U.S. patent application number 11/270866 was filed with the patent office on 2007-05-10 for hydraulically and electrically actuated articulation joints for surgical instruments.
Invention is credited to Frederick E. IV Shelton, Jeffrey S. Swayze.
Application Number | 20070106317 11/270866 |
Document ID | / |
Family ID | 37744274 |
Filed Date | 2007-05-10 |
United States Patent
Application |
20070106317 |
Kind Code |
A1 |
Shelton; Frederick E. IV ;
et al. |
May 10, 2007 |
Hydraulically and electrically actuated articulation joints for
surgical instruments
Abstract
Articulation joints for use in connection with a surgical
instrument that has a portion that must be passed through a trocar
or similar structure and then articulated relative to another
portion of the instrument received within the trocar. Various
embodiments of the articulation joint include at least one
fluid-actuated cylinder or flexible driven member to articulate the
surgical implement relative to the handle assembly of the
instrument.
Inventors: |
Shelton; Frederick E. IV;
(Hillsboro, OH) ; Swayze; Jeffrey S.; (Hamilton,
OH) |
Correspondence
Address: |
KIRKPATRICK & LOCKHART PRESTON GATES ELLIS LLP
535 SMITHFIELD STREET
PITTSBURGH
PA
15222
US
|
Family ID: |
37744274 |
Appl. No.: |
11/270866 |
Filed: |
November 9, 2005 |
Current U.S.
Class: |
606/170 |
Current CPC
Class: |
A61B 2017/0645 20130101;
A61B 17/105 20130101; A61B 17/0644 20130101; A61B 17/07207
20130101; A61B 2017/2925 20130101; A61B 2017/2927 20130101; A61B
2017/00017 20130101; A61B 2017/00398 20130101; A61B 17/3205
20130101; A61B 2017/00367 20130101; A61B 2017/00535 20130101; A61B
2017/07242 20130101; A61B 17/29 20130101; A61B 2017/07257 20130101;
A61B 2017/003 20130101; A61B 2017/07285 20130101; A61B 2017/07271
20130101; A61B 17/068 20130101; A61B 17/072 20130101; A61B
2017/2901 20130101 |
Class at
Publication: |
606/170 |
International
Class: |
A61B 17/32 20060101
A61B017/32 |
Claims
1. A surgical instrument, comprising: a handle assembly; a proximal
tube segment attached to said handle assembly; a distal tube
segment; an articulating joint assembly pivotally coupling said
distal tube segment to said proximal tube segment, said
articulating joint assembly comprising: a ball member non-movably
coupled to an end of one of said proximal and distal tube segments
and rotatably received in a corresponding socket in an end of the
other of said of proximal tube segment and distal tube segment; and
an actuator assembly coupled between the ends of the distal and
proximal tube segments, said actuator assembly retaining a portion
of said ball member in said socket and selectively rotating said
ball member portion therein to articulate said distal tube segment
relative to said proximal tube segment; and a surgical implement
attached to said distal tube segment.
2. The surgical instrument of claim 1 wherein said actuator
assembly comprises at least one fluid-actuated cylinder.
3. The surgical instrument of claim 2 wherein said at least one
fluid-actuated cylinder comprises: a first fluid-actuated cylinder
having a first housing attached to one of said distal and proximal
tube segments and a selectively extendable and retractable first
actuation rod attached to the end of the other of said proximal and
distal tube segments; and a second fluid-actuated cylinder having a
second housing attached to one of said distal and proximal tube
segments and a selectively extendable and retractable second
actuation rod attached to the end of the other of said proximal and
distal tube segments.
4. The surgical instrument of claim 3 wherein said first and second
actuation rods are fabricated from flexible material.
5. The surgical instrument of claim 1 wherein said ball member has
at least one hollow passage therethrough adapted to communicate
with openings in said distal and proximal tube segments.
6. The surgical instrument of claim 2 further comprising at least
one indentation formed in an outer surface of said ball member for
providing clearance for at least a portion of at least one said
fluid-actuated cylinder.
7. The surgical instrument of claim 1 wherein said actuator
assembly comprises at least one flexible driven member extending
between said distal and proximal tube segments.
8. The surgical instrument of claim 7 wherein said at least one
flexible driven member comprises a flexible worm gear cable
attached to a motor and threadably engaging a corresponding
passageway formed in the ball member.
9. The surgical instrument of claim 8 wherein said ball member has
at least one hollow passage therethrough adapted to communicate
with openings in said distal and proximal tube segments.
10. The surgical instrument of claim 1 wherein said ball member is
nonmovably coupled to said end of said distal tube segment and is
rotatably received in a socket in said end of said proximal tube
segment.
11. The surgical instrument of claim 1 wherein said surgical
implement is an endocutter.
12. The surgical instrument of claim 3 wherein said proximal tube
segment defines an axis and wherein said first and second
fluid-actuated cylinders are located relative to each other about
said axis at an angle of substantially 180 degrees.
13. The surgical instrument of claim 3 wherein said proximal tube
defines an axis and wherein said first and second fluid-actuated
cylinder are located relative to each other about said axis at an
angle of less than 180 degrees.
14. A surgical instrument, comprising: a handle assembly; a
proximal tube segment attached to said handle assembly; a distal
tube segment; an articulating joint assembly pivotally coupling
said distal tube segment to said proximal tube segment, said
articulating joint assembly comprising: a ball member non-movably
coupled to a distal end of end of one of said proximal and distal
tube segments and rotatably received in a corresponding socket in
an end of the other of said of proximal tube segment and distal
tube segment; and an actuator assembly coupled between said one of
said distal and proximal tube segments that has said socket therein
and said ball member to retain a portion of said ball member in
said socket and selectively rotate said ball member portion therein
to articulate said distal tube segment relative to said proximal
tube segment; and a surgical implement attached to said distal tube
segment.
15. The surgical instrument of claim 14 wherein said actuator
assembly comprises at least one fluid-actuated cylinder.
16. The surgical instrument of claim 15 wherein said at least one
fluid-actuated cylinder comprises: a first fluid-actuated cylinder
having a first housing attached to said one of said distal and
proximal tube segments that has said socket therein, said first
fluid-actuated cylinder further comprising a selectively extendable
and retractable first actuation rod attached to a portion of said
ball member; and a second fluid-actuated cylinder having a second
housing attached to said one of said distal and proximal tube
segments that has said socket therein, said second fluid-actuated
cylinder further comprising a selectively extendable and
retractable second actuation rod attached to another portion of
said ball member.
17. The surgical instrument of claim 16 wherein said first and
second actuation rods are fabricated from flexible material.
18. The surgical instrument of claim 14 wherein said ball member
has at least one hollow passage therethrough adapted to communicate
with openings in said distal and proximal tube segments.
19. The surgical instrument of claim 15 further comprising at least
one indentation formed in an outer surface of said ball member for
providing clearance for at least a portion of at least one said
fluid-actuated cylinder.
20. The surgical instrument of claim 14 wherein said surgical
implement comprises an endocutter end effector.
21. The surgical instrument of claim 16 wherein said proximal tube
segment defines an axis and wherein said first and second
fluid-actuated cylinders are located relative to each other about
said axis at an angle of substantially 180 degrees.
22. The surgical instrument of claim 16 wherein said proximal tube
defines an axis and wherein said first and second fluid-actuated
cylinder are located relative to each other about said axis at an
angle of less than 180 degrees.
23. A surgical instrument, comprising: a handle assembly; a
proximal tube segment attached to said handle assembly; a distal
tube segment; an articulating joint assembly pivotally coupling
said distal tube segment to said proximal tube segment, said
articulating joint assembly comprising: a disc-like member
non-movably coupled to an end of one of said proximal and distal
tube segments and rotatably received in a corresponding socket in
an end of the other of said of proximal tube segment and distal
tube segment; and an actuator assembly coupled between the ends of
the distal and proximal tube segments, said actuator assembly
retaining said disc-like member in said socket and selectively
rotating said disc-like member therein to articulate said distal
tube segment relative to said proximal tube segment; and a surgical
implement attached to said distal tube segment.
24. The surgical instrument of claim 23 wherein said actuator
assembly comprises at least one fluid-actuated cylinder.
