Surgical instrument with articulating and axially translatable end effector

• US 10,245,029 B2
• Filed: 02/09/2016
• Issued: 04/02/2019
• Est. Priority Date: 02/09/2016
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Hunter, Morgan R., Schultz, Darwin L., Worthington, Sarah A., Shelton, IV, Frederick E., Weaner, Lauren S., Vendely, Michael J.
• Primary Examiner(s): Long, Robert
• Application Number:
  US15/019,220
• Publication Number:
  US 20170224333A1
• Time in Patent Office: 1,148 Days
• Field of Search: 2271751-1821, 606139, 606142, 606143
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• 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 17/072 for applying a row of staples in a single action , e.g. the staples being applied simultaneously
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/105 Wound clamp magazines for packaging sharps A61B50/3001
• CPC Class Codes: A61B 17/32 Surgical cutting instruments A61B18/042 takes precedence; suture cutters A61B17/0467; instruments for ligaturing or cutting A61B17/128; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00407 Ratchet means
• CPC Class Codes: A61B 2017/00424 ergonomic, e.g. fitting in fist
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable for prosthetic joint-implanting tools A61F2/4603
• CPC Class Codes: A61B 2017/00473 Distal part, e.g. tip or head A61B2017/00464 takes precedence
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/00862 elastic or resilient for sutures A61B2017/0618
• CPC Class Codes: A61B 2017/07271 characterised by its cartridge
• CPC Class Codes: A61B 2017/07278 characterised by its sled or its staple holder
• CPC Class Codes: A61B 2017/07285 characterised by its cutter
• CPC Class Codes: A61B 2017/2908 Multiple segments connected by articulations
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/293 with means preventing relative rotation between the shaft and the actuating rod
• CPC Class Codes: A61B 2017/2936 Pins in guiding slots
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2034/715 : Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2090/0808 : for indicating correct assembly of components, e.g. of the surgical apparatus
• CPC Class Codes: A61B 90/30 : Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure

Abstract

A surgical instrument comprising an elongate shaft assembly that defines a shaft axis. The surgical instrument includes a surgical end effector that has a distal end and a proximal end. The proximal end is pivotally coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to the shaft axis. The surgical end effector is selectively pivotable about the articulation axis from an unarticulated position wherein the distal end of the surgical end effector is located an unarticulated distance from the articulation axis to articulated positions wherein the distal end of the surgical end effector is located a corresponding articulated distance from the articulation axis that is less than the unarticulated distance.

Claims

1. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis;

a surgical end effector comprising a distal end and a proximal end, said proximal end being pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis, said surgical end effector selectively pivotable about said articulation axis from an unarticulated position wherein said distal end of said surgical end effector is located an unarticulated distance from said articulation axis to articulated positions wherein said distal end of said surgical end effector is located a corresponding articulated distance from said articulation axis that is less than said unarticulated distance; and

means for selectively applying articulation motions to said surgical end effector, wherein said means for selectively applying comprises a rotary gear in meshing engagement with said surgical end effector.

2. The surgical instrument of claim 1, wherein said proximal end of said surgical end effector comprises an elliptical gear profile in meshing engagement with said rotary gear.

3. The surgical instrument of claim 2, wherein said means for selectively applying comprises a selectively axially moveable distal articulation driver that operably interfaces with said rotary gear.

4. The surgical instrument of claim 3, further comprising:

a drive slot in said selectively axially movable distal articulation driver; and

a drive pin attached to said rotary gear and slidably received in said drive slot.

5. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis;

a surgical end effector comprising a distal end and a proximal end, said proximal end being pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis, said surgical end effector selectively pivotable about said articulation axis from an unarticulated position wherein said distal end of said surgical end effector is located an unarticulated distance from said articulation axis to articulated positions wherein said distal end of said surgical end effector is located a corresponding articulated distance from said articulation axis that is less than said unarticulated distance; and

means for selectively applying articulation motions to said surgical end effector, wherein said means for selectively applying comprises;

a central articulation link supported for rotational travel about said articulation axis;

a selectively axially movable articulation driver interfacing with said central articulation link at a first location on a first side of said shaft axis; and

an articulation drive link comprising a first end coupled to said surgical end effector and a second end coupled to said central articulation link at a second location on a second side of said shaft axis.

