公开(公告)号：US12076018B2

公开(公告)日：2024-09-03

申请号：US18227475

申请日：2023-07-28

Applicant: Cilag GmbH International

Inventor： Andrew T. Beckman ,  Frederick E. Shelton, IV ,  Jerome R. Morgan ,  David C. Yates ,  Chester O. Baxter, III ,  Joshua R. Uth ,  Jeffrey L. Savage ,  Jason L. Harris

IPC: A61B17/115 ,  A61B17/068 ,  A61B17/072 ,  A61B17/10 ,  A61B17/32 ,  A61B17/00 ,  A61B17/29 ,  A61B90/00 ,  A61B90/98

CPC classification number: A61B17/105 ,  A61B17/068 ,  A61B17/072 ,  A61B17/07207 ,  A61B17/115 ,  A61B17/1155 ,  A61B17/32002 ,  A61B2017/00017 ,  A61B2017/00115 ,  A61B2017/00367 ,  A61B2017/00398 ,  A61B2017/0042 ,  A61B2017/00424 ,  A61B2017/0046 ,  A61B2017/00464 ,  A61B2017/00473 ,  A61B2017/0053 ,  A61B2017/00734 ,  A61B2017/0688 ,  A61B2017/07221 ,  A61B2017/0725 ,  A61B2017/2901 ,  A61B2017/2903 ,  A61B2017/2905 ,  A61B17/2909 ,  A61B2017/291 ,  A61B2017/2927 ,  A61B2017/320032 ,  A61B2090/038 ,  A61B2090/065 ,  A61B2090/0811 ,  A61B90/98

Abstract: A modular shaft assembly is disclosed. The modular shaft assembly includes one or more inputs configured to receive input motions from a surgical instrument system, such as a handle, for example. The shaft assembly further includes one or more on-board inputs configured to generate input motions. The input motions received and generated by the shaft assembly are transferrable to an end effector of the shaft assembly to perform various functions at the end effector. The end effector can include a staple cartridge and a firing member which is movable between a proximal position and a distal position to eject staples from the staple cartridge. The end effector can include a plurality of jaw members and the firing member can comprise camming members which are configured to position the jaw members relative to one another.

公开(公告)号：US12042147B2

公开(公告)日：2024-07-23

申请号：US18210297

申请日：2023-06-15

Applicant: Cilag GmbH International

Inventor： Daniel L. Baber ,  Jeffrey S. Swayze ,  Andrew T. Beckman ,  Frederick E. Shelton, IV

IPC: H02H3/00 ,  A61B5/00 ,  A61B17/00 ,  A61B17/064 ,  A61B17/068 ,  A61B17/072 ,  A61B17/10 ,  A61B17/115 ,  A61B17/32 ,  A61B90/00 ,  A61B90/70 ,  A61B90/92 ,  A61B90/98 ,  G01R33/07 ,  G06F1/26 ,  G06F1/28 ,  G06F1/30 ,  G06F1/3215 ,  G06F1/3287 ,  H02H1/06 ,  H02H3/06 ,  H02H3/087 ,  H02H3/18 ,  H02H3/20 ,  H02H3/24 ,  H02H7/20 ,  H02H11/00 ,  H02J1/10 ,  H02J7/00 ,  A61B5/06 ,  A61B5/107 ,  A61B8/00 ,  A61B8/12 ,  A61B17/29 ,  A61B18/00 ,  A61B90/30 ,  A61B90/90 ,  A61B90/94 ,  A61B90/96 ,  H02H3/02 ,  H02H3/04

