U.S. patent application number 14/688497 was filed with the patent office on 2016-10-20 for ultrasonic surgical instrument with movable rigidizing member.
The applicant listed for this patent is Ethicon Endo-Surgery, LLC. Invention is credited to Brian Black, Kristen Denzinger, Frederick L. Estera, Craig N. Faller, Joseph Hollo, Stephen Leuck, Jeffrey D. Messerly, David A. Monroe, Tylor C. Muhlenkamp, Kristen L. Pirozzi, II, John B. Schulte, Jason Sullivan, Gregory A. Trees, William B. Weisenburgh, II, Barry C. Worrell.
Application Number | 20160302818 14/688497 |
Document ID | / |
Family ID | 55806885 |
Filed Date | 2016-10-20 |
United States Patent
Application |
20160302818 |
Kind Code |
A1 |
Weisenburgh, II; William B. ;
et al. |
October 20, 2016 |
ULTRASONIC SURGICAL INSTRUMENT WITH MOVABLE RIGIDIZING MEMBER
Abstract
A surgical apparatus includes a body assembly, a shaft, an
acoustic waveguide, an articulation section, an end effector, and a
rigidizing member. The shaft extends distally from the body
assembly and defines a longitudinal axis. The acoustic waveguide
includes a flexible portion. The articulation section is coupled
with the shaft. A portion of the articulation section encompasses
the flexible portion of the waveguide. The articulation section
includes a first member and a second member. The second member is
longitudinally translatable relative to the first member. The end
effector includes an ultrasonic blade in acoustic communication
with the waveguide. The rigidizing member is configured to
selectively engage at least a portion of the articulation section
to thereby selectively provide rigidity to the articulation
section.
Inventors: |
Weisenburgh, II; William B.;
(Maineville, OH) ; Worrell; Barry C.;
(Centerville, OH) ; Messerly; Jeffrey D.;
(Cincinnati, OH) ; Pirozzi, II; Kristen L.;
(Cincinnati, OH) ; Faller; Craig N.; (Batavia,
OH) ; Schulte; John B.; (West Chester, OH) ;
Denzinger; Kristen; (Cincinnati, OH) ; Hollo;
Joseph; (Liberty Township, OH) ; Sullivan; Jason;
(Morrow, OH) ; Black; Brian; (Lewis Center,
OH) ; Estera; Frederick L.; (Cincinnati, OH) ;
Monroe; David A.; (Milford, OH) ; Leuck; Stephen;
(Cincinnati, OH) ; Muhlenkamp; Tylor C.;
(Cincinnati, OH) ; Trees; Gregory A.; (Loveland,
OH) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Ethicon Endo-Surgery, LLC |
Guaynabo |
PR |
US |
|
|
Family ID: |
55806885 |
Appl. No.: |
14/688497 |
Filed: |
April 16, 2015 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 2017/2927 20130101;
A61B 2017/320093 20170801; A61B 2017/320094 20170801; A61B
2017/0046 20130101; A61B 2017/320095 20170801; A61B 2017/2946
20130101; A61B 2017/00314 20130101; A61B 2017/00424 20130101; A61B
2017/320071 20170801; A61B 2017/00305 20130101; A61B 17/295
20130101; A61B 2017/00336 20130101; A61B 2017/003 20130101; A61B
2017/320069 20170801; A61B 2017/00327 20130101; A61B 2017/00309
20130101; A61B 17/320068 20130101; A61B 17/320092 20130101; A61B
2017/320089 20170801 |
International
Class: |
A61B 17/32 20060101
A61B017/32 |
Claims
1. An apparatus for operating on tissue, the apparatus comprising:
(a) a body assembly; (b) a shaft extending distally from the body
assembly, wherein the shaft defines a longitudinal axis; (c) an
acoustic waveguide, wherein the waveguide comprises a flexible
portion; (d) an articulation section coupled with the shaft,
wherein a portion of the articulation section encompasses the
flexible portion of the waveguide, wherein the articulation section
further comprises: (i) a first member, and (ii) a second member,
wherein the second member is longitudinally translatable relative
to the first member; (e) an end effector comprising an ultrasonic
blade in acoustic communication with the waveguide; and (f) a
rigidizing member, wherein the rigidizing member is configured to
selectively engage at least a portion of the articulation section
to thereby selectively provide rigidity to the articulation
section.
2. The apparatus of claim 1, wherein the rigidizing member is
movable relative to the shaft to selectively engage at least a
portion of the articulation section.
3. The apparatus of claim 2, wherein the rigidizing member is
disposed about at least a portion of the shaft.
4. The apparatus of claim 3, wherein the rigidizing member
comprises an elongate tubular member, wherein the elongate tubular
member is translatable relative to the shaft to cover at least a
portion of the articulation section thereby provide rigidity to the
articulation section.
5. The apparatus of claim 4, wherein the shaft includes a distal
stop member and a proximal stop member, wherein the distal stop
member is configured to secure the elongate tubular member in a
first longitudinal position, wherein the proximal stop member is
configured to secure the elongate tubular member in a second
longitudinal position, wherein the first longitudinal position of
the elongate tubular member corresponds to the elongate tubular
member covering at least a portion of the articulation section.
6. The apparatus of claim 4, wherein at least a portion of the
elongate tubular member extends into the body assembly, wherein the
body assembly includes an rigidizing member actuation assembly,
wherein the rigidizing member actuation assembly is configured to
transition the elongate tubular member between a first longitudinal
position and a second longitudinal position.
7. The apparatus of claim 6, wherein the elongate tubular member is
configured to provide rigidity to the articulation section when the
elongate tubular member is in the second longitudinal position.
8. The apparatus of claim 3, wherein the rigidizing member is
roatatable about the shaft between a first angular position and a
second angular position, wherein the rigidizing member is
configured to provide rigidity to the articulation section when the
rigidizing member is in the second angular position, wherein the
rigidizing member is configured to permit the articulation section
to flex when the rigidizing member is in the first angular
position.
9. The apparatus of claim 8, wherein the rigidizing member
comprises a plurality of links, wherein each link includes at least
one bending feature and at least one rigidizing feature.
10. The apparatus of claim 9, wherein each link of the plurality of
links is coupled to another link of the plurality of links, wherein
each bending feature of each link is aligned along a first plane,
wherein each rigidizing feature is aligned along a second plane,
wherein the rigidizing member is configured to bend about the first
plane, wherein the rigidizing member is configured to be rigid
about the second plane.
11. The apparatus of claim 10, wherein the first plane of the
rigidizing member is aligned with an articulation plane of the
articulation section when the rigidizing member is in the first
position, wherein the second plane of the rigidizing member is
aligned with the articulation plane of the articulation section
when the rigidizing member is in the second position.
12. The apparatus of claim 8, wherein the rigidizing member
includes at least one integral tab, wherein the integral tab is
configured to engage with the articulation section to prevent
movement of the articulation section with the rigidizing member is
in the second position.
13. The apparatus of claim 1, wherein the rigidizing member
includes a first interlocking coil and a second interlocking coil,
wherein the second interlocking coil is configured to transition
between a first position and a second position, wherein the second
interlocking coil is at least partially separated from the first
interlocking coil when the second interlocking coil is in the first
position, wherein the first interlocking coil is fully interlocked
with the first interlocking coil when the second interlocking coil
is in the second position, wherein the rigidizing member is
configured to prevent movement of the articulation section when the
second interlocking coil is in the second position, wherein the
rigidizing member is configured to permit the articulation section
to flex when the second interlocking coil is in the first
position.
14. The apparatus of claim 1, wherein at least a portion of the
rigidizing member is disposed within at least a portion of the
shaft.
15. The apparatus of claim 14, wherein the rigidizing member is
translatable within the shaft between a first longitudinal position
and a second longitudinal position, wherein the rigidizing member
is configured to engage with the articulation section when the
rigidizing member is in the second longitudinal position, wherein
the rigidizing member is configured to prevent movement of the
articulation section when the rigidizing member is in the second
longitudinal position.
16. The apparatus of claim 15, wherein the body assembly includes a
rigidizing member actuation assembly, wherein the rigidizing member
actuation assembly is configured to transition the rigidizing
member between the first longitudinal position and the second
longitudinal position.
17. An apparatus for operating on tissue, the apparatus comprising:
(a) a body assembly; (b) a shaft extending distally from the body
assembly, wherein the shaft defines a longitudinal axis; (c) an
articulation section coupled with the shaft; (d) an end effector
coupled with the articulation section, wherein the end effector
comprises a working element configured to engage tissue; (e) an
articulation drive assembly operable to drive articulation of the
articulation section to thereby deflect the end effector from the
longitudinal axis; and (f) an rigidizing assembly, wherein the
rigidizing assembly comprises at least one stiffener, wherein the
stiffener is movable between a first position and a second
position, wherein the stiffener is operable to rigidize the
articulation section when the stiffener is in the second position,
wherein the stiffener is operable to permit flexing of the
articulation section when the stiffener is in the first
position.
18. The apparatus of claim 17, wherein the stiffener is disposed on
an exterior of the shaft, wherein the stiffener is configured to
translate along at least a portion of the shaft to transition the
stiffener between the first position and the second position.
19. The apparatus of claim 17, wherein the stiffener is disposed
within at least a portion of the shaft, wherein the stiffener is
configured to translate within at least a portion of the shaft to
transition between the first position and the second position,
wherein the stiffener is configured to engage at least a portion of
the articulation section when the stiffener is in the second
position.
20. An apparatus for operating on tissue, the apparatus comprising:
(a) a body assembly; (b) a shaft extending distally from the body
assembly, wherein the shaft defines a longitudinal axis; (c) an
articulation section coupled with the shaft; (d) an end effector
coupled with the articulation section; (e) a first pair of
translating members, wherein the first pair of translating members
is operable to actuate the articulation section to thereby deflect
the end effector from the longitudinal axis; (f) a drive assembly
in communication with the first pair of translating members,
wherein the drive assembly is configured to translate the first
pair of translating members to actuate the articulation section;
and (g) a rigidizing member, wherein the rigidizing member is
associated with the shaft, wherein the rigidizing member is movable
relative to the shaft to engage the articulation section, wherein
the rigidizing member is configured to ridigize the articulation
section when the rigidizing member is engaged with the articulation
section.
Description
BACKGROUND
[0001] A variety of surgical instruments include an end effector
having a blade element that vibrates at ultrasonic frequencies to
cut and/or seal tissue (e.g., by denaturing proteins in tissue
cells). These instruments include piezoelectric elements that
convert electrical power into ultrasonic vibrations, which are
communicated along an acoustic waveguide to the blade element. The
precision of cutting and coagulation may be controlled by the
surgeon's technique and adjusting the power level, blade edge,
tissue traction and blade pressure.
[0002] Examples of ultrasonic surgical instruments include the
HARMONIC ACE.RTM. Ultrasonic Shears, the HARMONIC WAVE.RTM.
Ultrasonic Shears, the HARMONIC FOCUS.RTM. Ultrasonic Shears, and
the HARMONIC SYNERGY.RTM. Ultrasonic Blades, all by Ethicon
Endo-Surgery, Inc. of Cincinnati, Ohio. Further examples of such
devices and related concepts are disclosed in U.S. Pat. No.
5,322,055, entitled "Clamp Coagulator/Cutting System for Ultrasonic
Surgical Instruments," issued Jun. 21, 1994, the disclosure of
which is incorporated by reference herein; U.S. Pat. No. 5,873,873,
entitled "Ultrasonic Clamp Coagulator Apparatus Having Improved
Clamp Mechanism," issued Feb. 23, 1999, the disclosure of which is
incorporated by reference herein; U.S. Pat. No. 5,980,510, entitled
"Ultrasonic Clamp Coagulator Apparatus Having Improved Clamp Arm
Pivot Mount," filed Oct. 10, 1997, the disclosure of which is
incorporated by reference herein; U.S. Pat. No. 6,325,811, entitled
"Blades with Functional Balance Asymmetries for use with Ultrasonic
Surgical Instruments," issued Dec. 4, 2001, the disclosure of which
is incorporated by reference herein; U.S. Pat. No. 6,773,444,
entitled "Blades with Functional Balance Asymmetries for Use with
Ultrasonic Surgical Instruments," issued Aug. 10, 2004, the
disclosure of which is incorporated by reference herein; and U.S.
Pat. No. 6,783,524, entitled "Robotic Surgical Tool with Ultrasound
Cauterizing and Cutting Instrument," issued Aug. 31, 2004, the
disclosure of which is incorporated by reference herein.
[0003] Still further examples of ultrasonic surgical instruments
are disclosed in U.S. Pub. No. 2006/0079874, entitled "Tissue Pad
for Use with an Ultrasonic Surgical Instrument," published Apr. 13,
2006, the disclosure of which is incorporated by reference herein;
U.S. Pub. No. 2007/0191713, entitled "Ultrasonic Device for Cutting
and Coagulating," published Aug. 16, 2007, the disclosure of which
is incorporated by reference herein; U.S. Pub. No. 2007/0282333,
entitled "Ultrasonic Waveguide and Blade," published Dec. 6, 2007,
the disclosure of which is incorporated by reference herein; U.S.
Pub. No. 2008/0200940, entitled "Ultrasonic Device for Cutting and
Coagulating," published Aug. 21, 2008, the disclosure of which is
incorporated by reference herein; U.S. Pub. No. 2009/0105750,
entitled "Ergonomic Surgical Instruments," published Apr. 23, 2009,
the disclosure of which is incorporated by reference herein; U.S.
Pub. No. 2010/0069940, entitled "Ultrasonic Device for Fingertip
Control," published Mar. 18, 2010, the disclosure of which is
incorporated by reference herein; and U.S. Pub. No. 2011/0015660,
entitled "Rotating Transducer Mount for Ultrasonic Surgical
Instruments," published Jan. 20, 2011, the disclosure of which is
incorporated by reference herein; and U.S. Pub. No. 2012/0029546,
entitled "Ultrasonic Surgical Instrument Blades," published Feb. 2,
2012, the disclosure of which is incorporated by reference
herein.
[0004] Some ultrasonic surgical instruments may include a cordless
transducer such as that disclosed in U.S. Pub. No. 2012/0112687,
entitled "Recharge System for Medical Devices," published May 10,
2012, the disclosure of which is incorporated by reference herein;
U.S. Pub. No. 2012/0116265, entitled "Surgical Instrument with
Charging Devices," published May 10, 2012, the disclosure of which
is incorporated by reference herein; and/or U.S. Pat. App. No.
61/410,603, filed Nov. 5, 2010, entitled "Energy-Based Surgical
Instruments," the disclosure of which is incorporated by reference
herein.
[0005] Additionally, some ultrasonic surgical instruments may
include an articulating shaft section and/or a bendable ultrasonic
waveguide. Examples of such ultrasonic surgical instruments are
disclosed in U.S. Pat. No. 5,897,523, entitled "Articulating
Ultrasonic Surgical Instrument," issued Apr. 27, 1999, the
disclosure of which is incorporated by reference herein; U.S. Pat.
No. 5,989,264, entitled "Ultrasonic Polyp Snare," issued Nov. 23,
1999, the disclosure of which is incorporated by reference herein;
U.S. Pat. No. 6,063,098, entitled "Articulable Ultrasonic Surgical
Apparatus," issued May 16, 2000, the disclosure of which is
incorporated by reference herein; U.S. Pat. No. 6,090,120, entitled
"Articulating Ultrasonic Surgical Instrument," issued Jul. 18,
2000, the disclosure of which is incorporated by reference herein;
U.S. Pat. No. 6,454,782, entitled "Actuation Mechanism for Surgical
Instruments," issued Sep. 24, 2002, the disclosure of which is
incorporated by reference herein; U.S. Pat. No. 6,589,200, entitled
"Articulating Ultrasonic Surgical Shears," issued Jul. 8, 2003, the
disclosure of which is incorporated by reference herein; U.S. Pat.
No. 6,752,815, entitled "Method and Waveguides for Changing the
Direction of Longitudinal Vibrations," issued Jun. 22, 2004, the
disclosure of which is incorporated by reference herein; U.S. Pat.
No. 7,135,030, entitled "Articulating Ultrasonic Surgical Shears,"
issued Nov. 14, 2006; U.S. Pat. No. 7,621,930, entitled "Ultrasound
Medical Instrument Having a Medical Ultrasonic Blade," issued Nov.
