Cilag International Gmbh

Ethicon, Gmbh

Christopher A Denzinger

Mark D Overmyer

Michael J Vendely

Heather Strang

Mark S Zeiner

Christopher Q Seow

Pamela M Ridgley

Gregory J Bakos

Robert L Koch, Jr

Benjamin Lawrence Bertram

Matthew D Cowperthwait

Kris Eren Kallenberger

Sol A Posada

Neil Markwardt

Charles J Scheib

Shane R Adams

Brian D Black

Mark A Davison

Joshua D Young

Eric B Lafay

Andrew T Beckman

Cory G Kimball

Matthew S Corbin

Matthew T Stone

Monica L Rivard

Laura S Downing

Logan R Rose

Raffaele J DeFinis

Heather E Knox

Raffaele Definis

Robert Louis Koch

Raffaele Definish

A surgical tool includes a drive housing, a shaft extending from the drive housing and including an inner grounding shaft, an end effector coupled to the shaft and having opposing jaws, a firing rod extending within the inner grounding shaft and terminating at a cutting element, and an unclamp lockout mechanism provided within the drive housing and including a pawl rotatably mounted to the inner grounding shaft and pivotable between a stowed position, where the pawl is received within an aperture defined in the inner grounding shaft, and a deployed position, where the pawl protrudes out of the aperture, and a biasing device that biases the pawl toward the stowed position. When the pawl is in the stowed position, the pawl is received within a cutout defined by the firing rod, and moving the firing rod distally overcomes the biasing device and urges the pawl to the deployed position.

Unclamp lockout mechanism for a surgical tool

A surgical instrument includes a shaft deflection detection system including one or more sensors positioned at a first mechanical junction between a shaft and an actuator coupled with the shaft and/or a second mechanical junction between the shaft and an end effector coupled with the shaft. The shaft is movable relative to the actuator at the first mechanical junction and/or relative to the end effector at the second mechanical junction. The one or more sensors are configured to generate signals indicative of movement of the shaft relative to the actuator and/or the end effector. The movement of the shaft is caused by an external force experienced by the shaft as the shaft of the surgical instrument is maneuvered inside a body of a patient.

Shaft deflection detection system for a surgical instrument

The present disclosure provides a circular stapler. The circular stapler includes a stapling head assembly. A trocar is positioned at least partially within the stapling head assembly. An anvil is detachably attachable to the trocar. A knob rotatable to cause translation of the trocar to adjust a position of the anvil with respect to the stapling head assembly. One or more sensors are configured to generate data associated with a trocar position or an anvil state. A communication element is configured to provide the generated data to a hub, wherein the hub is configured to provide an indicator associated with the trocar position or the anvil state based on the generated data.

Surgical stapler for sensing and communicating trocar position and anvil state

The present disclosure provides a circular stapler. The circular stapler includes a stapling head assembly, an anvil detachably attachable to the stapling head assembly, and a handle assembly. The handle assembly includes a handle controller, a connector, and handle transceiver configured to wirelessly transmit a first signal to an external hub. The handle transceiver is separated from the handle controller and is in electrical communication with the handle controller via the connector.

Wireless arrays for surgical staplers

A surgical instrument includes an end effector, a shaft assembly, a drive, and an activating mechanism. The end effector includes first and second jaws. At least one of the first and second jaws is pivotable relative to the other of the first and second jaws between open and closed positions. The shaft assembly extends proximally from the end effector. The drive is operatively connected to a portion of at least one of the end effector or the shaft assembly. The activating mechanism includes an actuation body operatively connected to the drive. The portion is configured to perform a first actuation profile in response to the actuation body moving along a first predetermined path or perform a second actuation profile in response to the actuation body moving along a second predetermined path. Selection of the first predetermined path is configured to prevent the actuation body from accessing the second predetermined path.

Selectable jaw closure of a robotic surgical system

The present disclosure provides a stapling apparatus. The apparatus includes a trocar, a stapling head assembly, and an anvil. The stapling head assembly includes one or more lights positioned on a surface of a tubular casing of the stapling head assembly, the lights extending parallel to a longitudinal axis of the stapling head assembly. The row of lights provide an illumination system to provide indicators of device orientation or location.

Illumination systems for surgical staplers

A surgical tool includes a drive housing, a closure tube extending from the drive housing, and an end effector arranged at an end of the closure tube and having opposing jaws. A method of operating the surgical tool includes operating one or more motors in a first direction at a constant velocity and thereby urging the closure tube to move and actuate the opposing jaws to engage and clamp onto tissue, stopping operation of the motor(s) in the first direction when a torque on the motor(s) exceeds a predetermined torque, storing an angular position of the motor(s) when the torque exceeds the predetermined torque, operating the motor(s) in a second direction opposite the first direction over a preset angular magnitude, and upon reaching the preset angular magnitude, operating the motor(s) in the first direction at the constant velocity.

