Surgical instruments with articulatable end effectors and movable firing beam support arrangements

• US 9,943,309 B2
• Filed: 12/18/2014
• Issued: 04/17/2018
• Est. Priority Date: 12/18/2014
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Shelton, IV, Frederick E., Morgan, Jerome R., Harris, Jason L., Swayze, Jeffrey S., Baxter, III, Chester O.
• Primary Examiner(s): Chukwurah, Nathaniel
• Application Number:
  US14/575,117
• Publication Number:
  US 20160174975A1
• Time in Patent Office: 1,216 Days
• Field of Search: 2271751, 2271761
• CPC Class Codes: A61B 17/0644 penetrating the tissue, deformable to closed position
• 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 2017/00309 Cut-outs or slits
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• 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 2017/07257 characterised by its anvil
• 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 2017/2902 characterized by features of the actuating rod
• CPC Class Codes: A61B 2017/2923 Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2933 camming or guiding means
• CPC Class Codes: A61B 2017/2937 with flexible part
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 34/30 : Surgical robots

Abstract

A surgical instrument that includes a surgical end effector that is coupled to a shaft assembly by an articulation joint. A flexible firing beam extends through the articulation joint to interface with a firing member in the surgical end effector to apply a firing motion thereto. In at least one form, the surgical instrument further includes a movable firing beam support assembly that is configured to movably contact the firing beam on each lateral side thereof as the firing beam flexes about the articulation joint.

Claims

1. A surgical instrument comprising:

a surgical end effector comprising;

first and second jaw members wherein an application of a closure motion to at least one of said first and second jaw members results in movement of said at least one of said first and second jaw members to a closed position relative to the other of said first and second jaw members; and

a firing member operably supported in one of said first and second jaw members for axial travel therein in response to an application of a firing motion thereto;

a shaft assembly defining a shaft axis;

an articulation joint coupling said surgical end effector to said shaft assembly for selective articulation relative thereto about an articulation axis that is transverse to said shaft axis upon an application of articulation motions to said surgical end effector;

a flexible firing beam extending through said articulation joint to interface with said firing member in said surgical end effector to apply said firing motion thereto; and

a movable firing beam support assembly configured to movably contact said firing beam on each lateral side thereof as said firing beam flexes about said articulation joint, wherein said movable firing beam support assembly comprises;

a first compression plate positioned against a portion of a first lateral side of said flexible firing beam;

a second compression plate positioned against a portion of a second lateral side of said flexible firing beam; and

a support boss assembly rotatably and laterally movable relative to a support axis that is transverse to said shaft axis, said support boss assembly comprising;

a first support boss pin in contact with said first compression plate; and

a second support boss pin in contact with said second compression plate.

2. A surgical instrument comprising:

a surgical end effector comprising;

first and second jaw members wherein an application of a closure motion to at least one of said first and second jaw members results in movement of said at least one of said first and second jaw members to a closed position relative to the other of said first and second jaw members; and

a firing member operably supported in one of said first and second jaw members for axial travel therein in respond to an application of a firing motion thereto;

a shaft assembly defining a shaft axis;

an articulation joint coupling said surgical end effector to said shaft assembly for selective articulation relative thereto about an articulation axis that is transverse to said shaft axis upon an application of articulation motions to said surgical end effector;

a flexible firing beam extending through said articulation joint to interface with said firing member in said surgical end effector to apply said firing motion thereto; and

a movable firing beam support assembly configured to movably contact said firing beam on each lateral side thereof as said firing beam flexes about said articulation joint, wherein said movable firing beam support assembly comprises;

a first movable support pin guide configured for movable contact with a corresponding portion of said flexible firing beam extending through said articulation joint; and

a second movable support pin guide mounted for movement relative to said first movable support pin guide and configured for contact with another corresponding portion of said flexible firing beam.

