Patent Application
20250221728
This disclosure relates to surgical instruments and systems and, more particularly, to articulating ultrasonic surgical instruments having distally positioned transducers such as for use in surgical robotic systems.
Ultrasonic surgical instruments and systems utilize ultrasonic energy, i.e., ultrasonic vibrations, to treat tissue. More specifically, a typical ultrasonic surgical instrument or system includes a transducer configured to produce mechanical vibration energy at ultrasonic frequencies that is transmitted along a waveguide to an ultrasonic end effector configured to treat, e.g., seal and transect, tissue.
Some ultrasonic surgical instruments and systems incorporate rotation features, thus enabling rotation of the end effector assembly to a desired orientation within a surgical site. However, the ability to manipulate the end effector assembly within the surgical site via rotation alone is limited.
Adding articulation capability to an ultrasonic surgical instrument increases the positions and orientations the end effector assembly can achieve within a surgical site. However, with the addition of articulation capability comes the challenges of routing mechanical actuation signals, power signals, control signals, and/or mechanical vibration energy to the end effector assembly.
As used herein, the term “distal” refers to the portion that is being described which is farther from an operator (whether a human surgeon or a surgical robot), while the term “proximal” refers to the portion that is being described which is closer to the operator. Terms including “generally,” “about,” “substantially,” and the like, as utilized herein, are meant to encompass variations, e.g., manufacturing tolerances, material tolerances, use and environmental tolerances, measurement variations, design variations, and/or other variations, up to and including plus or minus 10 percent. To the extent consistent, any of the aspects described herein may be used in conjunction with any or all of the other aspects described herein.
Provided in accordance with aspects of this disclosure is an ultrasonic surgical instrument including a body, an ultrasonic blade extending distally from the body, a jaw member, a jaw open cable, and a jaw close cable. The jaw member includes a rigid structural frame and a compliant jaw liner. The rigid structural frame includes a bifurcated proximal portion and an elongated distal portion. The bifurcated proximal portion includes first and second jaw flags pivotably coupled to the body of the ultrasonic blade to enable pivoting of the jaw member relative to the ultrasonic blade between a spaced-apart position and an approximated position. The compliant jaw liner is secured to the elongated distal portion of the rigid structural frame and configured to oppose the ultrasonic blade in the approximated position of the jaw member. The jaw open cable is coupled to the first jaw flag at a first location and routed along a first path extending about a portion of an outer edge of the first jaw flag. The jaw close cable is coupled to the second jaw flag at a second location and routed along a second path extending about a portion of an outer edge of the second jaw flag. The first and second paths are respectively configured such that proximal pulling of the jaw open cable pivots the jaw member towards the spaced-apart position and such that proximal pulling of the jaw close cable pivots the jaw member towards the approximated position.
In an aspect of this disclosure, the ultrasonic surgical instrument further includes an ultrasonic transducer disposed within the body and an ultrasonic horn coupling the ultrasonic transducer with the ultrasonic blade. In such aspects, the ultrasonic horn may cooperate with the body to sealingly enclose the ultrasonic transducer within a proximal casing of the body. The ultrasonic horn may include, in aspects, an annular flange that is secured between a distal collar of the body and the proximal casing of the body to sealingly enclose the ultrasonic transducer within the proximal casing of the body.
In another aspect of this disclosure, the first and second jaw flags include respective first and second pivot bosses defining a pivot axis and configured for receipt with first and second pivot apertures, respectively, defined through the body on opposite sides of the ultrasonic blade.
In still another aspect of this disclosure, the jaw open cable includes a first ferrule engaged at a distal end thereof. The first ferrule is captured within a first capture recess of the first jaw flag to thereby couple the jaw open cable to the first jaw flag. Alternatively or additionally, the jaw close cable includes a second ferrule engaged at a distal end thereof. The second ferrule is captured within a second capture recess of the second jaw flag to thereby couple the jaw close cable to the second jaw flag.
In yet another aspect of this disclosure, the first and second capture recesses are offset differently from one another relative to a jaw member pivot axis.
