RU2709116C2 - Surgical instruments with hinged turn end effector and improved support structures of launching rod - Google Patents

Abstract

FIELD: medicine.

SUBSTANCE: group of inventions relates to medical equipment, specifically to surgical stapling and cutting tools. Surgical stapling instrument comprises a surgical end effector, a shaft assembly, a hinged joint, a flexible start bar and a pair of support elements of the trigger bar. Surgical end effector comprises a first and a second branch element, a trigger element. Application of closing movement to at least one of first and second elements of branch causes movement of at least one of first and second elements of branch in closed position relative to other of first and second elements of branch. Firing element is supported in one of the first and second elements of the branch for axial movement in one of the first and second members of the branch in response to application of starting motion to the firing element. Barrel unit has a barrel axis. Articulation joint connects the surgical end effector to the barrel assembly for selective hinged rotation relative to the shaft assembly around the hinge pivot axis, which is perpendicular to the shaft axis when applying rotary movements to the surgical end effector. Flexible starting bar passes through the hinged joint for conjugation with the firing element in the surgical end effector for application to the starting element of starting movement. Pair of supporting elements of the launching bar is located on sides of the flexible launching bar across the hinged joint. Support elements of the pair start rod are connected together with possibility of movement to prevent lateral movement from each other in directions perpendicular to axis of the shaft, thus providing support elements of the launching rod possibility of movement along axis relative to each other. Pair of supporting elements of the launching rod are connected to each other by means of clamps received in slots in support elements of the launching rod. In the second embodiment, the surgical stapling instrument comprises a surgical end effector, a shaft assembly, a hinged joint, a flexible start bar and a support assembly of the flexible launching bar. Surgical end effector comprises a first and a second branch element, a trigger element. Support unit of the flexible launching bar contains the first side element, the second side element, the distal end and the proximal end. First side element is adjacent to the section of the first side of the flexible launching bar. Second lateral element is adjacent to another section of the second side of the flexible launching bar and is connected to the first side element at location at the distance from the first lateral element. Distal end is connected to one of the first and second elements of the branch. Proximal end is connected to the shaft assembly. First and second side elements include holes passing through them. In the third embodiment, the surgical stapling instrument comprises a surgical end effector, a shaft assembly, a hinged joint, a flexible trigger bar, support elements of the start rod and at least one hinged actuator movable along the axis. Surgical end effector comprises a first and a second branch element, a trigger element. At least one hinged actuator with the possibility of moving along the axis passes through each support element of the launching rod.

EFFECT: inventions are characterized by presence of yokes and slots for them in support plates.

18 cl, 80 dwg

Description

BACKGROUND OF THE INVENTION

The present invention relates to surgical instruments and, in various embodiments, to surgical stapling and cutting instruments and cassettes with brackets for use with them.

The stapling instrument may include a pair of interacting elongated jaw elements, wherein each jaw element can be inserted into the patient’s body and positioned relative to the stitched and / or cut tissue. In various embodiments, one of the jaw elements can support the cassette with brackets with at least two rows of staples contained therein, located in the lateral direction, and the other jaw element can support the stop with the recesses forming the bracket, aligned with the rows of staples in the cassette with staples. Essentially, the stapling tool may further include a pusher rod and a scalpel blade that are slidable relative to jaw elements for sequentially pushing the staples from the cassette with the staples through cam surfaces on the push rod and / or cam surfaces on wedge-shaped slides that are pushed pusher rod. In at least one embodiment, cam surfaces may be configured to activate a plurality of staple ejectors located in the cassette and connected to the staples to push the staples toward the stop and form laterally rows of deformed staples in the fabric sandwiched between the jaw elements. In at least one embodiment, the scalpel blade may follow cam surfaces and cut tissue along a line between rows of staples. Examples of such stapling tools are described in US Pat. No. 7,794,475, entitled SURGICAL STAPLES HAVING COMPRESSIBLE OR CRUSHABLE MEMBERS FOR SECURING TISSUE THEREIN AND STAPLING INSTRUMENTS FOR DEPLOYING THE SAME, the entire disclosure of which is incorporated herein by reference.

The foregoing description is intended only to illustrate various aspects of the relevant technology in the field of application of the invention at present, and should not be construed as limiting the scope of the claims.

Brief Description of the Drawings

The various elements of the embodiments described herein, along with their advantages, can be understood after studying the description below together with the accompanying drawings, in which:

in FIG. 1 is a perspective view of an embodiment of an electrically powered surgical instrument comprising a handle, a barrel, and an articulated pivot end effector;

in FIG. 2 is a perspective view of an embodiment of a hand-held surgical instrument comprising a handle, a barrel, and a pivotally rotatable end effector;

in FIG. 3 is a perspective view of an embodiment of a surgical instrument comprising a body, a barrel, and a pivotally rotatable end effector, which is configured to be used with a robotic control system;

in FIG. 4 is a perspective view of an embodiment of a robotic control surgical system;

in FIG. 5 is a perspective view of an embodiment of a pivotable surgical end effector;

in FIG. 6 is a perspective view with a spatial separation of the components of the articulated surgical end effector shown in FIG. 5;

in FIG. 7 is a perspective view of an elongated channel of a surgical end effector shown in FIG. 5 and 6;

in FIG. 8 is a plan view of an elongated channel shown in FIG. 7;

in FIG. 9 is a side elevational view of an elongated channel shown in FIG. 7 and 8;

in FIG. 10 is a top view of the abutment of a surgical end effector shown in FIG. 5 and 6;

in FIG. 11 is a side elevational view of the stop shown in FIG. 10;

in FIG. 12 is a cross-sectional view of the surgical end effector shown in FIG. 5 and 6, with emphasis in the open position;

in FIG. 13 is a side cross-sectional view of the surgical end effector shown in FIG. 12, with emphasis in the closed position and the trigger element in the inactive initial position;

in FIG. 14 is a perspective view of an embodiment of a guide rod assembly;

in FIG. 15 is a perspective cross-sectional view of a launch rod guide assembly shown in FIG. 14;

in FIG. 16 is a partial perspective view of the surgical end effector shown in FIG. 11 and 12;

in FIG. 17 is a plan view of the surgical end effector shown in FIG. 16;

in FIG. 18 is a perspective view of the surgical end effector shown in FIG. 16 and 17 pivotally rotated in a first direction FD;

in FIG. 19 is a top view of the surgical end effector shown in FIG. 18;

in FIG. 20 is a perspective view of the surgical end effector shown in FIG. 16 and 17 pivotally rotated in a second direction SD;

in FIG. 21 is a plan view of the surgical end effector shown in FIG. 20;

in FIG. 22 is a schematic comparison of the ranges of motion of two surgical end effectors in the human pelvic region;

in FIG. 23 is a side elevational view with a comparison of the proximal dead zones (PDZ) of two surgical end effectors;

in FIG. 24 is a perspective view of another embodiment of a pivotable surgical end effector;

in FIG. 25 is a perspective view of the spatial separation of the components of the surgical end effector shown in FIG. 24;

in FIG. 26 is a partial perspective view of the surgical end effector shown in FIG. 24 and 25;

in FIG. 27 is another partial perspective view of the surgical end effector shown in FIG. 24-26 articulated in a first direction (FD);

in FIG. 28 is a different perspective view of the surgical end effector shown in FIG. 27 pivotally rotated in a second direction (SD);

in FIG. 29 is a plan view of the end effector shown in FIG. 24 and 25;

in FIG. 30 is another top view of the end effector shown in FIG. 29 pivotally rotated in a first direction (FD);

in FIG. 31 is another top view of the surgical end effector shown in FIG. 29 pivotally rotated in a second direction (SD);

in FIG. 32 is another top view of a portion of the surgical end effector shown in FIG. 29;

in FIG. 33 is an enlarged plan view of a portion of the surgical end effector shown in FIG. 32;

in FIG. 34 is an enlarged top view of part of another embodiment of a surgical end effector;

in FIG. 35 is a perspective view of part of another embodiment of a surgical instrument;

in FIG. 36 is a plan view of the surgical instrument shown in FIG. 35;

in FIG. 37 is another top view of the surgical instrument shown in FIG. 35 and 36, the end effector of which is in a pivotally rotated position;

in FIG. 38 is a perspective view of part of another embodiment of a surgical instrument;

in FIG. 39 is a plan view of the surgical instrument shown in FIG. 38;

in FIG. 40 is another top view of the surgical instrument shown in FIG. 38 and 39, the end effector of which is in a pivotally rotated position;

in FIG. 41 is a perspective view of part of another embodiment of a surgical instrument;

in FIG. 42 is an exploded view of the components of a portion of a surgical instrument shown in FIG. 41;

in FIG. 43 is another exploded view of the components of a portion of a surgical instrument shown in FIG. 41 and 42;

in FIG. 44 is a plan view of a portion of the surgical instrument shown in FIG. 41-43;

in FIG. 45 is another top view of the surgical instrument shown in FIG. 41-44, the end effector of which is in a pivotally rotated position;

in FIG. 46 is a perspective view of part of another embodiment of a surgical instrument;

in FIG. 47 is a plan view of the surgical instrument shown in FIG. 46;

in FIG. 48 is another top view of the surgical instrument shown in FIG. 46 and 47, the end effector of which is in a pivotally rotated position;

in FIG. 49 is a perspective view of part of another embodiment of a surgical instrument;

in FIG. 50 is a plan view of the surgical instrument shown in FIG. 49;

in FIG. 51 is another top view of the surgical instrument shown in FIG. 49 and 50, the end effector of which is in a pivotally rotated position;

in FIG. 52 is a partial perspective view of an embodiment of a launch rod support assembly;

in FIG. 53 is a perspective view of part of an embodiment of a surgical instrument;

in FIG. 54 is an exploded view of the components of a portion of a surgical instrument shown in FIG. 53;

in FIG. 55 is a perspective view of a portion of a proximal end connector of an elongated channel of an embodiment of an end effector;

in FIG. 56 is a plan view of a portion of the surgical instrument shown in FIG. 53-55;

in FIG. 57 is another top view of the surgical instrument shown in FIG. 53-56, the end effector of which is in a pivotally rotated position;

in FIG. 58 is a perspective view of an articulated surgical instrument shown in FIG. 57;

in FIG. 59 is a perspective view of part of another embodiment of a surgical instrument;

in FIG. 60 is an exploded view of the components of a portion of a surgical instrument shown in FIG. 59;

in FIG. 61 is a plan view of a portion of the surgical instrument shown in FIG. 59 and 60;

in FIG. 62 is a plan view of the surgical instrument shown in FIG. 59-61, the end effector of which is in a pivotally rotated position;

in FIG. 63 is a perspective view of the surgical instrument shown in FIG. 62;

in FIG. 64 is a perspective view of an embodiment of a guide rod assembly;

in FIG. 65 is a perspective view of another embodiment of a guide rod assembly;

in FIG. 66 is a bottom perspective view of a launch rod guide assembly shown in FIG. 65;

in FIG. 67 is a perspective cross-sectional view of the launch rod guide assembly shown in FIG. 65 and 66;

in FIG. 68 is a perspective view of another embodiment of a guide rod assembly;

in FIG. 69 is an exploded perspective view of the components of the launch rod guide assembly shown in FIG. 68;

in FIG. 70 is a perspective view of another embodiment of a launch rod guide assembly;

in FIG. 71 is a perspective view of another embodiment of a launch rod guide assembly;

in FIG. 72 is a perspective view of another embodiment of a surgical instrument;

in FIG. 73 is a perspective cross-sectional view of part of a replaceable shaft assembly of a surgical instrument shown in FIG. 72;

in FIG. 74 is a partial perspective view of a portion of the barrel interchangeable assembly shown in FIG. 72;

in FIG. 75 is an exploded view of the components of a portion of a replaceable barrel assembly shown in FIG. 72-74;

in FIG. 76 is a partial cross-sectional view of the interchangeable barrel assembly shown in FIG. 72-75;

in FIG. 77 is another partial cross-sectional view of the barrel interchangeable assembly shown in FIG. 72-76;

in FIG. 78 are side elevational views of the end effector of the surgical instrument shown in FIG. 72, with emphasis in the open position and in the closed position;

in FIG. 79 is a plan view of a portion of the surgical instrument shown in FIG. 72; and

in FIG. 80 is another top view of the surgical instrument shown in FIG. 79, the end effector of which is shown in a pivotally rotated position.

Corresponding elements in different views are indicated by the corresponding symbols. The examples presented herein in one form illustrate some embodiments of the present invention, and such examples should not be construed as in any way limiting the scope of the present invention.

Detailed description

The applicant of this application owns the following patent applications filed March 1, 2013, each of which is fully incorporated into this document by reference:

- US patent application No. 13 / 782,295, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION, currently published US patent application No. 2014/0246471;

- US patent application No. 13 / 782,323, entitled ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, currently published US patent application No. 2014/0246472;

- US patent application No. 13 / 782,338, entitled THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, currently published US patent application No. 2014/0249557;

- US patent application No. 13 / 782,499, entitled ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT, currently published US patent application No. 2014/0246474;

- US patent application No. 13 / 782,460, entitled MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, currently published US patent application No. 2014/0246478;

- US patent application No. 13 / 782,358, entitled JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, currently published US patent application No. 2014/0246477;

- US patent application No. 13 / 782,481, entitled SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, currently published US patent application No. 2014/0246479;

- US patent application No. 13 / 782,518, entitled CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS, currently published US patent application No. 2014/0246475;

- US patent application No. 13 / 782,375, entitled ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM, currently published US patent application No. 2014/0246473; and

- US patent application No. 13 / 782,536, entitled SURGICAL INSTRUMENT SOFT STOP, currently published US patent application No. 2014/0246476.

The applicant of this application also owns the following patent applications filed March 14, 2013, each of which is fully incorporated into this document by reference:

- US patent application No. 13 / 803,097, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, currently published US patent application No. 2014/0263542;

- US patent application No. 13 / 803,193, entitled CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, currently published US patent application No. 2014/0263537;

- US patent application No. 13 / 803,053, entitled INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, currently published US patent application No. 2014/0263564;

- US patent application No. 13 / 803,086, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, currently published US patent application No. 2014/0263541;

- US patent application No. 13 / 803,210, entitled SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS, currently published US patent application No. 2014/0263538;

- US patent application No. 13 / 803,148, entitled MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, currently published US patent application No. 2014/0263554;

- US patent application No. 13 / 803,066, entitled DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, currently published US patent application No. 2014/0263565;

- US patent application No. 13 / 803,117, entitled ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS, currently published US patent application No. 2014/0263553;

- US patent application No. 13 / 803,130, entitled DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, currently published US patent application No. 2014/0263543; and

- US patent application No. 13 / 803,159, entitled METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, currently published US patent application No. 2014/0277017.

