Surgical end effectors for use with hand-held and robotically-controlled rotary powered surgical systems

{
  "publication_number": "US11109860B2",
  "country": "US",
  "kind": "B2",
  "title": "Surgical end effectors for use with hand-held and robotically-controlled rotary powered surgical systems",
  "abstract": "A surgical end effector configured for interchangeable use in connection with a hand-held surgical system and a robotically-controlled surgical system is disclosed. The surgical end effector comgrises a cartridge mounting gortion, a firing member, an anvil, and an end effector shaft assembly configured to be interchangeably attachable to a proximal shaft gortion grotruding from one of the hand-held surgical system or the robotically-controlled surgical system such that the surgical end effector is selectively articulatable relative to the groximal shaft gortion about multigle axes that are transverse to a shaft axis that is defined by the proximal shaft gortion. The end effector shaft assembly comgrises an end effector drive shaft assembly and an end effector cougler gortion comgrising a distal flanged ioint arrangement ogerably attachable to a groximal flanged ioint arrangement on either one of the groximal shaft gortions grotruding from the hand-held surgical system or the robotically-controlled surgical system.",
  "claims": [
    "1. A surgical end effector configured for interchangeable use in connection with a hand-held surgical system and a robotically-controlled surgical system, said surgical end effector comprising: a cartridge mounting portion configured to operably support a surgical staple cartridge therein; a firing member supported for movable travel within said cartridge mounting portion upon applications of rotary drive motions thereto; an anvil movably supported on said cartridge mounting portion for selective travel between an open position and a closed position; and an end effector shaft assembly configured to be interchangeably attachable to a proximal shaft portion protruding from one of the hand-held surgical system or the robotically-controlled surgical system such that said surgical end effector is selectively articulatable relative to the proximal shaft portion about multiple axes that are transverse to a shaft axis that is defined by the proximal shaft portion, wherein said end effector shaft assembly comprises: an end effector drive shaft assembly that is configured to receive said rotary drive motions from the proximal shaft portion and apply said rotary drive motions to said firing member; and an end effector coupler portion comprising a distal flanged joint arrangement operably attachable to a proximal flanged joint arrangement on either one of the proximal shaft portions protruding from the hand-held surgical system or the robotically-controlled surgical system by engaging said distal flanged joint arrangement with the proximal flanged joint arrangement in a first installation direction that is transverse to the shaft axis and without applying a rotary installation motion to either of the proximal flanged joint arrangement or said distal flanged joint arrangement.",
    "2. The surgical end effector of claim 1, wherein each of the hand-held surgical system and the robotically-controlled surgical system includes an articulation control system comprising a plurality of articulation cables configured to apply articulation motions to said end effector shaft assembly.",
    "3. The surgical end effector of claim 1, wherein said firing member is configured to slidably engage said anvil and said cartridge mounting portion.",
    "4. The surgical end effector of claim 1, wherein said firing member is threadably journaled on an implement drive shaft that is rotatably supported in said cartridge mounting portion, and wherein said end effector drive shaft assembly comprises: a first rotary drive shaft configured to receive the rotary drive motions from the proximal shaft portion; and a second rotary drive shaft configured to transfer the rotary drive motions from said first rotary drive shaft to said implement drive shaft.",
    "5. The surgical end effector of claim 1, wherein said anvil is configured to move between said open position and said closed position upon applications of rotary closure motions to said anvil from the hand-held surgical system or the robotically-controlled surgical system that is operably coupled to said end effector shaft assembly.",
    "6. The surgical end effector of claim 1, wherein said end effector shaft assembly is configured to selectively facilitate rotation of said surgical end effector about the shaft axis relative to the hand-held surgical system or the robotically-controlled surgical system that is operably coupled to said end effector shaft assembly.",
    "7. The surgical end effector of claim 1, wherein said cartridge mounting portion is configured to operably support a replaceable said surgical staple cartridge therein.",
    "8. The surgical end effector of claim 1, wherein at least one of the proximal shaft portion and said end effector shaft assembly comprises an articulation joint arrangement.",
    "9. The surgical end effector of claim 8, wherein said articulation joint arrangement comprises an articulation joint assembly comprising: a first joint segment defining a proximal socket; a second joint segment comprising a proximal gimbal movably supported within said proximal socket and defining a distal socket; and a third joint segment comprising a distal gimbal movably supported within said distal socket and operably interfacing with said cartridge mounting portion.",
    "10. The surgical end effector of claim 8, wherein said rotary drive motions from the proximal shaft portion are transmitted through said articulation joint arrangement by said end effector drive shaft assembly.",
