Surgical devices and systems having a rotary end effector assembly with an ultrasonic blade
阅读说明:本技术 具有带超声刀的旋转端部执行器组件的外科装置和系统 (Surgical devices and systems having a rotary end effector assembly with an ultrasonic blade ) 是由 C·P·布德罗 于 2019-03-15 设计创作,主要内容包括:本发明提供了具有用于处理组织的旋转端部执行器组件的外科装置和系统。还提供了用于使用该外科装置和系统的方法。(Surgical devices and systems having a rotating end effector assembly for treating tissue are provided. Methods for using the surgical devices and systems are also provided.)
1. A surgical device, comprising:
a housing having an ultrasonic transducer positioned therein;
an instrument shaft extending from the housing, the instrument shaft including an outer sleeve having an articulatable region and a non-articulatable region, the instrument shaft further comprising:
a waveguide acoustically coupled with the ultrasonic transducer, wherein a portion of the articulatable region is aligned with a flexible portion of the waveguide, an
A swivel assembly having an inner sleeve; and
an end effector assembly located at a distal end of the outer sleeve, the end effector assembly having a clamping element and an ultrasonic blade in acoustic communication with the waveguide,
wherein the inner sleeve is coupled to the clamping element, the inner sleeve having a sliding mechanism configured to selectively rotate the clamping element relative to the ultrasonic blade.
2. The device of claim 1, wherein the sliding mechanism includes a substantially helical slot and a pin received within the substantially helical slot such that the pin is configured to selectively slide within the substantially helical slot upon application of a force to an input operably coupled to the pin, thereby causing rotation of the inner sleeve relative to the instrument shaft.
3. The device of claim 1, wherein the sliding mechanism comprises a predetermined pattern of projections projecting radially outward from the inner sleeve to form channels therebetween, and one or more pins configured to selectively slide within the channels upon application of a force to an input operatively coupled to the one or more pins, thereby causing rotation of the inner sleeve relative to the outer sleeve.
4. The device of claim 1, wherein the instrument shaft comprises two spring arms each configured to engage a plurality of teeth extending circumferentially around a proximal end of the inner sleeve, and wherein a first spring arm is configured to engage a plurality of first projections to prevent rotation of the inner sleeve relative to the outer sleeve in a first direction and a second spring arm is configured to engage the plurality of second projections to prevent rotation of the inner sleeve relative to the outer sleeve in a second direction.
5. The device of claim 1, wherein the instrument shaft comprises a clamping assembly coupled to the end effector assembly, the clamping assembly configured to drive movement of the clamping element relative to the instrument shaft such that the clamping element is selectively moved toward and away from the ultrasonic blade.
6. The device of claim 5, wherein the clamping assembly includes a clamp puller coupled to the clamping element, the clamp puller configured to translate axially relative to the outer sleeve to move the clamping element toward and away from the ultrasonic blade.
7. The device of claim 1, further comprising an articulation assembly configured to selectively deflect the end effector assembly from a position aligned with a longitudinal axis, wherein the longitudinal axis extends along the non-articulatable region of the outer sleeve.
8. The device of claim 1, wherein the housing is attached to a robotic surgical system.
9. A robotic surgical system, comprising:
an electromechanical arm having a motor disposed therein;
an instrument housing mounted to the electromechanical arm, the instrument housing having an ultrasonic transducer disposed therein;
an instrument shaft extending from the housing, the instrument shaft including an outer sleeve and further including:
an articulatable ultrasonic waveguide acoustically coupled to the ultrasonic transducer and extending through the instrument shaft;
an actuation assembly having a first actuator rod operably coupled to the motor; and
an end effector assembly formed at a distal end of the outer sleeve, the end effector assembly having a jaw and an ultrasonic blade acoustically coupled to the articulatable ultrasonic waveguide,
Wherein the actuation assembly is operably coupled to the jaws, and wherein the first actuator rod is configured to axially translate relative to the instrument shaft to selectively rotate the jaws while the ultrasonic blade remains stationary.
10. The system of claim 9, wherein the actuation assembly includes a second actuator rod operably coupled to the motor, and wherein the second actuator rod is configured to axially translate relative to the outer sleeve to selectively move the jaws toward and away from the ultrasonic blade.
11. The system of claim 9, wherein the instrument shaft includes a rotation assembly including an inner sleeve having a substantially helical slot extending at least partially along a length of the inner sleeve and a pin received within the slot and coupled to a distal end of the first actuator rod, and wherein the pin is configured to selectively slide within the slot from a first position to a second position upon axial translation of the first actuator rod, thereby rotating the inner sleeve relative to the instrument shaft.
12. The system of claim 9, wherein the instrument shaft includes a rotation assembly having:
an inner sleeve comprising a predetermined pattern of projections projecting radially outwardly from the inner sleeve to form channels therebetween, and
one or more pins coupled to a distal end of the first actuator rod and configured to selectively slide within the channel upon axial translation of the first actuator rod to cause rotation of the inner sleeve relative to the instrument shaft.
13. The system of claim 9, wherein the instrument shaft includes a locking mechanism configured to selectively facilitate unidirectional rotation of the jaws.
14. The system of claim 9, wherein the instrument shaft includes a clamping assembly having a jaw puller configured to translate axially relative to the outer sleeve to open and close the jaws to clamp tissue between the jaws and the ultrasonic blade.
15. The system of claim 9, further comprising an articulation assembly configured to deflect the end effector assembly from a position aligned with a longitudinal axis, wherein the longitudinal axis extends along the non-articulatable section of the outer sleeve.
16. A method, comprising:
guiding a surgical device having an end effector assembly to a surgical site, the end effector assembly operably coupled to an instrument shaft containing an ultrasonic waveguide, the end effector assembly having an ultrasonic blade and a clamping element;
selectively rotating the clamping element relative to the ultrasonic blade;
selectively actuating a clamping assembly to move the clamping element toward the ultrasonic blade to apply a clamping force to tissue disposed between the clamping element and the ultrasonic blade; and
transmitting ultrasonic energy to the ultrasonic blade to treat tissue clamped between the clamping element and the ultrasonic blade.
17. The method of claim 16, further comprising selectively articulating the instrument shaft such that the end effector assembly is angularly oriented relative to a longitudinal axis of a proximal portion of the instrument shaft extending from the housing.
18. The method of claim 17, wherein the clamping element is rotatable when the clamping element is in the articulated state.
19. The method of claim 16, wherein the clamping element is rotatable within a range of about 1 degree to about 360 degrees.
