surgical tools configured for interchangeable use with different controller interfaces

专利摘要:
It is a surgical tool configured to be interchangeably attached to a first controller interface and a second controller interface that is different from the first controller interface.
公开号:BR112020012283A2
申请号:R112020012283-1
申请日:2018-12-14
公开日:2020-11-24
发明作者:Frederick E. Shelton Iv；Jason L. Harris；Chester O. Baxter Iii
申请人:Ethicon Llc；
IPC主号:

专利说明:

[0001] [0001] The present invention relates to surgical instruments and, in various arrangements, to surgical instruments for stapling and cutting, and staple cartridges for use with them, which are designed for stapling and cutting tissue. BRIEF DESCRIPTION OF THE DRAWINGS
[0002] [0002] Several characteristics of the modalities described here, together with their advantages, can be understood according to the description presented below, considered together with the attached drawings, as shown below:
[0003] [0003] Figure 1 is a perspective view of an example of a robotic controller, according to an aspect of the present description;
[0004] [0004] 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 specification. creation;
[0005] [0005] 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;
[0006] [0006] Figure 4 is a rear perspective view of a surgical tool model, according to an aspect of the present description;
[0007] [0007] 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;
[0008] [0008] Figure 6 is an exploded perspective view of the set of a distal portion of the surgical tool of Figures 4 and 5;
[0009] [0009] 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 actuation 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, the surgical end actuator being 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, the surgical end actuator being 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, with the surgical end actuator being 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, with the surgical end actuator being articulated 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, with the surgical end actuator being articulated 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, with the surgical end actuator being articulated 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 cross-sectional side view 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 in 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 mode 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 surgical system of Figures 22 and 23;
[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 set 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 according to 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 that comprises 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, the sterile adapter comprising 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 for 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 and articulation drive components of the control set of 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 set of Figure 30;
[0044] [0044] Figure 42 is a detailed view of the articulation triggers 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 driving shaft assembly of the surgical instrument assembly of the Figure and various components of a joint drive system of 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 several 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 several 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 shown in an unarticulated 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 articulated configuration;
[0052] [0052] Figure 50 is a partial perspective view of the surgical instrument set in Figure 30, illustrated with some components removed for the purpose of illustration;
[0053] [0053] Figure 51 is a detailed view of the drive shaft and articulation drive components of the control set of the surgical instrument set of Figure 30;
[0054] [0054] Figure 52 is a partial perspective view of the surgical instrument set in Figure 30, illustrated with some components removed for the purpose of illustration;
[0055] [0055] Figure 53 is a plan view from the bottom 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 fully 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 a locked state;
[0064] [0064] Figure 62 is a top view of the trigger trigger locking system of Figure 60 illustrated in the locked state;
[0065] [0065] Figure 63 is a top view of the trigger 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 the drive shaft assembly is locked;
[0072] [0072] Figure 70 is a perspective view of the control set and the sterile adapter of the surgical instrument set in Figure 30, the control set comprising 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, with the closing drive system comprising a closing drive retractor;
[0075] [0075] Figure 73 is an elevation view of the closing drive system of Figure 53, with the closing drive retractor illustrated in a partially retracted configuration;
[0076] [0076] Figure 74 is an elevation view of the closing drive system of Figure 53, with the retraction of the closing drive illustrated in a fully retracted configuration;
[0077] [0077] Figure 75 is a partial elevation view of the surgical instrument set in 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 in Figure 30, with the closing drive retractor in Figure 72 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 trigger 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 output 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 herein illustrate various embodiments of the invention, in one form, and such exemplifications should not be considered to limit the scope of the invention in any way. DETAILED DESCRIPTION
[0090] [0090] The applicant for this application holds the following US Patent Applications that were filed on December 19, 2017, and which are each incorporated herein by reference in their respective totalities: - US Patent Application serial no. 15 / 847,306, entitled METHOD FOR DETERMINING THE POSITION OF A ROTATABLE JAW OF A SURGICAL INSTRUMENT ATTACHMENT ASSEMBLY;
[0091] [0091] The applicant for this application holds the following US Patent Applications that were filed on December 15, 2017, and which are each incorporated by reference in their respective totalities: - Patent Application No. US serial number 15 / 843,485, entitled SEALED ADAPTERS FOR USE WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS; - U.S. Patent Application Serial No. 15 / 843,518, entitled END EFFECTORS WITH POSITIVE JAW OPENING FEATURES FOR
[0092] [0092] The applicant for this application holds the following US Patent Applications that were filed on June 29, 2017, and which are each incorporated herein by reference in their respective totalities: - US Patent Application serial number 15 / 636,829, entitled-
[0093] [0093] The applicant for this application holds the following US Patent Applications that were filed on June 28, 2017, and which are each incorporated herein by reference in their respective totalities: - US Patent Application serial no. 15 / 635,693, entitled SURGICAL INSTRUMENT COMPRISING AN OFFSET ARTICULA- TION JOINT; - U.S. Patent Application Serial No. 15 / 635,729, entitled
[0094] [0094] The applicant for this application holds the following US Patent Applications that were filed on June 27, 2017, and which are each incorporated herein in their respective totalities: - US Patent Application No. serial 15 / 634.024, entitled SURGICAL ANVIL MANUFACTURING METHODS; - U.S. Patent Application Serial No. 15 / 634,035, entitled SURGICAL ANVIL ARRANGEMENTS; - U.S. Patent Application Serial No. 15 / 634,046, entitled SURGICAL ANVIL ARRANGEMENTS; - U.S. Patent Application Serial No. 15 / 634,054, entitled SURGICAL ANVIL ARRANGEMENTS; - U.S. Patent Application Serial No. 15 / 634,068, entitled SURGICAL FIRING MEMBER ARRANGEMENTS; - U.S. Patent Application Serial No. 15 / 634,076, entitled STAPLE FORMING POCKET ARRANGEMENTS; - U.S. Patent Application Serial No. 15 / 634,090, entitled STAPLE FORMING POCKET ARRANGEMENTS; - U.S. Patent Application Serial No. 15 / 634,099, entitled SURGICAL END EFFECTORS AND ANVILS; and - U.S. Patent Application Serial No. 15 / 634,117, entitled ARTICULATION SYSTEMS FOR SURGICAL INSTRUMENTS.
[0095] [0095] The applicant for this application holds the following US Patent Applications that were filed on December 21, 2016, and which are each incorporated herein by reference in their respective totalities: - US Patent Application No. series 15 / 386,185, entitled
[0096] [0096] The applicant for this application holds the following US Patent Applications that were filed on June 24, 2016, and which are each incorporated herein by reference in their respective totalities: - US Patent Application serial no. 15 / 191,775, entitled
[0097] [0097] The applicant for this application holds the following US Patent Applications that were filed on June 24, 2016, and which are each incorporated herein by reference in their respective totalities: - Patent Application for Industrial Design US Serial No. 29 / 569,218, entitled SURGICAL FASTENER; - U.S. Industrial Design Patent Application Serial No. 29 / 569,227, entitled SURGICAL FASTENER; - U.S. Industrial Design Patent Application Serial No. 29 / 569,259, entitled "'SURGICAL FASTENER CARTRIDGE"; and - U.S. Industrial Design Patent Application Serial No. 29 / 569,264, entitled "'SURGICAL FASTENER CARTRIDGE".
[0098] [0098] The applicant for this application holds the following patent applications that were filed on April 1, 2016 and which are each incorporated herein by reference in their respective totalities: - US Patent Application serial number 15 / 089,325, entitled
[0099] [0099] The applicant for this application also holds the US Patent Applications identified below, which were filed on December 30, 2015, which are each incorporated herein by reference in their respective totalities: - Patent Application US Serial No. 14 / 984,488, entitled "USE OF POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE", now US Patent Application Publication No. 2017/0189018; - U.S. Patent Application Serial No. 14 / 984,525, entitled
[0100] [0100] The applicant for this application also holds the US Patent Applications identified below, which were filed on February 9, 2016, which are each incorporated herein by reference in their respective totalities: - Patent Application US Serial No. 15 / 019,220, entitled SURGICAL STAPLING DEVICE WITH STAPLE DRIVERS OF DIFFERENT HEIGHT, now US Patent Application Publication No. 2017/0224333; - U.S. Patent Application Serial No. 15 / 019,228, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN AR-TICULATION LOCK", now, publication of U.S. Patent Application No. 2017/0224342; - U.S. Patent Application Serial No. 15 / 019,196, entitled "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHA-BLE SHAFT ASSEMBLIES", now, U.S. Patent Application No. 2017/0224330; - U.S. Patent Application Serial No. 15 / 019,206, entitled "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT AS-SEMBLY"; now, U.S. Patent Application publication 2017/0224331; - U.S. Patent Application Serial No. 15 / 019,215, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN AR-TICULATION LOCK", now, publication of U.S. Patent Application No.
[0101] [0101] The applicant for this application also holds the US Patent Applications identified below, which were filed on February 12, 2016, which are each incorporated herein by reference in their respective totalities: - US Patent Application serial no. 15 / 043,254, entitled
[0102] [0102] The applicant for this application holds the following patent applications that were filed on June 18, 2015 and which are each incorporated by reference in their respective totalities: - US Patent Application Serial No. 14 /742,925, entitled SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS, now US Patent Application publication No. 2016/0367256; - U.S. Patent Application Serial No. 14 / 742,941, entitled
[0103] [0103] The applicant for this application holds the following patent applications that were filed on March 6, 2015 and which are each incorporated herein by reference in their respective totalities: - US Patent Application serial no. 14 / 640,746, entitled SURGICAL STAPLING INSTRUMENT SYSTEM, now US patent no.
[0104] [0104] The applicant for the present application holds the following patent applications that were filed on February 27, 2015 and which are each incorporated by reference in their respective totalities: - Patent application serial number US 14 / 633,576, entitled SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION
[0105] [0105] 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: - US Patent Application No. series 14 / 574.478, entitled SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULAT-
[0106] [0106] The applicant for this application holds the following patent applications that were filed on March 1, 2013 and which are each incorporated herein by reference in their respective totalities: - US Patent Application Serial No. 13 /782,295, entitled
[0107] [0107] The applicant for this application also holds the following patent applications that were filed on March 14, 2013 and which are each incorporated by reference in their respective totalities: - US Patent Application No. serial number 13 / 803.097, entitled
[0108] [0108] The applicant for this application also holds the following patent application that was filed on March 7, 2014 and is hereby incorporated by reference in its entirety: - US Patent Application Serial No. 14 / 200,111, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now US Patent No. 9,629,629.
