MXPA06008187A - Surgical instrument with laterally moved shaft actuator coupled to pivoting articulation joint - Google Patents

Abstract

A surgical instrument particularly suited to endoscopic use articulates an end effector by including a laterally sliding member in a proximal portion of a shaft that pivots the end effector to a selected side. Differentially opposing actuating forces (e.g., hydraulic, fluidic, mechanical) act against the laterally sliding member without binding by incorporating guidance mechanisms between the laterally sliding member and a frame of the shaft.

Description

SURGICAL INSTRUMENT WITH LATERALLY DISPLACED AXLE ACCLONER TO PIVOT THE UNION ARTICULATED CROSS REFERENCE TO RELATED REQUESTS The present invention claims the benefit of the U.S. Patent Application. Common property No. 11/061, 908 entitled "SURGICAL INSTRUMENT INCORPORATING A FLUID TRANSFER CONTROLLED ARTICULATION MECHANISM" for Kenneth Wales and Chad Boudreaux filed on February 18, 2005, the description of which is hereby incorporated by reference in its entirety.

FIELD OF THE INVENTION The present invention relates in general to surgical instruments that are suitable for endoscopically inserting an end effector (eg, endocortator, pickup, cutter, staplers, clip applier, access device, device for the distribution of drug / gene therapy). and an energy device that uses ultrasound, RF, laser, etc.) in a surgical site, and more particularly to said surgical instruments with an articulated shaft.

BACKGROUND OF THE INVENTION Endoscopic surgical instruments are often preferred over traditional open surgical devices since a smaller incision tends to reduce recovery time and post-operative complications. Consequently, a significant development has fallen on the scale of endoscopic surgical instruments that are suitable for the precise placement of a distal end performer in a desired surgical site through a trocar cannula. These distal end effectors connect the tissue in a number of ways to achieve a diagnostic or therapeutic effect (e.g., endocortator, pickup, cutter, stapler, clip applier, access device, device for the distribution of drug therapy / gene , and energy device that uses ultrasound, RF, laser, etc.). The placement of the end executant is restricted by the trocar. Generally, these endoscopic surgical instruments include a long axis between the end performer and a handle portion manipulated by the physician. This long axis enables insertion at a desired depth and rotation around the longitudinal axis of the shaft, therefore placing the end performer to a degree. With successful placement of the trocar and the use of sensors, for example, through another trocar, this degree of placement is often sufficient. In surgical stapling and cutting instruments, such as those described in the Patent of E.U.A. No. 5,465,895, are an example of an endoscopic surgical instrument that successfully places an end performer through insertion and rotation. More recently, the Patent of E.U.A. Serial No. 10 / 443,617, "SURGICAL STAPLING INSTRUMENT INCORPORATING AN E-BEAM FIRING MECHANISM" by Shelton IV et al., Filed May 20, 2003, which is hereby incorporated by reference in its entirety, discloses a detonation bar "E-bar" to cut the tissue and activate the staples. Some of the additional advantages include affirmatively spacing the clamps of the end effector, or more specifically a staple assembly, even if it holds lightly a little or a little bit of tissue for optimal staple formation. In addition, the bar detonation bar E connects the end effector and the staple cartridge in such a way that enables the locks connects the end effector and the staple cartridge in such a way that it enables several beneficial locks to be incorporated. Depending on the nature of the operation, it may also be desirable to adjust the placement of the end effector of an endoscopic surgical instrument. In particular, it is generally desirable to orient the end runner on an axis transverse to the longitudinal axis of the instrument axis. The transverse movement of the extreme executed with respect to the axis of the instrument is conventionally referred to as "articulation". This is typically achieved through a pivot joint (or joint) that is placed on the extended shaft simply next to the assembly of the application of staples. This allows the surgeon to articulate the staple application assembly remotely on either side for better surgical placement of the staple lines and to facilitate manipulation and orientation of the tissue. This articulated positioning allows the doctor to connect the tissue easier in some instances, such as behind an organ. In addition, the articulated positioning advantageously allows an endoscope to be placed behind the end performer without being blocked by the axis of the instrument. Methods for articulating a stapling and surgical cutting tool tend to be complicated when integrating joint control along with controlling the end performer's closure to hold the tissue and detonating the end performer (i.e., stapling and cutting) . Generally the three control movements are transferred through the axis as longitudinal displacements. For example, the Patent of E.U.A. No. 5,673,840 discloses an articulation mechanism of the accordion type ("flexible neck") that is articulated to selectively move back one of the two connecting bars through the implement shaft, each bar adjusted respectively on the opposite sides of the line of center of the axis. The connection payments are decorated through different positions. Another example of the longitudinal control of an articulation mechanism is the U.S. Patent. No. 5,865,361 which includes an articulation joint adjustment from a cam pivot in such a way that when pushing or pulling the longitudinal displacement of the joint of the joint effects the articulation of the respective side. Similarly, the U.S. Patent. Do not. ,797,537 discloses a similar bar that passes through the shaft to effect articulation. In the Patent Application of E.U.A. Common and Copendent Property No. Se Series 10 / 615,973"SURGICAL INSTRUMENT INCORPORATING AN ARTICULATION MECHANISM HAVING ROTATION ABOUT THE LONGITUDINAL AXIS", by Frederick E. Shelton IV and others, the description of which is hereby incorporated by reference in its entirety, uses rotational movement to transfer the motion of the joint as an alternative to a longitudinal movement. Since these mechanically communicated articulation movements have been successfully enabled in stapling instruments and surgical cutting to articulate, development tends to have numerous challenges and barriers to enter the market. Conflicting design objects include an axis of as small a diameter as possible to reduce the size of the surgical opening even with sufficient strength to carry out the various movements (eg, closure, detonation, articulation, rotation, etc.). ). In addition, transferring sufficient strength without bonding and other friction problems imposes restrictions on the design that limits the desired characteristics and reliability. Consequently, there is a significant need for an articulated surgical instrument that incorporates an articulation mechanism that utilizes an articulating force that can be incorporated within the confines of closure thereof without interfering with detonation movements and closing.