24, 2009, the disclosure of which is incorporated by reference
herein; U.S. Pub. No. 2014/0005701, published Jan. 2, 2014,
entitled "Surgical Instruments with Articulating Shafts," the
disclosure of which is incorporated by reference herein; U.S. Pub.
No. 2014/005703, entitled "Surgical Instruments with Articulating
Shafts," published Jan.2, 2014, the disclosure of which is
incorporated by reference herein; U.S. Pub. No. 2014/0114334,
entitled "Flexible Harmonic Waveguides/Blades for Surgical
Instruments," published Apr. 24, 2014, the disclosure of which is
incorporated by reference herein; U.S. Pub. No. 2015/0080924,
entitled ""Articulation Features for Ultrasonic Surgical
Instrument," published March 19, 2015, the disclosure of which is
incorporated by reference herein; and U.S. Pat. App. No.
14/258,179, entitled Ultrasonic Surgical Device with Articulating
End Effector," filed Apr. 22, 2014, the disclosure of which is
incorporated by reference herein.
[0006] While several surgical instruments and systems have been
made and used, it is believed that no one prior to the inventors
has made or used the invention described in the appended
claims.
BRIEF DESCRIPTION OF THE DRAWINGS
[0007] While the specification concludes with claims which
particularly point out and distinctly claim this technology, it is
believed this technology will be better understood from the
following description of certain examples taken in conjunction with
the accompanying drawings, in which like reference numerals
identify the same elements and in which:
[0008] FIG. 1 depicts a side elevational view of an exemplary
ultrasonic surgical instrument;
[0009] FIG. 2 depicts a perspective view of an articulation section
of a shaft assembly and an end effector of the surgical instrument
of FIG. 1;
[0010] FIG. 3 depicts an exploded perspective view of an
articulation section of the shaft assembly of FIG. 2;
[0011] FIG. 4 depicts a cross-sectional side view of the shaft
assembly and end effector of FIG. 2;
[0012] FIG. 5 depicts a top plan view of the shaft assembly and end
effector of FIG. 2;
[0013] FIG. 6A depicts a cross-sectional top view of the shaft
assembly and end effector of FIG. 2 in a straight
configuration;
[0014] FIG. 6B depicts a cross-sectional top view of the shaft
assembly and end effector of FIG. 2 in an articulated
configuration;
[0015] FIG. 7 depicts a partially exploded perspective view of an
articulation control assembly of the instrument of FIG. 1;
[0016] FIG. 8 depicts a top plan view of the shaft assembly and end
effector of FIG. 2, including a movable sheath, with the sheath in
a proximal position;
[0017] FIG. 9 depicts another top plan view of the shaft assembly
and end effector of FIG. 2, with the movable sheath of FIG. 8
advanced to a distal position;
[0018] FIG. 10 depicts a top plan view of the shaft assembly and
end effector of FIG. 2, including an exemplary alternative movable
sheath, with the sheath in a first position;
[0019] FIG. 11 depicts another top plan view of the shaft assembly
and end effector of FIG. 2, with the movable sheath of FIG. 10
retracted to a second position;
[0020] FIG. 12 depicts still another top plan view of the shaft
assembly and end effector of FIG. 2, with the movable sheath of
FIG. 10 advanced to a third position;
[0021] FIG. 13 depicts a perspective view of the articulation
section of FIG. 2, the articulation section including a rotatable
sheath, with the sheath in a first angular position;
[0022] FIG. 14 depicts a front cross-sectional view of the
rotatable sheath of FIG. 13, the cross-section taken along line
14-14 of FIG. 13;
[0023] FIG. 15 depicts a top cross-sectional view of the
articulation section and rotatable sheath of FIG. 13, the
cross-section taken along line 15-15 of FIG. 13;
[0024] FIG. 16 depicts another perspective view of the articulation
section of FIG. 2, with the rotatable sheath of FIG. 13 rotated to
a second angular position;
[0025] FIG. 17 depicts a top cross-sectional view of the
articulation section and rotatable sheath of FIG. 13, with the
cross-section taken along line 17-17 of FIG. 16 and the sheath in
the second angular position;
[0026] FIG. 18 depicts a perspective view of the articulation
section of FIG. 2, the articulation section including an exemplary
alternative rotatable sheath, with the sheath in a first angular
position;
[0027] FIG. 19 depicts another perspective view of the articulation
section and rotatable sheath of FIG. 18, with the sheath rotated to
a second angular position;
[0028] FIG. 20 depicts a side elevational view of an exemplary
alternative sheath assembly that may be incorporated into the
instrument of FIG. 1, with an outer sheath in a first angular
position;
[0029] FIG. 21 depicts a side cut-away view of the sheath assembly
of FIG. 20;
[0030] FIG. 22 depicts another side elevational view of the sheath
assembly of FIG. 20, with the outer sheath rotated to a second
angular position;
[0031] FIG. 23 depicts a top plan view of the shaft assembly and
end effector of FIG. 2, including a coil sheath assembly, with the
coil sheath assembly in a first position;
[0032] FIG. 24 depicts another top plan view of the shaft assembly
and end effector of FIG. 2, with the coil sheath assembly in a
second position;
[0033] FIG. 25 depicts a top plan view of the shaft assembly and
end effector of FIG. 2, including a linkage assembly, with the
linkage assembly in a first configuration;
[0034] FIG. 26 depicts another top plan view of the shaft assembly
and end effector of FIG. 2, with the linkage assembly in a second
configuration;
[0035] FIG. 27 depicts a top plan view of the shaft assembly and
end effector of FIG. 2, including a rigidizing plate assembly, with
the rigidizing plate assembly in a proximal position;
[0036] FIG. 28 depicts a perspective view of the rigidizing member
of the rigidizing plate assembly of FIG. 27;
[0037] FIG. 29 depicts another top plan view of the shaft assembly
and end effector of FIG. 2, with the rigidizing plate assembly is a
distal position;
[0038] FIG. 30 depicts a side elevational view of an exemplary
alternative surgical instrument, with an outer sheath and actuation
driver in a proximal position;
[0039] FIG. 31 depicts an exploded side view of the outer sheath
and actuation driver of FIG. 30;
[0040] FIG. 32 depicts a front end view of the actuation driver of
FIG. 30;
[0041] FIG. 33 depicts another side elevational view of the
instrument of FIG. 30 with the outer sheath and actuation driver in
a distal position;
[0042] FIG. 34 depicts a side elevational view of another exemplary
alternative surgical instrument, with a rigidizing member and a
drive member in a proximal position;
[0043] FIG. 35 depicts a side exploded view of the rigidizing
member and drive member of FIG. 34;
[0044] FIG. 36 depicts a front end view of the drive member of FIG.
34;
[0045] FIG. 37 depicts a front cross-sectional view of a shaft
assembly of the instrument of FIG. 34;
[0046] FIG. 38 depicts partial side elevational view of the
instrument of FIG. 34, with the drive member in the proximal
position;
[0047] FIG. 39 depicts a detailed side elevational view of a shaft
assembly and end effector of the instrument of FIG. 34, with the
rigidizing member in the proximal position;
[0048] FIG. 40 depicts another partial side elevational view of the
instrument of FIG. 34, with the drive member in an intermediate
position;
[0049] FIG. 41 depicts another detailed side elevational view of
the shaft assembly and the end effector of the instrument of FIG.
34, with the rigidizing member in an intermediate position;
[0050] FIG. 42 depicts still another partial side elevational view
of the instrument of FIG. 34, with the drive member in a distal
position;
[0051] FIG. 43 depicts still another detailed side elevational view
of the shaft assembly and the end effector of the instrument of
FIG. 34, with the rigidizing member in a distal position;
[0052] FIG. 44 depicts an exploded view of an exemplary alternative
rigidizing member and drive member that may be incorporated into
the instrument of FIG. 34;
[0053] FIG. 45 depicts an front end view of the drive member of
FIG. 44;
[0054] FIG. 46 depicts a cross-sectional view of the shaft assembly
of the instrument of FIG. 34 incorporating the rigidizing member of
FIG. 44;
[0055] FIG. 47 depicts a partial side elevational view of the
instrument of FIG. 34 incorporating the rigidizing member and drive
member of FIG. 44, with the drive member in a proximal
position;
[0056] FIG. 48 depicts a detailed top plan view of a shaft assembly
and end effector of the instrument of FIG. 34 incorporating the
rigidizing member and drive member of FIG. 44, with the rigidizing
member in a proximal position;
[0057] FIG. 49 depicts another partial side elevational view of the
instrument of FIG. 34 incorporating the rigidizing member and drive
member of FIG. 44, with the drive member in an intermediate
position;
[0058] FIG. 50 depicts another detailed top plan view of the shaft
assembly and the end effector of the instrument of FIG. 34, with
the rigidizing member in an intermediate position;
[0059] FIG. 51 depicts still another partial side elevational view
of the instrument of FIG. 34 incorporating the rigidizing member
and drive member of FIG. 44, with the drive member in a distal
position; and
[0060] FIG. 52 depicts still another detailed top plan view of the
shaft assembly and the end effector of the instrument of FIG. 34,
with the rigidizing member in a distal position.
[0061] The drawings are not intended to be limiting in any way, and
it is contemplated that various embodiments of the technology may
be carried out in a variety of other ways, including those not
necessarily depicted in the drawings. The accompanying drawings
incorporated in and forming a part of the specification illustrate
several aspects of the present technology, and together with the
description serve to explain the principles of the technology; it
being understood, however, that this technology is not limited to
the precise arrangements shown.
DETAILED DESCRIPTION
[0062] The following description of certain examples of the
technology should not be used to limit its scope. Other examples,
features, aspects, embodiments, and advantages of the technology
will become apparent to those skilled in the art from the following
description, which is by way of illustration, one of the best modes
contemplated for carrying out the technology. As will be realized,
the technology described herein is capable of other different and
obvious aspects, all without departing from the technology.
Accordingly, the drawings and descriptions should be regarded as
illustrative in nature and not restrictive.
[0063] It is further understood that any one or more of the
teachings, expressions, embodiments, examples, etc. described
herein may be combined with any one or more of the other teachings,
expressions, embodiments, examples, etc. that are described herein.
The following-described teachings, expressions, embodiments,
examples, etc. should therefore not be viewed in isolation relative
to each other. Various suitable ways in which the teachings herein
may be combined will be readily apparent to those of ordinary skill
in the art in view of the teachings herein. Such modifications and
variations are intended to be included within the scope of the
claims.
[0064] For clarity of disclosure, the terms "proximal" and "distal"
are defined herein relative to a human or robotic operator of the
surgical instrument. The term "proximal" refers the position of an
element closer to the human or robotic operator of the surgical
instrument and further away from the surgical end effector of the
surgical instrument. The term "distal" refers to the position of an
element closer to the surgical end effector of the surgical
instrument and further away from the human or robotic operator of
the surgical instrument.
I. Exemplary Ultrasonic Surgical Instrument
[0065] FIG. 1 shows an exemplary ultrasonic surgical instrument
(10). At least part of instrument (10) may be constructed and
operable in accordance with at least some of the teachings of any
of the various patents, patent application publications, and patent
applications that are cited herein. As described therein and as
will be described in greater detail below, instrument (10) is
operable to cut tissue and seal or weld tissue (e.g., a blood
vessel, etc.) substantially simultaneously. It should also be
understood that instrument (10) may have various structural and
functional similarities with the HARMONIC ACE.RTM. Ultrasonic
Shears, the HARMONIC WAVE.RTM. Ultrasonic Shears, the HARMONIC
FOCUS.RTM. Ultrasonic Shears, and/or the HARMONIC SYNERGY.RTM.
Ultrasonic Blades. Furthermore, instrument (10) may have various
structural and functional similarities with the devices taught in
any of the other references that are cited and incorporated by
reference herein.
[0066] To the extent that there is some degree of overlap between
the teachings of the references cited herein, the HARMONIC ACE.RTM.
Ultrasonic Shears, the HARMONIC WAVE.RTM. Ultrasonic Shears, the
HARMONIC FOCUS.RTM. Ultrasonic Shears, and/or the HARMONIC
SYNERGY.RTM. Ultrasonic Blades, and the following teachings
relating to instrument (10), there is no intent for any of the
description herein to be presumed as admitted prior art. Several
teachings herein will in fact go beyond the scope of the teachings
of the references cited herein and the HARMONIC ACE.RTM. Ultrasonic
Shears, the HARMONIC WAVE.RTM. Ultrasonic Shears, the HARMONIC
FOCUS.RTM. Ultrasonic Shears, and the HARMONIC SYNERGY.RTM.
Ultrasonic Blades.
[0067] Instrument (10) of the present example comprises a handle
assembly (20), a shaft assembly (30), and an end effector (40).
Handle assembly (20) comprises a body (22) including a pistol grip
(24) and a pair of buttons (26). Handle assembly (20) also includes
a trigger (28) that is pivotable toward and away from pistol grip
(24). It should be understood, however, that various other suitable
configurations may be used, including but not limited to a scissor
grip configuration. End effector (40) includes an ultrasonic blade
(160) and a pivoting clamp arm (44). Clamp arm (44) is coupled with
trigger (28) such that clamp arm (44) is pivotable toward
ultrasonic blade (160) in response to pivoting of trigger (28)
toward pistol grip (24); and such that clamp arm (44) is pivotable
away from ultrasonic blade (160) in response to pivoting of trigger
(28) away from pistol grip (24). Various suitable ways in which
clamp arm (44) may be coupled with trigger (28) will be apparent to
those of ordinary skill in the art in view of the teachings herein.
In some versions, one or more resilient members are used to bias
clamp arm (44) and/or trigger (28) to the open position shown in
FIG. 1.
[0068] An ultrasonic transducer assembly (12) extends proximally
from body (22) of handle assembly (20). Transducer assembly (12) is
coupled with a generator (16) via a cable (14), such that
transducer assembly (12) receives electrical power from generator
(16). Piezoelectric elements in transducer assembly (12) convert
that electrical power into ultrasonic vibrations. Generator (16)
may include a power source and control module that is configured to
provide a power profile to transducer assembly (12) that is
particularly suited for the generation of ultrasonic vibrations
through transducer assembly (12). By way of example only, generator
(16) may comprise a GEN 300 sold by Ethicon Endo-Surgery, Inc. of
Cincinnati, Ohio. In addition or in the alternative, generator (16)
may be constructed in accordance with at least some of the
teachings of U.S. Pub. No. 2011/0087212, entitled "Surgical
Generator for Ultrasonic and Electrosurgical Devices," published
Apr. 14, 2011, the disclosure of which is incorporated by reference
herein. It should also be understood that at least some of the
functionality of generator (16) may be integrated into handle
assembly (20), and that handle assembly (20) may even include a
battery or other on-board power source such that cable (14) is
omitted. Still other suitable forms that generator (16) may take,
as well as various features and operabilities that generator (16)
may provide, will be apparent to those of ordinary skill in the art
in view of the teachings herein.
A. Exemplary End Effector and Acoustic Drivetrain
[0069] As best seen in FIGS. 2-4, end effector (40) of the present
example comprises clamp arm (44) and ultrasonic blade (160). Clamp
arm (44) includes a clamp pad (46) that is secured to the underside
of clamp arm (44), facing blade (160). Clamp pad (46) may comprise
polytetrafluoroethylene (PTFE) and/or any other suitable
material(s). Clamp arm (44) is pivotally secured to a distally
projecting tongue (43) of an upper distal shaft element (172),
which is fixedly secured within a distal portion of a distal outer
sheath (33). Clamp arm (44) is operable to selectively pivot toward
and away from blade (160) to selectively clamp tissue between clamp
arm (44) and blade (160). A pair of arms (156) extend transversely
from clamp arm (44) and are pivotally secured to a lower distal
shaft element (170), which is slidably disposed within the distal
portion of distal outer sheath (33).
[0070] In some examples a cable (not shown) may be secured to lower
distal shaft element (170). Such a cable may be operable to
translate longitudinally relative to an articulation section (130)
of shaft assembly (30) to selectively pivot clamp arm (44) toward
and away from blade (160). In further examples, the cable is
coupled with trigger (28) such that the cable translates proximally
in response to pivoting of trigger (28) toward pistol grip (24),
and such that clamp arm (44) thereby pivots toward blade (160) in
response to pivoting of trigger (28) toward pistol grip (24). In
addition, the cable may translate distally in response to pivoting
of trigger (28) away from pistol grip (24), such that clamp arm
(44) pivots away from blade (160) in response to pivoting of
trigger (28) away from pistol grip (24). Clamp arm (44) may be
biased toward the open position, such that (at least in some
instances) the operator may effectively open clamp arm (44) by
releasing a grip on trigger (28).
