• 专利附录
  • 专利说明
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    • 专利摘要:
    A surgical instrument includes an articulated joint and an end actuator that extends distally from the articulated joint, the end actuator comprising a movable actuating pin between a first position and a second position. In addition, the surgical instrument includes a drive shaft that extends proximally to the hinge joint, and a hinge driver configured to move the drive pin from the first position to the second position to transition the end actuator from a non-setting articulated for an articulated configuration. Also, the surgical instrument includes a pin slot extending from the articulation driver, the pin slot being configured to accommodate the drive pin in a non-articulated configuration, and the pin slot being movable. configured to firmly accommodate the drive pin in the hinged configuration.
    公开号:BR112020008529A2
    申请号:R112020008529-4
    申请日:2018-10-26
    公开日:2020-10-20
    发明作者:Morgan R. Hunter；James A. Vandewalle；Austin E. Wise
    申请人:Ethicon Llc；
    IPC主号:
    专利说明:

    [001] [001] The present invention relates to surgical instruments and, in various provisions, to surgical instruments for stapling and cutting, and staple cartridges for use with them, which are designed to staple and cut fabric. BRIEF DESCRIPTION OF THE DRAWINGS
    [002] [002] Several characteristics of the modalities described here, together with their advantages, can be understood according to the description presented below, considered together with the attached drawings, as shown below:
    [003] [003] Figure 1 illustrates a perspective view of a surgical instrument in accordance with at least one aspect of the present disclosure in accordance with at least one modality;
    [004] [004] Figure 2 illustrates a partial perspective view of an interchangeable drive shaft assembly and a perspective view of a cable from the surgical instrument of Figure 1 in a configuration - disassembled, according to at least one modality;
    [005] [005] Figure 3 illustrates a perspective view of an end actuator, a drive shaft and an articulated joint of the surgical instrument of Figure 1, according to at least one modality;
    [006] [006] Figure 4 shows a partial longitudinal cross-sectional view of the end actuator of Figure 3 in a non-articulated configuration according to at least one embodiment;
    [007] [007] Figure 5 illustrates a partial longitudinal cross-sectional view of the end actuator of Figure 3 in an articulated configuration according to at least one embodiment;
    [008] [008] Figure 6 illustrates a partial longitudinal cross-sectional view of an articulated joint of the surgical instrument of Figure 1 in a non-articulated configuration according to at least one modality;
    [009] [009] Figure 7 illustrates a partial longitudinal cross-sectional view of an articulated joint of the surgical instrument of Figure 1 in a non-articulated configuration according to at least one modality;
    [0010] [0010] Figure 8 illustrates a partial longitudinal cross-sectional view of an articulated joint of the surgical instrument of Figure 1 in an articulated configuration according to at least one modality;
    [0011] [0011] Figure 9 illustrates a partial longitudinal cross-sectional view of an articulated joint of a surgical instrument in a non-articulated configuration according to at least one modality;
    [0012] [0012] Figure 10 illustrates a partial longitudinal cross-sectional view of the articulated joint of the surgical instrument of Figure 9 in a non-articulated configuration according to at least one modality;
    [0013] [0013] Figure 11 illustrates a partial longitudinal cross-sectional view of the articulated joint of the surgical instrument of Figure 9 in an articulated configuration according to at least one modality;
    [0014] [0014] Figure 12 is a partial perspective view of an end actuator, a drive shaft and an articulated joint of a surgical instrument, according to at least one modality;
    [0015] [0015] Figure 13 is a perspective view of a flexible band of the surgical instrument of Figure 12 according to at least one modality;
    [0016] [0016] Figure 14 is a perspective view of a flexible band of the surgical instrument of Figure 12 according to at least one modality;
    [0017] [0017] Figure 15 is a partial longitudinal view of the end actuator, drive shaft and articulated joint of the “surgical instrument of Figure 12 in a non-articulated configuration;
    [0018] [0018] Figure 16 is a partial longitudinal view of the end actuator, drive shaft and articulated joint of the surgical instrument of Figure 12 in an articulated configuration;
    [0019] [0019] Figure 17 is a perspective view of a surgical instrument according to at least one modality;
    [0020] [0020] Figure 18 is a partial longitudinal view of the surgical instrument of Figure 17 in a non-articulated configuration;
    [0021] [0021] Figure 19 is a partial longitudinal view of the surgical instrument of Figure 17 in an articulated configuration;
    [0022] [0022] Figure 20 is a partial longitudinal cross-sectional view of the surgical instrument of Figure 17 in a non-articulated configuration;
    [0023] [0023] Figure 21 is a partial longitudinal cross-sectional view of the surgical instrument of Figure 17 in an articulated configuration;
    [0024] [0024] Figure 22 is a perspective view of a surgical instrument according to at least one modality;
    [0025] [0025] Figure 23 is a block diagram of a joint control circuit for a surgical instrument according to at least one modality;
    [0026] [0026] Figure 24 is a partial longitudinal cross-sectional view of a surgical instrument in a non-articulated configuration according to at least one modality;
    [0027] [0027] Figure 25 is a partial longitudinal cross-sectional view of the surgical instrument of Figure 24 in an articulated configuration according to at least one modality;
    [0028] [0028] Figure 26 is a perspective view of a surgical instrument according to at least one modality;
    [0029] [0029] Figure 27 is a partial longitudinal cross-sectional view of the surgical instrument of Figure 26 in a non-articulated configuration according to at least one modality;
    [0030] [0030] Figure 28 is a partial longitudinal cross-sectional view of the surgical instrument of Figure 26 in an articulated configuration according to at least one modality; and
    [0031] [0031] Figure 29 is a partial longitudinal cross-sectional view of the surgical instrument of Figure 26 in an articulated configuration according to at least one modality. DETAILED DESCRIPTION
    [0032] [0032] Numerous specific details are presented to provide a complete understanding of the structure, function, manufacture and general use of the modalities described in the specification and illustrated in the attached drawings. Well-known operations, components and elements have not been described in detail, so as not to obscure the modalities described in the specification. The reader will understand that the modalities described and illustrated in the present invention are non-limiting examples and, therefore, it can be understood that the specific structural and functional details disclosed in the present invention can be representative and illustrative. Variations and changes can be made to this, without departing from the scope of the claims.
    [0033] [0033] The terms "understands" (and any form of understands, such as "understands" and "that understands"), "has" (and any form of has, such as "has" and "that has"), "includes" (and any form of includes, such as "includes" and "which includes") and "contains" (and any form of contains, such as "contains" and "which contains") are unrestricted linking verbs. As a result, a surgical system, device or apparatus that "comprises", "has", "includes" or "contains" one or more elements has those one or more elements, but is not limited to having only those one or more elements. Likewise, an element of a surgical system, device or apparatus that "comprises", "has", "includes" or "contains" one or more resources has those one or more resources, but is not limited to having only those one or more features.
    [0034] [0034] The terms "proximal" and "distal" are used in the present invention with reference to a physician who handles the handle portion of the surgical instrument. The term "proximal" refers to the portion closest to the doctor, and the term "distal" refers to the portion located opposite the doctor. It will also be understood that, for the sake of convenience and clarity, spatial terms such as "vertical", "horizontal", "up" and "down" can be used in the present invention with respect to drawings. However, surgical instruments can be used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.
