JP6625569B2 - Unlock feature of pivotable articulating joint for surgical stapler - Google Patents

Description

  In some situations, endoscopic surgical instruments may be preferred over conventional open surgical devices because smaller incisions may reduce post-operative recovery time and complications. Thus, some endoscopic surgical instruments may be suitable for positioning a distal end effector at a desired surgical site through a trocar cannula. These distal end effectors can engage tissue in various ways to achieve a diagnostic or therapeutic effect (eg, end cutters, graspers, cutters, staplers, clip appliers, access devices, drugs / genes). Therapy delivery devices and energy delivery devices that use ultrasonic vibration, RF, laser, etc.). Endoscopic surgical instruments may include a shaft operated by a clinician between an end effector and a handle portion. Such a shaft allows for insertion to a desired depth and rotation about the longitudinal axis of the shaft, thereby facilitating positioning of the end effector within the patient. Positioning the end effector is further facilitated by including one or more articulated joints or mechanisms that allow the end effector to be selectively articulated or otherwise deflected with respect to the longitudinal axis of the shaft. Can be done.

  An example of an endoscopic surgical instrument is a surgical stapler. Some of such staplers cut the tissue layer near the cut end of the tissue layer by clamping the tissue layer, cutting the clamped tissue layer, and driving staples through the tissue layer. The layers are operable to substantially seal each other. By way of example only, an exemplary surgical stapler is disclosed in U.S. Pat. No. 4,805,823 issued Feb. 21, 1989, entitled "Packet Configuration for Internal Organ Staplers," issued May 16, 1995. No. 5,415,334 entitled “Surgical Stapler and Strap Cartridge”, and US Pat. No. 5,465,895 entitled “Surgical Stapler Instrument” issued on Nov. 14, 1995, on Jan. 28, 1997. No. 5,597,107 entitled “Surgical Stapler Instrument” issued, “Surgical Instrument” issued May 27, 1997 No. 5,632,432, entitled “Surgical Instrument” issued on Oct. 7, 1997, entitled “Articulation Assembly for” issued on Jan. 6, 1998, entitled “Surgical Instrument”. No. 5,704,534 entitled "Surgical Instruments", and US Pat. No. 5,814,055 entitled "Surgical Clamping Mechanism", issued on September 29, 1998, issued on December 27, 2005. No. 6,978,921 entitled “Surgical Stapling Instrument Incorporating an E-Beam Filing Mechanism”, issued on Feb. 21, 2006, entitled “Surgical Stapling Instrument Incorporating an E-Beam Filing Mechanism”. No. 7,000,818 entitled "Gical Stapling Instrument Living Separating Distinct Closing and Filing Systems", entitled "Surgical Introductory Introduction International Investment Hourly Introduction International Investment Agreement", issued on December 5, 2006. , 143,923, entitled “Surgical Stapling Instrument Incorporating a Multi-Stroke Filing Mechanism with a Flexible Rack”, issued on Dec. 4, 2007; Issued "Surgical Stapling Instrument Incorporating a Multistroke Firing Mechanism Having a Rotary Transmission entitled" same No. 7,367,485, issued on June 3, 2008, the "Surgical Stapling Instrument Havinga Single Lockout Mechanism for Prevention of Firing No. 7,380,695, entitled "Articulating Surgical Strapping Instrument Incorporating a Two-Piece E-Beam Filin," issued June 3, 2008. No. 7,380,696 entitled "Mechanism" and No. 7,404,508 entitled "Surgical Stapling and Cutting Device" issued on July 29, 2008, and issued on October 14, 2008. No. 7,434,715 entitled "Surgical Stapling Instrument Having Multistroke Filling with Opening Lockout", published on May 25, 2010, entitled "Disposable Lifetime Utilization of a Lifestyle Shopping Utilization for Lifetime Utilization." No. 721,930, issued on April 2, 2013, “Surgical Stapl. No. 8,408,439 entitled "ng Instrument with An Articulable End Effector," and "Motor-Driven Electronic Contracting Electronic Contracting Electronic Contracting Electronic Contracting Electronic Contracting Electronic Contracting Electronic Contracting Electronic Component." No. 453,914. The disclosure of each of the U.S. patents cited above is incorporated herein by reference.

  Although the surgical staplers described above have been described as being used in endoscopic procedures, such surgical staplers can also be used in open procedures and / or other non-endoscopic procedures. Should understand. By way of example only, in thoracic surgery where a trocar is not used as a stapler conduit, the surgical stapler may be inserted between the patient's ribs by thoracotomy to reach one or more organs. In such operations, staplers may be used to cut and close blood vessels leading to the lungs. For example, blood vessels leading to an organ can be cut and closed with a stapler prior to removing the organ from the thoracic cavity. It goes without saying that the surgical stapler can be used in various other situations and operations.

  An example of a surgical stapler that may be particularly suitable for or used in thoracotomy is entitled "Surgical Instrument End Effector Articulation Drive with Pinion and Opposing Racks" filed February 28, 2013. U.S. Patent Application No. 13 / 780,067, filed Feb. 28, 2013, entitled "Lockout Feature for Mobile Cutting Member of Surgical Instrument", filed Feb. 28, 2013. Applied "Integrated Tissue Positioning and Jaw Alignment Features for Su" No. 13 / 780,106 entitled "Regular Stapler" and No. 13 / 780,120 entitled "Jaw Closure Feature for End Effector of Surgical Instrument" filed on Feb. 28, 2013. No. 13 / 780,162, entitled "Surgical Instrument with Articulation Lock having a Detenting Binary Spring" filed on Feb. 28, and "Digital Tip Foreground Forefferment foresight," filed on Feb. 28, 2013. No. 13 / 780,171 entitled February 2, 2013 No. 13 / 780,379 entitled "Staple Forming Features for Surgical Stapling Instrument" filed on the 8th, and entitled "Surgical Instrument with Multi-Difference 13th and 13th, filed February 28, 2013." No./780,402, filed Feb. 28, 2013, entitled "Installation Features for Surgical Instrument End Effector Cartridge". The disclosure of each of the above-cited U.S. patent applications is incorporated herein by reference.

  Although various types of surgical stapling instruments and related components have been made and used, prior to the present inventors, no one had made or used the invention described in the appended claims. It is thought that there is not.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the above general description of the invention and the following detailed description of the embodiments. It plays a role in explaining the principle of.
FIG. 4 illustrates a perspective view of an exemplary articulating surgical stapling instrument. FIG. 2 shows a side view of the device of FIG. 1. FIG. 2 shows a perspective view of the end effector of the device of FIG. 1, wherein the end effector is in a closed configuration. FIG. 4 shows a perspective view of the end effector of FIG. 3, wherein the end effector is in an open configuration. FIG. 4 shows an exploded perspective view of the end effector of FIG. 3. FIG. 6 illustrates an end cross-sectional view of the end effector of FIG. 3 taken along line 6-6 of FIG. 7 shows a side cross-sectional view of the end effector of FIG. 3, taken along line 7-7 of FIG. 4, with the firing beam in a proximal position. FIG. 7 illustrates a side cross-sectional view of the end effector of FIG. 3 taken along line 7-7 of FIG. 4 with the firing beam in a distal position. FIG. 4 shows a perspective view of the end effector of FIG. 3 after being placed in tissue and actuated once in the tissue. FIG. 2 shows a schematic diagram of an exemplary control circuit for use in the apparatus of FIG. FIG. 2 shows a perspective view of the handle assembly of the instrument of FIG. 1 with the housing half and some internal components removed. FIG. 11 illustrates a perspective view of components of the drive assembly from the handle assembly of FIG. 10. FIG. 12 shows a perspective view of the elongate member from the drive assembly of FIG. 11 coupled to the firing beam. FIG. 2 illustrates a top perspective view of another exemplary shaft assembly that can be incorporated into the instrument of FIG. 1 with the end effector in a first position. FIG. 13B illustrates a top view of the shaft assembly of FIG. 13A with the end effector in a second articulated position. FIG. 13B shows a perspective view of the proximal end of the shaft assembly of FIG. 13A showing the articulation knob and internal kinematic components. 13B illustrates a top cross-sectional view of the proximal end of the shaft assembly of FIG. 13A, taken along line 15-15 of FIG. FIG. 13B illustrates a plan view of the shaft assembly of FIG. 13A in a neutral position. FIG. 13B illustrates a perspective exploded view of the end effector and articulating joint of the shaft assembly of FIG. 13A. FIG. 13B shows a partial internal view from the top of the articulating joint of the shaft assembly of FIG. 13A in a first position. FIG. 13B shows a partial interior view from the top of the articulating joint of the shaft assembly of FIG. 13A with the first and second arms rotating the first cam member. FIG. 13B shows a partial internal view from the top of the articulating joint of the shaft assembly of FIG. 13A with the first and second arms rotating the second cam member and further rotating the first cam member. . FIG. 13B is a partial internal view from the top of the articulating joint of the shaft assembly of FIG. 13A with the locking bar resiliently positioning the locking teeth between the teeth of the first and second cam members. Show. FIG. 13B shows a partial internal view from the top of the articulating joint of the shaft assembly of FIG. 13A with the first and second arms further rotating the first cam member. FIG. 13B is an enlarged plan view of the joint surface between the cam member and the locking bar of the shaft assembly in FIG. 13A. FIG. 13B illustrates an enlarged plan view of the mating surface of another exemplary first and second cam members and locking bar of the shaft assembly of FIG. 13A. FIG. 13B shows a close-up plan view of the articulating joint of the shaft assembly of FIG. 13A with another exemplary first cam member. FIG. 21B is an enlarged plan view of the articulating joint of FIG. 21A with the first arm rotating the first cam member. FIG. 21B is an enlarged plan view of the articulating joint of FIG. 21A, with the second arm rotating the second cam member. FIG. 21B is an enlarged plan view of the articulating joint of FIG. 21A with the first arm translated and re-locking the second cam member. FIG. 13B illustrates a close-up plan view of the mating surface of another exemplary cam member with the second cam member and the locking bar of the shaft assembly of FIG. FIG. 22C is an enlarged plan view of the articulating joint of FIG. 22A with the first arm rotating the cam member. FIG. 8 shows a close-up plan view of another exemplary articulating joint with a first cam member having a wavy cam. FIG. 24 is a bottom perspective view of the first cam member of FIG. 23. 23, taken along line 25-25 of FIG. 23, engaging the second cam member and the vertically translatable locking bar, with the locking bar in the locked position. 1 shows a side sectional view of one cam member. 23, taken along line 25-25 of FIG. 23, engaging the second cam member and the locking bar, with the locking bar in the unlocked position. FIG. End face of the first cam member of FIG. 23 taken along line 26-26 of FIG. 23 with the second cam member and the locking bar engaged and the locking bar in the locked position. FIG. 23, taken along line 26-26 of FIG. 23 with the second cam member and the locking bar engaged and the locking bar in the unlocked position. FIG.

  The drawings are not intended to be limiting in any way, and it is contemplated that various embodiments of the invention may be embodied in various other forms, including those not necessarily shown in the drawings. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate several aspects of the present invention and, together with the description, serve to explain the principles of the present invention. However, it will be understood that the invention is not limited to the exact arrangement shown.