25. The surgical instrument of claim 24 wherein said at least one
fluid-actuated cylinder comprises: a first fluid-actuated cylinder
having a first housing attached to one of said distal and proximal
tube segments and a selectively extendable and retractable first
actuation rod attached to the end of the other of said proximal and
distal tube segments; and a second fluid-actuated cylinder having a
second housing attached to one of said distal and proximal tube
segments and a selectively extendable and retractable second
actuation rod attached to the end of the other of said proximal and
distal tube segments.
26. The surgical instrument of claim 25 wherein said first and
second actuation rods are fabricated from flexible material.
27. The surgical instrument of claim 23 wherein said disc-like
member has at least one hollow passage therethrough adapted to
communicate with openings in said distal and proximal tube
segments.
28. The surgical instrument of claim 23 wherein said actuator
assembly comprises at least one flexible driven member extending
between said distal and proximal tube segments.
29. The surgical instrument of claim 28 wherein said at least one
flexible driven member comprises a flexible worm gear cable
attached to a motor and threadably engaging a corresponding
passageway formed in the disc-like member.
30. The surgical instrument of claim 29 wherein said ball member
has at least one hollow passage therethrough adapted to communicate
with openings in said distal and proximal tube segments.
31. The surgical instrument of claim 23 wherein said disc-like
member is nonmovably coupled to said end of said distal tube
segment and is rotatably received in a socket in said end of said
proximal tube segment.
32. The surgical instrument of claim 23 wherein said surgical
implement is an endocutter.
33. A surgical instrument, comprising: a handle assembly; a
proximal tube segment attached to said handle assembly; a distal
tube segment; an articulating joint assembly pivotally coupling
said distal tube segment to said proximal tube segment, said
articulating joint assembly comprising: a disc-like member
non-movably coupled to an end of one of said proximal and distal
tube segments and rotatably received in a corresponding socket in
an end of the other of said of proximal tube segment and distal
tube segment; and an actuator assembly coupled between said one of
said distal and proximal tube segments that has said socket therein
and said disc-like member to retain a portion of said disc-like
member in said socket and selectively rotate said disc-like member
portion therein to articulate said distal tube segment relative to
said proximal tube segment; and a surgical implement attached to
said distal tube segment.
34. The surgical instrument of claim 33 wherein said actuator
assembly comprises at least one fluid-actuated cylinder.
35. The surgical instrument of claim 33 wherein said at least one
fluid-actuated cylinder comprises: a first fluid-actuated cylinder
having a first housing attached to the one of said distal and
proximal tube segments having said socket formed therein and a
selectively extendable and retractable first actuation rod attached
to a portion of said disc-like member; and a second fluid-actuated
cylinder having a second housing attached to the one of said distal
and proximal tube segments having said socket formed therein and a
selectively extendable and retractable second actuation rod
attached to another portion of said disc-like member.
36. The surgical instrument of claim 35 wherein said first and
second actuation rods are fabricated from flexible material.
37. The surgical instrument of claim 33 wherein said disc-like
member has at least one hollow passage therethrough adapted to
communicate with openings in said distal and proximal tube
segments.
38. The surgical instrument of claim 33 wherein said disc-like
member is nonmovably coupled to said end of said distal tube
segment and is rotatably received in a socket in said end of said
proximal tube segment.
39. The surgical instrument of claim 33 wherein said surgical
implement is an endocutter.
Description
FIELD OF THE INVENTION
[0001] The present invention relates in general to surgical
instruments that are suitable for endoscopically inserting an end
effector (e.g., endocutter, grasper, cutter, staplers clip applier,
access device, drug/gene therapy delivery device, an energy device
using ultrasound, RF, laser, etc.) and, more particularly, to
endocutters with articulating end effectors.
BACKGROUND OF THE INVENTION
[0002] Endoscopic surgical instruments are often preferred over
traditional open surgical devices since a smaller incision tends to
reduce the post-operative recovery time and complications.
Generally, these endoscopic surgical instruments include an "end
effector", a handle assembly and a long shaft that extends between
the end effector and the handle assembly. The end effector is the
portion of the instrument configured to engage the tissue in
various ways to achieve a desired diagnostic or therapeutic effect
(e.g., endocutter, grasper, cutter, staplers, clip applier, access
device, drug/gene therapy delivery device, and energy device using
ultrasound, RF, laser, etc.). The end effector and the shaft
portion are sized to be inserted through a trocar placed into the
patient. The elongated shaft portion enables the end effector to be
inserted to a desired depth and also facilitates some rotation of
the end effector to position it within the patient. With judicious
placement of the trocar and use of graspers, for instance, through
another trocar, often this amount of positioning is sufficient.
Surgical stapling and severing instruments, such as those described
in U.S. Pat. No. 5,465,895, are an example of an endoscopic
surgical instrument that successfully positions an end effector by
insertion and rotation.
[0003] Depending upon the nature of the operation, it may be
desirable to further adjust the positioning of the end effector of
an endoscopic surgical instrument. In particular, it is often
desirable to orient the end effector at an angle relative to the
longitudinal axis of the shaft of the instrument. The transverse or
non-axial movement of the end effector relative to the instrument
shaft is often conventionally referred to as "articulation". This
articulated positioning permits the clinician to more easily engage
tissue in some instances, such as behind an organ. In addition,
articulated positioning advantageously allows an endoscope to be
positioned behind the end effector without being blocked by the
instrument shaft.
[0004] Approaches to articulating a surgical stapling and severing
instrument tend to be complicated by integrating control of the
articulation along with the control of closing the end effector to
clamp tissue and fire the end effector (i.e., stapling and
severing) within the small diameter constraints of an endoscopic
instrument. Generally, the three control motions are all
transferred through the shaft as longitudinal translations. For
instance, U.S. Pat. No. 5,673,840 discloses an accordion-like
articulation mechanism ("flex-neck") that is articulated by
selectively drawing back one of two connecting rods through the
implement shaft, each rod offset respectively on opposite sides of
the shaft centerline. The connecting rods ratchet through a series
of discrete positions.
[0005] Another example of longitudinal control of an articulation
mechanism is U.S. Pat. No. 5,865,361 that includes an articulation
link offset from a camming pivot such that pushing or pulling
longitudinal translation of the articulation link effects
articulation to a respective side. Similarly, U.S. Pat. No.
5,797,537 discloses a similar rod passing through the shaft to
effect articulation. Still other examples of articulatable surgical
stapling devices are disclosed in U.S. Patent Nos. 6,250,532 and
6,644,532.
[0006] Due to the types end effector firing systems commonly
employed, the actuator arrangements for articulating the end
effector must often generate high amounts of torque to bend the
firing structure. This problem is exacerbated by the lack of
available space for accommodating actuating devices that are large
enough to generated those required forces.
[0007] Consequently, a significant need exists for an articulating
surgical instrument that incorporates an articulation mechanism
that can generate the torque necessary to selectively articulate
the end effector thereof in a desired manner.
BRIEF SUMMARY OF THE INVENTION
[0008] In accordance with one embodiment of the present invention
there is provided a surgical instrument that comprises a handle
assembly and a proximal tube segment that is attached to the handle
assembly. The surgical instrument further comprises a distal tube
segment that is attached to the proximal tube segment by an
articulating joint assembly. In one non-limiting embodiment, the
articulating joint assembly comprises a ball member non-movably
coupled to an end of one of the proximal and distal tube segments
and being rotatably received in a corresponding socket in an end of
the other of the proximal tube segment and distal tube segments. An
actuator assembly is coupled between the ends of the distal and
proximal tube segments and serves to retain a portion of the ball
member in the socket. The actuator assembly further selectively
rotates the ball member portion within the socket to articulate the
distal tube segment relative to the proximal tube segment. A
surgical implement may be attached to the distal tube segment.