[0071] Blade (160) of the present example is operable to vibrate at
ultrasonic frequencies in order to effectively cut through and seal
tissue, particularly when the tissue is being compressed between
clamp pad (46) and blade (160). Blade (160) is positioned at the
distal end of an acoustic drivetrain. This acoustic drivetrain
includes transducer assembly (12) and an acoustic waveguide (180).
Acoustic waveguide (180) comprises a flexible portion (166).
Transducer assembly (12) includes a set of piezoelectric discs (not
shown) located proximal to a horn (not shown) of waveguide (180).
The piezoelectric discs are operable to convert electrical power
into ultrasonic vibrations, which are then transmitted along
waveguide (180), including flexible portion (166) of waveguide
(180) to blade (160) in accordance with known configurations and
techniques. By way of example only, this portion of the acoustic
drivetrain may be configured in accordance with various teachings
of various references that are cited herein.
[0072] As best seen in FIG. 3, flexible portion (166) of waveguide
(180) includes a distal flange (136), a proximal flange (138), and
a narrowed section (164) located between flanges (136, 138). In the
present example, flanges (136, 138) are located at positions
corresponding to nodes associated with resonant ultrasonic
vibrations communicated through flexible portion (166) of waveguide
(180). Narrowed section (164) is configured to allow flexible
portion (166) of waveguide (180) to flex without significantly
affecting the ability of flexible portion (166) of waveguide (180)
to transmit ultrasonic vibrations. By way of example only, narrowed
section (164) may be configured in accordance with one or more
teachings of U.S. Pub. No. 2014/0005701 and/or U.S. Pub. No.
2014/0114334, the disclosures of which are incorporated by
reference herein. It should be understood that waveguide (180) may
be configured to amplify mechanical vibrations transmitted through
waveguide (180). Furthermore, waveguide (180) may include features
operable to control the gain of the longitudinal vibrations along
waveguide (180) and/or features to tune waveguide (180) to the
resonant frequency of the system. Various suitable ways in which
waveguide (180) may be mechanically and acoustically coupled with
transducer assembly (12) will be apparent to those of ordinary
skill in the art in view of the teachings herein.
[0073] In the present example, the distal end of blade (160) is
located at a position corresponding to an anti-node associated with
resonant ultrasonic vibrations communicated through flexible
portion (166) of waveguide (180), in order to tune the acoustic
assembly to a preferred resonant frequency f.sub.o when the
acoustic assembly is not loaded by tissue. When transducer assembly
(12) is energized, the distal end of blade (160) is configured to
move longitudinally in the range of, for example, approximately 10
to 500 microns peak-to-peak, and in some instances in the range of
about 20 to about 200 microns at a predetermined vibratory
frequency f.sub.o of, for example, 55.5 kHz. When transducer
assembly (12) of the present example is activated, these mechanical
oscillations are transmitted through waveguide (180) to reach blade
(160), thereby providing oscillation of blade (160) at the resonant
ultrasonic frequency. Thus, when tissue is secured between blade
(160) and clamp pad (46), the ultrasonic oscillation of blade (160)
may simultaneously sever the tissue and denature the proteins in
adjacent tissue cells, thereby providing a coagulative effect with
relatively little thermal spread. In some versions, an electrical
current may also be provided through blade (160) and clamp arm (44)
to also cauterize the tissue. While some configurations for an
acoustic transmission assembly and transducer assembly (12) have
been described, still other suitable configurations for an acoustic
transmission assembly and transducer assembly (12) will be apparent
to one or ordinary skill in the art in view of the teachings
herein. Similarly, other suitable configurations for end effector
(40) will be apparent to those of ordinary skill in the art in view
of the teachings herein.
B. Exemplary Shaft Assembly and Articulation Section
[0074] Shaft assembly (30) of the present example extends distally
from handle assembly (20). As shown in FIGS. 2-6B, shaft assembly
(30) includes distal outer sheath (33) and a proximal outer sheath
(32) that enclose clamp arm (44) drive features and the
above-described acoustic transmission features. Shaft assembly (30)
further includes an articulation section (130), which is located at
a distal portion of shaft assembly (30), with end effector (40)
being located distal to articulation section (130). As shown in
FIG. 1, a knob (31) is secured to a proximal portion of proximal
outer sheath (32). Knob (31) is rotatable relative to body (22),
such that shaft assembly (30) is rotatable about the longitudinal
axis defined by outer sheath (32), relative to handle assembly
(20). Such rotation may provide rotation of end effector (40),
articulation section (130), and shaft assembly (30) unitarily. Of
course, rotatable features may simply be omitted if desired.
[0075] Articulation section (130) is operable to selectively
position end effector (40) at various lateral deflection angles
relative to a longitudinal axis defined by outer sheath (32).
Articulation section (130) may take a variety of forms. By way of
example only, articulation section (130) may be configured in
accordance with one or more teachings of U.S. Pub. No.
2012/0078247, the disclosure of which is incorporated by reference
herein. As another merely illustrative example, articulation
section (130) may be configured in accordance with one or more
teachings of U.S. Pub. No. 2014/0005701 and/or U.S. Pub. No.
2014/0114334, the disclosures of which are incorporated by
reference herein. Various other suitable forms that articulation
section (130) may take will be apparent to those of ordinary skill
in the art in view of the teachings herein.
[0076] As best seen in FIGS. 2-6B articulation section (130) of
this example comprises a set of three retention collars (133) and a
pair of ribbed body portions (132, 134), with a pair of
articulation bands (140, 142) extending along respective channels
(135, 137) defined between interior surfaces of retention collars
(133) and exterior surfaces of ribbed body portions (132, 134).
Ribbed body portions (132, 134) are longitudinally positioned
between flanges (136, 138) of flexible portion (166) of waveguide
(180). In some versions, ribbed body portions (132, 134) snap
together about flexible portion (166) of waveguide (180). Ribbed
body portions (132, 134) are configured to flex with flexible
portion (166) of waveguide (180) when articulation section (130)
bends to achieve an articulated state.
[0077] FIG. 3 shows ribbed body portions (132, 134) in greater
detail. In the present example, ribbed body portions (132, 134) are
formed of a flexible plastic material, though it should be
understood that any other suitable material may be used. Ribbed
body portion (132) comprises a set of three ribs (150) that are
configured to promote lateral flexing of ribbed body portion (132).
Of course, any other suitable number of ribs (150) may be provided.
Ribbed body portion (132) also defines a channel (135) that is
configured to receive articulation band (140) while allowing
articulation band (140) to slide relative to ribbed body portion
(132). Similarly, ribbed body portion (134) comprises a set of
three ribs (152) that are configured to promote lateral flexing of
ribbed body portion (134). Of course, any other suitable number of
ribs (152) may be provided. Ribbed body portion (134) also defines
a channel (137) that is configured to receive articulation band
(142) while allowing articulation band (142) to slide relative to
ribbed body portion (137).
[0078] As best seen in FIG. 5, ribbed body portions (132, 134) are
laterally interposed between articulation bands (140, 142) and
flexible portion (166) of waveguide (180). Ribbed body portions
(132, 134) mate with each other such that they together define an
internal passage sized to accommodate flexible portion (166) of
waveguide (180) without contacting waveguide (180). In addition,
when ribbed body portions (132, 134) are coupled together, a pair
of complementary distal notches (131A, 131B) formed in ribbed body
portions (132, 134) align to receive a pair of inwardly projecting
resilient tabs (38) of distal outer sheath (33). This engagement
between tabs (38) and notches (131A, 131B) longitudinally secures
ribbed body portions (132, 134) relative to distal outer sheath
(33). Similarly, when ribbed body portions (132, 134) are coupled
together, a pair of complementary proximal notches (139A, 139B)
formed in ribbed body portions (132, 134) align to receive a pair
of inwardly projecting resilient tabs (37) of proximal outer sheath
(32). This engagement between tabs (37) and notches (139A, 139B)
longitudinally secures ribbed body portions (132, 134) relative to
proximal outer sheath (32). Of course, any other suitable kinds of
features may be used to couple ribbed body portions (132, 134) with
proximal outer sheath (32) and/or distal outer sheath (33).
[0079] The distal ends of articulation bands (140, 142) are
unitarily secured to upper distal shaft element (172). When
articulation bands (140, 142) translate longitudinally in an
opposing fashion, this will cause articulation section (130) to
bend, thereby laterally deflecting end effector (40) away from the
longitudinal axis of shaft assembly (30) from a straight
configuration as shown in FIG. 6A to an articulated configuration
as shown in FIG. 6B. In particular, end effector (40) will be
articulated toward the articulation band (140, 142) that is being
pulled proximally. During such articulation, the other articulation
band (140, 142) may be pulled distally by upper distal shaft
element (172). Alternatively, the other articulation band (140,
142) may be driven distally by an articulation control. Ribbed body
portions (132, 134) and narrowed section (164) are all sufficiently
flexible to accommodate the above-described articulation of end
effector (40). Furthermore, flexible acoustic waveguide (166) is
configured to effectively communicate ultrasonic vibrations from
waveguide (180) to blade (160) even when articulation section (130)
is in an articulated state as shown in FIG. 6B.
[0080] As best seen in FIG. 3, each flange (136, 138) of waveguide
(180) includes a respective pair of opposing flats (192, 196).
Flats (192, 196) are oriented along vertical planes that are
parallel to a vertical plane extending through narrowed section
(164) of flexible portion (166). Flats (192, 196) are configured to
provide clearance for articulation bands (140, 142). In particular,
flats (196) of proximal flange (138) accommodate articulation bands
(140, 142) between proximal flange (138) and the inner diameter of
proximal outer sheath (32); while flats (192) of distal flange
(136) accommodate articulation bands (140, 142) between distal
flange (136) and the inner diameter of distal outer sheath (33). Of
course, flats (192, 196) could be substituted with a variety of
features, including but not limited to slots, channels, etc., with
any suitable kind of profile (e.g., square, flat, round, etc.). In
the present example, flats (192, 196) are formed in a milling
process, though it should be understood that any other suitable
process(es) may be used. Various suitable alternative
configurations and methods of forming flats (192, 196) will be
apparent to those of ordinary skill in the art in view of the
teachings herein. It should also be understood that waveguide (180)
may include flats formed in accordance with at least some of the
teachings of U.S. Pub. No. 2013/0289592, entitled "Ultrasonic
Device for Cutting and Coagulating," published Oct. 31, 2013, the
disclosure of which is incorporated by reference herein.
[0081] In the present example, outer rings (133) are located at
longitudinal positions corresponding to ribs (150, 152), such that
three rings (133) are provided for three ribs (150, 152).
Articulation band (140) is laterally interposed within channel
(135) between rings (133) and ribbed body portion (132); while
articulation band (142) is laterally interposed within channel
(137) between rings (133) and ribbed body portion (134). Rings
(133) are configured to keep articulation bands (140, 142) in a
parallel relationship, particularly when articulation section (130)
is in a bent configuration (e.g., similar to the configuration
shown in FIG. 6B). In other words, when articulation band (140) is
on the inner diameter of a curved configuration presented by a bent
articulation section (130), rings (133) may retain articulation
band (140) such that articulation band (140) follows a curved path
that complements the curved path followed by articulation band
(142). It should be understood that channels (135, 137) are sized
to accommodate respective articulation bands (140, 142) in such a
way that articulation bands (140, 142) may still freely slide
through articulation section (130), even with rings (133) being
secured to ribbed body portions (150, 152). It should also be
understood that rings (133) may be secured to ribbed body portions
(132, 134) in various ways, including but not limited to
interference fitting, adhesives, welding, etc.
[0082] When articulation bands (140, 142) are translated
longitudinally in an opposing fashion, a moment is created and
applied to a distal end of distal outer sheath (33) via upper
distal shaft element (172). This causes articulation section (130)
and narrowed section (164) of flexible portion (166) of waveguide
(180) to articulate, without transferring axial forces in
articulation bands (140, 142) to waveguide (180). It should be
understood that one articulation band (140, 142) may be actively
driven distally while the other articulation band (140, 142) is
passively permitted to retract proximally. As another merely
illustrative example, one articulation band (140, 142) may be
actively driven proximally while the other articulation band (140,
142) is passively permitted to advance distally. As yet another
merely illustrative example, one articulation band (140, 142) may
be actively driven distally while the other articulation band (140,
142) is actively driven proximally. Various suitable ways in which
articulation bands (140, 142) may be driven will be apparent to
those of ordinary skill in the art in view of the teachings
herein.
[0083] As best seen in FIG. 7, an articulation control assembly
(100) is secured to a proximal portion of outer sheath (32).
Articulation control assembly (100) comprises a housing (110) and a
rotatable knob (120). Housing (110) comprises a pair of
perpendicularly intersecting cylindrical portions (112, 114). Knob
(120) is rotatably disposed within a first hollow cylindrical
portion (112) of housing (110) such that knob (120) is operable to
rotate within cylindrical portion (112) of housing (110). Shaft
assembly (30) is slidably and rotatably disposed within a second
cylindrical portion (114). Shaft assembly (30) comprises a pair of
translatable members (161, 162), both of which extend slidably and
longitudinally through the proximal portion of outer sheath (32).
Translatable members (161, 162) are longitudinally translatable
within second cylindrical portion (114) between a distal position
and a proximal position. Translatable members (161, 162) are
mechanically coupled with respective articulation bands (140, 142)
such that longitudinal translation of translatable member (161)
causes longitudinal translation of articulation band (140), and
such that longitudinal translation of translatable member (162)
causes longitudinal translation of articulation band (142).
[0084] Knob (120) comprises a pair of pins (122, 124) extending
downwardly from a bottom surface of knob (120). Pins (122, 124)
extend into second cylindrical portion (114) of housing (110) and
are rotatably and slidably disposed within a respective pair of
channels (163, 164) formed in top surfaces of translatable members
(161, 162). Channels (163, 164) are positioned on opposite sides of
an axis of rotation of knob (120), such that rotation of knob (120)
about that axis causes opposing longitudinal translation of
translatable members (161, 162). For instance, rotation of knob
(120) in a first direction causes distal longitudinal translation
of translatable member (161) and articulation band (140), and
proximal longitudinal translation of translatable member (162) and
articulation band (142); and rotation of knob (120) in a second
direction causes proximal longitudinal translation of translatable
member (161) and articulation band (140), and distal longitudinal
translation of translatable member (162) and articulation band
(142). Thus, it should be understood that rotation of rotation knob
(120) causes articulation of articulation section (130).
[0085] Housing (110) of articulation control assembly (100)
comprises a pair of set screws (111, 113) extending inwardly from
an interior surface of first cylindrical portion (112). With knob
(120) rotatably disposed within first cylindrical portion (112) of
housing (110), set screws (111, 113) are slidably disposed within a
pair of arcuate channels (121, 123) formed in knob (120). Thus, it
should be understood that rotation of knob (120) will be limited by
movement of set screws (111, 113) within channels (121, 123). Set
screws (111, 113) also retain knob (120) in housing (110),
preventing knob (120) from traveling vertically within first
cylindrical portion (112) of housing (110).
[0086] An interior surface of first cylindrical portion (112) of
housing (110) comprises a first angular array of teeth (116) and a
second angular array of teeth (118) formed in an interior surface
of first cylindrical portion (112). Rotation knob (120) comprises a
pair of outwardly extending engagement members (126, 128) that are
configured to engage teeth (116, 118) of first cylindrical portion
(112) in a detent relationship to thereby selectively lock knob
(120) in a particular rotational position. The engagement of
engagement members (126, 128) with teeth (116, 118) may be overcome
by a user applying sufficient rotational force to knob (120); but
absent such force, the engagement will suffice to maintain the
straight or articulated configuration of articulation section
(130). It should therefore be understood that the ability to
selectively lock knob (120) in a particular rotational position
lock will enable an operator to selectively lock articulation
section (130) in a particular deflected position relative to the
longitudinal axis defined by outer sheath (32).
[0087] In some versions of instrument (10), articulation section
(130) of shaft assembly (30) is operable to achieve articulation
angles up to between approximately 15.degree. and approximately
30.degree., both relative to the longitudinal axis of shaft
assembly (30) when shaft assembly (30) is in a straight
(non-articulated) configuration. Alternatively, articulation
section (130) may be operable to achieve any other suitable
articulation angles.