    [0035] [0035] Various devices and exemplifying methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily understand that the various methods and devices disclosed in the present invention can be used in a number of surgical procedures and applications, including, for example, in relation to open surgical procedures. With the advancement of this Detailed Description, the reader will also understand that the various instruments disclosed here can be inserted into a body in any way, such as through a natural orifice, through an incision or perforation formed in fabric, etc. Functional portions or portions of the instrument end actuator can be inserted directly into a patient's body or can be inserted via an access device that has a working channel through which the end actuator and the elongated drive shaft surgical instrument can be advanced.
    [0036] [0036] Although the various aspects of the present disclosure have been described here in connection with linear staplers, these aspects can be implemented in a similar way in other staplers - surgical “as, for example, circular staplers and / or curved staplers. Also, although several aspects of the present disclosure are described in connection with a portable instrument, these aspects can be implemented in a similar way in robotic surgical systems. Several suitable robotic surgical systems are disclosed in U.S. Patent No. 2012/0298719, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, filed May 27, 2011, now US Patent. At the.
    [0037] [0037] Referring mainly to Figure 1-3, the surgical instrument 10 comprises a drive shaft 11 and an end actuator 12 that extends from the drive shaft 11. The end actuator 12 comprises a first jaw 14 and a second jaw 15. The first jaw 14 comprises a staple cartridge 16. The staple cartridge 16 is insertable and removable from a cartridge tray or channel 17 of the first jaw 14; however, other arrangements are provided for in which the staple cartridge 16 is not removable, or at least readily replaceable, from the first jaw 14. The second jaw 15 comprises an anvil 18 configured to deform staples ejected from the staple cartridge 16. A second jaw 15 is pivoting relative to the first jaw 14 around a geometric axis of the lid; however, other modalities are foreseen in which the first claw 14 is pivoting in relation to the second claw
    [0038] [0038] With reference to Figure 2, in several examples, the surgical instrument 10 includes a compartment 8 that comprises a set of handle 29 that is configured to be picked up, manipulated and acted on by the doctor. The compartment 8 is configured for operational fixation to an interchangeable drive shaft assembly 46, which includes end actuator 12 and at least a portion of the driving shaft 11. According to the present description, various forms of shaft assemblies interchangeable drive units 46 can be effectively used in connection with robotically controlled surgical systems as well as portable instruments. The term "compartment" can encompass a compartment or similar portion of a robotic system that houses or otherwise operationally supports at least one drive system configured to generate and apply at least one control movement that can be used to drive the sets of drive shaft. The term "structure" can refer to a portion of a portable surgical instrument The term "structure" can also represent a portion of a robotically controlled surgical instrument and / or a portion of the robotic system that can be used to operationally control the instrument - surgical. The interchangeable drive shaft assemblies disclosed herein can be used with various robotic systems, instruments, components and methods disclosed in US Patent No. 9.072535, entitled SURGICAL STAPLING INSTRUMENTS - WITH ROTATABLE STAPLE - DEPLOYMENT ARRANGEMENTS, which is incorporated herein by reference , in its entirety.
    [0039] [0039] Referring mainly to Figure 3, the staple cartridge 16 comprises a cartridge body 21. The cartridge body 21 includes a proximal end 22, a distal end 23, and a platform 24 extending between the proximal end 22 and the distal end 23. In use, the staple cartridge 16 is positioned on a first side of the fabric to be stapled and the anvil 18 is positioned on a second side of the fabric. The anvil 18 is moved towards the staple cartridge 16 to compress and secure the fabric against the platform 24. Thereafter, the staples removably stored in the body of the cartridge 21 can be implanted in the fabric. The cartridge body 21 includes staple cavities 26 defined therein, the staples being removably stored in the staple cavities 26. The staple cavities 26 are generally arranged in six longitudinal rows. Three rows of staple cavities 26 are positioned on a first side of a longitudinal slot 27 and three rows of staple cavities 26 are positioned on a second side of longitudinal slot 27. Other arrangements of staple cavities 26 and staples may be possible.
    [0040] [0040] As described in greater detail below, surgical instrument 10 staples and cuts tissue using a carefully orchestrated trigger mechanism to perform tissue stapling prior to tissue cutting. To ensure the prevention of a case where tissue cutting occurs before or without tissue stapling, the surgical instrument 10 is equipped with several safety features.
    [0041] [0041] The staples of the staple cartridge 16 are generally supported by staple actuators on the body of the cartridge 21. The actuators are movable between a first position, or non-triggered position, and a second position, or triggered position, to eject the staples of the clip cavities 26. The drivers are retained in the cartridge body 21 by a tray or retainer that extends around the bottom of the cartridge body 21 and includes resilient members configured to secure the cartridge body 21 and retain the retainer in the body of cartridge 21. The drivers are movable between their non-triggered positions and their positions triggered by a slide. The slider is movable between a proximal position adjacent to the proximal end 22 and a distal position adjacent to the distal end 23. The slider comprises a plurality of inclined surfaces configured to slide under the actuators and lift the actuators, and the clamps held therein, in towards the anvil 18.
    [0042] [0042] In addition to the above, the slider is moved separately by a firing member. The firing member is configured to contact the slide and push the slide from a proximal position adjacent to the proximal end 22 towards a distal position adjacent to the distal end 23. The longitudinal slot 27 defined in the cartridge body 21 is configured to receive the firing member. Anvil 18 also includes a slot configured to receive the firing member. The firing member further comprises a first cam that engages the first claw 14 and a second cam that engages the second claw
    [0043] [0043] The drive shaft 11 encompasses and guides a firing movement of the compartment 8 through a longitudinally reciprocating laminated firing bar that extends proximally from the firing member. In particular, the drive shaft 11 includes a slot in the longitudinal firing bar that receives the firing bar.
    [0044] [0044] The compartment 8 shown in Figures 1 to 3 is shown in connection with an interchangeable drive shaft assembly 46 which includes an end actuator 12 comprising a surgical device for cutting and fixing that is configured to support, in an operable manner , a surgical staple cartridge 16 inside. Housing 8 can be configured for use in connection with interchangeable drive shaft assemblies that include end actuators that are adapted to support different sizes and types of clamp cartridges, have different lengths, sizes, and types of drive shafts , etc. In addition, housing 8 can also be used effectively with a variety of other interchangeable drive shaft assemblies including those that are configured to apply other movements and forms of energy such as radio frequency (RF) energy, ultrasonic energy and / or movement to end actuator arrangements adapted for use in various surgical applications and procedures. In addition, end actuators, drive shaft assemblies, cables, surgical instruments and / or surgical instrument systems can use any one or more suitable fasteners to secure tissues. For example, a fastener cartridge comprising a plurality of fasteners stored therein removably can be removably inserted into and / or attached to the end actuator of a drive shaft assembly.