6. The surgical instrument of claim 5, wherein said means for selectively applying comprises:

a central articulation gear supported for travel about said articulation axis; and

a gear profile on said second end of said articulation drive link, said gear profile in meshing engagement with said central articulation gear.

7. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis;

a surgical end effector comprising a distal end and a proximal end, said proximal end being movably coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis and translational travel relative to said articulation axis; and

an articulation system operably interfacing with said surgical end effector to selectively apply articulation motions thereto, wherein said articulation system comprises;

a rotary gear in meshing engagement with said surgical end effector; and

means for rotating said rotary gear.

8. The surgical instrument of claim 7, further comprising an elliptical gear segment on said proximal end of said surgical end effector in meshing engagement with said rotary gear.

9. The surgical instrument of claim 7, wherein said means for rotating said rotary gear comprises:

a selectively axially moveable distal articulation driver comprising a drive slot; and

a drive pin attached to said rotary gear and slidably received in said drive slot.

10. The surgical instrument of claim 9, wherein said drive slot is transverse to said shaft axis.

11. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis;

a surgical end effector comprising a distal end and a proximal end, said proximal end being movably coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis and translational travel relative to said articulation axis; and

an articulation system operably interfacing with said surgical end effector to selectively apply articulation motions thereto, wherein said surgical end effector is configured to cut and staple tissue.

12. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis;

a surgical end effector comprising a distal end and a proximal end, said proximal end being movably coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis and translational travel relative to said articulation axis; and

an articulation system operably interfacing with said surgical end effector to selectively apply articulation motions thereto, wherein said articulation system comprises;

a central articulation link supported for rotational travel about said articulation axis;

a selectively axially movable articulation driver interfacing with said central articulation link at a first location on a first side of said shaft axis; and

an articulation drive link comprising a first end coupled to said surgical end effector and a second end coupled to said central articulation link at a second location on a second side of said shaft axis.

13. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis; and

a surgical end effector configured to cut and staple tissue, wherein said surgical end effector comprises;

a distal end; and

a proximal end pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis;

wherein said surgical end effector is selectively pivotable about said articulation axis between an unarticulated position and a plurality of articulated positions, wherein said distal end is located an unarticulated distance from said articulation axis in said unarticulated position of said surgical end effector, wherein said distal end is located a corresponding articulated distance from said articulation axis in each said articulated position of said surgical end effector, and wherein each said corresponding articulated distance is less than said unarticulated distance.

14. The surgical instrument of claim 13, further comprising a rotary gear in meshing engagement with said surgical end effector.

15. The surgical instrument of claim 14, wherein said proximal end comprises an elliptical gear profile in meshing engagement with said rotary gear.

16. The surgical instrument of claim 15, further comprising:

a selectively axially moveable distal articulation driver that operably interfaces with said rotary gear;

a drive slot in said selectively axially movable distal articulation driver; and

a drive pin attached to said rotary gear and slidably received in said drive slot.

17. A surgical instrument, comprising:

an elongate shaft assembly comprising a distal shaft portion, wherein said elongate shaft assembly defines a shaft axis; and

a surgical end effector configured to cut and staple tissue, wherein said surgical end effector comprises a distal end and a proximal end, wherein said surgical end effector defines an end effector axis, wherein said proximal end is movably coupled to said distal shaft portion for selective travel between an unarticulated position, in which said end effector axis is aligned with said shaft axis, and articulated positions, in which said end effector axis is transverse to said shaft axis, wherein said distal end is located an unarticulated distance from said distal shaft portion in said unarticulated position of said surgical end effector, wherein said distal end is located a corresponding articulated distance from said distal shaft portion in each said articulated position of said end effector, and wherein each said corresponding articulated distance is less than said unarticulated distance.

18. The surgical instrument of claim 17, further comprising a rotary gear in meshing engagement with said surgical end effector.

19. The surgical instrument of claim 18, wherein said proximal end comprises an elliptical gear profile in meshing engagement with said rotary gear.

20. The surgical instrument of claim 19, further comprising:

a selectively axially moveable distal articulation driver that operably interfaces with said rotary gear;

a drive slot in said selectively axially movable distal articulation driver; and

a drive pin attached to said rotary gear and slidably received in said drive slot.