The applicant of this application owns the patent application presented below, filed March 7, 2014, which is fully incorporated herein by reference:

- US patent application No. 14 / 200,111, entitled CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, currently published US patent application No. 2014/0263539.

The applicant of this application also owns the following patent applications filed March 26, 2014, each of which is fully incorporated into this document by reference:

U.S. Patent Application No. 14 / 226.106 entitled POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS;

U.S. Patent Application No. 14 / 226,099 entitled STERILIZATION VERIFICATION CIRCUIT;

U.S. Patent Application No. 14 / 226,094 entitled VERIFICATION OF NUMBER OF BATTERY EXCHANGES / PROCEDURE COUNT;

U.S. Patent Application No. 14 / 226,117 entitled POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL;

U.S. Patent Application No. 14 / 226,075 entitled MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES;

US Patent Application No. 14 / 226,093, entitled FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS;

U.S. Patent Application No. 14 / 226,116 entitled SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION;

U.S. Patent Application No. 14 / 226,071 entitled SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR;

U.S. Patent Application No. 14/226 097 entitled SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS;

U.S. Patent Application No. 14 / 226,126 entitled INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS;

U.S. Patent Application No. 14 / 226,133 entitled MODULAR SURGICAL INSTRUMENT SYSTEM;

U.S. Patent Application No. 14 / 226,081 entitled SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT;

U.S. Patent Application No. 14 / 226.076 entitled POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION;

U.S. Patent Application No. 14 / 226,111 entitled SURGICAL STAPLING INSTRUMENT SYSTEM; and

U.S. Patent Application No. 14 / 226.125, entitled SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT.

The applicant of this application also owns the following patent applications filed September 5, 2014, each of which is fully incorporated into this document by reference:

U.S. Patent Application No. 14 / 479,103 entitled CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE;

U.S. Patent Application No. 14 / 479,119, entitled ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION;

- US patent application No. 14 / 478,908, entitled MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION;

U.S. Patent Application No. 14 / 478,895 entitled MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSORʹS OUTPUT OR INTERPRETATION;

U.S. Patent Application No. 14 / 479,110 entitled USE OF POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE;

U.S. Patent Application No. 14 / 479,098 entitled SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION;

- US Patent Application No. 14 / 479,115, entitled MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE; and

- US patent application No. 14 / 479,108, entitled LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION.

The applicant of this application also owns the following patent applications filed April 9, 2014, each of which is fully incorporated into this document by reference:

- US patent application No. 14 / 248,590, entitled MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, currently published US patent application No. 2014/0305987;

- US Patent Application No. 14 / 248,581, entitled SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT, currently published US patent application No. 2014/0305989;

- US patent application No. 14 / 248,595, entitled SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT, currently published US patent application No. 2014/0305988;

- US patent application No. 14 / 248,588, entitled POWERED LINEAR SURGICAL STAPLER, currently published US patent application No. 2014/0309666;

- US patent application No. 14 / 248,591, entitled TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT, currently published US patent application No. 2014/0305991;

- US patent application 14 / 248,584 entitled MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS, currently published US patent application No. 2014/0305994;

- US patent application No. 14 / 248,587, entitled POWERED SURGICAL STAPLER, currently published US patent application No. 2014/0309665;

- US patent application No. 14 / 248,586, entitled DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, currently published US patent application No. 2014/0305990; and

- US patent application No. 14 / 248,607 entitled MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS, currently published US patent application No. 2014/0305992.

The applicant of this application also owns the following patent applications filed April 16, 2013, each of which is fully incorporated into this document by reference:

- provisional application for US patent No. 61 / 812,365, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR;

- provisional application for US patent No. 61 / 812,376, entitled LINEAR CUTTER WITH POWER;

- provisional application for US patent No. 61 / 812,382, entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP;

- provisional application for US patent No. 61 / 812,385, entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL; and

- provisional application for US patent No. 61 / 812,372, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR.

The applicant of this application belongs to the following patent applications filed on the same day, each of which is fully incorporated into this document by reference:

- US Patent Application No. _________ entitled SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, Patent Attorney Dossier No. END7415USNP / 140289;

- US Patent Application No. _________ entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, Patent Attorney Dossier No. END7416USNP / 140291;

- US Patent Application No. _______, entitled DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, Patent Attorney File No. END7418USNP / 140292;

- US Patent Application No. _______ entitled LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS, Patent Attorney File No. END7417USNP / 140293;

- US Patent Application No. _______ entitled SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, Patent Attorney Dossier No. END7485USNP / 140295;

- US Patent Application No. _________, entitled SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, Patent Attorney File No. END7486 / 140296;

- US Patent Application No. __________, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS, Patent Attorney File No. END7489USNP / 140299;

- US Patent Application No. _______, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM, Patent Attorney Dossier No. END7492USNP / 140302; and

- US Patent Application No. _______, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM, Patent Attorney Dossier No. END7494USNP / 140304.

This document provides various detailed information needed to understand the general design, functionality, manufacturing features and application of the embodiments described in the specification and illustrated in the accompanying drawings. The well-known operating principles, components, and elements have not received a detailed description in this document so as not to impede the understanding of the embodiments described in the specification. The reader should understand that the embodiments described and illustrated herein are non-limiting examples. It should be understood that certain design and functional features described in this document may be indicative or explanatory. Changes and modifications to the embodiments described and illustrated herein may be made within the scope of the claims.

The terms “contain” (and any of its forms, such as “contains” and “containing”), “have” (and any of its forms, such as “has” and “having”), “include” (and any of its forms, such as “includes” and “including”) and “enclose” (and any of its forms, such as “encloses” and “enclosing”) are unlimited connecting verbs. Thus, a surgical system, device, or apparatus that "contains," "has," "includes," or "accommodates" one or more elements, has this one or more elements, but possession is not limited to only one or more elements. Similarly, an element of a system, device, or apparatus that "contains," "has," "includes," or "accommodates" one or more elements, has this one or more elements, but possession is not limited to only one or more elements.

The terms "proximal" and "distal" in this document are defined with respect to the physician managing the handle of a surgical instrument. The term "proximal" refers to the area closest to the doctor, and the term "distal" refers to the area remote from the doctor. In addition, for convenience and clarity with reference to the drawings, this document proposes the use of spatial terms such as “vertical”, “horizontal”, “up” and “down”. However, since the use of surgical instruments involves many orientations and provisions, these terms should not be construed as limiting and / or absolute.

To perform laparoscopic and minimally invasive surgical interventions, various examples of devices and methods have been proposed. However, the reader will be quite clear that the various methods and devices described herein can be used in many surgical interventions and fields of application, including, for example, those associated with open surgical interventions. When studying this detailed description, the reader will be able to further appreciate that the various tools described in this document can be inserted into the body in any way - either through natural openings, or through an incision or a puncture hole made in the tissues, etc. Working parts or parts of the end effectors of such instruments can be inserted directly into the patient’s body or through an access device that has a working channel through which the end effector and the elongated surgical trumenta.

A surgical stapling system may include a trunk and an end effector extending from the trunk. The end effector may include a first jaw and a second jaw. The first branch contains a cassette with staples. The cassette with brackets is configured to be inserted into the first jaw and removed from it; however, other embodiments are provided in which the cassette with brackets is made without being able to be removed from the first jaw or, at least, is configured to be quickly replaced from the first jaw. The second branch contains an emphasis made with the possibility of deformation of the brackets ejected from the cartridge with brackets. The second jaw is rotatable relative to the first jaw around the axis of closure; however, other embodiments are provided in which the first jaw is rotatable relative to the second jaw. The surgical stapling system further comprises an articulation configured to provide rotation or articulation of the end effector relative to the barrel. The end effector is rotatable around the axis of the articulation passing through the articulation. Other embodiments are provided that do not include articulation.

The cassette with brackets contains the cassette body. The cassette body includes a proximal end, a distal end and a platform extending between the proximal end and the distal end. During use, the cassette with brackets is located on the first side of the fabric to be stitched, and the emphasis is located on the second side of the fabric. The emphasis moves to the cartridge with brackets for compression and pressing of fabric to a platform. After that, the staples stored in the cassette with the possibility of extraction, can be placed in the fabric. The cassette body includes the brackets formed in it, in which the brackets are stored with the possibility of extraction. Cavities for brackets are located in six longitudinal rows. Three rows of cavity for the brackets are located on the first side of the longitudinal groove, and three rows of cavity for the brackets are located on the second side of the longitudinal groove. Other constructions of staples and cavities for staples are possible.

In the cassette case, the brackets are supported using ejector brackets. The ejectors are arranged to move between the first or unactivated position and the second or activated position for ejecting the brackets from the cavity for the brackets. The pushers are held in the cassette body by means of a latch that extends around the lower part of the cassette body and includes elastic elements configured to grip the cassette body and hold the latch relative to the cassette body. The pushers are arranged to move between their inactive positions and activated positions using a slide. The slide is movable between a proximal position near the proximal end and a distal position near the distal end. The slide contains many inclined surfaces made with the possibility of sliding under the ejectors and lifting the ejectors and the brackets supported on them to the stop.

In addition to the above, the slide moves distally with a trigger element. The trigger element is made with the possibility of contact with the slide and pushing the slide to the distal end. A longitudinal groove formed in the cassette body is configured to receive a trigger element. The emphasis also includes a groove configured to receive a trigger element. The trigger element further comprises a first cam that interacts with the first jaw and a second cam that interacts with the second jaw. When extending the trigger element distally, the first cam and the second cam allow you to control the distance, or tissue gap, between the cassette platform with brackets and emphasis. The trigger element also contains a scalpel, made with the possibility of dissection of tissue captured between the cassette with brackets and emphasis. It is desirable to position the scalpel at least partially proximal to the inclined surfaces so that the brackets are ejected before the scalpel.

In FIG. 1 shows an example of an engine-driven (or “power”) surgical instrument 10, which includes a body 20, an elongated barrel unit 100, and an end effector 200 operably connected to the elongated shaft unit 100. As shown, the end effector 200 is configured to function as an endocater for fixing, dissecting and stapling tissue. However, it should be understood that various embodiments may include end effectors configured to function as other surgical devices, including, for example, clamps, cutting tools, stapling instruments, clip holders, access devices, drug / gene therapy drug delivery devices, ultrasound, RF and / or laser devices , etc. As described above and will be further described below, various sections of the surgical instrument 10 are driven engine. Further information on many aspects of the motor-driven components of the surgical instrument 10 can be found, for example, in US Patent Application No. 13 / 803,086, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, US Patent Application Publication No. 2014/0263541, which are fully incorporated in this document by reference. However, it should be understood that the various designs of the end effector described in this document can also be successfully used in combination with portable cases (handles) that contain "manual" (i.e. not driven by motor (s)) drive and closure systems, such as those described in the aforementioned publication of US patent application No. 2014/0263541, incorporated herein. For example, in FIG. 2, an end effector 200 is attached to an elongated barrel assembly 100ʹ that is operatively connected to a body 20ʹ of a surgical instrument 10ʹ that functionally supports a manual closing and starting system.

It should also be understood that the various designs described herein can be effectively used in combination with robotic surgical systems. For example, the various designs described herein can be used with various robotic systems, tools, components, and methods described in US Patent Application No. 13 / 118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, currently publishing the application for US patent No. 2012/0298719, which is fully incorporated herein by reference. For example, in FIG. 3 shows a surgical instrument 10ʺ well suited for use with a robotic system, such as the robotic system 13 shown in FIG. 4. The surgical instrument 10 ° includes an end effector 200, functionally connected to the node 100 ° of the elongated shaft, which is connected with the housing 20 ° in the form of a node drive tool. In FIG. 4 shows a trolley 15 of a robotic arm configured to actuate a variety of surgical instruments, such as surgical instruments 10ʺ. The trolley 15 of the robotic arm and surgical instruments 10ʺ can be controlled using the main controller 17, functionally connected (directly or wirelessly) with them. Further information on the operation of components of the robotic system and various tool drive assemblies can be found in the aforementioned publication of US Patent Application No. 2012/0298719, incorporated herein, as well as US Pat. No. 6,132,368, entitled MULTI-COMPONENT TELEPRESENCE SYSTEM AND METHOD, patent US Pat. No. 5,878,193, entitled AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMAL POSITIONING, US Patent No. 5,792,135, entitled ARTICULATED SURGICAL INSTRUMENT FOR PERFORMING MINIMALLY INVASIVE SURGERY WITH ENHANCED DEXTERITY AND SENSITIVITY 6,5 US Pat. entitled m ROBOTIC SURGICAL TOOL WITH ULTRASOUND CAUTERIZING AND CUTTING INSTRUMENT, US Pat. No. 6,364,888, entitled ALIGNMENT OF MASTER AND SLAVE IN A MINIMALLY INVASIVE SURGICAL APPARATUS, US Pat. PLATFORM LINK WRIST MECHANISM, US Pat. No. 7,806,891, entitled REPOSITIONING AND REORIENTATION OF MASTER / SLAVE RELATIONSHIP IN MINIMALLY INVASIVE TELESURGERY, and US Pat. .

Thus, as used herein, the term “housing” can also encompass a housing or similar part of a robotic system that accommodates or otherwise functionally supports at least one drive system configured to generate and apply at least one control movement which can be used to actuate the interchangeable shaft assemblies described herein and their corresponding equivalents. The term “frame” may refer to a part of a portable surgical instrument, such as a “pen”. The term "frame" may also be part of a surgical instrument with robotic control and / or part of a robotic system that can be used for functional control of a surgical instrument.

It should be understood that spatial terms, such as “vertical”, “horizontal”, “right”, “left”, etc., are used in this document with reference to the figures, based on the fact that the longitudinal axis or “axis of the barrel "Surgical instrument 10 (or other examples of surgical instruments described herein) coincides with the central axis of the barrel 100. However, in actual practice, any surgical instrument described herein can be oriented at different angles, and as such these spaces Twain terms are used relative to the surgical instrument. In addition, for a portable case, the term “proximal” is used to mean the angle of view of a doctor who is behind the handle and places the end effector distally, or away from you. As used herein, the phrase “substantially transverse to the longitudinal axis”, where “longitudinal axis” is the axis of the barrel, refers to a direction that is almost perpendicular to the longitudinal axis. However, it should be understood that directions that deviate somewhat from the perpendicular with respect to the longitudinal axis are also substantially transverse to the longitudinal axis.

