(12) United States Patent
`Tovey et al.
`
`USOO6231565B1
`(10) Patent No.:
`US 6,231,565 B1
`(45) Date of Patent:
`May 15, 2001
`
`(54) ROBOTICARM DLUS FOR PERFORMING
`SURGICALTASKS
`
`(75) Inventors: H. Jonathan Tovey, Monore; Keith
`Ratcliff, Newtown; Kenneth E. Toso,
`Wilton; Peter W. J. Hinchlife, New
`Haven, all of CT (US)
`(73) Assignee: United States Surgical Corporation,
`Norwalk, CT (US)
`Subject to any disclaimer, the term of this
`patent is extended or adjusted under 35
`U.S.C. 154(b) by 0 days.
`
`(*) Notice:
`
`(21) Appl. No.: 09/099,740
`(22) Filed:
`Jun. 18, 1998
`Related U.S. Application Data
`(60) Provisional application No. 60/049,923, filed on Jun. 18,
`1997.
`(51) Int. Cl." ................................................. A61B 17700
`(52) U.S. Cl. .............................. 606/1; 606/130; oys
`
`(58) Field of Search ........................ 606/1, 130; 128/897,
`128/898; 414/1; 600/101, 102
`
`(56)
`
`References Cited
`U.S. PATENT DOCUMENTS
`
`4,508.253
`4,979,949
`5,040,715
`5.084.057
`5.1547.17
`5,236,432
`5,289.963
`5,300,081
`
`4/1985 Green.
`12/1990 Matsen, III et al..
`8/1991 Green et al. .
`1/1992 Green et all
`10f1992 Matsen lifetal
`8/1993 Matsen, III et al..
`3/1994 McGarry et al..
`4/1994 Young et al..
`
`
`
`3/1995 Taylor et al..
`5,397.323
`4/1995 Shallman.
`5,403,328
`11/1995 Rodak.
`5,470,006
`12/1995 Stone et al..
`5,478,344
`53. so Matt et al. .
`5,748,767
`5/1998 yet al.
`5,800.423
`9/1998 Jensen.
`5,814,038 * 9/1998 Jensen et al..
`5,855,583 * 1/1999 Wang et al..
`5,971,976 * 10/1999 Wang et al..
`6,007,550
`12/1999 Wang et al..
`6,024.695
`2/2000 Taylor et al..
`FOREIGN PATENT DOCUMENTS
`0647431A2
`4/1995 (EP).
`* cited by examiner
`Primary Examiner Linda C. M. Dvorak
`Assistant Examiner Bryan K. Yarnell
`(57)
`ABSTRACT
`Disposable loading units (DLUS) configured for mounting to
`a robotic arm for performing at least one Surgical task are
`presented. Each DLU includes an attachment platform hav
`ing at least one connector for engaging at least one connector
`on a distal end of the robotic arm for connecting the DLU to
`the robotic arm, a head portion connected to the attachment
`platform at one end and configured for housing an electro
`mechanical actuation assembly therein, and at least one
`Surgical tool member extending from the head portion and
`operatively associated with the electro-mechanical actuation
`assembly for controlling the operation and movement of the
`at least one Surgical tool member. The at least one Surgical
`tool member may include a cutting assembly, an aortic hole
`punch assembly, a lasing assembly, a coring assembly, or a
`vascular Suturing assembly.
`
`14 Claims, 8 Drawing Sheets
`
`Ethicon Exhibit 2002.001
`Intuitive v. Ethicon
`IPR2018-00934
`
`

`

`U.S. Patent
`
`May 15, 2001
`
`Sheet 1 of 8
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`US 6,231,565 B1
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`Ethicon Exhibit 2002.002
`Intuitive v. Ethicon
`IPR2018-00934
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`

`

`U.S. Patent
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`May 15, 2001
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`Sheet 2 of 8
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`||00|| | | | | | | |
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`93
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`88
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`US 6,231,565 B1
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`WI '80IH
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`———————————————————————– | | | | | | |
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`Ethicon Exhibit 2002.003
`Intuitive v. Ethicon
`IPR2018-00934
`
`

