US20140263541A1 - Articulatable surgical instrument comprising an articulation lock - Google Patents
Articulatable surgical instrument comprising an articulation lock Download PDFInfo
- Publication number
- US20140263541A1 US20140263541A1 US13/803,086 US201313803086A US2014263541A1 US 20140263541 A1 US20140263541 A1 US 20140263541A1 US 201313803086 A US201313803086 A US 201313803086A US 2014263541 A1 US2014263541 A1 US 2014263541A1
- Authority
- US
- United States
- Prior art keywords
- lock
- articulation
- shaft
- end effector
- proximal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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Definitions
- FIG. 117 is a perspective view of another alternative embodiment of an articulation lock illustrated in a locked condition
- FIG. 141 is a perspective view of the shaft assembly of FIG. 131 illustrating the clutch assembly in an engaged position and illustrated with portions removed for the purposes of clarity; specifically, the clutch actuator and the clutch sleeve are illustrated while the switch drum, the proximal articulation driver, and the closure tube are not illustrated;
- FIG. 154 is a cross-sectional view of the interface of FIG. 152 in an inactive or neutral configuration in accordance with certain embodiments described herein;
- FIG. 174 is a bottom view of the electric motor and the resonator of FIG. 173 ;
- FIG. 196 illustrates one embodiment of a logic diagram for a method of compensating for the effect of splay in flexible knife bands on transection length
- the relaxation of the band portion 202 decreases the tension on that band portion, allowing the band portion 204 to articulate the end effector 102 without substantial interference from the band portion 202 .
- the clinician may also articulate the end effector 102 to the right relative to the shaft 104 by providing a lateral force to the right side of the control 112 .
- This bends cable portion 202 causing a clockwise rotational force at boss 206 which, in turn, causes the boss 206 and end effector to pivot to the right about articulation pivot 110 .
- band portion 204 can be concurrently relaxed to permit such movement.
- a surgical instrument 400 can comprise a handle 403 , a shaft 404 extending from the handle 403 , and an end effector 402 extending from the shaft 404 .
- the handle 403 can include a closure trigger and a firing trigger similar to the closure trigger 114 and the firing trigger 116 depicted in FIG. 1 , for example.
- the firing trigger 116 can be operably coupled with a firing drive including a firing member 470 extending through the shaft 404 wherein the operation of the firing trigger 116 can advance the firing member 470 distally toward the end effector 402 .
- the collar 450 can comprise opposing portions, or halves, which can be assembled together such that the opposing portions of the collar 450 can surround the shaft 404 .
- the collar 450 can also support the detent assembly 452 , which is discussed above, and can include a mounting portion engaged with the proximal end 441 of the articulation lock bar 440 , which is also discussed above.
- the closure drive carriage 415 can contact the collar 450 and slide the articulation lock actuator 409 distally and, further to the above, displace the detent member 457 from the detent seat 455 , referring to FIG.
- a portion of the nozzle assembly 1290 may extend through a window 1253 in the outer sleeve to engage a notch 1218 in the shaft frame 1212 . See FIG. 37 .
- rotation of the nozzle assembly 1290 will result in rotation of the shaft frame 1212 and outer sleeve 1250 about axis A-A relative to the shaft attachment module 1220 .
- the frame 1080 or at least one of the drive systems define an actuation axis AA-AA.
- the actuation axis AA-AA may be defined by the axis of the longitudinally-movable drive member 1110 .
- the actuation axis AA-AA is coaxial with the shaft axis SA-SA as shown in FIG. 48 .
- the closure tube attachment yoke 1960 is configured to be supported within the shaft attachment module 1920 such that the closure tube yoke assembly 1960 may move axially therein in the distal (“D”) and proximal (“P”) directions.
- the proximal end of the shaft frame protrudes proximally out of the proximal end 1952 of the outer sleeve 1950 .
- a retaining collar 1917 may be formed on the proximal end of the shaft frame.