3. The surgical instrument of claim 2 wherein said first movable support pin guide comprises:

a first guide base supported for pivotal movement about a guide axis that is transverse to said shaft axis;

a first support member attached to said first guide base and supported in movable contact with a first lateral side of said firing beam; and

a second support member attached to said first guide base and supported in movable contact with a second lateral side of said firing beam.

4. The surgical instrument of claim 3 wherein said second movable support pin guide comprises:

a second movable guide base supported for pivotal movement about said guide axis;

a primary support member attached to said second guide base and supported in movable contact with said first lateral side of said firing beam; and

a secondary support member attached to said second guide base and supported in movable contact with said second lateral side of said firing beam.

5. The surgical instrument of claim 2 wherein said movable firing beam support assembly further comprises:

a first compression plate positioned between a first lateral side of said firing beam and corresponding portions of said first and second movable support pin guides; and

a second compression plate positioned between a second lateral side of said firing beam and other corresponding portions of said first and second movable support pin guides.

6. The surgical instrument of claim 5 wherein said first and second compression plates are coupled together.

7. The surgical instrument of claim 5 wherein said first compression plate includes a first distal end and a first proximal end and wherein said second compression plate includes a second distal end and a second proximal end and wherein said first and second distal ends are each movably coupled to corresponding portions of one of said first and second jaw members and said first and second proximal ends are each movably coupled to other corresponding portions of said shaft assembly.

8. A surgical instrument comprising:

a surgical end effector comprising;

first and second jaw members wherein an application of a closure motion to at least one of said first and second jaw members results in movement of at least one of said first and second jaw members to a closed position relative to the other of said first and second jaw members; and

a firing member supported in one of said first and second jaw members for axial travel therein in response to an application of a firing motion thereto;

a shaft assembly defining a shaft axis;

an articulation joint coupling said surgical end effector to said shaft assembly for selective articulation relative thereto about an articulation axis that is transverse to said shaft axis upon an application of articulation motions to said surgical end effector;

a flexible firing beam extending through said articulation joint to interface with said firing member in said surgical end effector to apply said firing motion thereto; and

a firing beam support assembly comprising;

a first compression band supported adjacent a first lateral side of said firing beam and spanning said articulation joint;

a second compression band supported adjacent a second lateral side of said firing beam and spanning said articulation joint;

at least one first support member movably supported relative to said first compression band, wherein said first compression band is configured to move relative to said at least one first support member; and

at least one second support member movably supported relative to said second compression band, wherein said second compression band is configured to move relative to said at least one second support member.

9. The firing beam support assembly of claim 8 wherein said first and second compression bands are coupled together.

10. The firing beam support assembly of claim 8 wherein said at least one first support member and said at least one second support member are coupled together and are supported for simultaneous pivotal movement about a support axis that is transverse to said shaft axis.

11. The firing beam support assembly of claim 8 wherein said first compression band comprises a first distal end and a first proximal end and wherein said second compression band comprises a second distal end and a second proximal end and wherein said first and second distal ends are each movably coupled to corresponding portions of one of said first and second jaw members and said first and second proximal ends are each movably coupled to other corresponding portions of said shaft assembly.

12. A surgical instrument comprising:

a surgical end effector comprising;

first and second jaw members wherein an application of a closure motion to at least one of said first and second jaw members results in movement of at least one of said first and second jaw members to a closed position relative to the other of said first and second jaw members; and

a firing member supported in one of said first and second jaw members for axial travel therein in response to an application of a firing motion thereto;

a shaft assembly defining a shaft axis;

an articulation joint coupling said surgical end effector to said shaft assembly for selective articulation relative thereto about an articulation axis that is transverse to said shaft axis upon an application of articulation motions to said surgical end effector;

a flexible firing beam extending through said articulation joint to interface with said firing member in said surgical end effector to apply said firing motion thereto;

a firing beam support assembly comprising a firing beam guide assembly spanning a portion of the firing beam adjacent said articulation joint, said firing beam guide assembly comprising;

a first side member adjacent a portion of a first lateral side of said firing beam;

a second side member adjacent another portion of a second lateral side of said firing beam,

a distal mounting portion coupling a distal end of said first side member to a distal end of said second side member, said distal mounting portion mounted to at least one of said first and second jaw members; and

a proximal mounting portion coupling a proximal end of said first side member to a proximal end of said second side member, said proximal mounting portion mounted to a corresponding portion of said shaft assembly and wherein said surgical instrument further comprises;

a movable firing beam support assembly configured to movably contact said first and second side members as said firing beam flexes about said articulation joint, wherein said first and second side members are configured to move relative to said movable firing beam support assembly.