    [0045] [0045] Referring to Figures 3 to 5, the surgical stapling system 10 further comprises an articulation joint 20 configured to allow the end actuator 12 to be rotated or articulated in relation to the drive shaft 11. The actuator end 12 is rotatable about a longitudinal pivot axis 19 that extends through hinge joint 20 between a non-hinged or initial configuration (Figure 4) and an articulated configuration (Figure 5) where the end actuator 12 defines a angle a in relation to the longitudinal axis 19.
    [0046] [0046] In relation to the articulated joint 20, in at least one example, the drive shaft 11 includes a pivot pin 30 that can be received within a pivot opening 31 defined in a frame 32 of the end actuator 12. The frame The end actuator 32 can additionally comprise a drive pin 33 extending from it, which can be operatively engaged with a pivot driver 34. The drive pin 33 can be received in a pin slot 35 defined in a distal end 36 of the hinge driver 34 so that the drive pin 33 can rest against the first side wall 37 of the pin slot 35 in a non-hinged, or initial configuration (Figure 4) and can rest against a second wall side 38 of pin slot 35 in an articulated configuration (Figure 5).
    [0047] [0047] The driving pin 33 can be configured to receive a force applied to it and, depending on the direction in which the force is applied on the driving pin 33, rotates the end actuator 12 in a first direction or in a second direction opposite. More particularly, when a force is applied to the drive pin 33 in the distal direction by the hinge driver 34, the hinge driver 34 can push the drive pin 33 around the pivot pin 30 and, similarly, when a force is applied to the drive pin 33 in the proximal direction by the hinge driver 34, the hinge driver 34 can pull the drive pin 33 around the pivot pin 30 in the opposite direction, for example. To the extent that the drive pin 33 should be placed on the opposite side of the articulated joint 20, for example, the distal and proximal movements of the articulated actuator 34 would produce an opposite effect on the end actuator 12.
    [0048] [0048] In several examples, the surgical instrument 10 can be used in a minimally invasive surgical procedure such as, for example, a laparoscopic surgical procedure. In such examples, an access door such as a trocar can create an opening in a body wall to insert the end actuator 12 of the surgical instrument 10 into a surgical site within a patient. The remainder of the surgical instrument 10 remains outside the patient which allows a user of the surgical instrument 10 to manipulate the end actuator 12 remotely at the surgical site.
    [0049] [0049] It is desirable to insert the end actuator 12 through the access door in a non-hinged configuration to keep the opening in a small size. A high clearance between the drive pin 33 and the pin slot 35 facilitates the insertion of the end actuator 12 through the access door by softening the connection between the end actuator 12 and the drive shaft 11. A high clearance between the drive pin 33 and pin slot 35 allows for a limited range of passive or unintended movement of the end actuator 12 relative to the drive shaft 11 in the untucked, or initial configuration. A high clearance allows the end actuator 12 to be slightly balanced 11 in relation to the stem. The added flexibility makes it easier to insert the end actuator 12 through a trocar.
    [0050] [0050] Once inside the patient, the end actuator 12 can be articulated for a desired orientation. A small gap between drive pin 33 and pin slot 35 ensures a robust articulated configuration of end actuator 12 during operation by reinforcing and / or stiffening the connection between end actuator 12 and drive shaft 11. One small clearance between drive pin 33 and pin slot 35 reduces passive or unintentional movement of end actuator 12 relative to drive shaft 11 in the hinged, or initial, configuration.
    [0051] [0051] In one example, as illustrated in Figures 6-8, the combined benefit of the high clearance of a non-articulated, or initial configuration and a small clearance in the articulated configuration can be achieved through the use of a 35-pin slot that includes a first portion 35a having a width (11) and a second portion 35b having a width (12) less than the width (h). The driving pin 33 can be positioned in the first portion 35a in the non-articulated configuration, or initial, as shown in Figures 6 and 7, and in the second portion 35b in the articulated configuration, as shown in Figure 8.
    [0052] [0052] The greater width of the first portion 35a, in relation to the second portion 35b, provides an additional clearance (I3) in the first portion 35a, which is calculated by subtracting the diameter of the driving pin 33 from the width (11). As shown in Figures 6 and 7, the clearance (ls) allows the drive pin 33 to move or reciprocate within the first portion 35a between a first position, where the drive pin 33 abuts against a distal wall 39 of the first portion 35a , and a second position, where the driving pin 33 abuts against a proximal wall 40, opposite the distal wall 39, of the first portion 35a. Figures 6 and 7 additionally illustrate a range of movement or reciprocal distance (9) that the end actuator 12 can move, or passively articulate, in relation to the drive shaft 11 in the non-articulated, or initial configuration, due to the clearance additional (3).
    [0053] [0053] With reference to Figure 8, the drive pin 33 is moved laterally at a distance (d) as the end actuator 12 is transitioned by the hinge actuator 34 from a non-articulated or initial configuration (Figure 7) for an articulated configuration (Figure 8). In other words, the drive pin 33 is moved from the first portion 35a of the pin slot 35 to the second portion 35b as the end actuator 12 is pivoted. In the hinged configuration, the driving pin 33 fits tightly or firmly in the second portion 35b due to the smaller width (l2) of the second portion 35b, which produces a smaller clearance (l) in the second portion 35b. The clearance (l) is calculated by subtracting the diameter of the driving pin 33 from the width (bl).
    [0054] [0054] Tightly fitted to the second portion 35b, the movement of the driving pin 33 within the second portion 35b is restricted while the end actuator 12 remains in the hinged configuration. As the end actuator 12 is returned to the non-hinged configuration, by the hinge driver 34, the drive pin 33 moves laterally to return to the first portion 35a where the additional clearance (13) provides more space for the drive pin 33 if move between the distal wall 39 and the proximal wall 40.
    [0055] [0055] In several examples, the width (11) is greater than the width (l2) by a value selected from a range of about 1% to about 200%. In certain examples, the width (11) is greater than the width (l2) by a value selected from a range of about 1% to about 100%. In certain examples, the width (l1) is greater than the width (l2) by a value selected from a range of about 5% to about 50%. In certain examples, the width (l1) is greater than the width (l2) by a value selected from a range of about 5% to about 10%. In several examples, the clearance (la) is greater than the clearance (4) by a value selected from a range of about 10% to about 100%, for example. In certain examples, the clearance (ls) is greater than the clearance (la) by a value selected from a range of about 5% to about 50%, for example.
    [0056] [0056] Now with reference to Figures 9-11, a surgical instrument 50 is similar in many respects to surgical instrument 10. For example, surgical instrument 50 includes drive shaft 11 and end actuator 12. Surgical instrument 50 uses a pin slot 55 in place of pin slot 35, and a drive pin 53 in place of the drive pin 33. The drive pin 53 can be received in the pin slot 55 defined at the distal end 36 of the hinge driver 34 so that the driving pin 53 can rest against the first side wall 57 of the pin slot 55 in a non-hinged, or initial configuration (Figure 9) and can rest against a second side wall 58 of the pin slot 55 in an articulated configuration (Figure 11).
