Flexible drive member

• US 9,204,879 B2
• Filed: 06/28/2012
• Issued: 12/08/2015
• Est. Priority Date: 06/28/2012
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Shelton, Frederick E. IV
• Primary Examiner(s): Jackson, Gary
• Assistant Examiner(s): Nganga, Boniface N.
• Application Number:
  US13/536,271
• Publication Number:
  US 20140005708A1
• Time in Patent Office: 1,258 Days
• Field of Search: 606/1, 606/170
• US Class Current: 1/1
• CPC Class Codes: A61B 17/062 Needle manipulators
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• 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 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00353 one mechanical instrument performing multiple functions, e.g. cutting and grasping channel for multiple instruments A61B2017/3445; instrument channel A61B2017/22072; replaceable heads A61B2017/2931; suction A61M1/00
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/00858 high friction, non-slip on handles A61B2017/00429
• CPC Class Codes: A61B 2017/2825 Inserts of different material in jaws
• CPC Class Codes: A61B 2017/2903 transferring rotary motion
• CPC Class Codes: A61B 2017/2905 flexible
• CPC Class Codes: A61B 2017/2926 Details of heads or jaws
• 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 2017/2943 Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/320032 Details of the rotating or oscillating shaft, e.g. using a flexible shaft
• CPC Class Codes: A61B 2018/1455 having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2034/302 : specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/306 : Wrists with multiple vertebrae
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/35 : for telesurgery
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence

Abstract

A surgical tool can comprise an end effector, a shaft, an articulation joint rotatably connecting the end effector to the shaft, and a translatable drive member which can at least partially extend through the articulation joint. The drive member can be resiliently flexible or bendable to accommodate the articulation of the end effector. The drive member can comprise a body including a plurality of articulation joints defined therein. The articulation joints can be intrinsic to the drive member body and can form an array or lattice of articulation joints. The drive member can also comprise a drive thread extending around the body. The drive thread can be configured to outwardly constrain the portions of the body when the drive member is articulated. The drive member can also comprise a flexible inner core extending therethrough which can be configured to inwardly constrain the articulated body portions.

Claims

1. A surgical tool, comprising:

a shaft;

an end effector; and

a firing drive, comprising;

a rotatable input drive comprising a threaded transmission portion, wherein said rotatable input drive is rotatable in a first direction and a second direction;

a flexible output shaft, comprising;

a hollow body portion defining an outer surface and an inner surface;

a thread operably engaged with said threaded transmission portion, wherein said thread is disposed on at least a portion of said outer surface of said hollow body portion, wherein said flexible output shaft comprises a longitudinal axis and is constrained from revolving about said longitudinal axis; and

wherein said rotatable input drive is configured to translate said flexible output shaft toward said end effector when said rotatable input drive is rotated in said first direction, and wherein said rotatable input drive is configured to translate said flexible output shaft away from said end effector when said rotatable input drive is rotated in said second direction.

2. The surgical tool of claim 1, further comprising an articulation joint, wherein said articulation joint rotatably connects said end effector to said shaft, and wherein said flexible output shaft extends through said articulation joint.

3. The surgical tool of claim 1, wherein said thread extends around said outer surface of said hollow body portion.

10. The surgical tool of claim 1, wherein said flexible output shaft comprises a plurality of annular joints.

11. The surgical tool of claim 1, wherein said flexible output shaft comprises an array of articulation joints comprising interlocking projections and recesses.

13. The surgical tool of claim 1, wherein said flexible output shaft comprises a joint lattice comprising operably engaged projections and recesses.

14. The surgical tool of claim 1, wherein said output shaft extends through said threaded transmission portion.

4. A surgical tool, comprising:

a shaft;

an end effector; and

a firing drive, comprising;

a rotatable input drive comprising a threaded transmission portion, wherein said rotatable input drive is rotatable in a first direction and a second direction;

a flexible output shaft comprising a thread operably engaged with said threaded transmission portion, wherein said flexible output shaft comprises a longitudinal axis and is constrained from revolving about said longitudinal axis; and

wherein said rotatable input drive is configured to translate said flexible output shaft toward said end effector when said rotatable input drive is rotated in said first direction, wherein said rotatable input drive is configured to translate said flexible output shaft away from said end effector when said rotatable input drive is rotated in said second direction, wherein said flexible output shaft comprises a body, wherein said thread extends around said body, wherein said thread comprises a spring including a plurality of coils, and wherein said body extends through said plurality of coils.

5. The surgical tool of claim 4, wherein said spring further comprises a first end and a second end, and wherein said first end and said second end are fixedly mounted to said body.

6. The surgical tool of claim 5, wherein said plurality of coils extend between said first end and said second end, and wherein said body is movable relative to said plurality of coils.

9. The surgical tool of claim 4, further comprising an articulation joint, wherein said articulation joint rotatably connects said end effector to said shaft, wherein said flexible output shaft extends through said articulation joint, and wherein said longitudinal axis is defined by said spring.

