Robotically-driven surgical instrument with e-beam driver

Abstract

A surgical severing and stapling instrument, suitable for laparoscopic and endoscopic clinical procedures, clamps tissue within an end effector of an elongate channel pivotally opposed by an anvil. Various embodiments are configured to be operably attached to a robotic system to receive actuation/control motions therefrom.

What is claimed: 
     
         1 . A surgical instrument comprising:
 an implement portion responsive to firing motions applied thereto from a robotic system, the implement portion comprising:   an elongate channel configured for attachment to an elongated shaft operably interfacing with said robotic system and including a channel slot,   a staple cartridge received by the elongate channel and incorporating a proximally positioned wedge member aligned to cam upward a driver supporting a staple,   an anvil pivotally coupled to the elongate channel and including an anvil channel comprising a vertical slot inwardly open along a longitudinal axis of the anvil and comprising left and right rectangular prism-shaped recesses communicating with, bisected by, and transverse to the vertical slot, wherein said left and right rectangular prism-shaped recesses extend substantially along the longitudinal length of the vertical slot,   a firing device including a distally presented cutting edge longitudinally received between the elongate channel and the vertical slot of the anvil channel of the anvil,   an upper member comprised of left and right lateral upper pins sized to slidingly engage upper and lower inner surfaces of the left and right rectangular-shaped recesses of the anvil channel,   a lower member engaging the channel slot, and   a middle member operable to actuate the staple cartridge by distally translating the wedge member of the staple cartridge, the firing device positively engaging both the elongate channel and the anvil during longitudinal firing travel to provide spacing therebetween for staple formation, and wherein engagement of the firing device during firing maintains vertical spacing between the elongate channel and the anvil resisting both pinching due to an inadequate clamped tissue and partial opening due to an excessive amount of clamped tissue.   
     
     
         2 . The surgical instrument of  claim 1 , wherein the anvil forms an inwardly biased relation to the elongate channel configured to assist the firing device in affirmatively spacing between the anvil and elongate channel during actuation of the staple cartridge. 
     
     
         3 . The surgical instrument of  claim 2 , further comprising a closure member operatively configured to longitudinally transfer the closure motion to the implement portion to inwardly bias distal ends of the anvil and the elongate channel to assist the firing device in affirmatively spacing the anvil and elongate channel during actuation of the staple cartridge. 
     
     
         4 . The surgical instrument of  claim 1 , wherein the staple cartridge is a selected type of a plurality of staple cartridge types, each staple cartridge type characterized by a thickness selected for a desired spacing between the anvil and elongate channel and characterized by staples having a length suitable for the desired spacing. 
     
     
         5 . The surgical instrument of  claim 4 , wherein the wedge member comprises a wedge sled having a plurality of connected camming wedges each having a preselected height configured for the selected type of staple cartridge, the middle member of the firing device oriented to abut each of the plurality of staple cartridge types. 
     
     
         6 . A surgical instrument comprising:
 an implement portion responsive to firing motions from a robotic system communicating therewith and being diametrically dimensioned for endo-surgical use, the implement portion comprising:   an elongate channel coupled to an elongated shaft operably interfacing with said robotic system and including a channel slot;   an anvil pivotally coupled to the elongate channel, responsive to closing motions generated by said robotic system and applied thereto by the elongated shaft, and including an anvil channel: and   a firing device including a distally presented cutting edge longitudinally received between the elongate channel and the anvil, the firing device configured to affirmatively space the anvil from the elongate channel during longitudinal travel between the anvil and elongate channel, wherein the firing device is configured to affirmatively space the anvil from the elongate channel during longitudinal travel between the anvil and elongate channel by including an upper member having an upper surface and a lower surface that longitudinally slidingly engage the anvil.   
     
     
         7 . The surgical instrument of  claim 6 , further comprising a staple cartridge engaged by the elongate channel and including a proximally opened slot for receiving the cutting edge of the firing device, the staple cartridge including a plurality of staples cammed upwardly by the distal longitudinal movement of the firing mechanism. 
     