[0088] In some versions of instrument (10), narrowed section (164)
of waveguide (180) has a thickness between approximately 0.01
inches and approximately 0.02 inches. Alternatively, narrowed
section (164) may have any other suitable thickness. Also in some
versions, narrowed section (164) has a length of between
approximately 0.4 inches and approximately 0.65 inches.
Alternatively, narrowed section (164) may have any other suitable
length. It should also be understood that the transition regions of
waveguide (180) leading into and out of narrowed section (164) may
be quarter rounded, tapered, or have any other suitable
configuration.
[0089] In some versions of instrument (10), flanges (136, 138) each
have a length between approximately 0.1 inches and approximately
0.2 inches. Alternatively, flanges (136, 138) may have any other
suitable length. It should also be understood that the length of
flange (136) may differ from the length of flange (138). Also in
some versions, flanges (136, 138) each have a diameter between
approximately 0.175 inches and approximately 0.2 inches.
Alternatively, flanges (136, 138) may have any other suitable outer
diameter. It should also be understood that the outer diameter of
flange (136) may differ from the outer diameter of flange
(138).
[0090] While the foregoing exemplary dimensions are provided in the
context of instrument (10) as described above, it should be
understood that the same dimensions may be used in any of the other
examples described herein. It should also be understood that the
foregoing exemplary dimensions are merely optional. Any other
suitable dimensions may be used.
II. Exemplary Features to Provide Rigidization of Articulation
Section
[0091] In some versions of instrument (10) it may be desirable to
provide features that are configured to selectively provide
rigidity to articulation section (130). For instance, because of
various factors such as manufacturing tolerances, design
limitations, material limitations, and/or other factors, some
versions of articulation section (130) may be susceptible to some
"play" or other small movement of the articulation section despite
being relatively fixed in a given position, such that articulation
section (130) is not entirely rigid. It may be desirable to reduce
or eliminate such play in articulation section (130), particularly
when articulation section (130) is in a straight, non-articulated
configuration. Features may thus be provided to selectively
rigidize articulation section (130). Various examples of features
that are configured to selectively provide rigidity to articulation
section (130) and/or to limit or prevent inadvertent deflection of
end effector (40) will be described in greater detail below. Other
examples will be apparent to those of ordinary skill in the art
according to the teachings herein. It should be understood that the
examples of shaft assemblies and/or articulation sections described
below may function substantially similar to shaft assembly (30)
discussed above.
[0092] It should also be understood that articulation section (130)
may still be at least somewhat rigid before being modified to
include the features described below, such that the features
described below actually just increase the rigidity of articulation
section (130) rather than introducing rigidity to an otherwise
non-rigid articulation section (130). For instance, an articulation
section (130) in the absence of features as described below may be
rigid enough to substantially maintain a straight or articulated
configuration; yet may still provide "play" of about 1 mm or a
fraction thereof such that the already existing rigidity of
articulation section (130) may be increased. Thus, terms such as
"rigidize," "provide rigidity," and "providing rigidity" shall be
understood to include just increasing rigidity that is already
present in some degree. The terms "rigidize," "provide rigidity,"
and "providing rigidity" should not be read as necessarily
requiring articulation section (130) to completely lack rigidity
before the rigidity is "provided."
[0093] It should also be understood that "rigidizing" articulation
section (130) may be viewed as more than merely locking
articulation section (130). For instance, while articulating
sections in some conventional instruments may include a locking
feature that selectively locks the articulation section, such
instruments may still demonstrate some degree of play in the
articulation section, even when the articulation section purports
to be in a locked state. By further "rigidizing" the articulation
section as described herein, that play would be removed from the
locked articulation section. Thus, terms such as "rigidizing" and
"locking" should not be read as being synonymous.
[0094] Various examples of features that are configured to
selectively rigidize articulation section (130) are described in
greater detail below. Various other examples will be apparent to
those of ordinary skill in the art in view of to the teachings
herein.
A. Articulation Section with Movable Sheath
[0095] FIGS. 8 and 9 show a version of shaft assembly (30) that is
modified to include a movable sheath (210), which is slidably
disposed about proximal outer sheath (32). Sheath (210) is
generally cylindrical in shape and is configured to fit over outer
sheath (32). In particular, sheath (210) comprises a tapered open
distal end (212) and a tapered open proximal end (214).
Accordingly, sheath (210) is a generally hollow tube that surrounds
outer sheath (32). Each end (212, 214) defines an inner diameter
that is closely matched to the outer diameter of outer sheath (32).
Such a relationship between the inner diameter of sheath (210) and
outer sheath (32) may be desirable because such a relationship may
prevent movement of articulation section (130) when sheath (210) is
disposed over articulation section (130). Although the inner
diameter of sheath (210) is similar to the outer diameter of outer
sheath (32) it should be understood that the inner diameter of
sheath (210) may still be large enough relative to the outer
diameter of outer sheath (32) to permit sheath (210) to slide
relative to outer sheath (32). As will be described in greater
detail below, such slidability is desirable because it may permit
sheath (210) to be selectively positioned over articulation section
(130).
[0096] Sheath (210) is comprised of a generally rigid thin walled
biocompatible material such as titanium, stainless steel, rigid
plastic, and/or any other suitable material(s). Because distal and
proximal ends (212, 214) of sheath (210) are tapered, the wall
thickness of sheath (210) varies by length. Such a taper may
prevent sheath (210) from being snagged on a trocar or other
surgical port as shaft assembly (30) is inserted into and withdrawn
from the trocar or other port. It should be understood that such a
taper is merely optional, and in some examples sheath (210) may
have a uniform thickness along the full length of sheath (210).
[0097] FIGS. 8 and 9 show an exemplary use of sheath (210). As can
be seen in FIG. 8, sheath (210) may initially be disposed in a
first position. In the first position, sheath (210) is disposed
proximally of articulation section (130). In such a position,
articulation section (130) is free to articulate as described above
in response to an operator acting upon articulation control
assembly (100).
[0098] When an operator desires to rigidize articulation section
(130) in a fixed, straight position, an operator may do so by
grasping sheath (210) and translating sheath (210) distally to the
position shown in FIG. 9. The position shown in FIG. 9 corresponds
to sheath (210) being in a second position. In the second position,
sheath (210) is disposed over articulation section (130) with
distal end (212) disposed over at least a portion of distal outer
sheath (33) and proximal end (214) over at least a portion of
proximal outer sheath (32). When in the second position, the inner
diameter of sheath (210) engages distal outer sheath (33),
articulation section (130) and proximal outer sheath (32) to
prevent substantially all articulation and/or other movement of
articulation section (130). In other words, sheath (210) rigidizes
articulation section (130) when sheath (210) is disposed in the
second position.
[0099] Although sheath (210) of the present example is described
herein as being manually translatable by an operator, it should be
understood that in other examples sheath (210) may be translatable
by other means. For instance, in some examples sheath (210) may
further comprise certain actuation components that are in
communication with articulation bands (140, 142). In examples
incorporating such actuation components, the actuation components
are responsive to movement of articulation bands (140, 142) such
that sheath (210) is automatically transitioned between the first
and second positions by movement of articulation bands (140, 142)
through certain predetermined positions. Additionally or in the
alternative, sheath (210) may also be spring loaded to
automatically transition sheath (210) from the first position to
the second position. As yet another merely illustrative
alternative, sheath (210) may be actuated by knob (120), some other
user input feature at articulation control assembly (100), and/or
some other feature of handle assembly (20). Still other suitable
mechanisms for transitioning sheath (210) between the first and
second positions will be apparent to those of ordinary skill in the
art in view of the teachings herein.
B. Articulation Section with Movable Sheath and Sheath Securing
Features
[0100] FIGS. 10-12 show a version of shaft assembly (30) that is
modified to include another movable sheath (310), which is slidably
disposed about proximal outer sheath (32). Sheath (310) is
generally cylindrical in shape and is configured to fit over outer
sheath (32). In particular, sheath (310) comprises a tapered open
distal end (312), a tapered open proximal end (314), and a grip
portion (316) disposed distally of proximal end (314). Accordingly,
sheath (310) is a generally hollow tube that surrounds outer sheath
(32). Each end (312, 314) defines an inner diameter of sheath (310)
that is closely matched to the outer diameter of outer sheath (32).
Such a relationship between the inner diameter of sheath (310) and
outer sheath (32) may be desirable because such a relationship may
prevent movement of articulation section (130) when sheath (310) is
disposed over articulation section (130). Although the inner
diameter of sheath (310) is similar to the outer diameter of outer
sheath (32) it should be understood that the inner diameter of
sheath (310) may still be large enough relative to the outer
diameter of outer sheath (32) to permit sheath (310) to slide
relative to outer sheath. As will be described in greater detail
below, such slidability is desirable because it may permit sheath
(310) to be selectively positioned over articulation section
(130).
[0101] Grip portion (316) is generally configured to facilitate
grasping of sheath (310) by an operator. Grip portion (316) of
sheath comprises a plurality of grip features (317). Grip features
(317) of the present example are shown as spaced-apart indentations
in the outer diameter of sheath (310). In other examples, grip
features (317) are formed by integral protrusions or separately
secured protrusions. In examples utilizing protrusions, it should
be understood that the protrusions protrude from sheath (310) may
be fixed by the inner diameter of a trocar or other port that
instrument (10) may be used in conjunction with. It should also be
understood that grip portion (312) is merely optional, such that
grip portion (312) is omitted in some versions.
[0102] Sheath (310) is comprised of a generally rigid thin walled
biocompatible material such as titanium, stainless steel, rigid
plastic, or etc. Because distal and proximal ends (312, 314) of
sheath (310) are tapered, the wall thickness of sheath (310) varies
by length. Such a taper may prevent sheath (310) from being snagged
on a trocar or other surgical port as shaft assembly (30) is
inserted into and withdrawn from the trocar or other port. It
should be understood that such a taper is merely optional, and in
some examples sheath (310) may have a uniform thickness along the
full length of sheath (310).
[0103] Distal outer sheath (33) and proximal outer sheath (32) in
the present example each include a flared stop member (320, 326).
In particular, a distal stop member is positioned on distal outer
sheath (33) and a proximal stop member (326) is positioned on
proximal outer sheath (33). Each stop member (320, 326) is
unitarily secured to the corresponding sheath (32, 33). Each stop
member (320, 326) is generally frustoconical in shape, with a
maximum outer diameter that is greater than the inner diameter of
sheath (310) such that stop members (320, 326) are configured to
engage with sheath (310) and thereby restrict longitudinal movement
of sheath (310). In the present example, each stop member (320,
326) is overmolded onto each respective sheath (32, 33) and
comprises a resilient material such as a soft plastic or rubber. In
some other examples, each stop members (320, 326) is unitarily
formed with each respective sheath (32, 33).
[0104] As will be described in greater detail below, sheath (310)
is generally slidable and into engagement with either distal stop
member (320) or proximal stop member (326). Thus, distal stop
member (320) is positioned such that an engagement end (322) is
positioned proximally, while proximal stop member (326) is
positioned such that an engagement end (328) is positioned
distally. Engagement end (322) is sized for snug receipt within
sheath (310), such that distal stop member (320) may releasably
hold sheath (310) in a distal position through friction between
engagement end and the interior of sheath (310). Similarly,
engagement end (328) is sized for snug receipt within sheath (310),
such that proximal stop member (326) may releasably hold sheath
(310) in a proximal position through friction between engagement
end and the interior of sheath (310). The enlarged distal end of
distal stop member (320) will restrict distal movement of sheath
(310), while the enlarged proximal end of proximal stop member
(326) will restrict proximal movement of sheath (310).
[0105] FIGS. 10-12 show an exemplary use of sheath (310). As can be
seen in FIG. 10, sheath (310) may initially be disposed in a first
position. In the first position, sheath (310) is disposed
proximally of articulation section (130) yet distally of proximal
stop member (326). In such a position, articulation section (130)
is free to articulate as described above in response to an operator
acting upon articulation control assembly (100). Further, sheath
(310) is free from both stop members (320, 326) such that sheath
(310) is freely movable between stop members (320, 326).
[0106] When sheath (310) is in the first position, an operator may
optionally lock sheath (310) in a second position, or advance
sheath (310) to a third position. FIG. 11 shows sheath (310) in the
second position. As can be seen, the second position corresponds to
sheath (310) being disposed over proximal outer sheath (32) and
engaged with proximal stop member (326). It should be understood
that the second position corresponds to the furthest proximal
position of sheath (310). In particular, stop member (326) prevents
further proximal movement of sheath (310). Additionally, stop
member (326) resiliently locks sheath (310) in position by
resiliently engaging the inner diameter of sheath (310). In other
words, sheath (310) compresses engagement end (328) and thereby
creates friction that releasably holds sheath (310) in place.
[0107] When an operator desires to rigidize articulation section
(130) in a fixed, straight position, the operator may do so by
grasping sheath (310) and translating sheath (310) distally to the
position shown in FIG. 12 from either the first position or the
second position. The position shown in FIG. 12 corresponds to
sheath (310) being in the third position. In the third position,
sheath (310) is disposed over articulation section (130) with
distal end (312) disposed over at least a portion of distal outer
sheath (33) and proximal end (314) over at least a portion of
proximal outer sheath (32). Additionally, distal end (312) engages
at least a portion of distal stop member (320). Sheath (310)
compresses engagement end (322) and thereby creates friction that
releasably holds sheath (310) in place. In addition, stop member
(320) prevents further distal movement of sheath (310). When in the
third position, the inner diameter of sheath (310) engages distal
outer sheath (33), articulation section (130), and proximal outer
sheath (32) to prevent substantially all articulation and/or
movement of articulation section (130). In other words, sheath
(310) rigidizes articulation section (130) when sheath (310) is
disposed in the third position.
[0108] Like with sheath (210) described above, sheath (310) of the
present example may also be translatable by other non-manual means.
For instance, in some examples sheath (310) may further comprise
certain actuation components that are in communication with
articulation bands (140, 142). In examples incorporating such
actuation components, the actuation components are responsive to
movement of articulation bands (140, 142) such that sheath (310) is
automatically transitioned between the first and second positions
by movement of articulation bands (140, 142) through certain
predetermined positions. Additionally or in alternative, sheath
(310) may also be spring loaded to automatically transition sheath
(310) from the first position to the second position. As yet
another merely illustrative alternative, sheath (310) may be
actuated by knob (120), some other user input feature at
articulation control assembly (100), and/or some other feature of
handle assembly (20). Still other suitable mechanisms for
transitioning sheath (310) between the first and second positions
will be apparent to those of ordinary skill in the art in view of
the teachings herein.
C. Articulation Section with Rotatable Locking Sheath
[0109] FIGS. 13-17 show a version of shaft assembly (30) that is
modified to include a rotatable sheath (410), which is rotatably
disposed about articulation section (130). Rotatable sheath (410)
is generally tubular in structure and comprises two tab members
(420, 430) of unitary construction with sheath (410). Tab members
(420, 430) are formed by slits (420, 430) cut (421, 431) within
sheath (410) to define a longitudinal portion (424, 434) and a
transverse portion (426, 436) of each tab member (420, 430), such
that each tab member (420, 430) has a "T" shape. As can be seen in
FIG. 14, the thickness of each tab member (420, 430) expands from
transverse portion (426, 436) to longitudinal portion (424, 434)
such that at least a portion of each tab member (420, 430) extends
into the inner diameter of sheath (410). As will be described in
greater detail below, the increased thickness of each longitudinal
portion (424, 434) is configured to engage with retention collars
(133) of articulation section (130) to prevent articulation of
articulation section (130). In some versions, each tab member (420,
430) has a uniform thickness and tab members (420, 430) are simply
resiliently biased to extend inwardly into the inner diameter of
sheath (410). For instance, transverse portions (426, 436) may be
bent inwardly to resiliently position longitudinal portions (424,
434) into the inner diameter of sheath (410).
[0110] Sheath (410) further comprises a generally flexible material
such that sheath (410) is configured to bend as articulation
section (130) is articulated. Although the material of sheath (410)
is generally flexible, it should also be understood that the
material of sheath (410) is somewhat rigid. As will be described in
greater detail below, tab members (420, 430) are configured to
engage retention collars (133) of articulation section (130) to
selectively prevent articulation of articulation section (130).
Accordingly, sheath (410) is comprised of a material of sufficient
column strength such that tab members (420, 430) resist buckling
when compressed between retention collars (133). Sheath (410) may
comprise any suitable material such as biocompatible polymers
and/or any other material(s) as will be apparent to those of
ordinary skill in the art in view of the teachings herein.
