamped configuration, a firing trigger system configured to trigger the firing member through a firing stroke, wherein the firing stroke comprises a stroke position proximal firing where none of the clamps was ejected from the staple cartridge and a distal firing stroke position where all the clamps were ejected from the staple cartridge and a double lock engaged with the closing member and the firing member, where the double lock is configured to prevent the firing member from advancing distally from the proximal firing stroke position before the closing member is in the distal closing stroke position, and the double lock is configured to prevent the closing member from retracting from the distal closing stroke position before the firing member is returned to the firing stroke position proximal after the firing stroke.
[00534] [00534] Example 42 - The surgical instrument set of Example 41, additionally comprising a portion of the central column, wherein the double lock is rotatably coupled to the portion of the central column.
[00535] [00535] Example 43 - The surgical instrument set of Examples 41 or 42, wherein the closing member comprises a first opening configured to receive a first portion of the double lock and a second opening configured to receive a second portion of the double lock, and wherein the firing member is unlocked when the second portion of the double lock is received within the second opening.
[00536] [00536] Example 44 - The surgical instrument set of Example 43, in which the first opening comprises a proximal opening edge and a distal opening edge, and in which the firing member is unlocked when the first portion of the double lock is in contact with the proximal opening edge.
[00537] [00537] Example 45 - The surgical instrument set of Examples 41, 42, 43 or 44, wherein the closing member comprises a first opening configured to receive a first portion of the double lock and a second opening configured to receive a second portion of the double lock, where the first opening comprises a proximal opening edge and a distal opening edge, and where the firing member comprises an edge configured to engage the double lock to prevent the firing member from being advanced from the firing position. proximal firing course when the first portion of the double lock is in contact with the distal opening edge.
[00538] [00538] Example 46 - The surgical instrument set of Examples 41, 42, 43, 44 or 45, in which the closing member is configured to simultaneously unlock the firing member and lock the closing member when the closing member is moved to the distal closing stroke position.
[00539] [00539] Example 47 - The surgical instrument set of Examples 41, 42, 43, 44, 45 or 46, in which the trigger drive system comprises a rotary trigger input and in which the surgical instrument set additionally comprises a trigger trigger lock configured to lock the rotary trigger input when the closing trigger system moves the closing member to the proximal closing stroke position.
[00540] [00540] Example 48 - The surgical instrument set of Examples 41, 42, 43, 44, 45, 46 or 47, in which the drive shaft assembly defines a longitudinal instrument geometric axis and in which the double lock comprises a rotating locking tab around a locking geometry axis that is transversal to the longitudinal instrument geometry axis.
[00541] [00541] Example 49 - The surgical instrument set of Examples 41, 42, 43, 44, 45, 46, 47 or 48, in which the closing member and the firing member are movable in relation to the double lock.
[00542] [00542] Example 50 - A surgical instrument connection configured to be fixed and separated from a surgical robot. The connection of the surgical instrument comprises an end actuator comprising a staple cartridge comprising a plurality of staples removably stored therein, an anvil, a first jaw and a second movable jaw in relation to the first jaw. The fixation of the surgical instrument further comprises a drive shaft assembly comprising a distal end, wherein the end actuator extends from the distal end, a closing member configured to move the second jaw relative to the first jaw and a limb trigger set to eject the staples from the staple cartridge. The fixation of a surgical instrument further comprises a closing drive system configured to drive the closing member through a closing stroke, in which the closing stroke comprises a first closing stroke position where the second jaw is in an open configuration and a second closing stroke position where the second claw is in a closed configuration, a firing trigger system configured to drive the firing member through a firing stroke, wherein the firing stroke comprises a first stroke position where no clamps were ejected from the staple cartridge and a second firing stroke position where all clamps were ejected from the staple cartridge and a locking mechanism coupled to the frame, where the locking mechanism is configured to prevent the firing member is advanced distally from the first firing position to the second firing position firing stroke before the closing member is in the second closing stroke position, and the locking mechanism is configured to prevent the closing member from being retracted from the second closing stroke position towards the first position closing stroke before the firing member is returned to the first firing stroke position after the firing stroke.
[00543] [00543] Example 51 - The connection of the surgical instrument of Example 50, in which the locking mechanism is rotatably coupled to the frame.