[0109] [0109] The applicant for this application also holds the following patent applications that were filed on March 26, 2014 and which are each incorporated by reference in their respective totalities: - US Patent Application No. serial number 14 / 226,106, entitled "POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSUMENTS", now US Patent Application publication No. 2015/0272582; - U.S. Patent Application Serial No. 14 / 226,099, entitled SURGICAL STAPLING INSTRUMENT SYSTEM, now U.S. Patent No.
[0110] [0110] The applicant for this application also holds the following patent applications that were filed on September 5, 2014 and which are each incorporated herein by reference in their respective totalities: - US Patent Application Serial No. 14 / 479,103, entitled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE", now, publication of US Patent Application No. 2016/0066912; - U.S. Patent Application Serial No. 14 / 479,119, entitled
[0111] [0111] The applicant for this application also holds the following patent applications that were filed on April 9, 2014 and which are each incorporated herein by reference in their respective totalities: - US Patent Application No. serial number 14 / 248,590, entitled
[0112] [0112] The applicant for this application also holds the following patent applications that were filed on April 16, 2013 and which are each incorporated by reference in their respective totalities: - Provisional US Patent Application serial number 61 / 812.365, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR"; - U.S. Provisional Patent Application Serial No. 61 / 812,376, entitled "LINEAR CUTTER WITH POWER"; - U.S. Provisional Patent Application Serial No. 61 / 812,382, entitled "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP"; - U.S. Provisional Patent Application Serial No. 61 / 812,385, entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE AC-TUATION MOTORS AND MOTOR CONTROL"; and - U.S. Provisional Patent Application Serial No. 61 / 812,372, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR".
[0113] [0113] Numerous specific details are presented to provide a complete understanding of the structure, function, manufacture and general use of the modalities described in the specification and illustrated in the attached drawings. Well-known operations, components and elements have not been described in detail, so as not to obscure the modalities described in the specification. The reader will understand that the modalities described and illustrated in the present invention are non-limiting examples and, therefore, it can be understood that the specific structural and functional details described in the present invention can be representative and illustrative. Variations and changes can be made to this, without departing from the scope of the claims.
[0114] [0114] The terms "understands" (and any form of understands, such as "understands" and "that understands"), "has" (and any form of has, such as "has" and "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 device that "comprises", "has", "includes" or "contains" one or more resources has those one or more resources, but is not limited to possess only those one or more resources.
[0115] [0115] 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 "vertigo"
[0116] [0116] Several exemplary devices and 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. With the advancement of this Detailed Description, the reader will also understand that the various instruments described here can be inserted into a body in any way, such as through a natural orifice, through an incision or perforation formed in tissue, etc. Functional portions or portions of the instrument's 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 shaft long drive of a surgical instrument can be advanced.
[0117] [0117] 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 gripper; however, other modalities are provided for in which a staple cartridge is not removable, or at least promptly 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 in relation to the first claw around a geometric axis of the cover; 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.
[0118] [0118] 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 hold the fabric against the platform. After that, the staples removably stored in the cartridge body can be implanted in the fabric. The cartridge body includes staple cavities defined therein, the staples 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 staple cavity and staple arrangements may be possible.
[0119] [0119] 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 shareholders
[0120] [0120] 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 also comprises a first cam that engages with the first claw and a second cam that engages with the second claw. As the firing member is advanced distally, the first cam and the second cam can control the distance, or fabric span, between the staple cartridge platform and the anvil. The firing member also comprises a knife configured to make an incision in the tissue captured between the anvil and the staple cartridge. It is desirable that the knife is positioned at least partially proximal to the inclined surfaces, so that the staples are ejected in front of the knife.
[0121] [0121] The modalities disclosed herein can be used with the modalities disclosed in the following patent applications: U.S. Patent Application Serial No. 15 / 636,829, entitled CLOSED LOOP VELO-
[0122] [0122] Various embodiments disclosed in the present invention can be employed 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 master robotic 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 control components and 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 MECHANICAL ACTUATOR IN-TERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS, as well as in the US Patent No. 9,072,535, entitled SURGICAL STAPLING INSTRU- MENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGE-MENTS, which are each incorporated herein by reference in their respective totalities. Accordingly, various details of such devices will not be described in detail here beyond what may be necessary to understand various modalities and forms of the present description. As is known, master controller 1001, in general, includes master controllers (generically represented as 1003 in Figure 1) that are held by the surgeon and manipulated in space while the surgeon views the procedure through a stereoscopic screen 1002. The controllers masters 1001 generally comprise manual entry devices that move, preferably with varying degrees of freedom, and that often have an actionable grip for actuating tools (for example, to close grips, apply a electrical potential to an electrode, or similar).
[0123] [0123] As can be seen in Figure 2, in one way, the robotic arm carriage 1100 can be configured to operate one or more pluralities of surgical tools, generically designated as 2000. Various robotic surgery systems and methods that employ the master controller and robotic arm carrier provisions are described in US Patent No. 6,132,368, entitled MULTI-COMPONENT TELEPRESENCE SYSTEM AND METHOD, the full description of which is incorporated herein by reference. In various forms, the surgical arm carriage 1100 includes a base 1002 from which, in the illustrated embodiment, surgical tools can be supported. In various forms, the surgical tool (or tools) can be supported by a series of manually articulating connections, generically called configuration joints 1104, and a robotic manipulator 1106. In various modalities, the connection arrangement and articulation - lation can facilitate the rotation of a surgical tool around a point in space, as described in more detail in US Patent No. 5,817,084 entitled REMOTE CENTER POSITIONING DEVICE WITH FLEXIBLE DRIVE, the entire description of which is incorporated here as reference. The parallelogram arrangement restricts rotation to pivot around a geometry axis 1112a, sometimes called a step geometry axis.
[0124] [0124] 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
[0125] [0125] 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
[0126] [0126] Referring to Figure 6, according to an example, the driving 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.
[0127] [0127] 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
[0128] [0128] Referring again to Figure 6, the surgical tool 2000 additionally 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 inside of the proximal closing tube or external cabinet 2410 of the drive shaft assembly
[0129] [0129] 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 many 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 side distances X1, X2 are designed and can be used.
[0130] [0130] The asymmetry of this design can serve several purposes. For example, the asymmetric design can create a more stable configuration when the articulation 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.
[0131] [0131] 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 tool.
[0132] [0132] 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 actuators 2510, 2530 are in their respective neutral positions. Similarly, the center of the proximal left pin 2542 rests on a non-articulated geometric axis UA .. In the illustrated arrangement, the non-articulated geometric axis UAR is slightly proximal to the geometric axis UA. non-articulated when the surgical end actuator 2100 is in the non-articulated position. In other words, the UAr is axially displaced in relation to the UA .. 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 link 2545 attachment location.
[0133] [0133] As indicated above, Figure 12 illustrates the neutral positions 2527, 2547 of the first and second hinge drives 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 LS; (measured from the second neutral position 2547 to a second distal position 2560) and the right hinge actuator 2510 is axially moved a first length of proximal articulation stroke RS, (measured from the first neutral position 2527, to a first position proximal 2562). The movement of the right articulation driver 2510 through the first length of the proximal articulation stroke RS, can occur simultaneously with the movement of the left articulation driver 2530 through the second length of the distal articulation stroke. In the illustrated example, LS,> RS. In use, the surgical end actuator 2100 is rotatable around the articulation joint 2350 between a fully articulated left position (Figure 13), indicated by angle a., And a fully articulated left position (Figure 14), indicated by air angle - and / or any suitable position between them.
[0134] [0134] In some ways, 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 is shown of how forces can be applied to the two articulation links 2520, 2540 to make the surgical end actuator articulate 30º from the center line of the LA longitudinal axis , according to some aspects. Here, 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 other 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-to-air pivot angle. As an example, the exact relationship 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 No. 15 / 636,858, entitled SYSTEM FOR CONTROLLING ARTICULATION FORCES , whose description is incorporated herein 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 a. is approximately sixty degrees (60º). 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 force Fe 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.
[0135] [0135] Referring to Figure 11, a third example is shown of how forces can be applied to the two hinge actuators 2510, 2530 to cause the surgical end actuator 2100 to articulate back to the central or neutral position, according to some aspects. Here, the motor or other actuator that interfaces operatively with the right articulation driver 2510 can apply a lower actuation force than an actuation force that is applied to the left articulation driver 2530 by a second motor or other actuator. For example, the antagonistic actuation force of the left articulation actuator 2530 may actually be greater than the actuation force that is applied to the right articulation actuator 2510 at the 0 ° point (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.
[0136] [0136] The right articulation link 2520 has a length LLrg and the left articulation link 2540 has a left link LL. In the illustrated example, LLR is approximately equal to LL ... However, other modalities are contemplated in which LLRg IS LL.
[0137] [0137] 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 articulation joint 2350. Refer to Figures 6 and 7. In use, the firing bar 2610 is translatable distally to execute a clamp firing and retractable course approximately after at least a portion of the stroke staple triggering is 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 the firing bar 2610 closely as the firing bar 2610 moves in relation to the drive shaft assembly 2300. See Figure 6.
[0138] [0138] 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
[0139] [0139] In addition to the above, the distal portion 2652 of the firing bar 2650 is fixedly mounted to structure 2112 and does not move, or at least substantially, move in relation to structure 2112. An intermediate portion 2654 of the firing bar support 2650 comprises one or more portions having a reduced cross section which, among other things, allows the firing bar support 2650 to flex within the joint 2350 when the surgical end actuator 2100 is articulated. 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 2100 surgical end actuator is pivoted. 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,
