Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments
An adapter for use with an electromechanical surgical instrument. The adapter includes a shaft assembly and a surgical end effector that is selectively articulatable and rotatable relative to the shaft assembly through a range of articulated and rotated positions. The adapter includes sensing and control arrangements for monitoring and maintaining the end effector in articulated and/or rotated positions.
1. An adapter for use with an electromechanical surgical instrument, said adapter comprising:
an adapter housing assembly configured to be operably coupled to the electromechanical surgical instrument;
a shaft assembly defining a longitudinal axis between a proximal end and a distal end thereof, said proximal end operably coupled to said adapter housing assembly;
a surgical end effector operably coupled to said distal end of said shaft assembly for selective articulation relative to said shaft assembly; and
an articulation control system, comprising:
a rotary drive shaft configured to operably interface with a source of rotary drive motions in the electromechanical surgical instrument when said adapter housing assembly is operably coupled thereto;
an articulation driver arrangement operably interfacing with said rotary drive shaft at a point of interface within said shaft assembly, wherein said articulation driver arrangement further operably interfaces with said surgical end effector, wherein said articulation driver arrangement comprises an articulation member configured to move axially in response to rotation of said rotary drive shaft to articulate said surgical end effector through a range of articulated orientations; and
means for monitoring an axial position of said articulation member during rotation of said rotary drive shaft, wherein said means for monitoring is located at said point of interface and is configured to communicate a signal corresponding to said axial position to the electromechanical surgical instrument when said adapter housing assembly is operably coupled thereto.
2. The adapter of claim 1 , wherein said articulation member is configured to move axially between a beginning axial position and an ending axial position in response to rotation of said rotary drive shaft and wherein said means for monitoring is configured to monitor said axial position of said articulation member between said beginning axial position and said ending axial position.
3. The adapter of claim 2 , wherein said means for monitoring comprises an articulation sensor assembly configured to communicate with the electromechanical surgical instrument when said adapter housing assembly is operably coupled thereto, wherein said articulation sensor assembly comprises:
a first articulation sensor corresponding to said beginning axial position; and
a second articulation sensor corresponding to said ending axial position, wherein said first articulation sensor and said second articulation sensor are configured to detect said axial position of said articulation member between said beginning axial position and said ending axial position and generate said signal corresponding to said axial position of said articulation member and communicate said signal to the electromechanical surgical instrument.
4. The adapter of claim 3 , wherein a portion of said articulation member is operably supported in an axially movable articulation bearing housing that is in threaded engagement with said rotary drive shaft, wherein said axially movable articulation bearing housing is configured to move between said beginning axial position and said ending axial position in response to rotation of said rotary drive shaft and wherein said first articulation sensor and said second articulation sensor are configured to sense a position of an articulation magnet supported by said axially movable articulation bearing housing.
5. The adapter of claim 2 , wherein when a portion of said articulation member is in a neutral axial position located between said beginning axial position and said ending axial position, said surgical end effector is axially aligned with said longitudinal axis in an unarticulated position.
6. The adapter of claim 5 , further comprising means for determining when said portion of said articulation member is in said neutral axial position.
7. The adapter of claim 6 , wherein said portion of said articulation member is operably supported in an axially movable articulation bearing housing that is in threaded engagement with said rotary drive shaft, wherein said axially movable articulation bearing housing is configured to move between said beginning axial position and said ending axial position in response to rotation of said rotary drive shaft and wherein said means for determining when said portion of said articulation member is in said neutral axial position comprises a neutral switch member configured to detect said axially movable articulation bearing housing when said axially movable articulation bearing housing is in said neutral axial position and send a corresponding signal to the electromechanical instrument.
8. The adapter of claim 7 , wherein the source of rotary drive motions comprises an electrically powered articulation motor in the electromechanical surgical instrument and wherein said rotary drive shaft is configured to operably interface with an output shaft of the electrically powered articulation motor such that operation of the electrically powered articulation motor at a an electrical current level to move said portion of said articulation member between said beginning axial position and said ending axial position, and wherein said means for determining when said portion of said articulation member is in said neutral axial position comprises means for altering said level of electrical current when said portion of said articulation member is in said neutral position.