[00544] [00544] Example 52 - The surgical instrument connection of Examples 50 or 51, wherein the closing member comprises a first opening configured to receive a first portion of the locking mechanism and a second opening configured to receive a second portion of the locking mechanism locking, and in which the firing member is unlocked when the second portion of the locking mechanism is received within the second opening.
[00545] [00545] Example 53 - The connection of the surgical instrument of Example 52, in which the first opening comprises a proximal opening edge and a distal opening edge, and in which the firing member is unlocked when the first portion of the locking mechanism is in contact with the proximal opening edge.
[00546] [00546] Example 54 - The surgical instrument connection of Examples 50, 51, 52 or 53, wherein the closing member comprises a first opening configured to receive a first portion of the locking mechanism and a second opening configured to receive a second portion of the locking mechanism, wherein the first opening comprises a proximal opening edge and a distal opening edge, and the firing member comprises an edge configured to engage the locking mechanism to prevent the firing member from being advanced from the first firing position when the first portion of the locking mechanism is in contact with the distal opening edge.
[00547] [00547] Example 55 - The connection of the surgical instrument of Examples 50, 51, 52, 53 or 54, in which the closing member is configured to simultaneously unlock the firing member and lock the closing member when the closing member is moved to the second closing stroke position.
[00548] [00548] Example 56 - The connection of the surgical instrument of Examples 50, 51, 52, 53, 54 or 55, in which the triggering system comprises a rotary trigger input and in which the connection of the surgical instrument further comprises a trigger trigger lock configured to lock the rotary trigger input when the closing trigger system moves the closing member to the first closing stroke position.
[00549] [00549] Example 57 - The connection of the surgical instrument of Examples 50, 51, 52, 53, 54, 55 or 56, in which the drive shaft assembly defines a longitudinal instrument geometric axis and in which the locking mechanism comprises a rotating locking latch about a locking geometry axis that is transverse to the longitudinal instrument geometry axis.
[00550] [00550] Example 58 - The connection of the surgical instrument of Examples 50, 51, 52, 53, 54, 55, 56 or 57, in which the closing member and the firing member are movable in relation to the locking mechanism.
[00551] [00551] Example 59 - A surgical instrument set comprising an end actuator, comprising a staple cartridge comprising a plurality of staples removably stored therein, a first jaw and a second movable jaw relative to the first jaw. The surgical instrument set further comprises a drive shaft assembly comprising a closing member configured to move the second jaw relative to the first jaw and a firing member configured to eject the clamps from the clamp cartridge, a closing drive system configured to drive the closing member through a closing stroke, wherein the closing stroke comprises a proximal closing stroke position where the second jaw is in a non-clamped configuration and a distal closing stroke position where the second jaw is in a locked configuration and a trigger trigger system configured to trigger the trigger member through a trigger stroke, where the trigger stroke comprises a proximal trigger stroke position where none of the clamps has been ejected from the clamp cartridge and a distal firing stroke position where all staples have been ejected from the staple cartridge. The surgical instrument set further comprises means for automatically locking the firing member in the proximal firing stroke position until the closing member is moved to the distal closing stroke position and for automatically locking the closing member in the stroke position. distal closure until the firing member is returned to the proximal firing stroke position after the firing stroke.
[00552] [00552] Example 60 - The surgical instrument set of Example 59, additionally comprising a portion of the central column, wherein the medium comprises a locking tongue rotatably coupled to the portion of the central column.
[00553] [00553] Example 61 - A set of surgical instruments configured to be operationally connected and separated from a surgical robot interface. The surgical instrument set comprises a drive shaft assembly comprising an end actuator comprising a staple cartridge, an anvil, a first jaw and a second movable jaw in relation to the first jaw between a non-clamped configuration and a clamped configuration. The drive shaft assembly further comprises a distal end, where the end actuator extends from the distal end of the drive shaft assembly and a closing drive member configured to move the second jaw relative to the first jaw. The surgical instrument set additionally comprises a control set, in which the drive shaft set is operationally coupled to the control set. The control assembly comprises an enclosure, a closing drive system configured to drive the closing drive member, wherein the closing drive system comprises a rotary input drive configured to be driven by a rotary drive member of the interface of the surgical robot when the surgical instrument set is operationally connected to the surgical robot interface and an external closing drive driver operatively coupled to the input drive, where the external closing drive driver is external to the cabinet and where the driver external locking drive is configured to be driven by a physician to manually rotate the rotary input drive to move the second claw between the non-clamped configuration and the clamped configuration when the surgical instrument set is not operationally connected to the surgical robot interface .