[0140] [0140] 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 attached to a firing or distal cutting member 2620 and they can partially translate or slide longitudinally with respect to each other - especially within the 2350 joint. Each of these layers is configured to transmit a load in the same direction, that is, proximally or distally, although such layers may move, or slide, in relation to each other. In addition to the above, these layers can widen laterally in relation to each other - especially within the 2350 articulation joint - when the surgical end actuator 2100 was articulated. 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 U.S. Patent Application Serial No. 15 / 635,808, entitled SURGICAL INSTRUMENT COMPRISING FIRING MEMBER SUPPORTS, the description of which is incorporated herein by reference,
[0141] [0141] 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 tissue cutting portion 2624 is disposed between a distally projected top tip portion and the base member 2626. As can be seen further in Figure 6, the firing member 2620 may include additional ci two top flaps, pins 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 arranged centrally and the anvil engaging features 2634 slide over the corresponding anvil projections 2208 formed in each side of anvil slit 2206. See Figure 7. Trigger 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. slide is slidably displaceable 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 cartridge body
[0142] [0142] In accordance with at least one general aspect, the firing bar 2610 is configured to be fixed to a firing rod 3230 that is movably supported within the tool frame assembly 2320 of the shaft assembly elongated drive 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 of the end of the firing bar 3230.
[0143] [0143] 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 to 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 coupler portion 2416 that includes an annular fixing groove 2418. Figures 16 and 17 illustrate the proximal coupler portion 2416 in its corresponding neutral coupling position, generically designated as 2417. As described above, the external enclosure or proximal closing tube 2410 is supported for axial movable displacement in the 2320 tool frame assembly and more particularly on the proximal portion of the tool structure 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
[0144] [0144] As discussed above, the right hinge drive
[0145] [0145] As mentioned above, the firing rod 3230 is movably supported within the tool frame assembly 2320. More particularly, the firing rod 3230 is supported for axial displacement within the frame assembly of tool 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.
[0146] [0146] 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 systems
[0147] [0147] 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 coupling positions. More specifically and with reference to Figures 18 to 21, the coupling housing 2700 is attached to a proximal end 2301 of the extended drive shaft assembly 2300 and movably supports the spacing lock 2710 on it. 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 couple each of the proximal coupling portions 2416, 2326, 2534, 2514, 3232 and keep them in their respective neutral coupling positions when the tool set is not coupled to a controller interface. In at least one arrangement, to keep the spacing lock 2710 in an axially aligned position,
[0148] [0148] As can be seen in Figures 18 to 21, in the example shown, 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 coupler portion 2326 of the frame assembly. tool 2320. In addition, the spacing lock 2710 comprises a left pivot groove or locking holder 2726 which is configured to engage by retaining the left fixing 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 fixing collar 2516 over the proximal coupler portion 2514 of the actuator. right hinge joint 2510. As can also be seen in Figures 18 to 21, the spacing lock 2710 additionally comprises a trigger switch 2729 shown to retain a reduced neck portion 3236 over the proximal coupler portion 3237 of the firing rod 3230. Figures 18 to 21 illustrate the spacing lock 2710 in a locked position. In at least one arrangement, the spacing lock 2710 is provided for the configuration locked by biasing devices or 2730 springs.
[0149] [0149] 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 surgical tool driver 2000 and at least one 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 trigger arrangements of the surgical tool
[0150] [0150] An example of a first controller interface 3000 comprising a hand controller 3002 that is configured to interface operationally with a surgical tool 2000 is shown in Figures 23 to 25. An example of a second controller interface 3500 comprising a tool mounting portion 3502 which is operably fixable 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 controllers and tool retainer / robotically controlled systems are included.
[0151] [0151] As can be seen in Figures 22 and 23, hand controller 3002 comprises a handle assembly 3010 that comprises a handle cabinet 3012 that includes a pistol grip portion 3014. A mouthpiece assembly 3030 is mounted rotatable in the 3012 handlebar for selective rotation around an HA handle 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. In order 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.
[0152] [0152] In at least one example, a frame bezel 3016 is fixedly attached 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 in the coupling portion - proximal pain 2326 of the tool frame set 2320 when the surgical tool 2000 is attached to the hand controller 3002. See Figure 24. The frame fixing tabs 3017 can be sized or otherwise formatted to be released by friction within their respective frame fixing grooves 2328. Once the frame fixing tabs 3017 are engaged in the frame grooves 2328 or otherwise retained in them, the rotation of the nozzle assembly 3030 relative to the handle cabinet 3012 will result in the rotation of the surgical end actuator 2100 in relation to the longitudinal geometric axis LA and the geometric axis of the HA handle.
[0153] [0153] As indicated above, the 3012 handle 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 used to apply closing and opening movements to the surgical tool 2000 that is operationally fixed or attached to the set handle 3010. In at least one way, the closing drive system 3100 may include an actuator in the form of a lock trigger 3104 that is supported in a positive way by the handle cabinet 3012. This arrangement allows the lock trigger 3104 is handled by a doctor, so that when the doctor holds the pistol grip portion
[0154] [0154] 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 tool interchangeable surgical valve 2000 which is attached to it. As described in more detail in U.S. 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 grip assembly
[0155] [0155] Returning to Figures 24 and 25, the 3210 electric motor is configured to axially drive a 3220 longitudinally movable driving member in the distal and proximal directions depending on the voltage voltage applied to the motor.
[0156] [0156] In at least one form, the 3220 longitudinally movable drive member may have a toothed rack formed in it for engagement with a corresponding drive gear arrangement that interfaces with the 3210 motor. Additional details regarding those resources can be found in the publication of US Patent Application 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 engine 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 engagement. ratchet with 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.
[0157] [0157] When the surgical tool 2000 is attached to the first interface of controller 3002, the locking tab 3234 on the proximal coupler portion 32 of the firing rod 3230 is operationally received inside a fixing support 3226 which is formed at a distal end 3224 of the longitudinally movable driving member 3220. When the securing tab 3234 is received inside the securing support 3226, the firing rod 3230 is operationally coupled to the firing 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 cutting line of the fabric.
[0158] [0158] The hilt cabinet 3012 can operationally support another drive system called here the 3300 hinge drive system that is configured to apply hinge movements to the corresponding portions of the interchangeable surgical tool 2000 that are coupled to he. For example, the articulation drive system 3300 can apply articulation movements to the right articulation driver 2510 and the left articulation driver 2530 to selectively articulate the surgical end actuator 2100 around the PA pivot geometric axis.
[0159] [0159] When the surgical tool 2000 is separated from the handle assembly 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 (Figures 18 to 21). The spacing lock 2710 serves to maintain the portions of the coupling
[0160] [0160] 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 2000 surgical tool 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 movements control systems suitable for the various actuator arrangements of the surgical tool
[0161] [0161] Returning to Figures 28 and 29, the surgical tool 2000 can be configured to interface operationally with a second controller interface 3500 comprising a tool mounting portion 3502 that is operationally attached to a tool retainer 1000 of a robotic system, 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 used to apply closing and opening movements on the surgical tool 2000 which is operatively attached or coupled to the portion mounting tool 3502. As can be seen in Figure 29, the closing drive system 3600 comprises an axially movable closing coupler 3610 that is configured to move distally and proximally in response to the closing movements applied to it by the locking system. robotically controlled closing drive 3600. Closing coupler 3610 comprises a mounting tab or mounting feature 3612 that is configured to be operatively received within the fixing groove 2418 of the proximal coupling portion 2416 of the closing tube proximal or external enclosure
[0162] [0162] 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. This arrangement serves to removably couple the proximal coupler portion 2326 of the tool frame assembly 2320 to the tool mounting portion 3502 In at least one way, 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, a firing drive axis 3702 is supported for axial displacement in response to firing control movements generated by the 3700 robotically controlled firing drive system. The locking pin 3234 on the firing rod 3230 is adapted to be operationally received inside a fixing bracket 3706 formed at a distal end 3704 of the long firing drive shaft - all movable 3702. When the clamping lever 3234 is received inside the clamping bracket 3706, the trigger rod 3230 is optionally coupled to the 3700 robotically controlled trigger drive system. The actuation of the drive system
[0163] [0163] The 3500 tool mounting portion can operationally support another drive system called here the 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 it. For example, the 3800 robotically controlled articulation drive system can apply articulation movements to the right articulation actuator 2510 and the left articulation actuator 2530 to selectively articulate the surgical end actuator 2100 around the pivot geometric axis PA defined by the articulation joint 2350. In the illustrated arrangement, for example, a right articulation drive element 3820 is supported for axial displacement in the tool mounting portion 3500 in response to the robotically controlled control movements by the hinge drive system 3800. The right hinge drive member 3820 includes the right hitch support 3822 which is configured to receive the right locking collar 2516 from the proximal coupler portion 2514 of the right hinge driver 2510. In addition In addition, a rack of the left hinge drive member 3830 is supported for displacement axial portion in the mounting portion
[0164] [0164] 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 3510 housing of the tool mounting portion 3502. To operationally couple the tool. surgical tool 2000 to the tool mounting portion 3502, the coupling housing 2700 is positioned for insertion into the 3512 coupling cavity and is moved in an ID installation direction that is orthogonal to a longitudinal assembly MA axis up to the the 2700 modular drive shaft tip retentively engages 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 physician 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 3702 longitudinally movable drive drive shaft to deflect the spacing lock 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 attached again to the hand cabinet or robotic system, as desired.
[0165] [0165] 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 operatively coupled to one of the control interface 3000 and the second control interface 3500, used in 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 activated 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 one direction of separation opposite the installation direction ID. Once 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 next coupler portions 2416, 2326, 2534 , 2514, 3232.
[0166] [0166] Figures 30 to 77 represent a set of surgical tools 4000 configured for use 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 equal and / or different functionalities. With reference 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, one control set 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 set 6000 configured to receive the drive movements of the set 5000 control panel.