BRIEF DESCRIPTION OF THE INVENTION The invention overcomes the aforementioned and other prior art deficiencies by providing a surgical instrument having an articulated shaft joined between the handle and an end performer that utilizes a laterally slidable member in the proximal portion of the shaft acting against a characteristic of pivot of the end executant. Actuators that move laterally on opposite sides of the laterally slidable member control the pivoting of each side. These lateral movement members have a large longitudinal surface area to act after advantageously achieving, differentially, a desired force to articulate within the close confines of an elongated shaft suitable for insertion through a cannula of a trocar for surgical procedures endoscopic and laparoscopic. In an aspect of the invention, a surgical instrument uses an electromagnet placed in the proximal lateral recess, still a ferromagnetic target that is part of the sliding bar. The control circuit selectively activates the electromagnet to position the slide bar for the articulation of the end performer. In another aspect of the invention, a surgical instrument utilizes an articulation control having members of longitudinal movement, differential that move within an elongated axis on each side of the slide bar that mechanically acts differentially against the slide bar to effect the lateral position thereof, and this form cause the articulation of an end performer. These and other objects and advantages of the present invention will be apparent from the accompanying drawings and the description thereof.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated and constitute a part of this specification, illustrate the embodiments of the invention, and together with the general description of the invention given above and the detailed description of the modalities given below, serve to explain the principles of the present invention. Figure 1 is a front top perspective view of a stapling and surgical cutting instrument shown with an open-ended performer, or staple application assembly, and with the staple cartridge removed. Figure 2 is a front top perspective view of the stapling and surgical cutting instrument of Figure 1 with an articulation mechanism actuated through a fluid activation control. Figure 3 is a disassembled perspective view of an elongated shaft and the articulation mechanism of a stapling instrument and surgical cut of Figure 1. Figure 4 is a disassembled perspective view of the distal portions of an implement portion of the stapling and surgical cutting instrument of Figure 1, including the staple application assembly and the articulation mechanism. . Figure 5 is a top perspective view of the staple application assembly of Figures 1 and 4 with a side half of the staple cartridge removed to expose the components actuated by the knocking movement. Figure 6 is a front perspective view of an implement portion of the surgical instrument of Figure 1 with a double pivot closure sheath assembly and a removed end performer to expose the individual articulated pivot frame through the mechanism of articulation by fluid. Figure 7 is a detailed perspective view of an alternative articulation joint for a surgical instrument of Figure 1 describing a dual pivot closure sheath assembly in the proximal position with a single pivot frame base. Figure 8 is an enlarged lower right perspective view of an alternative joint joint of Figure 7 including a dog bone joint with double pivot fixed and a frame base incorporating the rail guides for a lateral movement member (bar T). Figure 9 is an enlarged view in top perspective left of an additional alternative joint joint for the surgical instrument of Figure 1, including an alternative solid wall support plate mechanism incorporated in a lower double pivot link to support a detonation rod and includes a laterally moving member guided by rail (bar -T). Figure 10 is a diagrammatic top view of a reciprocating articulation locking mechanism surgical instrument panel of Figure 1 with a closure sleeve assembly removed to expose a recharged disconnected T-bar for the connection and disconnection of automatic hinge lock. Figure 11 is a diagrammatic top view of a further alternative hinge mechanism for surgical instrument of Figure 1, a biased spring frame on a T-bar with locking features that are connected by recharging an end performer. Figure 12 is a T-bar and an alternative base frame incorporating the lateral guide for surgical instrument of Figure 1. Figure 13 is still a T-bar and an additional alternative base frame incorporating the surgical instrument panel side guide of Figure 1. Figure 14 is a disassembled view in upper left perspective of an alternative articulation mechanism including a double pivot frame assembly and a locking sleeve assembly. individual pivot for the surgical instrument of Figure 1. Figure 15 is a lower left perspective view of the alternative articulation mechanism of Figure 14. Figure 16 is a diagram of a fluid articulation mechanism that moves laterally with a frame and gear segment with pivoting described in the non-articulated state. Figure 17 is an elevation cross-sectional front view of the fluid articulation mechanism of Figure 16 taken along lines 17-17. Figure 18 is a diagram of the fluid joint mechanism that moves laterally with a frame and gear segment with pivoting described in an articulated state. Figure 19 is an elevation cross-sectional front view of the fluid articulation mechanism of Figure 18 taken along lines 19-19. Figure 20 is a diagrammatic top view of a surgical instrument hinged by at least one longitudinally moving member that laterally rotates a slide bar, which in turn articulates an end performer. Figure 21 is a diagrammatic top view of the surgical instrument of Figure 20 in an articulated state. Figure 22 is a front elevational cross-sectional view of an alternate rotary joint mechanical control system for an instrument FIG. 16 or 20 to move laterally relative to the T-bar or the sliding bar, described in a non-articulated state. Figure 23 is a front elevation cross-sectional view of the alternative rotary union mechanical control system of Figure 22 in an articulated state. Figure 24 is a diagrammatic top view of a surgical instrument having a laterally slidable bar positioned through a pair of loop members, each with a longitudinally adjustable proximal end, to articulate the end executable. is a diagrammatic top view of the surgical instrument of Figure 24 described in an articulated condition Figure 26 is a diagrammatic top view of a surgical instrument having an electromagnetic lateral joint control mechanism Figure 27 is a diagrammatic top view of the The surgical instrument of Figure 26 in an articulated condition Figure 28 is a diagrammatic top view of a surgical instrument having an electromagnetic lateral joint control mechanism with asymmetric bias Figure 29 is a diagrammatic top view of the surgical instrument of Figure 28 in an articulated state.

DETAILED DESCRIPTION OF THE INVENTION General scheme of the articulated axis. By now changing the drawings, where like numbers denote similar components throughout the various views, Figure 1 describes a surgical instrument, which in the illustrative versions is more particularly a stapling and surgical cutting instrument 10, which is capable of practice the unique benefits of the present invention. In particular, the stapling and surgical cutting instrument 10 is dimensioned for insertion, in a non-articulated state as described in Figure 1, through a trocar cannula passage to a surgical site in a patient (not shown) to carry out surgical procedure. Once the implement portion 12 is inserted through the cannula passage, an articulation mechanism 14 incorporated in a distal portion of an elongated shaft 16 of the implement portion 12 can be remotely articulated, as described in Figure 2. , through an articulation control 18. An end performer, described in the illustrative version as a staple application assembly 20, is distally attached to the articulation mechanism 14. In this way, the remote articulation of the articulation mechanism 14 therefore it articulates the staple application assembly 20 from a longitudinal axis of the elongated shaft 16. It says angular position can have advantages when reaching the tissues from a desired angle to cut and staple, reaching the tissues otherwise obstructed by other organs and tissue, and / or allowing an endoscope to be placed from behind and aligned with the staple application assembly 20 to confirm placement.

Handle The stapling and surgical cutting instrument 10 includes a handle portion 22 proximally connected to the implement portion 12 to provide placement, articulation, closing movements and knocking thereof. The handle portion 22 includes a gun holder 24 to which the closure actuator 26 is pivotally and proximally attracted through the physician to cause the clamping, or closure, of the clip application assembly 20. A knock actuator 28 is in the outer part away from the closure actuator 26 and is pivotally attracted through the physician to cause the stapling and cutting of the tissue fastened in the staple inspection 20. From there, the lock release button 30 is pressed to release the actuator of fastening closure 26, and in this way the stapled and cut ends of the fastened tissue. The handle portion 22 also includes a rotation knob 32 engaged for movement with the elongated shaft 16 to rotate the shaft 16 and the articulated clip application assembly 20 about the longitudinal axis of the shaft 16. The handle portion 22 also includes a detonation retraction handle 34 to assist in the retraction of a detonation mechanism (not described in Figures 1-2) where the joint must occur, so that the opening of the staple application assembly 20 can occur therefrom .

