Cilag International Gmbh

Auris Health, Inc.

Matthew T Stone

Charles J Scheib

Andrew T Beckman

Brian D Black

Benjamin D Dickerson

Mark D Overmyer

Travis Michael Schuh

Spencer James Witte

Christopher A Denzinger

Aren Calder Hill

Neil Markwardt

Trent Michael Callan

Jeffrey L Clark

Dillon Carey

Reed Arenburg

William S Bartinelli, Jr

Chris Birri

Gary Skarja

Amro Ragheb

Elena Komkova

Christopher Gillespie

Mikhail Kozlov

Romas Skudas

Michael Phillips

An apparatus includes an end effector, a shaft assembly extending proximally from the end effector, an instrument base, and a knife driving assembly. The end effector includes a pair of jaws and a knife member capable of actuating between a proximal and distal position. The knife driving assembly can actuate the knife member between the proximal and distal position. The knife driving assembly includes a cable and a knife drive input assembly coupled only to a first drive input. The knife driven assembly is capable of rotating in first and second angular directions. The cable terminates into a first end and a second end, which are both attached to the knife drive input assembly. A portion of the cable is attached to the knife member. Rotation of the knife drive input assembly in the first angular direction drives the knife member distally. Rotation of the knife drive input assembly in the second angular direction drives the knife member proximally.

Robotic surgical system with knife drive mechanism

An ultrasonic surgical instrument includes an end effector having an ultrasonic blade, an ultrasonic transducer assembly, and a shaft assembly. The shaft assembly includes a tube, and an waveguide. The waveguide is received within the tube and is acoustically connected between the ultrasonic blade and ultrasonic transducer assembly to communicate ultrasonic vibrations from the ultrasonic transducer assembly to the ultrasonic blade. The waveguide includes an acoustic body, a first isolation structure, a second isolation structure and a sheath. The acoustic body extends along a longitudinal axis. The first isolation structure radially extends about the acoustic body. The second isolation structure radially extends about the acoustic body and is longitudinally spaced from the first isolation structure. The sheath is radially positioned between the first isolation structure and the tube and is further radially positioned between the second isolation structure.

Ultrasonic surgical instrument with a shaft assembly and elongated waveguide support arrangement

A robotic surgical tool includes a handle providing a plurality of drive inputs, an elongate shaft including a plurality of sliding rack gears movably nested within a corresponding plurality of longitudinal channels defined along the shaft, and an end effector arranged at a distal end of the shaft and an articulable wrist interposing the end effector and the distal end. An actuation system housed in the handle actuates the drive inputs to move the sliding rack gears and thereby causes operation of at least one of the end effector and the wrist. A tailpiece is arranged at a proximal end of the shaft and is operably coupled to the sliding rack gears, the tailpiece includes a housing and a manual actuation device mounted to the housing and manually actuatable to act on the sliding rack gears and thereby operate at least one of the end effector and the wrist.

Surgical instruments with actuatable tailpiece

An ultrasonic surgical instrument includes an end effector including an ultrasonic blade, an ultrasonic waveguide, an ultrasonic transducer assembly, and a carrier. The acoustic waveguide includes at least a proximal portion thereof extending along a longitudinal axis. The ultrasonic transducer assembly includes a fixation member and is operatively connected to the acoustic waveguide such that the acoustic waveguide is in acoustic communication with an ultrasonic transducer. The carrier has at least a portion thereof engaged with the fixation member of the ultrasonic transducer assembly thereby inhibiting movement of the ultrasonic transducer assembly relative to the carrier. The carrier movably supports the ultrasonic transducer assembly along the longitudinal axis such that the ultrasonic transducer assembly is configured to move from a proximal position on the longitudinal axis to a distal position on the longitudinal axis for inserting the ultrasonic blade into a patient.

Ultrasonic surgical instrument with a fixed transducer grounding

An ultrasonic surgical instrument includes an end effector with an ultrasonic blade, an acoustic waveguide, an ultrasonic transducer assembly, and a carrier. At least a proximal portion of the acoustic waveguide extends along a longitudinal axis. The ultrasonic transducer assembly is operatively coupled with the acoustic waveguide. The carrier is configured to translate the end effector. The carrier includes a carriage and a translation driver. The carriage movably supports the ultrasonic transducer assembly along the longitudinal axis. The translation driver is configured to translate the carriage and the ultrasonic transducer assembly along the longitudinal axis so that the ultrasonic transducer assembly moves from a proximal position along the longitudinal axis to a distal position along the longitudinal axis for inserting the ultrasonic blade into a patient.

Surgical instrument and carrier kart supporting ultrasonic transducer

A surgical instrument includes an end effector, a shaft assembly, an actuation driver, and an actuation assembly. The end effector includes first and second jaws. At least one of the first and second jaws is configured to move relative to the other of the first and second jaws to compress tissue therebetween. The shaft assembly extends proximally from the end effector. The shaft assembly includes a closure member extending along a longitudinal axis. The actuation driver is configured to configured to receive a motor output from a motor. The actuation assembly is operatively coupled with the actuation driver and the closure member. The actuation assembly includes a translating member configured to translate together with the closure member along the longitudinal axis a predetermined distance using the actuation driver such that the closure member applies a predetermined closure force to the first and second jaws corresponding to the predetermined distance.