  The following description of certain examples of the invention should not be used to limit the scope of the invention. Other examples, features, aspects, embodiments, and advantages of the invention will be apparent to one skilled in the art from the following description, which illustrates, by way of example, one of the best modes conceivable for carrying out the invention. Would. As will be realized, the invention is capable of other different and obvious aspects, all without departing from the invention. Accordingly, the drawings and description should be regarded as illustrative rather than restrictive.

I. Exemplary Surgical Stapler FIG. 1 shows an exemplary surgical stapling and cutting instrument (10) including a handle assembly (20), a shaft assembly (30), and an end effector (40). Is shown. The end effector (40) and the distal portion of the shaft assembly (30) may be operated through a trocar cannula through a trocar cannula in a non-articulated condition as depicted in FIG. 1 to perform a surgical procedure. Dimensioned for insertion to the site. By way of example only, such a trocar may be inserted into the patient's abdomen, between the patient's two ribs, or at some other location. In some situations, the device (10) is used without a trocar. For example, the end effector (40) and the distal portion of the shaft assembly (30) can be inserted directly via a thoracotomy or other type of incision. It should be understood that the terms “proximal” and “distal” are used herein with reference to a clinician holding the handle assembly (20) of the instrument (10). Thus, the end effector (40) is distal to the more proximal handle assembly (20). It will further be appreciated that for convenience and clarity, spatial terms such as "vertical" and "horizontal" are used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and absolute.

A. Exemplary Handle and Shaft Assemblies As shown in FIGS. 1-2, the handle assembly (20) of the present example includes a pistol grip (22), a closure trigger (24), and a firing trigger (26). . Each trigger (24, 26) is selectively pivotable toward and away from the pistol grip (22), as described in more detail below. The handle assembly (20) further includes an anvil release button (25), a fire beam reverse switch (27), and a removable battery pack (28). These components are also described in more detail below. Of course, handle assembly (20) may have various other components, mechanisms, and enablements in addition to or in place of any of the above. Other suitable configurations of handle assembly (20) will be apparent to those of skill in the art in view of the teachings herein.

  As shown in FIGS. 1-3, the shaft assembly (30) of the present example includes an outer closure tube (32), an articulating portion (34), a closure ring (36), and an end effector (40). ). A closure tube (32) extends along the length of the shaft assembly (30). A closure ring (36) is located distal to the articulating portion (34). The closure tube (32) and the closure ring (36) are configured to translate longitudinally with respect to the handle assembly (20). The longitudinal translation of the closure tube (32) is transmitted to the closure ring (36) via the articulating portion (34). Exemplary mechanisms that can be used to provide longitudinal translation of the closure tube (32) and the closure ring (36) are described in more detail below.

  The articulating portion (34) moves the closure ring (36) and end effector (40) laterally away from the longitudinal axis (LA) of the shaft assembly (30) at a desired angle (α). Operable to deflect the light. The end effector (40) can thus reach behind the organ or approach tissue from a desired angle or for other reasons. In some forms, the articulating portion (34) can deflect the end effector (40) along a single plane. In other configurations, the articulating portion (34) can deflect the end effector along more than one plane. In this example, the articulation is controlled via an articulation control knob (35), which is located at the proximal end of the shaft assembly (30). Knob (35) is rotatable about an axis perpendicular to the longitudinal axis (LA) of shaft assembly (30). The closure ring (36) and the end effector (40) pivot in response to rotation of the knob (35) about an axis perpendicular to the longitudinal axis (LA) of the shaft assembly (30). By way of example only, clockwise rotation of knob (35) correspondingly causes clockwise pivoting of closure ring (36) and end effector (40) at articulating portion (34). obtain. The articulating portion (34) directs the longitudinal translation of the closure tube (32) into the closure ring (36) regardless of whether the articulating portion (34) is in a linear or articulated configuration. It is configured to communicate.

  In some embodiments, the articulating portion (34) and / or the articulating control knob (35) is entitled "Surgical Instrument End Effector Articulation Drive with Pinion and Opposing Racks" filed February 28, 2013. It is constructed and operable in accordance with at least some of the teachings of US Patent Publication No. 13 / 780,067, the disclosure of which is incorporated herein by reference. The articulating portion (34) is disclosed in U.S. Patent Application No. [Attorney Docket No. END7429USNP. No. 0614273], the disclosure of which is incorporated herein by reference and / or in accordance with the various teachings below. Other suitable forms that the articulating portion (34) and the articulating knob (35) may take will be apparent to those skilled in the art in view of the teachings herein.

  As shown in FIGS. 1-2, the shaft assembly (30) of the present example further includes a rotation knob (31). The rotation knob (31) rotates the entire shaft assembly (30) and the end effector (40) relative to the handle assembly (20) about the longitudinal axis (LA) of the shaft assembly (30). Operable. In some forms, the rotation knob (31) includes a shaft assembly (30) and an end effector (40) relative to the handle assembly (20) about a longitudinal axis (LA) of the shaft assembly (30). Is operable to selectively lock the angular position of. For example, the rotation knob (31) allows the shaft assembly (30) and the end effector (40) to rotate about the longitudinal axis (LA) of the shaft assembly (30) relative to the handle assembly (20). The shaft assembly (30) and the end effector (40) cannot rotate with respect to the handle assembly (20) about the first longitudinal position and the longitudinal axis (LA) of the shaft assembly (30). Between the first and second longitudinal positions. Of course, the shaft assembly (30) may have various other components, mechanisms, and enablements in addition to or in place of any of the above. By way of example only, at least a portion of the shaft assembly (30) is disclosed in U.S. Patent Application No. 13 / 780,402, filed February 28, 2013, entitled "Surgical Instrument with Multi-Diameter Shaft." And the disclosure of which is incorporated herein by reference. Other suitable configurations of the shaft assembly (30) will be apparent to those skilled in the art in view of the teachings herein.

B. Exemplary End Effector As also shown in FIGS. 1-3, the end effector (40) of the present example includes a lower jaw (50) and a pivotable anvil (60). The anvil (60) includes a pair of integral outwardly extending pins (66) that are located in corresponding curved slots (54) of the lower jaw (50). The pins (66) and slots (54) are shown in FIG. The anvil (60) moves toward and away from the lower jaw (50) between an open position (shown in FIGS. 2 and 4) and a closed position (shown in FIGS. 1, 3, and 7A-7B). As such, it is pivotable. The use of the term "pivotable" (and synonyms based on "pivot") should not necessarily be understood as requiring pivotal movement about a fixed axis. For example, in the present example, the anvil (60) pivots about an axis defined by a pin (66) that moves downward as the anvil (60) moves toward the lower jaw (50). It slides along the curved slot (54) of the side jaw (50). In such a configuration, the anvil (60) simultaneously pivots about its pivot while the pivot translates along the path defined by the slot (54). Additionally or alternatively, after the pivot slides along the slot (54), and then the pivot slides a certain distance along the slot (54), the anvil (60) is centered about the pivot. It may pivot as. Such sliding / translational pivoting shall be encompassed within terms such as "pivoting", "pivoting", "pivoting", "pivotable", "pivoting", etc. I want to be understood. Of course, some configurations may provide for pivotal movement of the anvil (60) about an axis that remains stationary and does not translate inside a slot or channel or the like.

  As best shown in FIG. 5, the lower jaw (50) of the present example defines a channel (52) configured to receive a staple cartridge (70). The staple cartridge (70) is inserted into the channel (52), the end effector (40) is activated, and then the staple cartridge (70) may be removed and replaced with another staple cartridge (70). Thus, the lower jaw (50) releasably holds the staple cartridge (70) in alignment with the anvil (60) for operation of the end effector (40). In some forms, the lower jaw (50) is taught in US Patent Application No. 13 / 780,417, filed February 28, 2013, entitled "Installation Features for Surgical Instrument End Effector Cartridge." Constructed at least in part, the disclosure of which is incorporated herein by reference. Other suitable forms that lower jaw (50) may take will be apparent to those skilled in the art in view of the teachings herein.

  As best seen in FIGS. 4-6, the staple cartridge (70) of this example includes a cartridge body (71) and a tray (76) fixed below the cartridge body (71). Above the cartridge body (71) is a deck (73) against which tissue can be pressed when the anvil (60) is in the closed position. The cartridge body (71) further defines a longitudinally extending channel (72) and a plurality of staple pockets (74). Staples (77) are located within each staple pocket (74). A staple driver (75) is also located within each staple pocket (74), below the corresponding staple (77) and above the tray (76). As described in more detail below, the staple driver (75) is operable to translate upward in the staple pocket (74), thereby moving the staple (77) through the staple pocket (74). Drive upward to engage anvil (60). The staple driver (75) is driven upward by a wedge-shaped sled (78), which is trapped between the cartridge body (71) and the tray (76), which passes through the cartridge body (71). Translates longitudinally. The wedge sled (78) includes a pair of obliquely angled cam surfaces (79) that are adapted to staple as the wedge sled (78) translates longitudinally through the cartridge body (70). The staple driver (75) is configured to be driven upward by engaging with the driver (75). For example, when the wedge sled (78) is in the proximal position, as shown in FIG. 7A, the staple driver (75) is in the lower position and the staple (77) is located in the staple pocket (74). As shown in FIG. 7B, when the wedge sled (78) is driven to the distal position by the translational movement of the knife member (80), the wedge sled (78) drives the staple driver (75) upward, thereby. The staples are ejected from the staple pocket (77) and driven into the staple forming pocket (64). Thus, when the wedge sled (78) translates along the horizontal dimension, the staple driver (75) translates along the vertical dimension.

  It should be understood that the configuration of the staple cartridge (70) can be varied in a variety of ways. For example, the staple cartridge (70) of the present example includes two longitudinally extending rows of staple pockets (74) on one side of the channel (72) and a longitudinal staple pocket on the other side of the channel (72). Another set of two rows of staple pockets (74) extending in the direction. However, in other forms, the staple cartridge (70) includes three, one, or another number of staple pockets (74) on each side of the channel (72). In some forms, the staple cartridge (70) is taught in US Patent Application No. 13 / 780,106, filed February 28, 2013, entitled "Integrated Tissue Positioning and Jaw Alignment Features for Surgical Stapler." And is operable in accordance with at least some of the disclosures of which are incorporated herein by reference. Additionally or alternatively, the staple cartridge (70) is a teaching of U.S. Patent Application No. 13 / 780,417, filed February 28, 2013, entitled "Installation Features for Surgical Instrument End Effector Cartridge." It may be constructed and operable at least in part, the disclosure of which is incorporated herein by reference. Other suitable forms that staple cartridge (70) may take will be apparent to those skilled in the art in view of the teachings herein.

  As best seen in FIG. 4, the anvil (60) of the present example includes a longitudinally extending channel (62) and a plurality of staple forming pockets (64). Channel (62) is configured to align with channel (72) of staple cartridge (70) when anvil (60) is in the closed position. Each staple forming pocket (64) is positioned to overlie a corresponding staple pocket (74) of the staple cartridge (70) when the anvil (60) is in the closed position. The staple forming pocket (64) is configured to deform the legs of the staple (77) when the staple (77) is driven through tissue and into the anvil (60). In particular, the staple forming pocket (64) is configured to bend the legs of the staple (77) to secure the formed staple (77) to tissue. Anvil (60) discloses at least a portion of the teachings of U.S. patent application Ser. No. 13 / 780,120 entitled "Jaw Closure Feature for End Effector of Surgical Instrument" filed on Jan. 28, and / or "Staple filed on Feb. 28, 2013. No. 13 / 780,379 entitled "Forming Features for Surgical Stapling Instrument." And the disclosures of which are incorporated herein by reference. In view of the teachings herein, other suitable forms that anvil (60) may take will be apparent to those skilled in the art.

