Surgical instrument articulation mechanism with slotted secondary constraint

• US 10,413,291 B2
• Filed: 02/09/2016
• Issued: 09/17/2019
• Est. Priority Date: 02/09/2016
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Worthington, Sarah A., Shelton, IV, Frederick E., Hunter, Morgan R., Weaner, Lauren S., Vendely, Michael J.
• Primary Examiner(s): Lopez, Michelle
• Assistant Examiner(s): Rushing-Tucker, Chinyere J
• Application Number:
  US15/019,196
• Publication Number:
  US 20170224330A1
• Time in Patent Office: 1,316 Days
• Field of Search: 2271751
• 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
• 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
• 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 that comprises an elongate shaft assembly that defines a shaft axis. A surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to the shaft axis. First and second articulation drivers are supported for selective longitudinal travel relative to the elongate shaft assembly. A first end effector link is movably coupled to the surgical end effector and is coupled to the first articulation driver for axial and pivotal travel relative thereto. A second end effector link is movably coupled to the surgical end effector and is coupled to the second articulation driver for axial and pivotal travel relative thereto.

Claims

1. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis;

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

an articulation system, comprising;

a first articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction;

a first end effector link movably coupled to said surgical end effector, said first end effector link coupled to said first articulation driver for axial and pivotal travel relative thereto;

a second articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in said distal and proximal directions; and

a second end effector link movably coupled to said surgical end effector, said second end effector link coupled to said second articulation driver for axial and pivotal travel relative thereto, wherein said first end effector link and said second end effector link are configured to move relative to each other.

2. The surgical instrument of claim 1, wherein said first end effector link is coupled to said first articulation driver by a first coupler member received within a first axial slot in said first articulation driver for selective axial travel therein and wherein said second end effector link is coupled to said second articulation driver by a second coupler member received within a second axial slot in said second articulation driver.

3. The surgical instrument of claim 2, wherein said first axial slot is parallel to said shaft axis and wherein said second axial slot is parallel to said shaft axis.

4. The surgical instrument of claim 1, wherein said first articulation driver is supported for selective longitudinal travel along a first articulation axis that extends along one lateral side of said shaft axis and wherein said second articulation driver is supported for selective longitudinal travel along a second articulation axis that extends along another lateral side of said shaft axis.

5. The surgical instrument of claim 1, wherein said surgical end effector is configured to pivot about said articulation axis through a first range of articulation angles on a first lateral side of said shaft axis and through a second range of articulation angles on a second lateral side of said shaft axis.

6. The surgical instrument of claim 5, wherein said first range of articulation angles is between one degree and sixty five degrees and wherein said second range of articulation angles is between one degree and sixty five degrees.

7. The surgical instrument of claim 1, wherein said surgical end effector comprises a firing member configured for axial travel within said surgical end effector and wherein said elongate shaft assembly further comprises an axially movable firing beam that operably interfaces with said firing member and is selectively movable in said distal direction in response to an application of a firing motion thereto and in said proximal direction in response to a retraction motion applied thereto.

8. The surgical instrument of claim 1, wherein said first end effector link is curved and wherein said second end effector link is curved.

9. The surgical instrument of claim 1, further comprising a staple cartridge.

10. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis;

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

an articulation system, comprising;

a first articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction;

a first end effector link movably coupled to said surgical end effector, said first end effector link coupled to said first articulation driver for axial and pivotal travel relative thereto;

a second articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in said distal and proximal directions; and

a second end effector link movably coupled to said surgical end effector, said second end effector link coupled to said second articulation driver for axial and pivotal travel relative thereto, wherein said first end effector link is coupled to said first articulation driver by a first coupler member received within a first axial slot in said first articulation driver for selective axial travel therein, wherein said second end effector link is coupled to said second articulation driver by a second coupler member received within a second axial slot in said second articulation driver, wherein said first coupler member comprises a first pin sized to rotate and move axially within said first axial slot and wherein said second coupler member comprises a second pin sized to rotate and move axially within said second axial slot.

