Surgical instrument incorporating a fluid transfer controlled articulation mechanism

• US 20060190028A1
• Filed: 02/18/2005
• Published: 08/24/2006
• Est. Priority Date: 02/18/2005
• Status: Active Grant

• Current Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Boudreaux, Chad P., Wales, Kenneth S.
• Granted Patent: US 7,559,450 B2
• Time in Patent Office: Days
• US Class Current: 606/205
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• 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 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 2017/00309 Cut-outs or slits
• CPC Class Codes: A61B 2017/00557 inflatable A61B2017/22051 takes precedence
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft

Abstract

A surgical instrument particularly suited to endoscopic use articulates an end effector by including a fluid transfer articulation mechanism that is proximally controlled. A fluid control, which is attached to a proximal portion, transfers fluid through the elongate shaft through a first fluid passage to a first fluid actuator that responds by articulating an articulation joint. Two opposing fluid actuators may respond to differential fluid transfer to effect articulation. Thereby, design flexibility is achieved by avoiding the design constraints of transferring a mechanical motion through the tight confines of the elongate shaft sufficient to effect articulation.

Claims

1. A surgical instrument, comprising:

a proximal portion configured for manipulation external to a patient;

an elongate shaft attached to the proximal portion;

an end effector;

an articulation joint attaching the end effector to the elongate shaft;

a fluid control attached to the proximal portion operably configured to transfer fluid through the elongate shaft through a first fluid passage; and

a first fluid actuator in fluid communication with the first fluid passage and responsive to the fluid transferred by the fluid control to actuate the articulation joint.

2. The surgical instrument of claim 1, wherein the fluid control is further configured to transfer in an opposite sense fluid through a second fluid passage, the surgical instrument further comprising a second fluid actuator in fluid communication with the second fluid passage and response to fluid transferred by the fluid control to assist the first fluid actuator to actuate the articulation joint.

3. The surgical instrument of claim 2, further comprising:

a slide bar constrained for lateral movement within the elongate shaft;

a distal end of the slide bar positioned in the articulation joint; and

a proximal surface of the end effector engaged to the distal end of the articulation movement for converting a lateral motion of the slide bar to a pivoting motion of the end effector;

wherein the first fluid actuator comprises a first bladder positioned to a first lateral side of the actuating member in the elongate shaft and the second fluid actuator comprises a second bladder positioned to an opposing second lateral side of the actuating member in the elongate shaft.

4. The articulation instrument of claim 3, wherein the articulation member includes a proximal portion comprising oppositely projecting first and second distal pistons that laterally move within respective first and second distal cylinders that communicate respectively with the first and second fluid passages.

5. The surgical instrument of claim 3, wherein the fluid control comprises:

a first fluid reservoir in communication with the first fluid passage;

a second fluid reservoir in communication with the second fluid passage; and

a lateral actuator operatively configured to compress a selected one of the first and second fluid reservoirs while allowing the unselected one of the first and second fluid actuators to expand in response to compressive forces on the second bladder.

6. The surgical instrument of claim 5, wherein first and second fluid reservoirs comprise respective piston cylinders, the articulation control comprising respective first and second pistons received for movement in the first and second piston cylinders.

7. The surgical instrument of claim 5, wherein the articulation control comprises a means for differentially compressing the first and second fluid reservoirs.

8. The surgical instrument of claim 3, wherein the fluid control comprises:

a fluid reservoir in communication with the first fluid passage and the second fluid passage;

a movable sealing surface separating the fluid reservoir into first and second reservoir portions; and

a lateral actuator operatively configured to move the movable sealing surface to differentially adjust a fluid volume for each of the first and second reservoir portions.

9. The surgical instrument of claim 8, wherein the lateral actuator comprises a means for differentially adjusting the fluid volume for each of the first and second reservoir portions.

10. The surgical instrument of claim 3, wherein the proximal surface of the end effector comprises a gear segment and the distal end of the slide bar comprises a gear rack.

11. The surgical instrument of claim 10, further comprising a locking member in the elongate shaft selectively, distally and longitudinally translating to engage the gear segment of the end effector locking articulation joint.

12. The surgical instrument of claim 11, wherein the locking member is distally biased and includes a proximal pin, the articulation control including a toothed surface that cams the pin proximally during actuation and allows the proximal pin to distally move into a corresponding tooth root of the toothed surface when the articulation control stops.

13. The surgical instrument of claim 2, wherein the first and second fluid actuators comprise respectively first and second distal pistons each engaged to opposing sides of the end effector spaced about a pivot axis thereof.

14. The surgical instrument of claim 13, wherein the actuation control comprises a selector valve operatively configured to couple a selected one of the first and second fluid passages to a pressurized fluid source and to relieve pressure to the unselected one of the first and second fluid passages.

15. The surgical instrument of claim 13, wherein first and second fluid reservoirs comprise respective proximal piston cylinders, the articulation control comprising respective first and second proximal pistons received for movement in the first and second piston cylinders and a rotating control actuator positioned to differentially move the first and second proximal pistons.

16. The surgical instrument of claim 2, wherein the articulation joint comprises a tiller projecting proximally from the end effector, pivotally received in the elongate shaft, and extending therein to present a tiller arm, the first fluid actuator comprising a first bladder positioned to a first lateral side of the tiller arm in the elongate shaft and the second fluid actuator comprising a second bladder positioned to an opposing second lateral side of the tiller arm in the elongate shaft.

17. A surgical instrument, comprising:

a proximal portion configured for manipulation external to a patient;

an elongate shaft attached to the proximal portion and including a first and second fluid passage through a proximal portion thereof;

an end effector;

an articulation joint attaching the end effector to the elongate shaft;

a fluid control attached to the proximal control operably configured to differentially transfer fluid through the elongate shaft via the first and second fluid passages;

a first fluid actuator in fluid communication with the first fluid passage; and

a second fluid actuator in fluid communication with the second fluid passage;

wherein the first and second fluid actuator cooperatively respond to the differential transfer of fluid to actuate the articulation joint.

18. The surgical instrument of claim 17 wherein the fluid is non-compressible.

19. The surgical instrument of claim 17 wherein the fluid is compressible.

20. A surgical instrument, comprising:

a proximal portion configured for manipulation external to a patient;

an elongate shaft attached to the proximal portion;

an end effector;

an articulation joint attaching the end effector to the elongate shaft;

a fluid control means for bi-directionally transferring fluid through the elongate shaft; and

a fluid actuating means responsive to the transferred fluid from the elongate shaft to articulate the articulation joint.