It will be appreciated that the terms "proximal" and "distal" are used herein with reference to a physician holding a handle of an instrument. In this way, the surgical stapling assembly 20 is distal with respect to the closer handle portion 22. 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 use in various orientations and positions, and these terms are not intended to be limiting and absolute. A multi-punch handle portion 22 for the stapling and surgical cutting instrument 10 of Figures 1-2 is described in greater detail in the U.S. patent applications. Co-pending and Commonly Owned Serial No. 11 / 052,632, "MULTI-STROKE MECHANISM WITH AUTOMATIC END OF STROKE RETRACTION", by Jeffrey S. Swayze et al., and Serial No. 10 / 674,026, entitled, "SURGICAL STAPLING INSTRUMENT INCORPORATING A MULTISTROKE FIRING POSITION INDICATOR AND RETRACTION MECHANISM "by Swayze and Shelton IV, descriptions of both are incorporated herein by reference in their entirety, with additional features and variation as described herein. Since the multiple-handle handle portion 22 advantageously supports applications with high detonation forces over a long distance, the applications consistent with the present invention may incorporate a single knock blow, such as described in the patent application of E.U.A. common property code "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS ", by Frederick E. Shelton IV, Michael E. Setser, and Brian J. Hemmelgarn, Serial No. 10/441, 632, the description of which is hereby incorporated by reference in its entirety.

Attachment portion (articulated elongate shaft and staple application assembly) In Figures 3-5, the implement portion 12 advantageously incorporates multiple activation movements of longitudinal rotation, articulation, closure and detonation within a small diameter suitable for endoscopic and laparoscopic. The staple application assembly 20 ("end performer") has a pair of pivotally opposed clamps, described as an elongate channel 40 with a pivotally attached anvil 42 (Figures 1-2, 4-5). The closure and fastening of the anvil 42 for the elongate channel 40 is achieved through the longitudinal support of the elongated channel 40 with a frame assembly 44 (Figure 3) rotatably attached to the handle portion 22 on which a sleeve assembly of double pivot closure 46 longitudinally moves to impart closure and opening respectively to a distal and proximal movement of the anvil 42, still with the staple application assembly 20 as in Figure 2. With particular reference to Figure 3, the frame assembly 44 includes a single pivot frame base 48 whose proximal end is connected to the rotation knob 32, with a half right armor 50 in the same shown in Figure 3. It should be appreciated that a proximal end of the closure cover assembly 46, specifically a straight closure tube 52, encompasses the proximal end of the frame base 48, further passing internally to the portion of the frame 48. handle 22 for connecting the closure components (not shown) that longitudinally displace the closure cover assembly 46. A circular flange 54 at the proximal end of the straight pipe 52 provides a rotating interconnection to said components. The interconnection of the components of the rotary knob 32 passes through a longitudinal slot 56 in a proximal portion of the straight closure tube 52 to connect an opening 58 positioned proximally in the frame base 48. In the longitudinal slot 56 it is sufficiently long to allow longitudinal closing movement of the closure cover assembly 46 at various rotational angles established by the rotation knob 32 for the closure cover assembly 46 and the base of the frame 48. The elongated shaft 16 supports the detonation movement through the reception of a detonation bar 60 that rotatably connects the detonation components to the handle portion 22 (not shown). The detonation bar 60 enters the proximal opening 62 along the longitudinal center line of the frame base 48. The distal portion of the frame base 48 includes a detonation bar groove 64 along its part. lower communicating with proximal opening 62. A detonation bar 66 longitudinally displaces from the groove of the detonation bar 64 and includes a proximate projection proximal terminal 68 which is connected with the distal end 70 of the detonation rod 60. The elongated shaft 16 supports the hinge through the incorporation of a rectangular reservoir cavity 72, a lateral portion described in the distal portion of the rotary knob 32. A lower compartment 74 which resides within the rectangular reservoir cavity 72 has laterally spaced left and right deflectors 76, 78. An articulation actuator 80 slides laterally on the upper part of the lower compartment 74, its left and right flanks laterally spaced down 82, 84 , which are on the outside of the deflectors 76, 78, each communicating laterally with the left and right pressing buttons 86, 88 extending outward from their respective half-shells of the rotation knob 32. The lateral movement of the articulation actuator 80 attracts the left and right flanks 82, 84 closer and further respective In view of the baffles 76, 78, which operate against the left and right reservoir bladders 90, 92 of a fluid joint system 94, each bladder 90, 92 communicates respectively distally with the left and right fluid conduits or the passages 96, 98 which in turn respectively communicates with the bladders actuator to its left and right 100, 102. The opposite opposite and laterally pivot to a sliding bar, described, the bar T 104, of the articulation mechanism 14. frame assembly 44 restricts these fluid activations through the inclusion of an upper and distal bas-relief board 106 of the base frame 48 on which reside the fluid passages 96, 98 and activation bladders 100, 102. The bar T 104 also slides on the bas-relief board 106 between the activation bladders 100, 102. Next to the bar T 104, there is aligned an elevated barrier 108, resides to prevent internal expansion of the fluid passages 96, 98. The frame assembly 44 has a round upper frame cover (spacer) 110 that slides over the top of the base frame 48, preventing vertical expansion of fluid passages 96, 98 and activation bladders 100, 102, as well as restricting any vertical movement of bar 104. In particular, the cover of the frame 110 includes features that enable it also to provide a hinge lock member 111, described in more detail below, part of the hinge lock mechanism 113. A distal end ("frame") 112 of the T-bar 104 is connected to pivot a proximally directed gear segment 115 of an articulated distal frame member 114 of the articulation mechanism 14. The articulated closure tube 117 encompasses articulated frame member 14 and includes a horseshoe opening 118 that connects the anvil 42. A double pivot link is formed between the straight closing tube 52 and the articulated closing ring 116 on the articulation mechanism 14, allowing the longitudinal closing movement when the articulation mechanism 14 is articulated. In particular, the pivot flanges projecting distally towards the upper and lower part 119, 120 in the straight closing pipe 52 have terminal holes 122, 124 respectively spaced apart. longitudinally away from the pivot tabs projecting proximally at the top and bottom correspondingly 126, 128 in the joint closing ring 116 having terminal holes 130, 132, respectively. An upper double pivot junction 134 is longitudinally spaced upwards directed towards the distal and rear terminals 136, 138 connecting the terminal holes 130, 122 respectively and a lower double pivot junction 140 having distal and posterior terminals projecting down longitudinally separate 142, 144 connecting the terminal holes 132, 124 respectively. With particular reference to Figure 4, the hinge closure ring 116 is shown to be improved in that it is fabricated to include a short tube 146 attached to an articulation joint collar 148 and includes the pivoting tabs projecting proximally 126 cent. 128. Similarly, the straight closure tube 52 is assembled from a long closure tube 150 which is attached to a posterior fixation collar 152 and includes the distally projecting pivot flanges 119, 120. The opening in the form of The horseshoe 118 in the short closure bucket 146 connects an upwardly projecting anvil feature 154 slightly proximal to the side pivot terminals 156 that connect the bas-reliefs of the pivot 158 within the elongated channel 40. In Figures 3, 6, a vertical distal terminal hole 169 formed in frame base 48 receives a frame pivot terminal 171 pivoting within distal frame member 114. The illustrative version of Figure 4 includes a dog bone link 160 whose proximal end 157 joins pivotally with frame base 48 in frame hole 161 and whose distal end 159 is slightly it joins a proximal lower surface 162 of the articulated frame member 14, thereby providing pivotal support therebetween. A lower longitudinal knife slot 163 in the dog bone attachment 160 of an articulated portion of the detonation rod 66. The articulated frame member 114 also includes a lower longitudinal slot 164 for guiding the distal portion of the detonation rod 66. .

