公开(公告)号：US10709513B2

公开(公告)日：2020-07-14

申请号：US16152883

申请日：2018-10-05

Applicant: Ethicon LLC

Inventor： David C. Yates ,  Frederick E. Shelton, IV ,  Michael J. Vendely ,  Jason L. Harris ,  Mark D. Overmyer

IPC: A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  B25J9/04 ,  A61B34/35

Abstract: A robotic surgical system including a control system that controls the movement of a robotic arm coupled to a tool assembly having an end effector is described. The control system can also assist with controlling either the articulation or rotation of the end effector. Furthermore, the control system can detect and monitor one or more properties (e.g., articulation, rotation, etc.), which can be used by the control system to determine one or more appropriate movement parameters of either the robotic arm (e.g., velocity of movement) or the tool assembly coupled to the robotic arm (e.g., rotational speed of the end effector). The control system can detect any number of characteristics related to the end effector and use such information to control a variety of movement parameters associated with either the robotic arm or the tool assembly.

公开(公告)号：US10702349B2

公开(公告)日：2020-07-07

申请号：US15900096

申请日：2018-02-20

Applicant: Ethicon LLC

Inventor： Mark D. Overmyer

IPC: A61B34/35 ,  A61B17/00 ,  A61B17/072 ,  A61B34/37 ,  A61B34/30 ,  A61B90/00 ,  A61B90/98 ,  A61B18/00 ,  A61B18/14 ,  A61B17/29

Abstract: Various exemplary methods, systems, and devices for robotic surgical instrument communication are provided. In general, a surgical tool includes a sensor configured to sense a parameter related to the surgical tool and to wirelessly communicate the sensed data to another device, e.g., another surgical tool. Each of the surgical tool and the other device are configured to be operatively connected to a robotic surgical system and to be controlled by the robotic surgical system. The other device is configured to transmit the data received from the surgical tool to the robotic surgical system.

公开(公告)号：US20200060713A1

公开(公告)日：2020-02-27

申请号：US16433468

申请日：2019-06-06

Applicant: Ethicon LLC

Inventor： Richard L. Leimbach ,  Shane R. Adams ,  Mark D. Overmyer ,  Brett E. Swensgard ,  Thomas W. Lytle ,  Frederick E. Shelton, IV ,  Kevin L. Houser

IPC: A61B17/32 ,  A61L2/07 ,  A61L2/08 ,  A61L2/16 ,  A61L2/20 ,  H01M10/42 ,  A61B90/98 ,  A61B17/072 ,  B25F5/00 ,  H01R35/02 ,  H01R39/08 ,  H01R39/10 ,  B25F3/00 ,  A61L2/26 ,  H02J5/00

Abstract: The present disclosure provides a surgical instrument including an end effector, a drive member movable to effectuate a motion in said end effector, a motor operable to move the drive member to effectuate the motion in the end effector and a bailout assembly operable to perform a mechanical bailout of the surgical instrument in response to a bailout error. The bailout assembly includes a bailout door, a bailout handle accessible through the bailout door. The bailout handle is operable to move the drive member to effectuate a bailout motion in the end effector. A controller includes a memory and a processor coupled to the memory. The processor is configured to detect the bailout error. The processor is programmed to stop the motor in response to the detection of the bailout error.

公开(公告)号：US20200029964A1

公开(公告)日：2020-01-30

申请号：US16371619

申请日：2019-04-01

Applicant: Ethicon LLC

Inventor： Mark D. Overmyer ,  Michael D. Auld ,  Shane R. Adams ,  Frederick E. Shelton, IV ,  Jason L. Harris

IPC: A61B17/072 ,  H01M2/10

Abstract: A surgical instrument can comprise a handle including a battery cavity and electrical contacts and, in addition, a battery removably positionable in the battery cavity. The battery is configured to engage and supply power to the electrical contacts when the battery is operably seated in the battery cavity. The handle further comprises diagnostic means for assessing whether the handle is in a suitable operating and a battery lockout configured to permit the battery from being operably seated in the battery cavity if the diagnostic means determines that the handle is not in a suitable operating condition. Additionally or alternatively, the handle can comprise a battery lock configured to prevent the battery from being disengaged from the electrical contacts when the handle is transmitting an operating motion to a shaft assembly attached to the handle, for example. Either one system or two systems can comprise the battery lockout and battery lock.

公开(公告)号：US20200008828A1

公开(公告)日：2020-01-09

申请号：US16552402

申请日：2019-08-27

Applicant: Ethicon LLC

Inventor： Mark D. Overmyer

IPC: A61B17/295 ,  A61B34/30 ,  A61B17/00 ,  A61B34/00

Abstract: Various embodiments of tool assemblies are provided having at least one rotary input coupling and at least one linear input coupling for allowing either a rotary output or a linear output (e.g., from a tool driver on a surgical robot) to activate at least one mechanism of the tool assembly. For example, mechanisms of the tool assembly can include a clamping assembly, a firing assembly, an articulation assembly, and a roll assembly. The clamping assembly can open and close jaws of an end effector, the firing assembly can translate a knife assembly through the end effector to fire staples and cut tissue, the articulation assembly can articulate the end effector, and the roll assembly can rotate the elongate shaft and/or the end effector.