    [0057] [0057] As the end actuator 12 is articulated by the articulation actuator 34, the driving pin 53 moves in the pin slot 55 towards the second side wall 58. The driving pin 53 also rotates while moving changing its orientation from from a first orientation (Figure 9) defined in the non-articulated configuration, or initial, to a second orientation (Figure 11) defined in the articulated configuration. In the first orientation, the driving pin 53 comprises a width (ls), and in the second orientation, the driving pin 53 comprises a width (ls) greater than the width (ls). The surgical instrument 50 achieves the combined benefit of a high clearance in the non-articulated or initial configuration and a small clearance in the articulated configuration using the driving pin 53 which comprises different widths in different orientations.
    [0058] [0058] The pin slot 55 additionally includes a distal wall 59 and a proximal wall 60 which are spaced from each other defining a width between them (11o). The width (11o) is greater than the width (ls) of the pin slot 55 in the first orientation. As shown in Figures 9 and 10, a clearance (| 7), calculated by subtracting the width (ls) of the drive pin 53 in the first orientation from the width (11o) of the pin slot 55, allows the drive pin 53 move or reciprocate between a first position and a second position. In the first position, as shown in Figure 9, the driving pin 53 abuts against the distal wall 59. In the second position, as illustrated in Figure 10, the driving pin 53 abuts against the proximal wall 60. Figures 9 and 10 illustrate additionally a range of movement or reciprocal distance (B) that the end actuator 12 can move, or passively articulate, in relation to the drive shaft 11 due to the additional clearance (| 7).
    [0059] [0059] With reference to Figure 11, the drive pin 53 is moved laterally at a distance (d) as the end actuator 12 is transitioned by the hinge actuator 34 from a non-articulated or initial configuration (Figure 9) for an articulated configuration (Figure 11). In other words, the drive pin 53 is moved laterally and radially from a first position and a first orientation in the first portion 55a of the pin slot 55 to a second position and a second orientation in a second portion 55b of the slot pin 55 as the end actuator 12 is articulated. In the hinged configuration, the drive pin 53 fits tightly or firmly on the second portion 55b due to the greater width (ls) of the drive pin 53 in the second orientation. As illustrated in Figure 11, a clearance (lo) is calculated by subtracting the width (l) of the drive pin 53 in the second orientation from the width (110) of the pin slot 55.
    [0060] [0060] Tightly or firmly attached to the second portion 55b, the movement of the drive pin 53 within the second portion 55b is restricted while the end actuator 12 remains in the hinged configuration. As the end actuator 12 is returned to the non-articulated configuration, by the articulation actuator 34, the drive pin 53 moves laterally and radially to return to the first position and first orientation in the first portion 55a where the additional clearance (I7) provides more space for the drive pin 53 to move between the proximal wall 60 and the distal wall
    [0061] [0061] In several examples, as shown in Figures 9-11, the drive pin 53 has an elliptical shape resulting in widths - different in different orientations. Other irregular shapes capable of reaching different widths in different orientations are contemplated by the present disclosure. In certain examples, the drive pin 53 may comprise a protrusion, or an outwardly extending portion, where the protrusion would contribute to the width of the drive pin 53 in the second orientation in the second portion 55b but not the width of the drive pin 53 in the first orientation in the first portion
    [0062] [0062] In several examples, the width (ls) is greater than the width (ls) by a value selected from a range of about 1% to about 200%. In certain examples, the width (lg) is greater than the width (ls) by a value selected from a range of about 1% to about 100%. In certain examples, the width (ls) is greater than the width (ls) by a value selected from a range of about 5% to about 50%. In certain examples, the width (ls) is greater than the width (ls) by a value selected from a range of about 5% to about 10%. In several examples, the clearance (lr) is greater than the clearance (l) by a value selected from a range of about 10% to about 100%, for example. In certain examples, the clearance (I7) is greater than the clearance (lo) by a value selected from a range of about 5% to about 50%, for example.
    [0063] [0063] In several examples, the surgical instrument 10 and / or the surgical instrument 50 may comprise a joint drive system including a proximal joint drive and a distal joint drive. When a driving force is transmitted to the proximal articulation actuator, either in the proximal direction or in the distal direction, the driving force can be transmitted to the distal articulation actuator through an articulation lock. In addition, a trigger element can be used to impart this driving force to the proximal articulation trigger. Examples of suitable articulation trigger systems are described in US patent application serial number 13 / 803.210, entitled "SENSOR
    [0064] [0064] Now with reference to Figures 12 to 16, a surgical instrument 100 is similar in many respects to surgical instrument 10. Like surgical instrument 10, surgical instrument 100 includes a hinge driver system including the movable hinge driver 34 to cause the end actuator 12 to pivot with respect to the drive shaft 11. In addition, the surgical instrument 100 includes an articulated joint 101 and an adaptive closing actuator system 102 configured to maintain, or resist change, in a jaw opening 9 between the first jaw 14 and the second jaw 15 during articulation of the end actuator 12 with respect to the drive shaft 11.
    [0065] [0065] A typical closing trigger system causes at least one of the first jaw 14 and the second jaw 15 to move between an open configuration, defining the opening of jaw 9, and a closed or approximate configuration, as described above with more details. The displaced nature of the hinge actuator 34 in relation to the longitudinal axis 19, however, causes a typical closing actuator system to move slightly during the hinge of the end actuator 12 due to a change in the closing length between the non-hinge configurations and articulate.
    [0066] [0066] The closing length is the distance occupied by the closing trigger system. In a non-articulated configuration, the closing actuation system follows a straight path, or at least substantially straight. In an articulated configuration, however, the closing actuation system follows an arcuate path. Unable to accommodate a change in the length of the closure, caused by the transition of the closing drive system from a straight path to an arcuate path, the typical closing drive system exerts an unwanted closing force on the end actuator 12 by reducing the opening of the jaw
    [0067] [0067] The adaptive closing actuator system 102 comprises one or more flexible components that allow a minor change in the closing length due to flexing during the articulation of the end actuator 12. As illustrated in Figures 12 to 16, the closing actuator system adaptable 102 includes a section of drive shaft closure tube 103 that has distally upper and lower jaws 104, 104 '. A section of the end actuator 105 closing tube includes a horseshoe opening 106 and a flap 107 for engaging an opening flap over the anvil 18. The horseshoe opening 106 and flap 107 engage an anvil opening flap 18 when anvil 18 is opened. The section of the closing tube 105 is shown with claws that project proximally upper and lower 110, 110 ”.
    [0068] [0068] In addition to the above, the section of the closing tube 103 is coupled to the section of the closing tube 105 by means of flexible bands 111, 111 'that allow a smaller change in the closing length due to flexible during the actuator articulation end 12. Flexible band 111 extends between jaws 104 and 110. Similarly, flexible band 111º extends between jaws 104 'and 110.
    [0069] [0069] In use, the adaptive closing actuator system 102 is moved distally to close the anvil 18, for example, in response to the actuation of the cable assembly 29 (Figure 1). Anvil 18 is closed by translation distally from the section of the closing tube 103. The flexible bands 111, 111º transmit the distal closing force from the section of the closing tube 103 to the section of the closing tube 105. In contrast, the section of the closing tube 105 is translated distally, which closes the anvil 18. The anvil 18 is opened by proximal translation of the section of the closing tube 103 and the section of the closing tube 105, causing the flap 107 and the opening horseshoe 106 come into contact and push against the opening tab of anvil 18 to raise anvil 18.