`

`U.S. Patent
`
`May 15, 2001
`
`Sheet 3 of 8
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`US 6,231,565 B1
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`
`
`Ethicon Exhibit 2002.004
`Intuitive v. Ethicon
`IPR2018-00934
`
`

`

`US. Patent
`
`May 15, 2001
`
`Sheet 4 0f 8
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`US 6,231,565 B1
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`Nea
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`32
`
`FIG.3
`
`Ethicon Exhibit 2002.005
`
`Intuitive v. Ethicon
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`|PR2018—00934
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`Ethicon Exhibit 2002.005
`Intuitive v. Ethicon
`IPR2018-00934
`
`

`

`U.S. Patent
`
`May 15, 2001
`
`Sheet 5 of 8
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`US 6,231,565 B1
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`
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`Ethicon Exhibit 2002.006
`Intuitive v. Ethicon
`IPR2018-00934
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`

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`US. Patent
`
`May 15, 2001
`
`Sheet 6 0f 8
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`US 6,231,565 B1
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`
`
`0.mhtE
`
`In...“
`2hOtOm51HM0
`umvm
`BmPmnl
`0..m%
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`003
`
`7n4
`
`Ethicon Exhibit 2002.007
`Intuitive v. Ethicon
`IPR2018-00934
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`

`

`US 6,231,565 B1
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`
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`Ethicon Exhibit 2002.008
`
`Intuitive v. Ethicon
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`|PR2018—00934
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`Ethicon Exhibit 2002.008
`Intuitive v. Ethicon
`IPR2018-00934
`
`

`

`US. Patent
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`May 15, 2001
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`Sheet 8 0f 8
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`US 6,231,565 B1
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`FIG.8
`
`Ethicon Exhibit 2002.009
`
`Intuitive v. Ethicon
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`|PR2018—00934
`
`Ethicon Exhibit 2002.009
`Intuitive v. Ethicon
`IPR2018-00934
`
`

