Surgical stapling instrument incorporating an uneven multistroke firing mechanism having a rotary transmission
View Patent ↗A surgical stapling and severing instrument particularly suited to endoscopic procedures incorporates a handle that produces separate closing and firing motions to actuate an end effector. In particular, the handle produces multiple firing strokes in order to reduce the required amount of force required to fire (i.e., staple and sever) the end effector. Varying the center of rotation, circumferential length, and depth of cam lobes in a cam disk that interacts with the firing trigger via a drive wedge allows optimization. In particular, mechanical advantages during specific firing strokes mitigates increased force to fire at the end effector, enabling a more uniform tactile force at the firing trigger.
1. A surgical instrument, comprising:
an end effector operably configured to respond to a firing motion;
a shaft attached to the end effector and including an elongate firing member coupled to the end effector for movement to longitudinally transmit the firing motion; and
a handle proximally attached to the shaft, comprising:
a cam member including a plurality of cam lobes, at least one of the cam lobes differing in shape from an adjacent cam lobe,
a firing actuator repeatably moveable in a firing direction and a return direction, and operatively configured to interact with a respective cam lobe during each firing stroke, and
a firing mechanism responsive to intermittent motion from the cam disk to produce the longitudinal firing motion to the end effector.
2. The surgical instrument of claim 1 , wherein the cam member comprises a cam disk.
3. The surgical instrument of claim 2 , wherein the handle further comprises a wedge coupled to the firing actuator and operably configured to sequentially engage a respective one of the plurality of cam lobes of the cam disk during each movement of the firing actuator in the firing direction.
4. The surgical instrument of claim 2 , wherein the handle further comprises a rack connected to the firing member of the shaft and coupled by gear engagement with the cam disk to transmit an intermittent rotation of the cam disk as the longitudinal firing motion.
5. The surgical instrument of claim 4 , wherein the rack is coupled by gear engagement with the cam disk comprised of a gear train.
6. The surgical instrument of claim 5 , wherein the gear train comprises a gear reduction assembly relating the intermittent rotation of the cam disk to an increased longitudinal motion of the rack.
7. The surgical instrument of claim 6 , further comprising a firing lockout mechanism responsive to the closure mechanism being unclosed to prevent movement of the rack.
8. The surgical instrument of claim 6 , wherein the handle further comprises:
a firing lockout mechanism responsive to the closure mechanism being unclosed to prevent movement of the rack and responsive to the rack being at least partially fired to prevent opening of the closure mechanism;
a clamp lock mechanism responsive to closure motion of the closure mechanism to lock the closure mechanism;
an anti-backup mechanism operably configured to prevent retraction of the rack between firing strokes of the firing trigger; and
a release mechanism operably configured to unlock the anti-backup mechanism.
9. The surgical instrument of claim 6 , wherein the end effector is operably configured to staple and sever tissue during firing.
10. The surgical instrument of claim 1 , further comprising an anti-backup mechanism operably configured to prevent retraction of the firing mechanism between firing strokes of the firing actuator.
11. The surgical instrument of claim 10 , wherein the firing lockout mechanism is operably configured to respond to the rack having been at least partially fired to block opening movement of the closure mechanism.
12. The surgical instrument of claim 11 , wherein the release mechanism is further operably configured to unlock the clamp lock mechanism.
13. The surgical instrument of claim 1 , wherein the end effector comprises a pair of opposing jaws responsive to a closure motion and a firing bar responsive to the firing member, the shaft operably configured to transmit the closure motion through a closure member to the end effector, the handle further comprising a closure mechanism operably configured to produce the closure motion.
14. The surgical instrument of claim 13 , wherein the handle further comprises a clamp lock responsive to closure motion of the closure mechanism to lock the closure mechanism.
15. The surgical instrument of claim 1 , wherein the handle further comprises a pistol grip, and the firing mechanism comprises a bendable rack stowable in the pistol grip when retracted.