Surgical instrument having an articulating end effector

• US 20070158385A1
• Filed: 01/10/2006
• Published: 07/12/2007
• Est. Priority Date: 01/10/2006
• Status: Active Grant

• Current Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Hueil, Joseph, Hogue, Kenneth, Siebenaler, Douglas, Gillum, Christoph, Hueil, Geoffrey
• Granted Patent: US 7,670,334 B2
• Time in Patent Office: Days
• US Class Current: 227/175.100
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/2912 transmission of forces to actuating rod or piston
• CPC Class Codes: A61B 2017/2919 details of linkages or pivot points
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/320052 Guides for cutting instruments

Abstract

An articulating surgical instrument is shown, which comprises a shaft and an end effector. The shaft has a longitudinal axis, and the end effector is operationally coupled, preferably mechanically coupled, to the shaft at an articulation pivot. The instrument also comprises a first band, and in some embodiments, a second band, each operationally connected to the end effector and extending through at least a portion of the shaft. An articulation control applies a force in a direction substantially transverse to the longitudinal axis, wherein the force, when applied in one direction, is translated through the first band to the end effector to effect rotation of the end effector relative to the shaft about the articulation pivot in a first rotational direction, and when the force is applied in the opposite direction, is translated through the second band to the end effector to effect rotation of the end effector relative to the shaft about the articulation pivot in a second rotational direction.

Claims

1. An articulating surgical instrument, the instrument comprising:

a shaft having a longitudinal axis;

an end effector operationally coupled to the shaft at an articulation pivot;

a first band operationally connected to the end effector and extending through at least a portion of the shaft; and

an articulation control for applying a force in a direction substantially transverse to the longitudinal axis, said articulation control being operationally connected to the first band such that application of the force is translated through the first band to the end effector to effect rotation of the end effector relative to the shaft about the articulation pivot.

2. The instrument of claim 1, wherein the articulation control is structured for movement in a first direction for applying the force in a first transverse direction to effect rotation of the end effector in a first rotational direction relative to the shaft.

3. The instrument of claim 2, wherein the articulation control is structured for movement in a second direction for applying the force in a second transverse direction, opposite to the first transverse direction, to effect rotation of the end effector in a second rotational direction relative to the shaft.

4. The instrument of claim 2, further comprising a second band operationally connected to and extending from the end effector through at least a portion of the shaft, the articulation control being operationally connected to the second band such that application of the force is translated through the second band to the end effector to effect rotation of the end effector in a second rotational direction relative to the shaft.

5. The instrument of claim 4, wherein the articulation control comprises an articulation slide that is movable transversely across the shaft to first, second and neutral positions.

6. The instrument of claim 5, wherein the slide is movable transversely across the shaft to third and fourth positions.

7. The instrument of claim 5, wherein the first band and the second band are pre-bent toward the longitudinal axis when the articulation control is in the neutral position.

8. The instrument of claim 5, wherein the articulation slide defines a slot positioned at about the longitudinal axis when the articulation slide is in the neutral position and wherein the first band and the second band pass through the slot and the articulation slide is positioned offset from the longitudinal axis when the articulation slide is in one of the first and the second positions.

9. The instrument of claim 1, further comprising a first distal member, wherein the first band is routed from the end effector around the first distal member.

10. The instrument of claim 9, further comprising a second band operationally connected to and extending from the end effector through at least a portion of the shaft, and a second distal member, wherein the second band is routed from the end effector around the second distal member.

11. The instrument of claim 1, wherein the articulation control comprises an articulation slide translatable in a direction substantially transverse to the longitudinal axis, wherein the articulation slide contacts the first band during at least a portion of the range of motion of the articulation slide.

12. The instrument of claim 1, wherein the force is applied to the first band.

13. The instrument of claim 1, further comprising a first hydraulic articulation bladder expandable toward the first band.

14. The instrument of claim 13, further comprising a source of hydraulic fluid structured to receive the force applied by the articulation control.

15. The instrument of claim 14, wherein the source of hydraulic fluid is a hydraulic actuation bladder fluidically coupled to the first hydraulic articulation bladder.

16. The instrument of claim 15, wherein the articulation control comprises a first actuation button for compressing the first hydraulic actuation bladder and directing the hydraulic fluid to the first hydraulic articulation bladder for inflating the first hydraulic articulation bladder when the force is applied to the first button.

17. The instrument of claim 13, wherein the articulation control further comprises a second hydraulic articulation bladder.

