Articulatable surgical instrument with independent pivotable linkage distal of an articulation lock

• US 10,603,036 B2
• Filed: 12/21/2016
• Issued: 03/31/2020
• Est. Priority Date: 12/21/2016
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Hunter, Morgan R., Wise, Austin E., Schultz, Darwin L., Shelton, IV, Frederick E.
• Primary Examiner(s): Long, Robert F
• Application Number:
  US15/385,933
• Publication Number:
  US 20180168580A1
• Time in Patent Office: 1,196 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 17/0682 for applying U-shaped staples or clamps, e.g. without a forming anvil
• 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 17/2816 Pivots
• CPC Class Codes: A61B 17/2833 Locking means
• CPC Class Codes: A61B 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable
• CPC Class Codes: A61B 2017/00469 for insertion of instruments, e.g. guide wire, optical fibre
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/00818 Treatment of the gastro-intestinal system
• CPC Class Codes: A61B 2017/07214 Stapler heads
• CPC Class Codes: A61B 2017/07221 curved
• CPC Class Codes: A61B 2017/07228 Arrangement of the staples
• CPC Class Codes: A61B 2017/07235 containing different staples, e.g. staples of different shapes, sizes or materials
• CPC Class Codes: A61B 2017/07242 : achieving different staple heights during the same shot, e.g. using an anvil anvil having different heights or staples of different sizes
• CPC Class Codes: A61B 2017/0725 : with settable gap between anvil and cartridge, e.g. for different staple heights at different shots
• CPC Class Codes: A61B 2017/07257 : characterised by its anvil
• CPC Class Codes: A61B 2017/07264 : characterised by its staple forming cavities, e.g. geometry or material
• 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 2017/2912 : transmission of forces to actuating rod or piston
• CPC Class Codes: A61B 2017/2927 : the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 : with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2933 : camming or guiding means
• CPC Class Codes: A61B 2017/2934 : arcuate shaped guiding means
• CPC Class Codes: A61B 2017/2936 : Pins in guiding slots
• CPC Class Codes: A61B 2017/2937 : with flexible part
• CPC Class Codes: A61B 2017/2939 : Details of linkages or pivot points
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2946 : Locking means
• CPC Class Codes: A61B 2017/2947 : Pivots
• CPC Class Codes: A61B 2090/032 : pressure limiting, e.g. hydrostatic
• CPC Class Codes: A61B 2090/034 : abutting on parts of the device itself
• CPC Class Codes: A61B 2090/037 : with a frangible part, e.g. by reduced diameter
• CPC Class Codes: A61B 2090/0808 : for indicating correct assembly of components, e.g. of the surgical apparatus
• CPC Class Codes: A61B 2090/0811 : for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• CPC Class Codes: A61B 2090/0814 : Preventing re-use
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 90/92 : coded with colour
• CPC Class Codes: A61B 90/94 : coded with symbols, e.g. text

Abstract

A surgical tool assembly that includes a elongate shaft assembly that defines a shaft axis. A surgical end effector is movably coupled to the elongate shaft assembly by a distal support link that is pivotally coupled to the surgical end effector to define an articulation axis that is transverse to the shaft axis. The distal support link is pivotally and axially movably coupled to the elongate shaft assembly to facilitate selective articulation of the surgical end effector relative to the elongate shaft assembly about the articulation axis between a first unarticulated position and articulation position located on one side of the shaft axis.

Claims

1. A surgical tool assembly, comprising:

an elongate shaft assembly defining a shaft axis;

a surgical end effector movably coupled to said elongate shaft assembly by a distal support link that is pivotally coupled to said surgical end effector to define an articulation axis that is transverse to said shaft axis, wherein said distal support link is axially aligned with said shaft axis when said surgical end effector is in a first unarticulated position, and wherein said distal support link is pivotally and axially movably coupled to said elongate shaft assembly for axial movement relative thereto along said shaft axis to enable said surgical end effector to be articulated relative to said elongate shaft assembly about said articulation axis between said first unarticulated position wherein said surgical end effector is aligned with said elongate shaft assembly along said shaft axis and articulated positions located on one side of said shaft axis; and

a distal articulation member pivotally coupled to said surgical end effector and configured to axially move on said one side of said shaft axis in response to articulation motions applied thereto by a source of said articulation motions to thereby articulate said end effector between said first unarticulated position and said articulated positions.

