Surgical instrument incorporating a fluid transfer controlled articulation mechanism
First Claim
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1. A surgical instrument, comprising:
- a proximal portion configured for manipulation external to a patient;
an elongate shaft attached to the proximal portion and extending distally therefrom, the elongate shaft defining a longitudinal axis;
an end effector;
an articulation joint attaching the end effector to a distal end of the elongate shaft;
a fluid control attached to the proximal portion operably configured toa) transfer fluid longitudinally through the elongate shaft through a first fluid passage extending distally from the fluid control, andb) transfer in an opposite sense fluid longitudinally through a second fluid passage extending distally from the fluid control;
a first fluid actuator distal to the fluid control and in fluid communication with the first fluid passage and responsive to the fluid transferred by the fluid control to articulate the articulation joint;
a second fluid actuator in fluid communication with the second fluid passage and distal to the fluid control, the second fluid actuator responding in an opposite sense to fluid transferred by the fluid control to assist the first fluid actuator to articulate the articulation joint;
an actuating member constrained for lateral movement within the elongate shaft and having a distal end of the actuating member positioned in the articulation joint; and
a proximal surface of the end effector engaged to the distal end of the actuating member for converting a lateral motion of the actuating member to a pivoting motion of the end effector, wherein the first fluid actuator is positioned to a first lateral side of the actuating member in the elongate shaft and the second fluid actuator is positioned to an opposing second lateral side of the actuating member in the elongate shaft and the first fluid actuator and the second fluid actuator move the actuating member laterally to the longitudinal axis in response to the fluid transferred by the fluid control.
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Abstract
A surgical instrument particularly suited to endoscopic use articulates an end effector by including a fluid transfer articulation mechanism that is proximally controlled. A fluid control, which is attached to a proximal portion, transfers fluid through the elongate shaft through a first fluid passage to a first fluid actuator that responds by articulating an articulation joint. Two opposing fluid actuators may respond to differential fluid transfer to effect articulation. Thereby, design flexibility is achieved by avoiding the design constraints of transferring a mechanical motion through the tight confines of the elongate shaft sufficient to effect articulation.
2076 Citations
24 Claims
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1. A surgical instrument, comprising:
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a proximal portion configured for manipulation external to a patient; an elongate shaft attached to the proximal portion and extending distally therefrom, the elongate shaft defining a longitudinal axis; an end effector; an articulation joint attaching the end effector to a distal end of the elongate shaft; a fluid control attached to the proximal portion operably configured to a) transfer fluid longitudinally through the elongate shaft through a first fluid passage extending distally from the fluid control, and b) transfer in an opposite sense fluid longitudinally through a second fluid passage extending distally from the fluid control; a first fluid actuator distal to the fluid control and in fluid communication with the first fluid passage and responsive to the fluid transferred by the fluid control to articulate the articulation joint; a second fluid actuator in fluid communication with the second fluid passage and distal to the fluid control, the second fluid actuator responding in an opposite sense to fluid transferred by the fluid control to assist the first fluid actuator to articulate the articulation joint; an actuating member constrained for lateral movement within the elongate shaft and having a distal end of the actuating member positioned in the articulation joint; and a proximal surface of the end effector engaged to the distal end of the actuating member for converting a lateral motion of the actuating member to a pivoting motion of the end effector, wherein the first fluid actuator is positioned to a first lateral side of the actuating member in the elongate shaft and the second fluid actuator is positioned to an opposing second lateral side of the actuating member in the elongate shaft and the first fluid actuator and the second fluid actuator move the actuating member laterally to the longitudinal axis in response to the fluid transferred by the fluid control. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A surgical instrument, comprising:
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a proximal portion configured for manipulation external to a patient; an elongate shaft attached to the proximal portion and extending distally therefrom, the elongate shaft defining a longitudinal axis and including a first and second fluid passage extending distally through a proximal portion thereof; an end effector; an articulation joint attaching the end effector to the elongate shaft; a fluid control attached to the proximal portion and operably configured to differentially transfer at least one fluid longitudinally therefrom through the elongate shaft via the first and second fluid passages; a first fluid actuator in fluid communication with the first fluid passage and distal to the fluid control; and a second fluid actuator in fluid communication with the second fluid passage and distal to the fluid control; and an actuating member constrained for lateral movement within the elongate shaft and having a distal end of the actuating member positioned in the articulation joint, the distal end engaged to a proximal surface of the end effector for converting a lateral motion of the actuating member to a pivoting motion of the end effector, wherein the first fluid actuator is positioned to a first lateral side of the actuating member in the elongate shaft and the second fluid actuator is positioned to an opposing second lateral side of the actuating member in the elongate shaft and wherein the first and second fluid actuators cooperatively respond to the differential transfer of the at least one fluid to articulate the articulation joint by moving the actuating member laterally to the longitudinal axis in response to the at least one fluid transferred by the fluid control. - View Dependent Claims (22, 23)
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24. A surgical instrument, comprising:
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a proximal portion configured for manipulation external to a patient; an elongate shaft attached to the proximal portion; an end effector; an articulation joint attaching the end effector to the elongate shaft; a fluid control means for bi-directionally transferring a fluid longitudinally through the elongate shaft; a first fluid actuator and a second fluid actuator located within the elongate shaft distal to the fluid control means and in fluid communication therewith; an actuating member constrained for lateral movement within the elongate shaft and having a distal end of the actuating member positioned in the articulation joint, the distal end engaged to a proximal surface of the end effector for converting a lateral motion of the actuating member to a pivoting motion of the end effector, wherein the first fluid actuator is positioned to a first lateral side of the actuating member in the elongate shaft and the second fluid actuator is positioned to an opposing second lateral side of the actuating member in the elongate shaft and wherein the first and second fluid actuators cooperatively respond to the differential transfer of fluid from the fluid control means to move the actuating member laterally to the longitudinal axis in response to the fluid transferred by the fluid control means; and a fluid actuating means distal to the fluid control and responsive to the transferred fluid from the elongate shaft to move the actuating member laterally in response to the fluid transferred by the fluid control means and articulate the articulation joint.
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Specification