Granted Patent B2

US 11,129,616 · App. 15/796,257 · Granted Sep 28, 2021

Inventors: Frederick E. Shelton, IV (Hillsboro, OH); Jerome R. Morgan (Cincinnati, OH)

Assignee: Cilag GmbH International

A61B17/105A61B17/068A61B17/072A61B17/07207A61B34/30A61B34/35A61B34/37A61B34/71A61B34/76A61B2017/00115A61B2017/00398A61B2017/00473A61B2017/00477A61B2017/07214A61B2017/07257A61B2017/07271A61B2017/07278A61B2017/07285Y10T29/53404Y10T29/53417Y10T29/53687

Abstract

Claims (48)

1. A surgical stapling system, comprising:

a robotic interface comprising motor-driven output drives; and

a surgical stapling attachment assembly configured to be attached to said robotic interface, wherein said surgical stapling attachment assembly comprises:

a closure member configured to be actuated by one of said motor-driven output drives;

a firing bar configured to be actuated by another one of said motor-driven output drives;

a shaft comprising an articulation joint; and

an end effector extending from said articulation joint, wherein said firing bar extends through said articulation joint and into said end effector, wherein said firing bar is configured to be pushed distally through said articulation joint by said another one of said motor-driven output drives, wherein said end effector comprises:

a first jaw;

a second jaw movable relative to said first jaw, wherein said closure member is actuatable through a closure stroke to move said second jaw relative to said first jaw; and

a pivot pin coupling said first jaw and said second jaw, wherein said pivot pin defines a pivot axis, wherein said second jaw is movable relative to said first jaw about said pivot axis, wherein said pivot pin is movable between a first position defining a first vertical distance from said first jaw and a second position defining a second vertical distance from said first jaw, and wherein said first vertical distance and said second vertical distance are different;

wherein said second jaw is in a first closed configuration defining a first gap distance between said first jaw and said second jaw when said pivot pin is in said first position, wherein said second jaw is in a second closed configuration defining a second gap distance between said first jaw and said second jaw when said pivot pin is in said second position, and wherein said first gap distance and said second gap distance are different.

2. The surgical stapling system of claim 1 , wherein said end effector is configured to be articulated by way of said articulation joint in a first plane and a second plane, and wherein said first plane and said second plane are different.

3. The surgical stapling system of claim 1 , wherein said articulation joint comprises a first articulation joint and a second articulation joint, wherein said end effector is configured to be articulated by way of said first articulation joint in a first plane, wherein said end effector is configured to be articulated by way of said second articulation joint in a second plane, and wherein said first plane and said second plane are different.

4. The surgical stapling system of claim 1 , wherein said shaft comprises a rotatable connection region configured to permit the replacement of said end effector.

5. A surgical stapling system, comprising:

a robotic interface comprising motor-driven output drives; and

a surgical stapling attachment assembly configured to be attached to said robotic interface, wherein said surgical stapling attachment assembly comprises:

a closure member configured to be actuated by one of said motor-driven output drives;

a firing member configured to be actuated by another one of said motor-driven output drives;

a shaft comprising an articulation joint; and

an end effector extending from said articulation joint shaft, wherein said firing member extends through said articulation joint and into said end effector, wherein said firing member is configured to be pushed distally through said articulation joint by said another one of said motor-driven output drives, wherein said end effector comprises:

a staple cartridge comprising a plurality of staples;

a firing drive screw configured to be actuated by said firing member;

an anvil configured to deform said staples;

a first jaw;

a second jaw movable relative to said first jaw, wherein said closure member is actuatable through a closure stroke to move said second jaw relative to said first jaw; and

a pin coupling said first jaw and said second jaw, wherein said pin defines a pivot axis, wherein said second jaw is movable relative to said first jaw about said pivot axis, wherein said pin is movable between a first position defining a first height from said first jaw and a second position defining a second height from said first jaw, and wherein said first height and said second height are different;

wherein said second jaw is in a first clamped configuration defining a first gap distance between said first jaw and said second jaw when said pin is in said first position, wherein said second jaw is in a second clamped configuration defining a second gap distance between said first jaw and said second jaw when said pin is in said second position, and wherein said first gap distance and said second gap distance are different.