Staple Application Apparatus (End Extender) With reference to Figures 4-5, the detonation rod 66 distally terminates in a bar E 165 that includes upper guide terminals 166 that enter the anvil groove 168 in the anvil 42 for verifying and assisting in the control of the anvil 42 in a closed state during the formation of stapling and cutting. The space between the elongate channel 40 and the anvil 42 further is controlled by the bar E 165 having the middle terminals 170 sliding along the upper surface of the elongated channel 40 while a lower leg 172 slides oppositely below the bottom surface of the elongate channel 40, guided by a longitudinal opening 174 in the elongated channel 40. A distally presented cutting surface 176 of the bar E 165, which is between the upper guide terminals 166 and the middle terminals 170, secures the cut fabric while the bar E 165 activates the replaceable staple cartridge 178 distally by moving a wedge sled 180 causing the staple drivers 182 to continue upwardly engaged the staples 184 outside the staple holes open up 186 in a body of the staple cartridge 188, forming against the staple forming surface 190 of the anvil 42. A tray of the staple cartridge 192 extends from the bottom of the other components of the staple cartridge 178 to hold them in place. its place. The tray of the staple cartridge 192 includes a rearwardly open slot 194 that lies above the longitudinal opening 174 in the elongated channel 40, thus the middle terminals 170 pass within the tray of the staple cartridge 192. The application assembly of staples 20 is described in greater detail in the US Patent Application Serial No. 10 / 955,042 co-pending, jointly owned, "ARTICULATING SURGICAL STAPLING INSTRUMENT INCORPORATING A TWO-PIECE AND BEAM FIRING MECHANISM," by Frederich E. Shelton IV, et al., Filed on September 30, 2004, description of which is incorporated herein by reference its entirety.

Hinge Lock Mechanism In Figures 3-4 and 6-8, the hinge lock mechanism 113 is advantageously incorporated to maintain the assembly of staple application 20 at a desired articulation angle. The articulation lock mechanism 113 reduces the loads on the left and right actuation bladders 100, 102. In particular, a compression spring 202 (Figure 3) is proximally positioned between a proximal end 204 of the hinge lock member 111 and the handle portion 22, biasing the joint locking member 111 distally. With particular reference to Figure 4, two parallel grooves 206, 208 at the distal end 210 of the hinge lock member 111 respectively receive the projecting guide ribs 212, 214 of the frame base 48. The guide ribs 212 , 214 are longitudinally shorter than the parallel slots 206, 208 allowing a scale of longitudinal displacement. Therefore, with particular reference to Figure 8, a selective splice connection of the distal description surface, described as a serrated bas-relief 216 distally projecting from the hinge lock member 111, is connected to the gear segment. corresponding locking 217 in the brake plate 218 received in the upper upper bas-relief 220 of the articulated frame member 114. The distal and proximal holes 221, 222 in the brake plate 218 receive the distal and proximal terminals 223, 224 projecting upwards from the upper proximal bas-relief 220. With particular reference to Figure 6, the elongated shaft 16 is described in an articulated position with a closure sheath assembly 46 removed from around frame assembly 44 and without the elongated channel 40. Y anvil 42. The articulator actuator 80 is shown moved laterally to the left to compress the right proximal reservoir bladder 90 and expand the expanded right distal bladder 100 by moving the rod T 104 to the left of the position shown. In this way, lateral movement of the articulation actuator 80 articulates the distal frame 114 in hourly fashion around the individual pivot frame base 48 as shown. The articulation actuator 80 advantageously also automatically connects and disconnects the articulation locking mechanism 113. In particular, a serrated detent surface 225 along the proximal upper surface of the articulation actuator 80 receives a locking terminal projecting towards down 226 of being proximal end 204 of hinge lock member 111. The connection of locking terminal 226 within the root of the serrated stop surface 225 provides sufficient distal movement of hinge lock member 111 to block the connection of the locking gear segment 217 in the brake plate 218. The lateral movement through an operator of the joint actuator member 80 proximally requests the locking terminal 226 proximally, and this form disconnects the hinge lock member 111 from the Brake plate 218. When the operator releases the articulating actuator n 80, the locking terminal 226 is urged through the compression spring 202 in the adjacent stop on the stopping surface 225 to lock the locking mechanism 111, and therefore the staple application assembly 20.

In Figure 10, an alternative locking mechanism 2000 of a joint mechanism 2002 of a surgical instrument 2004 is normally unlocked and is activated by laterally lifting the 2006 T-bar thanks to its recharging. A 2008 slot is located in the frame base 2010 to receive and guide a 2012 rib extending down from the 2006 T-bar. A thin longitudinal section 2014, which is orthogonally attached to the 2012 rib deviates if the 2016 end executant is recharged. For example, when the end effector 2016 is forced to the right as described by arrow 2018, its next gear segment 2020 acts on the frame 2022 of the 2006 T-bar, imparting a non-orthogonal rear driving force, as described with the arrow 2024. In this way, the thin longitudinal section 2014 is flexed, lifting the 2012 rib in the groove 2008. This lift produces that the opposing gathering forces, as described by the dates 2026, 2028, block the bar T 2006 and prevent additional articulation. The unlocking occurs when the activation of the articulation bladders are lowered laterally by moving the T-bar 2006. From there, the 2012 rib can be helped in the guidance of the 2006 T-bar. In Figure 11, a mechanism of additional articulation lock 2100 for a surgical instrument 2102 that is normally unlocked and activated through the force vector close to the repression angle of 20 degrees from the teeth of the gear 2104 of an end performer 2106 and frame teeth 2108 of the T-bar 2110. When the end-runner 2106 is recharged, as described by the non-orthogonal arrow 2112, the longitudinal vector of the pressure angle, described as the arrow 2114, moves the bar T 2110 proximally. This longitudinal force vector is applied to the rigid spring 2118 behind a frame 2120 of the T-bar 2110. When the spring 2118 deviates as the T-bar 2110 moves proximally, the locking teeth 2126 projecting proximally from the frame 2120 they are connected while the locking elements 2122 distally and laterally are aligned to the base frame 2124. The locking teeth 2126 and the locking elements 2122 are disconnected when the proximal force vector 2114 is reduced one eliminates through the removal of the load of end runner 2106 and allow bar T 2110 to move distally of the spring request 2118.