11. The surgical instrument of claim 10, further comprising a staple cartridge.

12. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis;

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

an articulation system, comprising;

a first articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction;

a first end effector link pivotably coupled to said surgical end effector, said first end effector link coupled to said first articulation driver at a first attachment point;

a second articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in said distal and proximal directions;

a second end effector link pivotably coupled to said surgical end effector, said second end effector link coupled to said second articulation driver at a second attachment point;

first means for constraining travel of said first attachment point to a first path having a first predetermined shape and a first length; and

second means for constraining travel of said second attachment point to a second path having a second predetermined shape and a second length, wherein said first end effector link and said second end effector link are configured to rotate relative to each other.

13. The surgical instrument of claim 12, wherein said first means for constraining comprises a first axial slot in a first distal end of said first articulation driver and wherein said second means for constraining comprises a second axial slot in a second distal end of said second articulation driver.

14. The surgical instrument of claim 13, wherein said first and second axial slots are parallel to each other.

15. The surgical instrument of claim 13, wherein said first and second lengths are equal to each other.

16. The surgical instrument of claim 12, wherein said first end effector link is pivotable about said first attachment point and wherein said second end effector link is pivotable about said second attachment point.

17. The surgical instrument of claim 12, wherein said surgical end effector is configured to pivot about said articulation axis through a first range of articulation angles on a first lateral side of said shaft axis and through a second range of articulation angles on a second lateral side of said shaft axis.

18. The surgical instrument of claim 17, wherein said first range of articulation angles is between one degree and sixty five degrees and wherein said second range of articulation angles is between one degree and sixty five degrees.

19. The surgical instrument of claim 12, further comprising a staple cartridge.

20. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis;

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

an articulation system, comprising;

a first articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction;

a first curved end effector link pivotably coupled to said surgical end effector and movably coupled to said first articulation driver;

a first pin protruding from said first curved end effector link and being movably received in a first axial slot in said first articulation driver;

a second articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in said distal and proximal directions;

a second curved end effector link pivotably coupled to said surgical end effector and movably coupled to said second articulation driver; and

a second pin protruding from said second curved end effector link and being movably received in a second axial slot in said second articulation driver, wherein said first curved end effector link and said second curved end effector link are orientable relative to each other.

21. The surgical instrument of claim 20, wherein said surgical end effector comprises a firing member configured for axial travel within said surgical end effector and wherein said elongate shaft assembly further comprises an axially movable firing beam that operably interfaces with said firing member and is selectively movable in said distal direction in response to an application of a firing motion thereto and in said proximal direction in response to a retraction motion applied thereto.

22. The surgical instrument of claim 20, further comprising a staple cartridge.

23. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis;

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

an articulation system, comprising;

a first articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction;

a first curved end effector link pivotably coupled to said surgical end effector and movably coupled to said first articulation driver;

a first pin protruding from said first curved end effector link and being movably received in a first axial slot in said first articulation driver;

a second articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in said distal and proximal directions;

a second curved end effector link pivotably coupled to said surgical end effector and movably coupled to said second articulation driver; and

a second pin protruding from said second curved end effector link and being movably received in a second axial slot in said second articulation driver, wherein said first pin is rotatable within said first axial slot, and wherein said second pin is rotatable in said second axial slot.

24. The surgical instrument of claim 23, further comprising a staple cartridge.

25. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis;

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

an articulation system, comprising;

a first articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction;

a first curved end effector link pivotably coupled to said surgical end effector and movably coupled to said first articulation driver;

a first pin protruding from said first curved end effector link and being movably received in a first axial slot in said first articulation driver;

a second articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in said distal and proximal directions;

a second curved end effector link pivotably coupled to said surgical end effector and movably coupled to said second articulation driver; and

a second pin protruding from said second curved end effector link and being movably received in a second axial slot in said second articulation driver, wherein said first pin is rotatable within said first axial slot, wherein said second pin is rotatable in said second axial slot, and wherein said first and second axial slots are parallel to each other.

26. The surgical instrument of claim 25, further comprising a staple cartridge.