[0009] In accordance with another non-limiting embodiment of the
present invention there is provided a surgical instrument that
comprises a handle assembly and a proximal tube segment that is
attached to the handle assembly. The surgical instrument further
comprises a distal tube segment that is attached to the proximal
tube segment by an articulating joint assembly. In one non-limiting
embodiment, the articulating joint assembly comprises a ball member
non-movably coupled to an end of one of the proximal and distal
tube segments and being rotatably received in a corresponding
socket in an end of the other of the proximal tube segment and
distal tube segment. An actuator assembly is coupled between the
one of the distal and proximal tube segments that has the socket
therein and a portion of the ball member and serves to retain a
portion of the ball member in the socket. The actuator assembly
further selectively rotates the ball member portion within the
socket to articulate the distal tube segment relative to the
proximal tube segment. A surgical implement may be attached to the
distal tube segment.
[0010] In accordance with another embodiment of the present
invention there is provided a surgical instrument that comprises a
handle assembly and a proximal tube segment that is attached to the
handle assembly. The surgical instrument further comprises a distal
tube segment that is attached to the proximal tube segment by an
articulating joint assembly. In one non-limiting embodiment, the
articulating joint assembly comprises a disc-like member
non-movably coupled to an end of one of the proximal and distal
tube segments and being rotatably received in a corresponding
socket in an end of the other of the proximal tube segment and
distal tube segment. An actuator assembly is coupled between the
ends of the distal and proximal tube segments and serves to retain
a portion of the disc-like member in the socket. The actuator
assembly further selectively rotates the disc-like member portion
within the socket to articulate the distal tube segment relative to
the proximal tube segment. A surgical implement may be attached to
the distal tube segment.
[0011] In accordance with another non-limiting embodiment of the
present invention there is provided a surgical instrument that
comprises a handle assembly and a proximal tube segment that is
attached to the handle assembly. The surgical instrument further
comprises a distal tube segment that is attached to the proximal
tube segment by an articulating joint assembly. In one non-limiting
embodiment, the articulating joint assembly comprises a disc-like
member non-movably coupled to an end of one of the proximal and
distal tube segments and being rotatably received in a
corresponding socket in an end of the other of the proximal tube
segment and distal tube segment. An actuator assembly is coupled
between the one of the distal and proximal tube segments that has
the socket therein and a portion of the disk-like member and serves
to retain a portion of the disc-like member in the socket. The
actuator assembly further rotates the disc-like member portion
within the socket to articulate the distal tube segment relative to
the proximal tube segment. A surgical implement may be attached to
the distal tube segment.
[0012] One feature of various embodiments of the present invention
is to provide an articulation joint that enables the proximal and
distal tube segments to be coaxially aligned for insertion through
a passageway in a trocar and then articulated relative to each
other after the joint has passed through the trocar. Accordingly,
various embodiments of the invention provide solutions to the
shortcomings of other articulated surgical instruments that are
designed to be passed through a trocar or similar structure. Those
of ordinary skill in the art will readily appreciate, however, that
these and other details, features and advantages will become
further apparent as the following Detailed Description
proceeds.
BRIEF DESCRIPTION OF THE FIGURES
[0013] The accompanying drawings, which are incorporated in and
constitute a part of this specification, illustrate embodiments of
the invention, and, together with the general description of the
invention given above, and the detailed description of the
embodiments given below, serve to explain various principles of the
various embodiments of the present invention.
[0014] FIG. 1 is a partial perspective view of one non-limiting
embodiment of a moment arm extension arrangement employed in
connection with a hydraulically operated endocutter with the tube
segments thereof in a first substantially coaxially aligned
position;
[0015] FIG. 2 is another perspective view of the moment arm
extension arrangement and endocutter of FIG. 1 with the tube
segments articulated at an angle relative to each other;
[0016] FIG. 3 is a partial cross-sectional view of an end effector
employed in the endocutter depicted in FIGS. 1 and 2 with the anvil
thereof in an open or unclamped position with some of the elements
thereof omitted for clarity;
[0017] FIG. 4 is another cross-sectional view of the end effector
of FIG. 3 in a closed or clamped position with the cutting bar in
an extended position;
[0018] FIG. 5 is another cross-sectional view of the end effector
of FIGS. 3 and 4 showing tissue after being cut and stapled
therein;
[0019] FIG. 6 is an exploded perspective view of the end effector
depicted in FIGS. 1-5;
[0020] FIG. 7 is another exploded assembly view of the end effector
and a staple cartridge;
[0021] FIG. 8 is a plan view of a staple cartridge installed in an
end effector depicted in FIGS. 6 and 7;
[0022] FIG. 9 is a cross-sectional end view illustrating the end
effector inserted into a trocar passageway;
[0023] FIG. 10 is a perspective view of a cartridge installed in an
end effector with the anvil thereof in an open or unclamped
position;
[0024] FIG. 11 is a schematic depiction of one hydraulic system
embodiment of the present invention;
[0025] FIG. 12 is a partial perspective view of one non-limiting
embodiment of an articulation joint of the present invention in an
articulated position;
[0026] FIG. 13 is another partial perspective view of the
articulation joint depicted in FIG. 12 in an articulated
position;
[0027] FIG. 14 is another partial perspective view of the
articulation joint embodiment depicted in FIGS. 12 and 13 in an
articulated position;
[0028] FIG. 15 is a partial cross-sectional view of another
non-limiting embodiment of an articulation joint of the present
invention in an articulated position;
[0029] FIG. 15A is a partial cross-sectional view of another
articulation joint of the present invention in an articulated
position;
[0030] FIG. 16 is a partial cross-sectional view of another
articulation joint of the present invention in an articulated
position;
[0031] FIG. 16A is a partial cross-sectional view of another
articulation joint of the present invention in an articulated
position;
[0032] FIG. 17 is a partial cross-sectional view of another
articulation joint embodiment of the present invention in an
articulated position; and
[0033] FIG. 17A is a partial cross-sectional view another
articulation joint of the present invention in an articulated
position.
DETAILED DESCRIPTION OF THE INVENTION
[0034] Turning to the Figures, wherein like numerals denote like
components throughout the several views, FIGS. 1 and 2 depict one
embodiment of a surgical instrument 10 that is capable of
practicing the unique benefits of the present invention. As can be
seen in FIGS. 1 and 2, the instrument 10 includes a handle assembly
200 and a surgical implement portion 12. As used herein, the term
"surgical implement" refers to a component or set of components
configured to engage tissue to accomplish a surgical task. Examples
of surgical implements include, but are not limited to:
endocutters, graspers, clamps, cutters, staplers, clip appliers,
probes or access devices, drug/gene therapy delivery devices,
energy devices such as ultrasound, RF, or laser devices, etc.
[0035] In the non-limiting embodiment depicted in the Figures, the
surgical instrument 10 includes a hydraulically actuated end
effector 22 and handle arrangement 200 of the type disclosed in the
U.S. patent application Ser. No. ______, entitled "SURGICAL
INSTRUMENT HAVING A HYDRAULICALLY ACTUATED END EFFECTOR" to
Frederick E. Shelton IV and Jerome R. Morgan, that was filed on
even date herewith and which is commonly owned with the present
application and which the disclosure thereof is hereby incorporated
by reference in its entirety. As the present Detailed Description
proceeds, however, the skilled artisan will readily appreciate that
the unique and novel features of the various embodiments of the
present invention may also be employed in connection with
electrically actuated or pneumatically actuated end effectors.
Thus, the various embodiments of the present invention may be
advantageously employed in connection with a variety of surgical
implements other than the exemplary embodiment depicted in the
Figures without departing from the spirit and scope of the present
invention. Accordingly, the scope of protection afforded to the
various embodiments of the present invention should not be limited
to use only with the specific type of surgical implements
specifically described herein.
[0036] Any patent, publication, or other disclosure material, in
whole or in part, that is said to be incorporated by reference
herein is incorporated herein only to the extent that the
incorporated material does not conflict with existing definitions,
statements, or other disclosure material set forth in this
disclosure. As such, and to the extent necessary, the disclosure as
explicitly set forth herein supersedes any conflicting material
incorporated herein by reference. Any material, or portion thereof,
that is said to be incorporated by reference herein, but which
conflicts with existing definitions, statements, or other
disclosure material set forth herein will only be incorporated to
the extent that no conflict arises between that incorporated
material and the existing disclosure material.