Combination of double pivot closure sleeve and single pivot frame base With reference to Figures 3-4 and 7, the attachment portion 12 advantageously incorporates the double pivot closure cover assembly 46 which longitudinally travels over and encompasses an individual pivot frame base 48. This mechanism and its operation will now be described in greater detail. With particular reference to Figure 7, the articulation mechanism 14 is described in an articulated condition with the closure sheath assembly 46 retracted proximally in an anvil open condition. With the open anvil 42, activation of articulation control 18 causes the articulated locking ring 116 to pivot about the upwardly directed distal terminal 136 and the downwardly directed distal terminal 142 respectively of the upper and lower double pivot closure joints 134, 140. The frame base 48 pivots about an individual terminal, described as the frame pivot terminal 171 (FIG. 3) joining the frame base 48 to the distal frame member 114. With the anvil 42 open, the The frame pivot terminal 171 of the frame base 48 is aligned with the most distal position of the lower and upper double pivot links 134, 140 of the closure cover assembly 46. Such placement allows easy pivoting of an application assembly. of staples 20 while the anvil 42 is open. When the closure sheath assembly 46 moves distally to pivot the closed anvil 42, the straight closure tube 52 moves distally around the frame base 48 and the articulated closure ring 116 moves distally along the axis of the closure. articulated distal frame member 114 as requested by the pivot joints 134, 140. The double pivot terminals 136, 138 and 142, 144 at the junctions 134, 140 facilitate connection with the straight seal tube 52 and the locking ring articulated 116 as requested to the distal closure position when the device is articulated (not shown). In the distal position, the frame pivot terminal 171 is vertically aligned with the proximal pivot terminals 138, 144 to a full joint or may fall at any point between the distal terminals 136, 142 and the proximal terminals 138, 144 as they work effectively.

Solid Detonation Bar Support In Figure 8, the hinge mechanism 14 of Figure 7 is partially enlarged and seen from the bottom, showing a solid-wall detonation bar support design (bone-bonded links). dog 160) of Figure 4 which offer advantages over conventional flexible support plates. The support plates are used to combine the gap and the guide and to support the detonation rod 66 through an individual frame base pivot joint 1801. The supports of the flexible detonation rod are known, but the incorporation of solid wall detonation bar supports such as those shown in Figures 4, 8 and 9 offer unique advantages. Referring now to Figure 8, the frame base 48 includes a frame knife slot 1802 along the bottom of the frame base 48 and a distal knife slot 164 running along the bottom of the frame. articulated distal frame member 114 for sliding reception of detonation bar 66 (not shown) there. The frame base 48 described above includes a direct individual pivotal connection in the frame pivot terminal 171 with the distal frame member 114. The fixed wall dog bone attachment 160 is rotatably connected to the end of the frame. proximal terminal 157 and movably connected to distal end terminal 159 including the left and right lateral guides 1818, 1820, defining between them a guide slot 1822 for the sliding passage of knock bar 66 (Figure 4).

In this way, to combine the gap between the frame base 48 and the distal frame member 114, the fixed-wall pivot dog bone link 160 is pivotally attached to the frame base 48 and slidably attached to the frame member. 114. The proximal dog terminal 157 of pivoting dog 160 is pivotally received in a hole 1824 in the frame base 48, allowing no pivotal dog bone 160 to pivot about the orifice 1824. The distal terminal 159 extends upwardly of the dog. pivotal dog bone 160 and slidably received in a slot 1826 in the distal frame member 114. The articulation of the staple application assembly 20 at an angle such as 45 degrees from the longitudinal axis pivots the pivoting dog bone 116. in port 1824 at its proximal terminal 157 and distal terminal 159 slides within slot 1826 formed in distal frame member 114 to flex its detonation bar 66 at two angles apart which are half the angle of the staple application assembly 20. Unlike the previously referenced flexible support plates that flex the detonation rod 66 at a 45 degree angle, the fixed wall pivot dog bone 160 flexes the detonation bar 66 at two separate angles such as 22.5 degrees each. The bending of the flexible detonation bar 66 at half the angle cuts the bending stress in the detonation bars 66 to half that found in conventional hinge brackets. The reduction of the flexural stress in the detonation rods 66 reduces the possibility of permanently flexing or placing a group of rods of detonation, reduces the possibility of detonation clamps, ensures the retraction forces of the lower detonation bar, and provides a more uniform operation of the detonation system. In Figure 9, a surgical instrument 1900 includes a double locking pin. The individual frame pivot joint 1902 shows an alternative solid wall support plate mechanism 1904 that replaces the lower double pivot link 140 and the dog bone link 1812 of Figure 8. The detonation rod supports left and right 1906, 1908 extends upwardly from the lower double pivot link 1910 of a closure sleeve assembly 1912. A clearance 1914 is provided in the frame base 1916 so that the knock bar holders 1906, 1908 is moved in as the closure sheath assembly 1912 moves distally to close the anvil 42 (not shown in Figure 9) and proximally to open the anvil 42. Like the pivot dog bone described above 160, the link of alternative lower double pivot 1910 also flexes and supports the detonation bar 66 (not shown in Figure 9) creating two separate bending angles that are up to half the flex angle n of the staple application assembly 20.

Guide Mechanisms of the Lateral Member With additional reference to Figure 9, the left and right upper flanks 1918, 1920 at the base of frame 1916 include proximal and proximal lateral end guides 1921, 1923 passing laterally through of the holes 1923, 1924 in the bar T 1926 helping to minimize the bending in an articulation mechanism 1928. As another example, in Figure 7, the bar T 104 advantageously includes a side guide of 1930 kite tail sliding laterally inside a dovetail channel 1932 formed there. Still as another example, in Figure 12, a raised rib 1934 in the frame base 1936 is received within a rectangular groove 1938 formed in the T-bar 1940. To further facilitate lateral non-bonding, the distal side conveyor frames and next each includes a respective plurality of ball carriers 1946, 1948. Still as another example, in Figure 13, a plurality of side frame grooves 1950-1954 are formed in the frame base 1956 with the lateral grooves of the frame. corresponding T-bar 1958-1962 on bar T 1964. Sliding rollers 1966-1970 reside in trapped within respective pairs of side slots 1950/1958, 1952/1960, 1954/1962. These are by no means an exhaustive list of side guide members that prevent unwanted lifting or rotation of the T 1940 bar.

