ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES

• US 20180168583A1
• Filed: 12/21/2016
• Published: 06/21/2018
• Est. Priority Date: 12/21/2016
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery LLC (Johnson & Johnson)
• Inventors: Hunter, Morgan R., Wise, Austin E., Shelton, IV, Frederick E.
• Granted Patent: US 10,517,596 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 17/0682 for applying U-shaped staples or clamps, e.g. without a forming anvil
• 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 17/2816 Pivots
• CPC Class Codes: A61B 17/2833 Locking means
• CPC Class Codes: A61B 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• 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 2017/00469 for insertion of instruments, e.g. guide wire, optical fibre
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/00818 Treatment of the gastro-intestinal system
• CPC Class Codes: A61B 2017/07214 Stapler heads
• CPC Class Codes: A61B 2017/07221 curved
• CPC Class Codes: A61B 2017/07228 Arrangement of the staples
• CPC Class Codes: A61B 2017/07235 containing different staples, e.g. staples of different shapes, sizes or materials
• CPC Class Codes: A61B 2017/07242 : achieving different staple heights during the same shot, e.g. using an anvil anvil having different heights or staples of different sizes
• CPC Class Codes: A61B 2017/0725 : with settable gap between anvil and cartridge, e.g. for different staple heights at different shots
• CPC Class Codes: A61B 2017/07257 : characterised by its anvil
• CPC Class Codes: A61B 2017/07264 : characterised by its staple forming cavities, e.g. geometry or material
• 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 2017/2912 : transmission of forces to actuating rod or piston
• CPC Class Codes: A61B 2017/2927 : the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 : with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2933 : camming or guiding means
• CPC Class Codes: A61B 2017/2934 : arcuate shaped guiding means
• CPC Class Codes: A61B 2017/2936 : Pins in guiding slots
• CPC Class Codes: A61B 2017/2937 : with flexible part
• CPC Class Codes: A61B 2017/2939 : Details of linkages or pivot points
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2946 : Locking means
• CPC Class Codes: A61B 2017/2947 : Pivots
• CPC Class Codes: A61B 2090/032 : pressure limiting, e.g. hydrostatic
• CPC Class Codes: A61B 2090/034 : abutting on parts of the device itself
• CPC Class Codes: A61B 2090/037 : with a frangible part, e.g. by reduced diameter
• CPC Class Codes: A61B 2090/0808 : for indicating correct assembly of components, e.g. of the surgical apparatus
• CPC Class Codes: A61B 2090/0811 : for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• CPC Class Codes: A61B 2090/0814 : Preventing re-use
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 90/92 : coded with colour
• CPC Class Codes: A61B 90/94 : coded with symbols, e.g. text

Abstract

A surgical tool assembly that includes an elongate shaft that has an end effector coupled thereto for selective articulation relative to the shaft. A first articulation link operably interfaces with a source of articulation motions configured to selectively axially move the first articulation link a first axial distance in a first articulation direction. A second articulation link operably interfaces with the surgical end effector to apply articulation motions thereto. An articulation stroke multiplier operably interfaces with the first articulation link and the second articulation link such that when the first articulation link is axially moved the first axial distance in the first axial direction, the articulation stroke multiplier moves the second articulation link another first axial distance in the first axial direction that is greater than the first axial distance.

Claims

1. A surgical tool assembly, comprising:

an elongate shaft defining a shaft axis,

a surgical end effector coupled to said elongate shaft for selective articulation relative to said elongate shaft about an articulation axis that is transverse to said shaft axis;

a first articulation link operably interfacing with a source of articulation motions to selectively axially move said first articulation link a first axial distance in a first articulation direction;

a second articulation link operably interfacing with said surgical end effector to apply articulation motions thereto; and

an articulation stroke multiplier operably interfacing with said first articulation link and said second articulation link such that when said first articulation link is axially moved said first axial distance in said first axial direction, said articulation stroke multiplier moves said second articulation link another first axial distance in said first axial direction that is greater than said first axial distance.

2. The surgical tool assembly of claim 1, wherein said source of articulation motions is configured to additionally axially move said first articulation link a second axial distance in a second axial direction and wherein when said first articulation link is moved said second axial distance in said second axial direction, said articulation stroke multiplier moves said second articulation link another second axial distance in said second axial direction that is greater than said second axial distance.

3. The surgical tool assembly of claim 1, wherein said first articulation link comprises a first articulation gear rack and wherein said second articulation link comprises a second articulation gear rack and wherein said articulation stroke multiplier comprises at least one gear set in meshing engagement with said first and second articulation gear racks.