In still yet another aspect of this disclosure, the portion of the outer edge of the first jaw flag defines a first cable guide channel configured to at least partially receive the jaw open cable and the portion of the outer edge of the second jaw flag defines a second cable guide channel configured to at least partially receive the jaw close cable.
In another aspect of this disclosure, the body defines first and second slots and first and second guide channels configured to guide the jaw open and close cables proximally from the jaw member.
In another aspect of this disclosure, the body defines a proximal extension configured to couple the body to an articulation joint.
In yet another aspect of this disclosure, the body includes a first distal collar part and a second distal collar part. The first and second distal collar parts are configured to engage one another to define first and second pivot apertures configured to receive first and second pivot bosses of the first and second jaw flags, respectively, to pivotably couple the jaw member to the body.
In still another aspect of this disclosure, the body includes a distal collar defining first and second openings including first and second mouths in communication with the first and second openings, respectively. The first and second openings are configured to receive first and second pivot bosses of the first and second jaw flags through the respective first and second mouths and into the first and second openings, respectively. In such aspects, first and second fillers may be engaged within the first and second mouths, respectively, thereby enclosing the first and second openings and capturing the first and second pivot bosses, respectively, therein.
Another ultrasonic surgical instrument provided in accordance with this disclosure includes a housing, a proximal shaft, an end effector assembly, an articulating section coupling the proximal shaft and the end effector assembly with one another, a jaw open cable, and a jaw close cable. The end effector assembly includes a body housing an ultrasonic transducer therein, an ultrasonic blade coupled to the ultrasonic transducer and extending distally from the body, and a jaw member including first and second jaw flags pivotably coupled to the body to enable pivoting of the jaw member relative to the ultrasonic blade between a spaced-apart position and an approximated position. The jaw open cable is coupled to and routed about the first jaw flag in a first manner such that proximal pulling of the jaw open cable pivots the jaw member towards the spaced-apart position. The jaw close cable is coupled to and routed about the second jaw flag in a second, different manner such that proximal pulling of the jaw close cable pivots the jaw member towards the approximated position.
In an aspect of this disclosure, the jaw open and close cables are routed from the first and second jaw flags, respectively, proximally along the body and through the articulating section and proximal shaft into the housing wherein the jaw open and close cables are operably coupled to a jaw drive sub-assembly.
In another aspect of this disclosure, the housing is configured to releasably engage a surgical robotic system configured to provide at least one input to the jaw drive sub-assembly to actuate the jaw open and close cables.
In yet another aspect of this disclosure, the end effector assembly further includes an ultrasonic horn coupling the ultrasonic transducer with the ultrasonic blade. In such aspects, the ultrasonic horn may cooperate with the body to sealingly enclose the ultrasonic transducer within a proximal casing of the body.
In still another aspect of this disclosure, the first and second jaw flags include respective first and second pivot bosses configured for receipt with first and second pivot apertures, respectively, defined through the body on opposite sides of the ultrasonic blade.
In still yet another aspect of this disclosure, the first jaw flag includes a first capture recess defined therein and a first cable guide channel extending from the first capture recess about a portion of an outer edge of the first jaw flag. The jaw open cable includes a distal end fixed within the first capture recess. The jaw open cable extends from the fixed distal end at least partially within the first cable guide. Additionally or alternatively, the second jaw flag includes a second capture recess defined therein and a second cable guide channel extending from the second capture recess about a portion of an outer edge of the second jaw flag. The jaw close cable includes a distal end fixed within the second capture recess. The jaw close cable extends from the fixed distal end at least partially within the second cable guide.
In another aspect of this disclosure, the first and second jaw flags are pivotably coupled to the body on the opposite sides of the ultrasonic blade via first and second pivot bosses extending from the first and second jaw flags through first and second apertures, respectively, defined within the body. The jaw open cable extends at least partially within the first cable guide on a first side of a pivot axis defined through the first and second pivot bosses and the jaw close cable extends at least partially within the second cable guide on a second, opposite side of the pivot axis.
The details of one or more aspects of this disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the techniques described in this disclosure will be apparent from the description and drawings, and from the claims.
Various aspects and features of this disclosure are described hereinbelow with reference to the drawings wherein like numerals designate identical or corresponding elements in each of the several views.