[00554] [00554] Example 62 - The surgical instrument set of Example 61, additionally comprising a closing drive retraction operatively coupled to the closing driving member, wherein the closing drive retraction is operable independently of the activation of the rotary input.
[00555] [00555] Example 63 - The surgical instrument set of Examples 61 or 62, wherein the end actuator additionally comprises a cutting member, wherein the drive shaft assembly additionally comprises a trigger drive member operably connected to the member cutting, and the control set additionally comprises a trigger drive system configured to drive the trigger member.
[00556] [00556] Example 64 - The surgical instrument set of Examples 61, 62 or 63, wherein the control set additionally comprises a firing retraction configured to be triggered by a physician to manually trigger the firing trigger member.
[00557] [00557] Example 65 - The surgical instrument set of Examples 61, 62, 63 or 64, in which the closing drive system further comprises a primary drive gear comprising a spiral cam slot defined therein, and in which the spiral cam slot is engaged with the closing drive member so that the rotation of the primary drive gear by the rotary input drive is configured to translate the closing drive member.
[00558] [00558] Example 66 - The surgical instrument set of Example 65, in which the rotary inlet drive comprises a first rotary inlet drive, in which the first rotary inlet drive comprises a first rotary inlet drive gear engaged with the primary drive gear, wherein the closing drive system additionally comprises a second rotary input drive, where the second rotary input drive comprises a second rotary input drive gear engaged with the primary drive gear, and where both the first rotary input drive and the second rotary input drive are configured to rotate the primary drive gear simultaneously.
[00559] [00559] Example 67 - The surgical instrument set of Examples 65 or 66, in which the primary drive gear comprises a fixed axis of rotation and is mounted in the cabinet.
[00560] [00560] Example 68 - The surgical instrument set of Examples 61, 62, 63, 64, 65, 66 or 67, additionally comprising a sterile adapter configured to transfer rotary drive movements from the rotary drive member of the surgical robot interface to the rotary input drive of the closing drive system.
[00561] [00561] Example 69 - A set of surgical instruments configured to be operationally coupled and decoupled from a surgical robot.
[00562] [00562] Example 70 - The surgical instrument set of Example 69, additionally comprising a closing drive retraction operatively coupled to the closing driving member, wherein the closing drive retraction is operable independently of the primary rotary input drive.
[00563] [00563] Example 71 - The surgical instrument set of Examples 69 or 70, wherein the end actuator additionally comprises a cutting member, wherein the drive shaft assembly additionally comprises a trigger drive member operably connected to the member cutting, and the control set additionally comprises a trigger drive system configured to drive the trigger member.
[00564] [00564] Example 72 - The surgical instrument set of Examples 69, 70 or 71, wherein the control set additionally comprises a firing retraction configured to be triggered by a physician to manually trigger the firing trigger member.
[00565] [00565] Example 73 - The surgical instrument set of Examples 69, 70, 71 or 72, wherein the closing drive system additionally comprises a primary drive gear comprising a spiral cam slot defined therein, and where the spiral cam slot is engaged with the closing drive member so that the rotation of the primary drive gear by the primary rotary input drive is configured to translate the closing drive member.
[00566] [00566] Example 74 - The surgical instrument set of Example 73, wherein the primary rotary inlet drive comprises a first primary rotary inlet drive, wherein the first primary rotary inlet drive comprises a first geared inlet drive gear with the primary drive gear, wherein the closing drive system additionally comprises a second primary rotary input drive, wherein the second primary rotary input drive comprises a second input drive gear engaged with the primary drive gear, and wherein both the first primary rotary input drive and the second primary rotary input drive are configured to rotate the primary drive gear simultaneously.
[00567] [00567] Example 75 - The surgical instrument set of Examples 73 or 74, in which the primary drive gear comprises a fixed axis of rotation and is mounted in the compartment.
[00568] [00568] Example 76 - The surgical instrument set of Examples 69, 70, 71, 72, 73, 74 or 75, additionally comprising a sterile adapter configured to transfer rotary drive movements from the surgical robot's rotary drive actuator to the drive primary rotary input of the closing drive system.
[00569] [00569] Example 77 - A surgical robot fixation configured to be fixed and separated from a surgical robot. The surgical robot attachment comprises a drive shaft assembly comprising an end actuator, wherein the end actuator comprises a closing mechanism and a movable gripper configured to move between a non-clamped configuration and a configuration clamped by the closing mechanism and a fastening interface. The fixation interface comprises a cabinet, a first closing drive system comprising a robotic input configured to be operationally coupled to a corresponding surgical robot drive when the surgical robot coupling is attached to the surgical robot, where the robotic input is configured to be actuated by the corresponding actuation of the surgical robot to actuate the closing mechanism, and a second closing actuation system comprising an entrance accessible to the user distinct and separate from the robotic entrance, and in which the entrance accessible to the user is manually activated to actuate the closing mechanism when the surgical robot coupling is not attached to the surgical robot.
