Flexible harmonic waveguides/blades for surgical instruments
First Claim
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1. An articulating ultrasonic surgical instrument, comprising:
- an articulable harmonic waveguide, comprising;
a first drive section comprising a proximal end and a distal end, the proximal end configured to connect to an ultrasonic transducer;
a first flexible waveguide coupled to the distal end of the first drive section;
an end effector extending distally from the first flexible waveguide;
an articulation actuator to flex the first flexible waveguide; and
a total curvature limiter configured to prevent the first flexible waveguide from exceeding a predetermined condition;
wherein the predetermined condition comprises a local radius of curvature to prevent a transmission of ultrasonic energy to the articulable harmonic waveguide when the first flexible waveguide exceeds the predetermined condition.
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Abstract
In one embodiment, a surgical instrument comprises an articulable harmonic waveguide. The articulable harmonic waveguide comprises a first drive section comprising a proximal end and a distal end. The proximal end of the first drive section may be configured to connect to an ultrasonic transducer. The articulable harmonic waveguide further comprises a first flexible waveguide coupled to the distal end of the first drive section. An end effector extends distally from the first flexible waveguide. The surgical instrument further comprises an articulation actuator to flex the first flexible waveguide.
2368 Citations
22 Claims
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1. An articulating ultrasonic surgical instrument, comprising:
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an articulable harmonic waveguide, comprising; a first drive section comprising a proximal end and a distal end, the proximal end configured to connect to an ultrasonic transducer; a first flexible waveguide coupled to the distal end of the first drive section; an end effector extending distally from the first flexible waveguide; an articulation actuator to flex the first flexible waveguide; and a total curvature limiter configured to prevent the first flexible waveguide from exceeding a predetermined condition; wherein the predetermined condition comprises a local radius of curvature to prevent a transmission of ultrasonic energy to the articulable harmonic waveguide when the first flexible waveguide exceeds the predetermined condition. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A surgical instrument comprising:
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a handle; an ultrasonic transducer located in the handle; an articulable harmonic waveguide coupled to the ultrasonic transducer, the articulable harmonic waveguide comprising; a first drive section comprising a proximal end and a distal end, the proximal end configured to connect to the ultrasonic transducer; a first flexible waveguide coupled to the distal end of the first drive section; and an end effector extending distally from the first flexible waveguide; an articulation actuator to flex the first flexible waveguide; and a total curvature limiter configured to prevent the first flexible waveguide from exceeding a predetermined condition; wherein the predetermined condition comprises a local radius of curvature to prevent a transmission of ultrasonic energy to the articulable harmonic waveguide when the first flexible waveguide exceeds the predetermined condition. - View Dependent Claims (20, 21)
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22. A robotic surgical instrument, comprising:
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an instrument mounting portion configured to mount to a robotic surgical system, the instrument mounting portion comprising an interface to mechanically and electrically interface to the robotic surgical instrument adapted for use with the robotic surgical system; an ultrasonic transducer located in the instrument mounting portion; an articulable harmonic waveguide coupled to the ultrasonic transducer, the articulable harmonic waveguide comprising; a first drive section comprising a proximal end and a distal end, the proximal end configured to connect to the ultrasonic transducer; a first flexible waveguide coupled to the distal end of the first drive section; and an end effector extending distally from the first flexible waveguide; and an articulation actuator to flex the first flexible waveguide; and a total curvature limiter configured to prevent the first flexible waveguide from exceeding a predetermined condition; wherein the predetermined condition comprises a local radius of curvature to prevent a transmission of ultrasonic energy to the articulable harmonic waveguide when the first flexible waveguide exceeds the predetermined condition.
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Specification