Drive Mechanism for Articulation of a Surgical Instrument

• US 20110213363A1
• 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: Spinali, Marc, Cunningham, James S., Carlson, Richard
• Granted Patent: US 8,403,832 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 2017/003 Steerable
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/2908 Multiple segments connected by articulations
• CPC Class Codes: A61B 2017/2923 Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2018/1432 curved

Abstract

A surgical instrument includes a housing, an end effector and an elongated shaft extending therebetween. The shaft includes a distal portion movable between aligned and articulated configurations. First and second drive cables are 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 pulleys operatively coupled to the actuator to rotate about an axle. The first and second drive cables are coupled to the pulleys such that the drive cables extend on opposite lateral sides of the axle. A biasing mechanism is configured to bias the first and second pulleys to at least one discrete orientation to maintain the distal portion of the elongated shaft in a discrete articulated position.

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;

first and second 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 between the first and second 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;

first and second pulleys operatively coupled to the actuator to rotate about an axle in response to movement of the actuator, wherein the first pulley is coupled to the first drive cable such that the first drive cable extends on a first lateral side of the axle and wherein the second pulley is coupled to the second drive cable on a second lateral side of the axle; and

a biasing mechanism configured to bias the first and second pulleys to at least one discrete orientation to maintain the distal portion of the elongated shaft in a discrete articulated position.

2. The surgical instrument according to claim 1, wherein each of the first and second pulleys includes a circumferential groove thereon for guiding the first and second drive cables to wind and unwind from the respective pulleys as the first and second pulley rotate about the axle.

3. The surgical instrument according to claim 2, wherein the actuator includes an articulation wheel rotatable about the axle to induce rotation in the first and second pulleys.

4. The surgical instrument according to claim 3, wherein the first and second pulleys are coupled to opposing lateral sides of the articulation wheel.

5. The surgical instrument according to claim 4, wherein the axle is disposed generally perpendicular to the longitudinal axis of the instrument.

6. The surgical instrument according to claim 1, wherein the biasing mechanism includes a plunger configured to interface with a plurality of detents to permit the biasing mechanism to bias the first and second pulleys at a plurality of discrete orientations.

7. The surgical instrument according to claim 6, wherein the plunger is coupled to the pulleys to rotate through an are about the axle.

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

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 member 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 axel;

first and second pulleys coupled to the actuator such that rotational motion of the actuator about the axel may be transferred to each of the pulleys to induce each of the pulleys to rotate about the axle in a similar direction;

first and second drive cables anchored at a distal end to the distal articulating portion of the elongated shaft such that reciprocal longitudinal motion in the drive cables induces pivotal motion in the distal articulating portion of the elongated shaft and at a proximal end to respective first and second pulleys such that the first drive cable winds about a the first pulley and the second drive cable unwinds from the second pulley in response to rotation of the actuator; and

a biasing mechanism configured to bias the first and second pulleys to at least one discrete orientation to maintain the distal portion of the elongated shaft in a discrete articulated position.