- a U-shaped retainer member 1927 may be employed to retain the proximal end of the shaft frame in that axial position while enabling the shaft frame to rotate relative to the shaft attachment module 1920 .
- Such arrangement permits the clinician to rotate the shaft 1910 about the shaft axis SA-SA relative to the shaft attachment module 1920 .
- a nozzle assembly 1990 may be employed in the various manners discussed herein to facilitate rotation of the shaft 1910 relative to the shaft attachment module 1920 .
- a lock release portion 2820 on the frame attachment module 2684 ′′ contacts the lock bar 2802 and causes it to pivot to thereby move the lock pin 2806 out of the lock slot 2808 in the closure link 1762 ′.
- the actuator tab 2702 on the closure tube yoke 1960 ′ is seated in the actuator pocket 2724 in the actuator slide member 2720 .
- FIG. 98 illustrates the position of the actuator slide member 2720 after the closure trigger 1752 has been completely depressed to thereby axially advance the closure tube attachment yoke 1960 ′ and the outer sleeve 1950 attached thereto in the distal direction “D”.
- the firing home state position of the firing member 10060 can be located at a proximal portion of the end effector 1300 .
- the firing home state position of the firing member 10060 can be located at a distal portion of the end effector 1300 .
- the firing home state position may be defined at a position where the firing member 10060 is sufficiently retracted relative to the end effector 1300 such that the end effector 1300 can be freely moved between the open configuration and the closed configuration.
- the firing home state position of the firing member 10060 can be identified as the position of the firing member which positions the articulation drive system and the end effector in its articulated home state position.
- the electric motor can advance the firing element during the first operating state and can retract the firing element during the second operating state, or vice versa.
- the electric motor 5002 can be operably coupled to an articulation mechanism (illustrated elsewhere), and can articulate an end effector relative to a handle of the surgical instrument. For example, clockwise rotation of the electric motor 5002 can articulate the end effector in a first direction, and counterclockwise rotation of the electric motor 5002 can articulate the end effector in a second direction.
- the resonator 5020 can be balanced relative to the central axis of the mounting bore 5040 according to the following simplified relationship:
- the pendulum 5230 can be designed to amplify the haptic feedback generated by the electric motor 5002 during the third operating state.
- the pendulum 5230 can be designed to have an optimized natural frequency, and the electric motor 5002 can drive the resonator 5220 to oscillate at or near the optimized natural frequency of the pendulum 5230 to amplify the haptic feedback generated during the third operating state.
- FIG. 183 is an exploded perspective view of a surgical instrument handle 1042 of FIG. 34 showing a portion of a sensor arrangement 7002 for an absolute positioning system 7000 , according to one embodiment.
- the surgical instrument handle 1042 of FIG. 34 has been described in detail in connection with FIG. 34 . Accordingly, for conciseness and clarity of disclosure, other than describing the elements associated with the sensor arrangement 7002 for an absolute positioning system 7000 , such detailed description of the surgical instrument handle 1042 of FIG. 34 will not be repeated here.
- the surgical instrument handle 1042 of the housing 1040 operably supports a firing drive system 1100 that is configured to apply firing motions to corresponding portions of the interchangeable shaft assembly.
- the firing drive system 1100 may employ an electric motor 1102 .
- a sensor arrangement 7002 provides a unique position signal corresponding to the location of the longitudinally-movable drive member 1110 .
- the electric motor 1102 can include a rotatable shaft 7016 that operably interfaces with a gear assembly 7014 that is mounted in meshing engagement with a with a set, or rack, of drive teeth 1112 ( FIG. 183 ) on the longitudinally-movable drive member 1110 .
- the sensor element 7026 may be operably coupled to the gear assembly 7104 such that a single revolution of the sensor element 7026 corresponds to some linear longitudinal translation of the longitudinally-movable drive member 1110 , as described in more detail hereinbelow.
- the absolute positioning system 7000 provides an absolute position of the longitudinally-movable drive member 1110 upon power up of the instrument without retracting or advancing the longitudinally-movable drive member 1110 to a reset (zero or home) position as may be required with conventional rotary encoders that merely count the number of steps forwards or backwards that motor has taken to infer the position of a device actuator, drive bar, knife, and the like.