    [0070] [0070] Although flexible, bands 111, 111 'are capable of transmitting closing and / or opening forces between the section of the closing tube 103 and the section of the closing tube 105. In one example, as illustrated in Figures 13 and 14, the flexible strips 111, 111 comprise a plurality of flexible elements 112 which are attached to each other to form the strips 111, 111 °. The distal ends of the flexible elements 112 can be bent and / or welded together to form the bands 111, 111 °. The distal portions 113, 113 'of the flexible strips 111, 111' can be attached to the claws 110, 110 'of the section of the closing tube 105. The proximal portions 114, 114' of the flexible strips 111, 111 'can be attached to the claws 104, 104 'of the closing tube section 103.
    [0071] [0071] Fixing the flexible elements 112 to each other and / or fixing the bands 111, 111 'to the sections of the closing tube 103, 105 can be achieved by any suitable technique including, but not limited to, screwing, threading , crimping, gluing or any other suitable technique. In at least one example, the attachment of the flexible elements 112 to each other and / or the attachment of the bands 111, 111 'to the sections of the closing tube 103, 105 can be performed by any suitable welding technique or suitable apparatus to perform a welding including, but not limited to, tungsten gas arc welding, shielded metal arc welding, plasma arc welding, laser beam welding, electron beam welding or a combination thereof.
    [0072] [0072] With reference to Figure 13, the flexible elements 112 can be aligned and fixed to each other side by side, allowing a greater degree of flexibility in one direction in relation to another. The number of flexible elements 112 can determine the degree of flexibility of a flexible band. In at least one example, four flexible elements 112 are used to create a flexible band 111,
    [0073] [0073] In certain examples, the proximal portions 114, 114 'of the flexible bands 111, 111' are not attached to the claws 104, 104 'of the section of the closing tube 103. Instead, as illustrated in Figures 15 and 16, a surgical instrument 100, which is similar in many respects to surgical instrument 100, includes flexible bands 111, 111 ° which have proximal portions 114, 114 'that are movably coupled to the claws 104, 104', respectively.
    [0074] [0074] In the example illustrated in Figures 15 and 16, the claw 104 is equipped with a housing 115 configured to movably accommodate the proximal portion 114 of flexible band 111. The proximal portion 114 can move within the housing 115 to compensate for the change in closing length that occurs during articulation of end actuator 12. The proximal portion 114, however, includes laterally extended features that prevent the proximal portion from leaving casing 115 by contact against a distal wall 116 of casing 115. A distal wall 116 includes an opening 117 dimensioned to allow movement of the flexible band through it but not the proximal portion 114. During closing of the end actuator 12, the proximal portion 114 abuts against a proximal wall 118 of the housing 115. similarly, the proximal portion 114 'of flexible band 111' can be mobilely accommodated in a claw housing 104 ”.
    [0075] [0075] With reference to Figures 17 to 21, a surgical instrument 200 is similar in many aspects to the surgical instrument
    [0076] [0076] In addition to the above, the adaptive closing actuator system 202 includes a section of the closing shaft of the drive shaft 203 which has jaws that project distally above and below 204, 204 '. A section of the end actuator closure tube 205 includes a horseshoe opening and a flap for engaging an opening flap over the anvil 18. The horseshoe opening and flap engage an anvil opening flap 18 when the anvil 18 is open. The section of the closing tube 205 has claws that project proximally upper and lower 210, 210.
    [0077] [0077] In addition to the above, the closing tube section 203 is coupled to the closing tube section 105 by double pivot links 230, 230. A double articulated upper connection 230 includes distal and proximal pivoting pins that project upwards 234, 236, which engage, respectively, a distal upper pin hole 238 in the upper proximal projection flange 210 and a proximal upper pin hole 240 in the upper distal projection flap.
    [0078] [0078] In use, the adaptive closing actuator system 202 is moved distally to close the anvil 18, for example, in response to the actuation of the cable assembly 29 (Figure 17). The anvil 18 is closed by distal translation of the section of the closing tube 203. Links 230, 230 'transmit the distal closing force from the section of the closing tube 203 to the section of the closing tube 205. In contrast, the section of the closing tube 205 is translated distally, which closes the anvil 18. The anvil 18 is opened by proximal translation of the section of the closing tube 203 and the section of the closing tube 205, causing the flap and opening in horseshoe come into contact and push against the opening tab of anvil 18 to raise anvil 18.
    [0079] [0079] As shown in Figure 18, pin holes 238, 238 are larger in size than pin holes 240, 240 allowing the closing tube section 205 to move relative to pin holes 238, 238 'to accommodate the change in closing length caused by the articulation of the end actuator 12. In the example illustrated in Figures 18 and 19, pin holes 238, 238 are stretched longitudinally in an elliptical shape. In the non-hinged position, as shown in Figure 18, the pivot pins 234, 234 are in a boundary position against the proximal ends 241 of the pin holes 238, 238. In the hinged position, as shown in Figure 19, the pivot pins 234 , 234 'are in a boundary position against the distal ends 243 of pin holes 238, 238.
    [0080] [0080] Now with reference to Figures 22 to 25, a surgical instrument 300 is similar in many respects to surgical instruments 10, 100, 200. For example, surgical instrument 300 includes a drive shaft 311 and an articulated end actuator 312 in relation to the drive shaft 311 between an initial or non-articulated position and an articulated position. The surgical instrument 300 includes an articulation control system 302 that includes the articulation trigger 34. Examples of suitable articulation control systems are described in US patent application serial number 13 / 803.053, entitled INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, and filed on March 14, 2014, now publication of US patent application serial number 2014/0263564, the disclosure of which is incorporated herein, by reference, in its entirety.
    [0081] [0081] A surgical operator can use the articulation control system 302 to articulate the end actuator 312 in relation to the drive shaft 311 between an initial articulation position and an articulated position. In addition, the surgical operator can use the articulation control system 302 to readjust or return the articulated end actuator 312 to the articulation position in its initial state.
    [0082] [0082] Furthermore, as illustrated in the exemplary schematic block diagram in Figure 23, the articulation control system 302 can comprise a control circuit 301. The control circuit 301 includes a controller 306 that can be configured to receive a signal input and, in response, activate an electric motor 303 to cause the end actuator 312 to articulate according to such input signal. The control circuit 301 also includes one or more sensors 305 configured to detect an articulation position of the end actuator
    [0083] [0083] Controller 306 may comprise a processor 307 and / or one or more memory units 308. By executing the instruction code stored in memory 308, processor 307 can control various components of the surgical instrument 300, such as motor 303. Controller 306 can be implemented using integrated and / or discrete hardware elements, software elements and / or a combination of both. The sensors 305 are in communication with the processor 307.