As shown in FIG. 1, the end effector 200 is pivotally coupled to the barrel 100 via an articulation 109. A plurality of articulations and control systems are described in various patents and patent applications, which are incorporated herein by reference. Other articulations and articulation systems are described in US Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, and US Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR, the contents of which are incorporated herein by reference in their entirety. Various other means for pivotally turning the end effector 200 are described in more detail below.

As shown in FIG. 5 and 6, the end effector 200 includes, among other things, an elongated channel 210 that is configured to functionally support the cassette 230 with brackets therein. The cassette 230 with brackets includes a cassette body 232, in which there is a centrally located elongated groove 234 of the cassette (FIG. 6). In the presented design, the cassette 230 with staples has three rows 238 of recesses 236 for staples on each side of the elongated groove 234 of the cassette. One or more surgical staples 242 are supported on respective staple ejectors 240, which are functionally supported in staple recesses 236. The cassette tray 215 is attached to the bottom of the cassette body 232. The cassette tray 215 includes a tray groove 217 that aligns with the cartridge groove 234 and the channel groove 212 in the elongated channel 210. See FIG. 6.

Surgical instrument 10 further includes a trigger 300, which is connected to a trigger rod 310 associated with the trigger system, which is supported in a housing 20, 20ʹ or 20ʺ. The starter system can be actuated using a motor structure supported in the handle 20 (FIG. 1), or it can be manually activated by actuating the trigger 26ʹ (FIG. 2), or it can be actuated by robotic system 13 (FIG. 4). Regardless of the design used, after actuation, the trigger system applies an axial trigger movement to the trigger rod 310 to move the trigger 300 in the distal direction DD. As shown in FIG. 6, the trigger element 300 includes a vertically extending trigger element body 302, on which a cutting surface or blade 304 is present. The first trigger tag 306 protrudes from the first side 305 of the trigger element housing 302, and the second trigger tag 308 protrudes from the second lateral side 307 of the housing 302 trigger element. In addition, the first middle tongue (not shown) protrudes from the first side 305 of the trigger element housing 302, and the second middle tongue 309 protrudes from the second lateral side 307 of the trigger element housing 302. The trigger element 300 further includes a tab or tab 312 that protrude laterally from the bottom of the trigger element housing 302. The purpose of the reeds 306, 308, 309 and tabs 312 will be described in more detail below. In addition, wedge-shaped slides 320 can be installed inside the cassette body 232 for contact with the trigger element 300 to set it in motion. When the trigger 300 moves distally through the cassette body 232, the beveled surfaces 322 contact the staple ejectors 240 to actuate the ejectors 240 and the surgical brackets 242 supported thereon in the cassette body 232.

The end effector 200 further includes an abutment 250, which includes an abutment body 252 on which a bottom surface 254 forming a bracket is present. The abutment 250 also includes an abutment mounting portion 260 for pivotally connecting the abutment 250 to a proximal end portion 211 of the elongated channel 210 for pivotally moving relative to it about the stationary axis A-A of the abutment. As, in particular, shown in FIG. 6 and 10, the emphasis mounting portion 260 in the present construction comprises a proximal protruding first emphasis branch 262, which includes a first stop journal 264 extending inwardly. The illustrated abutment mounting portion 260 further comprises a proximal extending second abutment branch 266 that is spaced apart from the first abutment branch 262. The second pin 268 emphasis protrudes inward from the second branch 266 emphasis. The first stop pin 264 is rotatably held in the socket 214 of the first pin provided in the proximal end portion 211 of the elongated channel 210 (FIG. 8), and the second stop pin 268 is placed to rotate in the second pin socket 216 (FIG. 3, 7, 8 and 9) in the proximal end portion 211 of the elongated channel 210. The sockets 214, 216 of the first and second trunnions serve to form a fixed axis AA of the stop, which is perpendicular to the axis SA-SA of the barrel. When the first stop pin 264 is rotatably mounted in the first pin socket 214 and the second stop pin 268 is rotated in the second pin slot 216, the stop 250 is movable relative to the elongated channel 210 so that the distal end 253 of the stop 250 can selectively move to the elongated channel 210 and from it.

As shown in FIG. 3, 10 and 11, the emphasis mounting portion 260 includes a closing inclined portion 270. The closing inclined portion 270 includes a first inclined segment 272 and a second inclined segment 274, which is located at a distance from the first inclined segment 272 to form a stepped launch hole 280 element in between. See FIG. 10, 12 and 13. As shown in FIG. 12, the upper portion of the trigger 300 can extend into the stepped hole 280 when the stop 250 is in the open position and the trigger 300 is in the initial, or inactive, position. When the stop 250 is closed, as shown in FIG. 13, the top of the trigger 300 passes through a stepped hole 280. As shown in FIG. 10, an elongated stop groove 290 is provided in the bracket-forming lower surface 254 of the stop 250. In addition, a first closing step 292 and a second closing step 294 are formed on the sides of the stop groove 290. A slope 273 of the first closing step is provided on the closing inclined section 270, and it leads to the first closing step 292, and a slope 275 is provided on the closing inclined section 270. the second closing ledge, and it leads to the second closing ledge 294.

The abutment 250 is moved to the open position (FIG. 12) by means of a spring (not shown) that biases the mounting portion 260 of the abutment upward relative to the proximal end 211 of the elongated channel 210 so that the bottom surface 254 of the abutment 250 forming a bracket is located at a distance from the cartridge 230 with surgical staples. The distal end 253 of the abutment 250 moves to the cassette 230 with surgical staples in a closed position relative to it by actuating a closure system that moves the closure 110 along the axis distally into contact with the closure inclined portion 270. For example, in the embodiment shown, the closure 110 includes a closure tube assembly 120 configured to move axially in response to closure motions caused by a closure system supported in the housing. The closure system may be actuated by a motor structure supported in the handle 20, or it may be manually actuated by actuating the closure trigger 28 (FIG. 1) or 28ʹ (FIG. 2), or it may be driven by action using a robotic system 13 (FIG. 4). Regardless of the design used, the actuation of the closure system may cause an axial closure movement applied to the closure assembly 120 of the barrel assembly 100. In FIG. 12 shows the position of the closure tube assembly 120 before operating the closure system. When moving the closure tube assembly 120 in the distal direction DD, the distal end 122 of the closure tube assembly 120 is in contact with the closure inclined portion 270 of the abutment mounting portion 260 and rotates the abutment 250 so that its distal end 253 moves to the surgical cassette 230. In FIG. 13 shows the position of the closure tube assembly 120 in a fully closed position. After moving the stop 250 to the fully closed position, the trigger system can be actuated to move the trigger 300 along the axis from the unactivated, or initial, position shown in FIG. 12 and 13, distally through the cassette 230 with staples for cutting tissue, sandwiched between the lower surface 254 of the stop 250 forming the bracket, and the cassette 230 with staples. When the trigger element 300 is moved distally, the first tongue 306 moves upward along the first closing slope 273 on the first closing ledge 292, and the second tongue 308 moves upward along the second closing slope 275 on the second closing ledge 294 at the stop 250. The middle tongues 309 slide along the upper surface of the elongated channel 210, and the tab 312 passes along the lower surface 223 of the elongated channel 210. The first and second tabs 306, 308 on the first and second closing ledges 292, 294, as well as the middle tabs 309 and tab 312, serve to locate the bottom 254 of the stop 250 forming the bracket, at the desired distance S from the upper surface or platform of the cassette with surgical staples. See FIG. thirteen.

As shown in FIG. 5, in the illustrated example, the end effector 200 is selectively pivotally rotatable about an articulated axis B-B that is perpendicular to the axis SA-SA of the barrel formed by the elongated barrel assembly 100. In the presented construction, the closure tube assembly 120 includes a proximal segment 123 of the barrel closure tube, which extends to the body 20, 20ʹ, 20ʺ and interacts functionally with the closure system supported therein. The proximal closure tube segment 123 is rotatably coupled to the distal closure tube segment 130. For example, as shown in FIG. 6, the proximal closure tube segment 123 includes distally protruding upper and lower shanks 124, 126. The distal closure tube segment 130 includes proximal protruding upper and lower shanks 132, 134. The upper double joint 140 includes upwardly extending distal and proximal pivot pins 142, 144 that engage the upper distal pin hole 133 in the upper proximal protruding shank 132 and the upper proximal pin hole 125 in the upper distally protruding shank 124, respectively. The lower double-hinge link 150 includes downwardly extending distal and proximal pivot pins 152, 154 that engage a lower distal pin hole (not shown) in the proximal protruding shank 134 and a pin hole 127 in the distally protruding shank 126, respectively. In the presented design, as in alternative

the structures, the elongated barrel assembly 100 further includes a frame assembly or a rod assembly, or a retaining assembly essentially designated 159. For example, in one construction, the frame assembly 159 includes a proximal frame portion 160 and a distal frame portion 170. The proximal section 160 of the frame is made with the possibility of holding the trigger rod 310 in it with the possibility of movement and, depending on the design, passes back to the housing 20, 20ʹ, 20ʺ. The proximal end (not shown) of the proximal portion 160 of the frame may be operatively coupled to an appropriate control system that can facilitate rotation of the frame assembly 159 (and its associated end effector 200) around the axis SA-SA of the barrel. Further information on the design and operation of such control systems can be found in various referenced documents, which are incorporated herein by reference. As shown in FIG. 6, the distal portion 170 of the frame includes a pivot pin 172 rotatably disposed in a pivot pin hole 220 formed at the proximal end 211 of the elongated channel 210. The pivot pin hole 220 forms a pivot axis BB that can be rotated around which pivot pin 172. In other words, the elongated channel 210 can pivot about the pivot pin 172 and around the articulated axis B-B when pivoting is applied to the elongated channel 210. As shown in FIG. 6, the proximal end 211 of the elongated channel 210 includes a drive pin 222 that is operable to interact with the articulated drive element. The drive pin 222 is configured to receive the force exerted thereto by the articulated drive system 500 and, depending on the direction of application of the force to the drive pin 222, forces the end effector 200 to pivot in the first direction FD or in the second opposite direction SD.

The articulated articulated drive system 500 may be similar to the articulated articulated drive system described in U.S. Patent Application Publication No. 2014/0263541, the entire contents of which are incorporated herein by reference. For example, in one form, the articulated drive system 500 includes a proximal articulated drive element 510 and a distal articulated drive element 520. See FIG. 6. As described in the above referenced document, the articulated proximal articulated drive member 510 is held for selective axial movement in the distal and proximal directions in response to the articulated steering movements applied to it by the articulated steering control system. The articulated steering control system may, for example, be functionally supported in the housing 20, 20ʹ, 20ʺ depending on the design. When the driving force or articulating control motion of the articulation is transmitted to the proximal articulating actuator 510 in the proximal direction or the distal direction, the actuating force can be transmitted to the distal articulating actuator 520 through the articulating fixing element 550, as described in detail in the above literature, included in this document. Further information on the operation of the distal articulated retaining member 550 can be obtained from a review of reference documents, for brevity this information will not be repeated in this document.

As described in detail in the above referenced document, movement of the proximal articulated drive member 510, proximal or distal, releases the articulated locking member 550 that is functionally held in the distal articulated drive member and the distal portion 170 of the frame. For example, in the design shown in FIG. 6, the distal articulated drive member 520 includes a distally extending portion 522 that is rotatably coupled to the intermediate link 524 for corresponding rotational movement about the intermediate axis IA-IA. See FIG. 6. Although this is not shown separately in FIG. 6, the distally protruding portion 522 includes a downwardly extending proximal pin that is rotatably housed in the proximal hole for the pivot pin in the intermediate link 524. The distal end of the intermediate link 524 includes a distal hole 526 for the pivot pin receiving the drive pin 222. When actuating the proximal articulated drive element 510, the elongated channel 210 is pivotally rotated by the distal articulated drive element Le Nain and locking element 550 of the articulated joint. For example, the initial proximal movement of the proximal articulated drive element 510 can unlock the proximal movement of the distal articulated drive element 520 and the articulated retaining element 550, while the additional proximal movement of the proximal articulated drive element 510 can drive the distal articulated drive element 520 articulations and articulated retaining member 550 proximal. Similarly, the initial distal movement of the proximal articulated drive element 510 can unlock the distal movement of the distal articulated drive element 520 and the articulated retaining member 550, while the additional distal movement of the proximal articulated drive element 510 can actuate the distal articulated drive element 520 and a distal articulation retainer 550.

For example, as shown in FIG. 6, the launch rod 310 may comprise a multilayer structure. This design allows the trigger rod 310 to be sufficiently bent when the end effector 200 is pivotally rotated about the articulated axis B-B. The trigger bar 310 is slidably supported within the groove 162 of the trigger rod in the proximal portion 160 of the frame. The distal end portion 164 of the proximal portion 160 of the frame is formed by two opposing spherical surfaces 166, 168 to provide additional lateral support for the launch rod 310 during articulated rotation.

When working with end effectors, which use trigger rods or trigger elements and which are made with the possibility of articulated rotation in the range of, for example, forty-five degrees, a number of difficulties arise. In order to facilitate the functional articulation of such end effectors, the launch element or the launch rod must be flexible enough to provide such a range of articulation. However, the launch rod or the launch element must also not deform under the action of compressive starting loads. To provide additional support for the launch rod or launch element, various designs of support or safety plates have been developed. Some of these constructs are described in US Pat. No. 6,964,363, entitled SURGICAL STAPLING INSTRUMENT HAVING ARTICULATION JOINT SUPPORT PLATES FOR SUPPORTING A FIRING BAR, and US Pat. which are incorporated herein by reference in their entirety. The safety plates, which provide essentially resistance to deformation, are generally bent heavily, which contributes to an increase in the forces that must be overcome by the articulated joint system.

In FIG. 14 and 15 show the trigger rod support assembly 600 in the form of a trigger rod assembly 601, which is used in the surgical instrument 10 shown. As shown in these figures, as well as in FIG. 6, the trigger rod guide assembly 601 includes a proximal end 602 and a distal end 604 that are interconnected by trigger rod support members 606, 608 that are separated by a trigger rod groove 610 that extends through the proximal and distal ends 602, 604. As shown in a horizontal projection, the node 601 guide the launch rod resembles the design of the I-beam element with a groove passing through the Central wall of the rod. As, for example, shown in FIG. 15, the trigger rod support member 606 has a plate shape or comprises a plate that includes an inwardly extending upper edge 607, and the trigger rod support member 608 has a plate-shaped or has a plate that includes an inwardly extending upper edge 609. Upper edges 607 , 609 give some strength to the support elements 606, 608 of the launch rod during bending and can serve to prevent the launch rod 310 from coming off the top of the launch rod guide assembly 601 when the launch rod 310 is bent. The guide assembly 601 Launcher guide rod can be manufactured, for example, of glass material ISOPLAST®, nylon, glass-filled material and VECTRA® m. p., and it may be formed integrally. In other designs, the supporting elements 606, 608 of the launch rod may contain components other than the proximal and distal ends and connected to them by appropriate fastening methods, such as welding, additional molding, etc.