20. The method of claim 16, wherein the instrument shaft is attached to a robotic surgical system.
Technical Field
Surgical devices and systems having a rotary end effector assembly and methods of use thereof are provided for treating tissue.
Background
Various surgical devices include an end effector assembly having a knife element that vibrates at ultrasonic frequencies to cut and/or seal tissue (e.g., by denaturing proteins in tissue cells). These instruments include a piezoelectric element that converts electrical power into ultrasonic vibrations that are transmitted along an acoustic waveguide to a blade element. The precision of cutting and coagulation can be controlled by the surgeon's technique and adjustments to power level, blade edge, tissue traction, and blade pressure.
During use of these surgical devices, movement of the end effector assembly may be important to adequately access tissue. In robotic surgery, movement of the end effector assembly may also facilitate coordinated movement of the surgeon's hand and the end effector assembly. The lack of any movement can lead to various opportunities for user error, such as inadequate cutting or sealing of tissue and accidental damage to the anatomy during surgery. Thus, it can be desirable to move the end effector assembly with six degrees of motion (e.g., surge, heave, sway, yaw, pitch, and roll).
Accordingly, despite the prior art, there remains a need for improved surgical devices and systems and methods for treating tissue.
Disclosure of Invention
Surgical devices and systems and methods of use thereof are provided.
In one exemplary embodiment, a surgical device is provided that may include a housing having an ultrasonic transducer positioned therein, an instrument shaft extending from the housing, and an end effector assembly having a clamping element and an ultrasonic blade. The instrument shaft may include an outer sleeve having an articulatable region and a non-articulatable region, a waveguide, and a rotation assembly having an inner sleeve coupleable to a clamping element. The end effector assembly may be located at a distal end of the outer sleeve. The waveguide may be acoustically coupled with the ultrasound transducer, wherein a portion of the articulatable region may be aligned with the flexible portion of the waveguide. The ultrasonic blade can be in acoustic communication with the waveguide. The inner sleeve may have a sliding mechanism that may be configured to selectively rotate the clamping element relative to the ultrasonic blade. In one aspect, the housing is configured to attach to a robotic surgical system.
The sliding mechanism can have a variety of configurations. For example, in one aspect, the sliding mechanism may include a substantially helical slot and a pin received within the substantially helical slot such that the pin may be configured to selectively slide within the substantially helical slot upon application of a force to an input operably coupled to the pin, thereby causing rotation of the inner sleeve relative to the instrument shaft. In another aspect, the sliding mechanism may include a predetermined pattern of projections projecting radially outward from the inner sleeve to form channels therebetween, and one or more pins may be configured to selectively slide within the channels upon application of a force to an input operatively coupled to the one or more pins, thereby causing rotation of the inner sleeve relative to the outer sleeve.
In some aspects, the instrument shaft can include two spring arms that can each be configured to engage a plurality of teeth that extend circumferentially around the proximal end of the inner sleeve. The first spring arm may be configured to engage the plurality of first protrusions to prevent rotation of the inner sleeve relative to the outer sleeve in a first direction. The second spring arm may be configured to engage the plurality of second protrusions to prevent rotation of the inner sleeve relative to the outer sleeve in the second direction.
In some aspects, the instrument shaft can include a clamp assembly coupled to the end effector assembly. The clamping assembly may be configured to drive movement of the clamping element relative to the instrument shaft such that the clamping element is selectively moved toward and away from the ultrasonic blade. The clamp assembly may include a clamp pull coupleable to the clamping element, wherein the clamp pull may be configured to axially translate relative to the outer sleeve to move the clamping element toward and away from the ultrasonic blade.
In one aspect, the device can further include an articulation assembly that can be configured to selectively deflect the end effector assembly from a position aligned with a longitudinal axis, wherein the longitudinal axis extends along the non-articulatable region of the outer sleeve.
In another exemplary embodiment, a robotic surgical system is provided and may include an electromechanical arm having a motor disposed therein, an instrument housing mounted to the electromechanical arm, wherein the instrument housing may have an ultrasonic transducer disposed therein, an instrument shaft extending from the housing, and an end effector assembly having jaws and an ultrasonic blade. The instrument shaft may include an outer sleeve having an end effector assembly formed at a distal end thereof. The instrument shaft may also include an articulatable ultrasonic waveguide acoustically coupled to the ultrasonic transducer and extending through the instrument shaft, and an actuation assembly having a first actuator rod operably coupled to the motor. The ultrasonic blade is acoustically coupled to the articulatable ultrasonic waveguide. An actuation assembly is operably coupled to the jaws. The first actuator rod can be configured to axially translate relative to the instrument shaft to selectively rotate the jaws while the ultrasonic blade remains stationary.
In one aspect, the actuation assembly may include a second actuator rod operably coupleable to the motor. The second actuator rod may be configured to axially translate relative to the outer sleeve to selectively move the jaws toward and away from the ultrasonic blade.
In some aspects, the instrument shaft may include a rotation assembly. The rotating assembly can have a variety of configurations. For example, in one aspect, the rotation assembly can include an inner sleeve having a substantially helical slot extending at least partially along a length of the inner sleeve and a pin received within the slot and coupled to the distal end of the first actuator rod. The pin may be configured to selectively slide within the slot from a first position to a second position upon axial translation of the first actuator rod, thereby rotating the inner sleeve relative to the instrument shaft. In another aspect, the swivel assembly can include an inner sleeve including a predetermined pattern projecting radially outward from the inner sleeve to form channels therebetween, and one or more pins coupled to the distal end of the first actuator rod. The one or more pins may be configured to selectively slide within the channel upon axial translation of the first actuator rod to cause rotation of the inner sleeve relative to the instrument shaft.
In some aspects, the instrument shaft can include a locking mechanism that can be configured to selectively facilitate unidirectional rotation of the jaws. In other aspects, the instrument shaft can include a clamping assembly having a jaw pull that can be configured to axially translate relative to the outer sleeve to open and close the jaws to clamp tissue between the jaws and the ultrasonic blade.
In one aspect, the system can further include an articulation assembly that can be configured to deflect the end effector assembly from a position aligned with a longitudinal axis, wherein the longitudinal axis extends along the non-articulatable segment of the outer sleeve.
Methods of using the surgical devices and systems are also provided. In one embodiment, the method can include guiding a surgical device having an end effector assembly to a surgical site. The end effector assembly is operably coupled to an instrument shaft that contains an ultrasonic waveguide. The method may also include selectively rotating the clamping element relative to the ultrasonic blade, selectively actuating the clamping assembly to move the clamping element toward the ultrasonic blade to apply a clamping force to tissue disposed between the clamping element and the ultrasonic blade, and transmitting ultrasonic energy to the ultrasonic blade to treat the tissue clamped between the clamping element and the ultrasonic blade.
