Surgical instrument incorporating an electrically actuated articulation mechanism
View Patent ↗A surgical instrument particularly suited to endoscopic use articulates an end effector by including an articulation mechanism in an elongate shaft that incorporates an electrically actuated polymer (EAP) actuator for remotely articulating the end effector. In particular, a flexible neck to a frame of the elongate neck may be laterally urged to the left or right by EAP actuators and advantageously locked into an articulated state.
1. A surgical instrument, comprising:
an end effector;
an elongate shaft defining a longitudinal axis;
an articulation joint comprising an upper band and a lower band each formed of a flexible and longitudinally incompressible material 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, the articulation joint further comprising a support plate, wherein the support plate comprises a first portion extending substantially parallel to the longitudinal axis and a second portion extending transverse to the longitudinal axis;
a distal frame ground, wherein the distal frame ground defines an internal recess, wherein the internal recess of the distal frame ground opens transversely relative to the longitudinal recess;
a proximal frame ground, wherein the articulation joint is longitudinally positioned between the distal frame ground and the proximal frame ground, wherein the support plate is engaged with both the distal frame ground and the proximal frame ground, wherein the second portion of the support plate extends into the internal recess of the distal frame ground, wherein the support plate is movable longitudinally relative to one or both of the distal frame ground or the proximal frame ground;
at least one resilient member coupling the support plate with one or both of the distal frame ground or the proximal frame ground, wherein the at least one resilient member is configured to bias the longitudinal position of the support plate relative to one or both of the distal frame ground or the proximal frame ground;
at least one right electroactive polymer actuator attached to the right plurality of vertical ribs and at least one right electroactive polymer actuator attached to the left plurality of vertical ribs, each responsive to an electrical signal to actuate;
a handle portion attached to a proximal end of the elongate shaft and containing control circuitry operatively configured to produce the electrical signal; and
a firing bar proximally attached to the handle portion and movable along the longitudinal axis, wherein the support plate is positioned to laterally support the firing bar through the articulation joint.
2. The surgical instrument of claim 1 , wherein the left plurality of ribs includes a left longitudinal actuator recess that receives the left electroactive polymer actuator, the right plurality of ribs including a right longitudinal actuator recess that receives the right electroactive polymer actuator.
3. The surgical instrument of claim 2 , wherein the left and right electroactive polymer actuators each comprise a plate actuator operably configured to bend in at least one lateral direction when energized.
4. The surgical instrument of claim 2 , wherein the left and right electroactive polymer actuators each comprise at least one electroactive polymer fiber actuator operably configured to longitudinally contract when activated, the respective distal and proximal ends of the left and right electroactive polymer fiber actuators being attached to respective distal and proximal ends of the articulation joint.
5. The surgical instrument of claim 1 , wherein the end effector comprises a lower jaw and a pivotally attached upper jaw.
6. The surgical instrument of claim 5 , wherein the end effector further comprises a stapling and severing assembly actuated by the firing bar, the handle portion operably configured to impart longitudinal firing motion to the firing bar.
7. The surgical instrument of claim 6 , wherein the lower jaw comprises an elongate channel containing a staple cartridge and the pivotally attached upper jaw comprises an anvil presenting a staple forming surface.
8. A surgical instrument, comprising:
an elongate shaft comprising a frame assembly, the elongate shaft defining a longitudinal axis;
a staple applying assembly comprising an elongate channel, a staple cartridge engaged in the elongate channel, and an anvil pivotally attached to the elongate channel presenting a staple forming surface to the staple cartridge;
an articulation joint formed in the frame assembly, the frame assembly comprising a distal frame portion attached to the elongate channel and a proximal frame portion pivotally attached to the distal frame portion, the articulation joint further comprising a support plate, wherein the support plate comprises a first portion extending substantially parallel to the longitudinal axis and a second portion extending transverse to the longitudinal axis, wherein the support plate is engaged with both the distal frame portion and the proximal frame portion, wherein the second portion of the support plate extends into the proximal frame portion or the distal frame portion;
a resilient member securing the second portion of the support plate to the proximal frame portion or the distal frame portion, wherein the resilient member is configured to bias the longitudinal position of the support plate relative to one or both of the distal frame portion or the proximal frame portion;
a handle portion attached to a proximal end of the elongate shaft and operatively configured to selectively communicate an electrical signal to the elongate shaft;
an electroactive polymer actuator connected to the articulation joint and responsive to the electrical signal to perform articulation of the staple applying assembly;
a firing bar proximally attached to the handle portion and movable along the longitudinal axis, wherein the support plate is positioned to laterally support the firing bar through the articulation joint.
9. A surgical instrument, comprising:
an end effector, wherein the end effector defines a longitudinal axis;
an elongate shaft;
a distal frame ground, wherein the end effector is coupled with the distal frame ground;
a proximal frame ground, wherein the elongate shaft is coupled with the proximal frame ground;
an articulation joint attached between the distal frame ground and the proximal frame ground, wherein the articulation joint comprises a support plate, wherein the support plate comprises a first portion extending substantially parallel to the longitudinal axis and a second portion extending transverse to the longitudinal axis, wherein the support plate is engaged with both the distal frame ground and the proximal frame ground, wherein the second portion of the support plate extends into the proximal frame ground or the distal frame ground, wherein the support plate is movable longitudinally relative to one or both of the distal frame ground or the proximal frame ground;
at least one resilient member coupling the second portion of the support plate with one or both of the distal frame ground or the proximal frame ground, wherein the at least one resilient member is configured to bias the longitudinal position of the support plate relative to one or both of the distal frame ground or the proximal frame ground;
a means for electrically actuating the articulation joint;
a handle portion attached to a proximal end of the elongate shaft;
a firing bar proximally attached to the handle portion, wherein the firing bar is movable along the longitudinal axis, wherein the support plate is positioned to laterally support the firing bar through the articulation joint.
10. The surgical instrument of claim 9 , wherein the articulation joint comprises a means for supporting the end effector in an arc about a longitudinal axis of the elongate shaft.
11. The surgical instrument of claim 9 , wherein the end effector further comprises a stapling and severing assembly actuated by the firing bar, the handle portion operably configured to impart longitudinal firing motion to the firing bar.
12. The surgical instrument of claim 11 , wherein the lower jaw comprises an elongate channel containing a staple cartridge and the pivotally attached upper jaw comprises an anvil presenting a staple forming surface.