As shown in FIG. 6, the proximal end 602 of the launch rod guide assembly 601 is located in the proximal cavity 169 for the rod formed in the distal end portion 164 of the proximal frame portion 160. The distal end 604 of the launch guide rod assembly 601 is disposed in a distal rod cavity 224 formed in the upwardly projecting support eye 1700 formed at the proximal end 211 of the elongated channel 210. To facilitate the axial movement of the launch guide rail assembly 601 by articulating the end effector 200, the proximal cavity 169 for the rod has dimensions relative to the proximal end portion 602 of the launch rod support assembly 600, allowing axial movement of the proximal end portion 602 therein. tech distal cavity 224 for the rod may have dimensions relative to the distal end portion 604 of the guide assembly 601, the trigger rod to facilitate axial movement of the guide assembly 601 relative to the trigger rod of the elongated channel 210 when the hinge is rotated. In FIG. 17 shows an end effector 200 in a pivotally non-turned position in which the end effector 200 is substantially aligned with the barrel assembly 100. This position of the end effector allows you to enter the end effector 200 and part of the node 100 of the elongated trunk into the patient’s body, for example, through a trocar. In FIG. 18 and 19 show an end effector 200 pivotally rotated in a first direction FD, and in FIG. 20 and 21, an end effector 200 is shown pivotally rotated in the opposite, second, SD direction.

End effectors, such as the end effectors described herein, as well as the end effectors described in US Patent Application Publication No. 2014/0263541, previously incorporated herein, are often used in performing low anterior colon resection (NPR). CPD is a common surgical procedure for the treatment of colorectal cancer, performed if necessary to remove the affected or torn intestine in cases of diverticulitis. Access to the target site (s) of the colon using these end effectors when performing CPD may depend on the following factors: (i) the angle of articulation of the trunk; (ii) the distance from the pin or pivot axis to the most proximal staples (sometimes called the “proximal dead zone”); (iii) the distance from the most distal staples to the distal end of the end effector (sometimes called the "distal dead zone"); and (iv) barrel diameter. In FIG. 22 compares the range of motion of the end effector 200 in the pelvic region, as described herein, with the range of motion of the end effector 200ʹ of a type that includes a stop associated with being able to rotate with an elongated channel using an oval-curved groove design, as described in the aforementioned and incorporated herein publication of US patent application No. 2014/0263541. For example, in one design of the 200ʹ end effector, the proximal PDZ зона dead zone has a length of about 3.91 centimeters (1.54 inches). In contrast, the proximal PDZ dead zone resulting from at least one use of the end effector 200, as described herein, can be reduced, for example, by 0.813 centimeters (0.320 inches). See FIG. 23. Thus, PDZ <PDZʹ. For example, as also shown in this figure, in at least one embodiment, the distance from the distal end 201 of the end effector to the axis AA of the articulation or pivot point is less than the distance from the distal end 201ʹ of the end effector 200ʹ to the axis BB of the articulation or pivot point for example, a value of about 2.3 centimeters (0.9 inches) (length L in FIG. 23). Thus, the control of the end effector 200 represents a significant improvement in the control of the structures of the end effectors of the prior art. In addition, the end effector 200 shows a significant increase in mechanical benefits (for example, an increase of up to 300% in some cases) of displacing the pivot axis or articulation proximal and displacing the closure element or pivot point distally. For example, thanks to such improved access with a 60 mm endocater, it is possible to access the colon at an angle of almost 90 degrees and to perform significantly better cross-section, which minimizes the impact of subsequent triggering of the circular stapling instrument and, thus, reduces the chance of leakage . By reducing the distance from the articulation to the first or proximal bracket itself, a greater degree of freedom of rotation of the endocater relative to the pelvic girdle is provided with an increase in the effective angle of access of the relatively large intestine for the “deep” CPD. The additional movement from cam-to-cam architecture increases the mechanical benefits of the system and thus reduces the loads transferred back to the handle or housing and increases tool strength.

In FIG. 24-31, another surgical instrument 1010 is shown that includes an end effector 1200 that is operatively coupled to an elongated shaft assembly 1100. The elongated barrel assembly 1100 may be operatively connected to any of the housings 20, 20ʹ, 20ʺ, as described above. The end effector 1200 is pivotally coupled to the elongated barrel assembly 1100 via articulation 1109. The end effector 1200 includes, among other things, an elongated channel 1210 that is configured to functionally support the cassette 1230 therein. See FIG. 25. The cassette 1230 with brackets includes a cassette body 1232, in which there is a centrally located elongated groove 1234 of the cassette. In the present construction, the cassette 1230 with brackets has three rows 1238 of recesses 1236 for the brackets on each side of the elongated groove 1234. One or more brackets 1242 are supported on respective ejectors 1240 brackets that are functionally supported in the recesses 1236 for brackets. The cassette tray 1215 is attached to the bottom of the cassette 1232. The tray 1215 of the cartridge includes a groove 1217 of the tray, which is aligned with the groove 1234 of the cartridge and the groove 1212 of the channel in the elongated channel 1210.

Surgical instrument 1010 further includes a trigger 1300, which is connected to a trigger rod 1310, which is connected to a trigger system supported in a housing 20, 20ʹ or 20ʺ. The starter system can be actuated using a motor structure supported in the handle 20 (FIG. 1), or it can be manually activated by actuating the trigger 26ʹ (FIG. 2), or it can be actuated by robotic system 13 (FIG. 4). Regardless of the design used, after actuation, the trigger system applies an axial trigger movement to the trigger rod 1310 to move the trigger 1300 in the distal direction DD. As shown in FIG. 25, the trigger element 1300 includes a vertically extending trigger element housing 1302 on which a cutting surface or blade 1304 is present. The first trigger tag 1306 protrudes from the first side 1305 of the trigger element housing 1305, and the second trigger tag 1308 protrudes from the second the side 1307 of the housing 1302 trigger element. In addition, the first middle tongue (not shown) protrudes from the first side 1305 of the trigger element housing 1302, and the second middle tongue 1309 protrudes from the second lateral side 1307 of the trigger element housing 1302. The trigger element 1300 further includes a tab or tab 1312 that protrude laterally from the bottom of the trigger element housing 1302. The purpose of the reeds 1306, 1308, 1309 and tabs 1312 will be described in more detail below. In addition, wedge-shaped slides 1320 can be installed inside the cassette 1232 for contact with the trigger element 1300 to set it in motion. As you know, when moving the trigger 1300 distally through the cassette body 1232, the beveled surfaces 1322 contact the staple ejectors 1240 to move the ejectors 1240 and the surgical staples 1242 supported thereon upward in the cassette case 1232.

The end effector 1200 further includes an abutment 1250, which includes an abutment housing 1252 on which a bottom surface 1254 forming a bracket is present. The abutment 1250 also includes an abutment mounting portion 1260 for pivotally connecting the abutment 1250 to the proximal end portion 1211 of the elongated channel 1210 for pivoting relative to it. The mounting section 1260 emphasis includes two (in FIG. 25-28 shown only one) passing in the lateral direction of the axle 1264 emphasis. The stop pins 1264 are positioned to move in corresponding oval-curved grooves 1214 provided in the proximal end section 1211 of the elongated channel 1210. This design allows the stop 1250 to rotate relative to the elongated channel 1210 when applying closing or opening movements to the mounting portion 1260 of the stop. The abutment mounting portion 1260 includes an upwardly projecting abutment tongue 1263 that is operatively associated with a horseshoe-shaped opening 1131 provided in the closure member 1110.

In the illustrated example, the closure member 1110 includes a closure tube assembly 1120 that includes a distal closure tube segment 1130 in which an opening 1131 is provided. The closure tube assembly 1120 includes a proximal barrel closure tube segment 1122 that extends to the body 20, 20ʹ, 20ʺ and functionally interacts with the closing system supported in it. The proximal closure tube segment 1123 is rotatably coupled to the distal closure tube segment 1130. For example, as shown in FIG. 25, the proximal closure tube segment 1123 includes distally protruding upper and lower shanks 1124, 1126. The distal closure tube segment 1130 includes proximal protruding upper and lower shanks 1132, 1134. The upper double-hinged link 1140 includes an upwardly extending distal and proximal pivot pins 1142, 1144 that engage the upper distal pin hole 1133 in the upper proximal protruding shank 1132 and the upper proximal pin hole 1125 in the upper distal protrusion lean shank 1124, respectively. The lower double-hinged link 1150 includes downwardly extending distal and proximal pivot pins 1152, 1154, which engage a lower distal pin hole (not shown) in the proximal protruding shank 1134 and a pin hole 1127 in the distal protruding shank 1126, respectively. When moving the distal closure tube 1130 in the distal direction DD, the stop 1250 rotates to the closed position relative to the cassette 1230 with surgical staples due to the interaction between the hole 1131 in the distal closure tube 1130 and the tongue 1263 of the stop, and when moving the distal closure tube 1130 in the proximal direction PD, the stop 1250 rotates to the open position due to the central tongue 1137 in the distal segment 1130 of the closure tube. The movement of the distal closure tube segment 1130 is controlled by a closure system actuated by a motor structure supported in the handle 20, or manually actuated by actuating the closure trigger 28ʹ (FIG. 2), or actuated by a robotic system 13 (FIG. 4).

The stop 1250 may additionally have a stop groove and closing ledges, as described above with respect to the stop 250, for interacting with the tongues 1306, 1308, as also described in detail above. After moving the stop 1250 to the fully closed position, the trigger system can be actuated to move the trigger 1300 along the axis from an inactive or initial position distally through a cassette 1230 with tissue cutting brackets sandwiched between the bottom surface 1254 of the stop 1250 forming a bracket, and cassette 1230 with brackets. When moving the trigger element 1300 distally, the first tongue 1306 interacts with the ability to move with the first closing ledge, and the second tongue 1308 interacts with the possibility of moving with the second closing ledge in the stop 1250. The middle tongues 1309 slide along the upper surface of the elongated channel 1210, and the tab 1312 runs along the lower surface 1223 of the elongated channel 1210. The first and second tongues 1306, 1308 on the first and second closing ledges, as well as the middle tongues 1309 and tab 1312, serve to position the lower surface 1254 of the stop 2150, forming a bracket at the desired distance from the upper surface or platform of the cartridge 1230 with surgical braces.

As shown in FIG. 24-26, in the illustrated example, the end effector 1200 is pivotally rotatable about an articulation axis B-B that is perpendicular to the axis SA-SA of the barrel formed by the elongated barrel assembly 1100. In the present construction, the elongated barrel assembly 1100 further includes a frame assembly or a rod assembly or a holding assembly substantially designated 1159. For example, in one construction, the frame assembly 1159 includes a proximal frame portion 1160 and a distal frame portion 1170. The proximal section 1160 of the frame is configured to hold the launch rod 1310 in it with the possibility of movement and, depending on the design, passes back to the housing 20, 20 20, 20ʹ. The proximal end (not shown) of the proximal portion 1160 of the frame may be operatively interfaced with an appropriate control system that can facilitate rotation of the frame assembly 1159 (and its associated end effector 1200) about the axis SA-SA of the barrel. Further information on the design and operation of such control systems can be found in various referenced documents, which are incorporated herein by reference.

As shown in FIG. 25, the distal portion 1170 of the frame includes a pivot pin 1172 rotatably disposed in a pivot pin hole 1220 formed at the proximal end 1211 of the elongated channel 1210. The pivot pin hole 1120 forms a pivot axis BB that can be rotated around which pivot pin 1172. In other words, the elongated channel 1210 can pivot about the pivot pin 1172 and about the articulated axis B-B when pivotally applied to the elongated channel 1210. As shown in FIG. 25, the proximal end 1211 of the elongated channel 1210 includes a drive pin 1222, which is operable to interact with the articulated drive element. The drive pin 1222 is configured to receive the force applied to it by the articulated drive system 1500 and, depending on the direction of application of the force to the drive pin 1222, causes the end effector 1200 to pivot in the first direction or in the second, opposite direction around the axis of articulation BB .

The articulated drive system 1500 shown may be similar to the articulated drive system described in US Patent Application Publication No. 2014/0263541, the contents of which are incorporated herein by reference in their entirety. For example, in one form, the articulated drive system 1500 includes a proximal articulated drive element 1510 and a distal articulated drive element 1520. As described in the above referenced document, the articulated proximal articulated drive member 1510 is held for selective axial movement in the distal and proximal directions in response to the articulated steering movements applied to it by the articulated steering control system. The articulated steering control system may, for example, be functionally supported in the housing 20, 20ʹ, 20ʺ depending on the design. When a driving force or articulating control movement of the articulation is transmitted to the proximal articulating actuator 1510 in the proximal direction or distal direction, the actuating force can be transmitted to the distal articulating actuator 1520 through the articulating retaining member 1550, as described in detail in the above literature, included in this document. Further information on the operation of the distal articulated locking member 1550 can be obtained from the overview of reference documents, for brevity this information will not be repeated in this document.

As described in detail in the above referenced document, movement of the proximal articulated drive member 1510, proximal or distal, releases the articulated locking member 1550, which is functionally held in the distal articulated drive member and the distal portion 1170 of the frame. For example, in the design shown in FIG. 25, the intermediate link 1524 is pivotally coupled to the distal articulated drive member 1520 for corresponding pivotal movement around the intermediate axis IA-IA. As shown in FIG. 25, a pivot pin 1523 is formed in the distal articulated drive member 1520 and extends into the proximal pivot hole 1525 in the intermediate link 1524. The distal end of the intermediate link 1524 includes a distal pivot hole 1526 for the pivot pin receiving the drive pin 1222. When driven into the action of the proximal articulated drive element 1510 pivots the elongated channel 1210 by means of the distal articulated drive element and the locking ementa 1550 articulation. For example, the initial proximal movement of the proximal articulated drive element 1510 can unlock the proximal movement of the distal articulated drive element 1520 and the articulated locking member 1550, while the additional proximal movement of the proximal articulated drive element 1510 can actuate the distal articulated drive element 1520 articulation and locking element 1550 articulated proximal. Similarly, the initial distal movement of the proximal articulated drive element 1510 can unlock the distal movement of the distal articulated drive element 1520 and the articulated locking member 1550, while the additional distal movement of the proximal articulated drive element 1510 can actuate the distal articulated drive element 1520 and a distal locking member 1550 of the articulation.

