Articulating radio frequency (RF) tissue seal with articulating state sensing
First Claim
1. A surgical instrument, comprising:
- a handle assembly;
a shaft assembly coupled to a distal end of the handle assembly and comprising a guiding mechanism operatively coupled to an articulation joint and configured to manipulate the articulation joint;
an end effector comprising a surgical tool configured to interface with tissue of a patient;
the articulation joint coupled to the shaft assembly and the end effector and configured to articulate the end effector such that the end effector can be oriented at a different angle relative to the shaft assembly, the articulation joint comprising a first maximum articulation angle in a first direction such that the end effector is prevented from articulating beyond the first maximum articulation angle in the first direction, and a second maximum articulation angle in a second direction such that the end effector is prevented from articulating beyond the second maximum articulation angle in the second direction; and
an articulation control mechanism operatively coupled to the articulation joint through the shaft assembly, comprising;
a latch coupled to the guiding mechanism, the latch comprising a rigid bar configured to uniformly move the guiding mechanism equal in distance as the latch is moved;
a motor operatively coupled to the latch and configured to drive the latch along a longitudinal axis parallel to the shaft assembly; and
a switch coupled to the motor comprising a first and second button and both configured to operate the motor;
and the articulation control mechanism configured to;
control movement of the articulation joint between the first maximum articulation angle and the second maximum articulation angle;
determine that the articulation joint has articulated to the first maximum articulation angle;
provide a first indication that the articulation joint has articulated to the first maximum articulation angle;
determine that the articulation joint has articulated to the second maximum articulation angle; and
provide a second indication that the articulation joint has articulated to the second maximum articulation angle.
5 Assignments
0 Petitions
Accused Products
Abstract
A surgical instrument is presented that may include a handle assembly, a shaft assembly, an end effector and an articulation joint coupled to the shaft assembly and the end effector. The surgical instrument also may include an articulation control mechanism configured to: control movement of the articulation joint between a first and second maximum articulation angle; determine that the articulation joint has articulated to the first maximum articulation angle; provide a first indication that the articulation joint has articulated to the first maximum articulation angle; determine that the articulation joint has articulated to the second maximum articulation angle; and provide a second indication that the articulation joint has articulated to the second maximum articulation angle.
1596 Citations
15 Claims
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1. A surgical instrument, comprising:
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a handle assembly; a shaft assembly coupled to a distal end of the handle assembly and comprising a guiding mechanism operatively coupled to an articulation joint and configured to manipulate the articulation joint; an end effector comprising a surgical tool configured to interface with tissue of a patient; the articulation joint coupled to the shaft assembly and the end effector and configured to articulate the end effector such that the end effector can be oriented at a different angle relative to the shaft assembly, the articulation joint comprising a first maximum articulation angle in a first direction such that the end effector is prevented from articulating beyond the first maximum articulation angle in the first direction, and a second maximum articulation angle in a second direction such that the end effector is prevented from articulating beyond the second maximum articulation angle in the second direction; and an articulation control mechanism operatively coupled to the articulation joint through the shaft assembly, comprising; a latch coupled to the guiding mechanism, the latch comprising a rigid bar configured to uniformly move the guiding mechanism equal in distance as the latch is moved; a motor operatively coupled to the latch and configured to drive the latch along a longitudinal axis parallel to the shaft assembly; and a switch coupled to the motor comprising a first and second button and both configured to operate the motor; and the articulation control mechanism configured to; control movement of the articulation joint between the first maximum articulation angle and the second maximum articulation angle; determine that the articulation joint has articulated to the first maximum articulation angle; provide a first indication that the articulation joint has articulated to the first maximum articulation angle; determine that the articulation joint has articulated to the second maximum articulation angle; and provide a second indication that the articulation joint has articulated to the second maximum articulation angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A surgical instrument comprising:
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a handle assembly; a shaft assembly coupled to a distal end of the handle assembly; an end effector comprising a surgical tool configured to interface with tissue of a patient; an articulation joint coupled to the shaft assembly and the end effector and configured to articulate the end effector such that the end effector can be oriented at a different angle relative to the shaft assembly, the articulation joint comprising; a first link and a second link, the first and second links coupled together by way of a hinge; a first sensor coupled to a first edge of the first link; and a second sensor coupled to a second edge of the first link, the second edge located opposite of the hinge; a first home position switch coupled to the shaft assembly and positioned distal to the handle assembly, the first home position switch disposed to be pressed into the shaft assembly; a second home position switch coupled to the shaft assembly and positioned distal to the handle assembly, the second home position switch disposed to be pressed into the shaft assembly; and a sensor processor configured to determine when the articulation joint is articulated; wherein the articulation joint is positioned distal to both the first home position switch and the second home position switch; wherein articulation of the articulation joint in the first direction causes the first sensor to touch the second link, and articulation of the articulation joint in the second direction causes the second sensor to touch the second link; wherein when the first sensor touches the second link, the first sensor is configured to transmit a first signal to the sensor processor indicating that the articulation joint is fully articulated in the first direction; and wherein when the second sensor touches the second link, the second sensor is configured to transmit a second signal to the sensor processor indicating that the articulation joint is fully articulated in the second direction. - View Dependent Claims (13, 14, 15)
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Specification