Endoscopic surgical instrument with a handle that can articulate with respect to the shaft
First Claim
1. A surgical instrument, comprising:
- an end effector sized to be inserted through a trocar, the trocar having an insertion end portion and a proximal end portion;
an elongated shaft assembly coupled to said end effector, said elongated shaft assembly defining a longitudinal axis, said elongated shaft assembly having a distal portion adjacent to said end effector for insertion into the trocar with said end effector, a proximal portion remote from said distal portion such that said proximal portion protrudes from the trocar when the end effector and distal portion are inserted therethrough, and a midpoint;
a control handle articulatably coupled to said proximal portion of said elongated shaft assembly;
a rotary drive shaft assembly configured to actuate said end effector, wherein said rotary drive shaft assembly is rotatable along said longitudinal axis with respect to said control handle and said end effector, said drive shaft assembly comprising;
a non-contourable distal drive shaft portion operably coupled to an actuator shaft in said end effector;
a non-contourable proximal drive shaft portion operably coupled to a motor supported in said control handle; and
a non-translatable articulation joint comprising a torsion cable coupled between said non-contourable distal drive shaft portion and said non-contourable proximal drive shaft portion to enable said non-contourable proximal drive shaft portion to articulate relative to said non-contourable distal drive shaft portion when said handle is articulated relative to said elongated shaft assembly, wherein said non-translatable articulation joint is positioned proximally with respect to said midpoint of said elongated shaft assembly and proximally with respect to the proximal end of the trocar, and wherein said non-translatable articulation joint is configured to permit said control handle to pivot with respect to said non-contourable distal drive shaft portion.
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Accused Products
Abstract
A surgical instrument particular suited to endoscopic use is disclosed. Various embodiments include an end effector that is sized to be inserted through a trocar. An elongated shaft assembly is coupled to the end effector and a control handle. The elongated shaft assembly has a distal portion that is adjacent to said the effector for insertion into the trocar. The elongated shaft assembly further has a proximal portion that is remote from the distal portion such that the proximal portion protrudes from the trocar when the end effector and distal portion are inserted therethrough. The control handle is articulatably coupled to the proximal portion of said elongated shaft assembly to enable the surgeon to move the handle portion to a more ergonomically comfortable position while carrying out the endoscopic procedure. Various articulation joint embodiments and locking arrangements are disclosed.
2033 Citations
24 Claims
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1. A surgical instrument, comprising:
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an end effector sized to be inserted through a trocar, the trocar having an insertion end portion and a proximal end portion; an elongated shaft assembly coupled to said end effector, said elongated shaft assembly defining a longitudinal axis, said elongated shaft assembly having a distal portion adjacent to said end effector for insertion into the trocar with said end effector, a proximal portion remote from said distal portion such that said proximal portion protrudes from the trocar when the end effector and distal portion are inserted therethrough, and a midpoint; a control handle articulatably coupled to said proximal portion of said elongated shaft assembly; a rotary drive shaft assembly configured to actuate said end effector, wherein said rotary drive shaft assembly is rotatable along said longitudinal axis with respect to said control handle and said end effector, said drive shaft assembly comprising; a non-contourable distal drive shaft portion operably coupled to an actuator shaft in said end effector; a non-contourable proximal drive shaft portion operably coupled to a motor supported in said control handle; and a non-translatable articulation joint comprising a torsion cable coupled between said non-contourable distal drive shaft portion and said non-contourable proximal drive shaft portion to enable said non-contourable proximal drive shaft portion to articulate relative to said non-contourable distal drive shaft portion when said handle is articulated relative to said elongated shaft assembly, wherein said non-translatable articulation joint is positioned proximally with respect to said midpoint of said elongated shaft assembly and proximally with respect to the proximal end of the trocar, and wherein said non-translatable articulation joint is configured to permit said control handle to pivot with respect to said non-contourable distal drive shaft portion. - 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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an end effector sized to be inserted through a trocar, the trocar having an insertion end portion and a proximal end portion; a elongated shaft assembly coupled to said end effector, said elongated shaft assembly having a distal portion adjacent to said end effector for insertion into the trocar with said end effector, a proximal portion remote from said distal portion such that said proximal portion protrudes from the trocar when the end effector and distal portion are inserted therethrough, and a midpoint; and means for controlling said end effector articulatably coupled to said proximal portion of said elongated shaft assembly, said means for controlling comprising a non-contourable distal drive shaft configured to apply at least one rotary control motion to the end effector, said non-contourable distal drive shaft operably coupled to a non-contourable proximal drive shaft by a torsion cable configured to transmit rotary control motions from the non-contourable proximal drive shaft to the non-contourable distal drive shaft while facilitating selective articulation of the non-contourable distal drive shaft relative to the non-contourable proximal drive shaft, wherein said means for controlling said end effector is positioned proximally with respect to said midpoint of said elongated shaft assembly and proximally with respect to the proximal end of the trocar, and wherein said means for controlling said end effector comprise a non-translatable pivot axis.
