Methods and devices for articulating laparoscopic energy device
Electrosurgical instruments and associated methods are disclosed herein. Embodiments of the electrosurgical instruments can include an elongate shaft that can articulate an end effector relative to the elongate shaft, with the end effector including opposed jaws and positioned at a distal end of the elongate shaft. In addition, electrosurgical instruments are provided that include a cutting feature or knife that is coupled to the end effector and can axially translate relative to the elongate shaft. Furthermore, the knife can be rotated relative to the elongate shaft, which can cause simultaneous rotation of the end effector. Electrosurgical instruments are also provided that include an end effector including opposed jaws that are configured to rotate relative to the elongate shaft and grasp objects (i.e., via opening and closing the opposed jaws). Electrical energy can also be passed through the electrosurgical instrument for performing electrosurgical procedures.
1. An electrosurgical device, comprising:
a handle assembly;
an elongate shaft extending distally from the handle assembly and having an end effector with opposed jaws rotatably coupled to a distal end thereof, the end effector being coupled to the elongate shaft at a rotational joint, the elongate shaft including an articulation joint proximal of the rotational joint for allowing articulation of the end effector relative to the elongate shaft; and
a closure assembly having a support housing with first and second closure bands extending therethrough, the first and second closure bands extending through the elongate shaft and being operatively coupled to the end effector for moving the opposed jaws between open and closed positions, the support housing being configured to allow the first and second closure bands to shift axially relative to one another within the support housing in response to articulation of the end effector about the articulation joint, and with the first and second closure bands in any shifted position, the support housing being axially movable to simultaneously axially move the first and second closure bands and to cause the opposed jaws to move between the open and closed positions.
2. The device of claim 1 , wherein the support housing comprises a gimbal having an axial opening extending longitudinally therethrough for receiving the first and second closure bands.
3. The device of claim 1 , wherein the support housing includes vertical and horizontal cross bars disposed therein and coupled to one another, the vertical cross bar being configured to pivot to allow shifting movement of the first and second closure bands, and the horizontal cross bar being configured to move axially to simultaneously axially move with the first and second closure bands.
4. The device of claim 3 , wherein the first and second closure bands each include an opening formed in a proximal end thereof, and the horizontal cross bar extends through the opening formed in each of the first and second closure bands.
5. The device of claim 4 , wherein the support housing has opposed elongate slots formed therein for receiving opposed ends of the horizontal cross bar such that the opposed ends of the horizontal cross bar can pivot within the elongate slots.
6. The device of claim 4 , wherein opposed ends of the vertical cross bar are fixedly disposed within opposed holes formed in the support housing.
7. The device of claim 1 , further comprising an articulation assembly having an articulation mechanism that controls first and second articulation bands extending through the elongate shaft and operatively coupled to the end effector such that activation of the articulation mechanism causes axial movement of the first and second articulation bands, which is effective to articulate the end effector relative to the elongate shaft about the articulation joint.
8. The device of claim 7 , wherein the articulation mechanism includes an articulation knob disposed on the handle assembly for causing axial movement of the first and second articulation bands.
9. The device of claim 1 , further including an articulation control mechanism disposed along the elongate shaft and slidably movable relative to the articulation joint to adjust a bending radius of the articulation joint.
10. The device of claim 1 , further including an active rod extending along the elongate shaft and configured to provide electrical communication between a power source at a proximal end of the active rod and an electrode at a distal end of the active rod.
11. The device of claim 10 , wherein the electrode extends along a length of a first jaw of the opposed jaws.
12. An electrosurgical device, comprising:
an elongate shaft having an end effector with opposed jaws rotatably coupled to a distal end thereof, the end effector being coupled to the elongate shaft at a rotational joint, the elongate shaft including an articulation joint proximal of the rotational joint for allowing articulation of the end effector relative to the elongate shaft;
a knife assembly coupled to the end effector and including a knife at a distal end thereof configured to axially translate relative to the opposed jaws for cutting tissue engaged between the opposed jaws;
a knife positioning rod extending through the elongate shaft and coupled to the knife assembly, the knife positioning rod being axially translatable for causing the knife assembly to translate, and the knife positioning rod being rotatable relative to the elongate shaft to cause rotation of the end effector about the rotational joint; and
a knife advancing member coupled to the knife positioning rod for causing axial translation of the knife positioning rod relative to the elongate shaft, the knife advancing member being non-rotatable relative to the elongate shaft and allowing free rotational movement of the knife positioning rod relative thereto.
13. The device of claim 12 , wherein the knife positioning rod includes a cut-out formed therein for receiving a portion of the knife advancing member such that the knife advancing member is effective to cause axial translation of the knife positioning rod while allowing free rotational movement of the knife advancer shaft relative thereto.
14. The device of claim 12 , further comprising a knife rotating member coupled to the knife positioning rod, the knife rotating member being axially rotatable relative to the elongate shaft to cause rotation of the end effector about the rotational joint.
15. The device of claim 12 , wherein at least a portion of the knife positioning rod is formed from a flexible braided tubing.
16. The device of claim 12 , further including an active rod extending along the elongate shaft and configured to provide electrical communication between a power source at a proximal end of the active rod and an electrode at a distal end of the active rod.
17. The device of claim 16 , wherein the electrode extends along a length of a first jaw of the opposed jaws.
18. An electrosurgical device, comprising:
an elongate shaft having an end effector with opposed jaws rotatably coupled to a distal end thereof, the end effector being coupled to the elongate shaft at a rotational joint, the elongate shaft including an articulation joint proximal of the rotational joint for allowing articulation of the end effector relative to the elongate shaft;
a proximal pull tube extending through the elongate shaft proximal of the rotational joint, and a distal pull tube extending through the end effector only distal of the rotational joint, the proximal pull tube being axially translatable along the elongate shaft to cause the distal pull tube to axially translate to open and close the opposed jaws, and the distal pull tube being configured to rotate freely relative to the proximal pull tube to allow rotation of the end effector about the rotational joint.
19. The device of claim 18 , further comprising a knife assembly extending through the end effector and including a knife for cutting tissue engaged between the opposed jaws, wherein rotation of the knife assembly is effective to cause rotation of the end effector about the rotational joint and to cause rotation of the distal pull tube relative to the proximal pull tube.
20. The device of claim 19 , wherein the knife assembly includes a knife rotating member extending through the elongate shaft and coupled to a knife positioning rod having the knife positioned at a distal end thereof, the knife rotating member being axially rotatable relative to the elongate shaft to cause rotation of the knife assembly and end effector.