9. The adapter of claim 8 , wherein said means for altering said level of electrical current when said portion of said articulation member is in said neutral position comprises a rotational resistance generator on said rotary drive shaft, wherein said rotational resistance generator is configured to increase rotational resistance between said rotary drive shaft and said articulation bearing housing when said articulation bearing housing is in said neutral position to thereby increase said level of electrical current drawn by the electrically powered articulation motor.
10. The adapter of claim 9 , wherein said rotational resistance generator comprises an O-ring on said threaded portion of said rotary drive shaft.
11. The adapter of claim 6 , wherein said portion of said articulation member is operably supported in an axially movable articulation bearing housing that is in threaded engagement with said rotary drive shaft, wherein said axially movable articulation bearing housing is and is configured to move between said beginning axial position and said ending axial position in response to rotation of said rotary drive shaft and wherein the source of rotary drive motions comprises an electrically powered articulation motor in the electromechanical surgical instrument and wherein said rotary drive shaft is configured to operably interface with an output shaft of the electrically powered articulation motor such that when the electrically powered articulation motor draws a level of electrical current, the electrically powered articulation motor causes said rotary drive shaft to move said portion of said articulation member between said beginning axial position and said ending axial position and wherein said means for determining when said portion of said articulation member is in said neutral axial position comprises a thread arrangement on said rotary drive shaft that is configured to reduce the level of electrical current drawn by the electrically powered articulation motor when said axially movable articulation bearing housing is in said neutral axial position.
12. The adapter of claim 11 , wherein said thread arrangement comprises a plurality of threads in threaded engagement with said axially movable articulation bearing housing to move said axially movable articulation bearing housing between said beginning axial position and said ending axial position, and wherein said plurality of threads is configured such that a lesser number of said plurality of threads are in threaded engagement with said axially movable articulation bearing housing when said axially movable articulation bearing housing is in said neutral position so as to reduce the level of electrical current drawn by the electrically powered articulation motor.
13. The adapter of claim 6 , wherein said portion of said articulation member is operably supported in an axially movable articulation bearing housing that is in threaded engagement with a thread arrangement of said rotary drive shaft and is configured to move between said beginning axial position and said ending axial position in response to rotation of said rotary drive shaft, wherein said thread arrangement comprises:
a first thread segment configured to threadably engage said axially movable articulation bearing housing; and
a second thread segment spaced from said first thread segment by a central segment, wherein said central segment comprises a configuration that differs from said first thread segment and said second thread segment, and wherein said means for determining when said portion of said articulation member is in said neutral axial position comprises a sensor assembly configured to interact with said central segment and generate a signal indicative of an axial position of said axially movable articulation bearing housing.
14. The adapter of claim 13 , wherein said central segment is not threaded.
15. The adapter of claim 1 , wherein said adapter housing assembly comprises:
a drive coupler portion configured to be operably coupled to the electromechanical surgical instrument; and
an outer knob housing coupled to said shaft assembly and rotatably supported on said drive coupler portion for selective rotation relative thereto about said longitudinal axis and wherein said adapter further comprises:
a rotary drive system configured to operably interface with another source of rotary drive motions in the electromechanical surgical instrument when said drive coupler portion is operably coupled thereto, said rotary drive system configured to selectively rotate said outer knob housing about said longitudinal axis; and
means for monitoring a rotary position of said outer knob housing during operation of said rotary drive system and communicating another signal corresponding to said rotary position to the electromechanical surgical instrument when said drive coupler portion is operably coupled thereto.
16. The adapter of claim 15 , wherein said rotary drive system comprises another rotary drive shaft arrangement configured to operably interface with the another source of rotary drive motions in the electromechanical surgical instrument, said another rotary drive shaft arrangement in meshing engagement with said outer knob housing such that rotation of said another rotary drive shaft rotates said outer knob housing and wherein said means for monitoring a rotary position of said outer knob housing comprises a sensor arrangement configured to detect at least one magnet supported by said outer knob housing.
17. An adapter for use with an electromechanical surgical instrument, said adapter comprising:
a shaft assembly defining a longitudinal axis between a proximal end and a distal end thereof;
a surgical end effector operably coupled to said distal end of said shaft assembly;
an adapter housing assembly comprising:
a drive coupler portion configured to be operably coupled to the electromechanical surgical instrument; and
an outer knob housing coupled to said shaft assembly and rotatably supported on said drive coupler portion for selective rotation relative thereto about said longitudinal axis and wherein said adapter further comprises:
a rotary drive system configured to operably interface with a source of rotary drive motions in the electromechanical surgical instrument when said drive coupler portion is operably coupled thereto, and wherein when the source of rotary motions in the electromechanical surgical instrument is actuated, said rotary drive system selectively rotates said outer knob housing about said longitudinal axis; and
means for monitoring a rotary position of said outer knob housing about said longitudinal axis during operation of said rotary drive system and communicating a signal corresponding to said rotary position to the electromechanical surgical instrument.
