Hydraulically and electrically actuated articulation joints for surgical instruments

• US 20070106317A1
• Filed: 11/09/2005
• Published: 05/10/2007
• Est. Priority Date: 11/09/2005
• Status: Abandoned Application

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Cilag Gmbh International (Johnson & Johnson)
• Inventors: Swayze, Jeffrey, Shelton, Frederick
• Application Number:
  US11/270,866
• Publication Number:
  US 20070106317A1
• Time in Patent Office: Days
• US Class Current: 606/170
• CPC Class Codes: A61B 17/0644 penetrating the tissue, deformable to closed position
• 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 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/3205 Excision instruments
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00367 Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00535 pneumatically or hydraulically operated A61B2017/22051, A61B2090/401 take precedence
• CPC Class Codes: A61B 2017/0645 being elastically deformed for insertion
• 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 2017/07257 characterised by its anvil
• CPC Class Codes: A61B 2017/07271 characterised by its cartridge
• CPC Class Codes: A61B 2017/07285 characterised by its cutter
• CPC Class Codes: A61B 2017/2901 Details of shaft
• CPC Class Codes: A61B 2017/2925 Pistol grips
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft

Abstract

Articulation joints for use in connection with a surgical instrument that has a portion that must be passed through a trocar or similar structure and then articulated relative to another portion of the instrument received within the trocar. Various embodiments of the articulation joint include at least one fluid-actuated cylinder or flexible driven member to articulate the surgical implement relative to the handle assembly of the instrument.

Claims

1. A surgical instrument, comprising:

a handle assembly;

a proximal tube segment attached to said handle assembly;

a distal tube segment;

an articulating joint assembly pivotally coupling said distal tube segment to said proximal tube segment, said articulating joint assembly comprising;

a ball member non-movably coupled to an end of one of said proximal and distal tube segments and rotatably received in a corresponding socket in an end of the other of said of proximal tube segment and distal tube segment; and

an actuator assembly coupled between the ends of the distal and proximal tube segments, said actuator assembly retaining a portion of said ball member in said socket and selectively rotating said ball member portion therein to articulate said distal tube segment relative to said proximal tube segment; and

a surgical implement attached to said distal tube segment.

2. The surgical instrument of claim 1 wherein said actuator assembly comprises at least one fluid-actuated cylinder.

3. The surgical instrument of claim 2 wherein said at least one fluid-actuated cylinder comprises:

a first fluid-actuated cylinder having a first housing attached to one of said distal and proximal tube segments and a selectively extendable and retractable first actuation rod attached to the end of the other of said proximal and distal tube segments; and

a second fluid-actuated cylinder having a second housing attached to one of said distal and proximal tube segments and a selectively extendable and retractable second actuation rod attached to the end of the other of said proximal and distal tube segments.

4. The surgical instrument of claim 3 wherein said first and second actuation rods are fabricated from flexible material.

5. The surgical instrument of claim 1 wherein said ball member has at least one hollow passage therethrough adapted to communicate with openings in said distal and proximal tube segments.

6. The surgical instrument of claim 2 further comprising at least one indentation formed in an outer surface of said ball member for providing clearance for at least a portion of at least one said fluid-actuated cylinder.

7. The surgical instrument of claim 1 wherein said actuator assembly comprises at least one flexible driven member extending between said distal and proximal tube segments.

8. The surgical instrument of claim 7 wherein said at least one flexible driven member comprises a flexible worm gear cable attached to a motor and threadably engaging a corresponding passageway formed in the ball member.

9. The surgical instrument of claim 8 wherein said ball member has at least one hollow passage therethrough adapted to communicate with openings in said distal and proximal tube segments.

10. The surgical instrument of claim 1 wherein said ball member is nonmovably coupled to said end of said distal tube segment and is rotatably received in a socket in said end of said proximal tube segment.

11. The surgical instrument of claim 1 wherein said surgical implement is an endocutter.

12. The surgical instrument of claim 3 wherein said proximal tube segment defines an axis and wherein said first and second fluid-actuated cylinders are located relative to each other about said axis at an angle of substantially 180 degrees.

13. The surgical instrument of claim 3 wherein said proximal tube defines an axis and wherein said first and second fluid-actuated cylinder are located relative to each other about said axis at an angle of less than 180 degrees.

14. A surgical instrument, comprising:

a handle assembly;

a proximal tube segment attached to said handle assembly;

a distal tube segment;

an articulating joint assembly pivotally coupling said distal tube segment to said proximal tube segment, said articulating joint assembly comprising;

a ball member non-movably coupled to a distal end of end of one of said proximal and distal tube segments and rotatably received in a corresponding socket in an end of the other of said of proximal tube segment and distal tube segment; and

an actuator assembly coupled between said one of said distal and proximal tube segments that has said socket therein and said ball member to retain a portion of said ball member in said socket and selectively rotate said ball member portion therein to articulate said distal tube segment relative to said proximal tube segment; and

a surgical implement attached to said distal tube segment.

