Articulatable surgical device

• US 10,070,861 B2
• Filed: 12/09/2014
• Issued: 09/11/2018
• Est. Priority Date: 03/23/2006
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Spivey, James T., Ortiz, Mark S., Shelton, IV, Frederick E.
• Primary Examiner(s): Fishback, Ashley
• Application Number:
  US14/564,338
• Publication Number:
  US 20150090759A1
• Time in Patent Office: 1,372 Days
• CPC Class Codes: A61B 1/00042 for mechanical operation
• CPC Class Codes: A61B 1/0052 Constructional details of control elements, e.g. handles
• CPC Class Codes: A61B 1/0057 Constructional details of force transmission elements, e.g. control wires
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/32002 with continuously rotating, oscillating or reciprocating cutting instruments
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/0042 with special provisions for gripping
• CPC Class Codes: A61B 2017/2905 flexible
• CPC Class Codes: A61B 2017/291 the position of the handle being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2919 details of linkages or pivot points
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2947 Pivots
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation

Abstract

A surgical device for stapling patient tissue is disclosed. The surgical device comprises a housing, a rotator operably supported in the housing, and an elongate shaft operably coupled to and extending from the housing. The elongate shaft defines a shaft axis and includes a flexible shaft portion. The surgical device further comprises an end effector operably coupled to the flexible shaft portion. The end effector comprises a staple cartridge and a firing member which is displaced distally to staple the patient tissue in response to at least one actuation motion applied at the housing. The surgical device further comprises a flexible actuator extending along the shaft axis such that selective actuation of the flexible actuator causes articulation of the end effector. The flexible actuator is operably coupled between the end effector and the rotator. The firing member extends through the elongate shaft.

Claims

1. A surgical device for stapling patient tissue, comprising:

a handle;

a rotator operably supported in said handle;

an elongate shaft operably coupled to and extending from said handle, wherein said elongate shaft defines a shaft axis and includes a flexible shaft portion;

an end effector operably coupled to said flexible shaft portion, wherein said end effector comprises a staple cartridge and a firing member which is displaceable distally to staple the patient tissue in response to at least one actuation motion applied at said handle; and

a flexible actuator extending along said shaft axis such that selective actuation of said flexible actuator causes articulation of said end effector, wherein said flexible actuator is operably coupled between said end effector and said rotator, and wherein said firing member extends through said elongate shaft.

2. The surgical device of claim 1, wherein said handle is electrically, hydraulically, pneumatically, or manually powered.

3. The surgical device of claim 1, wherein said end effector comprises a first jaw and a second jaw movably supported relative to said first jaw, and wherein one or more of said first jaw and said second jaw is movably responsive to an opening motion and a closing motion generated at said handle.

4. The surgical device of claim 3, wherein said handle comprises a translating member operably interfacing with at least one of said first jaw and said second jaw, and wherein said translating member is movable to generate said opening motion and said closing motion.

5. The surgical device of claim 1, wherein said end effector comprises a driver mechanism, and wherein said handle comprises a rotating member configured to actuate said driver mechanism in response to an applied rotating motion.

6. The surgical device of claim 5, wherein said rotating member is further configured to rotate said end effector relative to said flexible shaft portion without actuating said driver mechanism.

7. The surgical device of claim 1, wherein said rotator is one of a plurality of rotators operably supported in said handle, wherein said flexible actuator is one of a plurality of flexible actuators extending along said shaft axis, and wherein each of said flexible actuators is operably coupled between said end effector and a respective rotator to form a plurality of actuatable control systems.

8. The surgical device of claim 7, wherein selective actuation of said plurality of flexible actuators causes articulation of said end effector in at least two planes of motion relative to said elongate shaft.

9. The surgical device of claim 8, wherein the selective actuation of said plurality of flexible actuators causes articulation of said end effector that mimics movement of said handle.

10. The surgical device of claim 8, wherein the selective actuation of said plurality of flexible actuators causes articulation of said end effector that mirrors movement of said handle.