  In this example, the knife member (80) is configured to translate through the end effector (40). As best seen in FIGS. 5 and 7A-7B, the knife member (80) is fixed to the distal end of the firing beam (82), which passes through a portion of the shaft assembly (30). Extend. As best seen in FIGS. 4 and 6, the knife member (80) is located in the channels (62, 72) of the anvil (60) and the staple cartridge (70). Knife member (80) includes a distally-facing cutting edge (84) that moves anvil (60) as knife member (80) translates distally through end effector (40). And configured to cut the compressed tissue between the staple cartridge (70) and the deck (73). As noted above and as shown in FIGS. 7A-7B, as the knife member (80) translates distally through the end effector (40), the knife member (80) further moves the wedge sled (78). Driving distally, thereby driving staples (77) through tissue and driven against anvil (60) to form. Various features that may be used to drive the knife member (80) distally through the end effector (40) are described in more detail below.

  In some forms, the end effector (40) includes a lockout mechanism that allows the knife member (80) to move the end effector (80) when the staple cartridge (70) is not inserted into the lower jaw (50). And configured to prevent advancement distally through (40). Additionally or alternatively, the end effector (40) includes a lockout mechanism, which may be used to operate a staple cartridge (70) that has been actuated once (eg, when all staples (77) have been placed therefrom). ) Is configured to prevent the knife member (80) from advancing distally through the end effector (40) when inserted into the lower jaw (50). By way of example only, such a lockout mechanism is disclosed in U.S. Patent Application No. 13 / 780,082, filed February 28, 2013, entitled "Lockout Feature for Movable Cutting Member of Surgical Instrument". The disclosure is incorporated by reference herein at least in part) and / or entitled, "Method of Using Lockout Features for Surgical Stapler Cartridge", filed on the same date [Attorney Docket No. END7428USNP. [0614271] (the disclosure of which is incorporated herein by reference). In view of the teachings herein, other suitable forms that a lockout mechanism may take will be apparent to those skilled in the art. Alternatively, the end effector (40) may simply omit such a lockout mechanism.

C. Exemplary Anvil Actuation In this example, anvil (60) is driven toward lower jaw (50) by advancing closure ring (36) distally with respect to end effector (40). . The closure ring (36) cooperates with the anvil (60) via cam actuation to move the anvil (60) to the lower jaw in response to the distal translation of the closure ring (36) relative to the end effector (40). Drive toward (50). Similarly, the closure ring (36) cooperates with the anvil (60) to cause the anvil (60) to move the lower jaw (50) in response to the proximal translation of the closure ring (36) relative to the end effector (40). ) Can be opened away from it. By way of example only, closure ring (36) and anvil (60) are disclosed in U.S. patent application Ser. No. 13/780, filed on Feb. 28, 2013 and entitled "Jaw Closure Feature for End Effector of Surgical Instrument." No. 120, the disclosure of which is hereby incorporated by reference, and / or entitled "Jaw Opening Feature for Surgical Stapler" filed on the same date [Attorney Docket No. END7430USNP. No. 0614275], the disclosure of which is incorporated herein by reference. Exemplary mechanisms that can be used to provide longitudinal translation of the closure ring (36) relative to the end effector (40) are described in more detail below.

  As described above, the handle assembly (20) includes a pistol grip (22) and a closure trigger (24). Also, as described above, the anvil (60) closes toward the lower jaw (50) in response to distal advancement of the closure ring (36). In this example, the closure trigger (24) is pivotable toward the pistol grip (22) to drive the closure tube (32) and the closure ring (36) distally. In view of the teachings herein, pivoting of the closure trigger (24) toward the pistol grip (22) may be performed in a distal direction relative to the handle assembly (20) of the closure tube (32) and the closure ring (36). A variety of suitable components that can be used to convert this into translation will be apparent to those skilled in the art. The locking feature in the handle assembly (20) when the closure trigger (24) reaches a fully pivoted position, thereby causing the anvil (60) to be in a fully closed position relative to the lower jaw (50). A section locks the position of the trigger (24) and the closure tube (32), thereby locking the anvil (60) in a completely closed position relative to the lower jaw (50). These locking features are released by actuation of the anvil release button (25). The anvil release button (25) is configured and arranged to be actuated by the thumb of the operator's hand gripping the pistol grip (22). In other words, the operator grasps the pistol grip (22) with one hand and does not need to release the grip of the pistol grip (22) with the same hand, and the closing trigger (24) with one or more fingers of the same hand. Can then be activated with the thumb of the same hand to activate the anvil release button (25). In light of the teachings herein, other suitable mechanisms that can be used to operate the anvil (60) will be apparent to those skilled in the art.

D. Exemplary Firing Beam Activation In the example of the present invention, instrument (10) provides motorized control of firing beam (82). 9-12 illustrate exemplary components that may be used to provide motorized control of the firing beam (82). Specifically, FIG. 9 illustrates an exemplary control circuit (100) that can be used to supply power from the battery pack (28) (also shown in FIGS. 1 and 2) to the electric motor (102). Show. As described in further detail below, the electric motor (102) is operable to translate the firing beam (82) longitudinally. It should be understood that the entire control circuit (100), including the motor (102) and the battery pack (28), can be housed within the handle assembly (20). FIG. 9 shows the firing trigger (26) as an open switch, but it should be understood that this switch is closed when the firing trigger (26) is activated. The circuit (100) in this example also includes a safety switch (106) that must be closed to complete the circuit (100), but it is understood that the safety switch (106) is merely optional. I want to be. The safety switch (106) can be closed by activating another button, slider, or other mechanism on the handle assembly (20). The safety switch (106) can further provide a mechanical lockout of the firing trigger (26) such that actuation of the firing trigger (26) is mechanically blocked until the safety switch (106) is actuated. Is done.

  The example circuit (100) of the present invention also includes a lockout switch (108), which is closed by default, but is configured to automatically open in response to a lockout condition. By way of example only, a lockout condition may include a condition in which the lower jaw (50) has no cartridge (70), a condition in which the lower jaw (50) has a used (eg, previously fired) cartridge (70), Includes one or more of a state where the anvil (60) is not fully closed, a state where the instrument (10) has already been fired too many times, and / or any other suitable state obtain. Various sensors, algorithms, and other mechanisms that may be used to detect a lockout condition will be apparent to those of skill in the art in view of the teachings herein. Similarly, other suitable types of lockout conditions will be apparent to those of skill in the art in view of the teachings herein. It should be appreciated that when the circuit (100) is open, and thus the lockout switch (108) is open, the motor (102) is inoperable. A lockout indicator (110) (eg, an LED, etc.) is operable to provide a visual indication of the status of the lockout switch (108). By way of example only, the lockout switch (108), lockout indicator (110), and related components / functionality are entitled "Electronic Lockouts and Surgical Instrument Included Same" issued January 12, 2010. It can be constructed according to at least some of the teachings of U.S. Patent No. 7,644,848, the disclosure of which is incorporated herein by reference.

  Once the firing beam (82) reaches the most distal position (e.g., at the end of a cutting stroke), the end-of-stroke switch (112) automatically switches to the closed position and switches the polarity of the voltage applied to the motor (102). Turn it over. This should reverse the direction of rotation of the motor (102), but it should be understood that the operator would have released the firing trigger (26) at this stage of the operation. In this operating state, current flows through the turn signal indicator (114) (eg, an LED, etc.) to provide a visual indication to the operator that the rotation of the motor (102) has been reversed. In this example, as best seen in FIG. 12, the switch actuation arm (134) extends laterally from the rack member (130) and the firing beam (82) is in a distal most position (eg, tissue ( 90) is cut and positioned to engage the end-of-stroke switch (112) when it reaches the staple (77) (after it has been driven into the tissue (90)). Various other suitable ways in which the end-of-stroke switch (112) can automatically switch to the closed position when the firing beam (82) reaches the distal-most position are known to those of ordinary skill in the art in view of the teachings herein. Will be clear. Similarly, various suitable forms that the reverse indicator (114) may take will be apparent to those of ordinary skill in the art in view of the teachings herein.

  The handle assembly (20) of the present example also includes a manual return switch (116), which is also shown in the circuit (100). In this example, the return switch is activated by activating the reverse switch (27), which is shown on the handle assembly (20) of FIG. The manual return switch (116) provides similar functionality as the end of stroke switch (112), reversing the polarity of the voltage applied to the motor (102), thereby changing the direction of rotation of the motor (102). Can be inverted. Again, the inversion is visually indicated by the reverse indicator (114). In some forms, the handle assembly (20) further includes a mechanical return mechanism whereby an operator manually reverses the firing beam (82), thereby mechanically retracting the firing beam (82). be able to. In this example, the manual return mechanism includes a lever that is covered by a movable panel (21) as shown in FIG. The manual return switch (116) and the mechanical return mechanism are each configured to operate as a "bailout" function, allowing the operator to adjust the proximal direction of the firing beam (82) during the firing stroke. Retreat can be started immediately. That is, the manual return switch (116) or mechanical return mechanism can be activated when the firing beam (82) has been partially advanced in the distal direction.

  In some forms, the one or more switches (26, 106, 108, 112, 116) are in the form of a microswitch. Other suitable forms will be apparent to those skilled in the art in view of the teachings herein. In addition to or in lieu of the foregoing, at least a portion of the circuit (100) may include "Motor-Driven Surgical Instrument" issued July 3, 2012, the disclosure of which is incorporated herein by reference. It can be constructed according to the teachings of at least some of the teachings of U.S. Patent No. 8,210,411 entitled.

  FIG. 10 shows the motor (102) located within the pistol grip (22) of the handle assembly (20). Alternatively, the motor (102) can be located elsewhere in the handle assembly (20). The motor (102) has a drive shaft (120) connected to the gear assembly (122). Thus, when the motor (102) is activated, the drive shaft (120) activates the gear assembly (122). As shown in FIG. 11, the gear assembly (122) is in communication with a drive gear (124), which meshes with a driven pinion (126). The pinion (126) is located on a shaft (128) that is supported within the handle assembly (20) and is oriented parallel to the drive shaft (120) of the motor (102). The pinion (126) is further engaged with the rack member (130). In particular, the pinion (126) meshes with a tooth (132) at the proximal end of the rack member (130). The rack member (130) is slidably supported within the handle assembly (20). From the above, when the motor (102) is activated, the rotation of the corresponding drive shaft (120) is transmitted to the pinion (126) via the gear assembly (122), and the rotation of the corresponding pinion (126) is It will be appreciated that the teeth (132) translate into translational movement of the rack member (130). As shown in FIGS. 10-12, elongate member (136) extends distally from rack member (130). As shown in FIG. 12, a connecting member (138) joins the launch beam (82) and the elongated member (136). The rack member (130), elongate member (136), coupling member (138), firing beam (82), and knife member (80) are all attached to the handle assembly (20) in response to operation of the motor (102). On the other hand, they translate together. In other words, operation of the motor (102) ultimately translates the firing beam (82) longitudinally, the direction of such translation depending on the direction of rotation of the drive shaft (120).