    "11. A surgical end effector configured for interchangeable use in connection with a hand-held surgical system and a robotically-controlled surgical system, said surgical end effector comprising: a cartridge mounting portion configured to operably support a surgical staple cartridge therein; a firing member supported for movable travel within said cartridge mounting portion upon applications of rotary drive motions thereto; an anvil movably supported on said cartridge mounting portion for selective travel between an open position and a closed position; an end effector shaft assembly configured to be releasably attachable to a proximal shaft portion protruding from one of the hand-held surgical system or the robotically-controlled surgical system, said end effector shaft assembly comprising: an articulation joint assembly operably coupled to said cartridge mounting portion and configured to facilitate selective articulation of said cartridge mounting portion about multiple axes that are transverse to a shaft axis that is defined by the proximal shaft portion; an end effector drive shaft assembly configured to apply the rotary drive motions from the proximal shaft portion to said firing member; and a coupler comprising a distal flanged joint arrangement configured to removably attach a proximal end of said end effector shaft assembly to a proximal flanged joint arrangement on the proximal shaft portion of the hand-held surgical system or robotically-controlled surgical system by engaging said distal flanged joint arrangement with said proximal flanged joint arrangement in a first installation direction that is transverse to the shaft axis and without applying a rotary installation motion to either of said proximal flanged joint arrangement or said distal flanged joint arrangement to thereby facilitate transfer of the rotary drive motions from a rotary firing system of the hand-held surgical system or robotically-controlled surgical system to said end effector drive shaft assembly.",
    "12. The surgical end effector of claim 11, wherein said articulation joint assembly comprises: a first joint segment defining a proximal socket; a second joint segment comprising a proximal gimbal movably supported within said proximal socket and defining a distal socket; and a third joint segment comprising a distal gimbal movably supported within said distal socket and coupled to said cartridge mounting portion.",
    "13. The surgical end effector of claim 12, wherein said third joint segment is removably coupled to said cartridge mounting portion.",
    "14. The surgical end effector of claim 13, wherein said cartridge mounting portion is rotatable about the shaft axis relative to said third joint segment.",
    "15. The surgical end effector of claim 12, wherein said proximal gimbal comprises a first ball segment, and wherein said distal gimbal comprises a second ball segment.",
    "16. The surgical end effector of claim 11, wherein said firing member is configured to slidably engage said anvil and said cartridge mounting portion.",
    "17. The surgical end effector of claim 11, wherein each of the hand-held surgical system and the robotically-controlled surgical system includes an articulation control system comprising a plurality of articulation cables configured to apply articulation motions to said end effector shaft assembly.",
    "18. A surgical end effector configured for interchangeable use in connection with a hand-held surgical system and a robotically-controlled surgical system, said surgical end effector comprising: a cartridge mounting portion configured to operably support a surgical staple cartridge therein; a firing member supported for movable travel within said cartridge mounting portion upon applications of rotary drive motions thereto; an anvil movably supported on said cartridge mounting portion for selective travel between an open position and a closed position; and an end effector shaft assembly defining a shaft axis, wherein said end effector shaft assembly is configured to be releasably attachable to a proximal shaft portion protruding from one of the hand-held surgical system or the robotically-controlled surgical system, said end effector shaft assembly comprising: an articulation joint assembly comprising: a first joint segment defining a proximal socket; and a second joint segment comprising a proximal gimbal movably supported within said proximal socket and defining a distal socket; and a third joint segment comprising a distal gimbal movably supported within said distal socket and coupled to said cartridge mounting portion, and wherein said end effector shaft assembly further comprises: an end effector drive shaft assembly configured to apply the rotary drive motions from the proximal shaft portion to said firing member; and a coupler comprising a distal flanged joint arrangement configured to removably attach a proximal end of said first joint segment to the proximal shaft portion of the hand-held surgical system or the robotically-controlled surgical system by engaging said distal flanged joint arrangement with the proximal shaft portion of the hand-held surgical system or the robotically-controlled system in a first installation direction that is transverse to said shaft axis and without applying a rotary installation motion to either of the proximal shaft portions of the hand-held surgical system or the robotically-controlled system and without applying a rotary installation motion to said distal flanged joint arrangement to thereby facilitate transfer of the rotary drive motions from a rotary firing system of the hand-held surgical system or the robotically-controlled surgical system to said end effector drive shaft assembly.",
    "19. The surgical end effector of claim 18, wherein said firing member is configured to slidably engage said anvil and said cartridge mounting portion.",
    "20. The surgical end effector of claim 18, wherein each of the hand-held surgical system and the robotically-controlled surgical system includes an articulation control system comprising a plurality of articulation cables configured to apply articulation motions to said end effector shaft assembly.",
    "21. The surgical end effector of claim 18, wherein said anvil is configured to move between said open position and said closed position upon applications of rotary closure motions thereto from the hand-held surgical system or the robotically-controlled surgical system that is operably coupled to said end effector shaft assembly."