13. The surgical instrument of claim 12 wherein said distal mounting portion is movably mounted to one of said at least one first and second jaw members and said proximal mounting portion is movably mounted to said corresponding portion of said shaft assembly.

14. The surgical instrument of claim 12 wherein said movable firing beam support assembly comprises:

a first movable support guide configured for movable contact with a corresponding portion of said firing beam support assembly; and

a second movable support guide mounted for movement relative to said first movable support guide and configured for contact with another corresponding portion of the firing beam support assembly.

15. A surgical instrument comprising:

a surgical end effector comprising;

first and second jaw members wherein an application of a closure motion to at least one of said first and second jaw members results in movement of the at least one of said first and second jaw members to a closed position relative to the other of said first and second jaw members; and

a firing member supported in one of said first and second jaw members for axial travel therein in response to an application of a firing motion thereto;

a shaft assembly defining a shaft axis;

an articulation joint coupling said surgical end effector to said shaft assembly for selective articulation relative thereto about an articulation axis that is transverse to said shaft axis upon an application of articulation motions to said surgical end effector;

a flexible firing beam extending through said articulation joint to interface with said firing member in said surgical end effector to apply said firing motion thereto;

a firing beam support assembly comprising a firing beam guide assembly spanning a portion of the firing beam adjacent said articulation joint, said firing beam guide assembly comprising;

a first side member adjacent a portion of a first lateral side of said firing beam;

a second side member adjacent another portion of a second lateral side of said firing beam,

a distal mounting portion coupling a distal end of said first side member to a distal end of said second side member, said distal mounting portion mounted to at least one of said first and second jaw members; and

a proximal mounting portion coupling a proximal end of said first side member to a proximal end of said second side member, said proximal mounting portion mounted to a corresponding portion of said shaft assembly and wherein said surgical instrument further comprises;

a movable firing beam support assembly configured to movably contact said first and second side members as said firing beam flexes about said articulation joint, wherein said movable firing beam support assembly comprises a support boss assembly rotatably and laterally movable relative to a support axis that is transverse to said shaft axis, said support boss assembly comprising;

a first support boss pin in contact with said first side member; and

a second support boss pin in contact with said second side member.

16. A surgical instrument comprising:

a surgical end effector comprising;

first and second jaw members wherein an application of a closure motion to at least one of said first and second jaw members results in movement of the at least one of said first and second jaw members to a closed position relative to the other of said first and second jaw members; and

a firing member supported in one of said first and second jaw members for axial travel therein in response to an application of a firing motion thereto;

a shaft assembly defining a shaft axis;

an articulation joint coupling said surgical end effector to said shaft assembly for selective articulation relative thereto about an articulation axis that is transverse to said shaft axis upon an application of articulation motions to said surgical end effector;

a flexible firing beam extending through said articulation joint to interface with said firing member in said surgical end effector to apply said firing motion thereto;

a firing beam support assembly comprising a firing beam guide assembly spanning a portion of the firing beam adjacent said articulation joint, said firing beam guide assembly comprising;

a first side member adjacent a portion of a first lateral side of said firing beam;

a second side member adjacent another portion of a second lateral side of said firing beam,

a distal mounting portion coupling a distal end of said first side member to a distal end of said second side member, said distal mounting portion mounted to at least one of said first and second jaw members; and

a proximal mounting portion coupling a proximal end of said first side member to a proximal end of said second side member, said proximal mounting portion mounted to a corresponding portion of said shaft assembly and wherein said surgical instrument further comprises;