- a surgical instrument can comprise a firing member, a motor configured to drive the firing member, and a controller for controlling the motor.
- the controller can be configured to operate the surgical instrument in a plurality of operating states, and the plurality of operating states can comprise a firing state for driving the firing member and a warned firing state for driving the firing member.
- the surgical instrument can also comprise means for operating the surgical instrument in the warned firing state.
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Ophthalmology & Optometry (AREA)
- Plasma & Fusion (AREA)
- Otolaryngology (AREA)
- Physics & Mathematics (AREA)
- Surgical Instruments (AREA)
- User Interface Of Digital Computer (AREA)
- Control Of Position Or Direction (AREA)
- Manipulator (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Dicing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Microwave Tubes (AREA)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13/803,130 US9351727B2 (en) | 2013-03-14 | 2013-03-14 | Drive train control arrangements for modular surgical instruments |
| US13/803,117 US9351726B2 (en) | 2013-03-14 | 2013-03-14 | Articulation control system for articulatable surgical instruments |
| US13/803,159 US9888919B2 (en) | 2013-03-14 | 2013-03-14 | Method and system for operating a surgical instrument |
| US13/803,053 US9883860B2 (en) | 2013-03-14 | 2013-03-14 | Interchangeable shaft assemblies for use with a surgical instrument |
| US13/803,086 US20140263541A1 (en) | 2013-03-14 | 2013-03-14 | Articulatable surgical instrument comprising an articulation lock |
| US13/803,148 US10470762B2 (en) | 2013-03-14 | 2013-03-14 | Multi-function motor for a surgical instrument |
| US13/803,193 US9332987B2 (en) | 2013-03-14 | 2013-03-14 | Control arrangements for a drive member of a surgical instrument |
| US13/803,066 US9629623B2 (en) | 2013-03-14 | 2013-03-14 | Drive system lockout arrangements for modular surgical instruments |
| US13/803,210 US9808244B2 (en) | 2013-03-14 | 2013-03-14 | Sensor arrangements for absolute positioning system for surgical instruments |
| US13/803,097 US9687230B2 (en) | 2013-03-14 | 2013-03-14 | Articulatable surgical instrument comprising a firing drive |
| PCT/US2014/018951 WO2014158636A1 (en) | 2013-03-14 | 2014-02-27 | Control arrangements for a drive member of a surgical instrument |
| AU2014242023A AU2014242023B2 (en) | 2013-03-14 | 2014-02-27 | Control arrangements for a drive member of a surgical instrument |
| CA2905698A CA2905698C (en) | 2013-03-14 | 2014-02-27 | Control arrangements for a drive member of a surgical instrument |
| CN201480014894.8A CN105142541B (zh) | 2013-03-14 | 2014-02-27 | 用于外科器械的驱动构件的控制结构 |
| RU2015143673A RU2684021C2 (ru) | 2013-03-14 | 2014-03-05 | Компоновка датчика для системы определения абсолютного положения для хирургических инструментов |
| JP2016500648A JP6682425B2 (ja) | 2013-03-14 | 2014-03-05 | 手術器具用の絶対位置調整システムのセンサ装置 |
| PCT/US2014/020652 WO2014158882A2 (en) | 2013-03-14 | 2014-03-05 | Sensor arrangements for absolute positioning system for surgical instruments |
| CN201480015407.XA CN105188591B (zh) | 2013-03-14 | 2014-03-05 | 用于外科器械的绝对定位系统的传感器布置 |
| CA2905818A CA2905818C (en) | 2013-03-14 | 2014-03-05 | Sensor arrangements for absolute positioning system for surgical instruments |
| AU2014241823A AU2014241823B2 (en) | 2013-03-14 | 2014-03-05 | Sensor arrangements for absolute positioning system for surgical instruments |