[00570] [00570] Example 78 - The fixation of the surgical robot of Example 77, in which the fixation interface additionally comprises a primary drive gear comprising a spiral cam slot defined therein, and in which the spiral cam slot is engaged with the closing link such that the rotation of the primary drive gear by the first closing drive system is configured to translate the closing link.
[00571] [00571] Example 79 - The surgical robot attachment of Example 78, in which the robotic inlet comprises a first robotic inlet, in which the first robotic inlet comprises a first input drive gear engaged with the primary drive gear, in which the clamping interface further comprises a second robotic input, where the second robotic input comprises a second input drive gear engaged with the primary drive gear, and where both the first robotic input and the second robotic input are configured to rotate the primary drive gear simultaneously.
[00572] [00572] Example 80 - The surgical robot attachment of Examples 77, 78 or 79, additionally comprising a staple cartridge comprising a plurality of staples removably stored therein.
[00573] [00573] The entire descriptions of:
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[00575] [00575] - US patent No. 7,000,818, entitled "SURGICAL STAPLING
[00576] [00576] - US patent No. 7,422,139, entitled "MOTOR-DRIVEN
[00577] [00577] - US patent No. 7,464,849, entitled "ELECTRO-
[00578] [00578] - US patent No. 7,670,334, entitled "SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR", which was granted on March 2, 2010;
[00579] [00579] - US patent No. 7,753,245, entitled "SURGICAL STAPLING INSTRUMENTS", which was granted on July 13, 2010;
[00580] [00580] - US patent No. 8,393,514, entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE", which was granted on March 12, 2013;
[00581] [00581] - US patent application serial number 11 / 343,803, entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES", now US patent No. 7,845,537;
[00582] [00582] - US patent application serial number 12 / 031,573, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES", filed on February 14, 2008;
[00583] [00583] - US patent application serial number 12 / 031,873, entitled "END
[00584] [00584] - US patent application serial number 12 / 235,782, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT", now US patent No. 8,210,411;
[00585] [00585] - US patent application serial number 12 / 249,117, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM", now US patent no.
[00586] [00586] - US patent application serial number 12 / 647,100, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY", filed on December 24, 2009, now US patent no.
[00587] [00587] - US patent application serial number 12 / 893,461, entitled "STAPLE CARTRIDGE", filed on September 29, 2012, now US patent No. 8,733,613;
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[00589] [00589] - US patent application serial number 13 / 118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE
[00590] [00590] - US patent application serial number 13 / 524,049, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE", filed on June 15, 2012, now US patent No. 9,101,358;
[00591] [00591] - US patent application serial number 13 / 800,025, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", filed on March 13, 2013, now US patent No. 9,345,481;
[00592] [00592] - US patent application serial number 13 / 800,067, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on March 13, 2013, now publication of US patent application No. 2014/0263552;
[00593] [00593] - publication of US patent application No. 2007/0175955, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM", filed on January 31, 2006; and
[00594] [00594] - publication of US patent application No. 2010/0264194, 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.
[00595] [00595] Although several devices have been described in this document 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 resources, structures or specific features 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 described, 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.
[00596] [00596] The devices described in this document 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.
[00597] [00597] The devices described in this document 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
[00598] [00598] Although this invention has been described as having exemplary designs, the present invention can be further modified within the spirit and scope of the description. It is intended, therefore, that this application covers any variations, uses or adaptations of the invention with the use of its general principles.
[00599] [00599] Any patent, publication or other description material, in whole or in part, which is said to be incorporated into the present invention for reference purposes, 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 as necessary, the description as explicitly presented herein replaces any conflicting material incorporated into the present invention by reference. Any material, or portion thereof, taken as in this document incorporated by reference, but which conflicts with the definitions, statements, or other description materials present in this document presented will be in this incorporated document only until the point in that there is no conflict between the embedded material and the existing description material.