    [0084] [0084] Surgical instrument 300 may include a motor controller 309 in operable communication with controller 306. Motor controller 309 can be configured to control a direction of rotation of motor 303. For example, electric motor 303 can be powered battery, such as battery 304 and motor controller 309 can be configured to determine the polarity of the voltage applied to motor 303 by battery 304 and, in turn, the direction of rotation of motor 303, based on at the input of controller 306. For example, motor 303 can reverse the direction of its rotation from a clockwise direction to an anti-clockwise direction when the polarity of the voltage applied to motor 303 by battery 304 is reversed by the motor 309 based on controller input 306.
    [0085] [0085] To reset the end actuator 312 from an articulated position to an initial pivot state position, the end actuator 312 needs to be positioned in sufficient alignment with the drive shaft 311 in the pivot position in the initial state, also called in the present invention from a non-hinged position, so that the end actuator 312 and at least a portion of the drive shaft 311 can be inserted into or retracted from an internal cavity of the patient through an access door such as For example, a trocar placed on an internal cavity wall without damaging the door of the axis.
    [0086] [0086] To accurately return the end actuator 312 to the pivot position in the initial state, the surgical instrument 300 is configured to divide the movement of the end actuator 312 towards the position of the initial pivot state into two separate stages: one motor-driven stage and a non-motor-driven stage. The motor driven stage is a high tolerance stage that is intended to bring the end actuator 312 into a predetermined range of positions. On the other hand, the non-motor driven stage is a low tolerance stage designed to adjust, or precisely adjust, the position of the end actuator 312 within the predetermined range to achieve precisely the position of the initial state of articulation.
    [0087] [0087] In the motor driven stage, controller 306 depends on directing the motor driven movement of the end actuator 312 towards the predetermined range. It is not necessary for controller 306, however, to determine a precise location of the initial articulation state position. Instead, controller 306 only needs to bring end actuator 312 to any position within the predetermined range.
    [0088] [0088] In at least one example, the predetermined range includes any angle up to and including 30º, for example, with the longitudinal geometric axis on either side of the longitudinal geometric axis. In at least one example, the predetermined range includes any angle up to and including 20 °, for example, with the longitudinal geometric axis on either side of the longitudinal geometric axis. In at least one example, the predetermined range includes any angle up to and including 10 °, for example, with the longitudinal geometric axis on either side of the longitudinal geometric axis. In at least one example, the predetermined range includes any angle up to and including 5 °, for example, with the longitudinal geometric axis on either side of the longitudinal geometric axis. Other values for the predetermined range are contemplated by the present disclosure.
    [0089] [0089] In the non-motor driven stage, a mechanical centering system 313 is configured to passively guide end actuator 312 within the predetermined range to the initial articulation state position with a tolerance less than the 306 controller. In some examples , as shown in Figures 24 and 25, the mechanical centering system 313 includes a notch 315 defined on a proximal portion 314 of end actuator 312. A mechanical alignment feature 316 is configured to capture notch 315 at any position within the range predetermined. The predetermined range can be defined by the width and / or depth of the notch 315. The mechanical alignment feature 316 is configured to exert a force on the proximal portion 314 of the end actuator 312 to precisely drive the end actuator 312 to the position of the initial state of articulation.
    [0090] [0090] In some examples, as shown in Figures 24, 25 the mechanical alignment feature 316 is a spring-driven pin.
    [0091] [0091] In several examples, as illustrated in Figures 24 and 25, the mechanical centering system 313 can be configured to accurately drive the end actuator 312 to a predetermined articulation position in a non-motor driven stage after a driven stage per initial motor, the controller 306 directing the articulation of the end actuator 312 towards a predetermined range that surrounds the predetermined articulation position. To accurately bring the end actuator 312 to a predetermined hinge position, the surgical instrument 300 is configured to split the movement of the end actuator 312 towards the predetermined hinge position to two separate stages: a motor-driven stage controlled by the controller 306 and a non-motor driven stage controlled by the mechanical centralization system 313.
    [0092] [0092] In addition to the above, the mechanical centralization system 313 may include one or more notches 323, 324 in the proximal portion 314 in one or more predetermined articulation positions. For example, as illustrated in Figures 24 and
    [0093] [0093] To pivot the end actuator 312 to a pivot position at the pivot angle (a), for example, controller 306 directs motor 303 to motivate pivot actuator 34 to turn end actuator 312 toward a pivot position at the pivot angle (a). Controller 306 only needs to bring end actuator 312 to any position within a predetermined range that encompasses the pivot position at the pivot angle (from a). The predetermined range can be defined by the width and / or depth of the notch 323.
    [0094] [0094] Since end actuator 312 is in the predetermined range, the mechanical centering system 313 guides end actuator 312 to the pivot position at the pivot angle (a), as illustrated in Figure 25. The mechanical alignment 316 is configured to capture the notch 315 in any position within the predetermined range, and exert a force on the proximal portion 314 of the end actuator 312 to precisely drive the outer actuator 312 to the pivot position at the pivot angle ( The).
    [0095] [0095] Now with reference to Figures 26-29, a surgical instrument 400 is similar in many respects to surgical instruments 10, 100, 200, 300. For example, surgical instrument 400 includes a drive shaft 411 and an end actuator 412 pivotable in relation to the drive shaft 411 between an initial or non-articulated position and an articulated position. Surgical instrument 400 includes a hinge control system 402 that includes the hinge driver 34.
    [0096] [0096] Surgical instrument 400 additionally includes a mechanical centralization system 413 which is similar in many respects to the mechanical centralization system 313. For example, a proximal portion 414 of end actuator 412 includes notches 415, 423, 424, which are similar to the notches 315, 323, 324, of the proximal portion 314 of the end actuator 312. The mechanical centering system 413 includes a mechanical alignment feature 416 that is similar in function, but different in structure, to the mechanical alignment feature 316. Like the mechanical alignment feature 316, the mechanical alignment feature 416 is configured to capture notches 315, 323, 324, and end actuator 412 to guide a target position, such as a pivot position in the initial state or a predetermined articulation position.
    [0097] [0097] Like end actuator 312, end actuator 412 can be guided by controller 306 towards the position of the initial state of articulation in a stage driven by a high tolerance motor. Controller 306 is invoked to bring end actuator 412 into a predetermined range of positions that can be defined by the depth and / or width of notch 415. As described above in connection with surgical instrument 300, the motor-driven stage it is followed by a stage not driven by a low tolerance motor, which is controlled by the mechanical centering system 413. Since the end actuator 412 is within the predetermined range, the mechanical alignment feature 416 exerts a force on the proximal portion 414 of the end actuator 412 to precisely drive the end actuator 412 from any position within the predetermined range for the position of the initial state of articulation.
    [0098] [0098] As shown in Figures 28 and 29, end actuator 412, like end actuator 312, can also be pivoted to a predetermined pivot position in a high tolerance motor driven stage followed by a non-driven stage. low tolerance motor. The mechanical centering system 413, like the mechanical centering system 313, is configured to adjust, or precisely adjust, the position of the end actuator 412 within the predetermined range to achieve precisely the predetermined articulation position.