In designs that use traditional safety plates to support the launch rod during deformation, depending on the path of curvature (depending on the direction of articulation), only one of the safety plates can work effectively. Thus, in at least some constructions, it may be preferable to bind or join together the internal and external parts of the safety plates (or “support elements of the launch rod”) to allow them to function in pairs rather than independently. Such a design can, for example, provide more than double the moment of inertia of only the outer plate, while minimizing the total force required for bending. In some designs, as will be described in more detail below, the safety plates (or supporting elements of the launch rod) are made so that they can move in the longitudinal direction relative to each other. Since none of the elements is located on the center line of the fold, for example, one of the elements has a longer path and the other element has a shorter path.

In the illustrated example, the surgical instrument 1010 further includes a first trigger rod support member 1610 and a second trigger rod support member 1620. Each of the first and second support elements 1610, 1620 of the launch rod may include a plate made, for example, of stainless steel, spring steel, titanium, NITINOL ™, etc. As shown in FIG. 25, the first trigger rod support element 1610 includes a proximal downwardly extending mounting tab 1612 and a distal downward mounting tongue 1614. The second launching rod supporting element 1620 includes similar proximal and distal downward tongues (not shown in FIG. 25). As shown in FIG. 26, the launch rod 1310 is slidable and extends between the first and second support elements 1610, 1620 of the launch rod. The distal ends of the first and second supporting elements 1610, 1620 of the launch rod are made with the possibility of sliding and placed inside the groove 1702 formed in the protruding up supporting eye 1700 formed at the proximal end 1211 of the elongated channel 1210. In FIG. 27 and 30 show the articulated rotation of the end effector 1200 in the first direction FD. As shown in these figures, the first trigger rod support element 1610 moves slightly distally relative to the second trigger rod support element 1620 to provide support for the trigger rod 1310 during bending during articulation. Mounting tabs can serve to limit the degree of axial movement of the supporting elements of the launch rod. In FIG. 28 and 31 show the articulated rotation of the end effector 1200 in the second direction SD. As shown in these figures, the second trigger rod support element 1620 moves slightly distally relative to the first trigger rod support element 1610 to provide bending or support when the trigger rod 1310 is pivotally rotated. As shown in FIG. 30 and 31, this design provides articulated rotation of the end effector 1200 within ranges of about seventy-five degrees (75 °) on both sides of the barrel axis SA-SA. In at least one design, the groove 1702 is dimensioned to provide a clearance between the support elements 1610, 1610 of the launch rod and the trigger rod 1310, for example, about 0.13-0.038 cm (0.05-0.015 inches) to facilitate sliding movement of the support elements 1610, 1620 of the launch rod inside the groove 1702 and the sliding movement of the launch rod 1310 when the tool is triggered (i.e., the axial extension of the launch rod 1310 in the distal direction). For example, in one design, the groove 1702 may have a width (W) of 0.13-0.165 cm (0.05-0.065 inches), each of the supporting elements 1610, 1620 of the launch rod may have a thickness (FBT) of about 0.020-0.038 cm (0.008 -0.015 inches), and the launch rod 1310 may have a thickness (BT) of about 0.114 cm (0.045 inches). See FIG. 32. As shown in FIG. 33, the proximal end 1704 of the groove 1702 extends outward to facilitate bending or bending of the trigger support elements 1610, 1620 by pivotally turning the end effector 1200. The proximal end 1704 of the groove 1702 has a proximal groove width PW of, for example, about 0.18-0.20 cm (0.07-0.08 inch). Other values may also be characteristic of the groove width. Thus, in the presented example, PT> PW. It should be understood that the supporting elements 1610 and 1620 of the launch rod help to support the launch rod 1310 by articulating the end effector and prevent deformation of the launch rod 1310 under the action of compressive starting loads.

In FIG. 34 shows a portion of another elongated channel 1210ʹ, which includes an upwardly projecting abutment eye 1700 котором, in which a groove 1702 размещения is formed to receive the support elements 1610, 1620 of the launch rod (not shown in FIG. 34) with sliding movement, as described above. However, in this design, in the abutment eye 1700 или, a pair of opposing protrusions or retainers 1706ʹ is formed so that, as shown in the figure, the width of the proximal end of the groove 1702 (PW () is less than the width of the groove 1702 (Wʹ). A distal exit 1620 from 1160, preferably an already retaining groove that holds the rod portion L. This “narrowing” is necessary so that the support plates behave like cantilever beams rather than floating articulations, and this can lead to a significant improvement in the launch rod support, which is provided by the launch rod plate. For example, when comparing the cantilever structure with the hinge structure (loose fit), it is assumed that the cantilever structure is able to provide 4-16 times greater resistance, which provides significantly less deflection of the base plate at the very beginning.

As shown in FIG. 35-37, the surgical instrument 1010 &apos; shown herein is substantially identical to the surgical instrument 1010 described in detail above, and it uses the support elements 1610 &apos; and 1620 &apos; of the trigger rod to support the trigger rod 1310 against deformation by articulating the end effector 1200. In FIG. 35 and 36 show the positions of the support elements 1610ʹ, 1620ʹ of the launch rod when the end effector is in a pivotally untwisted position. In FIG. 37 shows an end effector 1200 in a pivotally rotated position. As shown in this figure, during articulated rotation, the support elements 1610ʹ, 1620ʹ of the launch rod move in the longitudinal direction relative to each other. For example, more specifically, this figure shows the support element 1610ʹ of the launch rod on the short side of the bend.

In FIG. 38-40 show another surgical instrument 2010, which may, for example, be identical to surgical instrument 1010, with the exception of at least some of the differences described below. For example, in a surgical instrument 2010, a launch rod support assembly is used, essentially designated 2600, which includes a first launch rod support 2610 and a second launch rod support 2620. Each of the supporting elements 2610, 2620 of the launch rod contains a structure with a compression tape that, when swiveled, supports the launch rod 1310 in the lateral direction, while facilitating the axial movement of the launch rod 1310 between them during its launch and retraction. More specifically, in one design, the first launch rod support member 2610 comprises a first compression tape 2612, which may comprise, for example, a tape member made of spring steel or the like. As shown in FIG. 38-40, the first compression tape 2612 includes a first proximal mounting element 2614 in the form of a first proximal mounting tab 2615, which is arranged to fit inside the mounting groove 1162 in the proximal section 1160 of the frame. In addition, the first proximal compression tape 2612 further includes a first distal mounting element 2616 in the form of a first distal mounting tab 2617, which is arranged to fit inside the first distal mounting groove 1710 in an upwardly supporting abutment 1700 formed at the proximal end 1211 of the elongated channel 1210. As, in particular, shown in FIG. 39, the first distal mounting groove 1710 has a first groove width FSW greater than the thickness of the first distal mounting tongue 2617 to facilitate axial movement of the first distal mounting tongue 2617 within the first distal mounting groove 1710. In addition, the first compression tape 2612 includes a first spring a portion or fold 2618 that is supported in a first elongated cavity 1166 in a proximal portion 1160 of the frame.

As further shown in FIG. 39, the second launch rod support member 2620 comprises a second compression tape 2622, which may comprise, for example, a ribbon-like member made of spring steel or the like. The second compression tape 2622 includes a second proximal mounting element 2624 in the form of a second proximal mounting tab 2625, which is arranged to fit inside the mounting groove 1164 in the proximal section 1160 of the frame. In addition, the second proximal compression tape 2622 further includes a second distal mounting element 2626 in the form of a second distal mounting tab 2627, which is arranged to fit inside the second distal mounting groove 1712 in another upwardly supporting abutment 1700 formed at the proximal end 1211 of the elongated channel 1210 As shown in particular in FIG. 39, the second distal mounting groove 1712 has a second groove SSW width that is greater than the thickness of the second distal mounting tongue 2627, to facilitate axial movement of the second distal mounting tongue 2627 within the second distal mounting groove 1712. In addition, the second compression tape 2622 includes a second spring a portion or crease 2628 that is supported in a second elongated cavity 1168 in a proximal portion 1160 of the frame. As also shown in FIG. 38-40, in the embodiment shown, the distal end 1161 of the proximal portion 1160 of the frame has opposing spherical surfaces 1163, 1165, which are configured to laterally support the support elements 2610, 2620 of the launch rod while articulating the end effector 1200.

In FIG. 39 shows the positions of the first and second compression tapes 2610, 2620 when the end effector 1200 is in a pivotally untwisted position. In this position, the first and second compression tapes 2610, 2620 act on opposite sides of the flexible trigger rod 1310 with opposing compressive forces CF, while allowing the trigger rod 1310 to move axially during the starting and retracting strokes. In the pivotally untwisted position, each of the first and second compression tapes 2610, 2620 has a first unjoined length CL1, CL2, respectively. In FIG. 40 shows the positions of the first and second compression tapes 2610, 2620 when the end effector 1200 is pivotally rotated in one direction of articulated rotation. As shown in this figure, the first compression tape 2610 is stretched (CL3> CL1), and the second compression tape 2620 is compressed (CL4 <CL2). The spring sections 2618 and 2628 facilitate the elongation and compression of the compression bands 6210, 2620 during articulated rotation, while also retaining lateral compressive forces acting on the trigger rod 1310, thereby preventing deformation of the trigger rod 1310 when moving axially between them.

In FIG. 41-45 show another surgical instrument 2010, which may, for example, be identical to surgical instrument 1010, with the exception of at least some of the differences described below. For example, in a surgical instrument 2010, a trigger rod support assembly is used, essentially designated 2700, which includes a first trigger rod support member 2710 and a second trigger rod support member 2720. Each of the supporting elements 2710, 2720 of the launch rod contains a structure with a compression tape that, when pivoted, supports the launch rod 1310 in the lateral direction, while facilitating the axial movement of the launch rod 1310 between them during its launch and retraction. More specifically, in one design, the first launch rod support member 2710 comprises a first compression tape 2712, which may include, for example, a ribbon-like member made of spring steel or the like. As shown in FIG. 42, the first compression tape 2712 includes a first proximal mounting element 2714 in the form of a first proximal mounting tab 2715 configured to fit within the mounting groove 1162 in the proximal portion 1160 of the frame. In addition, the first proximal compression tape 2712 further includes a first distal mounting element 2716 in the form of a first distal mounting tab 2717, which is arranged to fit inside the first distal mounting groove 1710 in the upwardly supporting abutment 1700 formed at the proximal end portion 1211 of the elongated channel 1210. As, in particular, shown in FIG. 44, the mounting groove 1162 in the proximal portion 1160 of the frame has a first groove width FSW that is greater than the thickness of the first proximal mounting tab 2715 to facilitate axial movement of the first distal mounting tab 2715 within the first proximal mounting groove 1162.

As further shown in FIG. 44, the second launch rod support member 2720 comprises a second compression tape 2722, which may comprise, for example, a ribbon-like member made of spring steel or the like. The second compression tape 2722 includes a second proximal mounting element 2724 in the form of a second proximal mounting tab 2725, which is arranged to fit inside the mounting groove 1164 in the proximal section 1160 of the frame. In addition, the second proximal compression tape 2722 further includes a second distal mounting element 2726 in the form of a second distal mounting tab 2727, which is arranged to fit inside the second distal mounting groove 1712 in the upwardly supporting abutment 1700 formed at the proximal end portion 1211 of the elongated channel 1210. As, in particular, shown in FIG. 44, the second proximal mounting groove 1164 has a second groove SSW width that is greater than the thickness of the second proximal mounting tongue 2725 to facilitate axial movement of the second proximal mounting tongue 2725 within the second proximal mounting groove 1164. As also shown in FIG. 41, 42 and 44, in the embodiment shown, the distal end 1161 of the proximal section 1160 of the frame has opposing spherical surfaces 1163, 1165, which are configured to laterally support the support elements 2710, 2720 of the launch rod while articulating the end effector 1200.

As shown in FIG. 41-45, the surgical instrument 2010 further comprises a movable launch rod support assembly 2800, which is configured to provide support for the compression bands 2712, 2722 by pivotally turning the end effector 1200. In the present construction, the launch rod support assembly 2800 is movable support boss assembly 2810, which is arranged to rotate and move laterally relative to the center axis of the boss or the supporting axis BA, cat paradise SA-SA is perpendicular to the axis of the barrel and parallel to the axis B-B articulation. As shown in FIG. 42, the support boss pin 1224 protrudes upward from the distal end portion 1211 of the elongated channel 1210. In the illustrated construction, the support boss pin 1224 is arranged concentrically with respect to the pivot pin 1172 so that the boss axis BA coincides with the pivot axis B-B. For example, in one design, the pin 1224 of the support boss is made in one piece with the rotary pin 1172.

As further shown in FIG. 42, in the present construction, the support boss assembly 2810 includes a housing portion 2812 that includes a first support boss 2820 that is spaced apart from the second support boss 2830. The first support boss 2820 includes a first arcuate bearing surface 2822, and a second support boss 2830 includes a second arcuate support surface 2832. The first arcuate support surface 2822 is located at a distance from the second arcuate support surface 2832 using a groove 2834 that has sufficient width to receive the first support element 2710 of the launch rod and the second support element 2720 of the launch rod and to pass between them the launch rod 1310, while the first arcuate bearing surface maintains tangential contact with the possibility of movement with the first supporting element 2710 of the launch rod, and the second arcuate the supporting surface 2832 maintains tangential contact with the possibility of movement with the second supporting element 2720 of the launch rod by pivotally turning the end effector 1200. In addition, to facilitate of such contact between the first arcuate bearing surface 2822 and the first trigger rod supporting element 2710 and between the second arcuate bearing surface 2832 and the second trigger rod supporting element 2720 when the end effector 1200 is pivotally rotated, the boss boss assembly 2810 is not only rotatable about the BA-BA axis bosses, but also with a possibility of movement in the lateral direction relative to the axis of the BA-BA bosses. For example, in the presented construction, a mounting cavity 2814 is formed in the area of the housing 2812 for receiving the movable boss pin 1224. See FIG. 43. For example, in FIG. 45 shows such a lateral movement of the support boss assembly 2810 during articulated rotation, wherein the position of the support boss pin 1224 in the mounting cavity 2814 (shown by dashed lines) is shown by dashed lines. This design allows the node 2810 support boss to move in lateral directions, which, for example, are perpendicular to the axis SA-SA of the barrel. In FIG. 45 shows the articulated rotation of the end effector 1200 about an axis of articulation (not shown) in the first direction FD. As shown in this figure, in addition to the lateral movement and rotation of the support boss assembly 2800, providing lateral (anti-deformation) support of the support elements 2710, 2720 of the trigger rod, as well as the trigger rod 1310, you can notice the movement of the first proximal mounting tab 2715 relative to the second proximal mounting the tongue 2725 along the axis in the corresponding mounting grooves 1164, 1162. Thus, this design provides effective anti-deformation support of the launch rod 1310 with articulation those of the end effector 1200, while allowing the trigger rod 1310 to move axially during the starting stroke and the retraction stroke. Although the trigger support assembly 2800 is suitable for use in conjunction with the trigger support elements and / or various types of compression plate designs described herein, it should also be understood that the trigger support assembly 2800 can be used effectively with surgical instruments that do not include such designs. For example, in such alternative designs, the launch rod support assembly is configured to provide support directly to the launch rod itself during articulated rotation around the articulation.