18. The adapter of claim 17 , wherein said rotary drive system comprises a rotary drive shaft arrangement configured to operably interface with the source of rotary drive motions in the electromechanical surgical instrument, said rotary drive shaft arrangement in meshing engagement with said outer knob housing such that rotation of said rotary drive shaft arrangement rotates said outer knob housing and wherein said means for monitoring a rotary position of said outer knob housing comprises a sensor arrangement configured to detect at least one magnet supported by said outer knob housing.
19. An adapter for use with an electromechanical surgical instrument, said adapter comprising:
an adapter housing assembly configured to be operably coupled to the electromechanical surgical instrument;
a shaft assembly defining a longitudinal axis between a proximal end and a distal end thereof, said proximal end operably coupled to said adapter housing assembly;
a surgical loading unit operably coupled to said distal end of said shaft assembly for selective articulation relative to said shaft assembly, said surgical loading unit comprising:
a staple cartridge assembly;
an anvil assembly; and
a dynamic clamping assembly axially movable in said surgical loading unit in response to a firing drive motion applied thereto to clamp said anvil assembly and staple cartridge assembly onto tissue and cut the clamped tissue and fire staples from the staple cartridge assembly and wherein said adapter further comprises:
a first rotary drive shaft assembly configured to operably interface with a first source of rotary drive motions in the electromechanical surgical instrument and said dynamic clamping assembly to apply said firing drive motion thereto; and
an articulation control system, comprising:
a second rotary drive shaft configured to operably interface with a second source of rotary drive motions in the electromechanical surgical instrument when said adapter housing assembly is operably coupled thereto;
an articulation driver arrangement operably interfacing with said second rotary drive shaft and said surgical loading unit and comprising an articulation member configured to move axially in response to rotation of said second rotary drive shaft to articulate said surgical loading unit through a range of articulated orientations; and
means for monitoring an axial position of said articulation member during rotation of said second rotary drive shaft and communicating a signal corresponding to said axial position to the electromechanical surgical instrument when said adapter housing is operably coupled thereto.
20. The adapter of claim 19 , wherein said adapter housing comprises:
a drive coupler portion configured to be operably coupled to the electromechanical surgical instrument; and
an outer knob housing coupled to said shaft assembly and rotatably supported on said drive coupler portion for selective rotation relative thereto about said longitudinal axis and wherein said adapter further comprises:
a rotary drive system configured to operably interface with a third source of rotary drive motions in the electromechanical surgical instrument when said drive coupler portion is operably coupled thereto and configured to selectively rotate said outer knob housing about said longitudinal axis; and
means for monitoring a rotary position of said outer knob housing during operation of said rotary drive system and communicating another signal corresponding to said rotary position to the electromechanical surgical instrument when said drive coupler portion is operably coupled thereto.
21. An adapter for use with an electromechanical surgical instrument, wherein the electromechanical instrument comprises an electrically powered articulation motor, and wherein said adapter comprises:
an adapter housing assembly configured to be operably coupled to the electromechanical surgical instrument;
a shaft assembly defining a longitudinal axis between a proximal end and a distal end thereof, said proximal end operably coupled to said adapter housing assembly;
a surgical end effector operably coupled to said distal end of said shaft assembly for selective articulation relative to said shaft assembly; and
an articulation control system, comprising:
a rotary drive shaft configured to operably interface with the electrically powered articulation motor when said adapter housing assembly is operably coupled to the electromechanical instrument;
an articulation driver arrangement operably interfacing with said rotary drive shaft and said surgical end effector and comprising an articulation member configured to move axially in response to rotation of said rotary drive shaft to articulate said surgical end effector through a range of articulated orientations, wherein a portion of said articulation member is operably supported in an axially movable articulation bearing housing that is in threaded engagement with said rotary drive shaft and is configured to move between a beginning axial position, an ending axial position, and a neutral axial position located between said beginning axial position and said ending axial position in response to rotation of said rotary drive shaft, wherein when said portion of said articulation member is in said neutral axial position, said surgical end effector is axially aligned with said longitudinal axis in an unarticulated position, and wherein when the electrically powered articulation motor draws a level of electrical current, said rotary drive shaft moves said portion of said articulation member between said beginning axial position and said ending axial position;
a thread arrangement on said rotary drive shaft that is configured to reduce the level of electrical current drawn by the electrically powered articulation motor when said axially movable articulation bearing housing is in said neutral axial position; and
means for monitoring an axial position of said articulation member between said beginning axial position and said ending axial position during rotation of said rotary drive member and communicating a signal corresponding to said axial position to the electromechanical surgical instrument when said adapter housing assembly is operably coupled thereto.