[0037] FIGS. 3-10 show views of one type of end effector 22
configured to perform clamping, severing and stapling of tissue
according to various embodiments the present invention. In one
embodiment, the end effector 22 has a body portion 24 that is
provided with an elongate channel 26 for receiving a staple
cartridge 60 therein. An anvil 28 is coupled to the body portion 24
and is capable of being selectively pivoted toward and away from
cartridge 60 mounted in the elongate channel 26. FIGS. 3 and 10
illustrate the anvil 28 in an open position and FIGS. 4 and 5
illustrate the anvil 28 in a closed position. The anvil 28 may be
closed hydraulically and returned to its open position by an energy
storing device such as a spring 23. As can be seen in FIGS. 3-5, an
actuation bladder 40 may be strategically mounted below a portion
of the anvil 28 such that when the bladder 40 is inflated with a
pressurized fluid or air, it biases the anvil 28 to its open
position. A supply line 42 is coupled to the bladder 40 for
supplying pressurized fluid from a reservoir 232 as will be
described in further detail below. In alternative non-limiting
embodiments, an additional hydraulic cylinder or cylinders may be
advantageously employed to open and close the anvil. Still in other
non-limiting embodiments, the anvil 28 may be opened and closed by
slidable action of a distal tube segment 410 attached thereto.
[0038] One type of cartridge that may be used with such end
effector is also depicted in FIGS. 3-10. The staple cartridge 60
has a cartridge body 62 that is divided by an elongated cutting
slot 64 that extends from a proximal end 65 of the cartridge 60
toward a tapered outer tip 66. See FIG. 10. A plurality of
staple-receiving channels 68 are formed within the staple cartridge
body 64 and are arranged in spaced longitudinal rows 69 on each
side of the elongated cutting slot 64. Positioned within the
staple-receiving channels are staple drivers 70 that each support
one or more staples 72 thereon. The staples 72 are advanced or
"fired" by moving their respective drivers 70 in an upward
direction toward the anvil 28.
[0039] FIG. 10 depicts a three dimensional view of the end effector
22 in an open position with a staple cartridge 60 installed in the
elongate channel 26. On a lower surface 30 of the anvil 28, a
plurality of staple-forming pockets 32 are arrayed to correspond to
each staple receiving channel 68 in the cartridge body 62 when the
cartridge 60 is installed in the end effector 22. More
specifically, each forming pocket 32 in the anvil 28 may correspond
to an individual staple 72 located within the staple cartridge 60.
The staple cartridge 60 may be snap-fit into the elongate channel
26. For example, extension features 63 of the staple cartridge 60
engage recesses 27 (shown in FIG. 6) of the elongate channel
26.
[0040] In one embodiment, the staple drivers 70 are driven in an
"upward" (toward the anvil 28) direction by a series of
hydraulically actuated bladders 90, 92, 94, 96, 98, 100 situated
within the elongated slot 26 of the end effector 22 and arranged
such that when the bladders 90, 92, 94, 96, 98, 100 are inflated,
they drive or "fire" the corresponding drivers 70 and their
respective staples 72 toward the anvil 28. As the ends of the
staple legs contact the corresponding staple forming pockets 32 in
the anvil 28, they are bent over to close the staple 72. Various
firing arrangements are disclosed in the abovementioned patent
application entitled SURGICAL INSTRUMENT HAVING A HYDRAULICALLY
ACTUATED END EFFECTOR" which has been herein incorporated by
reference. Pressurized fluid or air is supplied to the bladders 90,
92, 94, 96, 98, 100 through a series of supply lines as shown in
FIGS. 6 and 11.
[0041] Also in one embodiment, to facilitate cutting of tissue 8
clamped in the end effector 22, a hydraulically actuated cutting
bar 110 is operatively mounted within the elongated channel 26 and
arranged to be received within the elongated slot 64 in the
cartridge body 62 when the cartridge 60 is mounted within the end
effector 22. The cutting bar 110 extends longitudinally along the
elongate slot 64 and is mechanically coupled to or otherwise
supported on a support bar 111 which is attached to a hydraulic
cutting bladder 102. By introducing a pressurized fluid or air into
the cutting bladder 102, the cutting bar 110 is forced upward
(represented by arrow A in FIG. 4) thereby causing the cutting bar
110 to sever the tissue 8 that is clamped between the anvil 28 and
the cartridge 60. After the cutting bar 110 has severed the tissue
8, the pressurized fluid is permitted to exit the cutting bladder
102 to thereby permit the bladder 102 to deflate and permit the
cutting bar 110 to move downward (arrow "B" in FIG. 3) to its
retracted or unfired position. Pressurized fluid or air is supplied
to the cutting bladder 102 by supply line 256.
[0042] As can be seen in FIGS. 1 and 2, the handle assembly 200 may
house a hydraulic system generally designated as 210 for
controlling the operation of the end effector 22. One embodiment of
a hydraulic system 210 that may be employed to control the end
effector 22 is depicted in schematic form in FIG. 11. In this
non-limiting embodiment, a conventional hydraulic pump assembly 230
that includes a fluid reservoir 232 is employed to supply
pressurized fluid to the various bladders. In one embodiment, the
pump 230 is powered by a battery 234 supported within the handle
assembly 200. However, the pump 230 could also be powered by other
means, such as by alternating current or by a mechanical actuator.
The pump 230 may be fluidically coupled to the reservoir 232 by
supply line 236 that may have a conventional check valve 238
therein. See FIG. 11. As used herein, the term "fluidically
coupled" means that the elements are coupled together with an
appropriate supply, return, discharge, etc. line or other means to
permit the passage of pressurized fluid medium, air, etc.
therebetween. As used herein, the term "line" as used in "supply
line", "discharge line" or "return line" refers to an appropriate
fluid passage formed from conduit, pipe, tubing, etc. for
transporting pressurized fluid, air, etc. from one component to
another.
[0043] In one embodiment, a discharge line 240 attached to the
discharge port 231 of the pump 230 is piped to a manifold 242 that
has designated supply lines for each bladder coupled thereto. For
example, in the embodiment depicted in FIG. 11, a supply line 244
is coupled to bladder 90 and has a control valve 260 therein for
controlling the flow of pressurized fluid through the line 244 to
bladder 90. Supply line 246 is coupled to bladder 92 and has a
control valve 262 therein. Supply line 248 is coupled to bladder 94
and has a control valve 264 therein. Supply line 250 is coupled to
bladder 96 and has a control valve 266 therein. Supply line 252 is
coupled to bladder 98 and has a control valve 268 therein. Supply
line 254 is coupled to bladder 100 and has a control valve 270
therein. Supply line 256 is coupled to cutting bladder 102 and has
control valve 272 therein. Supply line 42 is coupled to the anvil
bladder 40 and the supply line 240 by line 241. A supply valve 274
is provided in line 241 for controlling the flow of pressurized
fluid thereto and a return valve 276 is provided to permit the
fluid to return from the bladder 40 into the manifold line 242 and
through a return line 259 that is attached to the manifold 242 and
the reservoir 232. As can be seen in FIG. 11, the return line 259
may have a return valve 278 therein. Valves 262, 264, 266, 268,
270, 272, 274, 276, 278 comprise a valve unit, generally designated
as 280. In various non-limiting embodiments, the valves 262, 264,
266, 268, 270, 272, 274, 276, 278 may each comprise electrically
actuated valves, such as, for example, piezo valves or Electro
Active Polymer (EAP) valves which may be configured in response to
an electrical signal. However, other suitable valve and valve
arrangements could be employed.
[0044] The above-described valves may be operated by a control
circuit 300 in response to input received from input buttons, such
as buttons 308, 310, 312, 314, and/or 316 located on handle. The
control circuit may also be powered by the battery 234 and comprise
a suitable circuit capable of generating signals for configuring
valve unit 280 in response to input from buttons 308, 310, 312,
314, 316 and/or from other portions of the handle such as a closure
trigger 206 and/or a firing trigger 208 that are pivotally coupled
thereto. In one non-limiting embodiment, the control circuit 300
may include a microprocessor and other related components including
Random Access Memory (RAM), Read Only Memory (ROM), etc. In other
non-limiting embodiments, the control circuit 300 may include
various logical circuit elements.