This disclosure provides articulating ultrasonic surgical instruments having distally positioned transducers. As described in detail below, the articulating ultrasonic surgical instruments of this disclosure are configured for use with a surgical robotic system, which may include, for example, a surgical console, a control tower, and one or more movable carts having a surgical robotic arm coupled to a setup arm. The surgical console receives user inputs through one or more interface devices, which are interpreted by the control tower as movement commands for moving the surgical robotic arm. The surgical robotic arm includes a controller, which is configured to process the movement commands and to generate a torque command for activating one or more actuators of the robotic arm, which, in turn, move the robotic arm in response to the movement commands. Those skilled in the art will understand that this disclosure, although described hereinbelow in connection with surgical robotic systems, may also be adapted for use with handheld articulating ultrasonic surgical instruments such as, for example, articulating endoscopic ultrasonic surgical instruments and/or articulating open ultrasonic surgical instruments.
With reference to
The one or more surgical instruments 50 may be configured for use during minimally invasive surgical procedures and/or open surgical procedures. In aspects, one of the surgical instruments 50 may be an endoscope, such as an endoscopic camera 51, configured to provide a video feed for the clinician. In further aspects, one of the surgical instruments 50 may be an energy based surgical instrument such as, for example, an electrosurgical forceps or ultrasonic sealing and dissection instrument configured to seal tissue by grasping tissue between opposing structures and applying electrosurgical energy or ultrasonic energy, respectively, thereto. In yet further aspects, one of the surgical instruments 50 may be a surgical stapler including a pair of jaws configured to clamp tissue, deploy a plurality of tissue fasteners, e.g., staples, through the clamped tissue, and/or to cut the stapled tissue. In aspects, one of the surgical instruments 50 is an articulating ultrasonic surgical instrument having a distally positioned transducer in accordance with this disclosure.
One of the robotic arms 40 may include a camera 51 configured to capture video of the surgical site. The surgical console 30 includes a first display 32, which displays a video feed of the surgical site provided by camera 51 of the surgical instrument 50 disposed on the robotic arms 40, and a second display 34, which displays a user interface for controlling the surgical robotic system 10. The first and second displays 32 and 34 are touchscreens allowing for displaying various graphical user inputs.
The surgical console 30 also includes a plurality of user interface devices, such as foot pedals 36 and a pair of handle controllers 38a and 38b which are used by a clinician to remotely control robotic arms 40. The surgical console further includes an armrest 33 used to support clinician's arms while operating the handle controllers 38a and 38b.
The control tower 20 includes a display 23, which may be a touchscreen, and outputs on the graphical user interfaces (GUIs). The control tower 20 also acts as an interface between the surgical console 30 and one or more robotic arms 40. In particular, the control tower 20 is configured to control the robotic arms 40, such as to move the robotic arms 40 and the corresponding surgical instrument 50, based on a set of programmable instructions and/or input commands from the surgical console 30, in such a way that robotic arms 40 and the surgical instrument 50 execute a desired movement sequence in response to input from the foot pedals 36 and the handle controllers 38a and 38b.
Each of the control tower 20, the surgical console 30, and the robotic arm 40 includes a respective computer 21, 31, 41. The computers 21, 31, 41 are interconnected to each other using any suitable communication network based on wired or wireless communication protocols. The term “network,” whether plural or singular, as used herein, denotes a data network, including, but not limited to, the Internet, Intranet, a wide area network, or a local area network, and without limitation as to the full scope of the definition of communication networks as encompassed by this disclosure. Suitable protocols include, but are not limited to, transmission control protocol/internet protocol (TCP/IP), datagram protocol/internet protocol (UDP/IP), and/or datagram congestion control protocol (DCCP). Wireless communication may be achieved via one or more wireless configurations, e.g., radio frequency, optical, Wi-Fi, Bluetooth® (an open wireless protocol for exchanging data over short distances, using short length radio waves, from fixed and mobile devices, creating personal area networks (PANs)), ZigBee® (a specification for a suite of high level communication protocols using small, low-power digital radios based on the IEEE 122.15.4-2003 standard for wireless personal area networks (WPANs)).