[0167] [0167] As discussed above, the 4100 sterile barrier is configured to be operationally attached to a surgical robot interface and the 5000 control set is configured to be operationally coupled to the 4100 sterile barrier. When the 4100 sterile barrier is attached to the surgical robot interface, 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.
[0168] [0168] 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. The floating plate assembly 4108 is configured to move vertically within the frame portion 4101 to allow disengagement between the 4100 sterile barrier drive disks and the control set drive disks 5000 so that the assembly control unit 5000 can be fixed and separated from the 4100 sterile barrier. The surgical robot interface can comprise corresponding vertically movable drive outputs to allow vertical movement of the floating plate assembly 4108 while maintaining the drive coupling between the outputs drive and drive disks on the surgical robot interface.
[0169] [0169] 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 surgical robot interface and comprises 4112 configured spring members to propel the plate facing 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 proposed towards the control set 5000 to maintain the drive coupling between the drive disks 7100, 8100, 9100, 10100 € 11100 and the drive disks of the control set 5000. The 4112 spring members allow conjunction floating plate 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 comprises 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.
[0170] [0170] 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 5000 control set. Con - as seen in Figure 36, the control set 5000 comprises a lower cabinet 5100 and an upper cabinet 5200. The lower cabinet
[0171] [0171] Now with reference to Figure 36, the 4100 sterile barrier also comprises a notch 4106 defined in it configured to house 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 on the surgical robot interface can be correctly aligned before engaging each other. This relative movement also makes it possible for a decoupling mechanism 5400 to disengage drive disks 7100, 8100, 9100, 10100 and 11100 from control set 5000 so that control set 5000 can be decoupled from sterile barrier 4100.
[0172] [0172] 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.
[0173] [0173] 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 linkage 9000, a closing drive system 10000, and a trigger drive system 11000. Drive disk 7100 is configured to drive drive rotation system 7000, drive disk 8100 is configured to drive the first articulation drive system 8000, drive disk 9100 is configured to drive the second articulation drive system 9000, drive disks 10100 are configured to drive the closing drive system 10000, and the drive disk 11100 is configured to drive the 11000 trigger drive system.
[0174] [0174] With reference to Figure 31, the drive shaft rotation drive system 7000 is configured to rotate the drive shaft assembly 6000 around a longitudinal LA axis. Now with reference to Figure 38, the drive system of the drive shaft 7000 comprises an input drive disk 7110 operationally coupled to the drive disk 7100 (Figure 32) of the sterile barrier 4100. The drive disk 7110 input shaft is fixedly connected 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 gear wheel.
[0175] [0175] 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 articulation drive system 8000 and the second articulation drive system 9000 are configured to activate the articulation actuators cooperatively 2510, 2530
[0176] [0176] With reference 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 drive disk input shaft 8110 is fixedly connected to a 8120 drive shaft and is configured to rotate the 8120 drive shaft when the 8110 input drive disk is rotated. The 8120 drive shaft is configured to rotate to an 8130 pinion gear that is fixedly connected to the 8120 drive shaft. The 8130 pinion gear is operatively interlaced with a portion of a member gear rack 8142 articulation drive 8140 so that, as the 8130 pinion gear is rotated in a first rotational direction, the articulation 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.
[0177] [0177] Still referring to Figure 38, the hinge drive member 8140 additionally comprises an actuator flap
[0178] [0178] 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 it is fixedly connected to a drive shaft 9120 and is configured to rotate drive shaft 9120 when the input drive disk 9110 is rotated. The drive shaft 9120 is configured to rotate to a pinion gear 9130 which is fixedly connected to the drive shaft 9120. Pinion gear 9130 is operationally interlaced with a portion of a member gear 9142 hinge drive 9140 so that as the pinion gear 9130 is rotated in a first rotational direction, the hinge drive member 9140 is configured to translate in a first translational direction. As the pinion gear 9130 is rotated in a second rotational direction, the hinge drive member 9140 is configured to translate in a second translational direction. The second rotational direction is opposite to the first rotational direction.
[0179] [0179] Still referring to Figure 50, the hinge drive member 9140 additionally comprises an actuator flap 9144 configured to transfer a 9150 actuating fork. Specifically, the flap of actuator 9144 is configured to be received in a slot ring 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 from the articulation driver 2530. The proximal end 2531 of the articulation driver 2530 is attached to the actuation fork 8150 so that, according to actuation fork 9150 is moved by the hinge drive member 9140, the hinge drive 2530 is moved. As the articulation actuator 2530 is moved, the end actuator 2100 (Figure 31) articulates as described above.
[0180] [0180] Referring 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 protrusion sections of the drive shaft 8156 are configured to be received into slots 9158 of the actuation fork 9150. Similarly,
[0181] [0181] 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 counterclockwise (Figure 46).
[0182] [0182] 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 in relation 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 input drive discs 10110. Each input drive disc 10110 is operationally coupled to one of the drive discs 10100 (Figure 32 ) of the sterile barrier 4100. Each input drive disk 10110 is fixed and configured to rotate a drive shaft 10120. Each drive shaft 10120 comprises a gear wheel 10130 fixedly attached to it, both wheels 10130 being operationally interlaced with a 10140 primary drive gear. As a result, the 10000 closing drive system is driven by two 10100 input drive disks. Referring to Figure 40, the 10140 primary drive gear is mounted in a projection drive shaft 5140 from a lower 5100 enclosure so that the first drive gear 10140 is rotatable around the shaft projection 5140 drive system. Although two input drives are used in this case, modalities are contemplated where only one input drive is used.
[0183] [0183] 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 10144. In that position, end actuator 2100 (Figure 2) is in a fully open configuration. As the primary drive gear 10140 is rotated in the direction 10147, pin 10152 is camped by primary drive gear 10140 and translated longitudinally in relation to the primary drive gear
[0184] [0184] 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) pivotally coupled to the first fork 10160 by a pin 10192, and a reciprocating member of the closing tube 10180 comprising a tab 10182 which is pivotally coupled to the second fork 10170 by a pin 10193. The element Reciprocating tube 10180 is coupled to tube 6100 via a 10190 drive shaft coupler (Figure 36). The drive shaft coupler 10190 is positioned inside a slot 6102 (Figure 44) defined in the closing tube 6100 and a slot 10184 (Figure 76) defined in the reciprocating element of the closing tube 10180 (Figure 76). Thus, when the closing body 10150 moves proximally, the reciprocating element of the closing tube 10180 moves the closing tube 6100 proximally to open the end actuator 2100. When the closing body 10150 is moved distally, the reciprocating element of the closing tube 10180 moves the closing tube 6100 distally to close the end actuator 2100.
[0185] [0185] Again with reference to Figure 31, the firing drive system 11000 is configured to advance and retract firing bar 2610 (Figure 41) of the drive shaft assembly 6000. With reference to Figure 50, the system trigger drive 11000 comprises an input drive disk 11110 operatively coupled with the drive disk 11100 (Figure 32). The input drive disk 11110 is fixed and configured to rotate a drive shaft 11120. The drive shaft 11120 is configured to turn a gear wheel 11130 which is fixed to the drive shaft 11120. The gear wheel 11130 is operationally interlaced with a 11140 sprocket that is attached to the other drive shaft 11142. The 11140 sprocket is operationally interlaced with a 11150 sprocket that is attached to the other drive shaft 11152. Finally, the 11150 sprocket is operatively interlaced with an output pinion gear 11160 which is attached to the other drive shaft 11162. The output pinion gear 11160 is operationally interlaced with a rack gear portion 11210 of a firing member
[0186] [0186] Now referring mainly to Figures 60 to 63, the control set 5000 additionally comprises a trigger locking system 10400 configured to prevent the trigger bar 6200 (Figure 35) from being actuated when the end actuator 2100 (Figure 31) is in its non-attached configuration. More specifically, the trigger locking system 10400 prevents the drive shaft 11120 from turning (Figure 50) when the locking 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 flap that extends laterally. 10158 of the locking body 10150. The locking link of the firing rod 10410 extends proximally towards the firing drive system 11000. Lock 10420 is pivotally coupled to a proximal end 10414 of the locking link - trigger rod 10410 by pin 10424 and also for any one or more of the 5100, 5200 and 5300 cabinets of the control set 5000 by pin 10422. This arrangement allows the locking link of the trigger rod 10410 rotate lock 10420 around pin 10422 as the closing body 10150 is transferred.
[0187] [0187] The lock 10420 additionally comprises a locking tooth 10426 configured to engage a 11340 gear. Again with reference to Figure 50, the 11340 gear is fixedly attached to a 11330 drive shaft. Another 11320 gear it is also fixedly attached to the drive shaft 11330. Referring to Figure 64, gear 11320 is operatively engaged with a gear 11310 which is fixedly attached to the drive shaft 11120. Gear 11340 is operatively engaged with a gear 11350 which is also fixedly attached to the 11120 drive shaft. As a result, preventing the 11340 gear from rotating prevents the 11120 drive shaft from rotating and the 6200 drive rod drive (Figure 35).
[0188] [0188] 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 trigger drive shaft 11120 from rotating while the instrument is unlocked prevents premature movement of the trigger 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. position, gears 11320, 11340 are allowed to rotate freely and, as a result, firing drive shaft 11120 can rotate to actuate firing rod 6200.
[0189] [0189] 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 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 closing 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 sufficiently distal position. In addition, since the firing bar 6200 is advanced, the 10500 double locking and locking system is configured to prevent the closing tube 6100 from being activated before the firing bar 6200 is completely retracted. returns to its undisclosed position.
[0190] [0190] As shown in Figure 65, the double lock system 10500 comprises a locking tab 10510 pivotally coupled to the central column 6700. Locking tab 10510 is positioned inside a cavity in the central column 6750 defined
[0191] [0191] To raise the trigger rod lock protrusion 10514 in the opposite direction from the protrusion 6212 so that the protrusion 6212 can release the trigger rod lock protrusion 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 locking tab 10510 is rotated 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 6150 opening. Once the locking tab 10510 rotates to the position shown in Figure 68, the protrusion of the trigger rod lock 10514 is released from the protrusion 6212 and the trigger rod 6200 can be advanced through a staple firing stroke.
[0192] [0192] Figure 69 illustrates the firing rod 6200 in a partially advanced state. Since the protrusion 6212 advances beyond the protrusion of the trigger rod lock 10514, the locking tab 10510 is unable to be rotated as it is held in position by the trigger rod 6200. In addition, as a result, the protrusion The latch of the closing tube 10512 resides in opening 6153 within the duration of the firing stroke. As a result, the 6100 closing tube is unable to be actuated during the clamping stroke of firing rod 6200. Since firing rod 6200 is fully retracted back to the position shown in Figure 67 , locking tab 10510 can rotate back to locking input with firing bar 6200 to prevent firing bar 6200 from being triggered again. In many cases, a spring can be used to force the locking tab 10510 back to that position. In other cases, the locking tab 10510 may require a preliminary proximal movement of the locking tube 6100 to rotate the locking tab 10510 in engagement with the firing rod 6200. In any case, the locking tube 6100 can then be retracted to open the end actuator 2100.
