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Robotically-controlled end effector

a robot control and end effector technology, applied in the field of surgical instruments, can solve the problems of pinched jaws, ineffective closure of staples in severed tissue, and tissue severing and stapling,

Inactive Publication Date: 2014-09-25
CILAG GMBH INT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Firing of the surgical stapler causes severing and stapling of the tissue.
If an insufficient amount of tissue is captured between opposing jaws, the jaws may draw too close together resulting in pinching at their distal ends.
Pinched jaws may not effectively form closed staples in the severed tissue.
At the other extreme, an excessive amount of tissue clamped between the jaws may cause binding and an incomplete firing.
In that case, the manufacturer may spend hundreds of man-hours analyzing a failed instrument and attempting to reconstruct the conditions under which it failed based only on the damage to the instrument.
It can be expensive and very challenging to analyze instrument failures in this way.
Also, many of these analyses simply conclude that the failure was due to improper use of the instrument.
Additionally, motor-driven surgical instruments generally do not provide sufficient user feedback during the cutting and stapling operations.
Consequently, motor-driven endocutters where the operations are actuated by merely pressing a button are generally not accepted by physicians.

Method used

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Examples

Experimental program
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first embodiment

[0279]FIGS. 47A, 48 and 49 show embodiments of a knife position sensor 2008. The knife position sensor 2008 senses the position of the knife 32 or cutting surface 1027 within the staple channel 22. In a first embodiment, referring to FIGS. 48 and 49, the sensor 2008 includes a magnet 2009 that is coupled to or otherwise supported by a portion of the firing bar 1022 of the instrument 10. A coil 2011 is supported within a longitudinal recess 1014 in the firing trough member 1012 (see FIG. 41) and is so positioned to permit the firing bar to reciprocate therein. As the knife 32 and cutting surface 1027 are reciprocated through the staple channel 22, the firing bar 1022 and magnet 2009 may move back and forth through the coil 2011. This motion relative to the coil 2011 induces a voltage in the coil 2011 that is indicative of the position of the firing bar 1022 within the coil 2011 and which is also indicative of the position of the cutting edge 1027 within the staple channel 22. This vo...

embodiment 3201

[0369]FIGS. 98-100 depict another surgical tool embodiment 3201 that is substantially identical to surgical tool 3200″ described above, except for the differences discussed below. In this embodiment, the threaded closure rod 3342′ has variable pitched grooves. More specifically, as can be seen in FIG. 99, the closure rod 3342′ has a distal groove section 3380 and a proximal groove section 3382. The distal and proximal groove sections 3380, 3382 are configured for engagement with a lug 3390 supported within the hollow threaded end portion 3341′. As can be seen in FIG. 99, the distal groove section 3380 has a finer pitch than the groove section 3382. Thus, such variable pitch arrangement permits the elongated channel 3222 to be drawn into the shaft 3208 at a first speed or rate by virtue of the engagement between the lug 3390 and the proximal groove segment 3382. When the lug 3390 engages the distal groove segment, the channel 3222 will be drawn into the shaft 3208 at a second speed o...

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Abstract

A surgical end effector can comprise a first jaw, a staple cartridge supported by the first jaw, wherein the staple cartridge comprises a plurality of staples removably stored therein, a second jaw comprising an anvil, wherein the second jaw is rotatable relative to the first jaw between an open position and a closed position, and wherein the anvil is configured to deform the staples when the staples are deployed from the staple cartridge. The surgical end effector can further comprise a sensor configured to detect when the anvil is in its closed position. The second jaw can be rotatable relative to the first jaw toward a closed position and the surgical end effector can comprise detection means for detecting if the anvil is in its closed position.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS[0001]The present application is a continuation application claiming priority under 35 U.S.C. §120 to U.S. patent application Ser. No. 13 / 372,195, filed on Feb. 13, 2012, entitled ROBOTICALLY-CONTROLLED END EFFECTOR, now U.S. Patent Application Publication No. 2012 / 0292367, which is a continuation-in-part application claiming priority under 35 U.S.C. §120 of U.S. patent application Ser. No. 13 / 118,272, filed on May 27, 2011, entitled ROBOTICALLY-CONTROLLED SURGICAL INSTRUMENT WITH FORCE-FEED CAPABILITIES, now U.S. Patent Application Publication No. 2011 / 0290856, which is a continuation-in-part application claiming priority under 35 U.S.C. §120 of U.S. patent application Ser. No. 12 / 949,099, filed on Nov. 18, 2010, entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Pat. No. 8,167,185, which issued on May 1, 2012, which is a continuation application claiming priority under 35 U.S.C. §120 of U.S. patent application Ser. No. 11 / 34...

Claims

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Application Information

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Patent Type & Authority Applications(United States)
IPC IPC(8): A61B17/068
CPCA61B17/072A61B2019/2253A61B19/2203A61B2017/00017A61B2017/00199A61B2017/00221A61B2017/00398A61B2017/00685A61B2017/00734A61B2017/07214A61B2017/07278A61B2017/07285A61B2017/2943A61B2019/2242A61B2019/2292A61B2019/464A61B2019/465A61B2019/4815A61B2019/4857A61B2017/2903A61B17/068A61B17/07207A61B2090/064A61B34/71A61B34/76A61B2090/065A61B2090/0803A61B2090/0811A61B34/30A61B18/1445A61B50/36A61B2017/00473A61B2017/00477A61B2017/0688A61B2017/07257A61B2017/07271A61B2017/2927A61B2034/2059A61B34/37A61B2017/00115A61B2017/0053A61B2017/2923A61B2017/2929A61B2018/00297A61B2018/1455A61B2090/0805A61B2090/0807A61B2090/0814A61B34/73A61B34/20A61B34/25A61B2034/303A61B17/105A61B17/32A61B2034/302
Inventor MORGAN, JEROME R.SHELTON, IV, FREDERICK E.
Owner CILAG GMBH INT
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