The computers 21, 31, 41 may include any suitable processor(s) (not shown) operably connected to a memory (not shown), which may include one or more of volatile, non-volatile, magnetic, optical, or electrical media, such as read-only memory (ROM), random access memory (RAM), electrically-erasable programmable ROM (EEPROM), non-volatile RAM (NVRAM), or flash memory. The processor(s) may be any suitable processor(s) (e.g., control circuit(s)) adapted to perform the operations, calculations, and/or set of instructions described in this disclosure including, but not limited to, a hardware processor, a field programmable gate array (FPGA), a digital signal processor (DSP), a central processing unit (CPU), a microprocessor, and combinations thereof. Those skilled in the art will appreciate that the processor may be substituted for by using any logic processor (e.g., control circuit) adapted to execute algorithms, calculations, and/or set of instructions described herein.
With reference to
The third link 62c includes a rotatable base 64 having two degrees of freedom. In particular, the rotatable base 64 includes a first actuator 64a and a second actuator 64b. The first actuator 64a is rotatable about a first stationary arm axis which is perpendicular to a plane defined by the third link 62c and the second actuator 64b is rotatable about a second stationary arm axis which is transverse to the first stationary arm axis. The first and second actuators 64a and 64b allow for full three-dimensional orientation of the robotic arm 40.
With reference again to
The robotic arm 40 also includes a plurality of manual override buttons 53 disposed on the IDU 52 and the setup arm 62, which may be used in a manual mode. The clinician may press one or the buttons 53 to move the component associated with the button 53.
The joints 44a and 44b include an actuator 48a and 48b configured to drive the joints 44a, 44b, 44c relative to each other through a series of belts 45a and 45b or other mechanical linkages such as a drive rod, a cable, or a lever and the like. In particular, the actuator 48a is configured to rotate the robotic arm 40 about a longitudinal axis defined by the link 42a.
The actuator 48b of the joint 44b is coupled to the joint 44c via the belt 45a, and the joint 44c is in turn coupled to the joint 46c via the belt 45b. Joint 44c may include a transfer case coupling the belts 45a and 45b, such that the actuator 48b is configured to rotate each of the links 42b, 42c and the holder 46 relative to each other. More specifically, links 42b, 42c, and the holder 46 are passively coupled to the actuator 48b which enforces rotation about a remote center point “P” which lies at an intersection of the first axis defined by the link 42a and the second axis defined by the holder 46. Thus, the actuator 48b controls the angle θ between the first and second axes allowing for orientation of the surgical instrument 50. Due to the interlinking of the links 42a, 42b, 42c, and the holder 46 via the belts 45a and 45b, the angles between the links 42a, 42b, 42c, and the holder 46 are also adjusted in order to achieve the desired angle θ. In aspects, some or all of the joints 44a, 44b, 44c may include an actuator to obviate the need for mechanical linkages.
With reference to
The computer 41 includes a plurality of controllers, namely, a main cart controller 41a, a setup arm controller 41b, a robotic arm controller 41c, and an IDU controller 41d. The main cart controller 41a receives and processes joint commands from the controller 21a of the computer 21 and communicates them to the setup arm controller 41b, the robotic arm controller 41c, and the IDU controller 41d. The main cart controller 41a also manages instrument exchanges and the overall state of the movable cart 60, the robotic arm 40, and the IDU 52. The main cart controller 41a also communicates actual joint angles back to the controller 21a.
The setup arm controller 41b controls each of joints 63a and 63b, and the rotatable base 64 of the setup arm 62 and calculates desired motor movement commands (e.g., motor torque) for the pitch axis and controls the brakes. The robotic arm controller 41c controls each joint 44a and 44b of the robotic arm 40 and calculates desired motor torques required for gravity compensation, friction compensation, and closed loop position control of the robotic arm 40. The robotic arm controller 41c calculates a movement command based on the calculated torque. The calculated motor commands are then communicated to one or more of the actuators 48a and 48b in the robotic arm 40. The actual joint positions are then transmitted by the actuators 48a and 48b back to the robotic arm controller 41c.