In some aspects, the method can further include selectively articulating the instrument shaft such that the end effector assembly can be angularly oriented relative to a longitudinal axis of a proximal portion of the instrument shaft extending from the housing. In such aspects, the clamping element can be rotated when the clamping element is in the articulated state.
In one aspect, the clamping element is capable of rotating in a range of about 1 degree to about 360 degrees. In another aspect, the instrument shaft is configured to be attached to a robotic surgical system.
Drawings
The present invention will be more fully understood from the detailed description given below in conjunction with the accompanying drawings, in which:
FIG. 1 is a partially transparent perspective view of an exemplary embodiment of a surgical device having a rotating assembly with an inner sleeve;
FIG. 2A is a partially transparent enlarged perspective view of a distal portion of the surgical device of FIG. 1;
FIG. 2B is a partial exploded view of the distal end of the surgical device of FIG. 2A;
FIG. 3A is a partially transparent top view of a proximal portion of the surgical device of FIG. 1;
FIG. 3B is a partially transparent bottom view of a proximal portion of the surgical device of FIG. 3A;
FIG. 4 is a perspective view of an exemplary embodiment of a surgical robotic system including a mechatronic arm having the surgical device of FIG. 1 mounted thereto and wirelessly coupled to a control system;
FIG. 5A is a partial transparent perspective of another exemplary embodiment of a distal portion of a surgical device having a rotating assembly with an inner sleeve;
FIG. 5B is a partial exploded view of the distal end of the surgical device of FIG. 5A;
FIG. 6 is an enlarged view of a portion of an inner sleeve of the rotating assembly of FIG. 5A, illustrating exemplary movement of a pin through a passage defined within the inner sleeve;
FIG. 7 is a side view of an exemplary embodiment of an ultrasonic blade having a tapered configuration;
FIG. 8 is a side view of an exemplary embodiment of an ultrasonic blade having a tapered configuration with a concave portion;
FIG. 9 is a front cross-sectional view of an exemplary embodiment of an ultrasonic blade having overlapping subunits, wherein each subunit has a substantially circular cross-sectional shape; and is
Fig. 10 is a front cross-sectional view of an exemplary embodiment of an ultrasonic blade having a cruciform configuration.
Detailed Description
Certain exemplary embodiments will now be described to provide an overall understanding of the principles of the structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. Those skilled in the art will understand that the devices, systems, and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the scope of the present invention is defined solely by the claims. Features illustrated or described in connection with one exemplary embodiment may be combined with features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention.
Moreover, in the present disclosure, similarly named components in various embodiments typically have similar features, and thus, in particular embodiments, each feature of each similarly named component is not necessarily fully described. Further, to the extent that linear or circular dimensions are used in the description of the disclosed systems, devices, and methods, such dimensions are not intended to limit the types of shapes that may be used in connection with such systems, devices, and methods. Those skilled in the art will recognize that the equivalent dimensions of such linear and circular dimensions can be readily determined for any geometric shape. The size and shape of the system and its components may depend at least on the anatomy of the subject in which the system and device are to be used, the size and shape of the components with which the system and device are to be used, and the methods and procedures in which the system and device are to be used.
It should be understood that the terms "proximal" and "distal" are used herein with respect to a user grasping a handle of a device, such as a clinician, or a user having a housing mounted thereto, such as a robot. Other spatial terms such as "anterior" and "posterior" similarly correspond to distal and proximal, respectively. It will also be appreciated that, for convenience and clarity, spatial terms such as "vertical" and "horizontal" are used herein in connection with the illustrations. However, the components of the surgical device are used in many orientations and positions, and these spatial terms are not intended to be limiting and absolute.
Values or ranges can be expressed herein as "about" and/or from "about" one particular value to another particular value. When such values or ranges are expressed, other embodiments disclosed include the particular values recited and/or from one particular value to another particular value. Similarly, when values are expressed as approximations, by use of the antecedent "about," it will be understood that the various values disclosed herein and the particular values form another embodiment. It will also be understood that numerous values are disclosed herein, and that each value is also disclosed herein as "about" that particular value in addition to the value itself. In embodiments, "about" can be used to indicate, for example, within 10% of the recited value, within 5% of the recited value, or within 2% of the recited value.
For the purposes of describing and defining the present teachings, it is noted that the term "substantially" is utilized herein to represent the inherent degree of uncertainty that may be attributed to any quantitative comparison, value, measurement, or other representation, unless otherwise specified. The term "substantially" may also be used herein to represent the degree by which a quantitative representation may vary from a stated reference without resulting in a change in the basic function of the subject matter at issue.
Surgical devices that utilize ultrasonic energy to treat (e.g., cut or seal) tissue provide particularly useful surgical options. In some surgical situations, it may be useful or necessary to move an end effector assembly including an ultrasonic blade and a clamp arm or element in different orientations to access a surgical site. While the end effector assembly with the ultrasonic blade and clamp arm or element can rotate as a unit, articulation of the end effector assembly may be more limited. For example, the ultrasonic blade can be acoustically coupled to a waveguide having a thinned section in the region where the blade will bend as the end effector assembly is articulated. However, articulation is limited to only one plane and thus does not achieve the full range of motion of the end effector assembly. That is, the clamp arms or elements of the end effector assembly are aligned with the plane of articulation and therefore cannot be rotated out of plane. Disclosed herein is a solution to this problem wherein the end effector assembly can be manipulated in addition to articulation such that the clamp arm or element can be rotated independently of the ultrasonic blade and thus independently of the waveguide. The result of this feature is to effectively enable the clamp arm or member to rotate out of the plane of the articulation plane, thereby facilitating six degrees of freedom of the end effector assembly when the end effector assembly is in the articulated state.
Surgical devices and systems and methods of use thereof are provided. In general, a surgical device is provided having at least one housing and an instrument shaft extending therefrom. As discussed in more detail below, the surgical device can be configured such that a portion of the end effector assembly can be rotated while the remainder thereof remains stationary. In certain exemplary aspects, the instrument shaft may include an outer sleeve having an end effector assembly at a distal end thereof. The end effector assembly may include a clamping element and an ultrasonic blade, wherein the clamping element is configured to be selectively rotated relative to the ultrasonic blade via a rotation assembly coupled to the clamping element. The instrument shaft can further include an additional assembly, such as an articulation assembly configured to selectively deflect the end effector assembly and/or the clamping assembly configured to selectively move the clamping element toward and away from the ultrasonic blade. Thus, unlike conventional surgical devices, the surgical devices provided herein can be configured to impart six degrees of motion to the end effector assembly. For example, in contrast to conventional surgical devices, when the end effector assembly is in an articulated state, the clamping element can be rotated while the ultrasonic blade remains stationary.