Combination of double pivot frame base and single pivot closure In Figures 14-15, an alternative frame base and closure mechanism 2200 is incorporated in a surgical instrument 2202 that includes a double pivot frame assembly 2204. In particular, a frame base 2206 is connected to a distal frame member 2208 through a double pivot frame dog bone 2210 having a proximal pivot terminal 2212 pivotally connecting a proximal orifice 2214 in a frame base 2206 and a frame terminal 226. distal pivot 2216 connecting a distal hole 2218 of a distal frame member 2208. A guide groove 2220 is located in the lower part of the dog bone 2210 for guiding a detonation rod 66 (not shown in Figures 14-15) ) there. The knife slot 2222 is located in the distal frame member 2208. As shown, the articulation of a closure ring 2230 of a closure sheath assembly 2224 at an angle of forty-five degrees (45) articulates the limb member. distal frame 2208 to a degree of forty-five (45) degrees and articulates the dog bone of frame 2210 at half that angle. Consequently, the detonation bar 66 is subjected to two mid-surface flexures that are separated and obtains all the benefits listed above. The outer sheath assembly 2224 is different in that only one pivot shaft of the double-pivot frame assembly design 2204 accommodates its longitudinal closing movement. As shown, the closure tube shaft 2226 has a clamp 2228 at the distal end. The clamp 2228 is pivotally connected to a locking ring 2230. The locking ring 2230 has a proximal gear 2232 formed at the proximal end and the terminal 2234 passes through the proximal gear 2232 and pivotally connects an upper tongue 2236 to the clamp 2228 . A lower arm 2238 is pivotally connected with a lower tab 2240 of the clamp 2228 through an aligned terminal 2241. The holes 2242 in the clamp 2228 receive the lateral guide terminals 2243 and slidably join a T-bar 2244 there to connect with the proximal gear 2232 of the closing ring 2230. In this way, this alternate mechanism 2200 uses an alternative single / double pivot concept of the previously described mechanism. That is, the alternative closure mechanism 2200 has a single pivot and the alternative frame base has a double pivot, different from the double pivot closure mechanism previously described with a single individual pivot frame base.

Lateral movement articulation mechanism In Figures 16-19, a lateral movement articulation mechanism 230 is schematically described to show lateral movement being used to effect articulation of an executed end 232. Lateral movement is the movement of the lateral movement. at least one element towards or away from the longitudinal axis of the surgical device 234. This movement is generally towards the right angles of the longitudinal axis, which is a horizontal line that divides the mechanism 230, and does not involve rotational movement or longitudinal movement. The lateral movement articulation mechanisms can be activated by fluid as shown in Figures 16-19 or mechanically activated as shown in Figures 20-23.

Fluid articulation mechanism with lateral movement The lateral movement articulation mechanism 230 is shown schematically in Figures 16-19 and includes a fluid control system 235 having fluid-filled parallel left and right fluid bladders 236, 238 which they extend longitudinally there which move a side member or bar T 240 laterally through the movement of the fluids 242. All directions are in reference to the longitudinal axis. Referring to the non-articulated view of Figures 16 and 17, the executed the distally located end 232 pivots about the terminal 244 and has a gear segment 246 at the proximal end. The pivot terminal 244 is attached frame (not shown). A frame 248 at the distal end of the bar T 240 operably connects the gear segment 246. The bar T 240 and the frame 248 are laterally movable along the axis A-A. The respective distal portions of the left and right large fluid bladders 236, 238 days laterally on the laterally movable T-bar 240 and laterally constrained within a closure sleeve 250 and vertically restricted by frame 252 below and a spacer 254 by above. In particular, the left activation fluid bladder 236 has a left distal activation bladder 256, the left fluid passage 258, and a left proximal reservoir bladder 260. The right fluid bladder 238 has a right distal activation bladder 262 , a right fluid passage 264, and a right proximal reservoir bladder 266. A fixed divider 270 extends from frame 252 and separates bladders 260, 266 and the fluid passages 258, 264. The fixed splitter 270 and a closure sleeve 250 restrict the fluid passages 258, 264 and prevent expansion in the fluid passage sections 258, 264 of the bladders 236, 238. A member Laterally moveable "C" shaped compression device 272 is included in the articulation control mechanism 273 for the understanding of one of the adjacent reservoir bladders 260, 266 and articulation of the executed end 232. In addition, other components may be incorporated. such as the detonation bar 274 passing through the groove of the detonation bar 276 in the frame 252 (Figures 17, 19). As shown in Figures 18, 19, lateral movement of the C-shaped compression member 272 to the left compresses the right-proximal reservoir bladder 266 forcing fluid 242 into the right fluid passage 264 and the right distal activation bladder. 262. When the right distal activation bladder 262 moves the T 240 bar laterally to the left, the left distal activation bladder 256 is compressed and the executed end 232 is hinged to the right (clockwise as viewed from the top as shown). The understanding of the left distal activation bladder 256 causes fluid 242 to flow proximally through the left fixed fluid passage 258 and into the left proximal reservoir bladder 260. In particular, a fixed right wall 280 of the compression member in C-shape 272 moves to the left causing the understanding of the right-sided reservoir bladder 266. A corresponding leftward movement of the fixed left wall 278 of the C-shaped compression member 272 provides space for fluid from the compressed left bladder activation 256 to flow within the left proximal reservoir bladder 260 to expand. This fluid control system 235 for the articulation mechanism 230 offers at least several advantages. First, the orientation of the activation bladders 256, 262, close to the junction of the joint or mechanism 230, allows the use of large bladders 236, 238 and larger T-bars 240 within the surgical device 234. As a driving system of fluid, the increase in the output force of the fluid control system 235 can be achieved in two ways. First, for a fixed fluid area on the bar T 240, the fluid pressure on the fixed area can be increased. Secondly, for a fixed fluid pressure, the fluid contact area on the bar T 240 will be increased. The first method results in a more compact design and higher system pressures. The second method results in a larger design and lower system pressures. To decrease the cost, simplify the design, reduce the tension of the system, and reduce the risk of bladder rupture, the illustrative version describes the large distal activation bladders, 256, 262 in an advantageous proximal position for the articulation mechanism 230 within an elongated shaft of the surgical device 234. In this placement of the bladders 256, 262 that enable the bladders 256, 262 to be large and the output force of the joint to be high for a low entry pressure. In this way, the output force of the articulation mechanism 230 can be increased (for the same inlet pressure) simply by increasing the pressure contact area of the distal activation bladders (balloons) 256, 262 on the T-bar 240. Increases in pressure contact area are restricted by height and length. Since the diameter of conventional endoscopic surgical instruments is fixed at certain diameters to pass through the insufflation ports, this limits the change in height. By changing the length of the contact area of pressure has the great effect and enables the lateral output force of the device to be advantageously tuned (by changing the length) to gather any output force that the system requires. The fluids used in the lateral movement device can be either compressed or incompressible. As used here, the term "fluid" comprises liquids, gases, gels, microparticles, and any other material that can be made to flow between a pressure gradient. Since any fluid can be used, sterile solutions such as saline, mineral oil or silicone are especially preferred.