7. A surgical tool, comprising:

a shaft;

an end effector; and

a firing drive, comprising;

a rotatable input drive comprising a threaded transmission portion, wherein said rotatable input drive is rotatable in a first direction and a second direction;

a flexible output shaft comprising a thread operably engaged with said threaded transmission portion, wherein said flexible output shaft comprises a longitudinal axis and is constrained from revolving about said longitudinal axis; and

wherein said rotatable input drive is configured to translate said flexible output shaft toward said end effector when said rotatable input drive is rotated in said first direction, wherein said rotatable input drive is configured to translate said flexible output shaft away from said end effector when said rotatable input drive is rotated in said second direction, wherein said flexible output shaft comprises a body, wherein said thread extends around said body, wherein said body comprises a longitudinal aperture extending therethrough, and wherein said flexible output shaft comprises a flexible core extending through said longitudinal aperture.

8. The surgical tool of claim 7, wherein said longitudinal aperture is defined by an aperture width, wherein said flexible core is defined by a core width, and wherein said core width is substantially equal to said aperture width.

12. A surgical tool, comprising:

a shaft;

an end effector; and

a firing drive, comprising;

a rotatable input drive comprising a threaded transmission portion, wherein said rotatable input drive is rotatable in a first direction and a second direction;

a flexible output shaft comprising a thread operably engaged with said threaded transmission portion, wherein said flexible output shaft comprises a longitudinal axis and is constrained from revolving about said longitudinal axis; and

wherein said rotatable input drive is configured to translate said flexible output shaft toward said end effector when said rotatable input drive is rotated in said first direction, wherein said rotatable input drive is configured to translate said flexible output shaft away from said end effector when said rotatable input drive is rotated in said second direction, wherein said flexible output shaft comprises an array of articulation joints comprising interlocking projections and recesses, wherein said flexible output shaft comprises a flexible body and a thread, and wherein said thread comprises a plurality of coils which at least partially surround and constrain said array of articulation joints.

15. A surgical tool, comprising:

a shaft;

an end effector; and

a firing drive, comprising;

a rotatable input drive comprising a threaded transmission portion, wherein said rotatable input drive is rotatable in a first direction and a second direction;

a flexible output shaft comprising a thread operably engaged with said threaded transmission portion, wherein said flexible output shaft comprises a longitudinal axis and is constrained from revolving about said longitudinal axis; and

wherein said rotatable input drive is configured to translate said flexible output shaft toward said end effector when said rotatable input drive is rotated in said first direction, wherein said rotatable input drive is configured to translate said flexible output shaft away from said end effector when said rotatable input drive is rotated in said second direction, wherein said output shaft comprises a flexible body and a thread, wherein said thread comprises a plurality of coils, and wherein said flexible body extends through said plurality of coils.

16. The surgical tool of claim 15, wherein said plurality of coils comprise a constant pitch.

17. The surgical tool of claim 15, wherein said plurality of coils define a first portion comprising a first pitch and a second portion comprising a second pitch which is different than said first pitch.

18. A surgical tool, comprising:

a shaft;

an end effector comprising a movable cutting member;

an articulation joint, wherein said end effector is movable relative to said shaft about said articulation joint; and

a firing drive, comprising;

a rotatable input drive comprising a threaded transmission portion, wherein said rotatable input drive is rotatable in a first direction and a second direction; and

a flexible output shaft operably engageable with said movable cutting member, said flexible output shaft comprising;

a flexible body, comprising;

a proximal end;

a distal end;

an array of interlocked lattice portions extending between said proximal end and said distal end; and

a thread operably engaged with said threaded transmission portion, wherein said thread is configured to constrain an outward movement of said array of interlocked lattice portions, wherein said rotatable input drive is configured to translate said flexible output shaft toward said end effector when said rotatable input drive is rotated in said first direction, and wherein said rotatable input drive is configured to translate said flexible output shaft away from said end effector when said rotatable input drive is rotated in said second direction.

19. The surgical tool of claim 18, wherein said flexible body comprises a longitudinal aperture extending therethrough, wherein said flexible output shaft comprises a flexible core extending through said longitudinal aperture, and wherein said flexible core is configured to constrain an inward movement of said array of interlocked lattice portions.

20. The surgical tool of claim 18, wherein said array of interlocked lattice portions comprises a plurality of interlocked dovetail projections and recesses.

21. A surgical tool, comprising:

a shaft;

an end effector;

an articulation joint, wherein said end effector is movable relative to said shaft about said articulation joint; and

a firing drive, comprising;

a rotatable input drive system comprising a threaded transmission portion, wherein said rotatable input drive system is rotatable in a first direction and a second direction; and

a flexible output shaft comprising;

a body comprising a plurality of intrinsic articulation joints;

a thread operably engaged with said threaded transmission portion, wherein said flexible output shaft comprises a longitudinal axis and is constrained from completing a revolution about said longitudinal axis; and

wherein said rotatable input drive system is configured to translate said flexible output shaft toward said end effector when said rotatable input drive system is rotated in said first direction, and wherein said rotatable input drive system is configured to translate said flexible output shaft away from said end effector when said rotatable input drive system is rotated in said second direction.