The IDU controller 41d receives desired joint angles for the surgical instrument 50, such as wrist and jaw angles, and computes desired currents for the motors in the IDU 52. The IDU controller 41d calculates actual angles based on the motor positions and transmits the actual angles back to the main cart controller 41a.
The robotic arm 40 is controlled as follows. Initially, a pose of the handle controller controlling the robotic arm 40, e.g., the handle controller 38a, is transformed into a desired pose of the robotic arm 40 through a hand eye transform function executed by the controller 21a. The hand eye function, as well as other functions described herein, is/are embodied in software executable by the controller 21a or any other suitable controller described herein. The pose of the handle controller 38a may be embodied as a coordinate position and role-pitch-yaw (“RPY”) orientation relative to a coordinate reference frame, which is fixed to the surgical console 30. The desired pose of the instrument 50 is relative to a fixed frame on the robotic arm 40. The pose of the handle controller 38a is then scaled by a scaling function executed by the controller 21a. In aspects, the coordinate position is scaled down and the orientation is scaled up by the scaling function. In addition, the controller 21a also executes a clutching function, which disengages the handle controller 38a from the robotic arm 40. In particular, the controller 21a stops transmitting movement commands from the handle controller 38a to the robotic arm 40 if certain movement limits or other thresholds are exceeded and in essence acts like a virtual clutch mechanism, e.g., limits mechanical input from effecting mechanical output.
The desired pose of the robotic arm 40 is based on the pose of the handle controller 38a and is then passed by an inverse kinematics function executed by the controller 21a. The inverse kinematics function calculates angles for the joints 44a, 44b, 44c of the robotic arm 40 that achieve the scaled and adjusted pose input by the handle controller 38a. The calculated angles are then passed to the robotic arm controller 41c, which includes a joint axis controller having a proportional-derivative (PD) controller, the friction estimator module, the gravity compensator module, and a two-sided saturation block, which is configured to limit the commanded torque of the motors of the joints 44a, 44b, 44c.
Turning to
Housing 120 of instrument 110 includes a body 122 and a proximal face plate 124 that cooperate to enclose actuation assembly 190 therein. Proximal face plate 124 includes through holes defined therein through which input couplers 191-194 of actuation assembly 190 extend. A pair of latch levers 126 (only one of which is illustrated in
Shaft 130 of instrument 110 includes a proximal section 134 and an articulating section 136 disposed between and interconnecting proximal section 134 with end effector assembly 500. Articulating section 136 includes one or more articulating components such as, for example, one or more links, pivots, joints, etc. A plurality of articulation cables (not shown) or other suitable actuators extend through articulating section 136. More specifically, the articulation cables may be operably coupled to end effector assembly 500 at the distal ends thereof and extend proximally through articulating section 136 of shaft 130 and proximal section 134 of shaft 130, and into housing 120, wherein the articulation cables operably couple with an articulation sub-assembly 200 of actuation assembly 190 to enable selective articulation of end effector assembly 500 relative to proximal section 134 and housing 120, e.g., about at least two axes of articulation (yaw and pitch articulation, for example).
With particular reference to
Referring again to
Jaw drive sub-assembly 400 operably couples third and fourth input couplers 193, 194 of actuation assembly 190 with jaw member 550 such that, upon receipt of appropriate input into third coupler 193, jaw drive sub-assembly 400 pivots jaw member 550 towards the approximated position to clamp tissue between and apply a jaw force within an appropriate jaw force range to tissue clamped between compliant jaw liner 554 of jaw member 550 and ultrasonic blade 540, and such that, upon receipt of appropriate input into fourth input coupler 194, jaw drive sub-assembly 400 pivots jaw member 550 towards the spaced-apart position to release clamped tissue. Alternatively, jaw drive sub-assembly 400 may be configured to receive a single input, e.g., into third input coupler 193 or fourth input coupler 194, to enable both opening and closing jaw member 550, e.g., wherein the input in a first direction closes jaw member 550 and the input in a second, opposite direction opens the jaw member 550. In either configuration, jaw drive sub-assembly 400 may be tuned to provide a jaw clamping force, or jaw clamping force within a jaw clamping force range, to tissue clamped between jaw member 550 and ultrasonic blade 540, such as described in U.S. patent application Ser. No. 17/071,263, filed on Oct. 15, 2020, the entire contents of which are hereby incorporated herein by reference. Alternatively, the jaw drive sub-assembly 400 may include a force limiting feature, e.g., a spring, whereby the clamping force applied to tissue clamped between jaw member 550 and ultrasonic blade 540 is limited to a particular jaw clamping force or a jaw clamping force within a jaw clamping force range, such as described in U.S. Pat. No. 10,368,898, issued on Aug. 6, 2019, the entire contents of which are hereby incorporated herein by reference.