  It should be understood that the distal portion of elongate member (136), coupling member (138), and firing beam (82) extend through shaft assembly (30). A portion of the firing beam (82) also extends through the articulating portion (34). In some forms, the rack member (130), elongate member (136), and coupling member (138) are all substantially straight and rigid, but the articulating portion (34) is bent or articulated. When, the firing beam (82) bends at the articulating portion (34) and has sufficient flexibility to translate longitudinally through the articulating portion (34).

  In addition to or in lieu of the foregoing, a mechanism operable to drive the firing beam (82) may be configured according to at least some of the teachings of U.S. Patent No. 8,453,914. Yes, this disclosure is incorporated herein by reference. Other suitable components, mechanisms, and configurations for providing motorization of the firing beam (82) will be apparent to those of ordinary skill in the art in view of the teachings herein. It should also be understood that in some other forms, manual drive of the firing beam (82) may be provided and the motor may be omitted. By way of example only, the launch beam (82) may be operated in accordance with at least some of the teachings of the other references cited herein.

  FIG. 8 shows the end effector (40) activated by a single stroke through the tissue (90). As shown, the cutting edge (84) (indistinct in FIG. 8) cuts the tissue (90), while the staple driver (75) cuts each side of the cutting line created by the cutting edge (84). At this point, two alternating rows of staples (77) are driven through the tissue (90). In this example, the staples (77) are all oriented substantially parallel to the cutting line, but it should be understood that the staples (77) can be arranged in any suitable orientation. In this example, after the first stroke is completed, the end effector (40) is withdrawn from the trocar, the used staple cartridge (70) is replaced with a new staple cartridge (70), and then the end effector (40) is re-mounted. Insert through the trocar to reach the stapling site for further cutting and stapling. This process can be repeated until the desired amount of cutting and staples (77) is provided. The anvil (60) may need to be closed to facilitate insertion and removal through the trocar, and the anvil (60) may need to be opened to facilitate replacement of the staple cartridge (70). obtain.

  It should be understood that during each actuation stroke, the cutting edge (84) can cut the tissue at about the same time as the staples (77) are driven through the tissue. In the example of the present invention, the cutting edge (84) advances only slightly later than the driving action of the staple (77), so that the staple (47) can be applied to the tissue just before the cutting edge (84) penetrates the same area of tissue. It is understood that the order can be reversed, or that the cutting edge (84) may be directly synchronized with an adjacent staple (77). FIG. 8 shows the end effector (40) operating with two layers (92, 94) of tissue (90), where the end effector (40) is a single layer of tissue (90) or two layers. It should be appreciated that (92, 94) can be activated through more than one tissue. Also, the formation and positioning of the staples (77) adjacent to the cutting line formed by the cutting edge (84) can substantially seal tissue at the cutting line, thereby causing bleeding and / or other bleeding at the cutting line. It should also be understood that the leakage of bodily fluids can be reduced or prevented. FIG. 8 also shows the end effector (40) operating on two substantially flat, adjacent planar layers (92, 94) of tissue, wherein the end effector (40) comprises a blood vessel, It should be understood that it may operate across a tubular structure, such as a portion of the gastrointestinal tract. Accordingly, FIG. 8 should not be considered as describing a limitation on the intended use of the end effector (40). Various suitable situations and procedures in which the device (10) may be used will be apparent to those skilled in the art in view of the teachings herein.

  It should also be understood that any other components or features of the instrument (10) can be configured and operated according to any of the various references cited herein. Further exemplary modifications that can be made to the device (10) are described in more detail below. Various suitable methods for incorporating the following teachings into the instrument (10) will be apparent to those skilled in the art. Similarly, various suitable ways in which the following teachings can be combined with the various teachings of the references cited herein will be apparent to those skilled in the art. It should also be understood that the following teachings are not limited to the instruments (10) or devices taught in the references cited herein. The following teachings can be readily applied to various other types of instruments, including instruments that are not classified as surgical staplers. Various other suitable devices and situations in which the following teachings may be applied will be apparent to those of skill in the art in view of the teachings herein.

II. Exemplary Alternative Shaft Assemblies It will be appreciated that as the user pushes the instrument (10) into the surgical area, it may be desirable to approach the tissue to be clamped, stapled, or cut from a particular angle. Like. For example, once the end effector (40) of the instrument (10) is inserted through a trocar, thoracotomy, or other passageway to enter the surgical area, the tissue that the user wishes to target may not be accessible. Or positioned at an oblique angle with respect to the end effector (40) that is aligned with the longitudinal axis (LA) of the shaft assembly (30). Thus, a portion of the instrument (10), such as the end effector (40), articulates at an angle (α) with respect to the longitudinal axis (LA) of the shaft assembly (30) (shown in dashed lines in FIG. 1). As such), this would allow the user to position the anvil (60) and the lower jaw (50) of the end effector (40) to clamp at right angles or perpendicular to blood vessels or other tissue. There are cases. Further, articulating the end effector (40) such that the end effector (40) is positioned at right angles to the tissue facilitates complete mounting and clamping of the tissue prior to cutting and stapling the tissue. It will be appreciated that it gains. In addition to the articulation, the end effector (40) can be prevented from pivoting or bending at the articulation portion (34) so that the user does not need to constantly continually bias the end effector (40). It may be desirable to selectively lock in a straight or articulated position. Also, it may be desirable to lock automatically upon articulation without the need for activation of a separate articulation locking feature.

  FIG. 13A shows an exemplary alternative shaft assembly (200) that can be easily incorporated into the instrument (10) of FIG. As described in further detail below, the shaft assembly (200) provides for selective locking of articulation and articulation angles. The shaft assembly (200) of the present example includes a rotation knob (231), a joint operation control knob (235), and an end effector (240). The shaft assembly (200) also includes an end effector (240) located distally with respect to the closure tube (232). As described in more detail below, the end effector (240) includes an articulating joint (234) by which the end effector (240) articulates laterally. Can be. The end effector (240) is substantially identical to the end effector (40) of FIG. 1, except as described below.

  The rotation knob (231) may be rotatably connected to the handle assembly (20) of FIG. 1 or any other suitable component (eg, a robot control interface, etc.). The rotation knob (231) is connected to the handle portion (20) (or to everything else to which the rotation knob (231) is rotatably connected) by the longitudinal axis (LA) defined by the shaft assembly (200). Operable to rotate the shaft assembly (200) (including the articulation control knob (235) and the end effector (240)). This may be useful in positioning the end effector (240) at a desired angular orientation with respect to the longitudinal axis (LA).

A. Exemplary Articulation Control Mechanism The articulation control knob (235) is partially contained within the housing (237) of the articulation control knob. The housing (237) connects to the closure tube (232). 13A-B illustrate the shaft assembly (200) and exemplary movement of the end effector (240) in response to rotation of the articulation control knob (235). FIG. 13A shows the articulation control knob (235) in a first position, where the articulation control knob (235) and the end effector (240) are both together in the longitudinal axis (200) of the shaft assembly (200). Generally aligned along LA). The user can then manually rotate the articulation control knob (235) clockwise to the second position, as shown in FIG. 13B. In response to rotation of the articulation control knob (235), the end effector (240) pivots or bends at the articulation joint (234) to the articulation angle (α), as shown in FIG. 16B. In this example, the end effector (240) articulates generally in the direction in which the articulation control knob (235) rotates, but the end effector (240) operates in a direction opposite to the rotation of the articulation control knob (235). It will be appreciated that it may be configured to bend. That is, when the joint operation control knob (235) is rotated clockwise, the end effector (240) pivots clockwise in the lateral direction as shown in FIG. 13B. It may be configured to pivot clockwise. FIG. 13B shows the end effector (240) pivoting laterally slightly clockwise. It will be appreciated that the articulation control knob (235) may be further rotated to further articulate the end effector (240) laterally at the articulation joint (234) to any suitable angle (α). . For example, end effector (240) may pivot until an angle of about 90 ° is formed by articulating joint (234). In some forms, the end effector (240) may be operable to pivot further so that the end effector (240) forms an acute angle with the tube (232). Other suitable variations of the pivoting of the end effector (240) will be apparent to those of skill in the art in view of the teachings herein. The articulation control knob (235) also defines an angle with respect to the longitudinal axis (LA) that is the same as the articulation angle (α) defined between the end effector (240) and the longitudinal axis (LA). It should also be understood that Such complementary angulation can provide visual feedback to the operator outside the patient, indicating the articulation angle (α) of the end effector (240).

  The mechanism of articulation of the end effector (240) is discussed in further detail below. It will be appreciated that the articulation control knob (235) may be rotated in a counterclockwise direction to cause the end effector (240) to articulate counterclockwise. Thus, depending on the desired direction and / or amount of articulation of the end effector (240), a user articulates the end effector (240) to articulate the end effector (240) at various angles. It is only necessary to rotate the joint operation control knob (235) at various angles in the direction desired by the user.

  FIG. 14 shows the joint operation control knob (235) with the housing (237) removed to better illustrate the internal workings of the joint operation control knob (235). The articulation control knob (235) is in communication with the articulation pinion (250). The articulation pinion (250) is in communication with the first rack (252) and the second rack (256). The first rack (252) communicates with the first arm (242) via a first intermediate block (254), and the second rack (256) communicates via a second intermediate block (258). In communication with the second arm (244). The arms (242, 244) are in this example substantially parallel to each other. In particular, a proximal portion (shown in FIG. 18) of the arms (242, 244) and a portion of the arms (242, 244) extending through the shaft assembly (200) are parallel to each other, but the arms The proximal end of (242, 244) extends slightly outward. Since the arms (242, 244) are substantially parallel to each other over the entire length (ie, except for the distal-most portion), those skilled in the art will recognize that the arms (242, 244) are "substantially parallel" to each other. It can be easily understood.

  The articulation control knob (235) is integrally connected to the articulation pinion (250). As a result, when the user turns the articulation control knob (235), the articulation pinion (250) rotates with the articulation control knob (235). As the articulation pinion (250) rotates, the articulation pinion translates the first rack (252) and the second rack (256) in opposite directions as appropriate. For example, as shown in FIG. 15, the articulation pinion (250) communicates with the first rack (252) and the second rack (256), and when the articulation pinion (250) rotates clockwise. , The first rack (252) retracts proximally away from the end effector (240), and the second rack (256) advances distally toward the end effector (240). Further, as the articulation pinion (250) rotates counterclockwise, the first rack (252) advances distally toward the end effector (240) and the second rack (256) Retract proximally away from effector (240). As the first rack (252) advances and retracts, the first arm (242) similarly advances and retracts. Similarly, as the second rack (256) advances and retracts, the second arm (244) also advances and retracts with the second rack (256). Thus, by rotating the articulation control knob (235) connected to the articulation control pinion (250), the first arm (242) and the second arm (244) are moved to the first rack (252). ) And the second rack (256). As discussed in more detail below, movement of the first arm (242) and second arm (244) is operable to cause movement of other components within the end effector (240). It is.

  FIG. 16 is an enlarged view of the end effector (240), including the anvil (260). The first arm (242) and the second arm (244) are in communication with a first cam member (330), which is arranged to be pivotable about a pin (379). As a result, as described in more detail below, the forward and backward movement of the first arm (242) and the second arm (244) cause the first cam member ( 370) rotates.