[0045] As can be seen in FIGS. 1 and 2, in one non-limiting
embodiment, the handle assembly 200 of the instrument 10 includes a
pistol grip 204 that includes a closure trigger 206 that is
pivotally attached thereto to commence closure of the anvil 28. In
one embodiment, a closure trigger sensor 205 is employed to sense
when the closure trigger 206 has been pivoted to the closed
position. The closure trigger sensor 205 communicates with the
control circuit to open the return valve 276 and return valve 278
and close supply valve 274 to permit the pressurized fluid to
return from the anvil bladder 28 into the reservoir 232. The anvil
28 is then pivoted to the closed position by the return spring 23.
The closure trigger 206 may be retained in the closed position by a
release button latch arrangement 36 of the type disclosed in U.S.
Pat. No. 6,905,057 to Jeffrey S. Swayze and Frederick E. Shelton,
IV, entitled SURGICAL STAPLING INSTRUMENT INCORPORATING A FIRING
MECHANISM HAVING A LINKED RACK TRANSMISSION, the disclosure of
which is herein incorporated by reference in its entirety. Another
non-limiting embodiment links the closure trigger 206 to the tube
assembly 452 and causes it to move distally driving the distal tube
410 over the end effector assembly 24 closing the system.
[0046] When the end effector 22 is in the closed position, it may
be inserted through the trocar 490. See FIG. 9. To reopen the end
effector 22, the release button 36 is pressed to unlatch the
closure trigger 206 to enable it to pivot away from the firing
trigger 208 to an open position. When in the open position, the
closure trigger sensor 205 signals the control circuit 300 to power
pump 230 and open supply valve 274 and close return valve 276.
Pressurized fluid is then pumped into the anvil bladder 40 to pivot
the anvil 28 to the open position. When the clinician has oriented
the end effector 22 such that the desired tissue is located between
the open anvil 28 and the cartridge 60, the closure trigger 206 is
pivoted to the closed position and latched. Valves 276 and 278 are
opened and valve 241 is closed. Valves 276 and 278 are opened for a
sufficient time to permit the fluid in the anvil bladder 40 to be
returned therefrom through the lines 42, 242 and 259. Thereafter,
those valves are closed. As indicated above, the use of the
hydraulically powered bladder and return spring arrangement
described herein is just one type of structure that may be employed
to open and close the anvil 28. Other anvil control arrangements
may be employed without departing from the spirit and scope of the
present invention and, therefore, the protection afforded to the
various embodiments of the present invention should not be limited
solely to such bladder and return spring arrangement.
[0047] Input buttons 308, 310, 312, 314, 316 may provide input
signals to the control circuit 300 in any suitable way. In one
non-limiting embodiment, each input button 308, 310, 312, 314, 316
may correspond to a particular valve or valves for controlling the
inflation of one or more bladders. While five actuation buttons are
shown for this non-limiting embodiment, the reader will appreciate
that other numbers of buttons may be employed. For example, if it
is desirable to only actuate one stapling bladder at a time, a
separate actuation button for each bladder may be provided. For
example, button 308 may control valve 272 in the cutter supply line
256. By actuating that valve 272, pressurized fluid supplied by the
pump 230 into the manifold 242 is permitted to flow through the
supply line 256 into the cutting bladder 102. Likewise, if actuator
button 310 is used to control valves 260, 262, activating the
button 310 will cause the stapling bladders 90 and 92 to inflate
and fire their corresponding staples 72. Multiple buttons may be
selected to create firing patterns including more than one
implement. In other non-limiting embodiments, each input button
308, 310, 312, 314, 316 may represent a pre-determined firing order
and/or pattern. For example, selecting a button 308, 310, 312, 314,
316 may cause the control circuit 318 to configure the valve unit
304 such that hydraulic devices corresponding to particular
surgical implements are fired when the firing trigger 28 is
depressed. It will be appreciated that various embodiments may have
more or fewer input buttons than are shown. In one embodiment, a
firing trigger 208 is pivotally attached to the handle 200 outboard
of the closure trigger 206 and one or more firing sensors (not
shown) may be positioned to detect the position of the firing
trigger. The firing sensors would then communicate with the control
circuit 300 to control the various valves to permit pressurized
fluid to flow to the various staple bladders to achieve a desired
firing sequence.
[0048] In various non-limiting embodiments, the valve unit 280 may
be configured to introduce a delay to the driving of one or more
surgical implements included in the end effector 12. For example,
it may be desirable to drive a cutting implement and then delay for
a predetermined time before driving one or more zones of a stapling
implement. The delay may be accomplished according to any suitable
method. In one non-limiting embodiment, the control circuit 300 may
configure the valve unit 280 to open a path for hydraulic fluid
between the hydraulic pump 230 and a first surgical implement
included in the end effector 12. When the firing trigger 28 is
actuated, the pump 302 may generate pressurized hydraulic fluid,
which drives the first surgical implement. The control circuit 300
may sense when the first surgical implement is driven (e.g., by
sensing the position of the firing trigger 208) and begin a timer
that counts off a predetermined delay time. At the expiration of
the predetermined delay time, the control circuit 318 may configure
the valve unit 280 to provide the pressurized hydraulic fluid to a
second surgical implement. Hydraulic pressure generated at the
actuation of the firing trigger 208 may be sufficient to drive the
second surgical implement, or in various embodiments, the hydraulic
pump 230 may be utilized to generate additional hydraulic
pressure.
[0049] In one non-limiting embodiment of the present invention, the
end effector 22 may be attached to the handle assembly 200 by an
articulating joint assembly, generally designated as 400. As can be
seen in FIGS. 1, 2, and 12-14, the articulating joint assembly 400
includes a distal tube segment 410 that has a distal end 412, a
proximal end 414, and a distal axis H-H. The distal end 412 is
mechanically (e.g., rigidly or slidably connected--depending upon
the anvil closure arrangement employed) coupled to the end effector
body 24. The distal tube 410 segment may be partially hollow with
the proximal end being solid with a hose/wire receiving passage 416
therethrough.
[0050] The joint assembly 400 further includes a proximal tube
segment 450, that has a proximal end 452, a distal end 454, and a
proximal axis I-I. The proximal end 452 is attached to the handle
assembly 200. In one embodiment, for example, the proximal end 452
may be attached to the handle assembly200 by an internal channel
retainer that is grounded to the handle assembly. However, other
fastening arrangements could be employed. In one embodiment, the
distal end 454 is solid and has a hollow hose/wire-receiving
passage 456 therethrough. The remaining portion of the tube segment
450 may be hollow to permit passage of hoses and/or wires
therethrough.
[0051] In one embodiment, the distal tube segment 410 is pivotally
coupled to the proximal tube segment 450 by a ball joint assembly
460. In one embodiment, the ball joint assembly 460 comprises a
hollow ball member 462 that is mounted to or formed on the proximal
end 414 of the distal tube segment 410. The ball member 462 is
substantially hollow or has a hollow passageway therein to permit
the passage of hoses and/or wires therethrough. The ball member 462
is received in a socket 458 provided in the distal end of the
proximal tube segment 450, such that the ball member 462 is free to
pivot therein.
[0052] In one embodiment, an actuation assembly, generally
designated as 500 is employed to articulate the distal tube segment
410 relative to the proximal tube segment 450. As can be seen in
FIGS. 11-14, in one non-limiting embodiment, two articulation
cylinders 510, 520 are employed. First articulation cylinder 510
may comprise a conventional hydraulic or pneumatic cylinder that
has a first housing 512 that contains a first piston 514 therein. A
first piston rod or first actuation rod 516 is attached to the
first piston 514 and protrudes out of the first housing 512.
Movement of the piston 514 within the first housing 512 in response
to the admission of pressurized fluid or air on one side or the
other side of the piston 514 causes the first actuation rod 516 to
be extended out of the first cylinder housing 512 or into the first
cylinder housing 512. A distal end 518 of the first housing 512 is
pivotally (pinned) or otherwise rigidly attached to the proximal
end 414 of the distal tube segment 410. The first actuation rod 516
is fabricated from a flexible material such as rubber or the like
and the free end 519 thereof is rigidly affixed to the distal end
454 of the proximal tube segment 450. The free end 519 of the first
actuation rod 516 may be attached to the distal end 454 by gluing,
threads, etc. A first indentation 466 or a series of indentations
are provided in the outer surface 464 of the ball member to provide
the requisite clearance for the first actuation rod 516 and also
the end of the first cylinder housing 512.