In FIG. 46-48, another surgical instrument 2010 is shown, which may, for example, be identical to surgical instrument 1010, with the exception of at least some of the differences described below. For example, in a surgical instrument 2010, a trigger rod support assembly is used, essentially designated 2900, which contains a plurality of movable trigger bars 2910 that are mounted on an axis of a portion of the trigger rod 1310. For clarity, the most proximal movable support element the launch rod has the designation 2910P, and the most distal movable support element of the launch rod has the designation 2910D. In the presented design, each of the movable support elements 2910 of the launch rod has the same shape and configuration. For example, as, in particular, shown in FIG. 47, each movable supporting element 2910 of the launch rod includes a first supporting boss 2912, which is located at a distance from the second supporting boss 2914. The first supporting boss 2912 includes a first arcuate supporting surface 2916, and the second supporting boss 2914 includes a second arcuate bearing surface 2918. For example, in the embodiment shown, each of the first and second supporting bosses 2912, 2914 has a circular cross-sectional shape. The first arcuate abutment surface 2916 is located at a distance from the second arcuate abutment surface 2918 using a groove 2919 that is wide enough to accommodate the trigger rod 1310 between them, while the first arcuate abutment surface 2916 maintains tangential contact with the ability to move with a portion of the side wall of the launcher rods 1310, and the second arcuate bearing surface 2918 maintains tangential contact with the ability to move with another section of the side wall of the support element 1310 of the rod during articulated rotation of the end effector 1200. It should be understood that the first and second support bosses 2912, 2914 prevent deformation of the launch rod 1310 when the articulation and actuation of the trigger rod 1310.

As also shown in FIG. 46-48, each of the movable support elements 2910 of the launch rod has opposed arched rounded surfaces 2920 that form the central contact region or reference point 2922. In FIG. 48 shows the positions of the movable support elements 2910 of the launch rod when the end effector 1200 is pivotally rotated. As shown in this figure, the movable support elements 2910 of the launch rod rotate relative to each other, while remaining in contact with each other to support the launch rods 1310 and preventing its deformation during articulated rotation and application. As shown in FIG. 48, the distal end 1161 of the proximal portion 1160 of the frame has opposing spherical surfaces 1163, 1165, which serve to support portions of the most proximal triggered support rod element 2910P during articulation. Similarly, each of the upwardly projecting support ears 1700 includes an arcuate or concave surface 1701 for accommodating a portion of the most distal launch rod support element 2910D thereof that can be moved during articulation.

In FIG. 49-51 illustrate the use of elastic elements 2930 to provide support for the movable support elements 2910 of the launch rod and to maintain the rounded surfaces 2920 of adjacent movable support elements 2910 of the launch rod in rotational contact with each other. In one example, two elastic members 2930 are used, and each of them may comprise a cable or wire member that has a distal end 2932 secured to a protruding support ear 1700. The proximal end (not shown) of each elastic member 2930 may be placed in a handle or housing and can be held in this position with the possibility of movement. In FIG. 51 shows the articulated rotation of the end effector 1200, wherein the elastic members 2930 hold adjacent movable support elements 2910 of the launch rod in contact with each other, thereby forming an arched support structure to prevent deformation of the launch rod 1310 during articulated rotation. In FIG. 52 illustrates a trigger rod support assembly 2900, which can be used in conjunction with a pivotable end effector coupled to an elongated barrel using a flexible joint structure, the type of which is described, for example, in US Pat. No. 7,213,736, entitled SURGICAL STAPLING INSTRUMENT INCORPORATING AN ELECTROACTIVE POLYMER ACTUATED FIRING BAR TRACK THROUGH AN ARTICULATION JOINT, which is incorporated herein by reference in its entirety. For example, in this design, the end effector 1200 may be pivotally capable of being pivotally applied to one of the elastic members 2930 depending on the desired direction of pivoting. More specifically, as shown in FIG. 52, in order to make the end effector swivel in the first direction FD, a swivel swivel motion in the form of a first tension force FTF is applied to the first elastic member 2931. The first elastic element 2931 may be affected by a first tension force FTF applied by an actuator structure (not shown) in a handle or body that is configured to tension the first elastic element 2931 in the proximal direction PD. Similarly, in order to make the end effector swivel in the second direction SD, a swivel swivel motion in the form of a second tension force STF is applied to the second elastic member 2933. The second elastic element 2933 can be influenced by the second tension force STF applied by the design of the actuator (not shown) in the handle or the housing, which is configured to tension the second elastic element 2933 in the proximal direction PD.

When the end effector is pivotally rotated, the articulated drive mechanism experiences a certain voltage, as a result of which the launch rods are much more easily deformed and thus the loads transmitted by them are potentially reduced. Such problems can be solved with the various support elements of the launch rod described in this document. In FIG. 53-58, another surgical instrument 3010 is shown, which may, for example, be identical to surgical instrument 10, with the exception of at least some of the differences described below. For example, the surgical instrument 3010 employs a movable launch rod support assembly essentially designated 3100 in combination with a trigger rod support assembly 600, as described in detail above. As described above, the trigger rod guide assembly 601 includes a proximal end 602 and a distal end 604 that are interconnected by trigger rod support members 606, 608 that are separated by a trigger rod groove 610 that extends through the proximal and distal ends 602, 604 The proximal end 602 of the launch rod guide assembly 601 is located in the proximal cavity 169 for the rod formed in the distal end portion 164 of the proximal frame portion 160. The distal end 604 of the launch rod guide assembly 601 is located in the distal rod cavity 224 formed in the upwardly projecting support eye 1700 formed in the proximal end portion 211 of the elongated channel 210. To facilitate axial movement of the launch rod guide assembly 601 when the end effector 200 is articulated, the proximal the cavity 169 for the rod has dimensions relative to the proximal end portion 602 of the node 601 of the guide launch rod, allowing axial movement of the proximal ends in it the first portion 602. Similarly, the distal cavity for the rod 224 may be sized relative to the distal end portion 604 of the guide assembly 601, the trigger rod to facilitate axial movement of the guide assembly 601 relative to the trigger rod of the elongated channel 210 when the hinge is rotated.

As shown in FIG. 54, in the illustrated example, a movable or “movable” support rod assembly 3100 includes a support base 3102 that is axially mounted on a protruding pivot pin 174 formed on the frame assembly 159. More specifically, the pivot pin 174 is rotatably disposed in the pivot pin hole 3104 in the support base 3102 such that the pivot pin 174 extends upwardly through it. The support base 3102 is arranged to move around the axis A1-A1 of the base formed by the pivot pin 174. In addition, the support base 3102 includes an elongated groove 3106 that is sized to accommodate the guide pin 1708 of the safety base that is formed on the proximal end portion or mounting element 211 of the elongated channel 210. See FIG. 55. In addition, the movable rod support assembly 3100 includes a first movable guide or pin guide 3110 and a second movable guide or pin guide 3120. The first and second movable pin guides 3110, 3120 can move independently of each other and with respect to the support base 3102 about a guide axis GA-GA formed by the pivot pin hole 3108 in the support base 3102. For example, as shown in FIG. 54, the first movable pin guide 3110 includes a first pin guide base 3112 that has a first protruding support element or pin 3114 and a second protruding support element or pin 3116. Similarly, the second movable pin guide 3120 comprises the second base 3122 of the guide pin, which has a primary protruding upward support element or pin 3124 and a secondary protruding upward support element or pin 3126. The second main vanie guide pin 3122 includes a mounting pin 3125 which extends through the mounting hole 3113 in the first base 3112 and the guide pin disposed in the mounting hole 3108 in the support base 3102.

In the presented example, the first support element or pin 3114 and the primary support element or pin 3124 are movably contactable with the first side plate 606 of the launch rod guide assembly 601, depending on the direction of articulation of the end effector. Similarly, the second support member or pin 3116 and the secondary support member or pin 3126 are movably contactable with the second side plate 608 depending on the direction of articulation. The first and primary pins 3114, 124 are made with the possibility of sliding contact with the first side plate 606, and the second and secondary pins 3116, 3126 are made with the possibility of sliding contact with the second side plate 608, when the end effector is in an articulated non-turned position (aligned with the axis SA -SA trunk). This design serves to support the launch rod during articulated rotation and in front of it. In alternative examples, the movable launch rod support assembly 3100 may be used without the launch rod guide assembly 601 or launch rod support plates, etc. For example, in such designs, the first and primary pins 3114, 3124 may contact directly with the first side portion the trigger rod, and the second and secondary pins 3116, 3126 can contact directly with the second portion of the side of the trigger rod to provide direct anti-deformation support and launch bar.

In FIG. 59-63, another surgical instrument 3010 ʹ is shown, which may, for example, be identical to surgical instrument 3010, with the exception of at least some of the differences described below. For example, a movable or movable support assembly 3100ʹ of the launch rod includes only two upwardly protruding support pins 3114ʹ and 3116ʹ. The support base 3102ʹ is substantially similar to the base 3102, except that the upwardly extending pins 3114ʹ and 3116ʹ are connected directly to the base 3102ʹ and move with it.

A movable or movable supporting rod assembly 3100 and 3100ʹ has several advantages over prior art designs. For example, in this design, there is a relationship between the angle of articulation and the degree of lateral support provided for the launch rod. Such a movable embodiment of an active support not only rotates when the retainer of the distal and proximal channels is pivoted, it also rotates the support elements themselves (made with the possibility of moving the pins) relative to the support plates with a change in the length of unsupported sections depending on the angle of articulation. Using dynamic analysis, you can adjust the changes in the elasticity of the base plate to provide additional support in a fully articulated position or additional support in a straight position, depending on the requirements. The traditional designs of the base plate and the safety plate are not adjustable and provide the same support at any point in the range of articulation. Such a dynamically changing support structure can be configured to support the system when it is in the most vulnerable position, while over compensation can also be avoided when the system is in a strong position. Self-locking rotary structures are made with the possibility of rotation only until they are loaded, after which they are clamped and provide support. Such configurations are relatively easy to manufacture and assemble. “Dynamically changing” means that an unsupported area may vary depending on the risk of deformation. The movable structure can be successfully used in combination with the supporting elements of the various configurations described herein.

The main idea of the active support is to establish the relationship between the angle of articulation and the degree of support that is provided for the launch rod and the support element of the launch rod. This can be achieved by creating a joint that provides a shorter unsupported area in which the deformation of the rods is most likely (i.e., a greater angle of articulation). The movable configurations of the movable structures described herein provide support for the distal and proximal channel retainers and allow the support assembly to rotate and slide relative to them. This design provides support for the outer articulated base plate when it needs a shorter, unsupported area. Another feature is that the right and left support plates are also connected to each other, while the connection itself additionally increases resistance to deformation, since the internal and external support plates are deformed, preventing the system from malfunctioning.

In FIG. 64-71 illustrate various trigger rod support assemblies that can be used with various examples of surgical instruments described herein. In FIG. 64 is a perspective view of a launch rod support assembly 600, which is described in detail above. In FIG. 65 and 66 show the trigger rod support assembly 2700ʹ, similar to the trigger rod support assembly 2700 described above, with the exception of at least some of the differences described below. For example, the first and second compression tapes 2712ʹ 2722ʹ are freely connected to each other using proximal and distal clamps 2730, 2740, which facilitate the axial movement of compression tapes 2712ʹ, 2722ʹ relative to each other while maintaining compression tapes 2712ʹ, 2722ʹ in compression contact with the trigger rod 1310 the methods described in detail herein. The proximal and distal clamps 2730, 2740 can completely extend around the compression bands 2712ʹ, 2722ʹ. To facilitate the corresponding axial movement of the tapes 2712ʹ, 2722ʹ, the proximal collar 2730 is located in the proximal upper and lower slots 2732ʹ, 2734 in each of the compression tapes 2712ʹ, 2722ʹ, and the distal clamp 2740 is placed in the distal upper and lower slots in each of the compression tapes 2712ʹ, 2722ʹ as shown in the figures. In FIG. 68, another trigger rod support assembly 2700ʺ is shown which is identical to the trigger rod support assembly 2700ʹ, except that the clamps 2730ʹ and 2740ʹ do not completely extend around both compression bands 2712ʹ, 2722ʹ. In both designs, the proximal and distal clamps allow the compression plates to move axially relative to each other, while they prevent or at least limit the lateral movement of one element from another in directions perpendicular to the axis of the barrel. Thus, this design holds the compression plates in contact with the launch rod during articulated rotation of the end effector. It should also be understood that the axial length of the slots essentially determines the amount of relative axial displacement with which the compression plates can move relative to each other.

In FIG. 68 and 69, another trigger rod support 3200 is provided that can be used in combination with various surgical instruments, examples of which are described herein. As shown in these figures, the trigger rod support assembly 3200 may include a support clip 3210, which is partly box-shaped. In the presented example, the latch 3200 includes solid upper and lower portions 3212, 3214, which are mutually connected by lateral elements 3216, 3218, which are spaced apart from each other, each of which has a number of windows 3220 provided therein for ensuring the deflection of the latch (shown by arrow B ) in the Z directions, but without significant deflection in the Y directions. The proximal end 3211 of the support retainer 3210 includes a proximal flange 3213 for installation with the possibility of movement in the hole in the node of the rod or frame of the surgical tool as described herein. Similarly, the distal end 3215 of the support latch 3210 includes a distal flange 3217 for installation with the possibility of movement in the hole in the proximal end portion of the elongated channel, as also described herein. As shown in the figures, a pair of downwardly extending upper ears 3230 protrudes from an upper portion 3212, and a pair of upwardly extending lower ears 3232 protrudes from a lower portion 3214. Upper and lower ears 3230 and 3232 form a launch rod channel 3240 through which a launch rod (not shown) ) can pass along the axis. In one design, the outer layers of the launch rod can be placed between the ears 3230 and 3232. However, in the presented example, the first and second friction washers 3250, 3252 extend between the ears 3230, 3232. In addition, the presented example includes compression plates 3260, 3262 described in This document is of a type and design for providing compression support to the launch rod as it passes through the latch to prevent deformation of the launch rod when the surgical tool is pivotally rotated.