  FIG. 17 shows an exploded view of the articulation joint (234). The end effector (240) is located at the distal end of the articulating joint (234). The end effector (240) includes an anvil (260) and a lower jaw (268). It will be appreciated that end effector (240) is substantially similar to end effector (40) of FIG. Like the lower jaw (50) of the end effector (40), the lower jaw (268) can receive a staple cartridge (not shown), which can be substantially similar to the staple cartridge (70). . In addition, similar to the end effector (40) described above, the anvil (260) moves the closure ring (236) distally with respect to the end effector (240) so that the lower jaw (268) is moved to the lower jaw (268). Driven towards. The closure ring (236) is driven longitudinally relative to the end effector (240) based on the translation of the closure tube (232). The translation of the closure tube (232) is transmitted to the closure ring (236) via the articulation joint (234). Functionally, the anvil (260) and lower jaw (268) are substantially similar to the anvil (60) and lower jaw (50) of the end effector (40), and The side jaws (268) cooperate to simultaneously cut and staple tissue as shown in FIG. 8 and described above.

  The articulation joint (234) includes a first cam member (330), a second cam member (331), a cam holder (376), a joint base (372), a locking bar (262), and a spring (364). ). The first arm (242) terminates distally in a first hook (245) and the second arm (244) terminates distally in a second hook (246). The hooks (245, 246) are in communication with the cam opening (360) of the first cam member (330). As a result, when the first arm (242) advances toward the end effector (240) and the second arm (244) retracts, the first cam member (330) causes the holding pin (379) to move. Rotate counterclockwise around the center. Alternatively, as the first arm (242) retracts and the second arm (244) advances toward the end effector (240), the first cam member (330) causes the retaining pin (379) to move. Rotate clockwise around the center. Thus, when the arms (242, 244) push or pull in opposite directions over the cam openings (360) via the hooks (245, 246), the first cam member (330) Rotate accordingly.

  The first cam member (330) overlaps the second cam member (331). The second cam member (331) and the cam holding pin (379) are an integral mechanism of the cam holding body (376). In some forms, the second cam member (331) may be constructed separately from the cam holder (376) and fixedly connected to the cam holder (376), such that the second cam member (331). When 331) rotates, the cam holder (276) rotates. The cam retaining pin (279) is coaxially aligned with the base opening (377) of the joint base (372) along the pivot (380). Therefore, the first cam member (330) is rotatable about the pivot (380) with respect to the second cam member (231) and the cam holder (376). As will be described in more detail below, the locking bar (262) is selectively coupled to the first cam member (330) and the second cam member (331). Lock bar (262) is further in communication with spring (364), which biases lock bar (262) in a distal direction. The joint base (372) is shaped to provide a seat and / or channel for advancing the locking bar (262) therein. The locking bar (262) further includes a pair of bosses (387) that operate to engage the joint base (372) to limit distal movement of the locking bar (262). It is possible.

B. Articulation of the Exemplary Shaft Assembly As described above, actuation of the articulation control knob (235) causes the arms (242, 244) to advance and retract in opposite directions. It will be appreciated that such movement of the arms (242, 244) rotates the first cam member (330) about the cam retaining pin (279). As a result of rotating the first cam member (330), the second cam member (331) rotates with the cam holder (376). In this manner, the articulating joint (234) articulates, thereby pivoting the end effector (240) at the articulating joint (234). In particular, as described above, the cam retention pin (379) and the base opening (374) define a pivot (380) that is generally perpendicular to the longitudinal axis (LA). The end effector (240) pivots about a pivot (380) in response to rotation of the first cam member (330), thereby driving the second cam member (331), as described below. I do. In other words, the pivot (380) acts as an axis for articulating the end effector (240) with respect to the shaft assembly (200). 18A-E show details of the rotation of the first cam member (330), which drives the articulation of the end effector (240).

  FIG. 18A shows the articulating joint (234) in a first position. The locking bar (262) is biased distally to engage the second cam member (331). In particular, the distal end of the locking bar (262) fits between a first cam tooth (333) and a second cam tooth (335), as seen in detail in FIG. The second cam member (331) is provided with a locking tooth (336). As a result of the distal bias provided by the spring (364), the locking tooth (336) functions as a positive lock, thus maintaining the rotational position of the second cam member (331). Is done. By maintaining the rotational position of the second cam member (331), the locking bar (262) maintains the angular position of the end effector (240) with respect to the pivot (380), thereby providing any articulation angle (Α) is maintained. The first cam member (330) includes a pair of cam wings (338, 339), and the cam holder (376) includes a pair of bosses (371, 373). The bosses (371, 373) are an integral mechanism of the second cam member (331), so that when the boss (371, 373) rotates, the second cam member (331) also rotates. It can be seen that in the first position of FIG. 18A, the cam wings (338, 339) and the bosses (371, 373) are not in contact. The interaction with the contact between the cam wings (338, 339) and the bosses (371, 373) is described in detail below with reference to FIGS. During the surgical procedure, the user guides the shaft assembly (200) through a path (eg, trocar, thoracotomy, etc.) with the end effector (240) in a straight position as shown in FIG. Site can be reached.

  FIG. 19 is an enlarged view of the locking tooth (336) in the position shown in FIG. 18A. As can be seen, the locking teeth (336) are generally straight parallel sides configured to fit between the first cam teeth (333) and the second cam teeth (335). (386). The distal end of the locking tooth (336) has a rounded tip (385) with an angled side (381) leading to a parallel side (386). Each tooth (335) of the second cam tooth (335) comprises a generally straight parallel side (383) and an angled side (384). The parallel side (383) engages with the parallel side (386) of the locking tooth (336) so that the locking tooth (336) can be moved to the second cam tooth without assistance by the first cam member (330). It is configured to prevent proceeding along (335). This engagement between the at least one side (383) and the at least one side (386) also prevents the cam holder (376) from rotating about the pivot (380), thereby. Prevent end effector (240) from pivoting at articulating joint (234).

  Once the first cam member (330) is rotated, the triangular teeth (333) of the first cam member (330) are angled, as shown in FIGS. 18B-C and described in more detail below. It cams on a side (381), whereby the locking bar (262) is driven proximally in response to rotation of the first cam (330). It should be understood that the teeth (333) can have a variety of different shapes other than triangles. Some other exemplary shapes are described in more detail below, but others will be apparent to those skilled in the art in view of the teachings herein. When the locking teeth (336) move sufficiently proximally, the first cam member (330) continues to rotate and the locking teeth (336) as the second cam member (331) rotates. The angled side (381) finally proceeds along the angled side (384) of the second cam tooth (335). This provides additional camming to drive the locking bar (262) in a proximal direction. Once the locking tooth (336) crosses the angled side (384) of the second cam tooth (335), the locking tooth (336) then resembles the positioning shown in FIG. Return distally to a position between the paired first cam teeth (333) and second cam teeth (335). For illustrative purposes, advancing the locking teeth (336) between a set of first cam teeth (333) and second cam teeth (335) is one articulation increment. Can be considered. As the locking tooth (336) advances distally, the locking tooth (336) strikes the second cam member (331) between the second cam teeth (335). It will be appreciated that the locking teeth (336) need not necessarily extend sufficiently to abut the second cam member (331). For example, the locking tooth (336) has a parallel side (383) that prevents the locking tooth (336) from advancing along the second cam member (331) without the assistance of the first cam tooth (333). It may extend distally to the extent necessary. In the illustrated form, the boss (387) engages the joint base (382) to prevent further distal movement of the locking bar (262).

  As described above, the operator may desire to pivot the end effector (240) with the articulation joint (234) to better position the end effector (240) relative to the tissue of interest. FIG. 18B shows a second stage of the joint movement for moving the joint movement joint (234) in response to the rotation of the joint movement control knob (235) shown in FIG. In the illustrated form, the articulation pinion (250) is similarly rotated by the user turning the articulation knob (235) counterclockwise. As the articulation pinion (250) rotates counterclockwise, the first rack (252) moves distally and the second rack (256) moves proximally with respect to the end effector (240). . Therefore, the first arm (242) and the second arm (244) shown in FIG. 18B are such that the first arm (242) advances toward the end effector (240) and the second arm (244) Move back to move away from end effector (240). It will be appreciated that the distal portions of the first and second arms (242, 244) of the illustrated form are not positioned parallel to one another. Instead, the first arm (242) and the second arm (244) are angled obliquely with respect to each other, while the first arm (242) and the second arm (244) It will be appreciated that they may be positioned parallel to each other.

  As shown in FIG. 18B, movement of the arms (242, 244) causes the first cam member (330) to rotate counterclockwise about the pivot (380). As the first cam member (330) rotates, two operations occur substantially simultaneously. First, the cam teeth (330) have a triangular shape, and as a result of the first cam teeth (333) engaging the angled sides (381), the locking action of the locking bar (262) by cam action. In the proximal direction away from the end effector (240). Again, the teeth (333) may have a variety of different shapes other than triangles. Spring (364) compresses to accommodate proximal movement of locking bar (262). As a result, the rounded tip (385) moves proximally enough to cross the parallel sides (383). The cam wings (338, 339) rotate counterclockwise together with the first cam member (330). As a result of the rotation, the cam wing (339) removes the gap (361) between the boss (373) and engages the boss (373). On the other hand, the cam wing (338) pivots away from the boss (371). During the transition from the configuration shown in FIG. 18A to the configuration shown in FIG. 18B, the first cam member (330) and the locking bar (262) move in response to the movement of the arms (242, 244), while the It will be appreciated that the second cam member (331) and consequently the end effector (240) have not yet moved. Thus, the end effector (240) still remains in a straight orientation at this stage.

  FIG. 18C shows a third stage of operation of the articulation joint (234). It will be appreciated that the user continues to rotate the articulation control knob (235) to articulate the end effector (240). The arms (242, 244) continue to move such that the first arm (242) moves distally and the second arm (244) moves proximally. The movement of the arms (242, 244) continues to rotate the first cam member (330), which causes the cam wing (339) to rotate further, and consequently the boss (373) to rotate as well. Urge you to Since the boss (273) is integrated with the second cam member (331), the second cam member (331) starts rotating. When the second cam member (331) rotates, the locking bar (262) is moved as a result of the camming of the angled side (384) with respect to the angled side (381) of the locking tooth (336). And move further proximally. Thus, the locking teeth (236) advance along the second cam teeth (335). The second cam member (331) rotates until the tip (388) of the second cam member (331) engages the round tip (385). The second cam tooth (335) has parallel sides (383), so that the first cam tooth (333) has locking teeth (333) such that the rounded tip (385) crosses the parallel side (383). Only after urging 336) in the proximal direction can the angled edge (381) of the locking tooth (336) engage the angled side (284). Because the parallel sides (383) are engaged with the parallel sides (386), the locking teeth (336) will typically be moved before the second cam teeth (333) are advanced along the first cam teeth (333). You cannot go along (335). Further, it will be appreciated that as the locking tooth (336) advances along the angled side (384), the locking tooth (336) disengages from the first cam tooth (333). . As also shown in FIG. 18C, the locking bar (262) and locking teeth (336) move to the most proximal position with the tip (388) of the second cam tooth just in contact with the locking tooth (336). It is moving. Also, as a result of the rotation of the second cam member (331), the cam holder (376) and consequently the closing ring (236) leading to the end effector (240) articulate in a counterclockwise direction.