[0053] Also in this non-limiting embodiment, the second
articulation cylinder 520 may comprise a conventional hydraulic or
pneumatic cylinder that has a second housing 522 that contains a
second piston 524 therein. A second piston rod or second actuation
rod 526 is attached to the second piston 526 and protrudes out of
the second housing 522. Movement of the second piston 524 within
the second cylinder housing 522 in response to the admission of
pressurized fluid or air on one side or the other side of the
second piston 524 causes the actuation rod 526 to be extended out
of the second cylinder housing 522 or into the second cylinder
housing 522. The second cylinder housing 522 is pivotally (pinned)
or otherwise rigidly attached to the proximal end 414 of the distal
tube segment 410. The second actuation rod 526 is fabricated from a
flexible material such as rubber or the like and the free end 529
thereof is rigidly affixed to the distal end 454 of the proximal
tube segment 450. The free end 529 of the second actuation rod 526
may be attached to the distal end 454 by gluing, threads, etc. A
second indentation 468 or a series of indentations are provided in
the outer surface 464 of the ball member 462 to provide the
requisite clearance for the second actuation rod 526 and also the
end of the second cylinder housing 522.
[0054] The first and second articulation cylinders 510, 520 may be
powered by the hydraulic system 210 or they may be powered by a
separate hydraulic system. FIG. 11 depicts one method of
controlling the first and second articulation cylinders 510, 520.
As can be seen in that Figure, a supply line 570 is connected to
the supply line 240 from the pump 230. A first portion 572 of the
supply line 570 is attached to a first supply port in the first
cylinder housing 512 for supplying pressurized fluid or air into
the first cylinder housing 512 on one side of the first piston 514
and a second portion 574 of the supply line 570 is attached to a
second supply port in the first housing 512 for supplying
pressurized fluid or air into the first housing 512 on the other
side of the first piston 514. A first supply valve 576 is mounted
in the first portion 572 of the supply line 570 and a second supply
valve 578 is mounted in the second portion 574 of the first supply
line 570. An exhaust or return line 580 is provided to return the
pressurized fluid from the first housing 512 to the fluid reservoir
232. The return line 580 has a first portion 582 and a second
portion 584 attached to ports in the first housing 512. A first
return valve 586 is mounted in the first portion 582 of the return
line 580 and a second return valve 588 is mounted in the second
portion 584 of the return line.
[0055] The supply line 570 further has a third portion 590 that is
coupled to a third supply port in the second housing 522 on one
side of the second piston 524 and the supply line 570 has a fourth
portion 592 coupled to a fourth supply port in the second housing
522 on the other side of the second piston 524. A valve 596 is
mounted in the third portion 590 and another valve 598 is mounted
in fourth portion 592 of the supply line 570. Another return line
600 is provided to permit the pressurized fluid, air, etc. to
return to the reservoir 232 from the housing 522 during actuation
of the cylinder 520. The return line 600 has a third portion 602
attached to a third return port in the second housing 522 on one
side of the second piston 524 and a fourth portion 604 of the
return line 600 is coupled to a fourth return port in the second
housing 522 on the other side of the second piston 524. A return
valve 606 is provided in the third portion 602 of the return line
600 and another return valve 608 is provided in the portion 604 of
the return line 600.
[0056] The valves may be controlled by the control circuit 300 or a
second control circuit 300' of the type described above that may
include a microprocessor and other related components including
Random Access Memory (RAM), Read Only Memory (ROM), etc. In other
non-limiting embodiments, the control circuit 300' may include
various logical circuit elements. A conventional multiposition
switch 610 or a series of switches, push buttons etc. may be
connected to the second control circuit 300' for controlling the
valves 576, 578, 586, 588, 594, 596, 606, 608 to control the
cylinders 510, 520 in the manners necessary to achieve the desired
degree and direction of articulation.
[0057] When pivotally attached together as described above, the
proximal and distal tube segments 410, 450 form a tube assembly 470
that has a passageway 472 or passageways for supporting the supply
lines (collectively designated as 480) between the end effector 22
and the handle 200. It will be appreciated that the tube assembly
470 has a circumference "C" and shape such that when the distal
tube 410 segment is coaxially aligned with the proximal tube
segment 450, the tube assembly 470 may be inserted through the
passageway 492 in a trocar 490. See FIG. 9. In one embodiment, the
first and second tube segments 410, 450 have a round
cross-sectional shape and are sized to be axially inserted through
a round trocar passageway 492. The outer diameters of each the
distal tube segments 410, 450 are less than the inner diameter of
the trocar passageway 492 to facilitate axial insertion of the tube
assembly 470 through the trocar passage 492 and, if desired or
necessary, rotation of the tube assembly 470 within the trocar
passageway 492. For example, if the trocar passageway 492 has an
inner diameter of approximately 12.8 mm (0.503 inches), the maximum
outer diameter of tube assembly 470 (and of each of the tube
segments 410, 450) may be approximately 12.7 mm (0.500 inches). It
is conceivable that, for applications wherein the ability to rotate
the tube assembly 470 within the trocar passageway 492 is not
necessary or desirable, trocars with passageways having
non-circular cross-sections could be employed. In those cases, the
tube assembly would have a cross-sectional shape that would
facilitate axial insertion of the tube assembly through the trocar
passageway and may closely resemble the cross-sectional shape of
the trocar passageway. Thus, the various embodiments of the subject
invention should not be limited to devices having a tube assembly
with a round cross-sectional shape.
[0058] FIG. 1 illustrates the joint assembly in a non-articulated
position that would enable the tube assembly 470 to be inserted
into the trocar. After the surgical implement 12 has be inserted
through the trocar 490 and it becomes desirable to articulate the
implement 12, the clinician activates the control circuit 300'
through switch 610. Depending upon the degree and direction of
articulation desired, the first piston 516 and the second piston
526 may either both be extended, one extended and one retracted or
both retracted to cause the ball member 462 to pivot in the socket
to achieve the desired amount of articulation. The pistons 516 and
526 are extended by the clinician by activating multiposition
switch or buttons located on the handle assembly to cause the
control circuit 300' to open and close the various control valves
576, 578, 586, 588, 594, 596, 606, 608. The reader will appreciate
that the first and second actuation rods 516, 526 may, depending
upon the forces, tend to bend rather than pivot during actuation
and it is the deflection and buckling of these rods 516, 526 that
further causes the distal tube segment 410 to articulate relative
to the proximal tube segment 450. Moreover, if the articulation
cylinders 510,520 are not aligned 180 degrees about the
longitudinal axis of the device, they can be used to articulate the
end effector in multiple planes as well as merely pivoting it about
a point perpendicular to the longitudinal axis. Such pivotal
flexibility is made possible through use of the ball joint
arrangement of this embodiment. Such arrangement represents a
significant improvement over other arrangements that can only
articulate about a single axis.
[0059] The hydraulic control system described above for actuating
the articulation cylinders 510, 520 is but one example of a control
system that may be used. The reader will appreciate that a variety
of different control arrangements may be employed to activate the
articulation cylinders without departing from the spirit and scope
of the present invention. For example, the articulation cylinders
510, 520 as described above require the admission of pressurized
fluid/air to move their respective pistons in both directions.
Other cylinders that employ springs or other mechanisms for
returning the pistons to a starting position may be employed along
with appropriate valve and hydraulic fluid supply arrangement that
are within the capabilities of the skilled artisan may be employed.
It will be further appreciated that, while two articulation
cylinders have been described above, other embodiments of the
present invention may employ only one articulation cylinder or more
than two articulation cylinders. Also, while the ball member 462
has been described as being non-movably mounted to the distal tube
segment 410 with the socket 458 provided in the proximal tube
segment 450, those of ordinary skill in the art will understand
that the ball member 462 may be non-movably attached to the
proximal tube segment 450 and the socket 458 provided in the distal
tube segment 410 in other non-limiting embodiments without
departing form the sprit and scope of the present invention.