    [0099] [0099] In addition to the above, the mechanical alignment feature 416 is in the form of a spring bundle that includes a generally arched structure including two ends 429, 430, which are in a movable position against a portion of the drive shaft structure 428. An arcuate portion 431 extends between ends 429 and 430. Arcuate portion 431 includes a distal pointed portion 432 that extends distally from the center of arcuate portion 431, as shown in Figure 27.
    [00100] [00100] The mechanical alignment feature 416 is maintained in a non-tilted configuration, or a first inclined configuration, while the pointed portion 432 is received in one of the notches 415, 423, 424. While pressed against an external surface 418 of the proximal portion 414 of end actuator 312, as shown in Figure 28, the mechanical alignment feature 416 flexes for a second angled configuration greater than the first angled configuration.
    [00101] [00101] Once the mechanical alignment feature 416 engages the edge of the notch 415, the changing force of the mechanical alignment feature 416 guides the end actuator 412 to the position of the initial state of articulation. Similarly, since the mechanical alignment feature 416 engages the edge of the notch 415, the changing force of the mechanical alignment feature 416 guides the end actuator 412 to a predetermined pivot position corresponding to the notch 424.
    [00102] [00102] In several examples, a section of the closing tube 105 may include a mechanical alignment feature in the form of a plastic or spring-loaded insert that is configured to center an end actuator in an articulated initial state position One the corresponding notch can be configured to receive the insert of the closing tube section 105 during the closing of the end actuator. The distal closing movement of the closing tube section 105 forces the insert of the closing tube section 105 into the notch, which guides the end actuator to the initial hinge state position.
    [00103] [00103] Although several devices have been described here in connection with certain modalities, modifications and variations of these modalities can be implemented. The specific resources, structures or characteristics can be combined in any suitable way in one or more modalities. Therefore, the specific features, structures or features illustrated or described in connection with a modality can be combined, in whole or in the meantime, a device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of steps including, but not limited to, disassembling the device followed by cleaning or replacing specific parts of the device and subsequent reassembly of the device. In particular, a reconditioning facility and / or surgical staff can disassemble a device and, after cleaning and / or replacing particular parts of the device, the device can be reassembled for subsequent use. Those skilled in the art will understand that the reconditioning of a device can use a variety of techniques to disassemble, clean / replace and remount. The use of these techniques, as well as the resulting refurbished device, are all within the scope of this application.
    [00105] [00105] The devices revealed here can be processed before surgery. First, a new or used instrument can be obtained and, if necessary, cleaned. The instrument can then be sterilized. In a sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and the instrument can then be placed in a radiation field that can penetrate the container, such as gamma radiation, X-rays and / or high-energy electrons. Radiation can kill bacteria on the instrument and the container. The sterile instrument can then be stored in a sterile container. The sealed container can keep the instrument sterile until it is opened at the medical facility. A device can also be sterilized using any other known technique, including, but not limited to, beta radiation, gamma radiation, ethylene oxide, plasma peroxide and / or water vapor.
    [00106] [00106] Although this invention has been described as having exemplary designs, the present invention can be further modified within the spirit and scope of the disclosure. It is intended, therefore, that this application covers any variations, uses or adaptations of the invention with the use of its general principles.
    [00107] [00107] Any patent, publication or other description material, in whole or in part, that is said to be incorporated into the present invention for reference purposes, is incorporated into the present invention only to the extent that the incorporated materials do not conflict with existing definitions, statements or other description material presented in this description. Accordingly, and to the extent necessary, the disclosure as explicitly presented herein replaces any conflicting material incorporated by reference to the present invention. Any material, or portion thereof, which is incorporated herein by reference, but which conflicts with the definitions, statements, or other disclosure materials contained herein, will be incorporated here only to the extent that there is no conflict between the embedded material and existing disclosure material. Examples
    [00108] [00108] Example 1 - A surgical instrument comprising an articulated joint, an outer actuator that extends distally from the articulated joint, a drive shaft that extends proximally from the articulated joint, and an articulation actuator. The end actuator comprises a movable drive pin between a first position or a second position. The pivot driver is configured to move the drive pin from the first position to the second position to transition the end actuator from a non-pivot configuration to a pivot configuration. The surgical instrument additionally comprises a pin slot extending from the articulation actuator. The pin slot is configured to accommodate the drive pin in a non-articulated configuration. The pin slot is configured to firmly accommodate the drive pin in the hinged configuration.
    [00109] [00109] Example 2 - The surgical instrument of Example 1, the pin slot comprising a first portion configured to accommodate the actuation pin in the first position and a second portion configured to accommodate the actuation pin in the second position.
    [00110] [00110] Example 3 - Surgical instrument, according to Example 2, the first portion being larger in width than the second portion.
    [00111] [00111] Example 4 - The surgical instrument of Example 2 or 3, the actuation pin being movable within the first independent portion of the articulation actuator.
    [00112] [00112] Example 5 - The surgical instrument of Example 1, 2, 3, or 4, the actuation pin comprising a first orientation defining a first width in the first position, the actuation pin comprising a second orientation defining a second width in the second position, and the second width is greater than the first width.
    [00113] [00113] Example 6 - The surgical instrument of Example 1, 2, 3, 4 or 5, the pin slot comprising a proximal wall and a distal wall. The actuation pin is movable between the proximal wall and the distal wall independent of the articulation actuator.
    [00114] [00114] Example 7 - The surgical instrument of Example 1, 2, 3, 4, or 6, the pin slot comprising a first side wall and a second side wall. The drive pin rests against the first side wall in the non-articulated configuration. The drive pin rests against the second side wall in the hinged configuration.
    [00115] [00115] Example 8 - A surgical instrument comprising an end actuator, a drive shaft and an adaptive closing drive system. The end actuator extends distally from the drive shaft. The end actuator is movable in relation to the drive shaft between a non-articulated configuration and an articulated configuration. The adaptive closing actuator system is configured to transition the end actuator between an open position and a closed position. The adaptive closing drive system comprises a first closing length in the non-articulated configuration, and a second closing length in the articulated configuration. The first closing length is different from the second closing length.
    [00116] [00116] Example 9 - The surgical instrument of Example 8, with the adaptive closing trigger system comprising a section of the proximal closing tube, and a flexible band configured to couple the section of the distal closing tube to the tube section proximal closure.
    [00117] [00117] Example 10 - The surgical instrument of Example 9, the flexible band comprising a distal portion fixed to the section of the distal closure tube and a proximal portion coupled in a movable manner to the section of the proximal closing tube.
    [00118] [00118] Example 11 - The surgical instrument of Example 10, the proximal closing tube section comprising a housing configured to mobilely accommodate the proximal portion of the flexible band.
    [00119] [00119] Example 12 - The surgical instrument of Example 8, the adaptive closing trigger system comprising a section of the distal closing tube, a section of the proximal closing tube, and a link extending between the tube section distal closure and the proximal closure tube section.
    [00120] [00120] Example 13 - The surgical instrument of Example 12, the link comprising a first pivot pin and a second pivot pin.
    [00121] [00121] Example 14 - The surgical instrument of Example 13, the section of the distal closing tube comprising a first hole configured to receive the first pivot pin, the section of the proximal closing tube comprising a second hole configured for receive the second pivot pin, and the first hole is larger than the second hole.