In FIG. 70 shows another trigger rod support assembly 3300, which can be used in combination with various surgical instruments, examples of which are described herein. As shown in these figures, the trigger rod support assembly 3300 includes a tubular body 3302, which is made of, for example, nylon, polycarbonate, Isoplast®, and the like. Housing 3302 includes a trigger rod passage 3304 in which accommodates a launch rod (not shown) that can be moved through it and which is configured to bend / bend in the Z directions. The proximal end 3311 of the support assembly 3300 of the launch rod includes a proximal flange 3313 for installation with the possibility of movement in the hole in the node e the shaft or frame of the surgical instrument as described herein. Likewise, the distal end 32315 of the launch rod support assembly 3300 has a distal flange 3317 for mounting to move in a hole in the proximal end portion of the elongated channel, as also described herein. In FIG. 71, another launch rod support assembly 3300ʹ is shown, which is identical to the launch rod support assembly 3300, but windows 3310 are formed in its side walls to increase the flexibility of the housing 3302 in the Z directions.

In FIG. 72 shows an example of an engine-driven (or “power”) surgical instrument 4010 that includes a body or handle 4020, an elongated barrel assembly 4100, and an end effector 4200 that is operatively coupled to the elongated shaft assembly 4100. The end effector 4200 is similar to the end effector 200, which is described in detail above. As indicated above and will be discussed in detail below, various parts of the surgical instrument 4010 are driven by a motor. In addition, the elongated barrel assembly 4010 is detachable from the handle 4020. A description of various elements and detailed information about these components can be found in US Patent Application No. 13 / 803,053, entitled INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, publication of the application for US patent No. 2014/0263564, the contents of which are fully incorporated herein by reference.

The end effector 4200 includes, among other things, an elongated channel 210, which is configured to functionally support the cassette 230 with brackets therein. The end effector 200 further includes an abutment 250, which includes an abutment body 252 on which a bottom surface 254 forming a bracket is present. The closure tube assembly 4120, whose axial extension in the distal and proximal directions is due to the actuation of the closure trigger 4028, moves the stop 250 between the open and closed positions. The closure tube assembly 4120 includes a proximal barrel closure tube segment 4123 that is rotatably coupled to the distal closure tube segment 4130 by methods described herein to facilitate pivoting about the pivot axis B-B. The proximal segment 4123 of the barrel closure tube includes a proximal end portion 4200 operably coupled to the nozzle assembly 4202, the switch drum structure 4204, and the contact ring assembly 4206. Further information about the nozzle assembly, switch drum design, and slip ring assembly can be found in U.S. Patent Application Publication No. 2014/0263564, which is incorporated herein by reference in its entirety, and U.S. Patent Application No. 14 / 226,075, filed March 26. 2014, entitled MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES, the contents of which are also fully incorporated herein by reference.

The designs of the closing tubes described in the above referenced documents have a fixed range of closing stroke. Thus, when the closing trigger or other closing structure of the actuator is actuated, the closing tube is axially extended. The amplitude of such axial extension is limited by the size of the space available in the handle or housing to accommodate all the various components of the closure system. For example, in portable embodiments, a handle is convenient to hold and operate with one hand. However, such handle designs have limited space to accommodate the closing and starting systems. As described in detail in the referenced documents, in some designs the trigger is connected with the possibility of movement with a closing hook, which is connected to the node of the closing tube. When the closing trigger is actuated, the connecting traction structure advances the closing shuttle and the closing tube assembly axially. Various advantages can be achieved by increasing the size or amplitude of such a closing stroke.

The barrel assembly 4100 includes a chassis 4300 that is removably connected to the handle 4020 in various ways, described in detail in the above referenced documents. As shown in FIG. 76 and 77, the barrel assembly 4100 includes a proximal portion 4160 of a frame or rod that includes a proximal end 4161 that is rotatably supported on the chassis 4300. In the presented example, the proximal end 4141 of the proximal section 4160 of the frame has a thread 4163 formed on it for threaded fastening to the rod support 4180, configured to be supported in the chassis 4300. This design facilitates the rotational connection of the proximal section 4160 of the frame with the chassis 4300 so that the node 4159 of the rod can selectively rotate around the axis SA-SA of the barrel relative to the chassis 4300.

As shown primarily in FIG. 75-77, the interchangeable barrel assembly 4100 includes a closing shuttle 4350, which is slidably supported in the chassis 4300 so that it can move axially relative to it. The proximal closure tube segment 4123 is connected to the closure shuttle 4350 to allow rotation relative to it. For example, a U-shaped connector 263 is inserted into the annular groove 4129 in the proximal segment 4123 of the closure tube and held inside the vertical grooves in the closure shuttle 4350. This design serves to attach the proximal segment 4123 of the closure tube to the closure shuttle 4350 for axial movement with it, however, the proximal segment 4123 of the closing tube can rotate relative to the closing shuttle 4350 around the axis SA-SA of the barrel. The closure spring 4353 is mounted on the axis of the proximal closure tube segment 4123 and serves to bias the proximal closure tube segment 4123 in the proximal direction PD, which can serve to rotate the closure trigger 4028 to the inactive position when the barrel assembly 4100 is operatively connected to the handle 4020.

The shaft assembly 4100 further includes a closing transmission assembly 4500 to enhance the amount of closing movement that is applied to the closing shuttle 4350 and ultimately to the stop by the closing tube assembly. This design provides various advantages, such as the possibility of increasing the closing stroke, which makes it possible to open the jaw even more. In other words, this possibility of an additional stroke both at the proximal and at the distal end also provides greater retraction of the distal segment of the closure tube in the proximal direction, which allows the stop to open more. As shown in FIG. 75 and 76, the closing transmission 4500 couples the closing shuttle 4350 to the proximal closing hook assembly 4360. The proximal closing hook assembly 4360 includes hooks 4362 that can hook engage with a fixing pin 4033 that is attached to the second closing link 4031, which is functionally connected with a closing trigger 4028, as described in detail in US patent application No. 14 / 226,075. As described in the referenced document, when the trigger closing mechanism 4028 is actuated, the closing link 4031 extends distally and applies a distal closing movement to the proximal closing hook assembly 4360.

In the illustrated example, the closing transmission assembly 4500 includes a proximal closing hook rail 4504 that is connected to the proximal closing hook assembly 4360. In addition, the closing transmission assembly 4500 further includes a transmission rail 4506 supported for movement in the transmission housing 4502. The closing transmission assembly 4500 further includes a distal closing rack 4508 connected to the closing shuttle 4350. The closing gear 4510 is in gear engagement with the closing hook rack 4504 and the transmission rack 4506. The transmission pinion gear 4512 is connected to the pinion gear 4514 and is located in gearing with a gear rack 4506. The pinion gear is gearing with a distal closure rack 4508. Thus, the articulated rotation of the closure slide The new mechanism 4028 leads to the distal extension of the closing hook rail 4504, which ultimately leads to the distal extension of the distal locking rail 4508 of the closing hook and the closing hook 4350. Distal movement of the closing hook 4350 causes the distal movement of the closing tube assembly.

Thus, the closing transmission assembly substantially comprises means for increasing the closing stroke of the closing tube assembly. For example, a conventional closure design may include a closure actuator that, after actuating it, applies a closure movement to the closure tube assembly. As a result of applying such a closing movement, the axial movement of the closing tube assembly occurs during the closing stroke with a maximum range of axial closing movement MCT. A surgical instrument that uses a closing transmission assembly, the various types and designs of which are described herein, will also have a closing stroke with a maximum range of axial closing movement of MCT1. Given that all other aspects of these devices are otherwise the same or identical, MCT1> MCT.

As shown in FIG. 78-80, the end effector 200 is connected to the elongated barrel assembly 4100 by articulating 109 of the type and design described above. However, other designs of articulation are also permitted. In the illustrated example, the barrel assembly 4100 includes a closure tube assembly 4120, which includes a proximal closure tube segment 4123. The presented example further includes a flexible closure tube segment 4600, which is connected to the distal end of the distal closure tube segment 4123 for movement with it. The flexible closure tube segment 4600 is dimensioned for distribution over articulation 109 and includes a distal end 4602 and a proximal end 4604. The proximal end 4604 is connected to the distal end of the distal closure segment 4123 of the closure. A flexible tubular segment 4610 extends between the proximal end 4604 and the distal end 4602, and in the illustrated example includes two spaced apart upper and lower rod members 4612, 4614 that extend axially. From each side, there are many rib elements 4616 located at a distance from each other, which serve to form a tubular path along which the articulation passes. When the closure tube assembly 4120 extends in the distal direction DD along the axis, the distal end 4602 of the closure tube flexible segment 4600 engages with the stop 250 in various ways described herein to move the stop 250 to the closed positions. The flexible closure tube segment 4600 also adapts to articulate rotation of the end effector 200, as shown in FIG. 80.

EXAMPLES

Example 1. A surgical instrument containing a surgical end effector that contains the first and second jaw elements, the application of a closing movement to at least one of the first and second jaw elements leads to the displacement of at least one of the first and second elements branches in a closed position relative to the other of the first and second elements of the branch. The trigger element is supported in one of the first and second jaw elements with the possibility of axial movement in it in response to the application of the trigger movement to it. The surgical instrument further comprises a trunk assembly that forms the axis of the trunk. The articulation connects the surgical end effector to the stem assembly for selective articulation with respect to it about an axis of articulation that is perpendicular to the axis of the stem when applying rotary movements to the surgical end effector. A flexible trigger rod extends through an articulated joint to interface with a trigger element in a surgical end effector for applying a trigger motion to it. A pair of supporting elements of the launch rod is located on the sides of the flexible launch rod and runs across the articulation. The supporting elements of the launch rod of the pair are connected together with the possibility of movement to prevent lateral movement from each other in directions perpendicular to the axis of the barrel, while allowing the supporting elements of the launch rod to move along the axis relative to each other.

Example 2. The surgical instrument according to example 1, in which the flexible launch rod includes the first and second sides. The supporting elements of the launch rod comprise a first compression plate, which is located opposite the portion of the first side of the flexible trigger rod, and a second compression plate, which is located opposite the other portion of the second side of the flexible trigger rod.

Example 3. The surgical instrument according to example 2, in which the first and second compression plates are connected together by a proximal clamp and a distal clamp, each of which passes at least partially around the corresponding sections of the first and second compression plates and sections of the launch rod passing between the first and second compression plates.

Example 4. The surgical instrument according to example 3, in which the proximal clamp extends around the respective proximal sections of the first and second compression plates. A distal collar extends around the respective distal portions of the first and second compression plates.

Example 5. The surgical instrument according to example 4, in which the corresponding proximal sections contain the upper and lower proximal slots in each of the first and second compression plates. Corresponding distal sections contain upper and lower distal slots in each of the first and second compression plates.

Example 6. The surgical instrument according to example 5, in which the upper and lower proximal slots and the upper and lower distal slots determine the specified value of the possible axial movement of the first and second compression plates relative to each other.

Example 7. The surgical instrument according to examples 3, 4, 5 or 6, in which the proximal and distal clamps extend completely around the respective sections of the first and second compression plates and sections of the launch rod that extend between them.

Example 8. The surgical instrument according to example 1, in which each of the supporting elements of the launch rod contains a distal end associated with the corresponding section of one of the first and second elements of the jaw, and a proximal end associated with the corresponding section of the barrel assembly.

Example 9. The surgical instrument according to example 8, in which each distal end is connected with the possibility of movement to the corresponding section of one of the first and second elements of the jaw, and each proximal end is connected with the possibility of movement to the corresponding section of the node of the trunk.

Example 10. A surgical instrument containing a surgical end effector that contains the first and second jaw elements, wherein applying a closing motion to at least one of the first and second jaw elements results in the displacement of at least one of the first and second elements branches in a closed position relative to the other of the first and second elements of the branch. The trigger element is supported in one of the first and second jaw elements with the possibility of axial movement in it in response to the application of the trigger movement to it. The surgical instrument further comprises a trunk assembly that forms the axis of the trunk. The articulation connects the surgical end effector to the stem assembly for selective articulation with respect to it about an axis of articulation that is perpendicular to the axis of the stem when applying rotary movements to the surgical end effector. A flexible trigger rod extends through an articulated joint to interface with a trigger element in a surgical end effector for applying a trigger motion to it. The support assembly of the flexible launch rod is located on the sides of the flexible launch rod and extends across the articulation. The support assembly of the flexible launch rod comprises a first side element adjacent to a portion of the first side of the flexible launch rod. The second side element is adjacent to another portion of the second side of the flexible launch rod and is connected to the first side element in a spaced apart position relative to it. The distal end is connected with one of the first and second elements of the jaw, and the proximal end is connected with the site of the trunk node.

Example 11. The surgical instrument according to example 10, in which the distal end is connected with the possibility of movement to one of the first and second elements of the jaw, and each proximal end is connected with the possibility of movement to the site of the trunk node.

Example 12. The surgical instrument according to examples 10 or 11, in which the distal flange assembly extends between the first and second side elements and is connected with them. The distal flange assembly has dimensions allowing it to be placed inside an opening in one of the first and second jaw elements with the possibility of axial movement in it. The proximal end comprises a proximal flange assembly that can be connected to and extend between the first and second side elements. The proximal flange assembly is designed to be placed inside another hole in a portion of the barrel assembly with axial movement in it.

Example 13. The surgical instrument according to example 10, further comprising a first upper edge on the first side element, which extends towards the second side element, and a second abutment edge on the second side element, which extends in the other direction to the first side element.

Example 14. The surgical instrument according to example 10, in which the reference node of the launch rod further comprises an upper section that overlaps the section and the other section of the launch rod and interconnects the first and second side elements. The trigger rod support unit further comprises a lower portion that overlaps the portion and the other trigger rod portion and interconnects the first and second side elements. The first and second side elements and the upper and lower sections form a flexible box element that overlaps the articulation.