15. The surgical instrument of claim 14 wherein said actuator assembly comprises at least one fluid-actuated cylinder.

16. The surgical instrument of claim 15 wherein said at least one fluid-actuated cylinder comprises:

a first fluid-actuated cylinder having a first housing attached to said one of said distal and proximal tube segments that has said socket therein, said first fluid-actuated cylinder further comprising a selectively extendable and retractable first actuation rod attached to a portion of said ball member; and

a second fluid-actuated cylinder having a second housing attached to said one of said distal and proximal tube segments that has said socket therein, said second fluid-actuated cylinder further comprising a selectively extendable and retractable second actuation rod attached to another portion of said ball member.

17. The surgical instrument of claim 16 wherein said first and second actuation rods are fabricated from flexible material.

18. The surgical instrument of claim 14 wherein said ball member has at least one hollow passage therethrough adapted to communicate with openings in said distal and proximal tube segments.

19. The surgical instrument of claim 15 further comprising at least one indentation formed in an outer surface of said ball member for providing clearance for at least a portion of at least one said fluid-actuated cylinder.

20. The surgical instrument of claim 14 wherein said surgical implement comprises an endocutter end effector.

21. The surgical instrument of claim 16 wherein said proximal tube segment defines an axis and wherein said first and second fluid-actuated cylinders are located relative to each other about said axis at an angle of substantially 180 degrees.

22. The surgical instrument of claim 16 wherein said proximal tube defines an axis and wherein said first and second fluid-actuated cylinder are located relative to each other about said axis at an angle of less than 180 degrees.

23. A surgical instrument, comprising:

a handle assembly;

a proximal tube segment attached to said handle assembly;

a distal tube segment;

an articulating joint assembly pivotally coupling said distal tube segment to said proximal tube segment, said articulating joint assembly comprising;

a disc-like member non-movably coupled to an end of one of said proximal and distal tube segments and rotatably received in a corresponding socket in an end of the other of said of proximal tube segment and distal tube segment; and

an actuator assembly coupled between the ends of the distal and proximal tube segments, said actuator assembly retaining said disc-like member in said socket and selectively rotating said disc-like member therein to articulate said distal tube segment relative to said proximal tube segment; and

a surgical implement attached to said distal tube segment.

24. The surgical instrument of claim 23 wherein said actuator assembly comprises at least one fluid-actuated cylinder.

25. The surgical instrument of claim 24 wherein said at least one fluid-actuated cylinder comprises:

a first fluid-actuated cylinder having a first housing attached to one of said distal and proximal tube segments and a selectively extendable and retractable first actuation rod attached to the end of the other of said proximal and distal tube segments; and

a second fluid-actuated cylinder having a second housing attached to one of said distal and proximal tube segments and a selectively extendable and retractable second actuation rod attached to the end of the other of said proximal and distal tube segments.

26. The surgical instrument of claim 25 wherein said first and second actuation rods are fabricated from flexible material.

27. The surgical instrument of claim 23 wherein said disc-like member has at least one hollow passage therethrough adapted to communicate with openings in said distal and proximal tube segments.

28. The surgical instrument of claim 23 wherein said actuator assembly comprises at least one flexible driven member extending between said distal and proximal tube segments.

29. The surgical instrument of claim 28 wherein said at least one flexible driven member comprises a flexible worm gear cable attached to a motor and threadably engaging a corresponding passageway formed in the disc-like member.

30. The surgical instrument of claim 29 wherein said ball member has at least one hollow passage therethrough adapted to communicate with openings in said distal and proximal tube segments.

31. The surgical instrument of claim 23 wherein said disc-like member is nonmovably coupled to said end of said distal tube segment and is rotatably received in a socket in said end of said proximal tube segment.

32. The surgical instrument of claim 23 wherein said surgical implement is an endocutter.

33. A surgical instrument, comprising:

a handle assembly;

a proximal tube segment attached to said handle assembly;

a distal tube segment;

an articulating joint assembly pivotally coupling said distal tube segment to said proximal tube segment, said articulating joint assembly comprising;

a disc-like member non-movably coupled to an end of one of said proximal and distal tube segments and rotatably received in a corresponding socket in an end of the other of said of proximal tube segment and distal tube segment; and

an actuator assembly coupled between said one of said distal and proximal tube segments that has said socket therein and said disc-like member to retain a portion of said disc-like member in said socket and selectively rotate said disc-like member portion therein to articulate said distal tube segment relative to said proximal tube segment; and

a surgical implement attached to said distal tube segment.

34. The surgical instrument of claim 33 wherein said actuator assembly comprises at least one fluid-actuated cylinder.

35. The surgical instrument of claim 33 wherein said at least one fluid-actuated cylinder comprises:

a first fluid-actuated cylinder having a first housing attached to the one of said distal and proximal tube segments having said socket formed therein and a selectively extendable and retractable first actuation rod attached to a portion of said disc-like member; and

a second fluid-actuated cylinder having a second housing attached to the one of said distal and proximal tube segments having said socket formed therein and a selectively extendable and retractable second actuation rod attached to another portion of said disc-like member.

36. The surgical instrument of claim 35 wherein said first and second actuation rods are fabricated from flexible material.

37. The surgical instrument of claim 33 wherein said disc-like member has at least one hollow passage therethrough adapted to communicate with openings in said distal and proximal tube segments.

38. The surgical instrument of claim 33 wherein said disc-like member is nonmovably coupled to said end of said distal tube segment and is rotatably received in a socket in said end of said proximal tube segment.

39. The surgical instrument of claim 33 wherein said surgical implement is an endocutter.