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20. A surgical instrument, comprising:
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an end effector sized to be inserted through a trocar; a control handle operably supporting at least one drive motor therein; a rigid proximal hollow shaft segment having a first proximal end rotatably coupled to said control handle for selective rotation about an elongated shaft axis and a first distal end; a rigid distal hollow shaft segment having a second distal end portion operably coupled to said end effector for selective actuation thereof by axial movement along said elongated shaft axis, said rigid distal hollow shaft segment having a second proximal end portion sized to protrude out of the trocar when said end effector is inserted through the trocar; a first upper tab protruding from said first distal end of said rigid proximal hollow shaft segment; a first lower tab protruding from said first distal end of said rigid proximal hollow shaft segment and in spaced relation to said first lower tab; a second upper tab protruding from said second proximal end of said rigid distal hollow shaft segment; a second lower tab protruding from said second proximal end of said rigid distal hollow shaft segment in spaced relation to said second upper tab; an upper double pivot link sized to span between said first and second upper tabs, said upper double pivot link having a first upper pin pivotally coupled to said first upper tab and a second upper pivot pin pivotally coupled to said second upper tab; a lower double pivot link sized to span between said first and second lower tabs, said lower double pivot link having a first lower pin pivotally coupled to said first lower tab and a second lower pin pivotally coupled to said second lower tab; a proximal spine segment attached to said control handle and extending through said rigid proximal hollow shaft segment and protruding from said first distal end thereof; a distal spine segment extending through said rigid distal hollow shaft segment and having a proximal end adjacent a distal end of said proximal spine segment, said distal spine segment having a distal end attached to said end effector and being supported within said rigid distal hollow shaft segment such that said rigid distal hollow shaft segment can be selectively axially moved relative to said distal spine segment; a non-contourable distal drive shaft portion operably supported in said distal spine segment and being coupled to an actuator shaft in said end effector; a non-contourable proximal drive shaft portion operably coupled to one of said at least one drive motors in said control handle and operably supported within said proximal spine segment; and a torsion cable coupled between said non-contourable distal drive shaft portion and said non-contourable proximal drive shaft portion to enable said non-contourable proximal drive shaft portion to articulate relative to said non-contourable distal drive shaft portion about a non-translatable pivot axis when said control handle is articulated relative to said distal shaft segment. - View Dependent Claims (21, 22, 23)
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24. A surgical instrument, comprising:
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an end effector sized and configured to be inserted through a trocar, the trocar comprising an insertion end, a proximal end, and a trocar length extending between the insertion end and the proximal end; a rotatable drive shaft configured to actuate said end effector, said rotatable drive shaft defining a longitudinal axis, wherein said rotatable drive shaft is rotatable along said longitudinal axis with respect to said end effector, said rotatable drive shaft comprising; a non-contourable distal end, wherein said end effector extends from said non-contourable distal end; and a non-articulating portion comprising a non-articulating shaft length which is at least as long as the trocar length; a handle configured to operate said end effector; and a non-translatable articulation joint, wherein said handle is rotatably connected to said shaft about said articulation joint.
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Specification