[0111] FIGS. 13, 15, and 16-17 show an exemplary use of sheath
(410). In particular, as can be seen in FIGS. 13 and 15, sheath
(410) is initially in a first angular position. When sheath (410)
is in the first angular position, longitudinal portions (424, 434)
of each tab member (420, 430) are aligned with an articulation
plane through which the central longitudinal axis of shaft assembly
(30) articulates. As can best be seen in FIG. 15, when sheath (410)
is in the first position, longitudinal portions (424, 434) of each
tab member (420, 430) are positioned between each retention collar
(133) along the articulation plane. Accordingly, longitudinal
portions (424, 434) are positioned to block any articulation of
articulation section (130) because longitudinal portions (424, 434)
prevent retention collars (133) from moving closer to one another.
Therefore, sheath (410) acts as a locking member to increase the
rigidity of articulation section (130) when sheath (410) is in the
first angular position.
[0112] To unlock articulation section (130) for articulation, an
operator may rotate sheath (410) 90.degree. about the longitudinal
axis of shaft assembly (30), relative to the rest of shaft assembly
(30), to a second angular position. As can be seen in FIGS. 16 and
17, when sheath (410) is in the second angular position,
longitudinal portions (424, 434) are oriented perpendicularly from
the articulation plane of articulation section (130). Thus,
although longitudinal portions (424, 434) remain disposed between
retention collars (133) of articulation section (130), articulation
section (130) is permitted to articulate because longitudinal
portions (424, 434) are not positioned to block movement of
retention collars (133) along the articulation plane as
articulation section (130) is articulated. Moreover, because sheath
(410) is relatively flexible, sheath (410) itself does not prevent
articulation of articulation section (130). Therefore, sheath (410)
acts to permit articulation of articulation section (130) when
sheath (410) is in the second angular position.
[0113] By way of example only, an operator may selectively
transition sheath (410) between the first and second angular
positions by simply grasping sheath (410) and rotating sheath (410)
about the longitudinal axis of shaft assembly (30) while holding
the rest of shaft assembly (30) stationary. Alternatively, sheath
(410) may be actuated between the first and second angular
positions via a user input feature that is incorporated into
articulation control assembly (100) and/or some other feature of
handle assembly (20). Various suitable ways in which sheath (410)
may be actuated will be apparent to those of ordinary skill in the
art in view of the teachings herein.
[0114] FIG. 18 shows an exemplary alternative sheath (510) that
operates similarly to sheath (410) and may be readily incorporated
into shaft assembly (30) of instrument (10). In the present
example, sheath (510) is positioned over articulation section (130)
as described above. In some versions, retention collars (133) are
omitted when sheath (510) is incorporated into shaft assembly (30).
As can be seen, sheath (510) is comprised of a plurality of
segments (512, 518, 524) that are disposed over articulation
section (130). In particular, segments (512, 518, 524) form a
generally tubular structure that is configured to bend in a single
lateral direction as indicated by arrow (530), but resist bending
in other directions that are generally oblique or perpendicular to
arrow (530).
[0115] Segments (512, 518, 524) of the present example comprise two
end segments (512, 524) and three intermediate segments (518). Each
end segment (512, 524) includes an end portion (514, 526) and a
connecting portion (516, 528). End portions (514, 526) are
generally circular in cross-section and are configured to receive
distal outer sheath (33) and proximal outer sheath (32),
respectively. Connecting portions (516, 528) are configured to abut
a corresponding intermediate segment (518). Each connecting portion
(516, 528) defines an indentation (517, 529) therein. As will be
described in greater detail below, each indentation (517, 529) is
generally configured to cooperate with corresponding indentation
(523) of an adjacent intermediate segment (518) to thereby permit
articulation of sheath (510) along the lateral direction indicated
by arrow (530).
[0116] Each intermediate segment (518) of the present example is
substantially the same. Although the present example is shown as
comprising three intermediate segments (518), it should be
understood that any suitable number of intermediate segments (518)
may be used. Further, in some examples intermediate segments (518)
may be omitted and end segments (512, 524) may simply be adjacent
to each other. Each intermediate segment (518) is generally
symmetrical with a distal portion (520) and a proximal portion
(522). Each portion (520, 522) defines an indentation (523) and
abuts a corresponding adjacent segment (512, 518, 524). Each
indentation (523) is aligned with either an adjacent indentation
(523) of another intermediate segment (518) or an adjacent
indentation (517, 529) of end segments (512, 524).
[0117] Segments (512, 518, 524) are connected to each other
sequentially to form the tubular structure of sheath (510).
Segments (512, 518, 524) are connected to each other such that each
segment (512, 518, 524) is movable relative to an adjacent segment
(512, 518, 524). For instance, suitable connections may include
wire connections, thin walled flexible integral members, hinge
members, or any other suitable structures as will be apparent to
those of ordinary skill in the art in view of the teachings herein.
Regardless of the particular connection used, each segment (512,
518, 524) is aligned with an adjacent segment (512, 518, 524) such
that all indentations (517, 523, 529) are aligned with each other
along a linear path that is generally parallel to the longitudinal
axis of shaft assembly (30). It should be understood that the
alignment of indentations (517, 523, 529) may permit flexibility of
sheath (510) along the linear path of alignment because each
indentation (517, 523, 529) provides space for each segment to
pivot relative to the other. In contrast, where each segment (512,
518, 524) abuts another without the presence of indentation (517,
523, 529), flexibility of sheath (510) is blocked because each
segment (512, 518, 524) has little to no space to move relative to
other segments (512, 518, 524).
[0118] FIGS. 18 and 19 show an exemplary use of sheath (510). In
particular, FIG. 18 shows sheath (510) in a first angular position.
In the first angular position, indentations (517, 523, 529) of each
segment (512, 518, 524) of sheath (510) are aligned along the
articulation plane of shaft assembly (30) as indicated by arrow
(530). Thus, when sheath (510) is in the first position, sheath
(510) permits articulation of articulation section (130). To
articulate articulation section (130), an operator may actuate
articulation control assembly (100) as described above.
[0119] Once an operator desires to lock articulation section (130)
in a straight position, the operator may first transition
articulation section (130) to the straight configuration using
articulation control assembly (100) as described above. Once
articulation section (130) is in the straight configuration, the
operator may rotate sheath (510) 90.degree. about the longitudinal
axis of shaft assembly (30), relative to the rest of shaft assembly
(30), to a second angular position as shown in FIG. 19. As can be
seen, when sheath (510) is rotated to the second angular position,
indentations (517, 523, 529) of each segment (512, 518, 524) of
sheath (510) are aligned in a position that is normal to the
articulation plane of shaft assembly (30). As described above,
sheath (510) is only bendable in the direction of indentations
(517, 523, 529). Accordingly, when indentations (517, 523, 529) are
positioned normal to the articulation plane of shaft assembly (30),
sheath (510) prevents articulation of articulation section (130)
because segments (512, 518, 524) are incapable of moving relative
to each other along the articulation plane of articulation section
(130) when sheath (510) is in the second angular position.
Therefore, when sheath (510) is positioned in the second angular
position, articulation section (130) is locked from articulation
and/or increased in rigidity due to the angular positioning of
sheath (510).
[0120] By way of example only, an operator may selectively
transition sheath (510) between the first and second angular
positions by simply grasping sheath (510) and rotating sheath (510)
about the longitudinal axis of shaft assembly (30) while holding
the rest of shaft assembly (30) stationary. Alternatively, sheath
(510) may be actuated between the first and second angular
positions via a user input feature that is incorporated into
articulation control assembly (100) and/or some other feature of
handle assembly (20). Various suitable ways in which sheath (510)
may be actuated will be apparent to those of ordinary skill in the
art in view of the teachings herein.
D. Articulation Section with Complementary Locking Shafts
[0121] FIGS. 20-22 show an exemplary alternative sheath assembly
(610) that may be readily incorporated into shaft assembly (30)
described above. In examples where sheath assembly (610) is
incorporated into shaft assembly (30), sheath assembly (610) may be
disposed around articulation section (130) to thereby selectively
rigidize articulation section (130). Sheath assembly (610) is
longitudinally fixed about articulation section (130). Sheath
assembly (610) comprises an inner sheath (612) disposed coaxially
within an outer sheath (620). As will be described in greater
detail below, sheaths (612, 620) are configured to cooperate to
selectively rigidize articulation section (130). In the present
example sheaths (612, 620) are each about 0.0075'' thick, although
any suitable thickness may be used. For instance, in some examples
sheaths (612, 620) range from about 0.005'' to about 0.010'' in
wall thickness.
[0122] As can be seen in FIG. 20 outer sheath (620) comprises a
plurality of openings (622) on the exterior of outer sheath (620).
In particular, openings (622) are all substantially the same and
have an elongate ovular or elliptical shape. As will be described
in greater detail below, openings (622) are generally configured to
locally increase the flexibility of outer sheath (620) in the
region of outer sheath (620) where openings (622) are positioned.
Although not shown, it should be understood that openings (622)
extend laterally though outer sheath (620) and thus are also
disposed on the opposite outer wall of outer sheath (620). Such a
feature is configured to increase the local flexibility of outer
sheath (620) because openings (622) on one side may expand while
openings (622) on another side may contract as outer sheath (620)
bends along an articulation plane. It should be understood that
openings (620) are configured to allow outer sheath (620) to bend
along just one plane.
[0123] As best seen in FIG. 21, inner sheath (612) also comprises a
plurality of openings (614) on the exterior of inner sheath (612).
Openings (614) are similar to openings (622) described above. For
instance, openings (614) have a generally elongate ovular or
elliptical shape. Furthermore, openings (614) are likewise
configured to locally increase the flexibility of inner sheath
(612) in the region of inner sheath (612) where openings (614) are
positioned. However, in contrast to openings (622), openings (614)
are smaller in scale proportionally to the smaller diameter of
inner sheath (612). Although smaller in scale, openings (614) are
positioned to align with openings (622) of outer sheath (620).
Although the present example is shown as including five sets of
openings (614, 622), it should be understood that in other examples
any suitable number of openings (614, 622) may be used. Openings
(614) are configured to allow inner sheath (612) to bend along a
single plane, with openings (614) on one side of inner sheath (612)
expanding while openings (614) on the other side of inner sheath
(612) contracting as inner sheath (612) bends along the plane. In
the present example, inner sheath (612) is fixedly secured about
articulation section (130) such that inner sheath (612) does not
rotate about articulation section (130). However, outer sheath
(620) is rotatable about inner sheath (612) and thus about
articulation section (130).
[0124] FIGS. 20 and 22 show an exemplary use of sheath assembly
(610). Initially, sheath assembly (610) may be in a first
configuration as shown in FIG. 20. As can be seen, when sheath
assembly (610) is in the first configuration, inner and outer
sheaths (612, 620) are angularly aligned such that openings (614)
of inner sheath (612) are aligned with openings (622) of outer
sheath (620). When openings (614, 622) are aligned, the respective
bending planes of inner and outer sheaths (612, 620) are aligned
such that inner and outer sheaths (612, 620) are together bendable
along their common bending plane. Thus, in the first position
sheath assembly (610) permits articulation of articulation section
(130) when incorporated into shaft assembly (30) described
above.
[0125] If an operator desires to make sheath assembly (610) rigid,
such as when sheath assembly (610) is incorporated into shaft
assembly (30) described above, the operator may rotate outer sheath
(620) relative to inner sheath (612) 90.degree. about the
longitudinal axis of sheath assembly (610) to a second angular
position shown in FIG. 22. As can be seen, in the second position,
outer sheath (620) has been rotated approximately 90.degree. such
that openings (622) of outer sheath (620) are angularly offset from
openings (614) of outer sheath (612). When openings (614, 622) are
angularly offset by 90.degree., any flexibility achieved by use of
openings (614, 622) is lost because solid portions of sheath (612)
block flexibility of openings (622) and solid portions of sheath
(620) block flexibility of openings (614). Therefore, when outer
sheath (620) is in the second angular position, sheath assembly
(610) is used to lock and/or increase the rigidity of articulation
section (130).
[0126] Although the second position is shown in FIG. 22 as outer
sheath (620) being rotated approximately 90.degree. from the
position of outer sheath (620) in the first position, it should be
understood that outer sheath (620) may be rotated to other
positions to achieve the same outcome of stiffening sheath assembly
(610). For instance, in some examples outer sheath (620) may be
rotated as little as 15.degree. before causing stiffening of sheath
assembly (610). Of course, in other examples outer sheath (620) may
be rotated even further than 90.degree.. Additionally, although
outer sheath (620) is described herein as being rotated, in other
examples inner sheath (612) may be rotated instead, or both sheaths
(612, 620) may be rotated simultaneously at different rates to
achieve the same result. In still other examples, sheaths (612,
620) may not be rotated at all. Instead, one sheaths (612, 620) may
be translated longitudinally relative to the other sheaths (612,
620) in order to position openings (622) of outer sheath (620) at
longitudinal positions that are offset from the longitudinal
positions of openings (614) of outer sheath (612), such that
sheaths (612, 620) are out of phase with each other.
[0127] Although sheath assembly (610) of the present example is
described herein as being manually actuated by an operator, it
should be understood that in other examples sheath assembly (610)
may be actuated by other means. For instance, in some examples
sheath assembly (610) may further comprise certain actuation
components that are in communication with articulation bands (140,
142). In examples incorporating such actuation components, the
actuation components are responsive to movement of articulation
bands (140, 142) such that outer sheath (620) is automatically
transitioned between the first and second angular positions by
movement of articulation bands (140, 142) through certain
predetermined positions. Additionally or in the alternative, sheath
assembly (610) may also be spring loaded to automatically
transition outer sheath (620) from the first position to the second
position. As yet another merely illustrative alternative, sheath
assembly (610) may be actuated by knob (120), some other user input
feature at articulation control assembly (100), and/or some other
feature of handle assembly (20). Still other suitable mechanisms
for transitioning outer sheath (620) between the first and second
angular positions will be apparent to those of ordinary skill in
the art in view of the teachings herein.
E. Articulation Section with Interlocking Coil Sheath
[0128] FIGS. 23 and 24 show a version of shaft assembly (30) that
is modified to include a sheath assembly (710), which is generally
configured to selectively rigidize articulation section (130). In
the present example, at least a portion of sheath assembly (710) is
disposed around articulation section (130) to thereby permit sheath
assembly (710) to selectively rigidize articulation section (130).
Sheath assembly (710) comprises a first coil member (712) with a
second coil member (720) interlockingly engaged with first coil
member (712). As will be described in greater detail below, coil
members (712, 720) are configured to cooperatively rigidize
articulation section (130).
[0129] As can be seen in FIG. 23 first coil member (712) comprises
a first helical band (714) that is wrapped around the exterior of
articulation section (130). First helical band (714) has a constant
helix angle and a constant diameter along the length of
articulation section (130). While first helical band (714) is
fixedly secured about articulation section (130), first helical
band (714) is configured to flex with articulation section (130) as
articulation section (130) articulates. When articulation section
(130) articulates, first helical band (714) flexes such that the
helix contracts on one side of the helix axis while the helix
expands on the other side of the helix axis.
[0130] Second coil member (720) is configured substantially
similarly to comprises first coil member (712). For instance,
second coil member (720) comprises a second helical band (722) that
is wrapped around the exterior of at least a portion of
articulation section (130) and at least a portion of proximal outer
shaft (32). Second helical band (722) has a constant helix angle
and a constant diameter along a length corresponding to the length
of articulation section (130). The helix angle and diameter of
second helical band (722) is the same as the helix angle and
diameter of first helical band (714). Moreover, the longitudinal
thickness of second helical band (722) is approximately the same as
the longitudinal spacing between helix segments of first helical
band (714). Likewise, the longitudinal thickness of first helical
band (714) is approximately the same as the longitudinal spacing
between helix segments of second helical band (722). It should
therefore be understood that the complementary configuration of
helical bands (714, 722) permits second helical band (722) to nest
with first helical band (714). In particular, Therefore, coil
members (712, 720) are configured such that one coil member (712,
720) is rotatable relative to the other coil member (712, 720) to
interlock coils (714, 722) to thereby form a generally tubular
structure.
[0131] Coil members (712, 720) comprise a material that is
generally rigid when coil members (712, 720) are interlocked; but
is generally bendable when coil members (712, 720) are separate. By
way of example only, suitable materials may include stainless
steel, aluminum, or certain polymers such as PTFE, polyethylene
terephthalate (PET), high-density polyethylene (HDPE), etc. Of
course, any other suitable material(s) may be used as will be
apparent to those of ordinary skill in the art in view of the
teachings herein.