An exemplary surgical device can include a plurality of features to facilitate partial or complete movement of an end effector assembly, as described herein and shown in the figures. However, those skilled in the art will appreciate that the surgical device may include only some of these structures and/or it may include a variety of other structures known in the art. The surgical devices described herein are intended to represent only certain exemplary embodiments. In addition, those skilled in the art will appreciate that the surgical devices described herein have application in conventional minimally invasive and open surgical instruments, as well as in robotic-assisted surgery. That is, the surgical devices described herein may be disposed within a handle assembly designed for use with a hand-held device or designed to be mounted to an electromechanical arm (e.g., a robotic arm).
As discussed in greater detail below, exemplary embodiments of surgical devices are provided that are configured to facilitate various motions of the end effector assembly, including rotational motion of the entire end effector assembly, selective rotation of the clamping element relative to the ultrasonic blade, and articulation of the end effector assembly. The instrument shaft includes a rotation assembly having a slide mechanism configured to selectively rotate the clamping element about the ultrasonic blade while the ultrasonic blade remains stationary. Additionally, the instrument shaft can include additional components, such as an articulation assembly configured to facilitate articulation of the end effector assembly. Thus, the surgical devices described herein are configured to rotate and articulate the end effector assembly.
The surgical device generally includes a housing having an instrument shaft extending therefrom and an end effector assembly having a clamping element and an ultrasonic blade. The instrument shaft includes a rotation assembly having an inner sleeve coupled to a clamping element of the end effector assembly. The inner sleeve is designed with a sliding mechanism. The sliding mechanism can have a variety of configurations. For example, the sliding mechanism may have a slot-like configuration, as shown in fig. 1-2B, or a channel configuration, as shown in fig. 5-7.
Depending at least in part on the design of the end effector assembly, the surgical device may include one or more motors that actuate one or more components of the instrument shaft, as described in detail below. Generally, one or more motors can be used to drive various surgical device functions. Device functionality can vary based on the particular type of end effector assembly, but in general, a surgical device can include one or more motors that can be configured to cause particular motions or motions to occur, such as opening and/or closing clamping elements such as jaws, shafts, and/or end effector assembly rotation, end effector assembly articulation, energy transfer to cut and/or coagulate tissue, and the like. The motor can be positioned within a housing of the surgical device or coupled to the surgical device in an alternative manner, such as via a robotic surgical system. As described in detail below, each motor may be configured to be coupled to or interact with one or more drive assemblies of the surgical device, e.g., a rotary drive assembly, an articulation drive assembly, a clamp drive assembly, and/or a shaft rotary drive assembly, such that the motor can drive one or more elements to cause various motions and motions of the device, e.g., selectively rotating the clamp element relative to the ultrasonic blade, selectively articulating the end effector assembly, selectively moving the clamp element toward and away from the ultrasonic blade, selectively rotating the instrument shaft, etc. The motor may be powered using a variety of techniques, such as by a battery on or in the surgical device or by a power source connected through the robotic surgical system.
In certain embodiments, as discussed in more detail below, when at least one motor is activated, it drives the rotation of at least one corresponding gear assembly located within the drive assembly of a surgical device (such as surgical devices 100 and 500 in fig. 1 and 5, respectively). The corresponding gear assembly can be coupled to at least one corresponding drive shaft, thereby causing linear and/or rotational movement of at least the respective drive shaft. Although the movement of two or more drive shafts can overlap during different phases of operation of the drive assembly, each motor can be activated independently of the other such that the movement of each corresponding drive shaft does not necessarily occur simultaneously or during the same phase of operation.
Fig. 1-3B illustrate an exemplary embodiment of a surgical device. As shown, the surgical device 100 includes a housing 102, an instrument shaft 104 extending from the housing 102, and an end effector assembly 106. End effector assembly 106 includes a clamping element 108 (such as jaws) and an
Although the housing 102 can have a variety of configurations, in some implementations, as shown in fig. 1 and 3A-3B, the housing 102 is configured to be attached to a robotic system, such as the robotic surgical system 400 shown in fig. 4. Alternatively, the housing 102 may be designed for a handheld device, for example as a handle housing. Those skilled in the art will appreciate that a housing designed for a handheld device may require all or some of the elements disclosed herein as well as additional elements for operation. Details of an exemplary housing for a handheld device can be found, for example, in U.S. patent 9,095,367, which is incorporated herein by reference in its entirety. Additionally, the housing 102 may include various drive assemblies (e.g., four drive assemblies) configured to drive respective assemblies, such as the
As shown, the housing 102 includes an ultrasonic transducer 112. The ultrasonic transducer 112 is configured to convert electrical power into ultrasonic vibrations. Although ultrasonic transducer 112 can have a variety of configurations, in some implementations, as shown in fig. 1 and 3A-3B, ultrasonic transducer 112 is mechanically coupled to at least a portion of end effector assembly 106. As described in detail below, in use, these ultrasonic vibrations are transmitted to at least a portion of the end effector assembly 106. The ultrasonic transducer 112 can receive power from any suitable source. For example, in some cases, the ultrasound transducer 112 may include a
In some embodiments, the
In some embodiments, at least a portion of the functionality of the
As described above, the instrument shaft 104 extends from the housing 102. Although the instrument shaft 104 can have a variety of configurations, in some implementations, the instrument shaft 104, as shown in fig. 1-2B, includes an
The
In certain embodiments, the
In some embodiments, the
The instrument shaft 104 may also include a
Although
As described above, the instrument shaft 104 also includes a
As shown, the sliding mechanism includes a
The sliding mechanism also includes a
For example, the pin plate 146b, and thus the
In use, when a force is applied to the actuator rod 147 (e.g., via an input operatively coupled thereto), the
The amount of rotation of
The
The rotary drive assembly 148 may have a variety of configurations. For example, as shown in fig. 3A-3B, the rotary drive assembly 148 may include a rotary drive gear 151 in meshing engagement with a gear rack 152 coupled to a translation block 153. The translation block 153 is connected to a drive shaft 154 extending therefrom. The