Example 15. The surgical instrument according to examples 10 or 14, optionally containing many holes passing through the first and second side elements.

Example 16. The surgical instrument according to examples 14 or 15, in which the surgical instrument further comprises a first friction spacer that is supported adjacent to the first side of the launch rod, and a second friction spacer that is supported adjacent to the second side of the launch rod.

Example 17. The surgical instrument according to examples 10, 11, 12, 13, 14, 15 or 16, further comprising a closing system, functionally coupled to at least one of the first and second jaw elements for applying a closing movement to it, and a trigger a system functionally coupled to a launch bar for applying a start motion to it. The starting system works independently of the closing system.

Example 18. A surgical instrument containing a surgical end effector that contains the first and second jaw elements, the application of a closing movement to at least one of the first and second jaw elements leads to the displacement of at least one of the first and second elements branches in a closed position relative to the other of the first and second elements of the branch. The trigger element is supported in one of the first and second jaw elements with the possibility of axial movement in it in response to the application of the trigger movement to it. The surgical instrument further comprises a trunk assembly that forms the axis of the trunk. The articulation connects the surgical end effector to the stem assembly for selective articulation with respect to it about an axis of articulation that is perpendicular to the axis of the stem when applying rotary movements to the surgical end effector. A flexible trigger rod extends through an articulated joint to interface with a trigger element in a surgical end effector for applying a trigger motion to it. A plurality of launcher support elements are mounted on the axis of the launch rod portion corresponding to the articulation. Each of the supporting elements of the launch rod is made with the possibility of independent movement relative to each other.

Example 19. The surgical instrument according to example 18, additionally containing at least one hinged actuator arranged to move along the axis passing through each supporting element of the launch rod.

Example 20. The surgical instrument according to example 19, in which at least one hinged actuator arranged to move along the axis contains a pair of tension cables passing through each supporting element of the launch rod.

Full descriptions:

U.S. Patent No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, issued April 4, 1995;

U.S. Patent No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, issued February 21, 2006;

U.S. Patent No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, issued September 9, 2008;

U.S. Patent No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, issued December 16, 2008;

U.S. Patent No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR, issued March 2, 2010;

U.S. Patent No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, issued July 13, 2010;

U.S. Patent No. 8,393,514 entitled SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE, issued March 12, 2013;

U.S. Patent Application No. 11 / 343,803, entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES; US Patent No. 7,845,537;

U.S. Patent Application No. 12 / 031,573, entitled SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed February 14, 2008;

US patent application No. 12 / 031,873, entitled END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed February 15, 2008, currently US patent No. 7,980,443;

US patent application No. 12 / 235,782, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, currently US patent No. 8,210,411;

U.S. Patent Application No. 12 / 249,117, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, currently U.S. Patent No. 8,608,045;

U.S. Patent Application No. 12 / 647,100, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY, filed December 24, 2009; US Patent No. 8,220,688;

US patent application No. 12 / 893,461, entitled STAPLE CARTRIDGE, filed September 29, 2012, currently US patent No. 8,733,613;

US patent application No. 13 / 036,647, entitled SURGICAL STAPLING INSTRUMENT, filed February 28, 2011, currently US patent No. 8,561,870;

U.S. Patent Application No. 13 / 118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, currently published U.S. Patent Application No. 2012/0298719;

US patent application Ser. No. 13 / 524,049, entitled “HINGED TURNING SURGICAL INSTRUMENT CONTAINING THE START-UP DRIVE”, filed June 15, 2012, currently publishing US Patent Application No. 2013/0334278;

US Patent Application No. 13 / 800,025, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed March 13, 2013;

U.S. Patent Application No. 13/800 067, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed March 13, 2013;

US Patent Application Publication No. 2007/0175955, entitled SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM, filed January 31, 2006; and

US Patent Application Publication No. 2010/0264194, entitled SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR, filed April 22, 2010, currently US Patent No. 8,308,040, are incorporated herein by reference.

Although various embodiments of devices are described herein in connection with the specific described embodiments, various modifications and changes may be made to the device. Also, in the case of some components for which a description of the materials is provided, other materials may be used. In addition, in accordance with various embodiments, one component can be replaced by a plurality of components, and a plurality of components by one component (to perform certain functions). It is intended that the foregoing description and appended claims cover all of these changes and additions.

With regard to the use of essentially any cases of the plural and / or singular for terms herein, those skilled in the art may change the plural to the singular and / or singular to the plural in accordance with the requirements of the context and / or scope. The various singular / plural combinations are not expressly indicated herein for clarity.

The subject matter described herein sometimes illustrates various components contained within or connected to various other components. It should be understood that such architectures shown are merely examples and that in fact, many other architectures with the same functionality can be implemented. In a conceptual sense, any configuration of components to achieve the same functionality is practically “connected” in such a way as to achieve the desired functionality. Thus, any two components combined in this document to achieve specific functionality can be considered as “connected” to each other in such a way as to achieve the desired functionality, regardless of architecture or intermediate components. Similarly, any two components connected in this way can be considered as “functionally connected” or “functionally connected” to each other to achieve the desired functionality, and any two components that can be connected in this way can also be considered as “functionally connected” each with a friend to achieve the desired functionality. Specific examples of functionally coupled components include, but are not limited to, physically mating and / or physically interacting components and / or wirelessly interacting components and / or logically interacting components.

Although various embodiments have been described herein, it will be apparent to those skilled in the art that many modifications, variations, substitutions, changes, and equivalents may be made to these embodiments. Also, in the case of some components for which a description of the materials is provided, other materials may be used. Thus, it should be understood that the above description and the attached claims should cover all such modifications and variations as falling within the scope of the described embodiments. The following claims are intended to cover all such modifications and variations.

The devices described herein can be disposed of after a single use, or they can be made reusable. However, in any case, the device can be restored for reuse after at least one use. Recovery may include any combination of the steps of disassembling the device, then cleaning or replacing specific parts, and then reassembling. In particular, the device can be disassembled, and any number of specific parts or parts of the device can be selectively replaced or removed in any combination. After cleaning and / or replacing specific parts, the device can be reassembled for later use either in the restoration workshop or by the surgical team immediately before the surgery. It will be apparent to those skilled in the art that various techniques for disassembling, cleaning, replacing, and reassembling can be used to rebuild the device. The use of such techniques, as well as the resulting reconditioned device, are entirely included in the scope of this application.

Preferably, the subject matter described herein will undergo treatment before surgery. First, after receiving a new or already used tool, it is cleaned if necessary. Then the instrument can be sterilized. According to one sterilization method, the instrument is placed in a closed and sealed container, such as a plastic bag or a Tyvek bag (TYVEK). The container and instrument are then placed in a field of radiation that can penetrate into the container, such as gamma radiation, x-rays or fast electrons. Radiation destroys bacteria on the instrument and in the container. The sterilized instrument can then be stored in a sterile container. Sealed containers keep the instrument sterile until it is opened in a medical facility.

Any patent, publication or other description material, in whole or in part, which is indicated as incorporated herein by reference, is included in this document only to the extent that the material included does not contradict the existing definitions, provisions or other description material presented in this document. Thus, the description, expressly presented in this document, to the extent that it is necessary, prevails over any information that contradicts the material included in this document by reference. Any material or part thereof, indicated as incorporated herein by reference, but contrary to existing definitions, provisions, or other description material presented herein, will be included in this document only to the extent that between the included material and the existing description material no contradictions arise.

In general, using the principles described herein provides many benefits. The above description of one or more embodiments has been presented for purposes of illustration and description. The description is not intended to be exhaustive or limiting to the exact option described. In light of the foregoing, modifications or variations are possible. One or more embodiments have been selected and described to illustrate the principles and methods of practical implementation, thus allowing a person skilled in the art to use various embodiments, as well as various modifications corresponding to the particular intended application. It is assumed that the full scope of the invention defined in the attached claims.

Claims (56)

1. A surgical stapling instrument containing: a surgical end effector comprising: the first and second jaw elements, wherein applying a closing movement to at least one of the first and second jaw elements causes the at least one of the first and second jaw elements to move to a closed position relative to the other of the first and second jaw elements; and a trigger element supported in one of the first and second jaw elements for axial movement in one of the first and second jaw elements in response to applying a trigger movement to the trigger element, and the surgical tool further comprises: a node of the barrel having an axis of the barrel; an articulation linking the surgical end effector to the stem assembly for selective articulation with respect to the stem assembly about an axis of articulation that is perpendicular to the axis of the stem when applying rotary movements to the surgical end effector; a flexible trigger rod extending through the articulation to interface with the trigger element in the surgical end effector for application to the trigger element of the trigger movement; and a pair of supporting elements of the launch rod located on the sides of the flexible launch rod across the hinge joint, while the supporting elements of the launch rod of the specified pair are connected together with the possibility of movement to prevent lateral movement from each other in directions perpendicular to the axis of the barrel, while providing supporting elements of the launch rod the ability to move along the axis relative to each other, moreover, a pair of supporting elements of the launch rod are connected to each other by means of clamps received in the slots in the supporting elements of the launch rod. 2. The tool according to claim 1, in which the flexible launch rod includes first and second sides, and wherein the supporting elements of the launch rod contain: a first compression plate located opposite the portion of the first side of the flexible launch rod; and a second compression plate located opposite another portion of the second side of the flexible launch rod. 3. The tool according to claim 2, in which the first and second compression plates are connected together by a proximal connecting element and a distal connecting element, each of which passes, at least partially, around the respective sections of the first and second compression plates and sections of the launch rod passing between the first and second compression plates. 4. The tool of claim 3, wherein the proximal connecting element extends around the respective proximal portions of the first and second compression plates, and the distal connecting element extends around the corresponding distal sections of the first and second compression plates. 5. The tool according to claim 4, in which the corresponding proximal sections contain the upper and lower proximal slots in each of the first and second compression plates, and the corresponding distal sections contain the upper and lower distal slots in each of the first and second compression plates. 6. The tool according to claim 5, in which the upper and lower proximal slots and the upper and lower distal slots form a predetermined amount of possible axial movement of the first and second compression plates relative to each other. 7. The tool according to claim 3, in which the proximal and distal connecting elements completely extend around the respective sections of the first and second compression plates and sections of the launch rod passing between them. 8. The tool according to claim 1, in which each supporting element of the launch rod contains a distal end associated with the corresponding section of one of the first and second jaw elements, and a proximal end associated with the corresponding section of the barrel assembly. 9. The tool of claim 8, wherein each distal end is movably connected to a corresponding portion of one of the first and second jaw elements, and each proximal end is movably connected to a corresponding portion of the stem assembly. 10. A surgical stapling instrument comprising: a surgical end effector comprising: the first and second jaw elements, wherein applying a closing movement to at least one of the first and second jaw elements causes the at least one of the first and second jaw elements to move to a closed position relative to the other of the first and second jaw elements; and a trigger element supported in one of the first and second jaw elements for axial movement in one of the first and second in response to application of a trigger movement to the trigger element, and the surgical tool further comprises: a node of the barrel having an axis of the barrel; an articulation linking the surgical end effector to the stem node, enabling selective swivel rotation of the surgical end effector relative to the stem node about an axis of articulation that is perpendicular to the axis of the stem when applying rotary movements to the surgical end effector; a flexible trigger rod extending through the articulation to interface with the trigger element in the surgical end effector for application to the trigger element of the trigger movement; and the support node of the flexible launch rod located on the sides of the flexible launch rod across the articulation, while the support node of the flexible launch rod contains: a first side element adjacent to a portion of a first side of the flexible launch rod; a second side element adjacent to another portion of the second side of the flexible launch rod and connected to the first side element when located at a distance from the first side element; a distal end connected to one of the first and second jaw elements; and the proximal end connected to the site of the trunk node, moreover, the first and second side elements include holes passing through them. 11. The tool according to p. 10, in which the distal end is connected with the possibility of movement to one of the first and second elements of the jaw, and the proximal end is connected with the ability to move to the site of the barrel. 12. The tool of claim 11, wherein the distal end comprises a distal flange assembly extending between and connected to the first and second side elements, wherein the distal flange assembly is sized to fit inside a hole in one of the first and second jaw elements with the possibility of axial movement in it, and the proximal end contains a node of the proximal flange connected with the first and second side elements and passing between them and made with the possibility of placing inside another hole in astke of the trunk node with the possibility of axial movement in it. 13. The tool of claim 10, further comprising: a first upper protrusion on the first side element extending towards the second side element; and a second abutment protrusion on the second side element extending in a different direction to the first side element. 14. The tool according to p. 10, in which the reference node of the launch rod further comprises: an upper portion overlapping said portion and another portion of the launch rod and interconnecting the first and second side elements; and a lower portion overlapping said portion and another portion of the launch rod and interconnecting the first and second side elements, the first and second side elements and the upper and lower sections forming a flexible box-shaped element overlapping the articulation. 15. The tool of claim 14, further comprising: a first friction spacer supported adjacent to the first side of the launch rod; and the second friction spacer adjacent to the second side of the launch rod. 16. The tool of claim 10, further comprising: a closing system operably coupled to at least one of the first and second jaw elements for applying a closing movement to them; and a launching system operably coupled to a launching rod for applying a starting movement to it, wherein the starting system is capable of independent operation from the closing system. 17. A surgical stapling instrument comprising: a surgical end effector comprising: the first and second jaw elements, wherein applying a closing movement to at least one of the first and second jaw elements causes the at least one of the first and second jaw elements to move to a closed position relative to the other of the first and second jaw elements; and a trigger element supported in one of the first and second jaw elements for axial movement in one of the first and second jaw elements in response to applying a trigger movement to the trigger element, and the surgical tool further comprises: a node of the barrel having an axis of the barrel; an articulation linking the surgical end effector to the stem node, enabling selective swivel rotation of the surgical end effector relative to the stem node about an axis of articulation that is perpendicular to the axis of the stem when applying rotary movements to the surgical end effector; a flexible trigger rod extending through the articulation to interface with the trigger element in the surgical end effector for application to the trigger element of the trigger movement; and supporting elements of the launch rod supported on the section of the launch rod corresponding to the articulation, while each of the supporting elements of the launch rod is made with the possibility of independent movement relative to each other, moreover, the surgical stapling instrument further comprises at least one hinged actuator arranged to move along the axis passing through each supporting element of the launch rod. 18. The surgical instrument of claim 17, wherein said at least one hinged actuator axially movable comprises a pair of tension cables passing through each support member of the launch rod.

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