[0132] FIGS. 23 and 24 show an exemplary use of sheath assembly
(710). Initially, sheath assembly (710) may be in a first
configuration as shown in FIG. 23. As can be seen, when sheath
assembly (710) is in the first configuration, coil members (712,
720) are longitudinally positioned such that there is little to no
interlocking between each coil member (712, 720). When coil members
(712, 720) are in this arrangement, coil members (712, 720) permit
free articulation of articulation section (130). First coil member
(712) will flex with articulation section (130) as articulation
section (130) articulates. Second coil member (720) is positioned
proximal to articulation section (130) in this state, such that
second coil member (720) is unaffected by articulation of
articulation section (130); and second coil member (720) does not
impede articulation of articulation section (130).
[0133] If an operator wishes to rigidize actuation section (130),
the operator may transition sheath assembly (710) to a second
configuration shown in FIG. 24. To transition sheath assembly (710)
to the second configuration, the operator may grasp either second
coil member (720) and rotate second coil member (720) to advance
second coil member (720) distally into engagement with first coil
member (712). As second coil member (720) is rotated, coils (714,
722) become interlocked with each other such that coils (714, 722)
are placed in an alternating relationship. As can be seen in FIG.
24, once the second configuration is reached, coil members (712,
720) are fully interlocked such that coils (714, 722) alternatingly
combine to form a rigid tubular structure. With the rigid tubular
structure formed, the spacing between each coil (714, 722) is
eliminated. With the spacing eliminated, the movement of each coil
(714, 722) is correspondingly limited such that sheath assembly
(710) forms a rigid structure that encompasses articulation section
(130). Because articulation section (130) is encompassed by the
rigid structure of sheath assembly (710), articulation of
articulation section (130) is correspondingly limited. Thus, it
should be understood that when sheath assembly (710) is in the
second position, articulation section (130) is generally locked
and/or rigid.
[0134] Although sheath assembly (710) of the present example is
described herein as being manually actuated by an operator, it
should be understood that in other examples sheath assembly (710)
may be actuated by other means. For instance, in some examples
sheath assembly (710) may further comprise certain actuation
components that are in communication with articulation bands (140,
142). In examples incorporating such actuation components, the
actuation components are responsive to movement of articulation
bands (140, 142) second coil member (720) is automatically
transitioned between the first and second configurations by
movement of articulation bands (140, 142) through certain
predetermined positions. Additionally or in the alternative, sheath
assembly (710) may also be spring loaded to automatically
transition second coil member (720) from the first configuration to
the second configuration. As yet another merely illustrative
alternative, sheath assembly (710) may be actuated by knob (120),
some other user input feature at articulation control assembly
(100), and/or some other feature of handle assembly (20). Still
other suitable mechanisms for actuating sheath assembly (710) will
be apparent to those of ordinary skill in the art in view of the
teachings herein.
F. Exemplary Alternative Articulation Section with Rigidizing
Linkage
[0135] FIGS. 25 and 26 show a modified version of shaft assembly
(30) having a linkage assembly (810) incorporated therein. Linkage
assembly (810) is generally configured to engage with a portion of
articulation section (130) to thereby rigidize articulation section
(130). Linkage assembly (810) comprises a first bar (820), a second
bar (830), and a third bar (840). As can be seen in FIG. 25 first
bar (820) has a distal end (822) and a proximal end (826). Distal
end (822) defines a slot (824) that is configured to slidably
receive a pin (825). Pin (825) is fixedly secured to distal outer
sheath (33). Pin (825) connects first bar (820) to distal outer
sheath (33) such that first bar (820) is operable to slide a
predetermined distance and pivot relative to distal outer sheath
(33). As will be described in greater detail below, slot (824)
permits linkage assembly (810) to slide relative to shaft assembly
(30) to lock and unlock articulation section (130). Proximal end
(826) of first bar (820) comprises a connector (828), which
pivotably connects first bar (820) to second bar (830) as will be
described in greater detail below.
[0136] Second bar (830) comprises a distal end (832) and proximal
end (836). As noted above, second bar (830) is pivotably secured to
first bar (820) via connector (828). In particular, connector (828)
connects proximal end (826) of first bar (820) to distal end (832)
of second bar (830) such that second bar (830) is operable to pivot
relative to first bar (820). Proximal end (836) of second bar (830)
is pivotably secured to third bar (840), as will be described in
greater detail below.
[0137] Third bar (840) has a distal end (842) and a proximal end
(not shown). Distal end (842) of third bar (840) comprises a
connector (844). Connector (844) is configured to pivotably connect
proximal end (836) of second bar (830) to distal end of third bar
(840). Accordingly second bar (830) is configured to pivot relative
to third bar (840). Although not shown, it should be understood
that the proximal end of third bar (840) may be connected to an
actuator, handle, or other device to provide longitudinal
translation of third bar (840) relative to shaft assembly (30). As
will be described in greater detail below, such an actuation device
permits linkage assembly (810) to be translated longitudinally
relative to shaft assembly (30) to selectively rigidize
articulation section (130).
[0138] Linkage assembly (810) further comprises a first pair of
ridges (850) and a second pair of ridges (852). Each set of ridges
(850, 852) extends upwardly (i.e., out of the page in the views
shown in FIGS. 25-26) and longitudinally. First ridges (850) are
fixed to at least one retention collar (133) (e.g., the middle
retention collar (133) in the present example) and are configured
to rigidly engage proximal end (826) of first bar (820) and distal
end (842) of second bar (830). In particular, first ridges (850)
receive proximal end (826) of first bar (820) and distal end (842)
of second bar (830) in a gap laterally defined between first ridges
(850). Second ridges (852) are fixed on at least a portion of
proximal outer sheath (32). Second ridges (852) are configured to
rigidly engage proximal end (836) of second bar (830) and distal
end (842) of third bar (840). In particular, second ridges (852)
receive proximal end (836) of second bar (830) and distal end (842)
of third bar (840) in a gap laterally defined between second ridges
(852). Generally, ridges (850, 852) are configured to selectively
maintain linkage assembly (810) in a rigid configuration, as will
be described in greater detail below.
[0139] FIGS. 25 and 26 show an exemplary use of linkage assembly
(810). Initially, linkage assembly (810) is in a first position as
shown in FIG. 25. As can be seen, when linkage assembly (810) is in
the first position, bars (820, 830, 840) are positioned such that
proximal end (826) of first bar (820) and distal end (832) of
second bar (830) are positioned in the gap laterally defined
between first ridges (850). Additionally, proximal end (836) of
second bar (830) and distal end (842) of third bar (840) are
positioned in the gap laterally defined between second ridges
(852). Because of this positioning, ridges (850, 852) maintain
linkage assembly (810) in a rigid position. Additionally, because
first ridges (850) are secured to at least one retention collar
(133), articulation section (130) is also maintained in a rigid
configuration. Therefore, when linkage assembly (810) is in the
first position, linkage assembly (810) rigidizes articulation
section (130).
[0140] If an operator desires to articulate articulation section
(130), the operator may transition linkage assembly (810) to a
second position shown in FIG. 26. To transition linkage assembly
(810) to the second position, an operator may actuate third bar
(840) proximally to longitudinally translate linkage assembly (810)
proximally. Alternatively, if instrument (10) is so equipped, an
operator may actuate articulation control assembly (100) or other
device described above that may be connected to the proximal end of
third bar (840). Regardless of how linkage assembly (810) is
longitudinally translated proximally, it should be understood that
such translation will lead to bars (820, 830, 840) becoming
disengaged from ridges (850, 852). In particular, as linkage
assembly (810) is translated proximally, bars (820, 830, 840) may
deflect upwardly (i.e., out of the page in the views shown in FIGS.
25-26) to exit the gaps laterally defined between ridges (850, 852)
such that bars (820, 830, 840) become free to move transversely
relative to ridges (850, 852). With bars (820, 830, 840) free from
ridges (850, 852), bars (820, 830, 840) are now operable to pivot
about pin (825) and connectors (828, 844). Thus, linkage assembly
(810) is no longer in a rigid state. Because linkage assembly (810)
is not in a rigid state and because linkage assembly is no longer
engaged with slot (850), linkage assembly (810) no longer rigidizes
articulation section (130).
G. Exemplary Alternative Articulation Section with Translatable
Rigidizing Member
[0141] FIGS. 27-29 show a modified version of shaft assembly (30)
equipped with a rigidizing plate assembly (910). Plate assembly
(910) comprises a rigidizing member (920), an actuation assembly
(930), and a pair of plate tracks (940) secured to each retention
collar (133) of articulation section (130). Rigidizing member (920)
is generally configured to translate longitudinally across the
upper portion of proximal outer sheath (32) and articulation
section (130) to selectively rigidize articulation section (130).
As can be seen in FIG. 28, rigidizing member (920) is has a
generally rectangular shape that is contoured to correspond to the
outer radius of proximal outer sheath (32). Rigidizing member (920)
further comprises two L-shaped engagement members (922, 924).
Rigidizing member (920) is formed of a rigid material such as
plastic, metal, and/or any other suitable rigid material(s). As
will be described in greater detail below, engagement members (922,
924) are generally configured to engage and slide along plate
tracks (940) rigidize articulation section (130).
[0142] Actuation assembly (930) further comprises a pair of distal
wires (932) and a pair of proximal wires (934). Each pair of wires
(932, 934) is secured to rigidizing member (920) such that wires
(932, 934) are configured to pull rigidizing member (920) distally
or proximally. Distal wires (932) extend distally and are received
in a pair of openings (936) in distal outer sheath (33). Openings
(936) may be connected to a pair of passages extending through
shaft assembly (30) to thereby permit distal wires (932) to return
to handle assembly (20) described above. Similarly, proximal wires
(934) extend proximally down the length of shaft assembly (30)
until proximal wires (934) may be received by handle assembly (20).
Although not shown, it should be understood that actuation assembly
(930) may include features disposed in handle assembly (20) for
actuating wires. By way of example only, such features may include
a rotatable wheel, which may drive wires (932, 934) to thereby
translate rigidizing member (920) proximally or distally. Of
course, any other suitable features for driving wires (932, 934)
may be incorporated into instrument (10) as will be apparent to
those of ordinary skill in the art in view of the teachings herein.
Similarly, wires (932, 934) are just one merely illustrative
example of how rigidizing member (920) may be driven between a
proximal position and a distal position. Other suitable features
that may be used to drive rigidizing member (920) between a
proximal position and a distal position will be apparent to those
of ordinary skill in the art in view of the teachings herein.
[0143] Tracks (940) are fixedly secured to each retention collar
(133). Tracks (940) are generally shaped to slidably receive the
L-shape of engagement members (922, 924). In other words, tracks
(940) are configured such that engagement members (922, 924) are
permitted to slide longitudinally within tracks (940), while
limiting any lateral movement of engagement members (922, 924).
Although tracks (940) are described herein as being secured to each
retention collar (133), it should be understood that in other
examples, tracks (940) may be unitarily formed features of
retention collars (133).
[0144] An exemplary use of plate assembly (910) can be seen in
FIGS. 27 and 29. As can be seen in FIG. 27, plate assembly (910) is
initially in a first longitudinal position. In the first position,
rigidizing member (920) is disposed proximally of articulation
section (130). Because rigidizing member (920) is disposed
proximally of articulation section (130), rigidizing member (920)
is not acting upon actuation section (130) and articulation section
(130) is thus free to articulate. Therefore, when plate assembly
(910) is in the first position, articulation section (130) is
unlocked and/or otherwise free to articulate via articulation
control assembly (100) described above.
[0145] If an operator desires to rigidize articulation section
(130), the operator may transition plate assembly (910) to a second
longitudinal position shown in FIG. 29. In the second position,
rigidizing member (920) is in a distal position such that
rigidizing member (920) is in engagement with articulation section
(130). To transition rigidizing member (920) to the second
position, the operator may actuate wires (932, 934) of actuation
assembly (930) to pull rigidizing member (920) distally using any
of the above described mechanisms. As rigidizing member (920) moves
distally, engagement members (922, 924) of rigidizing member (920)
will be slidably received by tracks (930) until rigidizing member
(920) is disposed at the distal position. In the distal position,
engagement members (922, 924) of rigidizing member (920) remain
disposed within tracks (940). Because engagement members (922, 924)
are integral to rigidizing member (920), the rigidity of rigidizing
member (920) is imparted onto engagement members (922, 924).
Because engagement members (922, 924) engage tracks (940) that are
fixedly secured to retention collars (133), the rigidity of
rigidizing member (920) is imparted to retention collars (133) and
articulation section (130). Therefore, plate assembly (910)
rigidizes articulation section (130) when plate assembly (910) is
in the second position. If the operator wishes to articulate
articulation section (130), the operator may simply retract
rigidizing member (920) proximally back to the first position shown
in FIG. 27, thereby de-rigidizing articulation section (130) and
enabling articulation section (130) to flex in response to
actuation of articulation control assembly (100).
H. Exemplary Alternative Instrument with Translatable Outer
Sheath
[0146] FIG. 30 shows an exemplary alternative instrument (1010).
Instrument (1010) of the present example is substantially the same
as instrument (10) described above, except as otherwise noted
herein. For instance, instrument (1010) of the present example
comprises a handle assembly (1020), a shaft assembly (1030), and an
end effector (1040). Handle assembly (1020) comprises a body (1022)
including a pistol grip (1024) and a pair of buttons (1026). Handle
assembly (1020) also includes a trigger (1028) that is pivotable
toward and away from pistol grip (1024). It should be understood,
however, that various other suitable configurations may be used,
including but not limited to a scissor grip configuration. End
effector (1040) includes an ultrasonic blade (1160) and a pivoting
clamp arm (1044). Clamp arm (1044) is coupled with trigger (1028)
such that clamp arm (1044) is pivotable toward ultrasonic blade
(1160) in response to pivoting of trigger (1028) toward pistol grip
(1024); and such that clamp arm (1044) is pivotable away from
ultrasonic blade (1160) in response to pivoting of trigger (1028)
away from pistol grip (1024). Various suitable ways in which clamp
arm (1044) may be coupled with trigger (1028) will be apparent to
those of ordinary skill in the art in view of the teachings herein.
In some versions, one or more resilient members are used to bias
clamp arm (1044) and/or trigger (1028) to the open position shown
in FIG. 30.
[0147] An ultrasonic transducer assembly (1012) extends proximally
from body (1022) of handle assembly (1020). Transducer assembly
(1012) is coupled with a generator (1016) via a cable (1014), such
that transducer assembly (1012) receives electrical power from
generator (1016). Piezoelectric elements in transducer assembly
(1012) convert that electrical power into ultrasonic vibrations.
Generator (1016) may include a power source and control module that
is configured to provide a power profile to transducer assembly
(1012) that is particularly suited for the generation of ultrasonic
vibrations through transducer assembly (1012).
[0148] Blade (1160) of the present example is operable to vibrate
at ultrasonic frequencies in order to effectively cut through and
seal tissue. Blade (1160) is positioned at the distal end of an
acoustic drivetrain. This acoustic drivetrain includes transducer
assembly (1012) and an acoustic waveguide (not shown). The acoustic
waveguide comprises a flexible portion (not shown) similar to
flexible portion (166) described above with respect to instrument
(10). Transducer assembly (1012) includes a set of piezoelectric
discs (not shown) located proximal to a horn (not shown) of the
waveguide. The piezoelectric discs are operable to convert
electrical power into ultrasonic vibrations, which are then
transmitted along the waveguide to blade (1160) in accordance with
known configurations and techniques. By way of example only, this
portion of the acoustic drivetrain may be configured in accordance
with various teachings of various references that are cited
herein.
[0149] Shaft assembly (1030) of the present example extends
distally from handle assembly (1020). Unless otherwise noted
herein, shaft assembly (1030) is substantially the same as shaft
assembly (30) described above with respect to instrument (10). For
instance, shaft assembly (1030) includes an articulation section
(1130), which is located at a distal portion of shaft assembly
(1030), with end effector (1040) being located distal to
articulation section (1130). As shown in FIG. 30, a knob (1031) is
secured to a proximal portion of shaft assembly (1030). Knob (1031)
is rotatable relative to body (1022), such that shaft assembly
(1030) is rotatable about the longitudinal axis defined by shaft
assembly (1030), relative to handle assembly (1020). Such rotation
may provide rotation of end effector (1040), articulation section
(1130), and shaft assembly (1030) unitarily. Of course, rotatable
features may simply be omitted if desired.