Carrier kart and jaw closure of an ultrasonic surgical instrument

A surgical instrument includes an end effector, a shaft assembly, a carrier, and a support structure. Shaft assembly extends proximally from the end effector. The shaft assembly defines a longitudinal axis. The carrier is configured to translate the end effector along the longitudinal axis. The carrier includes a carriage, an actuation driver, and an actuation assembly. The actuation driver is configured to rotate along an axis parallel to the longitudinal axis. The actuation assembly is operatively coupled with the actuation driver and the carriage. The support structure includes a supporting portion. The supporting portion is configured to reduce torsional forces exerted on the carriage as the actuation assembly transfers the rotation of the actuation driver into translation of a portion of the shaft assembly to actuate the end effector.

Ultrasonic surgical instrument with a carrier kart and reusable stage

An ultrasonic surgical instrument includes an end effector, a shaft assembly, and a waveguide grounding feature. The end effector includes an ultrasonic blade and a clamp arm movable between an open position and a closed position. The shaft assembly includes a proximal shaft portion extending along a longitudinal axis, an acoustic waveguide extending proximally from the ultrasonic blade, a distal shaft portion extending along a distal axis, and an articulation section interposed between the proximal shaft portion and the distal shaft portion. The articulation section can deflect the distal shaft portion and the end effector relative to the longitudinal axis between a straight configuration and an articulated configuration. The waveguide grounding feature inhibits the ultrasonic blade from shifting relative to the clamp arm along the distal axis as the end effector is driven between the straight configuration and the articulated configuration.

Ultrasonic surgical instrument with a distally grounded acoustic waveguide

An ultrasonic surgical instrument that can be used in a robotic surgical system includes an end effector having an ultrasonic blade and a clamp arm pivotally secured relative to the ultrasonic blade. A shaft assembly extends proximally from the end effector and includes a tube, an acoustic waveguide received within the tube, and a sheath positioned between the acoustic waveguide and the tube to damp acoustic vibrations from the acoustic waveguide toward the tube. At least one sensor is positioned on at least one of the end effector or the sheath to measure a force applied at the end effector or the sheath as a measured force, respectively, and thereby provide real-time feedback of a non-clamping force applied against one of the ultrasonic blade or the clamp arm.

Surgical instrument with non-clamping sensor feedback

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

An ultrasonic surgical instrument including an end effector having an ultrasonic blade, a shaft assembly that defines a longitudinal axis proximally extending from the end effector and an ultrasonic transducer assembly proximally extending from an acoustic waveguide in communication with the ultrasonic blade. The ultrasonic surgical instrument also includes a housing proximally projecting from the shaft assembly such that the ultrasonic transducer assembly is positioned within the housing and a carrier moveably supports the ultrasonic transducer assembly along the longitudinal axis. The carrier collectively moves the ultrasonic transducer assembly, the acoustic waveguide, and the end effector relative to the housing from a proximal, retracted position to a distal, extended position, for inserting the ultrasonic blade into a patient. The ultrasonic surgical instrument also includes an electrical cable extending through the housing at a cable port that transmits electrical communication with the ultrasonic transducer assembly.

Surgical instrument with a carrier kart and various communication cable arrangements

An ultrasonic surgical instrument includes a shaft assembly, an end effector, and a clamp arm driver. The shaft assembly includes a shaft portion extending along a first longitudinal axis, an articulation assembly, a distal shaft portion, and an ultrasonic waveguide extending through the proximal shaft portion, the articulation assembly, and the distal shaft portion. The articulation section is configured to deflect the end effector toward and away from the first longitudinal axis between a straight and articulated configuration. The end effector includes an ultrasonic blade defining a second longitudinal axis and a clamp arm configured to move between an open and closed configuration in order to grasp tissue. The clamp arm drive is configured to rotate the clamp arm relative to the ultrasonic blade about the second longitudinal axis and actuate the clamp arm between the open and closed configuration while the end effector is in the articulated configuration.

Surgical instrument with an articulatable shaft assembly and dual end effector roll

An ultrasonic surgical instrument includes an end effector having an ultrasonic blade, an ultrasonic transducer assembly, and a shaft assembly the shaft assembly includes a tube, an acoustic waveguide, and a sheath radially positioned between the acoustic waveguide and the tube. The acoustic waveguide is received within the tube and is acoustically connected between the ultrasonic blade and ultrasonic transducer assembly to communicate ultrasonic vibrations from the ultrasonic transducer assembly to the ultrasonic blade. The acoustic waveguide extends along a longitudinal axis. The sheath includes a sheath body having an outer body surface and a plurality of damping rings radially extending from the outer body surface and engaged with the tube. The plurality of damping rings are configured to acoustically isolate the acoustic waveguide from the tube.

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Mason, OH, United States of America

Matthew T Stone