`

`US 6,231,565 B1
`
`1
`ROBOTICARM DLUS FOR PERFORMING
`SURGICALTASKS
`
`This application claims priority to a Provisional Appli
`cation filed on Jun. 18, 1997 having U.S. Ser. No.
`60/049923.
`
`BACKGROUND
`
`2
`Pat. No. 5,571,110 to Matsen, III et al. discloses an ortho
`pedic Saw guide for confining the blade of a Surgical saw to
`movement in a single plane while allowing translational and
`rotational movement of the blade within the plane to facili
`tate the performance of a Surgical bone alteration task. The
`saw guide is positioned relative to a patient's bone by a
`robot-aided System.
`However, known robotic Systems, Such as the Saw guide
`disclosed in the Matsen et al. 110 patent, are typically
`limited to specific Surgical tasks and are not adaptive for
`performing a wide variety of Surgical tasks. Therefore, there
`is a need for a robotic System for aiding a Surgeon to perform
`a wide variety of Surgical tasks.
`Another disadvantage of known robotic Systems having
`Surgical application is that the Surgeon is required to manu
`ally control the position and operation of the Surgical instru
`ment. For example, Systems have been developed wherein
`the Surgeon is fitted with a mechanism which translates the
`Surgeon's movements into mechanical movements whereby
`Servo motors are actuated to manipulate the Surgical instru
`ment. For example, U.S. Pat. No. 5,624,398 to Smith et al.
`discloses a robotic System having a pair of articulate robotic
`arms responsive to the Surgeon's movements during the
`Surgery. However, any error in the Surgeon's movements
`results in undesired manipulation of the robotic arms.
`Therefore, a fully automatic robotic System for aiding a
`Surgeon to perform a wide variety of Surgical tasks would be
`advantageous.
`Another disadvantage with known robotic Systems is their
`inability to remotely operate a conventional Surgical tool,
`Such as an apparatus for applying Surgical Staples or an
`apparatus for Suturing body tissue which is mounted to the
`robotic arm.
`Therefore, it would be advantageous to provide dispos
`able loading units (DLUS) configured for mounting to a
`robotic arm of a robotic System and having at least one
`Surgical tool eXtending from one end for performing a
`Surgical task. The DLU would be actuated by an actuation
`assembly operatively associated with the robotic arm for
`controlling the operation and movement of the DLU. The
`DLU would include an electro-mechanical assembly opera
`tively associated with the actuation assembly for controlling
`the operation and movement of the Surgical tool.
`SUMMARY
`The Subject disclosure is directed to disposable loading
`units configured for mounting to a robotic arm and having at
`least one automatically actuated Surgical tool for performing
`a surgical task. The robotic arm acts on the DLUs with the
`dexterity and mobility of a Surgeons hand and can be
`programmed via an actuation assembly to actuate the Sur
`gical tool to perform the Surgical task. Actuation commands
`are transmitted by electrical Signals via cables from the
`actuation assembly to an electro-mechanical assembly
`within the DLUs. The electro-mechanical assembly within
`each DLU is configured to move and operate the Surgical
`tool for performing the Surgical task. For example, the
`electro-mechanical assembly may include Servo motors for
`advancing, rotating and retracting a coring member of a
`coring DLU device; for harmonically oscillating a Scalpel of
`a cutting DLU device; or for pivotally moving a Suturing
`needle positioned on an axis of a longitudinal casing of a
`suturing DLU device.
`One DLU presented and configured for mounting to the
`robotic arm is a coring DLU device for minimally invasive
`Surgery, Such as removing a Specimen for biopsy. Still
`
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`1. Technical Field
`The present disclosure relates to an apparatus and method
`for performing Surgical tasks. In particular, the disclosure
`relates to disposable loading units (DLUS) configured for
`mounting to a robotic arm and having at least one automati
`cally actuated Surgical tool for performing a Surgical task.
`2. Description of Related Art
`Accurate and precise manipulation of Surgical instru
`ments at or near a Surgical Site is required during Surgical
`procedures, especially during minimally invasive proce
`dures Such as laparoscopic and endoscopic procedures. In
`laparoscopic and endoscopic Surgical procedures, a Small
`incision is made in the patient's body to provide acceSS for
`a tube or cannula device. Once extended into the patient's
`body, the cannula allows insertion of various Surgical instru
`ments for acting on organs, blood vessels, ducts, or body