2. The surgical tool assembly of claim 1, wherein said distal support link comprises:

a distal end pivotally coupled to said surgical end effector for pivotal travel about said articulation axis; and

a proximal end comprising a proximal axial slot configured to receive a corresponding articulation pin therein that is attached to a distal end of said elongate shaft assembly.

3. The surgical tool assembly of claim 1, further comprising:

a proximal articulation member operably interfacing with said source of articulation motions; and

an articulation lock assembly operably coupled to said proximal articulation member and a proximal end of said distal articulation member to selectively lock said distal articulation member in an axial position.

4. The surgical tool assembly of claim 3, wherein said proximal end of said distal articulation member is pivotally coupled to said articulation lock assembly.

5. The surgical tool assembly of claim 1, wherein said distal support link is pivotally and axially movably coupled to a distal spine member of said elongate shaft assembly.

6. The surgical tool assembly of claim 1, wherein said surgical end effector comprises:

an elongate channel configured to operably support a surgical staple cartridge therein; and

an anvil movably supported on said elongate channel for selective movement relative thereto between an open position and closed positions.

7. The surgical tool assembly of claim 6, wherein said elongate channel is pivotally coupled to said distal support link by an end effector mounting assembly coupled to said elongate channel.

8. The surgical tool assembly of claim 1, wherein said distal articulation member is configured to axially move in first and second axial directions such that when said distal articulation member is moved in said first axial direction, said surgical end effector is articulated in a first articulation direction from said first unarticulated position to any one of said articulation positions and when said distal articulation member is axially moved in said second axial direction, said surgical end effector is moved in a second articulation direction from said any one of said articulation positions to said first unarticulated position.

9. The surgical tool assembly of claim 8, further comprising means for preventing movement of said surgical end effector in said second articulation direction beyond said first unarticulated position when said distal articulation member is moved in said second axial direction.

10. A surgical tool assembly, comprising:

an elongate shaft assembly defining a shaft axis;

a surgical end effector, comprising;

an elongate channel configured to operably support a surgical staple cartridge therein; and

an anvil supported for movable travel relative to said surgical staple cartridge, wherein said surgical tool assembly further comprises;

a distal support link axially aligned on said shaft axis and pivotally coupled to said elongate channel to define an articulation axis that is transverse to said shaft axis, wherein said elongate channel may articulate relative to the elongate shaft assembly about said articulation axis, wherein said distal support link is attached to a distal end of said elongate shaft assembly for axial and pivotal travel relative thereto along said shaft axis; and

a distal articulation member supported for axial travel on one side of said shaft axis, wherein said distal articulation member is pivotally coupled to said elongate channel and operably interfaces with a source of articulation motions.

11. The surgical tool assembly of claim 10, wherein a proximal end of said distal support link comprises a proximal axial slot that is configured to receive a corresponding articulation pin therein that is attached to said distal end of said elongate shaft assembly.

12. The surgical tool assembly of claim 10, further comprising:

a proximal articulation member operably interfacing with said source of articulation motions; and

an articulation lock assembly operably coupled to said proximal articulation member and a proximal end of said distal articulation member to selectively lock said distal articulation member in an axial position.

13. The surgical tool assembly of claim 12, wherein said proximal end of said distal articulation member is pivotally coupled to said articulation lock assembly.

14. The surgical tool assembly of claim 10, wherein said distal support link is pivotally and axially movably coupled to a distal spine member of said elongate shaft assembly.

15. The surgical tool assembly of claim 10, wherein said distal articulation member is configured to move in first and second axial directions such that when said distal articulation member is moved in said first axial direction, said surgical end effector is articulated in a first articulation direction from a first unarticulated position to an articulation position relative to said shaft axis and when said distal articulation member is moved in said second axial direction, said surgical end effector is moved in a second articulation direction from said articulation position to said first unarticulated position.

16. The surgical tool assembly of claim 15, further comprising means for preventing movement of said surgical end effector in said second articulation direction beyond said first unarticulated position when said distal articulation member is moved in said second axial direction.