Mechanical articulation mechanism of lateral movement Considering that the fluid mechanisms were previously described to cause lateral movement of the joint, mechanical mechanisms can achieve a similar lateral movement according to produced by fluid bladders 236, 238. In Figures 20-21, an alternative lateral movement articulation mechanism 300 utilizes a mechanical control system, in particular a longitudinal movement member, to affect lateral movement and articulation of a Surgical instrument 301. In the illustrative version, with particular reference to Figure 20, a lateral movement slide bar 302 has at least a pair of angled right and left raised surfaces 304, 306 that hold laterally there on opposite sides of an axis elongate longitudinal 308. In the illustrative version, another pair of proximal left and right angular elevation surfaces 310, 312 are also included. A right longitudinal movement junction 314 includes corresponding proximal proximal and proximal ramp surfaces 316, 318 that slidably register and connect the proximal and distal right elevation surfaces 306, 312 such that the distal longitudinal movement of the junction in movement 312 causes lateral movement to the left of the slide bar 302. It should be appreciated that this ramp contact can be reversed in such a way that the distal movement causes movement to the right respectively. It should be appreciated that the spring bias (not shown) can be included in the slide bar 302 to request that the slide bar 302 move to the right in connection with the right longitudinal movement joint 314 so that the opposite proximal movement of the union in longitudinal movement right 314 allow movement to the left of the slide bar 302. Alternatively, in the illustrative version, a left longitudinally moving joint of 320 includes corresponding internally directed distal and proximal ramp surfaces 322, 324 that register and slidably connect with the surfaces at right elevation 304, 310, the anterior ramp distally and the main ramp proximally so that the distal longitudinal movement of the left longitudinal movement junction 320 causes lateral movement to the right of the slide bar 302. It should be appreciated that this contact of The ramp can be reversed in such a way that the next movement causes the movement to the left. It will be appreciated that the right and left longitudinal movement joints 314, 320 and the slide bar 302 are supported within the elongated shaft 308 that allows this longitudinal movement of the main and lateral movement of the foregoing. The distal end of the slide bar 302, described as a socket ball 328, resides within a V-shaped elevation groove 330 proximally aligned and proximate to a pivot terminal 332 of an end run 334. In this way , Figure 21, the proximal movement of the right longitudinal movement joint 314 and the distal movement of the left longitudinal movement joint 320 causes movement to be right of the slide bar 302 with a corresponding right movement of the ball of movement. plug 328. This shape, the V-shaped raised slot 330 is driven to the right, pivoting its most distal end 336 to the left. Alternatively, the lateral movement of the slide bar 302 can be converted into the articulation of the end runner 334 through the frame and the gear connection described above with respect to FIGS. 16-19. In this way, mechanical systems using longitudinal movement can be used to provide the lateral articulation of the surgical instrument 301.

Rotating Union In Figures 22 and 23, a further reciprocating joint mechanism 400 uses the joint 402 to move a lateral member, described as a laterally moving sliding bar 404, to cause the articulation of a surgical instrument 406. The bar lateral movement slide 404 can be operably connected with a rotary gear or raised slot as described above for Figures 16 and 20 at a proximal end of an end run (not shown). The rotating union 402 can be located below the slide bar 404 with at least one arm 408 extending rotationally transverse to the longitudinal axis thereof to connect with a plug 410 within the slide bar 404. The bar Sliding 404 is vertically constrained between an upper spacer 412 and a lower frame 414, the former having a longitudinal pylon 416 to receive the rotary union 402 and the rotation of the arm 408 accommodated. The spacer 412 and the frame 414 are encompassed by the tubular sheath 418. The rotation of the rotary union 402 moves the arm 408 in an arc and therefore moves the slide bar 404 laterally in the direction of rotation.

Joint Mechanism Having Opposite Buckling Flexible Members In Figure 24, a surgical instrument 500 has a sliding member 502 aligned along a longitudinal axis of an elongate shaft 504 and allows lateral movement between a left buckling member 506 and a right buckling member 508 is vertically constrained by a frame and spacer (not shown). Each buckling member 506, 508 has a fixed distal joint 510, 512 and a longitudinally displaceable proximal joint 514, 516. The respective left and right flexible members 518, 520 arc internally in opposition to the slide bar 502, with the amount of lateral intrusion in relation to the distal longitudinal movement of their respective proximal joint 514, 516. In an un-articulated state shown in Figure 24, the proximal joints 514, 516 are not positioned differently, and thus a tip that is The distally projecting 522 of the sliding member 502 is centered within a raised V-shaped slot 524 which is proximally opened relative to a pivot terminal 526 of an end executed 528. In Figure 25, the left-hand joint 514 has been distally advanced and the right proximal joint 516 has been proximally retracted, causing the slide bar 502 moves laterally to the right, thereby causing the elevation of the distally projecting tip 522 against a right portion of the V-shaped raised slot 524 with a leftward joint resulting from the 528 end performer of the pivot terminal 526.

Electromagnetic Lateral Joint Control Mechanism In Figure 26, a surgical instrument 600 has a distally connected end effector 602 is selectively articulated in an arc about its pivot terminal 604 toward an elongated shaft 606 through the lateral movement of a bar 608. In particular, the distal ball 610 of the slide bar 608 is connected to a raised V-shaped slot 612, opening close to the pivot terminal 604. The slide bar 608 is vertically constrained within the elongated shaft 606 through a frame and a spacer (not shown). The left and right compression springs 614, 616 which are internally directed to the opposite lateral sides of the slide bar 608 are proximate the distal end 618 of the elongated shaft 606. These springs 614, 616 provide a bias centered on the slide bar 608 and thus on the end effector 602. The left and right electromagnets 620, 622 on the opposite sides of the slide bar 608 are selectively activated to attract a ferrous target 624 integral or fixed to the slide bar 608, by so much selectively displacing the slide bar 608 laterally and effecting the articulation of the end effector 602, as described in Figure 27. For simplicity, a longitudinally aligned coil is described, although it should be appreciated that one or more electromagnets can be aligned to produce a magnetic field perpendicular to the slide bar 608, such as a plurality of coils (not shown) aligned along the longitudinal length of the slide bar 608 with each coil having its longitudinal axis aligned with the axis of lateral movement of the slide bar 608.

Asymmetric lateral joint control mechanism In Figure 28, a surgical instrument 700 has a distally connected end effector 702 is selectively articulated in an arc about its pivot terminal 704 for an elongated shaft 706 through lateral movement of the bar of sliding 708. In particular, the distal frame 710 of the slide bar 708 connects a gear segment 712, opening close to the pivot terminal 704. The slide bar 708 is vertically constrained within the elongated shaft 706 through a frame and a spacer (not shown). A left plurality of compression springs 714 and a right compression spring 716 that is internally directed on the opposite side sides of the slide bar 708 are close to the distal end 718 of the elongate shaft 706. These springs 714, 716 provide a bias centered asymmetrically to the slide bar 708 and thus to the end effector 702. In this way, a left non-activated space 720 and a right electromagnet 722 on the opposite sides of the slide bar 708 selectively create an asymmetric bias towards the selective left to overcome the rightward bias of the springs 714 through the attraction of a ferrous target 724 integral or fixed to the slide bar 708, thereby selectively displacing the slide bar 708 laterally and effecting the articulation of the performer of end 702, as described in Figure 29. For simplicity, a longitudinally aligned coil is described, although it should be appreciated that one or more electromagnets may be aligned to produce a magnetic field perpendicular to the slide bar 708, such as a plurality of coils (not shown) aligned along the longitudinal length of the slide bar 708 with each coil having its longitudinal axis aligned with the axis of lateral movement of the slide bar 708. In addition or as an alternative to the rightward bias of the springs 714, the slide bar 708 may include a plurality of magnets (per example, electromagnetic, permanent) 732 in such a way that by reversing the polarity of the right electromagnet 722, the slide bar 708 can be selectively attracted or repelled. In this way, the centering springs 714, 716 can swing in an opposite alignment to the end effector 702 when the electromagnet 722 is de-energizes. As an alternative, it should be appreciated that the permanent magnets in the slide bar with permanent magnets aligned on each side to repel the magnets in the slide bar can advantageously center the slide bar with one or more electromagnets used to overcome the bias of centered. It should further be appreciated that the asymmetric activation may include a destroyed transfer, a mechanical lift, a buckling member, etc., as described herein on one side of the slide bar with opposing biases in the other from the springs of compression and / or permanent magnets. In addition, said implementation is also may include a blocking mechanism. As a further addition, the locking of the executed end 702 at an angle relative to the elongated shaft 706 may be incorporated in a manner similar to the implementations described above., such as having an arc gear segment 734 projecting proximally from the end effector 702, vertically spaced apart for non-interference with the slide bar 708. A lock bar 736 extending distally from the elongate shaft 706 it may be attracted slightly proximally out of the connection with the arc gear segment 734 (Figure 28) during the articulation movement and then moved slightly distally within the connection (Figure 29) to lock to a desired articulation angle.