Actuation assembly 190 is configured to operably interface with a surgical robotic system, e.g., system 10 (
Turing to
Referring to
Distal collar 514 is formed from first and second collar parts 522, 524, respectively. First collar part 522 is configured to cooperate with an open distal end of proximal casing 512 to sandwich annular flange 537 of ultrasonic horn 534 therebetween. To this end, first collar part 522 and annular flange 537 may define complementary engaging features, e.g., corresponding recesses and protrusions, to facilitate proper securement therebetween. Likewise, the open distal end of proximal casing 512 and annular flange 537 may define complementary engaging features, e.g., corresponding recesses and protrusions, to facilitate proper securement therebetween. The open distal end of proximal casing 512 is secured to annular flange 537 on a proximal side of annular flange 537, e.g., via welding, and first collar part 522 is secured to annular flange 537 on a distal side of annular flange 537, e.g., via welding, to secure proximal casing 512, annular flange 537, and first collar part 522 to one another, thereby securing and sealingly enclosing ultrasonic transducer 532 within proximal casing 512.
Proximal casing 512 may additionally or alternatively be configured to engage ultrasonic horn 534 and sealingly enclosing ultrasonic transducer 532 therein similarly as detailed in Patent Application Publication Nos. US 2019/0231385, US 2021/0369295, and/or WO 2021/006984, the entire contents of each of which is hereby incorporated herein by reference.
Continuing with reference to
Second collar part 524 defines a substantially U-shaped configuration that, together with distal cut-out 526 of first collar 522, provides sufficient clearance for pivoting of jaw member 550 relative to body 510. Second collar part 524 further includes opposing lateral recesses 528b defined within a proximally facing surface thereof. Upon securing, e.g., welding, first and second collar parts 522, 524 with one another, opposing lateral recesses 528a, 528b cooperate to define opposing apertures 529 that capture pivot bosses 559a, 559b of jaw member 550 to pivotably couple jaw member 550 to body 510.
Referring momentarily to
With reference again to
Ultrasonic horn 534 is engaged to the stack of piezoelectric elements of ultrasonic transducer 532 and extends distally therefrom. Ultrasonic horn 534 includes a base 535 disposed within proximal casing 512 and a nose 536 extending distally from base 535 externally of proximal casing 512. Annular flange 537 is disposed between base 535 and nose 536. As noted above, annular flange 537 is sealed, e.g., via welding, between distal collar 514 and proximal casing 512 to thereby sealingly enclose ultrasonic transducer 532 within proximal casing 512. In aspects, annular flange 537 is disposed at or near a nodal point along ultrasonic horn 534. Nose 536 of ultrasonic horn 534 may define a distal threaded female receiver configured to enable releasable threaded engagement of ultrasonic blade 540 therewith or may be unitarily formed with ultrasonic blade 540 as a single component.
Ultrasonic blade 540 extends distally from ultrasonic horn 534 and distally from distal collar 514 of body 510. Ultrasonic blade 540 may define a curved configuration wherein the directions of movement of jaw member 550 between the spaced-apart and approximated positions are perpendicular to the direction of curvature of ultrasonic blade 540. However, it is also contemplated that ultrasonic blade 540 define a straight configuration or that ultrasonic blade 540 additionally or alternatively curve towards or away from jaw member 550; that is, where the directions of movement of jaw member 550 between the spaced-apart and approximated positions are coplanar or parallel to the direction of curvature of ultrasonic blade 540. Multiple curvatures of ultrasonic blade 540 (in the same or different directions) and/or combinations of curved and linear portions of ultrasonic blade 540 are also contemplated. Likewise, some portions or surfaces of ultrasonic blade 540 may be curved while others are not curved. Ultrasonic blade 540 may additionally or alternatively taper in width (a dimension perpendicular to the directions of movement of jaw member 550 in a proximal-to-distal direction and/or in height (a dimension parallel or coplanar with the directions of movement of jaw member 550) in a proximal-to-distal direction. Other configurations are also contemplated.
