Circular stapler
Systems and methods for stapling tissue, a vessel, duct, etc., during a surgical procedure are provided. The surgical stapling systems generally include a circular stapling tool with a shaft extending therefrom that has an end effector at a distal end thereof. The end effector can have a staple deck and an anvil. The circular stapling tool can be configured to drive at least two circular rows of staples through tissue engaged between the staple deck and the anvil to thereby staple the tissue, and the tool can be configured to drive a knife through tissue engaged between the staple deck and the anvil to thereby cut the tissue. The surgical stapling system can also include a control system that is configured to communicate with the circular stapling tool.
1. A surgical stapling system, comprising:
a circular stapling tool having a housing and an instrument shaft extending therefrom with an end effector at a distal end thereof, the end effector including a staple deck and an anvil movable relative to the staple deck, the circular stapling tool being configured to drive inner and outer circular rows of staples through tissue engaged between the staple deck and the anvil to thereby staple the tissue, and being configured to drive a knife through tissue engaged between the staple deck and the anvil to thereby cut the tissue; and
a control system configured to communicate with the circular stapling tool and configured to selectively actuate the circular stapling tool to selectively drive only one of the inner circular row of staples, the outer circular row of staples, and the knife while the other two of the inner circular row of staples, the outer circular row of staples, and the knife remain stationary.
2. The surgical stapling system of claim 1 , wherein the control system is configured to initiate actuation of the knife prior to commencement of actuation of at least one of the inner circular row of staples and the outer circular row of staples.
3. The surgical system of claim 1 , wherein the housing comprises a tool mounting portion configured to mount to a motor housing on a surgical robot.
4. The surgical system of claim 1 , wherein the control system is configured to control a displacement of the anvil from the staple deck and drive the knife when a threshold displacement is reached.
5. The surgical system of claim 1 , wherein the control system is configured to monitor a displacement of the knife from the housing and retract the knife when the knife reaches a threshold displacement away from the housing.
6. The surgical system of claim 1 , wherein the control system is configured to drive any one of the inner circular row of staples, the outer circular row of staples, and the knife based on a predetermined time offset after driving one of the others of the inner circular row of staples, the outer circular row of staples, and the knife.
7. The surgical stapling system of claim 1 , wherein the circular stapling tool includes an inner staple drive assembly operable to drive the inner circular row of staples through the staple deck toward the anvil, an outer staple drive assembly operable to drive the outer circular row of staples through the staple deck toward the anvil, and a knife drive assembly configured to drive the knife through the staple deck toward the anvil; and
wherein each of the inner staple drive assembly, the outer staple drive assembly, and the knife drive assembly is configured to be actuated without actuating the others of the inner staple drive assembly, the outer staple drive assembly, and the knife drive assembly.
8. The surgical system of claim 7 , wherein the control system is configured to control a travel distance of the inner staple drive assembly and the outer staple drive assembly.
9. The surgical system of claim 7 , wherein the control system is configured to control a rate of advancement of at least one of the inner staple drive assembly, the outer staple drive assembly, and the knife drive assembly based on a measured thickness of a tissue engaged between the anvil and the staple deck.
10. The surgical system of claim 7 , wherein the inner staple drive assembly comprises a first rotary drive gear in meshing engagement with a first rack, the first rack is coupled to a first drive bracket having a first drive shaft extending therefrom, and the first drive shaft is in contact with an inner stapler driver configured to drive the inner circular row of staples;
wherein the outer staple drive assembly comprises a second rotary drive gear in meshing engagement with a second rack, the second rack is coupled to a second drive bracket having a second drive shaft extending therefrom, and the second drive shaft is in contact with an outer staple driver configured to drive the outer circular row of staples; and
wherein the knife drive assembly comprises a third rotary drive gear in meshing engagement with a third rack, the third rack is coupled to a third drive bracket having a third drive shaft extending therefrom, and the third drive shaft is in contact with a proximal end of the knife and configured to drive the knife.
11. The surgical system of claim 1 , further comprising first, second, and third motors, wherein the first motor is configured to drive the inner circular row of staples, the second motor is configured to drive the outer circular row of staples, and the third motor is configured to drive the knife, and wherein the first, second, and third motors are configured to be selectively actuated such that only one of the first, second, and third motors is actuated at once.
12. A surgical stapling system, comprising:
an electromechanical tool including an instrument shaft and an end effector at a distal end thereof, the end effector including
a staple deck having inner and outer rows of staples disposed therein,
an anvil movable relative to the staple deck,
an inner staple driver operable to drive the inner row of staples through the staple deck toward the anvil,
an outer staple driver operable to drive the outer row of staples through the staple deck toward the anvil,
a knife forming a complete circle and movable through an opening in the staple deck for cutting tissue engaged between the staple deck and the anvil;
a housing coupled to the shaft, the housing having drive assemblies comprising
an inner staple drive assembly operable to drive the inner stapler driver,
an outer staple drive assembly operable to drive the outer staple driver,
a knife drive assembly operable to drive the knife; and
a control system configured to communicate with the electromechanical tool and configured to selectively drive only one of the inner staple drive assembly, the outer staple drive assembly, and the knife drive assembly while the other two of the inner staple drive assembly, the outer staple drive assembly, and the knife drive assembly remain stationary.
13. The surgical system of claim 12 , wherein the control system is configured to control a travel distance of the inner staple drive assembly and the outer staple drive assembly to thereby control a shape of staples being formed by the anvil.
14. The surgical system of claim 12 , wherein the control system is configured to control a rate of advancement of at least one of the inner staple drive assembly, the outer staple drive assembly, and the knife drive assembly based on a measured thickness of a tissue engaged between the anvil and the staple deck.
15. The surgical system of claim 12 , wherein the housing comprises a tool mounting portion configured to mount to a motor housing on a surgical robot.
16. The surgical system of claim 12 , wherein the outer staple drive assembly is configured to cause the outer staple driver to advance in distal and proximal directions relative to the housing to deploy staples upon actuation, the inner staple drive assembly is configured to cause the inner stapler driver to advance in distal and proximal directions relative to the housing to deploy staples upon actuation, and the knife drive assembly is configured to cause the knife to advance in distal and proximal directions relative to the housing to sever tissue upon actuation.
17. The surgical system of claim 16 , further comprising first, second, and third motors, the first motor being in operational engagement with the outer staple drive assembly, the second motor being in operational engagement with the inner staple drive assembly, and the third motor being in operational engagement with the knife drive assembly.
18. The surgical system of claim 12 , wherein the knife drive assembly comprises a rotary drive gear in meshing engagement with a rack, the rack is coupled to a drive bracket having a drive shaft extending therefrom, the drive shaft is in contact with a proximal end of the knife, and the rotary drive gear is configured to rotate to cause linear distal and proximal movement of the knife.
19. The surgical system of claim 12 , wherein the outer staple drive assembly comprises a rotary drive gear in meshing engagement with a rack, the rack is coupled to a drive bracket having a drive shaft extending therefrom, the drive shaft is in contact with a proximal end of the outer staple driver, and the rotary drive gear is configured to rotate to cause linear distal and proximal movement of the outer staple driver.
20. The surgical system of claim 12 , wherein the inner staple drive assembly comprises a rotary drive gear in meshing engagement with a rack, the rack is coupled to a drive bracket having a drive shaft extending therefrom, the drive shaft is in contact with a proximal end of the inner stapler driver; and the rotary drive gear is configured to rotate to cause linear distal and proximal movement of the inner stapler driver.