Surgical stapling instrument incorporating an electroactive polymer actuated firing bar track through an articulation joint
First Claim
Patent Images
1. A surgical instrument, comprising:
- a handle portion comprising;
articulation control circuitry operably configured to produce an articulation support signal,a firing mechanism including a longitudinally translating firing bar;
an elongate shaft attached to the handle and including a firing bar guide slot encompassing the firing bar; and
an end effector distally attached to the elongate shaft and actuated by a distal end of the firing bar;
an articulation joint coupling the elongate shaft to the end effector and in communication with the articulation support signal through the elongate shaft; and
a pair of electroactive polymer support members positioned in the articulation joint on each lateral side of the firing bar responsive to the articulation support signal to dimensionally adjust in compensation for articulating to a selected lateral side.
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Abstract
A surgical stapling instrument particularly suited to endoscopic use articulates an end effector (e.g., stapling and severing) that is actuated by a firing bar. An articulation mechanism in an elongate shaft incorporates electrically actuated polymer (EAP) actuators that laterally support the firing bar so that the firing bar is sufficiently constrained to avoid a blow-out, yet is guided without excessive friction and binding. Thereby, effective, consistent firing is accomplished without an undue increase in firing force required when the end effector is articulated.
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Citations
17 Claims
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1. A surgical instrument, comprising:
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a handle portion comprising; articulation control circuitry operably configured to produce an articulation support signal, a firing mechanism including a longitudinally translating firing bar; an elongate shaft attached to the handle and including a firing bar guide slot encompassing the firing bar; and an end effector distally attached to the elongate shaft and actuated by a distal end of the firing bar; an articulation joint coupling the elongate shaft to the end effector and in communication with the articulation support signal through the elongate shaft; and a pair of electroactive polymer support members positioned in the articulation joint on each lateral side of the firing bar responsive to the articulation support signal to dimensionally adjust in compensation for articulating to a selected lateral side. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A surgical instrument, comprising:
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a handle portion comprising an articulation control circuitry operably configured to produce an articulation support signal; an elongate shaft attached to the handle portion; and an end effector distally attached to the elongate shaft; an articulation joint coupling the elongate shaft to the end effector and in communication with the articulation support signal through the elongate shaft; and a pair of electroactive polymer support members positioned on lateral sides of the articulation joint, each having one end longitudinally constrained therein and the other slidingly received, aligned with and offset from a longitudinal axis of the elongate shaft, each electroactive polymer support member responsive to the articulation support signal to bend laterally.
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Specification