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| PL14160011T PL2777520T3 (pl) | 2013-03-14 | 2014-03-14 | Przegubowe narzędzie chirurgiczne zawierające człon napędzający wystrzelania |
| BR102014006190A BR102014006190B8 (pt) | 2013-03-14 | 2014-03-14 | Conjunto de haste para uso com instrumento cirúrgico e instrumento cirúrgico |
| EP19167691.5A EP3524173B1 (en) | 2013-03-14 | 2014-03-14 | Articulatable surgical instrument comprising an articulation lock |
| PL14159847T PL2786714T3 (pl) | 2013-03-14 | 2014-03-14 | Układ do obsługi narzędzia chirurgicznego |
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| EP14159863.1A EP2777537B1 (en) | 2013-03-14 | 2014-03-14 | Articulatable surgical instrument comprising an articulation lock |
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| JP2014051432A JP6411039B2 (ja) | 2013-03-14 | 2014-03-14 | 関節屈曲式手術器具用の関節制御システム |
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| EP14160011.4A EP2777520B1 (en) | 2013-03-14 | 2014-03-14 | Articulatable surgical instrument comprising a firing drive |
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| EP18174955.7A EP3388001B1 (en) | 2013-03-14 | 2014-03-14 | Multi-function motor for a surgical instrument |
| JP2014051389A JP6419443B2 (ja) | 2013-03-14 | 2014-03-14 | モジュール式手術器具用の駆動系制御装置 |
| EP14159829.2A EP2777536B1 (en) | 2013-03-14 | 2014-03-14 | Interchangeable shaft assemblies for use with a surgical instrument |
| CN201410096535.3A CN104042279B (zh) | 2013-03-14 | 2014-03-14 | 用于操作外科器械的方法和系统 |
| EP18164730.6A EP3378410B1 (en) | 2013-03-14 | 2014-03-14 | System for operating a surgical instrument |
| JP2014051421A JP6396048B2 (ja) | 2013-03-14 | 2014-03-14 | モジュール式手術器具用の駆動システムロックアウト装置 |
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| EP14160022.1A EP2777521B1 (en) | 2013-03-14 | 2014-03-14 | Sensor arrangements for absolute positioning system for surgical instruments |
| US15/072,649 US10238391B2 (en) | 2013-03-14 | 2016-03-17 | Drive train control arrangements for modular surgical instruments |
| US16/150,413 US10893867B2 (en) | 2013-03-14 | 2018-10-03 | Drive train control arrangements for modular surgical instruments |
Applications Claiming Priority (10)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13/803,053 US9883860B2 (en) | 2013-03-14 | 2013-03-14 | Interchangeable shaft assemblies for use with a surgical instrument |
| US13/803,148 US10470762B2 (en) | 2013-03-14 | 2013-03-14 | Multi-function motor for a surgical instrument |
| US13/803,117 US9351726B2 (en) | 2013-03-14 | 2013-03-14 | Articulation control system for articulatable surgical instruments |
| US13/803,130 US9351727B2 (en) | 2013-03-14 | 2013-03-14 | Drive train control arrangements for modular surgical instruments |
| US13/803,066 US9629623B2 (en) | 2013-03-14 | 2013-03-14 | Drive system lockout arrangements for modular surgical instruments |
| US13/803,210 US9808244B2 (en) | 2013-03-14 | 2013-03-14 | Sensor arrangements for absolute positioning system for surgical instruments |
| US13/803,159 US9888919B2 (en) | 2013-03-14 | 2013-03-14 | Method and system for operating a surgical instrument |
| US13/803,086 US20140263541A1 (en) | 2013-03-14 | 2013-03-14 | Articulatable surgical instrument comprising an articulation lock |
| US13/803,097 US9687230B2 (en) | 2013-03-14 | 2013-03-14 | Articulatable surgical instrument comprising a firing drive |
| US13/803,193 US9332987B2 (en) | 2013-03-14 | 2013-03-14 | Control arrangements for a drive member of a surgical instrument |