The instrument shaft 104 may also include additional components to enable other motions or actions of the surgical device 100. For example, in some embodiments, the instrument shaft 104 can include an
As shown in fig. 1 and 2A-2B, the instrument shaft 104 includes an
Although the
In use, when end effector assembly 106 is aligned with the longitudinal axis of device 100, actuation of
The actuator rods 157,158 can be actuated in a variety of ways. For example, as shown in fig. 1 and 3A-3B, the
The articulation drive assembly 161 may have a variety of configurations. For example, as shown in fig. 3A-3B, the articulation drive assembly 161 may include a rotary drive gear 164 in meshing engagement with a first gear rack 165 coupled to a first translation block 166. The first translation block 166 is connected to a first drive shaft 167 extending therefrom. The
The rotary drive gear 164 can be operably coupled to a rotary drive disk 162 that is operably coupled to a motor 163. In use, when the motor 163 is activated, it drives the rotation of the rotary drive disk 162. Rotation of the rotary drive disk 162 drives rotation of the rotary drive gear 164, thereby causing substantially linear movement of the
As described above, the instrument shaft 104 may include a clamping assembly. The clamping assembly may be configured to move the
First pulling
The illustrated clip puller, and in particular the first pulling
In use, as the
The
The clamp drive assembly 180 may have a variety of configurations. For example, as shown in fig. 3A-3B, the rotary drive assembly 148 may include three rotary gears 183,184,185. The first rotary gear 183 is operatively coupled to the second rotary gear 184 by a drive post 186. The first rotation gear 183 is also in meshing engagement with a gear rack 187 coupled to a translation block 188. Translation block 188 is connected to a drive shaft 189 extending therefrom. The
Alternatively or in addition, it may be desirable to manually advance or retract the
In some embodiments, it may be desirable for the instrument shaft 104, and thus the entire end effector assembly, to rotate. Thus, rotation of the instrument shaft 104 can be achieved through the use of a shaft rotation drive assembly. That is, unlike
Although shaft rotational drive assembly 191 can have a variety of configurations, in some implementations, as shown in fig. 1 and 3A-3B, shaft rotational drive assembly 191 can include a first helical worm gear 192 positioned at proximal end 104p of instrument shaft 104. The first helical worm gear 192 is in meshing engagement with a second helical worm gear 193 that is coupled to a first rotary drive gear 194 via a drive post 196. First rotary drive gear 194 is in meshing engagement with a second rotary drive gear 195 operably coupled to a rotary drive disk 197 operably coupled to a motor 198.
In use, the motor 198 rotates a rotary drive disk 197 that drives rotation of the second rotary drive gear 195 and hence the first helical worm gear 192. This results in rotational movement of the instrument shaft 104 relative to the housing 102. It should be appreciated that application of a rotational output motion from the motor 198 in one direction will result in a substantially rotational motion of the instrument shaft 104 in a first direction (e.g., clockwise). Additionally, application of a rotational output motion in an opposite direction will result in a substantially rotational motion of the instrument shaft 104 in an opposite second direction (e.g., counterclockwise).
Over the years, a variety of minimally invasive robotic (or "telesurgery") systems have been developed to increase the dexterity of the surgery and to allow the surgeon to operate on the patient in an intuitive manner. A number of such systems are disclosed in the following U.S. patents, each of which is incorporated herein by reference in its entirety: U.S. Pat. No. 5,792,135 entitled "apparatus guided minimum adaptive cruise and sensory, U.S. Pat. No. 6,132,368 entitled" Multi-component prediction System and Method ", U.S. Pat. No. 6,231,565 entitled" robot Arm D US For Performance prediction Tasks ", U.S. Pat. No. 6,783,524 entitled" robot substrate Wireless output and Current Instrument ", U.S. Pat. No. 6,364,888 entitled" Alignment of Master and Master In A minimum adaptive subsystem ", U.S. Pat. No. 6,364,888 entitled" monomer substrate adaptive subsystem and therapeutic, U.S. Pat. No. 3,32 entitled "road substrate adaptive subsystem and therapeutic and sensory, U.S. Pat. No. 3,3632 entitled" road substrate adaptive subsystem ", U.S. Pat. No. 6,364,888" adaptive Master and analytical device In A minimum adaptive subsystem ", U.S. Pat. No. 5,3632 entitled" 5,792 and sensory subsystem and sensory component ", U.S. Pat. No. 3,32" 5,36 For quality detection and sensory subsystem ". However, many of these past systems have been unable to generate the amount of force necessary to effectively cut and fasten tissue. However, many such systems have in the past been unable to facilitate articulation and rotation of an end effector assembly having a clamping element and an ultrasonic blade.
The surgical device 100 can be assembled in a variety of ways. For example, to assemble the distal portion of the surgical device 100 shown in fig. 2A-2B, an assembly of sub-units may be included, which are subsequently coupled together to form the resulting distal portion. In some embodiments, assembly of the first sub-unit may include coupling the
Thus, as described above, the surgical device can be designed to be mounted to an electromechanical arm (e.g., a robotic arm). For example, fig. 4 shows a robotic surgical system 400 having the device 100 shown in fig. 1-3B mounted to an electromechanical arm 402. The electromechanical arm 402 can be wirelessly coupled to a control system 404 having a console with a display and two user input devices. One or more motors (not shown) are disposed within a motor housing 406 that is coupled to an end of the electromechanical arm 402. The housing 102 of the surgical device 100 is mounted to the motor housing 406, and thus the electromechanical arm 402, to operably couple the motor to the various drive assemblies of the surgical device 100. Thus, when the motor is activated by the control system 404, the motor is able to actuate one or more drive assemblies. As shown in fig. 4, the instrument shaft 104 extends from the housing 102. During surgery, the instrument shaft 104 and end effector assembly 106 (collectively referred to as an instrument shaft assembly for purposes of this specification) can be placed within and extend through a trocar 408 mounted on the bottom of a carrier 410 extending between a motor housing 406 and a trocar 408 support. The carrier 410 allows the instrument shaft assembly to translate into and out of the trocar 408. Additionally, considering that the end effector assembly 106 includes an
Exemplary embodiments of motor operations and components of a housing or instrument housing (also referred to as a "puck") configured to be controlled by a motor are further described in the following patents: international patent publication WO2014/151952 entitled "compact rolling Wrist" filed 3/13/2014; and international patent publication WO 2014/151621 entitled "hypertextile surgery System" filed 3/13/2014; U.S. patent publication 15/200,283 entitled "Methods, Systems, And Devices For initiating A scientific Tool" filed on 1/7/2016; and U.S. patent publication 15/237,653 entitled "Methods, Systems, And apparatus for Controlling A Motor Of A magnetic control Systems," filed on 8/16 2016, each Of which is hereby incorporated by reference in its entirety.