`tissue far removed from the incision site. Such instruments
`may include apparatus for applying Surgical clips as dis
`closed in U.S. Pat. Nos. 5,084,057 and 5,470,006; apparatus
`for applying Surgical Staples as disclosed in U.S. Pat. NoS.
`5,040,715 and 5,289.963; and apparatus for suturing body
`tissue as disclosed in U.S. Pat. No. 5,403,328.
`In minimally invasive procedures, the ability to perform
`Surgical tasks is complicated due to limited maneuverability
`and reduced visibility. Therefore, a need exists for an
`apparatus and a procedure that enables the remote actuation
`of Surgical instruments during minimally invasive proce
`dures in a consistent, easy and rapid manner.
`In non-laparoscopic and non-endoscopic procedures,
`accurate and precise manipulation and operation of Surgical
`instruments is also required. For example, in a transmyo
`cardial vascularization (TMR) procedure, wherein holes are
`formed in the heart wall to provide alternative blood flow
`channels for ischemic heart tissue, careful advancement and
`control of a lasing or coring device is necessary to form
`holes in the ischemic areas of the heart tissue.
`In other cardiovascular procedures Such as laser angio
`plasty wherein an optical fiber is inserted and advanced into
`a patient's vasculature to apply laser energy to obstructions
`and/or restrictions typically caused by plaque build-up,
`precise manipulation and operation is also required. Both
`continuous wave and pulsed high energy laserS have been
`used to provide the vaporizing laser energy. Insuring the
`plaque is actually ablated and not just pushed aside is
`important to prevent or delay restenosis.
`The advent of computer imaging Systems have enabled
`Surgeons to precisely position and map the direction of travel
`of a Surgical instrument prior to the utilization of the
`instrument in the operation. For example, an imaging System
`can locate the exact location of a lesion within a patient and
`60
`allocate X, Y and Z coordinates to that lesion in Space. A
`coring device can then be manually advanced to that loca
`tion to slice the distal flat end face of the core so that a
`complete Specimen can be removed for biopsy.
`Robotic Systems have also been developed to aid a
`Surgeon in precisely mounting and positioning Surgical
`instruments to perform a Surgical task. For example, U.S.
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`Intuitive v. Ethicon
`IPR2018-00934
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`3
`another DLU presented is a lasing DLU device for perform
`ing Surgical procedures entailing the use of laser energy,
`such as TMR and angioplasty. Additional DLUs presented
`include a Surgical fastener applying DLU device, a vessel
`clip applying DLU device, a cutting DLU device, a hole
`punching DLU device, and a vascular Suturing DLU device.
`
`15
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`Various robotic arm DLUS for performing Surgical tasks
`will be described hereinbelow with reference to the draw
`ings wherein:
`FIG. 1 is a perspective view of a robotic system con
`Structed in accordance with the present disclosure and
`illustrating a coring DLU device;
`FIG. 1A is a block diagram illustrating the components of
`a DLU device;
`FIG. 2 illustrates a Surgeon utilizing the apparatus of FIG.
`1 in the performance of a Surgical procedure;
`FIG. 3 is a perspective view of a lasing DLU device;
`FIG. 4 is a perspective View of a Surgical fastener apply
`ing DLU device;
`FIG. 5 is a perspective view of a vessel clip applying DLU
`device;
`25
`FIG. 6A is a perspective view of a first embodiment of a
`cutting DLU device;
`FIG. 6B is a perspective view of a second embodiment of
`a cutting DLU device;
`FIG. 7 is a perspective view of a hole-punching DLU
`device; and
`FIG. 8 is a perspective view of a vascular suturing DLU
`device.
`
`DETAILED DESCRIPTION OF THE
`PREFERRED EMBODIMENTS
`The robotic arm disposable loading units (DLUs) and
`accompanying robotic System of the present disclosure shall
`be discussed in terms of performing a variety of Surgical
`tasks, which include but not limited to endoscopic, arthro
`Scopic and/or laparoscopic procedures. The present disclo
`Sure introduces and discusses Several DLUS, which include
`a coring DLU, two cutting DLUS, an aortic hole-punching
`DLU, a lasing DLU, a fastener applying DLU, and a
`vascular Suturing DLU. However, the present disclosure
`should not be construed to limit the present application to
`only these DLUs.
`Referring now to the drawings wherein like reference
`numerals indicate Similar structural elements, there is illus
`trated in FIG. 1 a robotic System designated generally by
`reference numeral 10. Robotic system 10 can be used to