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| US13/803,086 Abandoned US20140263541A1 (en) | 2013-03-14 | 2013-03-14 | Articulatable surgical instrument comprising an articulation lock |
| US13/803,097 Active 2035-08-30 US9687230B2 (en) | 2013-03-14 | 2013-03-14 | Articulatable surgical instrument comprising a firing drive |
| US13/803,193 Active 2034-07-12 US9332987B2 (en) | 2013-03-14 | 2013-03-14 | Control arrangements for a drive member of a surgical instrument |
| US13/803,130 Active 2034-05-27 US9351727B2 (en) | 2013-03-14 | 2013-03-14 | Drive train control arrangements for modular surgical instruments |
| US13/803,210 Active 2035-05-20 US9808244B2 (en) | 2013-03-14 | 2013-03-14 | Sensor arrangements for absolute positioning system for surgical instruments |
| US13/803,053 Expired - Fee Related US9883860B2 (en) | 2013-03-14 | 2013-03-14 | Interchangeable shaft assemblies for use with a surgical instrument |
| US13/803,117 Active 2034-05-04 US9351726B2 (en) | 2013-03-14 | 2013-03-14 | Articulation control system for articulatable surgical instruments |
| US13/803,159 Active 2034-06-15 US9888919B2 (en) | 2013-03-14 | 2013-03-14 | Method and system for operating a surgical instrument |
| US13/803,066 Active 2035-07-09 US9629623B2 (en) | 2013-03-14 | 2013-03-14 | Drive system lockout arrangements for modular surgical instruments |
| US13/803,148 Active 2035-01-20 US10470762B2 (en) | 2013-03-14 | 2013-03-14 | Multi-function motor for a surgical instrument |
| US15/072,649 Active 2034-01-01 US10238391B2 (en) | 2013-03-14 | 2016-03-17 | Drive train control arrangements for modular surgical instruments |
| US16/150,413 Active 2033-07-28 US10893867B2 (en) | 2013-03-14 | 2018-10-03 | Drive train control arrangements for modular surgical instruments |
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| US13/803,097 Active 2035-08-30 US9687230B2 (en) | 2013-03-14 | 2013-03-14 | Articulatable surgical instrument comprising a firing drive |
| US13/803,193 Active 2034-07-12 US9332987B2 (en) | 2013-03-14 | 2013-03-14 | Control arrangements for a drive member of a surgical instrument |
| US13/803,130 Active 2034-05-27 US9351727B2 (en) | 2013-03-14 | 2013-03-14 | Drive train control arrangements for modular surgical instruments |
| US13/803,210 Active 2035-05-20 US9808244B2 (en) | 2013-03-14 | 2013-03-14 | Sensor arrangements for absolute positioning system for surgical instruments |
| US13/803,053 Expired - Fee Related US9883860B2 (en) | 2013-03-14 | 2013-03-14 | Interchangeable shaft assemblies for use with a surgical instrument |
| US13/803,117 Active 2034-05-04 US9351726B2 (en) | 2013-03-14 | 2013-03-14 | Articulation control system for articulatable surgical instruments |
| US13/803,159 Active 2034-06-15 US9888919B2 (en) | 2013-03-14 | 2013-03-14 | Method and system for operating a surgical instrument |
| US13/803,066 Active 2035-07-09 US9629623B2 (en) | 2013-03-14 | 2013-03-14 | Drive system lockout arrangements for modular surgical instruments |
| US13/803,148 Active 2035-01-20 US10470762B2 (en) | 2013-03-14 | 2013-03-14 | Multi-function motor for a surgical instrument |
| US15/072,649 Active 2034-01-01 US10238391B2 (en) | 2013-03-14 | 2016-03-17 | Drive train control arrangements for modular surgical instruments |
| US16/150,413 Active 2033-07-28 US10893867B2 (en) | 2013-03-14 | 2018-10-03 | Drive train control arrangements for modular surgical instruments |
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| US (12) | US20140263541A1 (https=) |
| EP (15) | EP2777536B1 (https=) |
| JP (9) | JP6682425B2 (https=) |
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