Fig. 5A-5B illustrate a distal portion of another exemplary embodiment of a surgical device 500 that includes a rotation assembly 541. The surgical device 500 may be similar to the surgical device 100 (fig. 1-3B), except for the differences described in detail below, and thus, is not described in detail herein. As shown, the surgical device 500 includes an instrument shaft 504 that is configured to extend from a housing, similar to the housing 102 of fig. 1. Instrument shaft 504 includes a rotation assembly 541 and a locking mechanism. The locking mechanism may include at least one locking assembly. As shown in fig. 5A-5B and described in more detail below, in this exemplary embodiment, the locking mechanism includes two locking assemblies.
As shown, rotation assembly 541 includes an inner sleeve 542 coupled to clamping element 508 having a clamping pad 509 coupled thereto. In the illustrated embodiment, the clamping element 508 is a jaw. The inner sleeve 542 extends from a first end 542d (e.g., a distal end) to a second end 542p (e.g., a proximal end) with an intermediate segment 542i extending therebetween. The inner sleeve 542 includes a sliding mechanism. Although the sliding mechanism can have a variety of configurations, in some implementations, the sliding mechanism is shown in fig. 5A-6, including a predetermined pattern of protrusions 543 and one or more pins 546a (e.g., three pins), as discussed in more detail below.
As shown in fig. 5A-6, the predetermined pattern of projections 543 project radially outward from a portion of the middle section 542i of the inner sleeve 542. The predetermined pattern of protrusions 543 define channels 545 therebetween. While the predetermined pattern can have a variety of configurations, in some implementations, the predetermined pattern can include one or more rows of protrusions 543. For example, as shown in fig. 5A-6, the predetermined pattern includes three separate rows 543a, 543b, 543c of projections 543 extending circumferentially around the inner sleeve 542. In some embodiments, one or more rows may be continuous, while in other embodiments, one or more rows may be discontinuous. In the illustrated embodiment, the projections 543 of the first row 543a (which is the most distal row on the inner sleeve 542) are interconnected with one another at their distal ends 543 d. Thus, the first row 543a extends continuously around the inner sleeve 542 to help prevent the one or more pins 546a from sliding out of engagement with the passage 545 of the inner sleeve 542. The protrusions 543 of the second and third rows 543b, 543c are discontinuous. Other predetermined patterns of protrusions 543 that can be used with the surgical device 500 are also contemplated herein.
The protrusions 543 in a single row may have the same shape and size. As shown, the protrusions 543 within the first row 543a have a first shape and size, the protrusions 543 in the second row 543b have a second shape and size, and the protrusions 543 in the third row 543c have a third shape. Although the protrusions 543 within each row have the same shape and size, it is also contemplated herein that the protrusions 543 within a single row may have different shapes and sizes. Alternatively, two or more rows of protrusions 543 may have the same or different shapes and/or sizes. It will be appreciated that the shape and size of the projections 543, and the number of rows thereof, are at least partially dependent upon the size and shape of the inner sleeve 542, and can thus vary accordingly.
The predetermined pattern of projections 543 is configured to define channels 545 therebetween such that one of the pins 546a can be selectively guided in a predetermined path along the channel 545 to rotate the inner sleeve 542 in a first direction or an opposite second direction. That is, as discussed in more detail below, the one or more pins 546a are configured to be selectively slidable within the channel 545 to cause rotation of the inner sleeve 542 relative to the outer sleeve 518, and thus the clamping element 508, relative to the ultrasonic blade 510 when a force is applied to an input operatively coupled to the one or more pins 546 a.
For example, as shown in fig. 5B, three pins 546a project radially inward from the distal end 546d of the pin plate 546B. Although the pins 546a and the pin plates 546B can have a variety of configurations, in some implementations, as shown in fig. 5B, the pins 546a each have a cylindrical shape and the pin plates 546B have an arcuate configuration. The actuator rod 547 couples the proximal portion 546p of the pin plate 546b, and thus the pin 546 a. While the actuator rod 547 can extend along any portion of the instrument shaft 504, as shown in FIG. 5A, the actuator rod 547 can also extend along a lower portion of the instrument shaft 504. This position may be desirable because it subjects the actuator rod 547 to minimal length changes as the end effector assembly 506 is articulated, thereby preventing the clamping element 508 from rotating during articulation. When the actuator rod 547 is actuated, the actuator rod 547 translates axially relative to the outer sleeve 518, causing rotation of the inner sleeve 542, and thus the clamping element 508.
In use, when a force is applied to the actuator rod 547 (e.g., via an input operatively coupled thereto), the actuator rod 547 translates axially relative to the outer sleeve 518, thereby sliding the pin 546a within the channel 545, thereby rotating the inner sleeve 542, and thus the clamping element 508, relative to the ultrasonic blade 510. That is, when actuated, the actuator rod 547 moves in either the first or second direction, moving the pin 546 a. Rotation of the inner sleeve 542, and thus the clamping element 508, can be rotated in either a clockwise or counterclockwise direction depending on the directional movement of the actuator rod 547. For example, in use, the actuator rod 547 can be moved in an initial distal direction to slide the pin 546a toward the first end 542 of the inner sleeve 542. Accordingly, the inner sleeve 542 can be rotated in a first direction (e.g., clockwise) to rotate the clamping element 508 about the ultrasonic blade 510 to a desired position. It should be noted that the actuator rod 547 can then be moved in a proximal direction such that the inner sleeve 542 is further rotated in a first direction as described below.
Figure 6 illustrates two exemplary guide paths for one or more pins 546a for enabling rotation of the inner sleeve 542 in either the first direction D1 or the second direction D2. For simplicity only, fig. 6 shows two exemplary guide paths for one pin 546a of the device 500 of fig. 5A-5B. However, since the three pins 546a are positioned equidistant from each other and from the distal end 546d of the pin plate 546b, the three pins 546a move simultaneously in similar guide paths. To begin rotation of the inner sleeve 542 in a first direction D1 (e.g., counterclockwise when viewing the device 500 from its proximal end opposite its distal end 500D), the actuator rod 547 translates distally relative to the outer sleeve 518, thereby advancing the pin 546a distally from the first starting Position (PA) to the second position (P2), as shown in fig. 6. Those skilled in the art will appreciate that the starting Position (PA) is exemplary and thus is not limited to the position shown in fig. 6.