权利要求:
Claims (20)
[1]
1. Surgical instrument set configured to be operationally fixed and separated from a surgical robot, in which said surgical instrument set comprises: a drive shaft assembly, comprising: an end actuator comprising: a cartridge Bobby pins; an anvil; a first claw; and a second movable jaw relative to the first jaw between a non-attached configuration and a attached configuration; a distal end, wherein said end actuator extends from said distal end of said drive shaft assembly; and a closing drive member configured to move said second jaw relative to said first jaw; and a control set, in which said drive shaft set is operationally coupled to said control set, and wherein said control set comprises: a compartment; a closing drive system configured to actuate said closing drive member, wherein said closing drive system comprises a rotary input drive configured to be driven by a rotary drive member of the surgical robot interface when said surgical instrument set is operationally attached to the surgical robot interface; and an external closing actuator operatively coupled to said input actuation, wherein said external closing actuator is external to said compartment, and wherein said external closing actuator is configured to be actuated by a physician to manually rotate said rotary input drive to move said second claw between said non-clamped configuration and said clamped configuration when said surgical instrument set is not operationally attached to the surgical robot interface.
[2]
2. Surgical instrument set, according to claim 1, characterized by additionally comprising a closing drive retraction operatively coupled to said closing driving member, wherein said closing drive retraction is operable independently of said closing drive rotary entry.
[3]
Surgical instrument set according to claim 1, characterized in that said end actuator additionally comprises a cutting member, wherein said drive shaft assembly additionally comprises a trigger drive member operably fixed to said member cutting, and wherein said control set further comprises a trigger drive system configured to actuate said trigger drive member.
[4]
4. Surgical instrument set according to claim 3, characterized in that said control set additionally comprises a firing retraction configured to be actuated by a physician to manually actuate said firing trigger member.
[5]
5. Surgical instrument set according to claim 1, characterized in that said closing drive system additionally comprises a primary drive gear comprising a spiral cam slot defined therein, and wherein said cam slot spiral is engaged to said closing drive member so that the rotation of said primary drive gear by said rotary input drive is configured to translate said closing drive member.
[6]
6. Surgical instrument set according to claim 5, characterized in that said rotary inlet drive comprises a first rotary inlet drive, wherein said first rotary inlet drive comprises a first rotary inlet drive gear engaged with said primary drive gear, wherein said closing drive system additionally comprises a second rotary input drive, wherein said second rotary input drive comprises a second rotary input drive gear engaged with said drive gear primary, and wherein both said first rotary input drive and said rotary input drive are configured to rotate said primary drive gear simultaneously.
[7]
Surgical instrument set according to claim 5, characterized in that said primary drive gear comprises a fixed axis of rotation and is mounted in said compartment.
[8]
8. Surgical instrument set, according to claim 1, characterized in that it additionally comprises a sterile adapter configured to transfer the rotary drive movements from the rotary drive member of the surgical robot interface to said rotary input drive of said closing drive system.
[9]
9. Surgical instrument set configured to be operationally coupled and decoupled from a surgical robot, in which said surgical instrument set is characterized by comprising:
a drive shaft assembly, comprising: an end actuator comprising: a staple cartridge comprising a plurality of staples removably stored therein; an anvil; a first claw; and a second movable jaw relative to the first jaw between a non-attached configuration and a attached configuration; a distal end, wherein said end actuator is operably coupled to said distal end of said drive shaft assembly; a trigger trigger member configured to eject said clips from said clip cartridge; and a closing drive member configured to move said second jaw relative to said first jaw; and a control assembly, in which said drive shaft assembly is operationally coupled to said control assembly, and in which said control assembly comprises: a compartment comprising an external surface; a triggering system configured to actuate said triggering member; a closing drive system configured to actuate said closing drive member, wherein said closing drive system comprises a primary rotary input drive configured to be driven by a surgical robot rotary actuator when said set the surgical instrument is operationally fixed to said surgical robot, in which said closing drive member is longitudinally transferred within said drive shaft assembly by means of said primary rotary input drive; and a secondary closing actuator operatively coupled to said primary rotary input actuation, wherein said secondary closing actuator extends through said external surface of said compartment, wherein said secondary closing actuator actuator it is configured to be actuated by a doctor to manually actuate said primary rotary input drive to move said second claw between said non-clamped configuration and said clamped configuration when said surgical instrument set is not coupled to the surgical robot.