CPC classification number: A61B17/07207 ,  A61B5/6847 ,  A61B17/00 ,  A61B17/0644 ,  A61B17/068 ,  A61B17/072 ,  A61B17/07292 ,  A61B17/105 ,  A61B17/1155 ,  A61B17/32 ,  A61B90/06 ,  A61B90/70 ,  A61B90/92 ,  A61B90/98 ,  G01R33/072 ,  G06F1/266 ,  G06F1/28 ,  G06F1/30 ,  G06F1/305 ,  G06F1/3215 ,  G06F1/3287 ,  H02H1/06 ,  H02H3/06 ,  H02H3/087 ,  H02H3/18 ,  H02H3/202 ,  H02H3/207 ,  H02H3/243 ,  H02H7/20 ,  H02H11/002 ,  H02J1/10 ,  H02J7/0068 ,  A61B5/067 ,  A61B5/1076 ,  A61B5/6885 ,  A61B8/12 ,  A61B8/4483 ,  A61B2017/00017 ,  A61B2017/00022 ,  A61B2017/00026 ,  A61B2017/00039 ,  A61B2017/00061 ,  A61B2017/00066 ,  A61B2017/00075 ,  A61B2017/00106 ,  A61B2017/00115 ,  A61B2017/00119 ,  A61B2017/00123 ,  A61B2017/00199 ,  A61B2017/00393 ,  A61B2017/00398 ,  A61B2017/0046 ,  A61B2017/00477 ,  A61B2017/00725 ,  A61B2017/00734 ,  A61B2017/00876 ,  A61B2017/07214 ,  A61B2017/07257 ,  A61B2017/07271 ,  A61B2017/07285 ,  A61B2017/2927 ,  A61B2018/00648 ,  A61B2090/061 ,  A61B2090/064 ,  A61B2090/065 ,  A61B2090/0803 ,  A61B2090/0806 ,  A61B2090/0807 ,  A61B2090/0808 ,  A61B2090/081 ,  A61B2090/0811 ,  A61B2090/0814 ,  A61B2090/0818 ,  A61B2090/304 ,  A61B2090/309 ,  A61B2090/702 ,  A61B90/90 ,  A61B90/94 ,  A61B90/96 ,  A61B2505/05 ,  A61B2562/0223 ,  A61B2562/0247 ,  A61B2562/0257 ,  A61B2562/0261 ,  A61B2562/029 ,  A61B2562/043 ,  A61B2562/06 ,  A61B2562/223 ,  H02H3/02 ,  H02H3/04

Abstract: An end effector for use with a surgical stapling instrument is disclosed. The end effector comprises a first jaw, a second jaw movable relative to the first jaw to grasp tissue therebetween, and a staple cartridge. The staple cartridge comprises staples deployable into the tissue. The end effector further comprises a magnetic sensor configured to measure a parameter indicative of an identifying characteristic of the staple cartridge, an impedance sensor configured to measure a parameter indicative of an impedance of the tissue, and a processing unit in communication with the impedance sensor. The processing unit is configured to determine a property of the tissue based on an output of the impedance sensor.

公开(公告)号：US12035993B2

公开(公告)日：2024-07-16

申请号：US17154237

申请日：2021-01-21

Applicant: Cilag GmbH International

Inventor： Andrew T. Beckman ,  Charles J. Scheib ,  Travis Michael Schuh ,  Benjamin D. Dickerson ,  Erica Ding Chin ,  Eric N. Johnson ,  Jason Alan Hill

IPC: A61B17/29 ,  A61B17/072 ,  A61B17/128 ,  A61B18/14 ,  A61B34/00 ,  A61B34/30 ,  A61B18/00 ,  A61B18/12

CPC classification number: A61B34/71 ,  A61B17/072 ,  A61B17/1285 ,  A61B17/29 ,  A61B18/1445 ,  A61B34/30 ,  A61B2018/0063 ,  A61B2018/126 ,  A61B2034/305

Abstract: A robotic surgical tool includes a shaft extendable through a handle, an end effector arranged at a distal end of the shaft and including a first and second jaws providing first and second jaw extension, a plurality of drive members extending along the shaft and actuatable by the handle, and an articulable wrist interposing the end effector and the distal end. The wrist includes a proximal clevis, a distal clevis rotatably coupled to the proximal clevis, first and second pulleys rotatably mounted to the distal clevis, the first jaw extension being pinned to the first pulley and the second jaw extension being pinned to the second pulley, and a linkage mounted to the jaws. The plurality of drive members terminate at the first and second pulleys and are antagonistically operable to open and close the jaws and articulate the end effector in pitch and yaw.