4. The surgical tool assembly of claim 3, wherein each said at least one gear set comprises:

a first gear rotatably supported in meshing engagement with said first articulation gear rack; and

a second gear attached to said first gear for rotation therewith, said second gear having a larger diameter than a diameter of said first gear, said second gear in meshing engagement with said second articulation gear rack.

5. The surgical tool assembly of claim 1, wherein said second articulation link operably interfaces with an articulation lock assembly that is operably coupled to said surgical end effector.

6. The surgical tool assembly of claim 1, wherein said first articulation link comprises a first articulation gear rack and wherein said articulation stroke multiplier comprises a swing gear in meshing engagement with said first articulation gear rack and slidably coupled to said second articulation link.

7. The surgical tool assembly of claim 6, wherein said swing gear is supported for rotational travel about a swing gear mounting axis that is transverse to said first and second articulation links.

8. The surgical tool assembly of claim 6, wherein said second articulation link comprises a slotted distal end slidably engaging a portion of said swing gear therein.

9. The surgical tool assembly of claim 6, wherein said swing gear has a slot therein configured to slidably engage a distal end portion of said second articulation link.

10. A surgical tool assembly, comprising:

an elongate shaft defining a shaft axis,

a surgical end effector comprising;

an elongate channel configured to operably support a surgical staple cartridge therein and coupled to said elongate shaft for selective articulation relative to said elongate shaft about an articulation axis that is transverse to said shaft axis; and

an anvil movably supported on said elongate channel and wherein said surgical tool assembly further comprises;

a first articulation link operably interfacing with a source of articulation motions to selectively axially move said first articulation link a first axial distance in a first articulation direction;

a second articulation link operably interfacing with said surgical end effector to apply articulation motions thereto; and

an articulation stroke multiplier operably interfacing with said first articulation link and said second articulation link such that when said first articulation link is axially moved said first axial distance in said first axial direction, said articulation stroke multiplier moves said second articulation link another first axial distance in said first axial direction that is greater than said first axial distance.

11. The surgical tool assembly of claim 10, wherein said source of articulation motions comprises:

a firing member assembly operably interfacing with a firing member that is supported for axial travel within said elongate channel; and

a clutch assembly operably interfacing with said first articulation link and said firing member assembly and being selectively configurable between a firing mode, wherein axial movement of said firing member assembly is applied to said firing member and an articulation mode wherein said axial movement of said firing member assembly is applied to said first articulation link.

12. The surgical tool assembly of claim 11, wherein when said clutch assembly is in said articulation mode, said firing member assembly is configured to additionally axially move said first articulation link a second axial distance in a second axial direction and wherein when said first articulation link is moved said second axial distance in said second axial direction, said articulation stroke multiplier moves said second articulation link another second axial distance in said second axial direction that is greater than said secondary axial distance.

13. The surgical tool assembly of claim 11, wherein said first articulation link comprises a first articulation gear rack and wherein said second articulation link comprises a second articulation gear rack and wherein said articulation stroke multiplier comprises at least one gear set in meshing engagement with said first and second articulation gear racks.

14. The surgical tool assembly of claim 13, wherein each said at least one gear set comprises:

a first gear rotatably supported in meshing engagement with said first articulation gear rack; and

a second gear attached to said first gear for rotation therewith, said second gear having a larger diameter than a diameter of said first gear, said second gear in meshing engagement with said second articulation gear rack.

15. The surgical tool assembly of claim 11, wherein said second articulation link operably interfaces with an articulation lock assembly that is operably coupled to said surgical end effector.

16. The surgical tool assembly of claim 11, wherein said first articulation link comprises a first articulation gear rack and wherein said articulation stroke multiplier comprises a swing gear in meshing engagement with said first articulation gear rack and slidably coupled to said second articulation link.

17. The surgical tool assembly of claim 16, wherein said swing gear is supported for rotational travel about a swing gear mounting axis that is transverse to said first and second articulation links.

18. The surgical tool assembly of claim 16, wherein said second articulation link comprises a slotted distal end slidably engaging a portion of said swing gear therein.

19. The surgical tool assembly of claim 16, wherein said swing gear has a slot therein configured to slidably engage a distal end portion of said second articulation link.

20. A surgical tool assembly, comprising:

an elongate shaft defining a shaft axis,

a surgical end effector coupled to said elongate shaft for selective articulation relative to said elongate shaft about an articulation axis that is transverse to said shaft axis;

a first articulation link operably interfacing with a source of articulation motions to selectively axially move said first articulation link a first axial distance in a first articulation direction;

a second articulation link operably interfacing with said surgical end effector to apply articulation motions thereto; and

an articulation stroke multiplying means operably interfacing with said first articulation link and said second articulation link to move said second articulation a second axial distance in response to movement of said first articulation link a first axial distance that is less than said second axial distance.