[0193] [0193] The surgical instrument set 4000 (Figure 31) further comprises a manually operated firing retraction system 11400. Referring mainly to Figures 50 and 71, the 11400 firing retraction system is configured to retract the limb from trip 2610 in the event that the trip trigger system 11000 becomes inoperable. For example, when the load on the trigger member 2610 and the trigger drive system
[0194] [0194] Referring 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 ratchet portion
[0195] [0195] 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
[0196] [0196] 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 fully retract firing member 11200. In some cases, more than one stroke of lever 11410 is required to fully retract firing member 11200. In such cases , the retract lever 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 firing member 11200. At that point, ratchet 11440 engages teeth 11220 of firing member 11200 again and executing a stroke additional retraction lever of retract lever 11410 will pull firing member 11200 more proximally. The user is able to execute as many retraction strokes as necessary to completely retract the firing member 2610.
[0197] [0197] Referring to Figures 72 to 77, the surgical instrument set 4000 additionally comprises a manually actuated closure overlap system 10300. As discussed in more detail below, the closure overlap system 10300 can open the claws of the 2100 end actuator. 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 10300 closing overlap system comprises, among other things, a 10301 lever and a 10310 lock. To use the 10300 closing overlap system, the physician must unlock the 10310 lock. by sliding lock 10310 laterally outward in relation to overlap lever 10301. Lock 10310 comprises a pin 10311 extending from it, which is positioned in a recess 10303 defined in the lever arm
[0198] [0198] Referring mainly to Figure 73, the overlap lever 10301 is pivotally coupled to the upper cabinet 5200 (Figure 40) by a 10195 pin and is configured to use
[0199] [0199] 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
[0200] [0200] As shown in Figure 36, the center column 6700 of the drive shaft assembly 6000 is nested within cabinets 5100, 5200 and 5300. The center column 6700 of the drive shaft assembly 6000, which is supported swiveling inside 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 column central 6700.
[0201] [0201] 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 the closing body 10150 proximally or distally due to the spiral cam slot 10144 (Figures 55 a 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 .
[0202] [0202] Referring mainly to Figure 70, the surgical instrument set 4000 additionally comprises a secondary closing actuator 10600 that is accessible to a user outside the control set 5000. The secondary closing actuator 10600 it allows a doctor to manually activate 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 attached 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 flap 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 drive actuator 10600 is configured to remain stationary in relation to the closing drive shaft 10120 by means of a sliding joint until a physician chooses to rotate the closing drive shaft 10120 with the actuator. secondary closing drive 10600. This 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 doctor 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 through the secondary closing actuator 10600 can eliminate the need to put inadvertent stress on internal components when opening and closing the claws of an end actuator grasping its own claws. A physician is able to fully tighten and completely loosen the claws of an end actuator with the secondary close actuator 10600.
[0203] [0203] Referring mainly to Figure 70, 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 robot surgical, the physician can turn the button 10610 in an attempt to open the end actuator 2100 before resorting to the closing overlap system 10300. In the illustrated embodiment, lever 10301 of the closing overlap system 10300 is positioned below the button 10610. Thus, button 10610 may need to be removed before the overlapping closure system 10300 operates. In certain cases, lever 10301 can automatically lift and uncouple button 10610 from cabinet 5200 of the control set 5000. That said, a doctor can also press button 10610 and / or the overlapping closure system 10300 when the surgical instrument set 4000 is separated from the surgical robot O. In this case, a doctor is able to open the 2100 end actuator and install a new staple cartridge, for example.
[0204] [0204] 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 ratios drive between the input gear and the primary drive gear requires that the input gears be rotated in different amounts to drive the primary drive gear at a given speed. 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 end actuator 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 drive ratios with a common drive output to monitor the position of the trigger member.
[0205] [0205] 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 an initial or reference position and, when attaching the control set 5000 to the robot, the robot can rotate its drive discs to align the operating discs of the surgical robot with the drive disks for 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 its 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.
[0206] [0206] 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 be separately or simultaneously drive a spiral cam gear 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
[0207] [0207] Figures 80 and 81 show a closing drive system 12200 comprising two different drive inlet arrangements that can separately or simultaneously drive a primary drive gear 12240. The closing drive system 12200 comprises a first input gear 12210 comprising a first number of input teeth and a second input gear 12220 comprising a second number of input teeth. The first number
[0208] [0208] 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 geometry. 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.
[0209] [0209] As discussed above, the different transmission 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 gear input 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.
[0210] [0210] 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 was rotated, as discussed in more detail below. The output speed of the 12140 primary drive gear is then used to obtain data from a query 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 end actuator's rotating jaw is rotated.
[0211] [0211] 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 actuator claw swivel end 2100 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. In 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 2100 end actuator is not fully attached and that the 2100 end actuator needs to be fully attached to insert the 2100 end actuator 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.
[0212] [0212] 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 a complete revolution during a closing course. In this case, a single difference in rotation angle can correspond to two different end actuator configurations
[0213] [0213] When a surgical instrument set, such as the surgical instrument set 4000, is not operatively coupled to a surgical robot interface of a surgical robot, one of the methods for opening and closing the claws the end actuator can comprise opening and closing the claws manually. For example, a physician may squeeze 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.
[0214] [0214] The closing drive set 13000 comprises several components of the closing drive system 10000 of the surgical instrument set 4000 of Figure 30. The closing drive set 13000 additionally comprises a portion of cabinet 13100 and a torsional spring 13110 mounted in a projection 13108 of the cabinet portion 13100. Referring to Figure 86, the cabinet portion 13100 also comprises an opening 13102 defined therein that comprises a proximal end 13104 and an end distal 13106. The spring 13110 is configured to provide the primary drive gear 10140 'and, thus, the mounting projection 10141' which extends from it, towards the proximal end 13104 of the opening 13102. The force of propensity applied by torsion spring 13110 neutralizes the reaction loads applied by the fabric through the closing tube 6100 that drives the primary drive gear 10 140 'distally. When the primary drive gear 10140 'is in the proximal position illustrated in Figures 84 to 86, the input drive gears 10130 driven by the input drive disks 10110' and attached to the drive shafts 10120 are operationally interlocked with the gear primary drive gear 10140 'so that input drive gears 10130 rotate primary drive gear 10140' when rotated by drive disks 10110 ".
[0215] [0215] When tightening the closed claws, the reciprocating element of the closing tube 10180 will pull the closing body distally and, instead of rotating the primary drive gear 10140 'with pin 10152 extending 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 the primary drive gear 10140 'to disengage the gears 10130 and causes pin 10141' to move distally inside opening 13102 towards the distal end 13106 of the opening
[0216] [0216] Many of the surgical instrument systems described here are driven by an electric motor; however, the surgical instrument systems described here 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. U.S. Patent Application Serial No. 13 / 118,241, entitled
[0217] [0217] The surgical instrument systems described here have been described in connection with the implantation and deformation of the clamps; however, the embodiments described in the present invention are not | 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
[0218] [0218] 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 an articulation pivot, where the articulation pivot defines a fixed articulation geometric axis, and where the fixed articulation geometry axis is positioned laterally offset from the longitudinal geometry axis, a first selectively movable articulation actuator between a first neutral position, a first distal position, and a first proximal position in response to the first corresponding articulation control movements applied to it, and a first articulation link operationally coupled to the first articulation drive, the first articulation link extending across the longitudinal geometric axis and coupled to the actuator structure end in a first attachment 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 operationally 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 in a second fixation location.
[0219] [0219] Example 2 - The surgical instrument of Example 1, 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 adapter to a first fully articulated position around the articulation pivot and when the second articulation actuator is moved from the second neutral position to the second distal position, the first articulation actuator is moved to the first proximal position to rotate the end actuator to a second fully articulated position around the pivot pivot.
[0220] [0220] Example 3 - The surgical instrument of Examples 1 or 2, where 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 shape in an un-articulated position.
[0221] [0221] Example 4 - The surgical instrument of Examples 1, 2 or 3, with the first neutral position and the first distal position defining a first distal articulation course of the first articulation actuator, the first neutral position and the first proximal position defines a first proximal articulation stroke of the first joint trigger, the second neutral position and the second distal position defines a second distal articulation stroke of the second articulation trigger, the second neutral position and the second proximal position they define a second proximal articulation course of the second joint trigger and the first distal articulation course is not the same as the second distal articulation course.
[0222] [0222] Example 5 - The surgical instrument of Example 4, the first distal joint course being smaller than the second distal joint course.
[0223] [0223] Example 6 - The surgical instrument of Examples 4 or 5, the first course of proximal articulation not being equal to the second course of proximal articulation.
[0224] [0224] Example 7 - The surgical instrument of Examples 4, 5 or 6, the first course of proximal articulation being greater than the second course of proximal articulation.
[0225] [0225] Example 8 - The surgical instrument of Examples 1,2,3,4, 5, 6 or 7, the first articulation link comprising a first link length and the second articulation connection comprising a second link length that differs from the first link length.
[0226] [0226] Example 9 - The surgical instrument of Examples 1,2,3,4, 5, 6, 7 or 8, the first fixation site being displaced from the longitudinal geometric axis at a first displacement distance and the the second attachment location is displaced from the longitudinal geometric axis at a second travel distance that differs from the first travel distance.
[0227] [0227] Example 10 - The surgical instrument in Example 9, the first travel distance being greater than the second travel distance.
[0228] [0228] Example 11 - The surgical instrument of Examples 1, 2, 3, 4,5,6,7,8,9 or 10, the first articulation link being pivotally connected to the first articulation driver in a first link fixing location, the second link link being pivotally connected to the second link drive at a second link fixing location, and when the first link link is in the first neutral position and the second pivot drive is in the second neutral position, the first link attachment location is axially displaced from the second link attachment location.