18. The instrument of claim 17, wherein the first hydraulic articulation bladder and the second hydraulic articulation bladder are positioned along a common side of the shaft.

19. The instrument of claim 17, further comprising a second band operationally connected to and extending from the end effector through at least a portion of the shaft, wherein the second hydraulic articulation bladder is expandable toward the second band.

20. The instrument of claim 19, wherein expansion of the first hydraulic articulation bladder toward the first band causes bending of the first band which effects rotation of the end effector relative to the shaft about the articulation pivot in a first rotational direction and expansion of the second hydraulic articulation bladder toward the second band causes bending of the second band which effects rotation of the end effector relative to the shaft about the articulation pivot in a second rotational direction.

21. The instrument of claim 17, wherein the articulation control is structured for application of the force in a first transverse direction or in a second transverse direction, opposite to the first direction, for effecting rotation of the end effector in a first or a second rotational direction, respectively.

22. The instrument of claim 21, wherein the first band is mechanically coupled to the end effector at a boss centered on the articulation pivot such that force translated through the first band is translated to the boss to effect rotation of the boss about the articulation pivot.

23. The instrument of claim 21, wherein the first band is mechanically coupled to the boss at a first point offset from the articulation pivot.

24. The instrument of claim 23, further comprising a second band operationally connected to and extending from the end effector through at least a portion of the shaft, wherein the articulation control is operationally connected to the second band and is configured to apply the force in the second transverse direction, wherein the second band is mechanically coupled to the boss such that force applied to the second band is translated to the boss to effect rotation of the boss about the articulation pivot.

25. The instrument of claim 24, wherein the second band is mechanically coupled to the boss at a second point offset from the articulation pivot and spaced from the first point.

26. The instrument of claim 1, further comprising a handle mechanically connected to the shaft.

27. The instrument of claim 1, further comprising a second band operationally connected to and extending from the end effector through at least a portion of the shaft, and wherein the second band comprises a spring assembly allowing the second band to lengthen in response to tension.

28. The instrument of claim 27, wherein the first band further comprises a spring assembly allowing the first band to lengthen a fixed distance in response to tension.

29. The instrument of claim 27, wherein the first band and the second band are operationally connected to the articulation control at points offset from the longitudinal axis of the shaft.

30. The instrument of claim 27, wherein the second band is configured to receive a second force in a direction substantially transverse to the longitudinal axis, wherein the second force is translated through the second band to the end effector to effect rotation of the end effector relative to the shaft about the articulation pivot in a second direction.

31. An articulating surgical instrument, the instrument comprising:

a shaft having a proximal end and a distal end;

an end effector pivotally coupled to the shaft at an articulation pivot at the distal end of the shaft allowing the end effector to pivot relative to the shaft about an articulation axis; and

a first band extending through at least a portion of the shaft, the first band comprising a first end mechanically coupled to the end effector at a point offset from the articulation axis.

32. The instrument of claim 31, further comprising a handle mechanically coupled to the shaft at the proximal end of the shaft.

33. The instrument of claim 31, further comprising an articulation control bar slidable toward the first band.

34. The instrument of claim 31, comprising a first articulation hydraulic bladder expandable toward the first band.

35. The instrument of claim 31, further comprising a distal member positioned in the shaft, wherein the first band is routed to the end effector around the distal member.

36. The instrument of claim 31, further comprising a second band extending through at least a portion of the shaft, the second band comprising a first end mechanically coupled to the end effector at a second point offset from the articulation axis.

37. The instrument of claim 36, wherein the first band and the second band are pre-bent.

38. In a surgical instrument comprising;

a shaft;

an end effector mechanically coupled to the shaft at an articulation pivot allowing the end effector to pivot relative to the shaft about an articulation axis; and

a first band extending through at least a portion of the shaft, the first band comprising a first end mechanically coupled to the end effector at a point offset from the articulation axis, a method for operating the instrument comprising;

applying a force to the instrument in a direction that is substantially transverse to the shaft, wherein the force causes the first band to bend, and wherein the bending of the first band causes the end effector to pivot relative to the shaft about the articulation pivot in a first direction.

39. The method of claim 38, wherein the surgical instrument further comprises a second band comprising a first end mechanically coupled to the end effector at a second point offset from the articulation axis, the method further comprising applying a second force to the instrument in a second direction that is substantially transverse to the shaft, wherein the second force causes the second band to bend, and wherein the bending of the second band causes the end effector to pivot relative to the shaft about the articulation pivot in a second direction.