[0150] Articulation section (1130) is substantially the same as
articulation section (130) described above with respect to
instrument (10), unless otherwise note herein. For instance,
articulation section (1130) is operable to selectively position end
effector (1040) at various lateral deflection angles relative to a
longitudinal axis defined by shaft assembly (1030). Like with
articulation section (130), articulation section (1130) is driven
by a pair of articulation bands (not shown) disposed within
articulation section (1130) and extending through shaft assembly
(1030). When the articulation bands translate longitudinally in an
opposing fashion, this will cause articulation section (1130) to
bend, thereby laterally deflecting end effector (1040) away from
the longitudinal axis of shaft assembly (1030) from a straight
configuration to an articulated configuration. In particular, end
effector (1040) will be articulated toward the articulation band
that is being pulled proximally. During such articulation, the
other articulation band may be pulled distally.
[0151] Instrument (1100) further includes an articulation control
assembly (1100) that is secured to a proximal portion of shaft
assembly (1030). Articulation control assembly (1100) comprises a
housing (1110) and a rotatable knob (1120). Like with articulation
control assembly (100) described above, rotatable knob (1120) is
configured to rotate relative to housing (1110) to drive the
articulation bands in opposing directions.
[0152] Unlike instrument (10) described above, instrument (1010) of
the present example further includes a sheath drive assembly
(1200). Sheath drive assembly (1200) is generally operable to
translate a proximal outer sheath (1032) of shaft assembly (1030)
to lock and/or increase the rigidity of articulation section
(1130). Sheath drive assembly (1200) comprises an actuation driver
(1210) extending through a slot (1220) disposed on the exterior of
handle assembly (1020).
[0153] FIG. 31 shows an exploded view of outer sheath (1032) and
actuation driver (1210). As can be seen, outer sheath (1032)
comprises a pair of flanges (1034) and a slot (1036). Flange pair
(1034) is disposed at the proximal end of outer sheath (1032) and
is configured to receive a corresponding portion of actuation
driver (1210), as will be described in greater detail below. Slot
(1036) is disposed in outer sheath (1032) proximally of the distal
end of outer sheath (1032). Slot (1036) is configured to permit
components associated with rotatable knob (1031) to extend through
outer sheath (1032) such that outer sheath (1032) and other
components of shaft assembly (1030) may be rotated by rotatable
knob (1031).
[0154] Actuation driver (1210) is shown in FIG. 32. As can be seen,
actuation driver (1210) comprises an annular member (1212), two
armatures (1214), and two tabs (1216). Annular member (1212) is
configured to be rotatably received by flange pair (1034) of outer
sheath (1032). When annular member (1212) is disposed between
flanges (1034), outer sheath (1032) can freely rotate relative to
annular member (1212). This feature may be desirable because free
rotation of outer sheath (1032) relative to annular member (1212)
may permit outer sheath (1032) to rotate while actuation driver
(1210) may remain fixed. This feature may be further desirable
because flange pair (1034) may still permit actuation driver (1210)
to drive translation of outer sheath (1032) despite rotation of
outer sheath (1032).
[0155] Armatures (1214) extend outwardly from annular member
(1212). Armatures (1214) are configured to extend through
corresponding slots (1220) in handle assembly (1020), with each tab
(1216) disposed on the exterior of handle assembly (1020). Thus,
armatures (1214) connect tabs (1216), which are disposed on the
outside of handle assembly (1020), to annular member (1212), which
is disposed on the inside of handle assembly (1020).
[0156] FIGS. 30 and 33 show an exemplary use of sheath drive
assembly (1200). As can be seen in FIG. 30, sheath drive assembly
(1200) is initially in a first longitudinal position. In the first
position, outer sheath (1032) is disposed in a proximal position
such that outer sheath (1032) is proximal of articulation section
(1130). Correspondingly, actuation driver (1210) is in a proximal
position relative to slot (1220). Thus, in the first position,
articulation section (1130) is free to articulate via articulation
control assembly (1100) as described above.
[0157] If an operator desires to rigidize articulation section
(1130), the operator may actuate sheath drive assembly (1200) to a
second longitudinal position shown in FIG. 33. In the second
position, outer sheath (1032) is driven distally over articulation
section (1130). To drive outer sheath (1032) distally to the distal
position shown in FIG. 33, the operator may apply a force distally
to tab (1216) of actuation driver (1210) thereby driving actuation
driver (1210) distally. Actuation driver (1210) will then act on
flange (1034) of outer sheath (1032) via annular member (1212) to
drive outer sheath (1032) distally. Once outer sheath (1032) is
disposed over articulation section (1130), the rigidity of outer
sheath (1032) will rigidize articulation section (1130). Therefore,
it should be understood that when sheath drive assembly (1200) is
in the second position, articulation section (1130) is
rigidized.
[0158] In some versions, one or more features in communication with
actuation driver (1210) will also lock out rotatable knob (1120)
such that knob (1120) cannot be rotated when actuation driver
(1210) is in the distal position. In addition or in the
alternative, one or more features in communication with knob (1120)
may lock out actuation driver (1210) such that actuation driver
(1210) cannot be slid from the proximal position to the distal
position unless knob (1120) is at the neutral rotational position
that is associated with articulation section (1130) being in a
straight, non-articulated configuration. Various suitable ways in
which such lockout features may be configured will be apparent to
those of ordinary skill in the art in view of the teachings
herein.
[0159] As yet another merely illustrative example, one or more
features in communication with actuation driver (1210) may be
configured to automatically de-articulate an otherwise articulated
articulation section (1130) in response to distal movement of
actuation driver (1210) from the proximal position toward the
distal position. Various suitable ways in which such features may
be configured will be apparent to those of ordinary skill in the
art in view of the teachings herein.
I. Exemplary Alternative Instrument with Translatable Rigidizing
Members
[0160] FIG. 34 shows an exemplary alternative instrument (1310).
Instrument (1310) of the present example is substantially the same
as instrument (10) described above, except as otherwise noted
herein. For instance, instrument (1310) of the present example
comprises a handle assembly (1320), a shaft assembly (1330), and an
end effector (1340). Handle assembly (1320) comprises a body (1322)
including a pistol grip (1324) and a pair of buttons (1326). Handle
assembly (1320) also includes a trigger (1328) that is pivotable
toward and away from pistol grip (1324). It should be understood,
however, that various other suitable configurations may be used,
including but not limited to a scissor grip configuration. End
effector (1340) includes an ultrasonic blade (1460) and a pivoting
clamp arm (1344). Clamp arm (1344) is coupled with trigger (1328)
such that clamp arm (1344) is pivotable toward ultrasonic blade
(1460) in response to pivoting of trigger (1328) toward pistol grip
(1324); and such that clamp arm (1344) is pivotable away from
ultrasonic blade (1460) in response to pivoting of trigger (1328)
away from pistol grip (1324). Various suitable ways in which clamp
arm (1344) may be coupled with trigger (1328) will be apparent to
those of ordinary skill in the art in view of the teachings herein.
In some versions, one or more resilient members are used to bias
clamp arm (1344) and/or trigger (1328) to the open position shown
in FIG. 34.
[0161] An ultrasonic transducer assembly (1312) extends proximally
from body (1322) of handle assembly (1320). Transducer assembly
(1312) is coupled with a generator (1316) via a cable (1314), such
that transducer assembly (1312) receives electrical power from
generator (1316). Piezoelectric elements in transducer assembly
(1312) convert that electrical power into ultrasonic vibrations.
Generator (1316) may include a power source and control module that
is configured to provide a power profile to transducer assembly
(1312) that is particularly suited for the generation of ultrasonic
vibrations through transducer assembly (1312).
[0162] Blade (1460) of the present example is operable to vibrate
at ultrasonic frequencies in order to effectively cut through and
seal tissue. Blade (1460) is positioned at the distal end of an
acoustic drivetrain. This acoustic drivetrain includes transducer
assembly (1312) and an acoustic waveguide (1480) (as can be seen in
FIG. 37). The acoustic waveguide (1480) comprises a flexible
portion (not shown) similar to flexible portion (166) described
above with respect to instrument (10). Transducer assembly (1312)
includes a set of piezoelectric discs (not shown) located proximal
to a horn (not shown) of waveguide (1480). The piezoelectric discs
are operable to convert electrical power into ultrasonic
vibrations, which are then transmitted along waveguide (1480) to
blade (1460) in accordance with known configurations and
techniques. By way of example only, this portion of the acoustic
drivetrain may be configured in accordance with various teachings
of various references that are cited herein.
[0163] Shaft assembly (1330) of the present example extends
distally from handle assembly (1320). Unless otherwise noted
herein, shaft assembly (1330) is substantially the same as shaft
assembly (30) described above with respect to instrument (10). For
instance, shaft assembly (1330) includes an articulation section
(1430), which is located at a distal portion of shaft assembly
(1330), with end effector (1340) being located distal to
articulation section (1430). As shown in FIG. 34, a knob (1331) is
secured to a proximal portion of shaft assembly (1330). Knob (1331)
is rotatable relative to body (1322), such that shaft assembly
(1330) is rotatable about the longitudinal axis defined by shaft
assembly (1330), relative to handle assembly (1320). Such rotation
may provide rotation of end effector (1340), articulation section
(1430), and shaft assembly (1330) unitarily. Of course, rotatable
features may simply be omitted if desired.
[0164] Articulation section (1430) is substantially the same as
articulation section (130) described above with respect to
instrument (10), unless otherwise note herein. For instance,
articulation section (1430) is operable to selectively position end
effector (1340) at various lateral deflection angles relative to a
longitudinal axis defined by shaft assembly (1430). Like with
articulation section (130), articulation section (1430) is driven
by a pair of articulation bands (1440, 1442) (as shown in FIG. 37)
disposed within articulation section (1430) and extending through
shaft assembly (1330). When articulation bands (1440, 1442)
translate longitudinally in an opposing fashion, this will cause
articulation section (1430) to bend, thereby laterally deflecting
end effector (1340) away from the longitudinal axis of shaft
assembly (1330) from a straight configuration to an articulated
configuration. In particular, end effector (1340) will be
articulated toward the articulation band (1440, 1442) that is being
pulled proximally. During such articulation, the other articulation
band (1440, 1442) may be pulled distally
[0165] Instrument (1400) further includes an articulation control
assembly (1400) that is secured to a proximal portion of shaft
assembly (1330). Articulation control assembly (1400) comprises a
housing (1410) and a rotatable knob (1420). Like with articulation
control assembly (100) described above, rotatable knob (1420) is
configured to rotate relative to housing (1410) to drive
articulation bands (1440, 1442) in opposing directions. For
instance, rotation of knob (1420) in a first direction causes
distal longitudinal translation of articulation band (1440), and
proximal longitudinal translation of articulation band (1442); and
rotation of knob (1420) in a second direction causes proximal
longitudinal translation of articulation band (1440), and distal
longitudinal translation of articulation band (1442). Thus, it
should be understood that rotation of rotation knob (1420) causes
articulation of articulation section (1430).
[0166] Unlike instrument (10) described above, instrument (1310) of
the present example further includes a rigidizing member drive
assembly (1500). Drive assembly (1500) is generally operable to
advance a rigidizing member (1520) within shaft assembly (1330)
selectively rigidize articulation section (1430). Drive assembly
(1500) comprises drive member (1510) and a rigidizing member
(1520). Drive member (1510) extends through a slot (1530) in handle
assembly (1320) and is rotatably attachable to rigidizing member
(1520) to drive rigidizing member (1520) while permitting rotation
of rigidizing member (1520) with shaft assembly (1330).
[0167] As can be seen in FIG. 35, rigidizing member (1520)
comprises two longitudinally extending posts (1522) and a generally
tubular body (1524). As will be described in greater detail below,
posts (1522) extend through shaft assembly (1330) and engage with
articulation section (1430) to selectively ridigize articulation
section (1430). Body (1524) comprises a flange pair (1526) and a
slot (1528). Flange pair (1526) is disposed on the proximal end of
body (1524) and is configured to receive drive member (1510), as
will be described in greater detail below. Slot (1528) is disposed
distally of flange pair (1526). Slot (1528) is configured to
receive at least a portion of rotatable knob (1331) such that
rotatable knob (1331) may engage with rigidizing member (1520) and
various components of shaft assembly (1330) to rotate rigidizing
member (1520) along with shaft assembly (1330).
[0168] Drive member (1510) is shown in FIG. 36. As can be seen,
drive member (1510) comprises an annular member (1512), two
armatures (1514), and two tabs (1516). Annular member (1512) is
configured to be rotatably received by flanged portion (1526) of
rigidizing member (1520). When annular member (1512) is between
flanges (1526), rigidizing member (1520) can freely rotate relative
to annular member (1512). This feature may be desirable because
free rotation of rigidizing member (1520) relative to annular
member (1512) may permit rigidizing member (1520) to rotate while
drive member (1510) may remain fixed. This feature may be further
desirable because flange pair (1526) may still permit drive member
(1510) to drive translation of rigidizing member (1520) despite
rotation of rigidizing member (1520).
[0169] Armatures (1514) extend outwardly from annular member
(1512). Armatures (1514) are configured to extend through
corresponding slots (1530) in handle assembly (1320), with each tab
(1516) disposed on the exterior of handle assembly (1320). Thus,
armatures (1514) connect tabs (1516), which are disposed on the
outside of handle assembly (1320), to annular member (1512), which
is disposed on the inside of handle assembly (1320).
[0170] FIG. 37 shows rigidizing member (1520) disposed within shaft
assembly (1330). As can be seen, a body (1334) of shaft assembly
(1330) includes channels (1336) that are configured to receive both
articulation bands (1440, 1442) and posts (1522) of rigidizing
member (1520) adjacent to articulation bands (1440, 1442). Although
shaft assembly (1330) of the present example is shown as having a
common channels (1336) for both articulation bands (1440, 1442) and
posts (1522), it should be understood that in other examples, shaft
assembly (1330) includes separate channels for articulation bands
(1440, 1442) and posts (1522).
[0171] FIGS. 38-43 show an exemplary mode of operation for drive
assembly (1500). As can be seen in FIGS. 38 and 39, drive assembly
(1500) is initially in a first longitudinal position. In the first
position, drive member (1510) is positioned in a proximal position
relative to handle assembly (1320) such that rigidizing member
(1520) is correspondingly in a proximal position relative to
articulation section (1430). As can best be seen in FIG. 39, when
rigidizing member (1520) is in the proximal position, posts (1522)
of rigidizing member (1520) are disposed proximally of articulation
section (1430). With posts (1522) of rigidizing member (1520)
disposed proximally of articulation section (1430), articulation
section (1430) is free to articulate via articulation control
assembly (1400) as described above. Thus, when drive assembly
(1500) is in the first position, articulation section (1430) is in
an unlocked and/or non-rigid configuration.
[0172] If an operator desires to rigidize articulation section
(1430), the operator may do so by advancing drive assembly (1500)
to a second longitudinal position (as shown in FIGS. 42 and 43). To
advance drive assembly (1500) to the second position, the operator
will advance tabs (1516) of drive member (1510) distally as shown
in FIG. 40. Distal advancement of drive member (1510) will cause
corresponding advancement of posts (1522) of rigidizing member
(1520) within shaft assembly (1330) as shown in FIG. 41. As posts
(1522) are advanced distally, posts (1522) begin to engage
articulation section (1430). FIGS. 42 and 43 show drive assembly
(1500) fully advanced to the second position. As can be seen, in
the second position, tabs (1516) of drive member (1510) are
advanced to a fully distal position relative to handle assembly
(1320). Correspondingly, posts (1522) of rigidizing member (1520)
are advanced to a fully distal position. When posts (1522) are in
the fully distal position, posts (1522) fully engage articulation
section (1430) to rigidize articulation section (1430). In this
state, the distal ends of posts (1522) are positioned distal to
articulation section (1430), such that posts (1522) span along the
full length of articulation section (1430) and are grounded
relative to the distal portion of shaft assembly (1330).