Referring also to
At least a portion of each edge 558c is arcuate such that at least a portion of each cable guide channel 562a, 562b is also arcuate. The arcuate portions of edges 558c of jaw flags 557a, 557b and, thus, cable guide channels 562a, 562b thereof, may define constant radii of curvature (that are the same as or different from one another) centered about or off-center relative to pivot bosses 559a, 559b. Alternatively, at least a portion of each edge 558c may define at least a portion of an oval (wherein the ovals of jaw flags 557a, 557b are the same or different from one another) such that cable guide channels 562a, 562b extend along portions of ovals.
Each capture recess 560a, 560b is disposed at an end of the corresponding cable guide channel 562a, 562b. Capture recesses 560a, 560b and cable guide channels 562a, 562b are positioned differently on jaw flags 557a, 557b such that, with respect to jaw flag 557a, cable guide channel 562a extends from capture recess 560a about at least a portion of jaw flag 557a on a first side, e.g., above, pivot bosses 559a, 559b while, with respect to the other jaw flag 557b, cable guide channel 562b extends from capture recess 560b about at least a portion of jaw flag 557b on a second, opposite side, e.g., below, pivot bosses 559a, 559b. Capture recesses 560a, 560b and cable guide channels 562a, 562b are configured to receive respective jaw open and close cables 580, 590 to enable pivoting of jaw member 550 towards and away from ultrasonic blade 540, respectively, as detailed below.
Continuing with reference to
Jaw open and close cables 580, 590 (
More specifically, in order to pivot jaw member 550 towards the spaced-apart position, jaw drive sub-assembly 400 of actuation assembly 190 (
Jaw flags 557a, 557b, cable guide channels 562a, 562b, and/or capture recesses 560a, 560b may be configured, e.g., relative to pivot bosses 559a, 559b, to provide a desired jaw closure and/or jaw opening configuration., e.g., by varying the arcuate shapes of cable guide channels 562a, 562b along their lengths and/or relative to one another, as detailed above. For example, the above-noted components may be configured such that jaw member 550 is pivoted a greater amount in response to pulling of jaw close cable 590 during initial jaw closure and a smaller amount in response to the same pulling of jaw close cable 590 as jaw member 550 approaches the approximated position, although the opposite is also contemplated. As another example, the above-noted components may be configured differently on one side as compared the other such that jaw member 550 is pivoted a smaller amount (in magnitude) towards the approximated position in response to pulling of jaw close cable 590 and is pivoted a greater amount (in magnitude) towards the spaced-apart position in response to the same pulling of jaw open cable 580, although the opposite is also contemplated.
Although this disclosure is detailed with respect to an ultrasonic surgical instrument including a distally positioned transducer, this disclosure is equally applicable to other suitable surgical instruments. For example and without limitation, the transducer, ultrasonic horn, and ultrasonic blade may be replaced with energy-generating electrodes and a fixed jaw member configured for positioning opposite the movable jaw member. In such configurations, the proximal body of the end effector assembly may house power, energy-generating, and/or control electronics to operate an energy-based component associated with the fixed jaw member and/or the movable jaw member, e.g., either or both including an RF electrode for monopolar or bipolar tissue treatment, a thermal cutting element configured to thermally treat tissue, a microwave probe, etc.
It will be understood that various modifications may be made to the aspects and features disclosed herein. Therefore, the above description should not be construed as limiting, but merely as exemplifications of various configurations. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/IB2023/053175 | 3/30/2023 | WO |
| Number | Date | Country | |
|---|---|---|---|
| 63325195 | Mar 2022 | US |