[0229] [0229] Example 12 - The surgical instrument of Example 11, where the first link fixation site is displaced laterally from the longitudinal geometric axis at a first lateral distance, and the second link fixation site is displaced laterally from the axis longitudinal geometry at a second lateral distance that differs from the first lateral distance.
[0230] [0230] Example 13 - The surgical instrument of Example 12, the second lateral distance being smaller than the first lateral distance.
[0231] [0231] 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.
[0232] [0232] Example 15 - The surgical instrument of Example 14, the controller comprising a hand cabinet.
[0233] [0233] Example 16 - The surgical instrument of Examples 14 or 15, the controller comprising a tool assembly portion of a robotic system.
[0234] [0234] Example 17 - The surgical instrument of Examples 14, 15 or 16, the end actuator additionally comprising a staple cartridge including staples removably stored therein.
[0235] [0235] 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. The surgical instrument additionally comprises a complete end actuator
[0236] [0236] Example 19 - The surgical instrument of Example 18, the first course of proximal articulation not being equal to the second course of proximal articulation.
[0237] [0237] Example 20 - The surgical instrument of Examples 18 or 19, the first articulation actuator being coupled to the structure of the end actuator by a first articulation link comprising a first link length and extending crosswise to the longitudinal geometric axis, and the second articulation drive is coupled to the end actuator structure by a second articulation link comprising a second link length that differs from the first link length and extension transverse to the longitudinal geometric axis and the first link of articulation.
[0238] [0238] 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 operationally coupled to the distal end of the drive shaft, a plurality of movable drive members operationally supported by the drive shaft and configuration. - used to apply control movements to 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 for be interchangeably attachable to any of the hand controller and tool retainer, the coupling cabinet operationally supporting the proximal coupler portion of each mobile drive member in a corresponding neutral coupling position to allow each portion of proximal coupler interact operationally with a corresponding drive system of the hand controller and the tool retainer of the robotic system when the coupling cabinet is connected to it.
[0239] [0239] Example 22 - The surgical tool of Example 21, the plurality of movable driving members comprising a first axially movable driving member comprising a first proximal coupler portion, a second axially movable driving member comprising a second portion 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.
[0240] [0240] Example 23 - The surgical tool of Example 22, the coupling cabinet operationally supporting 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, with the first neutral coupling position, the second neutral coupling position, the third position neutral coupling and the fourth neutral coupler position are spaced in a serial axial alignment predetermined by the coupling cabinet.
[0241] [0241] Example 24 - The surgical tool of Example 23, the coupling cabinet comprising a movable locking member between a locked position where the locking member holds the first proximal coupler portion in the first neutral coupling position , the second portion of the proximal coupler in the second position of the neutral coupler, the third portion of the proximal coupler in the third position of the neutral coupler and the fourth portion of the proximal coupler in the fourth position of the neutral coupler when the surgical tool is separated from any of the hand controller and tool retainer of the robotic system and an unlocked position when the coupling cabinet is operationally attached to any one of the hand controller and tool retainer of the robotic system to allow axial movement of the first proximal coupler portion, second proximal coupler portion, third proximal coupler portion and fourth proximal coupler portion.
[0242] [0242] Example 25 - The surgical tool of Example 24, the locking member being 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 hand cabin and the tool retainer.
[0243] [0243] Example 26 - The surgical tool of Examples 21, 22, 23, 24 or 25, each of the hand controller and the robotic system comprising an electrical power source and the coupling cabinet being 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.
[0244] [0244] Example 27 - The surgical tool in Examples 21, 22, 23, 24, 25 or 26, each of which between the hand controller and the tool retainer defines a geometric axis of action, and 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.
[0245] [0245] Example 28 - surgical tool from Examples 21, 22, 23,
[0246] [0246] Example 29 - The surgical tool of Examples 21, 22, 23, 24, 25, 26, 27 or 28, additionally comprising a longitudinal geometrical axis between the proximal end and the distal end, the driving axis being and the 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.
[0247] [0247] Example 30 - The surgical tool of Examples 21, 22, 23, 24, 25, 26, 27, 28 or 29, the end actuator being configured to cut and staple the tissue.
[0248] [0248] 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. drive and coupled to the end actuator to articulate the end actuator around the articulation pivot, the articulation actuator arrangement comprising a proximal articulation 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 position start and end, 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 proximal articulation coupler arrangement in a neutral articulation coupler position oriented to interface operationally with the hand controller articulation control systems and the robotic system tool retainer and coupler proximal firing in a neutral-trigger coupler position oriented to interface operationally 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.
[0249] [0249] Example 32 - The surgical tool of Example 31, the articulation driver arrangement additionally comprising a first axially mobile articulation driver and a second axially mobile articulation driver. The proximal articulation coupler arrangement comprises a first articulation coupler at a first proximal end of the first articulation trigger and configured to interface operationally with a first articulation control system from any of the hand controllers and the tool retainer and a second hinge coupler at a second proximal end of the second hinge driver and configured to interface operatively with a second hinge control system from any of the hand controller and the hinge retainer tool.
[0250] [0250] Example 33 - The surgical tool in Example 32, where 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.
[0251] [0251] Example 34 - The surgical tool of Examples 31, 32 or 33, the end actuator comprising a first claw rotatably coupled to the axis around the articulation pivot and a second claw movably supported in relation to the first claw , the surgical tool additionally comprising a closing 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 closing assembly comprising a proximal closing coupler that it 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.
[0252] [0252] Example 35 - The surgical tool of Example 34, one of the first and second jaws is configured to operationally support a staple cartridge including staples removably stored therein.
[0253] [0253] Example 36 - The surgical tool of Examples 31, 32, 33, 34 or 35, additionally comprising a longitudinal geometric axis between the proximal end and the distal end of the drive shaft, the drive shaft and the articulation actuator arrangement and the trigger actuator are supported by the coupling cock to facilitate the rotation of the end actuator around the longitudinal geometric axis when the coupling cabinet is operationally connected to any of the con - hand trolley and tool retainer.
[0254] [0254] Example 37 - The surgical tool of Examples 31, 32, 33, 34, 35 or 36, the coupling cabinet operatively supporting the proximal joint coupler arrangement in a neutral joint coupling position and the proximal firing coupler in a neutral firing coupling position, and 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 docking cabinet.
[0255] [0255] Example 38 - The surgical tool of Example 37, the coupling cabinet comprising 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 system's hand controller and tool retainer robotic 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 thereby allow axial movement of the proximal firing coupler, the arrangement of proximal articulation coupler and the proximal closing coupler.
[0256] [0256] 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 comprised
[0257] [0257] Example 40 - The surgical tool of Example 39, the end actuator is configured to cut and staple the tissue.
[0258] [0258] 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 the first claw. The surgical instrument set additionally comprises a drive shaft assembly comprising a distal end, the end actuator extending from the distal end, a closing member configured to move the second claw with respect to the first gripper and a firing member configured 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, in which the closing stroke comprises a proximal closing stroke position where the second claw is in a non-clamped configuration 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, in which the firing stroke comprises a proximal firing stroke position where none of the staples was ejected from the staple cartridge and a distal firing position where all the staples were ejected from the staple cartridge and a double lock engaged with the closing member and the limb trigger, the double lock being configured to prevent the trigger member from being advanced distally from the proximal trigger 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 being retracted from the distal closing stroke position before the firing member is returned to the trigger stroke position proximal after trigger stroke.
[0259] [0259] Example 42 - The surgical instrument set in Example 41, additionally comprising a portion of the central column, the double lock being rotatively coupled to the portion of the central column.
[0260] [0260] Example 43 - The surgical instrument set of Examples 41 or 42, the closing member comprising a first opening configured to receive a first portion of the double lock and a second opening configured to receive a second
[0261] [0261] Example 44 - The surgical instrument set in Example 43, the first opening comprising 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.
[0262] [0262] Example 45 - The surgical instrument set of Examples 41, 42, 43 or 44, the closing member comprising 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, the first opening comprising a proximal opening edge and a distal opening edge, and the firing member comprises an edge configured to engage the double lock to prevent the firing member from being advanced from the proximal firing stroke position when the first portion of the double lock is in contact with the distal opening edge.
[0263] [0263] Example 46 - The surgical instrument set of Examples 41, 42, 43, 44 or 45, the closing member being configured to simultaneously unlock the firing member and lock the closing member when the closing member is moved to the distal closing stroke position.
[0264] [0264] Example 47 - The surgical instrument set of Examples 41, 42, 43, 44, 45 or 46, with the trigger drive system comprising a rotary trigger input and the instrument set The surgical device additionally comprises a trigger trigger system lock configured to lock the rotary trigger input when the closing trigger system moves the closing member to the proximal closing stroke position.
[0265] [0265] Example 48 - The set of surgical instruments of Examples 41, 42, 43, 44, 45, 46 or 47, the set of axis of activation defining a geometric axis of longitudinal instrument and the double lock comprises a rotating locking latch around a locking geometry axis that is transversal to the longitudinal instrument geometry axis.
[0266] [0266] Example 49 - The surgical instrument set of Examples 41, 42, 43, 44, 45, 46, 47 or 48, with the closing member and the firing member being movable in relation to the lock double.
[0267] [0267] 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 additionally comprises a set of drive axes comprising a distal end, the end actuator extending from the distal end, a closing member configured to move the second jaw in relation to the first jaw and a firing member configured to eject the staples from the staple cartridge. The fixation of a surgical instrument additionally comprises a closing drive system configured to drive the closing member through a closing stroke, the closing stroke comprising a first closing stroke position where the second claw is in a open configuration and a second closing stroke position where the second grapple is in a closed configuration, a trigger trigger system configured to trigger the trigger member via a trigger stroke,
[0268] [0268] Example 51 - The connection of the surgical instrument in Example 50, the locking mechanism being rotatably coupled to the frame.