22. The adapter of claim 21 , wherein said means for monitoring comprises an articulation sensor assembly configured to communicate with the electromechanical surgical instrument when said adapter housing assembly is operably coupled thereto, said articulation sensor assembly comprising:
a first articulation sensor corresponding to said beginning axial position; and
a second articulation sensor corresponding to said ending axial position, wherein said first articulation sensor and second articulation sensor are configured to detect said axial position of said articulation member between said beginning axial position and said ending axial position and generate said signal corresponding to said axial position of said articulation member and communicate said signal to the electromechanical surgical instrument.
23. The adapter of claim 22 , further comprises a neutral switch member configured to detect said axially movable articulation bearing housing when said axially movable articulation bearing housing is in said neutral axial position and send a corresponding signal to the electromechanical instrument.
24. The adapter of claim 23 , comprises means for altering said level of electrical current when said portion of said articulation member is in said neutral position.
25. The adapter of claim 24 , wherein said means for altering said level of electrical current when said portion of said articulation member is in said neutral position comprises a rotational resistance generator on said rotary drive shaft configured to increase rotational resistance between said rotary drive shaft and said axially movable articulation bearing housing when said axially movable articulation bearing housing is in said neutral position to thereby increase said level of electrical current drawn by the electrically powered articulation motor.
26. The adapter of claim 25 , wherein said rotational resistance generator comprises an O-ring on said threaded portion of said rotary drive shaft.
27. The adapter of claim 21 , wherein said thread arrangement comprises a plurality of threads in threaded engagement with said axially movable articulation bearing housing to move said axially movable articulation bearing housing between said beginning axial position and said ending axial position and configured such that a lesser number of said plurality of threads are in threaded engagement with said axially movable articulation bearing housing when said axially movable articulation bearing housing is in said neutral position so as to reduce the level of electrical current drawn by the electrically powered articulation motor.
28. The adapter of claim 21 , wherein said thread arrangement comprises:
a first thread segment configured to threadably engage said axially movable articulation bearing housing; and
a second thread segment spaced from said first thread segment by a central segment having a configuration that differs from said first and second thread segments and wherein said means for determining when said portion of said articulation member is in said neutral axial position comprises a sensor assembly configured to interact with said central segment and generate a signal indicative of an axial position of said axially movable articulation bearing housing.
29. The adapter of claim 28 , wherein said central segment is not threaded.
30. The adapter of claim 21 , wherein said adapter housing assembly comprises:
a drive coupler portion configured to be operably coupled to the electromechanical surgical instrument; and
an outer knob housing coupled to said shaft assembly and rotatably supported on said drive coupler portion for selective rotation relative thereto about said longitudinal axis and wherein said adapter further comprises:
a rotary drive system configured to operably interface with another source of rotary drive motions in the electromechanical surgical instrument when said drive coupler portion is operably coupled thereto, said rotary drive system configured to selectively rotate said outer knob housing about said longitudinal axis; and
means for monitoring a rotary position of said outer knob housing during operation of said rotary drive system and communicating another signal corresponding to said rotary position to the electromechanical surgical instrument when said drive coupler portion is operably coupled thereto.
31. The adapter of claim 30 , wherein said rotary drive system comprises another rotary drive shaft arrangement configured to operably interface with the another source of rotary drive motions in the electromechanical surgical instrument, said another rotary drive shaft arrangement in meshing engagement with said outer knob housing such that rotation of said another rotary drive shaft rotates said outer knob housing and wherein said means for monitoring a rotary position of said outer knob housing comprises a sensor arrangement configured to detect at least one magnet supported by said outer knob housing.