ELECTROACTIVE POLYMER-BASED ARTICULATION MECHANISM FOR MULTI-FIRE SURGICAL FASTENING INSTRUMENT

• US 20060047305A1
• Filed: 09/30/2005
• Published: 03/02/2006
• Est. Priority Date: 07/28/2004
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Ortiz, Mark S., Shelton, Frederick E. IV, Swayze, Jeffrey S., Hueil, Joseph Charles
• Granted Patent: US 7,914,551 B2
• Time in Patent Office: Days
• US Class Current: 606/219
• 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 17/0684 having a forming anvil staying above the tissue during stapling
• CPC Class Codes: A61B 17/10 for applying or removing wound clamps, e.g. containing only one clamp or staple A61B17/076 takes precedence; containing multiple wound clamps A61B17/068; Wound clamp magazines containers, packaging elements or packages specially adapted for particular articles or with special means for dispensing contents B65D83/00, B65D85/00
• CPC Class Codes: A61B 17/128 for applying or removing clamps or clips
• CPC Class Codes: A61B 17/1285 for minimally invasive surgery
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00871 polymeric
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2946 Locking means

Abstract

Methods and devices are provided for effecting movement of one or more components of a multifire device, such as a clip applier, hernia tacker, or skin stapler. In one exemplary embodiment, a surgical fastening instrument is provided having an elongate shaft with an end effector coupled thereto and adapted to apply one or more surgical fasteners to tissue. An electrically expandable and contractible actuator, such as an electroactive polymer actuator, can be used to drive a fastener advancing or forming assembly through the elongate shaft, thereby driving a surgical fastener into tissue. In another embodiment, an electrically expandable and contractible actuator, such as an electroactive polymer actuator, can be used to effect movement of an articulation joint formed between the elongate shaft and the end effector.

Claims

1. A surgical fastener delivery device, comprising:

an elongate shaft;

an end effector movably coupled to the elongate shaft by an articulation joint, the end effector being configured to sequentially deliver a plurality of fasteners to tissue; and

an electroactive polymer actuator coupled to the articulation joint and adapted to move the end effector about the articulation joint relative to the elongate shaft when energy is delivered to the electroactive polymer actuator.

2. The device of claim 1, wherein the elongate shaft includes a slide bar extending therethrough and having a distal end coupled to the articulation joint, the electroactive polymer actuator being configured to move the slide bar laterally to effect movement of the end effector.

3. The device of claim 2, wherein the electroactive polymer actuator comprises first and second electroactive polymer actuators disposed on opposed sides of the slide bar.

4. The device of claim 2, wherein the slide bar includes gears formed on a distal end thereof and adapted to engage corresponding gears formed in the articulation joint.

5. The device of claim 1, wherein the articulation joint comprises a pivot joint, and the electroactive polymer actuator comprises a first electroactive polymer actuator extending between a first side of the end effector and a first side of the elongate shaft, and a second electroactive polymer actuator extending between a second opposed side of the end effector and a second opposed side of the elongate shaft.

6. The device of claim 1, wherein the articulation joint comprises a flexible portion formed between the elongate shaft and the end effector.

7. The device of claim 6, wherein the electroactive polymer actuator comprises a plurality of electroactive polymer actuators coupled to the flexible portion at distinct locations, each of the plurality of electroactive polymer actuators being configured to change orientations when energy is selectively delivered thereto to flex the flexible portion.

8. The device of claim 1, further comprising a fastener advancing assembly disposed through the elongate shaft and adapted to sequentially advance a plurality of fasteners into the end effector.

9. The device of claim 1, wherein the end effector includes opposed jaws adapted to receive a fastener in the form of a clip therebetween.

10. The device of claim 1, wherein the end effector comprises a stapling mechanism for stapling tissue.

11. The device of claim 1, wherein the end effector comprises a stapling mechanism for stapling tissue.

12. A method for fastening tissue, comprising:

inserting an elongate shaft of a fastener delivery device into a body lumen to position an end effector movably coupled to a distal end of the elongate shaft adjacent to a surgical site;

delivering energy to an electroactive polymer actuator to angularly position the end effector relative to the elongate shaft; and

sequentially actuating the device to sequentially deliver a plurality of fasteners to tissue disposed adjacent to the end effector.

13. The method of claim 12, wherein delivering energy to the electroactive polymer actuator radially expands the electroactive polymer actuator to move a slide bar, extending through the elongate shaft and coupled to an articulation joint formed between the elongate shaft and the end effector, laterally and thereby effect pivotal movement of the end effector.

14. The method of claim 12, wherein delivering energy to the electroactive polymer actuator axially expands the electroactive polymer actuator to move a slide bar, extending through the elongate shaft and coupled to an articulation joint formed between the elongate shaft and the end effector, laterally and thereby effect pivotal movement of the end effector.

15. The method of claim 12, wherein delivering energy comprises delivering energy to a first electroactive polymer actuator to move the end effector in a first direction, and delivering energy to a second electroactive polymer actuator to move the end effector in a second, opposed direction.

16. The method of claim 12, wherein an amount of energy delivered to the electroactive polymer actuator corresponds to a degree of movement of the end effector.

17. The method of claim 12, wherein delivering energy to an electroactive polymer actuator angularly positions the end effector relative to the elongate shaft by flexing a flexible portion extending between the elongate shaft and the end effector.

18. The method of claim 12, wherein sequentially actuating the device to sequentially deliver a plurality of fasteners to tissue disposed adjacent to the end effector comprises actuating a fastener advancing assembly to sequentially drive a plurality of fasteners through the elongate shaft.

19. The method of claim 12, wherein sequentially actuating the device comprises sequentially driving a plurality of staples into tissue.

20. The method of claim 12, wherein sequentially actuating the device comprises sequentially deforming a plurality of clips around tissue.