SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS

• US 20170224342A1
• Filed: 02/09/2016
• Published: 08/10/2017
• Est. Priority Date: 02/09/2016
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery LLC (Johnson & Johnson)
• Inventors: Hensel, Adam D., Shelton, IV, Frederick E., Weaner, Lauren S., Schultz, Darwin L., Worthington, Sarah A., Hunter, Morgan R., Vendely, Michael J.
• Granted Patent: US 10,433,837 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/072 for applying a row of staples in a single action , e.g. the staples being applied simultaneously
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/105 Wound clamp magazines for packaging sharps A61B50/3001
• CPC Class Codes: A61B 17/32 Surgical cutting instruments A61B18/042 takes precedence; suture cutters A61B17/0467; instruments for ligaturing or cutting A61B17/128; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00407 Ratchet means
• CPC Class Codes: A61B 2017/00424 ergonomic, e.g. fitting in fist
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable for prosthetic joint-implanting tools A61F2/4603
• CPC Class Codes: A61B 2017/00473 Distal part, e.g. tip or head A61B2017/00464 takes precedence
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/00862 elastic or resilient for sutures A61B2017/0618
• CPC Class Codes: A61B 2017/07271 characterised by its cartridge
• CPC Class Codes: A61B 2017/07278 characterised by its sled or its staple holder
• CPC Class Codes: A61B 2017/07285 characterised by its cutter
• CPC Class Codes: A61B 2017/2908 Multiple segments connected by articulations
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/293 with means preventing relative rotation between the shaft and the actuating rod
• CPC Class Codes: A61B 2017/2936 Pins in guiding slots
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2034/715 : Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2090/0808 : for indicating correct assembly of components, e.g. of the surgical apparatus
• CPC Class Codes: A61B 90/30 : Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure

Abstract

A surgical instrument comprising an elongate shaft assembly that defines a shaft axis. A surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to the shaft axis. An articulation driver is supported for selective longitudinal travel relative to the elongate shaft assembly. A central articulation link is pivotally coupled to the elongate shaft assembly for pivotal travel relative thereto. An intermediate link is movably coupled to the articulation driver and the central articulation link. An end effector driver is movably coupled to the central articulation link and the surgical end effector.

Claims

1. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis;

a surgical end effector pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis; and

an articulation system, comprising;

an articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction;

a central articulation link pivotally coupled to said elongate shaft assembly for pivotal travel relative thereto;

an intermediate link movably coupled to said articulation driver and said central articulation link; and

an end effector driver movably coupled to said central articulation link and said surgical end effector.

2. The surgical instrument of claim 1, wherein said central articulation link is pivotally coupled to said elongate shaft assembly for pivotal travel relative thereto about a link axis that is offset from said articulation axis.

3. The surgical instrument of claim 2, wherein said link axis is parallel to said articulation axis and transverse to said shaft axis.

4. The surgical instrument of claim 2, wherein said central articulation link comprises a first central link end that is movably coupled to said intermediate link and a second central link end that is movably attached to said end effector driver and wherein said first central link end is a first distance from said link axis and wherein said second central link end is a second distance from said link axis and wherein said first distance differs from said second distance.

5. The surgical instrument of claim 4, wherein said first distance is less than said second distance.

6. The surgical instrument of claim 1, wherein said central articulation link includes a first length and said intermediate link includes a second length and wherein said end effector driver includes a third length and wherein said second length is shorter than said first and third lengths.

7. The surgical instrument of claim 6, wherein said first length is shorter than said third length.

8. The surgical instrument of claim 1, wherein said intermediate link curves in a first direction.

9. The surgical instrument of claim 8, wherein said end effector driver curves in a second direction that is opposite to said first direction.

10. The surgical instrument of claim 1, wherein said surgical end effector is pushed in a first articulation direction upon application of a pulling motion to said articulation driver and wherein said surgical end effector is pulled in a second articulation direction upon application of a pushing motion to said articulation driver.

11. The surgical instrument of claim 1, wherein said surgical end effector is selectively articulatable between an unarticulated position and first articulated positions through a first range of articulation angles and wherein said surgical end effector is articulatable between said unarticulated position and second articulated positions through a second range of articulation angles.

12. The surgical instrument of claim 11, wherein said first range of articulation angles is between one degree and ninety degrees and wherein said second range of articulation angles is between one degree and ninety degrees.

13. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis;

a surgical end effector pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis; and

an articulation system, comprising;

an articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction;

a central articulation link pivotally coupled to said elongate shaft assembly for selective pivotal travel about a link axis that is offset from said articulation axis;

a curved intermediate link movably coupled to said articulation driver and said central articulation link; and

a curved end effector driver movably coupled to said central articulation link and said surgical end effector.

14. The surgical instrument of claim 13, wherein said central articulation link comprises a first central link end that is movably coupled to said intermediate link and a second central link end that is movably attached to said end effector driver and wherein said first central link end is a first distance from said link axis and wherein said second central link end is a second distance from said link axis and wherein said first distance differs from said second distance.

15. The surgical instrument of claim 14, wherein said first distance is less than said second distance.

16. The surgical instrument of claim 13, wherein said central articulation link includes a first length and said intermediate link includes a second length and said end effector driver includes a third length and wherein said second length is shorter than said first and third lengths.

17. The surgical instrument of claim 16, wherein said first length is shorter than said third length.

18. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis;

a surgical end effector pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis, said surgical end effector comprising a firing member configured for axial travel within said surgical end effector; and

an articulation system, comprising;

a distal articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction;

a central articulation link movably pinned to said distal end of said elongate shaft assembly;

an intermediate link movably coupled to said distal articulation link and said central articulation link; and

an end effector driver movably coupled to said central link and said surgical end effector.

19. The surgical instrument of claim 18, wherein said surgical end effector defines an end effector axis and wherein said surgical end effector is selectively articulatable between a first unarticulated position wherein said end effector axis is aligned with said shaft axis and a first maximum articulated position on a first lateral side of said shaft axis wherein said end effector axis extends perpendicular to said shaft axis and a second maximum articulated position on a second lateral side of said shaft axis wherein said end effector axis is perpendicular to said shaft axis.

20. The surgical instrument of claim 18, wherein said central articulation link comprises a first central link end that is movable coupled to said intermediate link and a second central link end that is movably attached to said end effector driver and wherein said first central link end is a first distance from said link axis and wherein said second central link end is a second distance from said link axis and wherein said first distance differs from said second distance.