[0060] FIG. 15 illustrates another articulation joint assembly 1400
embodiment of the present invention. As can be seen in that Figure,
distal tube segment 1410 has a proximal end 1414 and a distal axis
H'-H'. Although not shown in FIG. 15, the distal tube segment 1410
has a distal end 1412 that is mechanically coupled to the end
effector body 24. Depending upon the anvil closure arrangement
employed, the distal end 1412 may be non-movably attached to the
end effector body or by a cable, flexible member or pivotable
member. The distal tube 1410 segment may be partially hollow with
the proximal 1414 end being solid with a hose/wire receiving
passage 1416 therethrough.
[0061] The joint assembly 1400 further includes a proximal tube
segment 1450, that has a distal end 1454, and a proximal axis
I'-I'. Although not shown in FIG. 15, the proximal tube segment
1450 has a proximal end that is mechanically attached to the handle
assembly 200.
[0062] In one embodiment, the distal tube segment 1410 is pivotally
coupled to the proximal tube segment 1450 by a ball joint assembly
1460. In one embodiment, the ball joint assembly comprises a hollow
ball member 1462 that is mounted to or is formed on the distal end
1454 of the proximal tube segment 1450. The ball member 1462 has a
hollow passageway 1464 that has a flared or otherwise enlarged end
portion 1465 to enable it to communicate with the passageway 1416
such that, regardless of the position of the ball member 1462, the
hoses 480 and/or wires extending therethrough will not be pinched
or otherwise damaged. The ball member 1462 is received in a socket
1458 provided in the proximal end 1414 of the distal tube segment
1410, such that the ball member 1462 is free to pivot or rotate
therein.
[0063] In one embodiment, an actuation assembly, generally
designated as 1500 is employed to articulate the distal tube
segment 1410 relative to the proximal tube segment 1450. As can be
seen in FIG. 15, in one non-limiting embodiment, two articulation
cylinders 1510, 1520 are employed. First articulation cylinder 1510
may comprise a conventional hydraulic or pneumatic cylinder that
has a first housing 1512 that contains a first piston 1514 therein.
A first piston rod or first actuation rod 1516 is attached to the
first piston 1514 and protrudes out of the first housing 1512.
Movement of the piston 1514 within the first housing 1512 in
response to the admission of pressurized fluid or air on one side
or the other side of the piston 1514 causes the first actuation rod
1516 to be extended out of the first cylinder housing 1512 or into
the first cylinder housing 1512. A distal end 1518 of the first
housing 1512 is pivotally (pinned) to a portion 1415 of the
proximal end 1414 of the distal tube segment 1410. The outer
surface of the proximal end 1414 in the area of the first cylinder
housing 1512 may be contoured to facilitate pivotal movement of the
cylinder housing 1512. The first actuation rod 1516 may be
fabricated from a flexible material such as rubber or the like or
it may be fabricated from rigid material. The free end 1519 of the
actuation rod 516 is pivotally pinned to or otherwise attached to
the distal end 1454 of the proximal tube segment 1450.
[0064] Also in this non-limiting embodiment, the second
articulation cylinder 1520 may comprise a conventional hydraulic or
pneumatic cylinder that has a second housing 1522 that contains a
second piston 1524 therein. A second piston rod or second actuation
rod 1526 is attached to the second piston 1524 and protrudes out of
the second housing 1522. Movement of the second piston 1524 within
the second cylinder housing 1522 in response to the admission of
pressurized fluid or air on one side or the other side of the
second piston 1524 causes the actuation rod 1526 to be extended out
of the second cylinder housing 1522 or into the second cylinder
housing 1522. The distal end 1523 of the second cylinder housing
1522 is pivotally (pinned) to a portion 1417 of the proximal end
1414 of the distal tube segment 1410. The outer surface of the
proximal end 1414 in the area of the second cylinder housing 1522
may be contoured to facilitate pivotal movement of the cylinder
housing 1522. The second actuation rod 1526 may be fabricated from
a flexible material such as rubber or the like or it may be
fabricated from rigid material. The free end 1529 of the actuation
rod 1526 is pivotally pinned to or otherwise attached to the distal
end 1454 of the proximal tube segment 1450.
[0065] The first and second articulation cylinders 1510, 1520 may
be powered by the hydraulic system 210 in the same manner as was
discussed in detail above with respect to cylinders 510, 520 or
they may be powered by a separate hydraulic system. FIG. 11 depicts
one method of controlling the first and second articulation
cylinders 1510, 1520. The distal tube segment 1410 (and the end
effector 22 attached thereto) may be articulated relative to the
proximal tube 1450 in the direction shown in FIG. 15 by extending
the actuation rod 1526 and retracting the actuation rod 1516.
Likewise, the distal tube segment 1410 may be pivoted to a
direction opposite to the direction shown in FIG. 15 by extending
the actuation rod 1516 and retracting the actuation rod 1526. The
control circuit 300' may actuate the cylinders 1510, 1520 in these
manners in response to the position of the multiposition control
switch 610 on the handle assembly 200. The reader will also
appreciate that, while two articulation cylinders have been
described above, other embodiments of the present invention may
employ only one articulation cylinder if only one degree
articulation is needed or desired. Also, while the ball member 1462
has been described as being non-movably mounted to the proximal
tube 1450 with the socket 1458 provided in the distal tube segment
1410, those of ordinary skill in the art will understand that the
ball member 1462 may be non-movably attached to the distal tube
segment 1410 and the socket 1458 provided in the proximal tube
segment 1450 in other non-limiting embodiments without departing
from the sprit and scope of the present invention.
[0066] In an alternative embodiment depicted in FIG. 15A, the joint
assembly 1460' comprises a round disc-like member 1462' instead of
a ball shaped member. The disc 1462' has a hollow passageway 1464'
that has a flared or otherwise enlarged end portion 1465' to enable
it to communicate with the passageway 1416 such that, regardless of
the position of the disc-like member 1462', the hoses 480 and/or
wires extending therethrough will not be pinched or otherwise
damaged. The disc-like member 1462' is received in a socket 1458'
provided in the proximal end 1414 of the distal tube segment 1410,
such that the disc-like member 1462' is free to pivot therein. If
desired, the outer edge of the disc-like member 1462' could be
provided with a tongue (not shown) that is received in a groove
(not shown) in the socket wall to further stabilize the disc-like
member 1462'. This embodiment otherwise employs actuators 1510 and
1520 as described above. Again, however, the reader will appreciate
that, while two articulation cylinders have been described above,
other embodiments of the present invention may employ only one
articulation cylinder if only one degree articulation is needed or
desired. Also, while the disc-like member 1462' has been described
as being non-movably mounted to the proximal tube segment 1450 with
the socket 1458' provided in the distal tube segment 1410, those of
ordinary skill in the art will understand that the disc-like member
1462' may be non-movably attached to the distal tube segment 1410
and the socket 1458' provided in the proximal tube segment 1450 in
other non-limiting embodiments without departing from the spirit
and scope of the present invention.
[0067] Another alternative embodiment is depicted in FIG. 16. As
can be seen in this embodiment, the end 1519 of the first actuation
rod 1516 of cylinder 1510 is attached to portion of the outer
surface of the ball member 1462 and the end 1529 of the second
actuation rod 1516 is also attached to a portion of the ball member
1462. This embodiment is otherwise identical in composition and
operation as the embodiment depicted in FIG. 15 and described
above. Again, however, the reader will appreciate that, while two
articulation cylinders have been described above, other embodiments
of the present invention may employ only one articulation cylinder
if only one degree articulation is needed or desired. Also, while
the ball member 1462 has been described as being non-movably
mounted to the proximal tube segment 1450 with the socket 1458
provided in the distal tube segment 1410, those of ordinary skill
in the art will understand that the ball member 1462 may be
non-movably attached to the distal tube segment 1410 and the socket
1458 provided in the proximal tube segment 1450 in other
non-limiting embodiments without departing from the sprit and scope
of the present invention.