`performing a wide variety of Surgical tasks, Such as operate
`Surgical instrumentation within the abdominal cavity of a
`patient with a fine degree of dexterity and accuracy.
`The robotic system 10 includes an actuation assembly 12,
`a monitor 14, a robot 16, and a DLU 18 releasably attached
`to the robot 16 and having at least one surgical tool 20 for
`performing at least one Surgical task. The robot 16 includes
`a trunk 22 extending from a base 24, a shoulder 26 con
`necting the trunk to an upper arm 28, an elbow 30 connect
`ing the upper arm 28 to a lower arm 32, and a wrist 34
`attached to the lower arm 32 from which extends a mounting
`flange 36. The mounting flange 36 is capable of moving in
`Six degrees of freedom.
`The DLU 18 further includes a head portion 40 for
`housing an electro-mechanical assembly 19 (FIG. 1A)
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`therein for operating the Surgical tool 20 and an attachment
`platform 42 for releasably attaching the DLU18 to the robot
`16 via the mounting flange 36. The mounting flange 36
`includes two slots 35 which matingly engage protrusions 38
`of the attachment platform 42 to connect the mounting
`flange 36 with the DLU 18. Other forms of releasable
`mechanical attachment of these components are envisioned
`as well, Such as bayonet coupling, tongue and groove
`arrangements, Snap-fit arrangements, interference fit
`arrangements, and locking Screw arrangements. It is also
`contemplated to provide an electrical connection 33 between
`the slots 35 and the protrusions 38 for powering the electro
`mechanical assembly 19 as shown by FIG. 1A.
`The DLU18 can be removed from the mounting flange 36
`and be replaced with another DLU having a different Sur
`gical tool for performing a different Surgical procedure. It is
`also contemplated to design a DLU having Several Surgical
`tools capable of performing Several Surgical procedures
`where the robot 16 can rotate the mounting flange 36 to
`select one of the surgical tools of the DLU when required.
`In operation, the Surgeon controls the actuation assembly
`12 to control the movement and operation of the robot 16
`and the DLU18. Depending on the amount of rotation of the
`knobs 44 on the actuation assembly 12, the actuation assem
`bly 12 transmits electrical signals to the robot 16 to electro
`mechanically operate the moveable parts of the robot 16,
`Such as to rotate the robot 16 about the vertical trunk 22 or
`to advance the mounting flange 36. The actuation assembly
`12 may include a processor therein for Storing operational
`commands and for transmitting digital Signals to the electro
`mechanical assembly 19. The actuation assembly 12 can
`also transmit electrical Signals to the mounting flange 36 in
`the form of electrical signals for positioning and operating
`the DLU 18.
`The actuation assembly 12 further transmits electrical
`signals to the electro-mechanical assembly 19 housed within
`the head portion 40 of the DLU 18 for actuating the
`electro-mechanical assembly 19 which in turn actuates the
`surgical tool 20. The electro-mechanical assembly 19
`includes mechanisms for moving and operating the Surgical
`tool 20, Such as Servo motors for harmonically oscillating a
`Scalpel of a cutting DLU device, or rods for pivotally
`moving a Suturing needle positioned on an axis of a longi
`tudinal casing of a Suturing DLU device. The DLU 18 may
`further include integrated circuitry, including a receiver 21
`and a processor 23 for receiving digital Signals from the
`actuation assembly. The receiver 21 and processor 23 are
`included within control means 25 electrically connected to
`the electro-mechanical assembly 19 as shown by FIG. 1A.
`One type of electro-mechanical assembly can be used to
`advance, rotate and retract a coring portion 46 of a coring
`DLU device 48 as shown by FIG. 1. Coring DLU device 48
`is Suited for performing a coring procedure, Such as coring
`body tissue for removing a specimen for biopsy, as shown by
`FIG. 2. The coring portion 46 includes a tubular member 50
`having a cutting edge 52. The linear advancement of the
`tubular member 50 is automatically controlled by the
`electro-mechanical assembly 19.
`When the coring DLU device 48 is actuated by transmit
`ting electrical Signals to the electro-mechanical assembly 19,
`the tubular member 50 can be distally and proximally moved
`by rods traversing the longitudinal axis of the coring portion
`46 and operatively associated with the electro-mechanical
`assembly 19.
`A lasing DLU device 80 is illustrated in FIG. 3 for
`performing Surgical procedures requiring laser energy, Such
`
`Ethicon Exhibit 2002.011
`Intuitive v. Ethicon
`IPR2018-00934
`
`