Since the present invention has been illustrated through the description of the various embodiments and since the illustrative modalities have been described in considerable detail, it is not an intention of the applicant to restrict or in any way limit the scope of the appended claims. detail. The advantages of further modifications can easily appear to those skilled in the art.

Claims (20)

1. NOVELTY OF THE INVENTION CLAIMS 1. A surgical instrument, comprising: an end performer that includes a nearby raised surface; an elongated shaft including a frame defining a lateral bas-relief aligned with a longitudinal axis; an articulation joint pivotally attached to the end effector for the distal end of the elongated shaft; a slide bar within the side bas-relief having a distal end connected to the proximal raised surface of the end performer; a first actuator placed in the lateral bas-relief on a selected side side of the slide bar; and a handle portion proximally attached to the elongated shaft and operably configured to differentially control the first actuator for lateral movement of the slide bar and thereby pivot the joint of the hinge and end effector. The surgical instrument according to claim 1, further characterized in that the first actuator comprises a first longitudinal movement member positioned adjacent in a lateral plane of movement to the slide bar and includes a plurality of laterally directed laterally elevated surfaces, the The sliding bar includes a corresponding plurality of externally directed lateral raised surfaces, wherein the movement of the bar Sliding in a selected one of the proximal and distal longitudinal movement causes the slide bar to move laterally, wherein movement of the first longitudinal movement member in the opposite direction allows movement of the slide bar towards the first longitudinal movement member. The surgical instrument according to claim 2, further characterized in that the other of the right and left actuators comprises a second longitudinal movement member positioned adjacent to the lateral plane of movement of the slide bar opposite the first longitudinal movement member. and includes a plurality of internally directed lateral raised surfaces, the sliding bar includes a corresponding plurality of externally directed lateral raised surfaces, wherein the movement of the second longitudinal movement member that is one selected from the proximal and proximal longitudinal movement causes the bar of sliding movement laterally and wherein the movement of the second longitudinal movement member in the opposite direction allows the movement of the slide bar towards the second longitudinal movement member. The surgical instrument according to claim 1, further characterized in that it comprises a rotary control member aligned parallel to the slide bar and radially engaged therein, wherein a rotation of rotary control member imparts a lateral displacement of the bar Sliding. 5. The surgical instrument according to claim 1, characterized in that it further comprises: when the first and second actuators respectively comprise a first and a second buckling member on the opposite lateral sides of the slide bar, each buckling member includes at least one longitudinally attachable junction point; and an articulation color control operatively configured to differentially position at least one longitudinally attachable attachment point of the first and second buckling members. 6. The surgical instrument according to claim 1, further characterized in that the one selected from the left and right actuators comprises a first electromagnet laterally adjacent to the slide bar where the slide bar includes a magnetic target. 7. The surgical instrument according to claim 6, further characterized in that the other of the right and left actuators comprises a second electromagnet laterally adjacent to the slide bar and opposite the first electromagnet, the target magnet comprises a ferrous target. The surgical instrument according to claim 6, further characterized in that the slide bar includes a magnet, the first electromagnetic operatively configured to selectively produce a positive and a negative magnetic field. 9. The surgical instrument in accordance with the claim 1, further characterized in that the proximal surface of the end performer comprises a gear segment and the distal end of the slide bar comprises a gear frame. The surgical instrument according to claim 9, further characterized in that it comprises locking member on the elongated shaft, which selectively travels longitudinally distally to connect the gear segment of the end effector of the locking link joint of the executor The surgical instrument according to claim 10, further characterized in that the locking member is distally biased and includes a proximal terminal, the joint control includes a toothed surface that elevates the proximal terminal proximally during activation and allows the proximal terminal moves distally in a tooth root corresponding to the serrated surface when control of the joint is stopped. The surgical instrument according to claim 1, further characterized in that the proximal surface of the end performer comprises a proximally directed raised bas-relief receiving the distal end of the slide bar. The surgical instrument according to claim 1, further characterized in that the proximal raised surface of the end performer comprises a proximally directed raised bas-relief receiving the distal end of the slide bar. 14. The surgical instrument according to claim 1, further characterized in that the proximal raised surface of the end performer comprises a gear segment and the distal end of the slide bar comprises a gear frame. 15. A surgical instrument, comprising: an end performer; an elongated shaft attached to the end effector and includes a frame defining a lateral bas-relief aligned with the longitudinal axis; a pivotally joining joint joining the end effector to the distal end of the elongated shaft; a slide bar in the side bas-relief having a distal end connected to the proximal raised surface of the end performer, further comprising a ferromagnetic target; a handle portion proximally attached to the elongated shaft; and the control circuit operatively configured to selectively activate the electromagnet to the position of the slide bar for the articulation of the end performer. 16. The surgical instrument according to claim 15, further characterized in that it comprises a centered bias coupled to the slide bar, the ferromagnetic target comprises a magnet, the control circuit further operatively configured to select the polarity of the electromagnet to articulate in a selected direction against centered bias. 17. The surgical instrument according to claim 16, further characterized by comprising a second electromagnet placed on the opposite side of the slide bar for the first electromagnet, the control circuit operatively configured to activate an electromagnet selected for a desired direction of the joint. 18. A surgical instrument, comprising: an end performer; an elongate shaft attached to the end effector and includes a frame defining a lateral bas-relief aligned with a longitudinal axis; an articulation joint pivotally attaching a distal portion of the elongate shaft to the end performer; a slide bar within the side bas-relief having a distal end connected to the proximal raised surface of the end performer; right and left actuators on the respective sides of the slide bar in the lateral bas-relief; a handle portion proximally attached to the elongated shaft; and an articulation control comprising members of longitudinal movement, differentials that differentially place the right and left actuators, therefore laterally displace the slide bar. 19. The surgical instrument according to claim 18, further characterized in that the left and right actuators comprise buckling members. 20. The surgical instrument according to claim 18, further characterized in that the displacement bar further comprises lateral raised surfaces, the right and left actuators further comprising opposed raised limbs positioned for differentially contact the sliding bar.