Surgical stapling instrument incorporating an electroactive polymer actuated firing bar track through an articulation joint
View Patent ↗A surgical stapling instrument particularly suited to endoscopic use articulates an end effector (e.g., stapling and severing) that is actuated by a firing bar. An articulation mechanism in an elongate shaft incorporates electrically actuated polymer (EAP) actuators that laterally support the firing bar so that the firing bar is sufficiently constrained to avoid a blow-out, yet is guided without excessive friction and binding. Thereby, effective, consistent firing is accomplished without an undue increase in firing force required when the end effector is articulated.
1. A surgical instrument, comprising:
a handle portion comprising:
articulation control circuitry operably configured to produce an articulation support signal,
a firing mechanism including a longitudinally translating firing bar;
an elongate shaft attached to the handle and including a firing bar guide slot encompassing the firing bar; and
an end effector distally attached to the elongate shaft and actuated by a distal end of the firing bar;
an articulation joint coupling the elongate shaft to the end effector and in communication with the articulation support signal through the elongate shaft; and
a pair of electroactive polymer support members positioned in the articulation joint on each lateral side of the firing bar responsive to the articulation support signal to dimensionally adjust in compensation for articulating to a selected lateral side.
2. The surgical instrument of claim 1 , wherein a selected one of the pair of electroactive polymer support members on an inside of an articulation movement contracts in response to the articulation support signal.
3. The surgical instrument of claim 1 , wherein a selected one of the pair of electroactive polymer support members on an outside of an articulation movement elongates in response to the articulation support signal.
4. The surgical instrument of claim 1 , wherein the electroactive polymer support members each comprise an electroactive polymer plate actuator operably configured to laterally deflect in response to the articulation support signal.
5. The surgical instrument of claim 4 , wherein a selected one of the proximal portion and the distal portion of the articulation joint include a frame recess communicating with the firing bar guide slot, each electroactive polymer plate actuator comprising a rigid substrate having an outwardly deflected end received in the frame recess and comprising an electroactive polymer actuator attached to one side of the rigid substrate to effect bending in response to the articulation support signal.
6. The surgical instrument of claim 5 , further comprising a resilient member inserted in longitudinal opposition between the outwardly deflected end of the rigid substrate and a wall of the frame recess.
7. The surgical instrument of claim of claim 5 , wherein the electroactive polymer actuator is attached on an inside surface of the rigid substrate proximate to the firing bar.
8. The surgical instrument of claim 5 , wherein an inner surface of the rigid substrate is proximate to the firing bar and wherein the electroactive polymer actuator is attached on an outer surface of the rigid substrate.
9. The surgical instrument of claim 1 , wherein the articulation joint comprises a proximal portion attached to the elongate shaft and a distal portion attached to the end effector, the proximal portion attached for articulating movement to the distal portion, each electroactive polymer actuator attached respectively to the proximal portion and distal portion and operatively configured to effect articulation in response to the articulation support signal.
10. The surgical instrument of claim 9 , wherein the articulation joint comprises the proximal portion pivotally attached to the distal portion.
11. The surgical instrument of claim 9 , wherein the articulation joint comprises an upper band and a lower band each formed of a flexible and longitudinally incompressible material attached between the proximal and distal portions and a plurality of left vertical ribs and a plurality of right vertical ribs, each rib connected on a respective lateral side between the upper and lower bands.
12. The surgical instrument of claim 9 , wherein a selected one of the pair of electroactive polymer support members on an inside of an articulation movement contracts in response to the articulation support signal.
13. The surgical instrument of claim 9 , wherein a selected one of the pair of electroactive polymer support members on an outside of an articulation movement elongates in response to the articulation support signal.
14. The surgical instrument of claim 9 , wherein the electroactive polymer support members each comprise an electroactive polymer plate actuator operably configured to laterally deflect in response to the articulation support signal.
15. The surgical instrument of claim 9 , wherein each of the electroactive polymer support members comprise a structural member having a longitudinal portion and an outwardly bent tab at each end constrained respectively within the proximal portion and the distal portion of the articulation joint, and further comprise an inner and outer electroactive polymer actuator, each configured for longitudinal expansion positioned on longitudinally opposite sides of a selected one of the outwardly bent tabs wherein the respective portion of the articulation joint includes an inwardly open recess that receives the inner and outer electroactive polymer actuators and the selected one of the outwardly bent tabs.
16. The surgical instrument of claim 15 , wherein each of the electroactive polymer support members further comprise a second pair of inner and outer electroactive polymer actuators each configured for longitudinal expansion positioned on longitudinally opposite sides of the other one of the outwardly bent tabs wherein the respective portion of the articulation joint includes an inwardly open recess that receives the second pair of inner and outer electroactive polymer actuators and the other one of the outwardly bent tabs, the articulation control circuitry operatively configured to activate both outer electroactive polymer actuators of a selected electroactive polymer support member to effect lengthening and to activate both inner electroactive polymer actuators to effect shortening.
17. A surgical instrument, comprising:
a handle portion comprising an articulation control circuitry operably configured to produce an articulation support signal;
an elongate shaft attached to the handle portion; and
an end effector distally attached to the elongate shaft;
an articulation joint coupling the elongate shaft to the end effector and in communication with the articulation support signal through the elongate shaft; and
a pair of electroactive polymer support members positioned on lateral sides of the articulation joint, each having one end longitudinally constrained therein and the other slidingly received, aligned with and offset from a longitudinal axis of the elongate shaft, each electroactive polymer support member responsive to the articulation support signal to bend laterally.