Patent•
Surgical Instrument with Shiftable Transmission
31 Mar 2015-
TL;DR: In this paper, a surgical tool with an elongated shaft having a proximal end and distal end is described, where an effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms.
Abstract: A surgical tool having an elongated shaft having a proximal end and distal end. A surgical end effector is located about the distal end. The surgical end effector has a plurality of effector mechanisms comprising a plurality of degree of freedoms. An effector body is located at the proximal end. The effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms. A transmission is coupled to the effector body
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Patent•
14 Jun 2016
TL;DR: Newness and distinctiveness is claimed in the features of ornamentation as shown inside the broken line circle in the accompanying representation as discussed by the authors, which is the basis for the representation presented in this paper.
Abstract: Newness and distinctiveness is claimed in the features of ornamentation as shown inside the broken line circle in the accompanying representation.
1,500 citations
Patent•
20 Sep 2016TL;DR: In this article, an E-beam firing bar is used to drive staples on each side of the cut in a surgical severing and stapling instrument, which is suitable for laparoscopic and endoscopic clinical procedures, clamps tissue within an end effector of an elongate channel pivotally opposed by an anvil.
Abstract: A surgical severing and stapling instrument, suitable for laparoscopic and endoscopic clinical procedures, clamps tissue within an end effector of an elongate channel pivotally opposed by an anvil. An E-beam firing bar moves distally through the clamped end effector to sever tissue and to drive staples on each side of the cut. The E-beam firing bar affirmatively spaces the anvil from the elongate channel to assure properly formed closed staples, especially when an amount of tissue is clamped that is inadequate to space the end effector. In particular, an upper pin of the firing bar longitudinally moves through an anvil slot and a channel slot is captured between a lower cap and a middle pin of the firing bar to assure a minimum spacing. Forming the E-beam from a thickened distal portion and a thinned proximal strip enhances manufacturability and facilitates use in such articulating surgical instruments.
1,384 citations
Patent•
24 May 2016TL;DR: In this paper, a surgical stapler having a staple cartridge, an anvil, a cutting member having a cutting surface, and a driver operably engaged with the cutting member to move the member relative to the anvil and the staple cartridge is presented.
Abstract: The present invention includes a surgical stapler having a staple cartridge, an anvil, a cutting member having a cutting surface, and a driver operably engaged with the cutting member to move the cutting member relative to the anvil and the staple cartridge. In at least one embodiment, one of the anvil and the staple cartridge defines a slot which is configured to receive at least a portion of the cutting member and guide the cutting member as it is moved relative to the anvil and the staple cartridge. In these embodiments, the slot can also be configured to receive a portion of the driver operably engaged with cutting member and support the driver when it moves the cutting member. In at least one embodiment, the slot is defined by at least one radius of curvature.
932 citations
Patent•
14 Aug 2014TL;DR: In this article, a surgical instrument includes an end effector that comprises a staple channel and an anvil that is movable relative to the staple channel, and an externally accessible memory device communicates with the first, second and third sensors.
Abstract: A surgical instrument. The surgical instrument includes an end effector that comprises a staple channel and an anvil that is movably translatable relative to the staple channel. A tool mounting portion is configured to interface with a robotic system and operably communicate with the end effector. The instrument further includes a first sensor that has an output that represents a first condition of a portion of the robotic system. A second sensor has an output that represents a position of the anvil. A third sensor has an output that represents a position of a reciprocating knife within the end effector. An externally accessible memory device communicates with the first, second and third sensors.
912 citations
Patent•
07 Apr 2016
TL;DR: In this article, an end effector is coupled to a rotary actuation motion and rotary retraction motion from a robotic system that is configured to generate the rotary actuator motion and said rotary retractor motion.
Abstract: A surgical instrument including an end effector that has a selectively reciprocatable implement movably supported therein. The implement is selectively advanceable in a distal direction upon application of a rotary actuation motion thereto and retractable in a proximal direction upon application of a rotary retraction motion thereto. An elongate shaft assembly is coupled to the end effector and is configured to transmit the rotary actuation motion and rotary retraction motion to the reciprocatable implement from a robotic system that is configured to generate the rotary actuation motion and said rotary retraction motion.
825 citations
References
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Patent•
19 Feb 1997TL;DR: In this article, a system for performing minimally invasive cardiac procedures is described, which includes a pair of surgical instruments that are coupled to a robotic arms. But the system is not suitable for the handling of a large number of patients.
Abstract: A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.
1,523 citations
Patent•
05 Jun 1996TL;DR: In this article, the authors present a manipulator assembly for holding and manipulating a surgical instrument in a telerobotic system, which includes an instrument holder removably coupled to a drive assembly so that the holder can be sterilized.
Abstract: The invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The manipulator assembly includes an instrument holder removably coupled to a drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The invention is also directed to a system and method for releasably holding a surgical instrument (14). The system includes an instrument support for automatically locking mounting pins on the instrument within locking slots on the instrument holder to releasably couple the instrument to the holder. With a twist-lock motion, the surgeon can rapidly engage and disengage various instruments from the holder during a surgical procedure, such as open surgery, laparoscopy or thoracoscopy.
1,008 citations
Patent•
23 May 2012TL;DR: In this paper, the authors describe an end effector that has a moveable cutting implement and a main drive shaft assembly operably interfaces with the end-effector for transmitting an actuation motion to the movable cutting implements therein.
Abstract: A surgical instrument. Various embodiments of the surgical instrument include an end effector that has a moveable cutting implement. A main drive shaft assembly operably interfaces with the end effector for transmitting an actuation motion to the movable cutting implement therein. A gear drive train is connected to the main drive shaft assembly. The gear drive train is actuated by a motor that is configured to receive control signals from a robotic system. Various embodiments include a sensor arrangement that operably interfaces the end effector to communicate forces experienced by the end effector to the robotic system.
935 citations
Patent•
03 Aug 1999TL;DR: In this article, the authors present a system for aligning robotic elements with an internal surgical site and each other using a fixed configuration until a brake system is released, which allows the operating room personnel to manually move the linkage into alignment with the surgical site.
Abstract: Techniques and structures are provided for aligning robotic elements with an internal surgical site and each other. Manually positionable linkages support surgical instruments. These linkages maintain a fixed configuration until a brake system is released. While the brake is held in a released mode, the linkage allows the operating room personnel to manually move the linkage into alignment with the surgical site. Joints of the linkage translate the surgical instrument in three dimensions, and orient the surgical instrument about three axes of rotation. Sensors coupled to the joints allow a processor to perform coordinate transformations that can align displayed movements of robotically actuated surgical end effectors with a surgeon's hand inputs at a control station.
887 citations
Patent•
12 Nov 2010TL;DR: In this paper, the use of offset drive shafts within an independently rotating member is discussed, where the first drive shaft is offset from the main shaft rotational axis and is fixed relative to the base.
Abstract: Mechanisms, assemblies, systems, tools, and methods incorporating the use of an offset drive shaft within an independently rotating member are provided. An example mechanism includes a base and a main shaft mounted to rotate relative to the base, a first drive shaft mounted inside the main shaft, and a first drive feature engaged with the first drive shaft. The main shaft includes a proximal end, a distal end, and a main shaft rotational axis defined therebetween. The first drive shaft is offset from the main shaft rotational axis. A first drive feature rotational axis is defined for the first drive feature and is fixed relative to the base as the main shaft rotates. The first drive feature rotates the first drive shaft.
736 citations