a movable firing beam support assembly configured to movably contact said first and second side members as said firing beam flexes about said articulation joint, wherein said movable firing beam support assembly comprises;

a first movable support guide configured for movable contact with a corresponding portion of said firing beam support assembly; and

a second movable support guide mounted for movement relative to said first movable support guide and configured for contact with another corresponding portion of the firing beam support assembly, wherein said first movable support guide comprises;

a first guide base supported for pivotal movement about a guide axis that is transverse to said shaft axis;

a first pin member attached to said first guide base and supported in movable contact with said first side member of said firing beam guide assembly; and

a second support member attached to said first guide base and supported in movable contact with said second side member of said firing beam guide assembly and wherein said second movable support guide comprises;

a second movable guide base supported for pivotal movement about said guide axis;

a primary support member attached to said second guide base and supported in movable contact with said first side member of said firing beam guide assembly; and

a secondary support member attached to said second guide base and supported in movable contact with said second side member of said firing beam guide assembly.

17. A surgical instrument, comprising:

an end effector, comprising;

a first jaw;

a second jaw, wherein one of said first jaw and said second jaw is rotatable relative to the other of said first jaw and said second jaw; and

a firing member operably supported in one of said first jaw and said second jaw, wherein said firing member is configured to perform a firing stroke;

an elongate shaft extending distally from said end effector;

an articulation joint coupling said end effector to said elongate shaft, wherein said articulation joint is configured to allow said end effector to articulate relative to said elongate shaft about an articulation axis;

a flexible firing beam extending through said articulation joint to interface with said firing member in said end effector;

a firing beam guide configured to contact said firing beam on each lateral side of said firing beam as said firing beam flexes about said articulation joint, wherein said firing beam guide is further configured to move relative to said firing beam; and

a firing beam guide support configured to contact said firing beam guide on each lateral side of said firing beam guide, wherein said firing beam guide support is pivotally mounted within said articulation joint, and wherein said firing beam guide support is configured to rotate about said articulation axis.

18. A surgical instrument, comprising:

an end effector, comprising;

a first jaw;

a second jaw, wherein one of said first jaw and said second jaw is rotatable relative to the other of said first jaw and said second jaw; and

a firing member configured to perform a firing stroke;

an elongate shaft;

an articulation joint coupling said end effector to said elongate shaft, wherein said articulation joint is configured to allow said end effector to articulate relative to said elongate shaft;

a flexible firing member extending through said articulation joint; and

a movable firing support configured to support said flexible firing member as said flexible firing member flexes about said articulation joint, wherein said movable firing support comprises;

a first compression plate positioned against a first lateral side of said flexible firing member;

a second compression plate positioned against a second lateral side of said flexible firing member; and

a support boss rotatably and laterally movable relative to said flexible firing member, wherein said support boss comprises;

a first support boss pin in contact with said first compression plate; and

a second support boss pin in contact with said second compression plate.

19. A surgical instrument, comprising:

an end effector, comprising;

a first jaw;

a second jaw, wherein one of said first jaw and said second jaw is rotatable relative to the other of said first jaw and said second jaw; and

a firing member operably supported in one of said first jaw and said second jaw, wherein said firing member is configured to perform a firing stroke;

an elongate shaft extending from said end effector;

an articulation joint coupling said end effector to said elongate shaft, wherein said articulation joint is configured to allow said end effector to articulate relative to said elongate shaft;

a flexible firing beam extending through said articulation joint to interface with said firing member in said end effector; and

a movable firing beam support assembly configured to movably contact said firing beam on each lateral side of said firing beam as said firing beam flexes about said articulation joint, wherein said movable firing beam support assembly comprises;

a first movable support guide configured for movable contact with a corresponding portion of said flexible firing beam extending through said articulation joint; and

a second movable support guide mounted for movement relative to said first movable support guide and configured for movable contact with a corresponding portion of said first movable support guide.