  FIG. 18D shows a fourth stage of operation of the articulation joint (234). Again, it will be appreciated that the user continues to rotate the articulation control knob (235) to perform additional articulation of the end effector (240). The arms (242, 244) continue to move such that the first arm (242) moves further distally and the second arm (244) moves further proximally. The movement of the arms (242, 244) causes the first cam member (330) to continue to rotate, whereby the cam wing (339) pushes the boss (373) to rotate further. The locking teeth (336) continue along the second cam teeth (335) until the distal bias created by the spring (364) urges the locking bar (262) to the position shown in FIG. 18D. move on. It will be appreciated that as the locking bar (262) snaps into the position shown in FIG. 18D, an audible click is heard or a snap is felt. As a result, the user may have noticed that the locking teeth (336) have moved from between one set of cam teeth (333, 335) to another set of teeth, or have rotated by one articulation increment. Receive an audible and / or tactile confirmation of When in the position shown in FIG. 18D, the first cam member (330) stops rotating and the locking teeth (236) fit between the cam teeth (333, 335). The closure ring (236) and consequently the end effector (240) stop articulating. Any rotational movement of the second cam member (331) urged by a lateral force on the end effector (240) causes the parallel side (386) to engage the parallel side (383) and cause the second cam To stop any further rotation of the member (331), a positive lock is formed, which locks the articulation of the end effector (240). The transition from the configuration shown in FIG. 18A to the configuration shown in FIG. 18D indicates articulation by one articulation increment or articulation increment, the distance of which depends on the spacing between the second cam teeth (335). It should be understood that this is usually defined.

  It will be appreciated that in the position shown in FIG. 18D, the end effector (240) has been articulated, thereby providing a user with a shaft assembly (200) with the end effector (240) articulated. A user may desire to use the shaft assembly (200) in the position shown in FIG. 18D, or may desire additional pivoting of the end effector (240) by one or more additional articulation increments. It will be understood. If the user does not further rotate the articulation knob (235), by locking the locking tooth (336) between the first cam tooth (333) and the second cam tooth (335), The end effector (240) is prevented from pivoting back to a straight position. Once the end effector (240) is articulated to the desired angle (α), the user activates the firing beam (282) to drive the knife (280) to cut tissue and staple through tissue. It will be appreciated that it can be driven. For example, the knife member (280) and the firing beam (282) can be, for example, via a bendable beam, such that the firing beam (282) can be advanced through any pivotal angle of the articulating joint (234). And may communicate.

  FIG. 18E illustrates a fifth stage of actuation of the articulation joint (234) if the user desires to further pivot the end effector (240). Again, it will be appreciated that the user continues to rotate the articulation control knob (235). As a result, the arms (242, 244) continue to move such that the first arm (242) moves further distally and the second arm (244) moves further proximally. The movement of the arms (242, 244) causes the first cam member (330) to continue to rotate, whereby the cam wing (339) pushes the boss (373) to rotate. The first cam member (330) and the second cam member (331) move in a manner similar to that shown in FIGS. Locked in the set position. It will be appreciated that the user may continue to rotate the articulation control knob (235) to pivot the end effector (240) as far as desired by the user. Further, the user rotates the articulation control knob (235) in the opposite direction to move the arms (242, 244) and the cam members (330, 331) in the opposite direction, thereby causing the end effector (240) to move in the opposite direction. Articulation can be performed in any direction.

  By transmitting motion from the arms (242, 244) to the first cam member (330), as shown in the exemplary operation shown in FIGS. 18A-18E, the first cam member (330) The motion joint (234) is unlocked and the end effector (240) is operable to pivot about the pivot (380) at the articulation joint (234). In addition, the second cam member (331) and the locking bar (262) cooperate to lock the articulation joint (234), whereby the longitudinal axis (LA) of the shaft assembly (200). , The angle (α) of the end effector (240) is locked.

III. Illustrative Alternative Articulating Joints In some instances, it may be desirable to provide alternative structures and methods for selectively locking and unlocking the articulating joints (234). Also, the structure and method used to drive the articulating joint (234) based on another structure and method used to selectively lock and unlock the articulating joint (234) It may be desirable to modify Various examples of alternative structures and methods that may be used to provide selective locking and unlocking of articulating joints are described in detail below, but in light of the teachings herein. , And other examples will be apparent to those skilled in the art. Similarly, various examples of alternative structures and methods that may be used to drive an articulating joint are described in detail below, although other examples will occur to those skilled in the art in light of the teachings herein. Will be clear to you. It should be understood that the following examples can be easily incorporated into the articulation joint (234) or can be incorporated into the shaft assembly (200) instead of the articulation joint (234). Various suitable ways in which the following examples can be incorporated into the device (10) will be apparent to those skilled in the art.

A. Exemplary Rectangular Tooth Cam Member FIG. 20 shows another exemplary first cam member (430). The first cam member (430) fits within the articulating joint (234) and has substantially the same function as the first cam member (330), as shown in FIGS. 18A-E and above. Has functions. For example, similar to the first cam member (234), the first cam member (430) first rotates with respect to the second cam member (331) to provide the angle of the locking bar (262). The locking bar (262) is configured to translate proximally by engaging a side (381). The locking bar (262) then translates to a sufficiently proximal distance so that the angled side (384) of the second cam tooth (335) becomes the angle of the locking tooth (336). (Eg, see FIGS. 18A-C and descriptions above). However, unlike the first cam member (330), the first cam member (430) comprises square teeth (433) instead of triangular teeth (333).

  It is understood that the locking teeth (336) of the locking bar (262) may include a reconfigured shape to accommodate differences in engagement between the square teeth (433) and the triangular teeth (333). I want to. For example, the angled side (381) of the locking tooth (336) may extend a greater distance than the straight parallel side of the locking tooth (336). Of course, the specific shape of the locking tooth (336) will be the first relative to the size and shape of the second cam tooth (335), as will be apparent to those skilled in the art in view of the teachings herein. Varies depending on the size of the cam tooth (433).

B. Exemplary First Cam Member with a Single Cam FIGS. 21A-D show an exemplary alternative first cam member (530) that may be incorporated into an articulating joint (234). The first cam member (530) is pivotally disposed on the retaining pin (379). The first cam member (530) is asymmetric about a central axis that is parallel to a longitudinal axis (LA) of the shaft assembly (200). The first cam member (530) and the second cam member (331) rotate independently about an axis (380) defined by the retaining pin (379). In this example, the first cam member (530) comprises a single cam (533) instead of the cam teeth (433,333) as described above for the first cam member (430,330). Is done. The single cam (533) is formed as a lobe facing proximally. The first cam member (530) is operable to rotate by the force applied by the first arm (242), thereby causing the first cam member (530) to rotate with respect to the locking bar (262). ) Is advanced to cause the locking bar (262) to translate proximally. The single cam (533) of the first cam member (530) will either stop the locking bar (262) from engaging with the second cam teeth (335) of the second cam member (331), or The locking bar (262) may be translated until the angled side (384) of the cam tooth (335) can engage the angled side (381) of the locking tooth (336). Accordingly, the articulating joint (234) then moves through the translation of the arm (242, 244) in the opposite direction in a manner similar to that described above for the first cam member (330). Rotation of member (331), which is integrally attached to end effector (240), may be articulated.

  In some forms, the arms (242, 244) may translate independently of each other. For example, the first arm (242) is operable to translate proximally or distally to rotate the first cam member (530), thereby causing the locking bar (262). To selectively lock or unlock the second cam member (331). The second arm (244) is also adapted to translate proximally or distally to rotate the second cam member (331) independently of rotation of the first cam member (530). May be operable. As can be seen in FIG. 21B, the first arm (242) can translate proximally to rotate the first cam member (530) relative to the second cam member (331), This allows the locking bar (262) to be translated proximally via the single cam (533), thereby removing the locking bar (262) from the second cam member (331). Next, as can be seen in FIG. 21C, the second arm (244) then translates distally or proximally to articulate the articulating joint (234) clockwise or counterclockwise, respectively. be able to. FIG. 21D shows that once articulating joint (234) articulates at the desired angle (α) with respect to longitudinal axis (LA) of shaft assembly (200), articulating joint (234) locks in place. Indicates that it can be done. In particular, the first arm (242) translates distally to rotate the first cam member (530) counterclockwise to move the single cam (533) with the locking bar (262). Can be released from the engagement. In other words, in the transition from the state shown in FIG. 21C to the state shown in FIG. 21D, the first cam member (530) does not press on the locking bar (262) in the proximal direction, and thus the coil A spring (364) drives the locking bar (262) distally, returning the locking bar (262) to a position that locks the angular position of the second cam member (331). As described above, with the end effector (240) integrally fixed to the second cam member (331), the locking bar (262) located on the distal side is rotated by the angle of the end effector (240). Lock position.

  In the example where the arms (242, 244) translate independently, the articulation control knob (235) can utilize means for articulation other than the rack and pinion as described above and shown in FIGS. It should be understood that the arms (242, 244) can utilize another rack and pinion. For example, in some examples, the articulation control knob (235) can be connected to an electromechanical control system that utilizes one or more motors and switches. In yet another example, the articulation control knob (235) can translate only the second arm (244), with the first arm (242) being locked / unlocked separately. It can translate with a switch, slider, or lever. Of course, the arms (242, 244) may translate independently using any other suitable manner, as will be apparent to those skilled in the art in view of the teachings herein.

C. Exemplary Articulating Joint with π-Cam FIG. 22A-B shows another exemplary articulating joint (634), which uses a π-shaped cam member (630) to provide an articulating joint (634). ) Locks and releases the joint operation of the end effector (240). The articulating joint (634) can be easily incorporated into the shaft assembly (200). In particular, the articulating joint comprises a cam member (630), a second cam member (631), a resiliently biased locking bar (662), a first arm (642), and a second arm (64). 644). The cam member (630) is rotatable about a pivot pin (622) so that the cam member (630) is independently rotatable with respect to the second cam member (631). The cam member (630) includes two proximally extending protrusions (623), which are configured to cam against the locking teeth (636) of the locking bar (662). I have. The locking bar (662) is elastically urged distally so that the locking teeth (636) of the locking bar (662) are adjusted to the cam teeth (635) of the second cam member (631). ) To lock the articulation joint (634). The second cam member (631) is rotatable about a pin (679) and is integrally connected to the end effector (240) so that, as described in more detail below, The second cam member (631) can cause the articulating joint (634) to articulate when the locking bar (662) is disengaged from the second cam member (631). The second cam member (631) and the locking bar (662) are similar to the second cam member (331) and the locking bar (262), respectively.

  FIG. 22B shows an exemplary operating state of the articulation joint (634). As can be seen, the projection (623) of the cam member (630) is configured to cam, thereby driving the locking teeth (636) of the locking bar (662) to cause the locking bar (662) to move. (662) is partially translated by the cam member (630). Such translation of the locking bar (662) is achieved by independent actuation of the first arm (642) in a proximal direction. It should be understood that the first arm (642) may be actuated distally to achieve the same result. Additionally, in other examples, the second arm (644) may actuate the cam member (630) instead of the first arm (642).

  With the locking bar (662) partially translated in the proximal direction, the second cam member (631) is thereby unlocked by the locking bar (662), and the second cam member (631) is unlocked. ) Can be rotated about a pin (679) via a second arm (644). Of course, as described above with respect to the cam member (630), the second cam member (631) can be rotated using the first arm (642) instead of the second arm (644). The locking bar (662) is proximally moved by the angled side (684) of the second cam member (631) camming with respect to the angled side (681) of the locking bar (662). It can translate further in the direction. Therefore, the second cam member (631) can rotate from one cam tooth (635) to the next cam tooth (635), similarly to the above-described second cam member (331). Since the cam member (630) is independently rotatable about the pivot pin (622), the second cam member (631) moves from one cam tooth (635) to the next cam tooth (635). It should be appreciated that when rotating, the cam member (630) may remain substantially aligned with the locking bar (662). Thus, the first arm (642) can translate again and pivot the cam member (630) back to the position shown in FIG. 22A. Next, a spring (not shown) or other resilient member can drive the locking teeth (636) distally back to the position shown in FIG. 22A, thereby providing the articulating joint (634). , The angular position of the end effector (240) can be locked.