As the pin 546a begins to advance to the second position (P2), the pin plate 546b disengages the locking mechanism, as described in detail below, so that the inner sleeve 542 can rotate. As the actuator rod 547 is further advanced distally, the pin 546a is advanced distally from the second position (P2) to a third position (P3) to begin rotation of the inner sleeve 542 in the first direction D1. To continue rotation of the inner sleeve 542 in the first direction D1, the actuator rod 547 is retracted, thereby moving the pin 546a from the third position (P3) to the fourth position (P4). As the actuator rod 547 is further retracted, the pin 546a moves from the fourth position (P4) to Second home Position (PB)1) To rotate the inner sleeve 542 further in the first direction D1 and eventually reengage the locking mechanism, as discussed in detail below. This movement of pin 546a (i.e., from PA to PB)1) This can be repeated one or more times until the inner sleeve 542 has been rotated the desired amount in the first direction D1.
Alternatively, to begin rotation of the inner sleeve 542 in a second direction D2 (e.g., clockwise when viewing the device 500 from its proximal end opposite its distal end 500D), the actuator rod 547 translates proximally relative to the outer sleeve 518, retracting the pin 546a from the first starting Position (PA) to the second position (P5), as shown in fig. 6. Those skilled in the art will appreciate that the starting Position (PA) is exemplary and thus is not limited to the position shown in fig. 6.
As the pins 546a begin to retract to the second position (P5), the pin plate 546b disengages the locking mechanism, as described in detail below, so that the inner sleeve 542 can rotate. When the actuator rod 547 is further retracted, the pin 546a is retracted from the second position (P5) to the third position (P6) to begin rotation of the inner sleeve 542 in the second direction D2. To continue rotating the inner sleeve 542 in the second direction D2, the actuator rod 547 is advanced distally to move the pin 546a from the third position (P6) to the fourth position (P7). As the actuator rod 547 is further advanced distally, the pin 546a moves from the fourth position (P7) to the second starting Position (PB) 1) To rotate the inner sleeve 542 further in the second direction D2 and eventually reengage the locking mechanism, as discussed in detail below. This movement of pin 546a (i.e., from PA to PB)2) This can be repeated one or more times until the inner sleeve 542 has been rotated the desired amount in the second direction D2.
The amount of rotation of the inner sleeve 542, and thus the clamping element 508, will depend at least in part on the size of the pin 546a, the size of the inner sleeve 542, and the size and shape of the plurality of projections 543 and the passage 545 defined therebetween. In some embodiments, the inner sleeve 542 is capable of rotating about its central axis about 360 degrees or less. For example, in one embodiment, the inner sleeve 542 is capable of rotating about its central axis from about 1 degree to about 360 degrees. In another embodiment, the inner sleeve 542 can rotate about its central axis from about 2 degrees to about 360 degrees. In another embodiment, the inner sleeve 542 can rotate about its central axis from about 4 degrees to about 360 degrees. Further, the amount of rotation of the inner sleeve 542 can also depend on the amount of force applied to the pin 546 a.
As shown in fig. 5A to 6, the protrusions 543 of the first row 543a and the protrusions 543 of the third row 543c have substantially the same shape, except that their respective ramp surfaces extend at opposite angles. That is, the ramp surface of the projection 543 in the first row 543a is at a first angle Extend, and the ramp surface of the protrusions 543 in the second row 543b is at a first angle to
Opposite angleAnd (4) extending. Thus, the inner sleeve 542 can rotate continuously 360 degrees in the opposite direction. To prevent this, such that inner sleeve 542 rotates in only one direction at a time, a locking mechanism may be located within instrument shaft 504 to facilitate unidirectional movement of clamping element 508.As described above, initial movement of the pin 546a disengages the locking mechanism to allow the inner sleeve 542 to rotate in either the first or second directions. Although the locking mechanism can have a variety of configurations, in some implementations, the locking mechanism includes two locking assemblies as described in fig. 5A-5B. The first locking assembly includes a plurality of first teeth 599a extending circumferentially around the second end 542p of the inner sleeve 542 and a first spring arm 539a configured to engage the plurality of first teeth 599a to prevent rotation of the inner sleeve 542 in a first direction D1, as shown in fig. 6. The second locking assembly includes a plurality of second teeth 599b extending circumferentially around the second end 542p of the inner sleeve 542 and a second spring arm 539b configured to engage the plurality of second teeth 599b to prevent rotation of the inner sleeve 542 in the second direction D2, as shown in fig. 6. Thus, each locking assembly acts as a ratchet-like mechanism.
Although the plurality of teeth can have a variety of configurations, in some implementations, as shown in figures 5A-5B, the plurality of first and second teeth 599a,599B have a ring-like configuration that surrounds the second end 542p of the inner sleeve 542.
As shown in fig. 5B, two spring arms 539a,539B are coupled to and extend from opposite sides 559,560 of the articulation puller 556. Although the two spring arms 539a,539B may have a variety of configurations, in some implementations, as shown in fig. 5A-5B, the two spring arms 539a,539B each have an arcuate configuration. Additionally, the two spring arms 539a,539b are biased against each other. This is because the first spring 539a is configured to engage the first plurality of teeth 599a to prevent the inner sleeve 542 from rotating in the first direction D1 shown in fig. 6, and the second spring arm 539b is configured to engage the second plurality of teeth 599b to prevent the inner sleeve 542 from rotating in the second direction D2, as shown in fig. 6. Thus, when each spring arm 539a,539b is engaged with its corresponding plurality of teeth 599a,599b, the inner sleeve 542, and thus the clamping element 508, cannot rotate. Thus, as described in detail below, when the inner sleeve 542 is rotated in a first direction, the first spring arms 539a disengage from the first plurality of teeth 599a while the second spring arms 539b remain engaged with the second plurality of teeth 599 b. Likewise, when the inner sleeve 542 is rotated in the second direction, the second spring arm 539b disengages the plurality of second teeth 599b while the first spring arm 539a remains engaged with the plurality of first teeth 599 a.