`

`S
`as a TMR procedure. Laser DLU device 80 includes a laser
`energy transmission mechanism 82 partially disposed within
`a body portion 81 and mounted for controlled longitudinal
`movement relative to a head portion 84 of the DLU 80. The
`actuation assembly 12 can be provided with a laser energy
`generator which is optically connected to the laser energy
`transmission mechanism 82 for initiating laser energy. The
`laser energy generator may also be incorporated within the
`electro-mechanical assembly 19. The laser energy transmis
`Sion mechanism 82 typically includes at least one optical
`fiber for transmitting laser energy. The at least one optical
`fiber in the laser energy transmission mechanism 82
`traverses the body portion 81 and is optically associated with
`the laser energy generator.
`A controlled advancement mechanism is provided within
`the DLU head portion 84 and in engagement with the laser
`energy transmission mechanism 82 for advancing the laser
`energy transmission mechanism 82 at a controlled rate
`coordinated with the laser energy generator output to ablate
`body tissue. Controlled advancement mechanisms which
`can be incorporated within the head portion 84 include
`constant and/or variable rate Springs, motors, and other
`mechanisms which can be coordinated with the laser energy
`generator to advance one or both of the laser energy trans
`mission mechanism 82 during ablation.
`A Surgical fastener applying DLU device 90 is illustrated
`in FIG. 4 for applying an array of Surgical fasteners to body
`tissue. Surgical fastener applying DLU device 90 includes
`an actuator incorporated within a head portion 92 to perform
`fast closure and incremental advancement of a cartridge
`assembly 94 with respect to an anvil assembly 96 at a distal
`end of body portion 98.
`Reference can be made to U.S. Pat. No. 4,508,253 issued
`to Green on Apr. 2, 1985 or European Patent Application No.
`92116880.3 published on Apr. 21, 1993, the contents of both
`documents are incorporated herein by reference, for a more
`detailed explanation of the operation of the body portion
`components during a Surgical fastening procedure. It is
`provided that the hand portion of the fastener applying
`apparatus disclosed in the 006 patent is incorporated within
`the Structure and construction of the electro-mechanical
`assembly 19 of the surgical fastener applying DLU device
`90 for operating the body portion components in the same
`manner as the hand portion operates the body portion
`components in the above-noted '006 patent.
`FIG. 5 is a perspective view of a vessel clip applying DLU
`device 100 for applying Surgical clips to body tissue. Vessel
`clip applying DLU device 100 includes a head portion 102,
`a body portion 104 extending distally from the head portion
`102 and defining a longitudinal axis, and a plurality of
`surgical clips disposed within the body portion 104. A jaw
`assembly 106 is mounted adjacent a distal end portion 108
`of the body portion 104. The jaw assembly 106 includes first
`and Second jaw portions 110 movable between a Spaced
`apart and approximated position.
`A clip pusher is provided within body portion 104 to
`individually distally advance a distal-most Surgical clip to
`the jaw assembly 106 while the jaw portions 110 are in the
`Spaced-apart position. An actuator 112 disposed within the
`body portion 104 is longitudinally movable in response to
`actuation of the electro-mechanical assembly 19 within the
`head portion 102. A jaw closure member 114 is positioned
`adjacent the first and second jaw portions 110 to move the
`jaw portions 110 to the approximated position. The actuator
`112 and the jaw closure member 114 define an interlock
`therebetween to produce Simultaneous movement of the