D. Exemplary Articulating Joint with Wavy Cam FIGS. 23-26B illustrate another exemplary articulating joint (734) of a shaft assembly (200). In this example, the articulation joint (734) locks the second cam member (731) using the first cam member (730) and the locking bar (762). And unlocking, thereby substantially similar to the articulating joint (234) in that the end effector (240) is articulated relative to the longitudinal axis (200) of the shaft assembly (200). ing. Although not shown in FIGS. 23-26B, the second cam member (731) may be integrally attached to the end effector (240), so that the rotation of the second cam member (731) is prevented. , The end effector (240) to be articulated. As described above with respect to the articulating joint (234), the second cam member (731) and locking bar (762) are structurally similar to the second cam member (331) and locking bar (262). obtain. However, as described below, the second cam member (731) and the locking bar (762) are separate from the articulating joint (234) described above for articulating the end effector (240). May be operated in the following manner. Both the first cam member (730) and the second cam member (731) are partially rotatable about a pin (735). The end effector (240) is rotatable about a longitudinal axis defined by the pin (735), thereby articulating the end effector (240).

  As best seen in FIG. 24 (in FIG. 23, the first cam member (730) is shown upside down), unlike the first cam member (330), the first cam member (330) (730) comprises a wavy surface (727) oriented obliquely with respect to the upper and lower surfaces (725, 726) of the first cam member (730). Also, unlike the cam member (330) that provides a longitudinal translation of the locking bar (262), the first cam member (730) of the present example is engaged based on the configuration of the wavy surface (727). Provides vertical movement of the stop bar (762). In other words, the locking bar (262) moves along a longitudinal path parallel to the longitudinal axis (LA) of the shaft assembly (200) to provide selective locking and unlocking. However, the locking bar (762) moves along a vertical path transverse to the longitudinal axis (LA) of the shaft assembly (200) to provide selective locking and unlocking. The vertical movement of the locking bar (762) is such that the locking bar (762) is in the lower vertical position (locking-FIGS. 25A and 26A) or the upper vertical position (unlocking-FIGS. 25B and 26B). And providing selective locking of the second cam member (731) based on the In this example, the locking bar (762) moves along a vertical plane passing through both the longitudinal axis (LA) of the shaft assembly (200) and the longitudinal axis of the pin (735). In another form, the locking bar (762) is in a vertical plane parallel to a vertical plane passing through both the longitudinal axis (LA) of the shaft assembly (200) and the longitudinal axis of the pin (735). Move along.

  In some forms, the proximal end of the locking bar (762) pivotally connects with the mounting surface (722) of the shaft assembly (200) and the distal end of the locking bar (762). Pivot vertically about its pivotal connection, thereby providing selective locking and unlocking of the articulating joint (734). In another form, the entire length of the locking bar (762) moves along a path perpendicular to the mounting surface (722) of the shaft assembly (200), thereby selectively selecting the articulating joint (734). Locking and unlocking. In either form, the locking bar (762) may be resiliently biased upwardly against the mounting surface (722) of the shaft assembly (200). For example, FIGS. 25A-25B show that the coil spring (721) is sandwiched between the distal portion of the locking bar (762) and the mounting surface (722), so that the coil spring (721) is facing upward. Indicates that the bias is provided. In other configurations (eg, where the proximal end of the locking bar (762) is pivotally connected to the mounting surface (722)), a torsion spring is used to provide an upward bias. be able to. Still other suitable ways in which the locking bar (762) may be resiliently biased will be apparent to those skilled in the art in view of the teachings herein.

  From the above, as the first cam member (730) rotates, the wavy surface (727) cams the locking bar (762) downward or provides clearance for the spring (721). It should be understood that it is operable, thereby driving the locking bar (762) upward depending on the angular position of the first cam member (730). Comparing FIG. 23 with FIGS. 25A-B illustrates the operation of an exemplary articulating joint (734). In particular, as can be seen in FIGS. 23, 25A, and 26A, the locking bar (762) is biased downward by the ridge portion (728) of the corrugated surface (727), thereby causing the locking bar (762) to move to the second position. Of the cam member (731). It should be understood that in the configuration shown in FIG. 25A, the articulating joint (734) is in a locked configuration, such that the angular articulating portion of the end effector (240) is fixed.

  To unlock the end effector (240), the first cam member (730) is rotated through the first and second arms (742, 744), thereby causing the wavy surface (727) to rotate. The valley portion (729) can be rotated toward the locking bar (762). As the valley portion (729) rotates toward the locking bar (762), the locking bar (762) may begin to move upward toward the position shown in FIGS. 25B and 26B. As can be seen in FIG. 25B, the locking bar (762) is received in the valley (729) of the corrugated surface (727) so that it is pivoted to the uppermost position. Similarly, when the locking bar (762) is in this upper position, the locking bar (762) is no longer engaged with the second cam member (731). Thus, in the configuration shown in FIG. 25B, the second cam member (731) is unlocked, thereby causing the end effector (240) to move laterally from the longitudinal axis (LA) of the shaft assembly (200). Can be deflected away.

  As with the articulating joint (234), the articulating joint (734) may be equipped with cam wings (738, 739) and bosses (771, 773), thereby initially connecting the first cam member (730). It should be understood that the second cam member (731) can be rotated independently at a later time. In other examples, the cam wings (738, 739) and the bosses (771, 773) may all be omitted, and the arms (742, 744) may be independently separated as described above for the first cam member (530). When activated, it is possible to independently drive the rotation of the first cam member (730) and the second cam member (731). Of course, as will be apparent to one of ordinary skill in the art in view of the teachings herein, any other method that delays rotation of the second cam member (731) following the first cam member (730). Any suitable method can be used.

  Once the second cam member (731) is articulated to the articulated position by the arms (742, 744), the first cam member (730) rotates further and the second cam member (731). Can be translated and returned to the locked position shown in FIGS. 25A and 26A. In particular, the first cam member (730) may rotate such that the ridge portion (728) drives the locking bar (762) downward to return to engagement with the second cam member (731). In such a configuration, the gap between the two locking teeth (733) of the second cam member (731) is aligned with the ridge portion (728) of the first cam member (730) and the ridge portion (728). 728) drives the locking teeth (736) of the locking bar (762) downward into the gap between the two locking teeth (722). Once the locking bar (762) is fully engaged with the second cam member (731) with the locking tooth (736) in the gap between the two locking teeth (722), the second The cam member (731) is locked in place, thereby re-locking the articulation joint (734). Of course, to further articulate the end effector (240), the process described above can be restarted to unlock, articulate, and re-engage the articulating joint (734).

IV. Other Any one or more of the teachings, expressions, embodiments, examples, etc. described herein may be replaced with any one or more of the other teachings, expressions, embodiments, examples, etc. described herein. It should be understood that it can be combined with Therefore, the above teachings, expressions, embodiments, examples, etc., should not be considered separate from one another. In view of the teachings herein, various suitable ways in which the teachings herein may be combined will be apparent to those skilled in the art. Such modifications and variations are intended to be included within the scope of the claims. It is also to be understood that the various teachings provided herein can be easily combined with the teachings of the various references cited herein. In addition, the various teachings herein are incorporated by reference in co-pending U.S. Patent Application No. [Attorney Docket No. END7431USNP. No. 0614277], the teachings of the title “Method of Unlocking Articulation Joint in Surgical Stapler” and / or the same [Attorney Docket No. END7446USNP. No. 0614587], and the teaching of the title "Pivotable Articulation Joint Unlocking Feature for Surgical Stapler".

  Any patent, publication, or other disclosure that is referred to by reference herein, if incorporated in whole or in part, into the current definition, view, or disclosure herein. And that it is incorporated herein only to the extent it does not conflict with other disclosures. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting description incorporated herein by reference. Any document, or a portion thereof, which is hereby incorporated by reference, and which contradicts the existing definitions, views, or other disclosures contained herein, is incorporated by reference into the existing literature. It shall be incorporated only to the extent that there is no inconsistency with the disclosure.

  Variations of the above described device may have applications in robotic assisted treatments and procedures as well as in traditional treatments and procedures performed by medical professionals. By way of example only, the various teachings herein may be found in Intuitive Surgical, Inc. (Sunnyvale, California), and can easily be incorporated into robotic surgical systems, such as the DAVINCI ™ system. Similarly, as will be apparent to those skilled in the art, the various teachings herein may be readily combined with any of the following various teachings: U.S. Pat. No. 5,817,084 entitled "Remote Center Positioning Device with Flexible Drive" (the disclosure content of which is No. 5,878,193, the name of which is issued on March 2, 1999, which is “Automated Endoscope System for Optimal Positioning”, the disclosure of which is incorporated herein by reference. No. 6,231,565, issued May 15, 2001, entitled "Robotic Arm DLUs for Performing Surgical Tasks", the disclosure of which is incorporated herein by reference. No. 6,783,524 issued August 31, 2004, entitled "Robotic Surgical Tool with Ultrasound Catering and Cutting Instrument". The disclosure of which is incorporated herein by reference), issued Apr. 2, 2002, entitled "Alignment of Master and Slave in a Minimally Invasive Surgical Apparatus", US Pat. No. 6,364,888. The disclosure of which is incorporated herein by reference), issued on April 28, 2009, entitled "Mechanical Actor Interface System for Robotic Surgical Tools", No. 7,524,320. Is incorporated herein by reference), issued April 6, 2010, entitled "Platform Link Wrist Mechanism", No. 7,691,0. No. 98 (the disclosure of which is incorporated herein by reference), issued October 5, 2010, entitled "Repositioning and Reorientation of Master / Slave Relations in Minimally Invasive Telesurgery", No. 7, 80. U.S. Pat. No., 891, the disclosure of which is incorporated herein by reference, entitled "Automated End Effector Component Reloading System for Use with a Robotic System", published on Jan. 10, 2013. 2013/0012957, the disclosure of which is incorporated herein by reference, August 2012. No. 2012/0196630, the name of which is published on the 9th, entitled “Robotically-Controlled Surgical Instrument with Force-Feedback Capabilities”, the disclosure of which is incorporated herein by reference on May 31, 2012. No. 2012/0132450, the disclosure name of which is “Shiftable Drive Interface for Robotically-Controlled Surgical Tool” (the disclosure content of which is incorporated herein by reference). "Surgical Stapling Instruments with Cam-Driven Strap Deployment" No. 2012/0199633, the disclosure of which is incorporated herein by reference, and the name of which is published on Aug. 9, 2012, "Robotically-Controlled Motorized Surgical End-effector System for the Financial System." No. 2012/0199631 entitled "Closure Systems Having Variable Action Speeds" (the disclosure of which is incorporated herein by reference), the name of which is published on August 9, 2012, "Robotically Surgical Electronic Surgical Electronic Surgical Technical Controlled Surgical Electronic Surgical Technical Controlled Surgical Integral Surgical Information Surgical Articula No. 2012/0196632, which is incorporated herein by reference, entitled "Table End Effector," and published on August 9, 2012, as "Robotically-Controlled Surgical End Effector System." No. 2012/0203247 (the disclosure of which is incorporated herein by reference), which is published on August 23, 2012, as "Drive Interface for Operablely Coupling a Manipulatable Surgical Tool to a Robot". No. 2012/0211546, published on June 7, 2012, under the name of “Robotically-Controlled Cable”. No. 2012/0138660, which is incorporated herein by reference, and / or "Robotically-Controlled Surgical Enforcement Effects," which is incorporated herein by reference, entitled "Basic Surgical End Effects." No. 2012/0205421, which is incorporated herein by reference to “with Rotary Actuated Closed Systems”.