Pulsed closure control methods for surgical tools

A surgical tool includes a drive housing removably coupled to a tool driver of a robotic surgical system, a shaft extending from the drive housing, an end effector arranged at an end of the shaft, and a computer system. The computer system is programmed to send a command signal to a motor of the tool driver to drive rotation of a drive shaft mounted within the drive housing, monitor torque and rotational motion of the motor with a torque sensor and a rotary encoder, respectively, in communication with the computer system, measure an unexpected change in the torque or the rotational motion of the motor with the torque sensor or the rotary encoder when the surgical tool is manually bailed out by manually rotating the drive shaft and backdriving the motor, report the unexpected change as a bailout signal, and disable the surgical tool once the bailout signal is received.

Disabling surgical tools due to manual bailout

A robotic surgical tool includes a handle having a drive input and a spline, a bailout ring arranged at the handle, and a slipper clutch mechanism received within the bailout ring. The slipper clutch mechanism including a slip carrier rotationally fixed to the bailout ring and defining a vertical slot that slidably receives a pin, a first ring arranged within the slip carrier and defining a first interface, a second ring arranged within the slip carrier atop the first ring and defining a second interface, and a pinion gear operatively coupled to the spline and arranged to intermesh with radial gear teeth defined on the second ring. Manual rotation of the bailout ring rotates the slip carrier and the pin and thereby rotates the first and second ring in succession to rotate the spline and manually bail out a function of the robotic surgical tool.

Slipper clutch for surgical tool bailout

A robotic surgical system includes a robotic arm, a surgical device coupled with the robotic arm and configured to extend through a body wall of a patient, and a controller in communication with the robotic arm. The controller is configured to determine a position of the surgical device relative to the patient. The controller is also configured to acknowledge a maximum allowable metric associated with the body wall at the determined position, and determine a metric associated with the body wall at the determined position. The controller is furthermore configured to drive the robotic arm to manipulate the surgical device such that the determined metric does not exceed the maximum allowable metric.

Dynamic trocar positioning for robotic surgical system

A surgical instrument includes a drive housing, a spline, a carriage, an elongate shaft assembly, an end effector, and an activating mechanism. The at least one spline includes a drive gear rotatable with the spline. The elongate shaft assembly extends from the carriage. The activating mechanism includes a barrel cam extending along a rotational axis and having a first cam profile radially extending about the rotational axis. The barrel cam is operatively coupled to the drive gear such that rotation of the drive gear is configured to actuate the activating mechanism to move at least a portion of the end effector. The first cam profile defines a plurality of slopes relative to the rotational axis such that the first cam profile is configured to drive movement of the end effector or the elongate shaft assembly at different rates according to the plurality of slopes.

Variable jaw closure of a robotic surgical system

A method of operating a surgical tool includes coupling a drive housing to a tool driver of a first robotic surgical system, driving rotation of a drive shaft mounted within the drive housing and thereby commencing a firing sequence of the end effector, and setting a bailout Boolean value as 'true' in an internal computer of the drive housing upon commencing the firing sequence, and storing the bailout Boolean value in a memory of the internal computer. Manually bailing out the surgical tool before completing the firing sequence, installing the surgical tool on a tool driver of a second robotic surgical system, and querying the memory of the internal computer with the second robotic surgical system and recognizing the bailout Boolean value as 'true'. Initiating one or more remedial actions to ensure safe operation of the surgical tool on the second robotic surgical system.

A robotic surgical system that comprises a closure system. The closure system comprises a first pinion drivingly coupled to a first motor, a second pinion drivingly coupled to a second motor, and a closure gear selectively driven by the first pinion and the second pinion. The robotic surgical system further comprises a control circuit configured to implement a motor crosscheck operation. The control circuit is configured to receive a first parameter indicative of a first torque generated by the first motor, receive a second parameter indicative of a second torque generated by the second motor, compare the first parameter to the second parameter, and transmit a signal to a communication device, wherein the signal is based on the comparison and indicative of a status of the closure system.

Dual driving pinion crosscheck

An apparatus includes a body with a first body portion, a second body portion opposed from the first body portion, and a connecting portion that couples a proximal end of the first body portion with a proximal end of the second body portion. The connecting portion is configured to permit the first and second body portions to move toward and away from one another between a plurality of angular orientations. The first and second body portions define a distally opening angle. A first adjunct element and a second adjunct element are disposed on outwardly facing surfaces of the first and second body portions. The first and second body portions may be fixed in each of the angular orientations and may simultaneously apply the first and second adjunct elements to first and second jaws, respectively, of a surgical stapler end effector.

Apparatus and method to apply buttress to end effector of surgical stapler via fixed base

A surgical tool includes a drive housing, a shaft extending from the drive housing, an end effector at an end of the shaft and having opposing jaws and a cutting element, and an unclamp lockout mechanism. The unclamp lockout mechanism including a pawl rotatably mounted to the shaft and positioned proximal to a closure yoke operatively coupled to the shaft, the pawl being pivotable between a stowed position, where the pawl is received within an aperture of the shaft, and a deployed position, where the pawl protrudes out of the aperture, and a biasing device that biases the pawl toward the stowed position. When the pawl is in the stowed position, the closure yoke is movable to a proximal position over at least a portion of the pawl to open the opposing jaws. When the pawl is in the deployed position, the closure yoke is prevented from moving to the proximal position.

Growing community of inventors

Cincinnati, OH, United States of America

Christopher A Denzinger