[0068] Another alternative embodiment is depicted in FIG. 16A. As
can be seen in this embodiment, the end 1519 of the first actuation
rod 1516 of cylinder 1510 is attached to portion of the outer
surface of the disc-like member 1462' and the end 1529 of the
second actuation rod 1516 is also attached to a portion of the
disc-like member 1462'. This embodiment is otherwise identical in
composition and operation as the embodiment depicted in FIG. 16A
and described above. Again, however, the reader will appreciate
that, while two articulation cylinders have been described above,
other embodiments of the present invention may employ only one
articulation cylinder if only one degree articulation is needed or
desired. Also, while the disc-like member 1462' has been described
as being non-movably mounted to the proximal tube segment 1450 with
the socket 1458' provided in the distal tube segment 1410, those of
ordinary skill in the art will understand that the disc-like member
1462' may be non-movably attached to the distal tube segment 1410
and the socket 1458' provided in the proximal tube segment 1450 in
other non-limiting embodiments without departing from the spirit
and scope of the present invention.
[0069] FIG. 17 illustrates yet another articulation joint assembly
2400 embodiment of the present invention. As can be seen in that
Figure, distal tube segment 2410 has a proximal end 2414 and a
distal axis H''-H''. Although not shown in FIG. 17, the distal tube
segment 2410 has a distal end that is mechanically coupled to the
end effector body 24. Depending upon the anvil closure arrangement
employed, the distal end may be non-movably attached to eth end
effector body or by a cable, flexible member or pivotable member.
The distal tube 2410 segment may be partially hollow with the
proximal end 2414 being solid with a hose/wire receiving passage
2416 therethrough. The passage 2416 may have a conical shaped
portion 2417.
[0070] The joint assembly 2400 further includes a proximal tube
segment 2450, that has a distal end 2454, and a proximal axis
I''-I''. Although not shown in FIG. 18, the proximal tube segment
2450 has a proximal end 2454 that is attached to the handle
assembly 200.
[0071] In one embodiment, the distal tube segment 2410 is pivotally
coupled to the proximal tube segment 2450 by a ball joint assembly
2460. In one embodiment, the ball joint assembly 2460 comprises a
ball member 2462 that is mounted to or is formed on the distal end
2454 of the proximal tube segment 2450. The ball member 2462 has a
hollow passageway 2464 that has a flared or otherwise enlarged end
portion 2465 to enable it to communicate with the passageway
portions 2416, 2417 such that, regardless of the position of the
ball member 2462, the hoses 480 and/or wires extending therethrough
will not be pinched or otherwise damaged. The ball member 2462 is
received in a socket 2458 provided in the proximal end 2414 of the
distal tube segment 2410, such that the ball member 2462 is free to
rotate therein.
[0072] In one embodiment, an actuation assembly, generally
designated as 2500 is employed to articulate the distal tube
segment 2410 relative to the proximal tube segment 2450. As can be
seen in FIG. 17, in one non-limiting embodiment, two flexible worm
gear cables 2510, 2520 are employed. The first flexible worm gear
cable 2510 is adapted to drivingly engage worm gear teeth, threads,
etc. (not shown) within a first gear passage 2465 formed in the
ball member 2462. The first flexible worm gear cable 2510 is
coupled to a first motor 2512 that is mounted within the distal
tube segment 2410. Similarly, in this non-limiting embodiment, a
second flexible worm gear cable 2520 is adapted to drivingly engage
gear teeth, threads, etc. within a second gear passage 2467 formed
in the ball member 2462 that has worm gear teeth, threads, etc.
2469 formed therein. The second flexible worm gear cable 2520 is
coupled to a second motor 2522 mounted in the distal tube segment
2410. While described herein as "flexible worm gear cables", it
will be understood that this term is meant to encompass all types
of flexible driven cable or driver arrangements that do not
necessarily employ worm gear-type teeth thereon.
[0073] The first and second motors 2512, 2522 may be electrically
powered (by battery 234 or another battery) or be powered by
alternating current or be powered by hydraulic fluid or air. In one
embodiment, the motors 2512, 2522 are electric powered and are
operated by one or more switches or buttons (not shown) on handle
assembly 200. By controlling the amount of rotation and the
direction of rotation of the first and second worm gear cables
2510, 2520, the ball member 2462 is cause to rotate within the
socket 2458 and thereby articulate the distal tube segment 2410
(and the end effector 22 attached thereto) relative to the proximal
tube segment 2450. The reader will appreciate that such arrangement
facilitates left articulation as shown in FIG. 17 and right
articulation (not shown). Again, however, the reader will
appreciate that, while two flexible worm gear cable/motor
arrangements have been described above, other embodiments of the
present invention may employ only one flexible worm gear cable
arrangement if only one degree articulation is needed or desired.
Also, while the ball member 2462 has been described as being
non-movably mounted to the proximal tube segment 2450 with the
socket 2458 provided in the distal tube segment 2410, those of
ordinary skill in the art will understand that the ball member 2462
may be non-movably attached to the distal tube segment 2410 and the
socket 2458 provided in the proximal tube segment 2450 in other
non-limiting embodiments without departing from the sprit and scope
of the present invention.
[0074] In an alternative embodiment depicted in FIG. 17, the joint
assembly 2460' comprises a round disc-like member 2462' instead of
a ball shaped member. The disc-like member 2462' has a hollow
passageway 2464' that has a flared or otherwise enlarged end
portion 2465' to enable it to communicate with the passageway 2416
such that, regardless of the position of the disc-like member
2462', the hoses 480 and/or wires extending therethrough will not
be pinched or otherwise damaged. The disc-like member 2462' is
received in a socket 2458' provided in the proximal end 2414 of the
distal tube segment 2410, such that the disc-like member 2462' is
free to rotate therein. If desired, the outer edge of the disc-like
member 2462' could be provided with a tongue (not shown) that is
received in a groove (not shown) in the socket wall to further
stabilize the disc-like member 1462'. This embodiment otherwise
employs the motor driven flexible worm gear cables 2510 and 2520 as
described above. Again, however, the reader will appreciate that,
while two flexible worm gear cable/motor arrangements have been
described above, other embodiments of the present invention may
employ only one flexible worm gear cable arrangement if only one
degree articulation is needed or desired. Also, while the disc-like
member 2462' has been described as being non-movably mounted to the
proximal tube segment 2450 with the socket 2458' provided in the
distal tube segment 2410, those of ordinary skill in the art will
understand that the disc-like member 2462' may be non-movably
attached to the distal tube segment 2410 and the socket 2458'
provided in the proximal tube segment 2450 in other non-limiting
embodiments without departing from the spirit and scope of the
present invention.
[0075] The various non-limiting embodiments of the present
invention provide a host of advantages over prior art articulated
surgical instruments. In particular, the various embodiments of the
subject invention enable the portions of the tube member that
attach a surgical implement to a handle to be inserted through a
trocar or similar device and then be selectively articulated within
the patient. While the various embodiments have been described
herein in connection with use with a hydraulically operated
endocutter, those of ordinary skill in the art would appreciate
that the various embodiments of the subject invention could be
employed with electrically powered endocutters and with a host of
other types of surgical implements, regardless of whether they are
electrically or hydraulically powered.
[0076] While the present invention has been illustrated by
description of several embodiments and while the illustrative
embodiments have been described in considerable detail, it is not
the intention of the applicant to restrict or in any way limit the
scope of the appended claims to such detail. Additional advantages
and modifications may readily appear to those skilled in the art.
Accordingly, the present invention has been discussed in terms of
endoscopic procedures and apparatus. However, use herein of terms
such as "endoscopic" should not be construed to limit the present
invention to a surgical stapling and severing instrument for use
only in conjunction with an endoscopic tube (i.e., trocar). On the
contrary, it is believed that the present invention may find use in
any procedure where access is limited to a small incision,
including but not limited to laparoscopic procedures, as well as
open procedures. Moreover, the various embodiment of the present
invention should not be limited solely to use in connection with
surgical instruments that have hydraulically powered or air powered
surgical implements. The various embodiments of the present
invention may also be effectively used with surgical instruments
and the like that employ electrically driven surgical
implements.
* * * * *