[0269] [0269] Example 52 - The surgical instrument connection of Examples 50 or 51, the closing member comprising 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, and the firing member is unlocked when the second portion of the locking mechanism is received within the second opening.
[0270] [0270] Example 53 - The connection of the surgical instrument in Example 52, the first opening comprising a proximal opening edge and a distal opening edge, and in which the firing member is unlocked when the first portion the locking mechanism is in contact with the proximal opening edge.
[0271] [0271] Example 54 - The surgical instrument connection of Examples 50, 51, 52 or 53, the closing member comprising 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, the first opening comprising a proximal opening edge and a distal opening edge, and the firing member comprising an edge configured to engage the locking mechanism to prevent the firing member be advanced from the first firing stroke position when the first portion of the locking mechanism is in contact with the distal opening edge.
[0272] [0272] Example 55 - The connection of the surgical instrument of Examples 50, 51, 52, 53 or 54, the closing member being configured to simultaneously unlock the firing member and lock the closing member when the closing member is moved to the second closing stroke position.
[0273] [0273] Example 56 - The connection of the surgical instrument of Examples 50, 51, 52, 53, 54 or 55, the trigger drive system comprising a rotary trigger input and the instrument connection The surgical device additionally comprises a trigger trigger system lock configured to lock the rotary trigger input when the closing trigger system moves the closing member to the first closing stroke position.
[0274] [0274] Example 57 - The connection of the surgical instrument of Examples 50, 51, 52, 53, 54, 55 or 56, the set of axis of activation defining a geometric axis of longitudinal instrument and the The locking mechanism comprises a rotating locking tab about a locking axis which is transversal to the longitudinal instrument axis.
[0275] [0275] Example 58 - The connection of the surgical instrument of Examples 50, 51, 52, 53, 54, 55, 56 or 57, with the closing member and the firing member being movable in relation to the mechanism locking.
[0276] [0276] 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 in relation to the first jaw. The surgical instrument set additionally comprises a drive shaft assembly comprising a closing member configured to move the second jaw in relation to the first jaw and a firing member configured to eject the staples from the staple cartridge, a closing drive system configured to drive the closing member through a closing stroke, the closing stroke comprising a proximal closing stroke position where the second claw is in a non-clamped configuration and a position of distal closing stroke where the second claw is in a locked configuration and a trigger trigger system configured to trigger the trigger member through a trigger stroke, the trigger stroke comprising a proximal trigger stroke position where none of the staples were ejected from the staple cartridge and a distal firing stroke position where all staples were ejected from the cartu staple floor. The surgical instrument set additionally 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 distal closing stroke position until the firing member is returned to the proximal firing stroke position after the firing stroke.
[0277] [0277] 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.
[0278] [0278] Example 61 - A surgical instrument set 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 stuck configuration. The drive shaft assembly additionally comprises a distal end, the end actuator extending from the distal end of the drive shaft assembly and a closing drive member configured to move the second jaw relative to to the first claw. The surgical instrument set additionally comprises a control set, and the drive shaft set is operationally coupled to the control set. The control set comprises a cabinet, a closing drive system configured to drive the closing drive member, the closing drive system comprising a rotary input drive configured to be driven by a rotating drive member of the surgical robot interface 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, with the drive driver external locking device is external to the cabinet and the external locking trigger driver is configured to be triggered 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 assembly surgical instrument is not operationally connected to the surgical robot interface.
[0279] [0279] Example 62 - The surgical instrument set of Example 61, additionally comprising a closing drive retraction operatively coupled to the closing driving member, the closing drive retraction being operable regardless of the activation of the rotary input .
[0280] [0280] Example 63 - The surgical instrument set of Examples 61 or 62, the end actuator additionally comprising a cutting member, the drive shaft set additionally comprising a drive member trigger unit operationally connected to the cutting member, and the control set additionally comprises a trigger drive system configured to drive the trigger member.
[0281] [0281] Example 64 - The surgical instrument set of Examples 61, 62 or 63, the control set additionally comprising a trigger retraction configured to be triggered by a doctor to manually trigger the trigger member. shooting.
[0282] [0282] Example 65 - The surgical instrument set of Examples 61, 62, 63 or 64, the closing drive system additionally comprising a primary drive gear comprising a spiral cam slot defined therein , and the spiral cam slot is engaged with the closing drive member so that the rotation of the primary drive gear by the rotating inlet drive
[0283] [0283] Example 66 - The surgical instrument set in Example 65, with the rotary input drive comprising a first rotary input drive, the first rotary input drive comprising a first input drive gear rotary gear engaged with the primary drive gear, the closing drive system additionally comprising a second rotary input drive, the second rotary input drive comprising a second rotary input drive gear engaged with the primary drive gear, and both the first rotary input drive and the second rotary input drive are configured to rotate the primary drive gear simultaneously.
[0284] [0284] Example 67 - The surgical instrument set of Examples 65 or 66, with the primary drive gear comprising a fixed axis of rotation and being mounted in the cabinet.
[0285] [0285] 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 interface's rotating drive member from the surgical robot to the rotary input drive of the closing drive system.
[0286] [0286] Example 69 - A surgical instrument set configured to be operationally coupled and decoupled from a surgical robot. The surgical instrument set comprises a drive shaft assembly comprising an end actuator comprising a staple cartridge comprising a plurality of removable staples stored therein, an anvil,
[0287] [0287] Example 70 - The surgical instrument set of Example 69, additionally comprising a closing drive retraction operatively coupled to the closing driving member, the closing drive retraction being operable regardless of the activation of the rotary input primary.
[0288] [0288] Example 71 - The surgical instrument set of Examples 69 or 70, the end actuator additionally comprising a cutting member, the drive shaft set additionally comprising a drive member trigger unit operationally connected to the cutting member, and the control set additionally comprises a trigger drive system configured to drive the trigger member.
[0289] [0289] Example 72 - The surgical instrument set of Examples 69, 70 or 71, the control set additionally comprising a firing retraction configured to be triggered by a doctor to manually trigger the trigger member. shooting.
[0290] [0290] Example 73 - The surgical instrument set of Examples 69, 70, 71 or 72, the closing drive system additionally comprising a primary drive gear comprising a spiral cam slot defined therein , and 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 move the closing drive member.
[0291] [0291] Example 74 - The surgical instrument set in Example 73, the primary rotary input drive comprising a first primary rotary input drive, the first primary rotary input drive comprising a first gear input drive engaged with the primary drive gear, the closing drive system additionally comprising a second primary rotary input drive, the second primary rotary input drive comprising a second drive gear input gear engaged with the primary drive gear, and both the first primary rotary input drive and the second primary rotary input drive are configured to rotate the primary drive gear simultaneously.
[0292] [0292] Example 75 - The set of surgical instruments of Examples 73 or 74, with the primary drive gear comprising a fixed axis of rotation and being mounted in the cabinet.
[0293] [0293] 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 robot's rotary drive actuator surgical for the primary rotary input drive of the closing drive system.
[0294] [0294] 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, the robotic input being 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 activate the closing mechanism when the surgical robot coupling is not fixed to the surgical robot.
[0295] [0295] Example 78 - The fixation of the surgical robot of Example 77, the fixation interface additionally comprising a primary drive gear comprising a spiral cam slot defined therein, and the spiral cam slot it is engaged with the closing link in such a way that the rotation of the primary drive gear by the first closing actuation system is configured to move the closing link.
[0296] [0296] Example 79 - The surgical robot attachment of Example 78, the robotic inlet comprising a first robotic inlet, the first robotic inlet comprising a first drive gear engaged with the primary drive gear, wherein the clamping interface further comprises a second robotic input, where the second robotic input comprises a second input drive gear interlocked with the primary drive gear, and both the first robotic input and the second robotic input they are configured to rotate the primary drive gear simultaneously.
[0297] [0297] 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.
[0298] [0298] The entire descriptions of: - U.S. Patent No. 5,403,312, entitled "ELECTROSURGI-CAL HEMOSTATIC DEVICE", which was granted on April 4, 1995; - U.S. Patent No. 7,000,818, entitled "SURGICAL STA-
[0299] [0299] Although several devices have been described here in connection with certain modalities, modifications and variations of these modalities can be implemented. Specific resources, structures or characteristics can be combined in any appropriate way in one or more modalities. Therefore, the specific features, structures or characteristics illustrated or described in connection with a modality can 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 several 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 aforementioned description and the following claims are intended to cover all such modifications and variations.
[0300] [0300] The devices described here can be designed to be discarded after a single use, or they 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 may include any combination of steps including, but not limited to, disassembly of the device followed by cleaning or replacement of specific parts of the device and subsequent refitting of the device. In particular, a re-conditioning facility and / or surgical team 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 the reconditioning of a device can use a variety of techniques to disassemble, clean / replace and re-assemble. The use of these techniques, as well as the resulting refurbished device, are all within the scope of this application.
[0301] [0301] The devices described here can be processed before surgery. First, a new or used instrument can be obtained and, if necessary, cleaned. The instrument can then be sterilized. In a sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and the instrument can then be placed in a radiation field that can penetrate the container, such as gamma radiation, X-rays and / or high-energy electrons. Radiation can kill bacteria on the instrument and the container. The sterile instrument can then be stored in a sterile container. The sealed container can keep the instrument sterile until it is opened at the medical facility. A device can also be sterilized using any other technique.
[0302] [0302] 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.
[0303] [0303] Any patent, publication or other description material, in whole or in part, that is said to be incorporated into the present invention as a reference, is incorporated into the present invention only to the extent that the incorporated materials do not conflict with existing definitions, statements or other description material presented in this description. Thus, and as necessary, the description as explicitly presented herein replaces any conflicting material incorporated into the present invention as a reference. Any material, or portion thereof, which is incorporated herein by reference, but which conflicts with the definitions, statements, or other description materials contained herein, will be incorporated here only to the extent that there is no conflict. between the embedded material and the existing description material.

