Drive Mechanism for Articulation of a Surgical Instrument

• US 20110213362A1
• Filed: 02/26/2010
• Published: 09/01/2011
• Est. Priority Date: 02/26/2010
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Tyco Healthcare Group LP (Medtronic Plc)
• Inventors: Cunningham, James S., Jones, Eric, Spinali, Marc
• Granted Patent: US 8,292,889 B2
• Time in Patent Office: Days
• US Class Current: 606/41
• 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 2018/00345 Vascular system
• CPC Class Codes: A61B 2018/00404 Blood vessels other than those in or around the heart
• CPC Class Codes: A61B 2018/00619 Welding
• CPC Class Codes: A61B 2018/1861 with an instrument inserted into a body lumen or cavity, e.g. a catheter
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

A surgical instrument includes a housing, an end effector and an elongated shaft extending therebetween. The elongated shaft includes a distal portion that is movable between aligned and articulated configurations. A pair of drive cables extends through the elongated shaft and is coupled to the distal portion such that reciprocal longitudinal motion of the drive cables induces movement of the distal portion between the aligned and articulated configurations. An articulation drive mechanism is operable to induce reciprocal longitudinal motion of the drive cables. The drive mechanism includes an actuator and a pair of torsion members that are rotatable about two distinct axes in response to movement of the actuator. A respective follower is operatively coupled to each torsion member to translate in a respective longitudinal direction in response to rotation of the torsion members, and each follower is coupled to a respective drive cable to impart translational motion thereto.

Claims

1. A surgical instrument, comprising:

a housing;

an end effector operable from the housing to surgically manipulate tissue;

an elongated shaft extending between the housing and the end effector, the elongated shaft including proximal and distal portions, wherein the proximal portion extends from the housing and defines a longitudinal axis, and wherein the distal portion is coupled to the proximal portion by at least one articulation joint such that the distal portion is movable between an aligned configuration and an articulated configuration with respect to the longitudinal axis;

a pair of drive cables extending at least partially through the elongated shaft and coupled to the distal portion of the elongated shaft such that reciprocal longitudinal motion of the drive cables induces the distal portion of the elongated shaft to move between the aligned and articulated configurations; and

an articulation drive mechanism operable to induce reciprocal longitudinal motion of the drive cables, the articulation drive mechanism comprising;

an actuator movably coupled to the housing;

a pair of torsion members, wherein the torsion members are rotatable about two distinct axes in response to movement of the actuator; and

a pair of followers, wherein each follower is coupled to a respective torsion member such that rotation of the torsion members induces translational motion of the followers in reciprocal directions, and wherein each follower is coupled to a respective drive cable such that the reciprocal motion of the followers induces reciprocal longitudinal motion of the drive cables.

2. The surgical instrument according to claim 1, wherein the torsion members comprise a pair of lead screws.

3. The surgical instrument according to claim 2, wherein the lead screws are induced to simultaneously rotate in opposite directions by movement of the actuator.

4. The surgical instrument according to claim 3, wherein the actuator comprises an articulation wheel that is rotatable about an axis generally perpendicular to the longitudinal axis of the instrument.

5. The surgical instrument according to claim 4, wherein the articulation wheel includes a plurality of teeth on each of two lateral sides thereof, and wherein each torsion member includes a plurality of teeth thereon engaged with the plurality of teeth on a respective lateral side of the articulation wheel.

6. The surgical instrument according to claim 5, wherein the plurality of teeth on each of the lateral sides of the articulation wheel are disposed on a beveled surface, and wherein each torsion member includes a bevel gear thereon to engage a respective beveled surface of the articulation wheel.

7. The surgical instrument according to claim 1, wherein the actuator comprises an articulation wheel that is rotatable in a vertical plane aligned with the longitudinal axis.

8. The surgical instrument according to claim 7, wherein the articulation wheel engages each of the pair of the torsion members on opposite lateral sides of the vertical plane such that each of the pair of torsion members rotates in an opposite direction in response to rotation of the articulation wheel.

9. The surgical instrument according to claim 1, wherein the end effector includes a pair of jaw members, and wherein at least one of the jaw members is movable between an open position substantially spaced from the other of the pair of jaw members and a closed position wherein the jaw members are closer together.

10. The surgical instrument according to claim 9, wherein at least one of the pair of jaw members is coupled to a source of electrical energy.

11. A surgical instrument, comprising:

a housing;

an elongated shaft extending distally from the housing, the elongated shaft including a proximal portion defining a longitudinal axis and a distal articulating portion pivotable with respect to the proximal portion; and

an articulation drive mechanism operable to pivot the distal articulating portion, of the elongated shaft, the articulation drive mechanism comprising;

an actuator rotatably coupled to the housing about an axis generally perpendicular to the longitudinal axis;

a pair of torsion members each rotatable about a distinct axis generally parallel to the longitudinal axis, the torsion members operatively coupled to the actuator such that rotation of the actuator induces simultaneous rotation of the torsion members;

a pair of followers operatively coupled to a respective torsion member such that rotation of the torsion members induces reciprocal translational motion of the followers; and

a pair of drive cables anchored to the followers and coupled to the distal articulating portion such that reciprocal translational motion of the drive cables induces articulation of the distal articulating portion of the elongated shaft.

12. The surgical instrument according to claim 11, wherein each of the torsion members include a bevel gear engaged with the actuator to drive rotational motion of the torsion members.

13. The surgical instrument according to claim 12, wherein each of the torsion members include a threaded surface thereon engaged with a respective follower to drive translational motion of the respective follower.