    [00122] [00122] Example 15 - A surgical instrument comprising a drive shaft, an end actuator that extends distally from the drive shaft, a motor configured to generate at least one rotating movement, and a pivoting actuator - operably coupled to the motor. "The end actuator is pivotable in relation to the drive shaft between an initial configuration and a predetermined pivot configuration. The pivot actuator is configured to pivot the end actuator from the initial position in response to at least one movement The articulation of the outer actuator between the initial position and the predetermined articulated position comprises an articulated movement driven by a predetermined motor and an articulated movement not driven by a predetermined motor.
    [00123] [00123] Example 16 - The surgical instrument of Example 15, being that a tilting element is configured to activate the articulation movement not driven by a predetermined motor regardless of the motor.
    [00124] [00124] Example 17 - The surgical instrument of Example 15, being that an alignment feature is configured to trigger the articulation movement not driven by a predetermined motor regardless of the motor.
    [00125] [00125] Example 18 - The surgical instrument of Example 15, 16 or 17, with the predetermined motor driven articulation movement being configured to release the end actuator to a first articulated position.
    [00126] [00126] Example 19 - The surgical instrument of Example 15, 16, 17 or 18, the articulation movement being driven by a predetermined motor being configured to release the end actuator to a second articulated position.
    [00127] [00127] Example 20 - The surgical instrument of Example 15, 16, 17, 18 or 19, the second articulated position being closer to the predetermined articulated position than the first articulated position.
    权利要求:
    Claims (20)
    [1]
    1. Surgical instrument characterized by comprising: an articulation joint; an end actuator extending distally from the articulated joint, the end actuator comprising a movable drive pin between a first position and a second position; a drive shaft that extends proximally from the articulated joint; an articulation actuator configured to move the actuating pin from the first position to the second position to shift the end actuator from a non-articulated configuration to an articulated configuration; and a pin slot extending from the pivot driver, the pin slot being configured to movably accommodate the drive pin in the non-articulated configuration, and the pin slot being configured to firmly accommodate the drive pin in articulated configuration.
    [2]
    2. Surgical instrument, according to claim 1, characterized in that the pin slot comprises: a first portion configured to accommodate the actuation pin in the first position; and a second portion configured to accommodate the drive pin in the second position.
    [3]
    Surgical instrument according to claim 2, characterized in that the first portion is larger in width than the second portion.
    [4]
    4. Surgical instrument, according to claim 3, characterized in that the actuation pin is movable within the first independent portion of the articulation actuator.
    [5]
    Surgical instrument according to claim 1, characterized in that the actuation pin comprises a first orientation defining a first width in the first position, the actuation pin comprising a second orientation defining a second width in the second position, and being that the second width is greater than the first width.
    [6]
    6. Surgical instrument according to claim 1, characterized in that the slot of the pin comprises: a proximal wall; and a distal wall, and the actuation pin is movable between the proximal wall and the distal wall independent of the articulation actuator.
    [7]
    7. Surgical instrument, according to claim 1, characterized in that the slot of the pin comprises: a first side wall, the actuation pin being supported against the first side wall in the non-articulated configuration; and a second side wall with the drive pin resting against the second side wall in the hinged configuration.
    [8]
    8. Surgical instrument characterized by comprising: an end actuator; a drive shaft, where the end actuator extends distally from the drive shaft, and the end actuator is movable in relation to the drive shaft between an un-hinged configuration and an articulated configuration; and an adaptive closing actuator system configured to transition the end actuator between an open configuration and a closed configuration, the adaptive closing actuator system comprising a first closing length in the non-articulated configuration, the actuating system of Adaptive closure comprises a second closing length in the hinged configuration, the first closing length being different from the second closing length.
    [9]
    9. Surgical instrument, according to claim 8, characterized in that the adaptive closing actuator system comprises: a section of distal closing tube; a section of proximal closing tube; and a flexible band configured to couple the section of the distal closing tube to the section of the proximal closing tube.
    [10]
    10. Surgical instrument according to claim 9, characterized in that the flexible band comprises: a distal portion fixed to the section of the distal closing tube; and a proximal portion movably coupled to the proximal closing tube section.
    [11]
    11. Surgical instrument according to claim 10, characterized in that the proximal closing tube section comprises a casing configured to mobilely accommodate the proximal portion of the flexible band.
    [12]
    12. Surgical instrument according to claim 8, characterized in that the adaptive closing drive system comprises: a section of distal closing tube; a section of proximal closing tube; and a connection that extends between the section of the distal closure tube and the section of the proximal closure tube.
    [13]
    Surgical instrument according to claim 12, characterized in that the connection comprises: a first pivot pin; and a second pivot pin.
    [14]
    Surgical instrument according to claim 13, characterized in that the section of the distal closing tube comprises a first hole configured to receive the first pivot pin, the section of the proximal closing tube comprising a second hole configured to receive the second pivot pin, and the first hole is larger than the second hole.
    [15]
    15. Surgical instrument characterized by comprising: a drive shaft; an end actuator extending distally from the drive shaft, the end actuator being pivotable with respect to the drive shaft between an initial position and a predetermined hinged position; a motor configured to generate at least one rotating movement; an articulation actuator operationally coupled to the engine, the articulation actuator being configured to articulate the end actuator from the initial position in response to at least one rotating movement of the engine; and the articulation of the end actuator between the initial position and the predetermined articulated position comprises: a movement of articulation driven by a predetermined motor; and a joint movement not driven by a predetermined motor.
    [16]
    16. Surgical instrument, according to claim 15,
    characterized by a tilting element being configured to trigger the articulation movement not driven by a predetermined motor independently of the motor.
    [17]
    17. Surgical instrument, according to claim 15, characterized in that an alignment feature is configured to trigger the articulation movement not driven by a predetermined motor regardless of the motor.
    [18]
    18. Surgical instrument, according to claim 15, characterized in that the articulation movement driven by a predetermined motor - is - configured to release the end actuator to a first articulated position.
    [19]
    19. Surgical instrument according to claim 18, characterized in that the articulation movement not driven by a predetermined motor is configured to release the end actuator to a second articulated position.
    [20]
    20. Surgical instrument according to claim 19, characterized in that the second articulated position is closer to the predetermined articulated position than the first articulated position.
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    同族专利:
    公开号 | 公开日
    EP3476322A1|2019-05-01|
    US11090075B2|2021-08-17|
    JP2021500994A|2021-01-14|
    CN111295147A|2020-06-16|
    WO2019089364A1|2019-05-09|
    US20190125380A1|2019-05-02|
    EP3636178A1|2020-04-15|
    EP3632355A1|2020-04-08|
    EP3476322B1|2021-03-17|
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    法律状态:
    2021-11-23| B350| Update of information on the portal [chapter 15.35 patent gazette]|
    优先权:
    申请号 | 申请日 | 专利标题
    US15/797,228|US11090075B2|2017-10-30|2017-10-30|Articulation features for surgical end effector|
    US15/797,228|2017-10-30|
    PCT/US2018/057649|WO2019089364A1|2017-10-30|2018-10-26|Articulation features for surgical end effector|
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