公开(公告)号：US20190328387A1

公开(公告)日：2019-10-31

申请号：US16409328

申请日：2019-05-10

Applicant: Ethicon LLC

Inventor： Mark D. Overmyer ,  David C. Yates ,  Frederick E. Shelton, IV ,  Shane R. Adams ,  Jason L. Harris

IPC: A61B17/072 ,  H02P7/06 ,  H02P7/00

Abstract: A surgical stapler. The surgical stapler includes a drive system, an electric motor, a battery and a control system. The drive system includes a movable drive member. The electric motor is mechanically coupled to the drive system. The battery is electrically couplable to the electric motor. The control system is electrically connected to the electric motor and includes an accelerometer. The control system is configured to control a force applied to the drive system based on an acceleration of the movable drive member.

公开(公告)号：US10357270B2

公开(公告)日：2019-07-23

申请号：US15422740

申请日：2017-02-02

Applicant: Ethicon LLC

Inventor： Mark D. Overmyer ,  Robert L. Koch, Jr. ,  Jeffrey S. Swayze

IPC: A61B17/00 ,  A61B17/28 ,  A61B17/29 ,  A61B17/32 ,  A61B17/072 ,  A61B17/295 ,  A61B34/30 ,  A61B18/14 ,  A61B90/00

Abstract: Various exemplary systems, devices, and methods are provided for resisting torque in articulating surgical tools. In general, a surgical tool can include an elongate shaft having at a distal end thereof an end effector configured to engage tissue. The end effector can be configured to articulate relative to the elongate shaft. The surgical tool can include a cutting element configured to translate longitudinally along the end effector to cut the engaged tissue. When the end effector is articulated, the longitudinal translation of the cutting element along the end effector exerts a torque force on the end effector that urges the end effector away from its current angled orientation. The surgical tool can be configured to have a corrective tension or force applied thereto that counteracts the torque force.

公开(公告)号：US20190117216A1

公开(公告)日：2019-04-25

申请号：US16146772

申请日：2018-09-28

Applicant: Ethicon LLC

Inventor： Mark D. Overmyer ,  David C. Yates ,  Frederick E. Shelton, IV ,  Shane R. Adams ,  Richard L. Leimbach

IPC: A61B17/068 ,  A61B17/072 ,  A61B17/00 ,  H02P7/29

Abstract: A surgical stapler. The surgical stapler includes a drive system, an electric motor, a battery and a control system. The electric motor is mechanically coupled to the drive system. The battery is electrically couplable to the electric motor. The control system is electrically connected to the electric motor and includes an H-bridge circuit, an electrically resistive element and an electrically inductive element. The H-bridge circuit includes a high side and a low side. The low side of the H-bridge circuit includes first and second switching devices. The electrically resistive element is electrically connected in series with the first switching device. The electrically inductive element is electrically connected to the electrically resistive element. The control system is configured to control a force applied to the drive system based on a current downstream of the electrically resistive element.

公开(公告)号：US20190008511A1

公开(公告)日：2019-01-10

申请号：US16117996

申请日：2018-08-30

Applicant: Ethicon LLC

Inventor： Wendy A. Kerr ,  Thomas W. Lytle, IV ,  Mark D. Overmyer ,  Brett E. Swensgard ,  Richard L. Leimbach ,  Kevin D. Sackett

IPC: A61B17/068

Abstract: A surgical instrument can comprise a handle, a shaft extending from the handle, and an end effector rotatably coupled to the shaft by an articulation joint. The surgical instrument can further include a staple cartridge positioned within the end effector and a firing drive operably coupled with a trigger wherein the operation of the trigger can advance and/or retract a firing member of the firing drive relative to the end effector. The surgical instrument can further comprise an articulation drive which is selectively engageable with the firing drive. When the articulation drive is engaged with the firing drive, the operation of the firing drive can operate the articulation drive and articulate the end effector. When the articulation drive is not engaged with the firing drive, the firing drive can be operated independently of the articulation drive.

公开(公告)号：US10064690B2

公开(公告)日：2018-09-04

申请号：US15381453

申请日：2016-12-16

Applicant: Ethicon LLC

Inventor： Robert L. Koch ,  Jeffery Kirk ,  Andrew Beckman ,  Jeffrey S. Swayze ,  Mark D. Overmyer ,  Eric W. Thompson ,  Kenneth Miller

IPC: G05B19/19 ,  A61B34/30 ,  A61B46/17 ,  A61B17/00

Abstract: Systems and methods are provided for coupling a robotic surgical tool with a tool driver of a robotic surgical system via a sterile barrier disposed between the tool and the driver. The tool has an elongate shaft and an end effector coupled thereto, as well as a mating interface member having a plurality of independently movable portions and a plurality of coupling features disposed about a perimeter of an outer wall of the mating interface member. The coupling features are configured to reversibly engage with a proximal end of a corresponding actuation member from a plurality of actuation members of the tool driver. The coupling features reversibly engage with the proximal ends of the actuation members so as to allow the actuation members to move in proximal and distal directions independently from one another to thereby control operation of the end effector.