权利要求:
Claims (20)
[1]
1. Surgical tool configured to interface in an operationally interchangeable way with a hand controller and a tool retainer of a robotic system, characterized by comprising: a drive shaft comprising a proximal end and a distal end; an end actuator operably coupled to said distal end of said drive axis; a plurality of movable drive members operatively supported by said drive axis and configured to apply control movements to the corresponding portions of said final emitter, each said movable drive member comprising a proximal coupler portion; and a coupling cabinet coupled to said proximal end of said drive shaft, said coupling cabinet being configured to be interchangeable with one of the hand controller and the tool retainer, said frame being coupling node operationally supports the proximal coupler portion of each said driving member in a corresponding neutral coupling position to enable each proximal coupler portion to interface operationally with a corresponding drive system of the hand controller and the robotic system tool retainer when said coupling cabinet is attached to it.
[2]
2. Surgical tool according to claim 1, characterized in that said plurality of movable drive members comprises: a first axially movable drive member comprising a first proximal coupler portion;
a second axially movable drive member comprising a second proximal coupler portion; a third axially movable drive member comprising a third proximal coupler portion; and a fourth axially movable drive member comprising a fourth proximal coupler portion.
[3]
3. Surgical tool, according to claim 2, characterized in that said coupling cabinet operationally supports the first portion of the proximal coupler in a first neutral coupling position, said second portion of the proximal coupler in a said second neutral coupling position, said third proximal coupler portion in said third neutral coupler position and said fourth proximal coupler portion in said fourth neutral coupler position, wherein said first neutral coupling position , said second neutral coupling position, said third neutral coupling position and said fourth neutral coupler position are spaced in a serial axial alignment predetermined by said coupling cabinet.
[4]
4. Surgical tool according to claim 3, characterized in that said coupling cabinet comprises a movable locking member between a locking position, wherein said locking member retains said first proximal coupler portion in said first neutral coupler position, said second proximal coupler portion in said second neutral coupler position, said third proximal coupler portion in said third neutral coupler position and said fourth proximal coupler portion in said fourth position of neutral coupler, when said surgical instrument is separated from any one of the hand controller and tool retainer of the robotic system and an unlocked position when said coupling cabinet is operationally fixed to any den - between the hand controller and the tool retainer of the robotic system to allow axial movement of said first proximal coupler portion, of said second foot ortion of proximal coupler, said third portion of proximal coupler and said fourth portion of proximal coupler.
[5]
5. Surgical tool according to claim 4, characterized in that said locking member is propelled to the locked position when the coupling cabinet is separated from any one between the hand controller and the tool retainer and moves automatically. automatically to the unlocked position when said coupling cabinet is operationally coupled to any of the hand cabinet and the tool retainer.
[6]
6. Surgical tool, according to claim 1, characterized by each one of the hand controller and the robotic system comprising a source of electrical energy and in which said coupling box is configured to facilitate the transmission of electrical energy for the surgical tool when said coupling cabinet is operationally coupled to any of the hand controller and the tool retainer of the robotic system.
[7]
7. Surgical tool, according to claim 1, characterized by each one of the hand controllers and the tool retainer defining a geometrical axis of actuation, and in which said coupling device is operably interchangeable exchangeable to any of the hand controller and tool retainer in an installation direction that is orthogonal to the geometrical actuation axis.
[8]
8. Surgical tool according to claim 1, characterized in that the hand controller comprises a handle holder, in which the tool holder comprises a tool holder cabinet and in which the coupling cabinet is configured to be interchangeably releasable to any of the grip and tool retainer enclosures.
[9]
Surgical tool according to claim 1, characterized in that it further comprises a longitudinal geometric axis between said proximal end and said distal end, wherein said driving axis and said plurality of movable driving members are supported by said coupling cabinet to facilitate the rotation of said end actuator around said longitudinal geometry axis when said coupling cabinet is operationally attached to any of the hand controller and the tool retainer.
[10]
10. Surgical tool according to claim 1, characterized in that said end actuator is configured to cut and staple the tissue.
[11]
11. Surgical tool configured to interface operationally with any one of a hand controller and tool retainer of a robotic system, characterized by comprising: a drive axis comprising a proximal end and a distal end; an end actuator pivotally coupled to said drive axis around an articulation pivot; an articulation actuator arrangement operably supported by said drive shaft and coupled to said end actuator to articulate said end actuator around said articulation pivot, said articulation actuator arrangement being comprises a proximal hinge coupler arrangement; a firing member supported for selective axial displacement between an initial position and an end position within said end actuator; a trigger trigger supported by said drive axis and configured to move said trigger member between said start and end positions, said trigger trigger comprising a proximal trigger coupler; and a coupling cabinet coupled to said proximal end of said drive shaft and configured to be operably fixed interchangeably to any of the hand controller and tool retainer, said coupling cabinet supporting said proximal articulation coupler arrangement in a neutral articulation coupler position oriented to interface operationally with the hand controller articulation control systems and the robotic system tool retainer and said trigger coupler proximal in a neutral trigger coupler position oriented to interface operationally with the trigger control systems of the manipulated controller and the tool retainer of the robotic system when the coupling cabinet is operationally attached to it.
[12]
12. Surgical tool according to claim 11, characterized in that said articulation actuator arrangement further comprises: a first axially movable articulation actuator; and a second axially movable hinge driver, wherein said proximal hinge coupler arrangement comprises: a first hinge coupler at a first proximal end of said first hinge driver and configured to interface operationally with a first articulation control system or with any of the hand controller and tool retainer; and a second hinge coupler at a second proximal end of said second hinge driver and configured to interface operationally with a second hinge control system from any of the hand controller and tool retainer.
[13]
13. Surgical tool according to claim 12, characterized in that when said first articulation actuator moves in a first direction, said second articulation actuator moves in a second direction which is opposite to said first direction.
[14]
14. Surgical tool according to claim 11, characterized in that said end actuator comprises: a first gripper rotatable coupled to said drive axis around said articulation pivot; and a second claw movably supported in relation to said first claw, wherein said surgical tool further comprises a closing assembly supported by said actuation axis and configured to selectively move at least one within said first and said second claw between the open and closed positions, said closing assembly comprising a proximal closing coupler that is supported by said 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.
[15]
15. Surgical tool according to claim 14, characterized in that one of said first jaw and said second jaw are configured to operationally support a staple cartridge including removably stored staples therein.
[16]
16. Surgical tool according to claim 11, characterized in that it further comprises a longitudinal geometric axis between said proximal end and said distal end of said driving axis, wherein said driving axis and said disposition of articulation actuator and said trigger actuator are supported by said coupling cabinet to facilitate the rotation of said end actuator around said longitudinal geometry axis when said coupling cabinet is operationally fixed to the controller and the tool retainer .
[17]
17. Surgical tool according to claim 14, characterized in that said coupling cabinet operationally supports said proximal joint coupling arrangement in a neutral joint coupling position and said proximal firing coupler in one neutral trigger coupling position, and wherein said neutral trigger coupling position, said neutral link coupling position and said neutral close coupling position are spaced in a serial axial alignment predetermined by said control cabinet. coupling.
[18]
18. Surgical tool according to claim 17, characterized in that said coupling cabinet comprises a movable locking member between a locked position where said locking member holds said proximal firing coupler in said neutral firing coupling position , said proximal joint coupling arrangement in said neutral joint coupling position, and said proximal closing coupler in said neutral closing coupler position when said surgical tool is separated from any of the hand controller and the robotic system tool retainer and an unlocked position when said coupling cabinet is operationally attached to any of the hand controller and the robotic system tool retainer to thereby allow axial movement of said proximal firing coupler, said proximal articulation coupler arrangement and said proximal closing coupler.
[19]
19. Surgical tool configured to interface in an operationally interchangeable way with any one of a hand controller and a tool retainer of a robotic system, characterized by comprising: a drive shaft comprising a proximal end and a distal end; an end actuator operably coupled to said distal end of said drive axis; a plurality of axially movable drive members operatively supported by said drive shaft and configured to apply axial control movements to the corresponding portions of said end actuator, each said axially mobile drive member comprising a proximal coupler portion ; and a coupling means coupled to said end proximal to said drive axis to interchangeably couple said surgical tool to any of the hand controller and tool retainer of the robotic system and to operationally support said portion of the proximal coupler of each said mobile coupling member in a corresponding neutral coupling position to enable each said portion of the proximal coupler to interface operationally with a corresponding drive system of the hand controller and the system tool retainer robotic when said coupling means is attached to it.
[20]
20. Surgical tool according to claim 19, characterized in that said end actuator is configured to cut and staple the tissue.
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同族专利:

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公开号 | 公开日

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EP3501404A1|2019-06-26|

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CN111565648A|2020-08-21|

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JP2021506456A|2021-02-22|

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US20190183491A1|2019-06-20|

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WO2019123170A1|2019-06-27|

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US11020112B2|2021-06-01|

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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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US15/847,325|US11020112B2|2017-12-19|2017-12-19|Surgical tools configured for interchangeable use with different controller interfaces|

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US15/847,325|2017-12-19|

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PCT/IB2018/060107|WO2019123170A1|2017-12-19|2018-12-14|Surgical tools configured for interchangeable use with different controller interfaces|

---