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`actuator 112 and the jaw closure member 114 when the
`actuator 112 is positioned adjacent the distal end portion of
`the body portion 104.
`Reference can be made to U.S. Pat. No. 5,300,081 issued
`to Young et al. On Apr. 5, 1994, the contents of which are
`incorporated herein by reference, for a more detailed expla
`nation of the operation of the body portion components
`during a vessel clip applying procedure. It is provided that
`the hand portion of the vessel clip applying apparatus
`disclosed in the 081 patent is incorporated within the
`Structure and construction of the electro-mechanical assem
`bly 19 of the vessel clip applying DLU device 100 for
`operating the body portion components in the same manner
`as the hand portion operates the body portion components in
`the above-noted 081 patent.
`With reference to FIG. 6A, a first embodiment of a cutting
`DLU device 120 is illustrated for cutting and storing sec
`tions of body tissue. Cutting DLU device 120 includes an
`actuator incorporated within a head portion 122, a body
`portion 124 having an outer tube 126 extending from the
`head portion 122, and a cutting tube 128 positioned within
`the outer tube 126 and movable in response to actuation of
`the electro-mechanical assembly 19 between a retracted
`position and a distal position to cut body tissue. The cutting
`tube 128 has a chamber 130 formed therein for storing the
`cut tissue Sections.
`A release lever is included within the electro-mechanical
`assembly 19 and is movable from a blocking position to
`allow the cutting tube 128 to be removed from the outer tube
`126. An anvil 132 is positioned at a distal end of the outer
`tube 126 for forcing each cut tissue Section proximally into
`the chamber 130 of the cutting tube 128 as the cutting tube
`128 is advanced to cut the body tissue. The electro
`mechanical assembly may include an oscillation assembly
`operatively associated with the cutting tube 128 to harmoni
`cally oscillate the cutting tube 128.
`A second embodiment of a cutting DLU device 140 is
`shown by FIG. 6B. This embodiment includes a scalpel 142
`which can be encased within a cylinder 144 capable of being
`moved proximally and distally. A harmonic oscillator may
`be incorporated within the head portion 146 to harmonically
`oscillate the Scalpel 142. In addition, it is contemplated to
`provide mechanisms within the head portion 146 for rotating
`and longitudinally moving the Scalpel 142.
`With reference to FIG. 7, there is shown a hole-punching
`DLU device 150 for facilitating the formation of an elliptical
`hole in the aorta during a coronary artery bypass grafting
`(CABG) procedure. Hole-punching DLU device 150
`includes a head portion 152 having an actuator therein for
`actuating an actuating rod 154 disposed in body portion 156
`and mounted for longitudinal movement between an unac
`tuated position and an actuated position, and a punch blade
`158 disposed at the distal end of the actuating rod 154.
`The distal end of body portion 156 includes an elliptical
`opening 157 to receive punch blade 158 when the actuating
`rod 154 is moved to the unactuated position. The elliptical
`opening 157 includes a sharp circumference for cutting
`tissue disposed between the distal end of body portion 156
`and the punch blade 158 when the actuating rod 154 is
`moved proximally for forming an elliptical hole in a coro
`nary artery for the performance of the CABG procedure.
`Finally, with reference to FIG. 8, a vascular suturing DLU
`device 180 is illustrated for Suturing vascular tissue sections
`together. Vascular suturing DLU device 180 includes a head
`portion 182 and a body portion 184 extended distally
`therefrom. A pair of needle receiving jaws 186, 188 are
`
`Ethicon Exhibit 2002.012
`Intuitive v. Ethicon
`IPR2018-00934
`
`