     
         8 . The surgical instrument of  claim 7 , wherein the staple cartridge further includes a plurality of drivers supporting the plurality of staples and a wedge sled responsive to the distal longitudinal movement of the firing mechanism to cam upwardly the drivers and thus form the plurality of staples against the anvil. 
     
     
         9 . The surgical instrument of  claim 7 , wherein the anvil forms an inwardly biased relation to the elongate channel configured to assist the firing device in affirmatively spacing between the anvil and elongate channel during actuation of the staple cartridge. 
     
     
         10 . The surgical instrument of  claim 7 , wherein the staple cartridge is a selected type of a plurality of staple cartridge types, each staple cartridge type characterized by a thickness selected for a desired spacing between the anvil and elongate channel and characterized by staples having a length suitable for the desired spacing. 
     
     
         11 . The surgical instrument of  claim 10 , wherein the wedge sled comprises a plurality of connected camming wedges each having a preselected height configured for the selected type of staple cartridge, the middle member of the firing device oriented to abut each of the plurality of staple cartridge types. 
     
     
         12 . The surgical instrument of  claim 6 , wherein the anvil includes a longitudinal slot having an upper surface and a lower surface that slidingly abut respectively the lower surface and upper surface of the upper member of the firing device. 
     
     
         13 . The surgical instrument of  claim 12 , wherein the longitudinal slot comprises an internal longitudinal channel communicating with a narrowed vertical slot, and wherein the firing device translates in the narrowed vertical slot and includes an upper member having the upper and lower surfaces that reside within the internal longitudinal channel for affirmatively spacing the anvil from the elongate channel. 
     
     
         14 . The surgical instrument of  claim 6 , wherein the firing device is configured to affirmatively space the anvil from the elongate channel during longitudinal travel between the anvil and elongate channel by including a lower portion having an upper surface and a lower surface that slidingly engage the elongate channel. 
     
     
         15 . The surgical instrument of  claim 14 , wherein the lower portion of the firing device comprises a lower pin having the upper surface abutting the elongate channel and comprises a middle pin having the lower surface opposingly abutting the elongate channel. 
     
     
         16 . The surgical instrument of  claim 15 , wherein the firing device further comprises an upper member having an upper surface and a lower surface that longitudinally slidingly engage the anvil. 
     
     
         17 . The surgical instrument of  claim 16 , wherein the anvil includes an internal longitudinal slot having a narrowed vertical slot, and wherein the firing device translates in the narrowed vertical slot and includes an upper member having upper and lower surfaces that reside within the internal longitudinal slot for affirmatively spacing the anvil from the elongate channel. 
     
     
         18 . A surgical instrument comprising:
 a robotic system operable to produce a plurality of control motions including a firing motion; and   an implement portion responsive to said firing motion from the robotic system, the implement portion comprising:
 an elongate channel coupled to the robotic system and including a channel slot; 
 a staple cartridge received by the elongate channel and incorporating a proximally positioned wedge member aligned to cam upward a driver supporting a staple; 
 an anvil pivotally coupled to the elongate channel and including an anvil channel; a firing device including a distally presented cutting edge longitudinally received between the elongate channel and the anvil; 
 an upper member engageable to the anvil channel; a lower member engaging the channel slot; 
 middle member operable to actuate the staple cartridge by distally translating the edge member of the staple cartridge, the firing device positively engaging both the elongate channel and the anvil during longitudinal firing travel to provide spacing therebetween for staple formation; 
 articulation joint proximally coupled to the elongate channel; and 
 a thinned firing strip proximally attached to the firing device for transferring the firing motion from the robotic system through the articulation joint. 
   
     
     
         19 . The surgical instrument of  claim 18 , wherein the anvil forms a pivotal attachment to the elongate channel inwardly biased at respective distal ends to assist the firing device in affirmatively spacing between the anvil and elongate channel during actuation of the staple cartridge. 
     
     
         20 . The surgical instrument of  claim 18 , wherein the staple cartridge is a selected type of a plurality of staple cartridge types, each staple cartridge type characterized by a thickness selected for a desired spacing between the anvil and elongate channel and characterized by staples having a length suitable for the desired spacing.