公开(公告)号：US12016587B2

公开(公告)日：2024-06-25

申请号：US17077086

申请日：2020-10-22

Applicant: Cilag GmbH International

Inventor： Andrew T. Beckman ,  Brian D. Black ,  Charles J. Scheib ,  Matthew T. Stone

IPC: A61B17/32 ,  A61B17/29 ,  A61B17/295 ,  A61B34/30 ,  A61B90/00 ,  A61B17/072 ,  A61G13/10

CPC classification number: A61B17/320092 ,  A61B17/295 ,  A61B34/30 ,  A61B90/03 ,  A61B2017/07285 ,  A61B2017/2943 ,  A61B2017/320074 ,  A61B2017/320094 ,  A61B2034/303 ,  A61G13/101

Abstract: 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.

公开(公告)号：US11918195B2

公开(公告)日：2024-03-05

申请号：US17036581

申请日：2020-09-29

Applicant: Cilag GmbH International

Inventor： Andrew T. Beckman ,  Charles J. Scheib ,  Jason A. Hill

IPC: A61B17/00 ,  A61B34/30 ,  A61B90/50 ,  A61G13/08

CPC classification number: A61B17/00 ,  A61B34/30 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/303 ,  A61G13/08

Abstract: A surgical tool comprising a drive housing having a first end, a spline extending from the first end and having a spline pinion gear mounted to the spline, a drive input that rotatably couples the spline to the first end and provides an input pinion gear; a clutch interposing the spline and input pinion gears and defining an internal gear, and an armature. The armature may be operatively coupled to the clutch and operable to shift the clutch from a first position, where the internal gear simultaneously mates with the spline and input pinion gears such that rotation of the drive input correspondingly rotates the spline, to a second position, where the internal gear is disengaged from the input pinion gear such that the spline is rotatable independent of the drive input.

公开(公告)号：US11911122B2

公开(公告)日：2024-02-27

申请号：US16946428

申请日：2020-06-22

Applicant: Cilag GmbH International

Inventor： Andrew T. Beckman ,  Charles J. Scheib ,  Benjamin D. Dickerson ,  Jason A. Hill

IPC: A61B34/30 ,  A61G13/10 ,  B25J9/10 ,  B25J15/00 ,  B25J15/04 ,  F16H25/20 ,  F16H57/00

CPC classification number: A61B34/30 ,  A61G13/101 ,  B25J9/102 ,  B25J15/0019 ,  B25J15/0028 ,  B25J15/0052 ,  B25J15/0061 ,  B25J15/045 ,  F16H25/20 ,  F16H57/0025 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/303 ,  A61B2034/305 ,  F16H2025/2081

Abstract: A robotic surgical tool for a robotic instrument driver that includes a handle having a first end, at least one spline rotatably coupled to the handle and extending proximally from the first end, a carriage movably mounted to the at least one spline and including a first layer and a second layer operatively coupled to the first layer. At least one spline extends through a portion of at least one of the first and second layers and the carriage translates along the at least one spline. The robotic surgical tool also includes an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof and an activating mechanism coupled to one or both of the first and second layers and actuatable to operate a function of the end effector.

公开(公告)号：US11890030B2

公开(公告)日：2024-02-06

申请号：US17076956

申请日：2020-10-22

Applicant: Cilag GmbH International

Inventor： Brian D. Black ,  Matthew T. Stone ,  Andrew T. Beckman ,  Charles J. Scheib ,  Jeffrey L. Clark

IPC: A61B17/32 ,  A61B34/20 ,  A61B17/29 ,  A61B34/37

CPC classification number: A61B17/320092 ,  A61B34/37 ,  A61B2017/2927 ,  A61B2017/320093 ,  A61B2017/320094 ,  A61B2034/2051

Abstract: 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.