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`pivotally mounted at a distal end of the body portion 184 and
`are configured to repeatedly pass a Surgical needle and
`asSociated length of Suture material therebetween. The appa
`ratus further includes needle holding structure 190 mounted
`within the jaws 186 for reciprocal movement into and out of
`needle holding recesses 192 formed in the jaws 186, 188.
`During an anastomosis procedure, the vascular Suturing
`DLU device 180 will advantageously respond to movement
`commands transmitted from the actuation assembly to apply
`fasteners to tissue.
`Reference can be made to U.S. Pat. No. 5,478,344 issued
`to Stone et al. on Dec. 26, 1995, the contents of which are
`incorporated herein by reference, for a more detailed expla
`nation of the operation of the body portion components
`during a vascular Suturing procedure. It is provided that the
`hand portion of the vascular Suturing apparatus disclosed in
`the 344 patent is incorporated within the structure and
`construction of the electro-mechanical assembly 19 of the
`vascular suturing DLU device 180 for operating the body
`portion components in the same manner as the hand portion
`operates the body portion components in the above-noted
`344 patent.
`It is contemplated to have feedback forces initiated by
`preSSure and other parameters indicative of the Surgical task
`being performed by the at least one surgical tool of the DLU
`25
`transmitted back through a microprocessor to a digital-to
`analog circuit board. This force feedback control System
`allows the robotic system to be programmed before the
`Surgical task is performed with guidance, pressure, and other
`parameters which can be continuously monitored to control
`the operation and movement of the DLU and of the at least
`one Surgical tool.
`While the invention has been illustrated and described as
`embodied in an apparatus and method for performing Sur
`gical tasks, it is not intended to be limited to the details
`shown, Since it will be understood that various omissions,
`modifications, Substitutions and changes in the forms and
`details of the device illustrated and its operation can be made
`by those skilled in the art without departing in any way from
`the Spirit or Scope of the appended claims.
`40
`What is claimed is:
`1. A robotic System for performing Surgical tasks com
`prising:
`a) a robotic arm defining a longitudinal axis,
`b) an actuation assembly operatively associated with the
`robotic arm for controlling operation and movement of
`the robotic arm;
`c) a disposable loading unit (DLU) mounted to the robotic
`arm, the DLU including at least one Surgical tool
`member and control means for controlling operation
`and movement of the at least one Surgical tool member,
`the DLU being releasably mounted to the robotic arm
`and defining an electrical interface there with, wherein
`mechanical mounting of the DLU to the robotic arm
`electrically couples the actuation assembly and the
`control means, and wherein mechanical release of the
`DLU and the robotic arm electrically isolates the actua
`tion assembly and the control means.
`2. A robotic System as recited in claim 1, wherein the
`control means includes a processor and a receiver for
`receiving electrical Signals transmitted from the actuation
`assembly to control the operation and movement of the at
`least one Surgical tool member.
`3. A robotic system as recited in claim 1, wherein the DLU
`is electro-mechanically coupled to the robotic arm for elec
`trically operating the DLU and for articulating the DLU with
`respect to the longitudinal axis.
`
`55
`
`8
`4. A robotic System as recited in claim 1, wherein the at
`least one Surgical tool member is Selected from a group
`consisting of a cutting assembly, an aortic hole punch
`assembly, a lasing assembly, a fastener applying assembly, a
`coring assembly, or a vascular Suturing assembly.
`5. A robotic system as recited in claim 1, wherein the DLU
`includes at least one mechanical connector for connecting
`the DLU to the robotic arm.
`6. A robotic system as recited in claim 5, wherein the at
`least one mechanical connector and the robotic arm define
`the electrical interface.
`7. A robotic System for performing Surgical tasks com
`prising:
`a) means for communicating commands in the form of
`electrical Signals from a processor within an actuation
`assembly to an electro-mechanical device having at
`least one Surgical tool member and configured for
`releasably mounting at a distal end of a robotic arm;
`b) control means within the electro-mechanical device
`operatively associated with the communicating means
`for receiving the electrical Signals from the actuation
`assembly for actuating at least one electrical device
`within the electro-mechanical device for controlling the
`operation and movement of the at least one Surgical tool
`member; and
`c) electrical connection means operable to electrically
`isolate the control means and the actuation assembly
`when the electro-mechanical device is mechanically
`released from the robotic arm.
`8. A robotic system as recited in claim 7, wherein the at
`least one Surgical tool member is Selected from a group
`consisting of a cutting assembly, an aortic hole punch
`assembly, a lasing assembly, a coring assembly, or a vascular
`Suturing assembly.
`9. A robotic system as recited in claim 7, wherein the at
`least one Surgical tool member is configured for endoscopic
`Surgical tasks.
`10. A robotic system as recited in claim 7, wherein the at
`least one Surgical tool member is configured for laparo
`Scopic Surgical tasks.
`11. A robotic System for performing Surgical tasks which
`comprises:
`a) means for communicating commands in the form of
`electrical Signals from a processor within an actuation
`assembly to an electro-mechanical device having at
`least one Surgical tool member and configured for
`releasably mounting at a distal end of a robotic arm;
`b) control means within the electro-mechanical device
`operatively associated with the communicating means
`for receiving the electrical Signals from the actuation
`assembly for actuating at least one electrical device
`within the electro-mechanical device for controlling the
`operation and movement of the at least one Surgical tool
`member; and
`c) electrical connection means operable to electrically
`isolate the control means and the actuation assembly
`when the electro-mechanical device is released from
`the robotic arm and being adapted to electrically couple
`the control means and the actuation assembly when the
`electro-mechanical device is mounted to the robotic
`a.
`12. A robotic System for performing Surgical tasks, which
`comprises:
`a frame;
`a robotic arm connected to the frame and movable relative
`to the frame;
`
`35
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`45
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`50
`
`60
`
`65
`
`Ethicon Exhibit 2002.013
`Intuitive v. Ethicon
`IPR2018-00934
`
`

`

`9
`an electro-mechanical device releasably mounted to the
`robotic arm and