6. The surgical stapling system of claim 5 , wherein said end effector is configured to be articulated by way of said articulation joint in a first plane and a second plane, and wherein said first plane and said second plane are different.

7. The surgical stapling system of claim 5 , wherein said articulation joint comprises a first articulation joint and a second articulation joint, wherein said end effector is configured to be articulated by way of said first articulation joint in a first plane, wherein said end effector is configured to be articulated by way of said second articulation joint in a second plane, and wherein said first plane and said second plane are different.

8. The surgical stapling system of claim 5 , wherein said shaft comprises a rotatable connection region configured to permit the replacement of said end effector.

9. A surgical stapling system, comprising:

a robotic interface comprising output drives; and

a surgical stapling attachment assembly configured to be attached to said robotic interface, wherein said surgical stapling attachment assembly comprises:

a closure member configured to be actuated by one of said output drives;

a firing bar configured to be actuated by another one of said output drives;

a shaft comprising an articulation joint; and

an end effector extending from said articulation joint, wherein said firing bar extends through said articulation joint and into said end effector, wherein said firing bar is configured to be pushed distally through said articulation joint by said another one of said output drives, wherein said end effector comprises:

a staple cartridge comprising a plurality of staples removably stored therein, wherein said firing bar is configured to eject said staples from said staple cartridge as said firing bar is actuated through a firing stroke;

an anvil;

a first jaw;

a second jaw movable relative to said first jaw, wherein said closure member is actuatable through a closure stroke to move said second jaw relative to said first jaw;

a slot; and

a pivot pin positioned within said slot, wherein said pivot pin couples said first jaw and said second jaw, wherein said pivot pin defines a pivot axis, wherein said second jaw is movable relative to said first jaw about said pivot axis, wherein said pivot pin is movable between a first position defining a first vertical distance from said first jaw and a second position defining a second vertical distance from said first jaw, and wherein said first vertical distance and said second vertical distance are different;

wherein said second jaw is in a first configuration defining a first gap distance between said first jaw and said second jaw when said pivot pin is in said first position, wherein said second jaw is in a second configuration defining a second gap distance between said first jaw and said second jaw when said pivot pin is in said second position, and wherein said first gap distance and said second gap distance are different.

10. The surgical stapling system of claim 9 , wherein said end effector is configured to be articulated by way of said articulation joint in a first plane and a second plane, and wherein said first plane and said second plane are different.

11. The surgical stapling system of claim 9 , wherein said articulation joint comprises a first articulation joint and a second articulation joint, wherein said end effector is configured to be articulated by way of said first articulation joint in a first plane, wherein said end effector is configured to be articulated by way of said second articulation joint in a second plane, and wherein said first plane and said second plane are different.

12. The surgical stapling system of claim 9 , wherein said shaft comprises a rotatable connection region configured to permit the replacement of said end effector.

Assignments (2)

Continuity (3)

Cited By (55)

US 12,185,946 US 12,207,820 US 12,207,835 US 12,213,666 US 12,213,671 US 12,220,126 US 12,226,099 US 12,226,100 US 12,232,723 US 12,232,724 US 12,239,316 US 12,239,317 US 12,245,764 US 12,245,901 US 12,256,930 US 12,256,931 US 12,261,471 US 12,262,888 US 12,274,445 US 12,285,166 US 12,285,171 US 12,290,261 US 12,324,579 US 12,324,580 US 12,324,581 US 12,324,585 US 12,336,705 US 12,336,709 US 12,357,309 US 12,369,909 US 12,369,911 US 12,369,912 US 12,383,259 US 12,383,267 US 12,414,768 US 12,432,790 US 12,433,584 US 12,433,627 US 12,440,208 US 12,440,209 US 12,440,213 US 12,446,877 US 12,453,557 US 12,458,455 US 12,465,363 US 12,471,982 US 12,502,171 US 12,508,025 US 12,521,116 US 12,527,571 US 12,527,575 US 12,533,126 US 12,533,127 US 12,636,006 US 12,714,425