  The device configurations described above may be designed to be disposed of after a single use, or they may be designed to be used multiple times. In either or both cases, the forms may be reconditioned for reuse after at least one use. Reconditioning may include any combination of the steps of disassembly of the device, followed by cleaning or replacement of certain parts, and subsequent reassembly. In particular, some forms of the device may be disassembled, and any number of particular members or components of the device may be selectively replaced or removed in any combination. Upon cleaning and / or replacement of certain parts, certain configurations of the device may be reassembled by the user at the reconditioning facility or immediately prior to surgery for subsequent use. Those skilled in the art will recognize that reconditioning of a device can use a variety of techniques for disassembly, cleaning / replacement, and reassembly. Such techniques, and the use of the resulting reconditioned device, are all within the scope of the present invention.

  By way of example only, the forms described herein may be sterilized before and / or after surgery. In one sterilization method, the device is placed in a closed and sealed container such as a plastic or TYVEK bag. The container and device can then be placed in a radiation field that penetrates the container, such as gamma rays, X-rays, or high energy electrons. The radiation can kill bacteria on the device and in the container. Thereafter, the sterilized device can be stored in a sterile container for later use. The device may be sterilized using any other technique known in the art, including but not limited to beta or gamma radiation, ethylene oxide, or water vapor.

  While various embodiments of the present invention have been illustrated and described, further modifications of the methods and systems described herein may be made without departing from the scope of the present invention and by appropriate modifications by those skilled in the art. Can be realized. While some of such possible modifications have been described, other modifications will be apparent to those skilled in the art. For example, the above-described examples, embodiments, shapes, materials, dimensions, ratios, steps, and the like are illustrative and not essential. Therefore, the scope of the present invention should be considered in light of the following claims, and should not be limited to the details of structure and operation illustrated and described herein and in the drawings.

(Embodiment)
(1) An apparatus,
(A) a main body;
(B) a shaft assembly extending distally from the body, the shaft assembly defining a longitudinal axis, and the shaft assembly having a distal end;
(C) an end effector operable to manipulate the tissue;
(D) an articulating joint connecting the distal end of the shaft assembly and the end effector, wherein the articulating joint is configured to move the end in a direction away from the longitudinal axis of the shaft assembly. An articulation joint configured to allow the effector to deflect;
Wherein the articulating joint comprises:
(I) a locking assembly operable to selectively lock an angular position of the end effector with respect to the longitudinal axis of the shaft assembly;
(Ii) an unlocking feature operable to selectively unlock the locking assembly;
Including
The shaft assembly further includes:
(I) a first movable member operable to selectively drive a joint motion of the end effector at the joint motion joint;
(Ii) a second movable member operable to selectively drive the unlocking feature;
Wherein the second movable member is independently movable with respect to the first movable member.
(2) The locking assembly comprises:
(A) a first locking member integrally fixed to the end effector, whereby the first locking member moves with the end effector with respect to the longitudinal axis of the shaft assembly; A first locking member configured to move;
(B) a second locking member operable to selectively engage the first locking member, whereby the end effector of the end effector relative to the longitudinal axis of the shaft assembly; A second locking member for selectively locking the angular position;
The apparatus of embodiment 1, comprising:
The apparatus of claim 2, wherein the unlocking feature is operable to selectively release the second locking member from the first locking member.
(4) wherein the unlocking feature is operable to rotate about a first axis, thereby selectively disengaging the second locking member from the first locking member. An apparatus according to aspect 3.
The apparatus according to claim 4, wherein the first axis is perpendicular to the longitudinal axis of the shaft assembly.

(6) the articulating joint is configured to enable the end effector to pivot about a second axis, thereby moving the end effector away from the longitudinal axis of the shaft assembly. 5. The device according to embodiment 4, wherein the device allows deflection.
(7) The apparatus according to embodiment 6, wherein the first axis and the second axis are coextensive with each other.
The apparatus of claim 2, wherein the second locking member is configured to translate along a longitudinal path and selectively engages the first locking member.
The apparatus according to claim 8, wherein the longitudinal path of the second locking member is parallel to the longitudinal axis of the shaft assembly.
The apparatus of claim 2, wherein the second locking member is configured to translate along a transverse path and selectively engages the first locking member.

The apparatus of claim 10, wherein the transverse path of the second locking member traverses the longitudinal axis of the shaft assembly.
The apparatus according to claim 1, wherein the first movable member is movable along a longitudinal path.
(13) The apparatus according to embodiment 1, wherein the second movable member is movable along a longitudinal path.
14. The apparatus of claim 1, wherein the unlock feature comprises a set of teeth, wherein the teeth have either a triangular or square shape.
The apparatus of claim 1, wherein the unlocking feature is asymmetric about a central axis that is parallel to the longitudinal axis of the shaft assembly.

16. The device of claim 1, wherein the unlock feature has a pi-shape.
(17) the unlocking feature has an obliquely wavy surface defining a series of ridges and valleys, the ridges being operable to provide locking of the locking assembly; The device of claim 1, operable to effect unlocking of the locking assembly.
The apparatus of claim 1, wherein the end effector includes a stapling assembly operable to drive staples into tissue.
(19) The apparatus,
(A) a main body;
(B) a shaft assembly extending distally from the body, the shaft assembly defining a longitudinal axis, and the shaft assembly having a distal end;
(C) an end effector operable to manipulate the tissue;
(D) an articulating joint connecting the distal end of the shaft assembly and the end effector, wherein the articulating joint is configured to move the end in a direction away from the longitudinal axis of the shaft assembly. An articulation joint configured to allow the effector to deflect;
Wherein the articulating joint comprises:
(I) a first locking member integrally fixed to the end effector, whereby the first locking member moves with the end effector with respect to the longitudinal axis of the shaft assembly; A first locking member configured to move;
(Ii) a second locking member operable to selectively engage the first locking member, whereby the end effector of the end effector relative to the longitudinal axis of the shaft assembly; A second locking member for selectively locking the angular position;
(Iii) a pivotable unlocking feature including a pivotable body having a pair of proximally extending protrusions;
Including
The protrusion defines a space configured to receive a portion of the second locking member, thereby providing a space for engagement of the second locking member with the first locking member. Provide clearance,
The protrusion drives the second locking member in a direction away from the first locking member in response to the pivoting movement of the pivotable body, whereby the second locking member is driven. The device is configured to disengage from the first locking member.
(20) An apparatus,
(A) a main body;
(B) a shaft assembly extending distally from the body, the shaft assembly defining a longitudinal axis, and the shaft assembly having a distal end;
(C) an end effector operable to manipulate the tissue;
(D) an articulating joint connecting the distal end of the shaft assembly and the end effector, wherein the articulating joint is configured to move the end in a direction away from the longitudinal axis of the shaft assembly. An articulation joint configured to allow the effector to deflect;
Wherein the articulating joint comprises:
(I) a first locking member integrally fixed to the end effector, whereby the first locking member moves with the end effector with respect to the longitudinal axis of the shaft assembly; A first locking member configured to move;
(Ii) a second locking member movable along a transverse path to selectively engage the first locking member, whereby the longitudinal axis of the shaft assembly; A second locking member for selectively locking the angular position of the end effector relative to the second path, wherein the transverse path traverses a longitudinal axis of the shaft assembly;
(Iii) a lock operable to drive the second locking member along the transverse path to selectively release the second locking member from the first locking member. A release feature;
An apparatus, including:

Claims (15)

A device,
(A) a main body;
(B) a shaft assembly extending distally from the body, the shaft assembly defining a longitudinal axis, and the shaft assembly having a distal end;
(C) an end effector operable to manipulate the tissue;
(D) an articulating joint connecting the distal end of the shaft assembly and the end effector, wherein the articulating joint is configured to move the end in a direction away from the longitudinal axis of the shaft assembly. An articulation joint configured to allow the effector to deflect;
Wherein the articulating joint comprises:
(I) a locking assembly operable to selectively lock an angular position of the end effector with respect to the longitudinal axis of the shaft assembly;
(Ii) an unlocking feature operable to selectively unlock the locking assembly;
Including
The shaft assembly further includes:
(I) a first movable member operable to selectively drive a joint motion of the end effector at the joint motion joint;
(Ii) a second movable member operable to selectively drive the unlocking feature;
Including
The locking assembly includes:
(A) a first locking member integrally fixed to the end effector, whereby the first locking member moves with the end effector with respect to the longitudinal axis of the shaft assembly; A first locking member configured to move;
(B) a second locking member connected to the shaft assembly and urged against the first locking member to operate to selectively engage with the first locking member; And a second locking member for selectively locking the angular position of the end effector with respect to the longitudinal axis of the shaft assembly,
Including
The unlocking feature includes a cam surface and is rotatably connected to the end effector and operable to rotate about a first axis such that the cam surface rotates to rotate the second surface. the a locking member and said biasing is configured to disengage the second engagement member is moved in the opposite direction selectively from said first locking member,
The apparatus wherein the second movable member is independently movable with respect to the first movable member .   The apparatus of claim 1, wherein the first axis is perpendicular to the longitudinal axis of the shaft assembly. The articulation joint is configured to allow pivoting of the end effector about the second axis, thereby, in a direction away from the longitudinal axis of the shaft assembly, thereby deflecting the end effector The device of claim 1, wherein the device enables:   The apparatus of claim 3, wherein the first axis and the second axis are coextensive with each other.   The apparatus of claim 1, wherein the second locking member is configured to translate along a longitudinal path and selectively engages the first locking member.   The apparatus of claim 5, wherein the longitudinal path of the second locking member is parallel to the longitudinal axis of the shaft assembly.   The apparatus of claim 1, wherein the second locking member is configured to translate along a transverse path and selectively engages the first locking member.   The apparatus of claim 7, wherein the transverse path of the second locking member traverses the longitudinal axis of the shaft assembly.   The apparatus according to claim 1, wherein the first movable member is movable along a longitudinal path.   The apparatus of claim 1, wherein the second movable member is movable along a longitudinal path.   The apparatus of claim 1, wherein the unlock feature comprises a set of teeth, each of the teeth comprising the cam surface, and wherein the teeth have either a triangular or square shape.   The apparatus of claim 1, wherein the unlock feature is asymmetric about a central axis that is parallel to the longitudinal axis of the shaft assembly.   The device of claim 1, wherein the unlock feature has a π-shaped configuration.   The unlocking feature has an obliquely wavy surface defining a series of ridges and valleys, the ridges being operable to provide locking of the locking assembly, wherein the valleys have the locking. The device of claim 1 operable to effect unlocking of the assembly.   The device of claim 1, wherein the end effector includes a stapling assembly operable to drive staples into tissue.

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