[0173] In some examples, instrument (1300) described above may
include a rigidizing member drive assembly similar to drive
assembly (1600) described above having a rigidizing member (1620)
with a single post (1622). Such a configuration may be desirable to
improve the overall operation of instrument (1300), to improve the
ease of use, or to improve the amount of rigidity provided by
rigidizing member (1520). For instance, FIGS. 44-46 show an
exemplary alternative rigidizing member drive assembly (1600). It
should be understood that drive assembly (1600) is substantially
the same as drive assembly (1500) described above, unless otherwise
noted herein. Drive assembly (1600) of the present example is
generally operable to advance a rigidizing member (1620) within
shaft assembly (1330) to selectively rigidize articulation section
(1430). Drive assembly (1600) comprises drive member (1610) and
rigidizing member (1620). Drive member (1610) extends through a
slot (1630) in handle assembly (1320) and is rotatably attached to
rigidizing member (1620) to drive rigidizing member (1620) while
permitting rotation of rigidizing member (1620) with shaft assembly
(1330).
[0174] As can be seen in FIG. 44, rigidizing member (1620)
comprises a single longitudinally extending post (1622) and a
generally tubular body (1624). As will be described in greater
detail below, post (1622) extends through shaft assembly (1330) and
engages with articulation section (1430) to selectively rigidize
articulation section (1430). Body (1624) comprises a flange pair
(1626) and a slot (1628). Flange pair (1626) is disposed on the
proximal end of body (1624) and is configured to receive drive
member (1610), as will be described in greater detail below. Slot
(1628) is disposed distally of flanged portion (1626). Slot (1628)
is configured to receive at least a portion of rotatable knob
(1331) such that rotatable knob (1331) may engage with rigidizing
member (1620) and various components of shaft assembly (1330) to
rotate rigidizing member (1620) along with shaft assembly
(1330).
[0175] Drive member (1610) is shown in FIG. 45. As can be seen,
drive member (1610) comprises a annular member (1612), two
armatures (1614), and two tabs (1616) Annular member (1612) is
configured to be rotatably received between flanges (1626) of
rigidizing member (1620). When annular member (1612) is disposed
between flanges (1626), rigidizing member (1620) can freely rotate
relative to annular member (1612). This feature may be desirable
because free rotation of rigidizing member (1620) relative to
annular member (1612) may permit rigidizing member (1620) to rotate
while drive member (1610) may remain fixed. This feature may be
further desirable because flange pair (1626) may still permit drive
member (1610) to drive translation of rigidizing member (1620)
despite rotation of rigidizing member (1620).
[0176] Armatures (1614) extend outwardly from annular member
(1612). Armatures (1614) are configured to extend through slot
(1630) in handle assembly (1320) with each tab (1616) disposed on
the exterior of handle assembly (1320). Thus, armatures (1614)
connect tabs (1616), which are disposed on the outside of handle
assembly (1320), to annular member (1612), which is disposed on the
inside of handle assembly (1320).
[0177] FIG. 46 shows rigidizing member (1620) disposed within shaft
assembly (1330). As can be seen, a body (1334) of shaft assembly
includes channels (1336) that are configured to receive
articulation bands (1440, 1442). Additionally body (1334) includes
an additional channel (1338) to receive post (1622) of rigidizing
member (1620).
[0178] FIGS. 47-52 show an exemplary mode of operation for drive
assembly (1600). As can be seen in FIGS. 47 and 48, drive assembly
(1600) is initially in a first longitudinal position. In the first
position, drive member (1610) is positioned in a proximal position
relative to handle assembly (1320) such that rigidizing member
(1620) is correspondingly in a proximal position. As can best be
seen in FIG. 48, when rigidizing member (1620) is in the proximal
position, post (1622) of rigidizing member (1620) is disposed
proximally of articulation section (1430). With post (1622) of
rigidizing member (1620) disposed proximally of articulation
section (1430), articulation section (1430) is free to articulate
via articulation control assembly (1400) as described above. Thus,
when drive assembly (1600) is in the first position, articulation
section (1430) is in an unlocked and/or non-rigid
configuration.
[0179] If an operator desires to rigidize articulation section
(1430), the operator may do so by advancing drive assembly (1600)
to a second longitudinal position (as shown in FIGS. 51 and 52). To
advance drive assembly (1600) to the second position, the operator
will advance tabs (1616) of drive member (1610) distally as shown
in FIG. 49. Distal advancement of drive member (1610) will cause
corresponding advancement of post (1622) of rigidizing member
(1620) within shaft assembly (1330) as shown in FIG. 50. As post
(1622) is advanced distally, post (1622) begins to engage
articulation section (1430).
[0180] FIGS. 51 and 52 show drive assembly (1600) fully advanced to
the second position. As can be seen, in the second position, tabs
(1616) of drive member (1610) are advanced to a fully distal
position relative to handle assembly (1320). Correspondingly, post
(1622) of rigidizing member (1520) is advanced to a fully distal
position. When post (1622) is in the fully distal position, post
(1622) fully engages articulation section (1430) to rigidize
articulation section (1430). In this state, the distal ends of post
(1622) is positioned distal to articulation section (1430), such
that post (1622) spans along the full length of articulation
section (1430) and is grounded relative to the distal portion of
shaft assembly (1330). In the present example, post (1622) extends
along a path that is offset from the articulation plane of
articulation section (1430). In particular, post (1622) is located
above the articulation plane of articulation section (1430). This
positioning of post (1622) may enhance the rigidization effect
provided by post (1622) when post (1622) is in the distal position
shown in FIG. 52. In some other versions, post (1622) is located in
the articulation plane of articulation section (1430) (e.g.,
similar to the positioning of one of posts (1522)), on one side of
articulation section (1430).
III. Exemplary Combinations
[0181] The following examples relate to various non-exhaustive ways
in which the teachings herein may be combined or applied. It should
be understood that the following examples are not intended to
restrict the coverage of any claims that may be presented at any
time in this application or in subsequent filings of this
application. No disclaimer is intended. The following examples are
being provided for nothing more than merely illustrative purposes.
It is contemplated that the various teachings herein may be
arranged and applied in numerous other ways. It is also
contemplated that some variations may omit certain features
referred to in the below examples. Therefore, none of the aspects
or features referred to below should be deemed critical unless
otherwise explicitly indicated as such at a later date by the
inventors or by a successor in interest to the inventors. If any
claims are presented in this application or in subsequent filings
related to this application that include additional features beyond
those referred to below, those additional features shall not be
presumed to have been added for any reason relating to
patentability.
Example 1
[0182] An apparatus for operating on tissue, the apparatus
comprising: (a) a body assembly; (b) a shaft extending distally
from the body assembly, wherein the shaft defines a longitudinal
axis; (c) an acoustic waveguide, wherein the waveguide comprises a
flexible portion; (d) an articulation section coupled with the
shaft, wherein a portion of the articulation section encompasses
the flexible portion of the waveguide, wherein the articulation
section further comprises: (i) a first member, and (ii) a second
member, wherein the second member is longitudinally translatable
relative to the first member; (e) an end effector comprising an
ultrasonic blade in acoustic communication with the waveguide; and
(f) a rigidizing member, wherein the rigidizing member is
configured to selectively engage at least a portion of the
articulation section to thereby selectively provide rigidity to the
articulation section.
Example 2
[0183] The apparatus of Example 1 or any of the following examples,
wherein the rigidizing member is movable relative to the shaft to
selectively engage at least a portion of the articulation
section.
Example 3
[0184] The apparatus of Example 2, wherein the rigidizing member is
disposed about at least a portion of the shaft.
Example 4
[0185] The apparatus of Example 3, wherein the rigidizing member
comprises an elongate tubular member, wherein the elongate tubular
member is translatable relative to the shaft to cover at least a
portion of the articulation section thereby provide rigidity to the
articulation section.
Example 5
[0186] The apparatus of Example 4, wherein the shaft includes a
distal stop member and a proximal stop member, wherein the distal
stop member is configured to secure the elongate tubular member in
a first longitudinal position, wherein the proximal stop member is
configured to secure the elongate tubular member in a second
longitudinal position, wherein the first longitudinal position of
the elongate tubular member corresponds to the elongate tubular
member covering at least a portion of the articulation section.
Example 6
[0187] The apparatus of Example 4, wherein at least a portion of
the elongate tubular member extends into the body assembly, wherein
the body assembly includes an rigidizing member actuation assembly,
wherein the rigidizing member actuation assembly is configured to
transition the elongate tubular member between a first longitudinal
position and a second longitudinal position.
Example 7
[0188] The apparatus of Example 6, wherein the elongate tubular
member is configured to provide rigidity to the articulation
section when the elongate tubular member is in the second
longitudinal position.
Example 8
[0189] The apparatus of Example 3, wherein the rigidizing member is
roatatable about the shaft between a first angular position and a
second angular position, wherein the rigidizing member is
configured to provide rigidity to the articulation section when the
rigidizing member is in the second angular position, wherein the
rigidizing member is configured to permit the articulation section
to flex when the rigidizing member is in the first angular
position.
Example 9
[0190] The apparatus of Example 8, wherein the rigidizing member
comprises a plurality of links, wherein each link includes at least
one bending feature and at least one rigidizing feature.
Example 10
[0191] The apparatus of Example 9, wherein each link of the
plurality of links is coupled to another link of the plurality of
links, wherein each bending feature of each link is aligned along a
first plane, wherein each rigidizing feature is aligned along a
second plane, wherein the rigidizing member is configured to bend
about the first plane, wherein the rigidizing member is configured
to be rigid about the second plane.
Example 11
[0192] The apparatus of Example 10, wherein the first plane of the
rigidizing member is aligned with an articulation plane of the
articulation section when the rigidizing member is in the first
position, wherein the second plane of the rigidizing member is
aligned with the articulation plane of the articulation section
when the rigidizing member is in the second position.
Example 12
[0193] The apparatus of Example 8, wherein the rigidizing member
includes at least one integral tab, wherein the integral tab is
configured to engage with the articulation section to prevent
movement of the articulation section with the rigidizing member is
in the second position.
Example 13
[0194] The apparatus of any of the preceding or following Examples,
wherein the rigidizing member includes a first interlocking coil
and a second interlocking coil, wherein the second interlocking
coil is configured to transition between a first position and a
second position, wherein the second interlocking coil is at least
partially separated from the first interlocking coil when the
second interlocking coil is in the first position, wherein the
first interlocking coil is fully interlocked with the first
interlocking coil when the second interlocking coil is in the
second position, wherein the rigidizing member is configured to
prevent movement of the articulation section when the second
interlocking coil is in the second position, wherein the rigidizing
member is configured to permit the articulation section to flex
when the second interlocking coil is in the first position.
Example 14
[0195] The apparatus of any of the preceding or following Examples,
wherein at least a portion of the rigidizing member is disposed
within at least a portion of the shaft.
Example 15
[0196] The apparatus of Example 14, wherein the rigidizing member
is translatable within the shaft between a first longitudinal
position and a second longitudinal position, wherein the rigidizing
member is configured to engage with the articulation section when
the rigidizing member is in the second longitudinal position,
wherein the rigidizing member is configured to prevent movement of
the articulation section when the rigidizing member is in the
second longitudinal position.
Example 16
[0197] The apparatus of Example 15, wherein the body assembly
includes a rigidizing member actuation assembly, wherein the
rigidizing member actuation assembly is configured to transition
the rigidizing member between the first longitudinal position and
the second longitudinal position.
Example 17
[0198] An apparatus for operating on tissue, the apparatus
comprising: (a) a body assembly; (b) a shaft extending distally
from the body assembly, wherein the shaft defines a longitudinal
axis; (c) an articulation section coupled with the shaft; (d) an
end effector coupled with the articulation section, wherein the end
effector comprises a working element configured to engage tissue;
(e) an articulation drive assembly operable to drive articulation
of the articulation section to thereby deflect the end effector
from the longitudinal axis; and (f) an rigidizing assembly, wherein
the rigidizing assembly comprises at least one stiffener, wherein
the stiffener is movable between a first position and a second
position, wherein the stiffener is operable to rigidize the
articulation section when the stiffener is in the second position,
wherein the stiffener is operable to permit flexing of the
articulation section when the stiffener is in the first
position.
Example 18
[0199] The apparatus Example 17, wherein the stiffener is disposed
on an exterior of the shaft, wherein the stiffener is configured to
translate along at least a portion of the shaft to transition the
stiffener between the first position and the second position.
Example 19
[0200] The apparatus of Example 17, wherein the stiffener is
disposed within at least a portion of the shaft, wherein the
stiffener is configured to translate within at least a portion of
the shaft to transition between the first position and the second
position, wherein the stiffener is configured to engage at least a
portion of the articulation section when the stiffener is in the
second position.
Example 20
[0201] An apparatus for operating on tissue, the apparatus
comprising: (a) a body assembly; (b) a shaft extending distally
from the body assembly, wherein the shaft defines a longitudinal
axis; (c) an articulation section coupled with the shaft; (d) an
end effector coupled with the articulation section; (e) a first
pair of translating members, wherein the first pair of translating
members is operable to actuate the articulation section to thereby
deflect the end effector from the longitudinal axis; (f) a drive
assembly in communication with the first pair of translating
members, wherein the drive assembly is configured to translate the
first pair of translating members to actuate the articulation
section; and (g) a rigidizing member, wherein the rigidizing member
is associated with the shaft, wherein the rigidizing member is
movable relative to the shaft to engage the articulation section,
wherein the rigidizing member is configured to ridigize the
articulation section when the rigidizing member is engaged with the
articulation section.
IV. Miscellaneous
[0202] It should be understood that any of the versions of
instruments described herein may include various other features in
addition to or in lieu of those described above. By way of example
only, any of the instruments described herein may also include one
or more of the various features disclosed in any of the various
references that are incorporated by reference herein. It should
also be understood that the teachings herein may be readily applied
to any of the instruments described in any of the other references
cited herein, such that the teachings herein may be readily
combined with the teachings of any of the references cited herein
in numerous ways. Moreover, those of ordinary skill in the art will
recognize that various teachings herein may be readily applied to
electrosurgical instruments, stapling instruments, and other kinds
of surgical instruments. Other types of instruments into which the
teachings herein may be incorporated will be apparent to those of
ordinary skill in the art.
[0203] It should be appreciated that 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.
[0204] Versions of the devices described above may have application
in conventional medical treatments and procedures conducted by a
medical professional, as well as application in robotic-assisted
medical treatments and procedures. By way of example only, various
teachings herein may be readily incorporated into a robotic
surgical system such as the DAVINCI.TM. system by Intuitive
Surgical, Inc., of Sunnyvale, Calif. Similarly, those of ordinary
skill in the art will recognize that various teachings herein may
be readily combined with various teachings of U.S. Pat. No.
6,783,524, entitled "Robotic Surgical Tool with Ultrasound
Cauterizing and Cutting Instrument," published Aug. 31, 2004, the
disclosure of which is incorporated by reference herein.
[0205] Versions described above may be designed to be disposed of
after a single use, or they can be designed to be used multiple
times. Versions may, in either or both cases, be reconditioned for
reuse after at least one use. Reconditioning may include any
combination of the steps of disassembly of the device, followed by
cleaning or replacement of particular pieces, and subsequent
reassembly. In particular, some versions of the device may be
disassembled, and any number of the particular pieces or parts of
the device may be selectively replaced or removed in any
combination. Upon cleaning and/or replacement of particular parts,
some versions of the device may be reassembled for subsequent use
either at a reconditioning facility, or by a user immediately prior
to a procedure. Those skilled in the art will appreciate that
reconditioning of a device may utilize a variety of techniques for
disassembly, cleaning/replacement, and reassembly. Use of such
techniques, and the resulting reconditioned device, are all within
the scope of the present application.
[0206] By way of example only, versions described herein may be
sterilized before and/or after a procedure. In one sterilization
technique, the device is placed in a closed and sealed container,
such as a plastic or TYVEK bag. The container and device may then
be placed in a field of radiation that can penetrate the container,
such as gamma radiation, x-rays, or high-energy electrons. The
radiation may kill bacteria on the device and in the container. The
sterilized device may then be stored in the sterile container for
later use. A device may also be sterilized using any other
technique known in the art, including but not limited to beta or
gamma radiation, ethylene oxide, or steam.
[0207] Having shown and described various embodiments of the
present invention, further adaptations of the methods and systems
described herein may be accomplished by appropriate modifications
by one of ordinary skill in the art without departing from the
scope of the present invention. Several of such potential
modifications have been mentioned, and others will be apparent to
those skilled in the art. For instance, the examples, embodiments,
geometrics, materials, dimensions, ratios, steps, and the like
discussed above are illustrative and are not required. Accordingly,
the scope of the present invention should be considered in terms of
the following claims and is understood not to be limited to the
details of structure and operation shown and described in the
specification and drawings.
* * * * *