[10]
10. Surgical instrument set according to claim 9, characterized by additionally comprising a closing drive retraction operatively coupled to said closing driving member, wherein said closing drive retraction is operable independently of said closing drive primary rotary inlet.
[11]
11. Surgical instrument set according to claim 9, characterized in that said end actuator additionally comprises a cutting member, wherein said drive shaft assembly additionally comprises a trigger drive member operably fixed to said member cutting, and wherein said control set further comprises a trigger drive system configured to actuate said trigger drive member.
[12]
12. Surgical instrument set according to claim 11, characterized in that said control set additionally comprises a firing retraction configured to be actuated by a physician to manually actuate said firing trigger member.
[13]
Surgical instrument set according to claim 9, characterized in that said closing drive system additionally comprises a primary drive gear comprising a spiral cam slot defined therein, and wherein said cam slot Spiral is engaged to said closing drive member so that the rotation of said primary drive gear by said primary rotary input drive is configured to translate said closing drive member.
[14]
Surgical instrument set according to claim 13, characterized in that said primary rotary inlet drive comprises a first primary rotary inlet drive, wherein said first primary rotary inlet drive comprises a first inlet drive gear engaged with said primary drive gear, wherein said closing drive system further comprises a second primary rotary input drive, wherein said second primary rotary input drive comprises a second input drive gear engaged with said primary drive gear, and wherein said first primary rotary input drive and said second primary rotary input drive are configured to rotate said primary drive gear simultaneously.
[15]
15. Surgical instrument set according to claim 13, characterized in that said primary drive gear comprises a fixed axis of rotation and is mounted in said compartment.
[16]
16. Surgical instrument set according to claim 9, characterized in that it additionally comprises a sterile adapter configured to transfer the rotary drive movements of the rotary actuator of the surgical robot to said primary rotary input drive of said drive system closing.
[17]
17. Surgical robot accessory configured to be fixed and separated from a surgical robot, said surgical robot accessory characterized by comprising: a set of drive axles comprising an end actuator, wherein said end actuator comprises a closing mechanism and a movable gripper configured to be moved between a non-attached configuration and a configuration secured by said closing mechanism; and an attachment interface comprising: a compartment; a first closing drive system comprising a robotic input configured to be operationally coupled to a corresponding surgical robot drive when said surgical robot accessory is attached to the surgical robot, wherein said robotic input is configured to be driven by the drive correspondent of the surgical robot to actuate said closing mechanism; and a second closing drive system comprising a user-accessible entry distinct and separate from said robotic entry, and wherein said user-accessible entry is manually operable to act on said closing mechanism when said surgical robot accessory does not is attached to the surgical robot.
[18]
18. Surgical robot accessory according to claim 17, characterized in that said accessory interface further comprises a primary drive gear comprising a spiral cam slot defined therein, and wherein said spiral cam slot it is engaged with said closing link so that the rotation of said primary drive gear by means of said first closing drive system is configured to translate said closing link.
[19]
19. Surgical robot accessory according to claim 18, characterized in that said robotic entrance comprises a first robotic entrance, wherein the first robotic entrance comprises a first drive gear engaged with said primary drive gear, in that said accessory interface additionally comprises a second robotic input, wherein said second robotic input comprises a second input drive gear engaged with said primary drive gear, and wherein both said first robotic input and said second robotic inputs are configured to rotate said primary drive gear simultaneously.
[20]
20. Surgical robot accessory according to claim 17, 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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公开号 | 公开日

---

US20190183594A1|2019-06-20|

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EP3501413B1|2022-01-19|

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EP3501413A1|2019-06-26|

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CN111511293A|2020-08-07|

---

US11045270B2|2021-06-29|

---

JP2021506449A|2021-02-22|

---

WO2019123173A1|2019-06-27|

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法律状态:
2021-12-07| 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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US15/847,315|2017-12-19|

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US15/847,315|US11045270B2|2017-12-19|2017-12-19|Robotic attachment comprising exterior drive actuator|

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PCT/IB2018/060114|WO2019123173A1|2017-12-19|2018-12-14|Robotic attachment comprising exterior drive actuator|

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