To disengage and reengage the locking assembly, the pin plate 546b includes two unlocking arms 544a,544b extending from opposite sides of the pin plate 546 b. Although the two unlocking arms 544a,544B can have a variety of configurations, in some implementations, as shown in fig. 5A-5B, the two unlocking arms 544a,544B each have an arcuate configuration. Additionally, the two unlocking arms 544a,544b are offset from each other. This is because the first release arm 544a is configured to disengage the first spring arm 539a from the first plurality of teeth 599a to allow the inner sleeve 542 to rotate in the first direction D1 shown in figure 6. Likewise, the second unlocking arm 544b is configured to disengage the second spring arm 539b from the plurality of second teeth 599b to allow the inner sleeve 542 to rotate in a second direction D1 shown in figure 6. Thus, the first and second release arms 544a,544b are configured to interact with the first and second spring arms 539a, 539b, respectively, to disengage one of the locking assemblies to allow rotation of the inner sleeve 542 in either the first or second directions.
In use, as described above, when the pin 546a begins to advance distally to the second position (P2), the pin plate 546b is disengaged from the first locking component by moving the first spring arm 539 a. That is, when the actuator rod 547 begins to advance distally and, thus, the pin 546a moves distally from its starting Position (PA), the first unlocking arm 544a of the pin plate 546b also moves distally. Thus, distal movement of the first unlocking arm 544a causes the first spring arm 539a to move distally and thereby disengage the first plurality of teeth 599 a. This disengagement allows the inner sleeve 542 to move in the first direction D1, as shown in figure 6. The first locking component disengages until the pin 546a moves to the second starting Position (PB) 1)。
As described above, to move the inner sleeve 542 in the second direction D2, the pin 546a begins to retract from its starting Position (PA) to the second position (P5), thereby disengaging the pin plate 546b from the second locking assembly by moving the second spring arm 539b, as shown in fig. 6. That is, as the actuator rod 547 begins to translate proximally, and thus the pin 546a translates proximally from its starting Position (PA), the second unlocking arm 544b of the pin plate 546b is also retracted. Accordingly, proximal movement of the second unlocking arm 544b causes the second spring arm 539b to move proximally. Proximal movement of the second spring arm 539b disengages it from the plurality of second teeth 599b to allow movement of the inner sleeve 542 in a second direction D2 shown in figure 6. The second locking assembly is disengaged until the pin 546a moves to the second home Position (PB)2)。
Alternatively, the locking mechanism may include a friction spring arm configured to apply a predetermined friction force to the inner sleeve 542 to prevent the inner sleeve 542 from rotating until a driving force applied to a rotating assembly (e.g., rotating
In addition, the clamping assembly of the surgical device 500 in fig. 5A-5B is similar to the clamping assembly of the surgical device 100 in fig. 1-2A, except for the length of the first pulling member 572. That is, the first pulling member 572 of the surgical device 500 of fig. 5A-5B is shorter in length as compared to the first pulling
As described above, the end effector assembly (e.g., end effector assemblies 106 and 506 in fig. 1-3B and 5A-5B, respectively) may include an ultrasonic blade (e.g.,
The ultrasonic blade may have a variety of configurations. For example, as shown in fig. 1-2B and 5A-5B, the ultrasonic blade may have a substantially straight (e.g., non-tapered) configuration, as shown in fig. 1-3B and 5-6B. Alternatively, as shown in fig. 7, the
Similarly, as shown in fig. 8, the ultrasonic blade 910 may have a tapered configuration with a concave portion 911 positioned between the first and second ends 910a,910b of the ultrasonic blade 910. The concave portion 911 can substantially prevent slidable movement of tissue captured between the clamping element and the ultrasonic blade 910. I.e. the concave portion can allow resting of the clamped tissue to facilitate its dissection. The interface of the concave portion 911 with the remainder of the ultrasonic blade 910 can define one or more edges 911a,911b,911c,911 d. In some cases, the edges may be rounded. The concave portion 911 can be positioned at different distances from the first and second ends 910a,910 b. In some embodiments, the concave portion 911 can be positioned equidistant from the first and second ends 910a,910b of the ultrasonic blade 910. Additionally, in some embodiments, a clamping element that can be used with the ultrasonic blade 910 to treat tissue may include a clamp pad having a convex portion that is complementary to the concave portion 911 of the ultrasonic blade 910.
Further, the ultrasonic blade may have a variety of cross-sectional shapes. For example, the ultrasonic blades (
For example, in some embodiments, the ultrasonic blade may have two or more subunits that partially overlap each other to form an overall cross-sectional shape with a localized pressure profile that facilitates sealing of tissue captured between the clamping element and the ultrasonic blade. Each subunit may have a predetermined cross-sectional shape (e.g., a geometric shape) and a surface area where the sum of the surface areas of each subunit is greater than the surface area of the ultrasonic blade. As shown in fig. 9, the ultrasonic blade 1010 includes three subunits 1010a,1010b,1010c, wherein each subunit 1010a,1010b,1010c has a substantially circular cross-sectional shape. The radius of each subunit 1010a,1010b,1010c may be sized to provide a localized pressure distribution capable of enhancing an effective seal of tissue. Further, although not required, the subunits 1010a,1010b,1010c shown in fig. 9 are arranged uniformly around the ultrasonic blade at an angle relative to the longitudinal axis of the ultrasonic blade.
In other embodiments, the ultrasonic blade may have two or more intersecting blades. For example, in one embodiment, as shown in fig. 10, the
Each
As previously mentioned, surgical devices and systems can be used to treat tissue. Any suitable method can be used to operate any of the surgical devices and systems described herein. For example, when operating the surgical device 100 (fig. 1-3B), the device 100 can be directed to a surgical site. The clamping
In some embodiments, the instrument shaft 104 is selectively articulatable such that the end effector assembly 106 is angularly oriented relative to a longitudinal axis of a proximal portion of the instrument shaft 104. Thus, when the
The device disclosed herein may be designed to be disposed of after a single use, or it may be designed to be used multiple times. In either case, however, the device may be reconditioned for reuse after at least one use. Refurbishment may include any combination of disassembly of the device, followed by cleaning or replacement of particular parts, and subsequent reassembly steps. In particular, the device may be disassembled, and any number of the particular pieces or parts of the device may be selectively replaced or removed in any combination. After cleaning and/or replacement of particular components, the device may be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that the finishing assembly may be disassembled, cleaned/replaced, and reassembled using a variety of techniques. The use of such techniques and the resulting conditioning apparatus are within the scope of the present application.
Those skilled in the art will recognize additional features and advantages of the present invention in light of the above-described embodiments. Accordingly, the invention is not to be limited by what has been particularly shown and described, except as indicated by the appended claims. All publications and references cited herein are expressly incorporated herein by reference in their entirety. Any patent, publication, or information, in its entirety or incorporated by reference herein is incorporated herein only to the extent that the incorporated material does not conflict with existing definitions, statements, or other disclosure material set forth in this document. As such, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference.
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