11. The surgical device of claim 7, further comprising a locking mechanism configured to lock at least one of said handle and one or more of said plurality of flexible actuators to maintain said end effector in a desired articulated position.

12. The surgical device of claim 7, wherein each of said rotators comprises a spool rotatably supported by said handle, wherein each said flexible actuator is coupled to the spool of its respective rotator, and wherein the selective actuation of a said flexible actuator comprises winding up or releasing the flexible actuator from the spool of its respective rotator.

13. The surgical device of claim 12, wherein said plurality of flexible actuators comprises a first flexible actuator coupled between said end effector and a first spool of a first rotator and a second flexible actuator coupled between said end effector and a second spool of a second rotator, wherein said first flexible actuator and said second flexible actuator are wound in opposite directions around said first spool and said second spool respectively such that rotation of said first spool and said second spool causes articulation of said end effector in a corresponding direction within a plane of motion.

14. A surgical device for stapling patient tissue, comprising:

a handle;

a rotator operably supported by said handle;

an end effector comprising a staple cartridge and a firing member which is displaceable distally to staple the patient tissue in response to at least one rotary control motion applied at said handle;

an elongate shaft operably coupled to and extending between said handle and said end effector, wherein said elongate shaft defines a shaft axis and includes a flexible shaft portion;

a rotary drive shaft operably interfacing with said end effector to transfer said at least one rotary control motion to said end effector;

a rotary actuator operably supported by said handle and operably interfacing with said rotary drive shaft; and

a flexible actuator extending along said shaft axis such that selective actuation of said flexible actuator causes articulation of said end effector, wherein said flexible actuator is operably coupled between said end effector and said rotator, and wherein said firing member extends through said elongate shaft.

15. The surgical device of claim 14, wherein said rotator is one of a plurality of rotators operably supported in said handle, wherein said flexible actuator is one of a plurality of flexible actuators extending along said shaft axis, and wherein each of said flexible actuators is operably coupled between said end effector and a respective rotator to form a plurality of actuatable control systems.

16. The surgical device of claim 15, wherein at least one respective rotator comprises a motor.

17. The surgical device of claim 15, wherein selective actuation of said plurality of flexible actuators causes articulation of said end effector in at least two planes of motion relative to said elongate shaft.

18. The surgical device of claim 15, further comprising a locking mechanism configured to lock at least one of said handle and one or more of said plurality of flexible actuators to maintain said end effector in a desired articulated position.

19. The surgical device of claim 15, wherein each of said rotators comprises a spool rotatably supported by said handle, wherein each said flexible actuator is coupled to the spool of its respective rotator, and wherein the selective actuation of a said flexible actuator comprises winding up or releasing the flexible actuator from the spool of its respective rotator.

20. The surgical device of claim 14, wherein said rotary actuator is actuated by a motor supported by said handle.

21. The surgical device of claim 20, wherein said motor is remotely controlled.

22. The surgical device of claim 14, wherein said end effector comprises a driver mechanism, and wherein said driver mechanism is configured to actuate in response to said at least one rotary control motion being applied at said rotary actuator.

23. The surgical device of claim 22, wherein said rotary actuator is further configured to rotate said end effector relative to said flexible shaft portion without actuating said driver mechanism.

24. A surgical device for stapling patient tissue, comprising:

a housing;

a rotator operably supported in said housing;

an elongate shaft operably coupled to and extending from said housing, wherein said elongate shaft defines a shaft axis and includes a flexible shaft portion;

an end effector operably coupled to said flexible shaft portion, wherein said end effector comprises a staple cartridge and a firing member which is displaced distally to staple the patient tissue in response to at least one actuation motion applied at said housing; and

a flexible actuator extending along said shaft axis such that selective actuation of said flexible actuator causes articulation of said end effector, wherein said flexible actuator is operably coupled between said end effector and said rotator, and wherein said firing member extends through said elongate shaft.