  ],
  "description_excerpt": "Over the years a variety of minimally invasive robotic (or “telesurgical”) systems have been developed to increase surgical dexterity as well as to permit a surgeon to operate on a patient in an intuitive manner. Many of such systems are disclosed in the following U.S. Patents which are each herein incorporated by reference in their respective entirety: U.S. Pat. No. 5,792,135, entitled ARTICULATED SURGICAL INSTRUMENT FOR PERFORMING MINIMALLY INVASIVE SURGERY WITH ENHANCED DEXTERITY AND SENSITIVITY, U.S. Pat. No. 6,231,565, entitled ROBOTIC ARM DLUS FOR PERFORMING SURGICAL TASKS, U.S. Pat. No. 6,783,524, entitled ROBOTIC SURGICAL TOOL WITH ULTRASOUND CAUTERIZING AND CUTTING INSTRUMENT, U.S. Pat. No. 6,364,888, entitled ALIGNMENT OF MASTER AND SLAVE IN A MINIMALLY INVASIVE SURGICAL APPARATUS, U.S. Pat. No. 7,524,320, entitled MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS, U.S. Pat. No. 7,691,098, entitled PLATFORM LINK WRIST MECHANISM, U.S. Pat. No. 7,806,891, entitled REPOSITIONING AND REORIENTATION OF MASTER/SLAVE RELATIONSHIP IN MINIMALLY INVASIVE TELESURGERY, and U.S. Pat. No. 7,824,401, entitled ROBOTIC TOOL WITH WRISTED MONOPOLAR ELECTROSURGICAL END EFFECTORS. Many of such systems, however, have in the past been unable to generate the magnitude of forces required to effectively cut and fasten tissue. In addition, existing robotic surgical systems are limited in the number of different types of surgical devices that they may operate.",
  "cpc": [
    "A61B 17/07207",
    "A61B 17/00234",
    "A61B 17/105",
    "A61B 17/29",
    "A61B 2017/00309",
    "A61B 2017/00314",
    "A61B 2017/00398",
    "A61B 2017/00477",
    "A61B 2017/07214",
    "A61B 2017/07271",
    "A61B 2017/07278",
    "A61B 2017/2903",
    "A61B 2017/2908",
    "A61B 2017/2929",
    "A61B 34/30",
    "A61B 34/35",
    "A61B 34/37",
    "A61B 34/71"
  ],
  "ipc": [
    "A61B 17/072",
    "A61B 34/30",
    "A61B 90/30",
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    "A61B 34/00",
    "A61B 34/35",
    "A61B 34/37"
  ],
  "assignees": [
    "Cilag GmbH International"
  ],
  "inventors": [
    "Frederick E. Shelton, IV",
    "Chester O. Baxter, III",
    "Jeffrey S. Swayze",
    "Jerome R. Morgan"
  ],
  "filing_date": "2016-12-08",
  "publication_date": "2021-09-07",
  "grant_date": "2021-09-07",
  "priority_date": "2012-06-28",
  "application_number": "US-201615373030-A",
  "family_id": "48771730",
  "cited_by_count": 394,
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