公开(公告)号：US11833675B2

公开(公告)日：2023-12-05

申请号：US16946429

申请日：2020-06-22

Applicant: Cilag GmbH International

Inventor： Andrew T. Beckman ,  Charles J. Scheib ,  Aren Hill ,  Yanan Huang

IPC: B25J9/00 ,  A61B34/30 ,  A61B34/37 ,  B25J9/04 ,  B25J9/10 ,  B25J9/16 ,  B25J13/02 ,  A61B17/00

CPC classification number: B25J9/0006 ,  A61B34/30 ,  A61B34/37 ,  B25J9/043 ,  B25J9/1035 ,  B25J9/1633 ,  B25J13/02 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2034/302

Abstract: A robotic surgical tool includes a handle having a first end and a second end opposite the first end, an exoskeleton extending between the first and second ends and having a non-circular cross-section and a carriage movably arranged within the exoskeleton and having a non-circular cross-section compatible with the non-circular cross-section of the exoskeleton. The robotic surgical tool also includes an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof The carriage is movable between the first and second ends to advance or retract the end effector relative to the handle where the exoskeleton guides the carriage between the first and second ends.

公开(公告)号：US11771509B2

公开(公告)日：2023-10-03

申请号：US16946366

申请日：2020-06-18

Applicant: Cilag GmbH International

Inventor： Andrew T. Beckman ,  Charles J. Scheib ,  Travis Michael Schuh ,  Benjamin David Dickerson ,  Jason Alan Hill

IPC: A61B34/30 ,  A61B17/072 ,  F16H37/02 ,  A61B17/29 ,  A61B17/3201 ,  A61B17/128 ,  A61B18/14 ,  A61B34/20 ,  A61B90/50 ,  A61B1/00 ,  A61B1/307 ,  F16H57/00 ,  F16H25/20 ,  B25J15/00 ,  B25J9/10 ,  A61B17/00 ,  A61B34/37 ,  A61B18/00 ,  A61B18/12

CPC classification number: A61B34/30 ,  A61B1/00149 ,  A61B1/307 ,  A61B17/00234 ,  A61B17/072 ,  A61B17/1285 ,  A61B17/29 ,  A61B17/3201 ,  A61B18/1442 ,  A61B34/20 ,  A61B34/37 ,  A61B90/50 ,  B25J9/102 ,  B25J15/0019 ,  F16H25/20 ,  F16H37/02 ,  F16H57/0025 ,  A61B2017/07285 ,  A61B2018/0063 ,  A61B2018/126 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2217/005 ,  A61B2217/007 ,  F16H2025/2081

Abstract: A robotic surgical tool includes a drive housing having first and second ends, a spline extending between the ends and including a drive gear that rotates with spline rotation, and a carriage mounted to the spline. A shaft extends from the carriage, penetrates the first end, and has an end effector arranged at a distal end. An activating mechanism is housed in the carriage and includes an input gear operatively coupled to the drive gear such that rotation of the drive gear correspondingly rotates the input gear, and a firing rod defining external threads threadably engageable with internal threads of the input gear. The firing rod is coupled to a knife at the end effector such that movement of the firing rod correspondingly moves the knife in the same direction. The drive gear is rotated to rotate the input gear and thereby move the firing rod and the knife.

公开(公告)号：US11191543B2

公开(公告)日：2021-12-07

申请号：US16686999

申请日：2019-11-18

Applicant: Cilag GmbH International

Inventor： Mark D. Overmyer ,  Jeffrey S. Swayze ,  Andrew T. Beckman ,  Robert L. Koch, Jr. ,  Frederick E. Shelton, IV ,  Jason L. Harris

IPC: A61B17/072 ,  A61B17/00 ,  A61B17/29 ,  A61B34/37 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00

Abstract: An end effector is disclosed comprising a cartridge channel, a staple cartridge positionable in the cartridge channel, and a firing assembly configured to lock itself if the staple cartridge is not positioned in the cartridge channel. Moreover, the firing assembly is configured to lock itself if the staple cartridge has been at least partially spent.