Ultrasonic surgical instrument with end effector having restricted articulation
An apparatus comprises a body assembly, a shaft, an acoustic waveguide, an articulation section, an end effector, and an articulation drive assembly. The shaft extends distally from the body assembly and defines a longitudinal axis. The acoustic waveguide comprises a flexible portion. The articulation section is coupled with the shaft. A portion of the articulation section encompasses the flexible portion of the waveguide. The articulation section comprises a plurality of body portions aligned along the longitudinal axis and a flexible locking member. The flexible locking member is operable to secure the body portions in relation to each other and in relation to the shaft. The end effector comprises an ultrasonic blade in acoustic communication with the waveguide. The articulation drive assembly is operable to drive articulation of the articulation section to thereby deflect the end effector from the longitudinal axis.
1. An apparatus for operating on tissue, the apparatus comprising:
(a) a shaft extending distally from the body assembly, wherein the shaft defines a longitudinal axis;
(b) an acoustic waveguide, wherein the waveguide comprises a flexible portion, wherein at least the flexible portion of the acoustic waveguide is a single, unitarily formed structure;
(c) an articulation section coupled with the shaft, wherein a portion of the articulation section is associated with the flexible portion of the waveguide, wherein the articulation section further comprises:
(i) a first member, and
(ii) a second member, wherein the second member is longitudinally translatable relative to the first member;
(d) an end effector comprising:
(i) an ultrasonic blade in acoustic communication with the waveguide, wherein the ultrasonic blade longitudinally and rigidly projects relative to the articulation section and is configured to cut tissue transversely thereagainst, and
(ii) a clamp arm, wherein the clamp arm is coupled with the first member and the second member; and
(e) an articulation drive assembly operable to drive articulation of the articulation section to thereby deflect the end effector from the longitudinal axis,
the articulation drive assembly comprises a pair of translating members, wherein the translating members are operable to translate simultaneously in opposite directions to thereby deflect the end effector from the longitudinal axis, and
wherein the translating members are further operable to translate simultaneously in the same direction to thereby drive the clamp arm toward and away from the ultrasonic blade.
2. The apparatus of claim 1 , wherein the articulation section includes a collar.
3. The apparatus of claim 1 , further comprising at least one translatable member secured to the first member.
4. The apparatus of claim 3 , wherein the at least one translatable member is operable to translate to thereby drive articulation of the articulation section.
5. The apparatus of claim 3 , wherein the at least one translatable member comprises a band.
6. The apparatus of claim 1 , further comprising at least one translatable member secured to the second member.
7. The apparatus of claim 6 , wherein the at least one translatable member is operable to translate to thereby drive the clamp arm toward and away from the ultrasonic blade.
8. The apparatus of claim 6 , wherein the at least one translatable member comprises a drive cable.
9. The apparatus of claim 1 , wherein the articulation section further comprises an outer tube engaged with the first member.
10. The apparatus of claim 1 , wherein the articulation section comprises a set of ribs separated by gaps configured to promote flexing of the articulation section.
11. The apparatus of claim 1 , wherein the waveguide includes at least one flange defining a pair of flats, wherein the translating members are positioned at respective flats of the pair of flats.
12. The apparatus of claim 1 , wherein the articulation drive assembly comprises at least one rotating member, wherein the rotating member is configured to rotate to thereby cause articulation of the articulation section.
13. The apparatus of claim 12 , wherein the articulation drive assembly further comprises a first translating articulation driver and a second translating articulation driver, wherein the first and second translating articulation drivers are translatable to cause articulation of the articulation section, wherein the first translating articulation driver and the second translating articulation driver are coupled with the at least one rotating member.
14. The apparatus of claim 13 , wherein the rotating member is rotatable in a single direction to thereby cause translation of the first translating articulation driver in a first direction and simultaneous translation of the second translating articulation driver in a second direction.
15. The apparatus of claim 12 , wherein the articulation drive assembly further comprises a locking assembly configured to selectively lock a rotational position of the rotating member.
16. The apparatus of claim 1 , wherein the clamp arm engages the first member in a ball-and-socket configuration.
17. An apparatus for operating on tissue, the apparatus comprising:
(a) a shaft defining a longitudinal axis;
(b) an articulation section coupled with the shaft;
(c) an end effector coupled with the articulation section, wherein the end effector comprises:
(i) a working element distally and rigidly projecting relative to the articulation section in an extended state and configured to engage tissue in the extended state, and
(ii) a clamp arm operable to pivot toward and away from the working element in the extended state; and
(d) an articulation drive assembly operable to drive articulation of the articulation section to thereby deflect the end effector from the longitudinal axis, wherein the articulation drive assembly comprises:
(i) a first translating driver, and
(ii) a second translating driver,
wherein the first and second translating drivers are operable to translate simultaneously in opposite directions to thereby deflect the end effector from the longitudinal axis,
wherein the first and second translating drivers are operable to translate simultaneously in the same direction to thereby drive the clamp arm toward and away from the working element.
18. An apparatus for operating on tissue, the apparatus comprising:
(a) a shaft defining a longitudinal axis;
(b) an articulation section coupled with the shaft;
(c) an end effector coupled with the articulation section, wherein the end effector comprises:
(i) a working element distally and rigidly projecting relative to the articulation section in an extended state and configured to engage tissue in the extended state, and
(ii) a clamp arm operable to pivot toward and away from the working element in the extended state; and
(d) a first pair of translating members, wherein the first pair of translating members is operable to actuate the articulation section to thereby deflect the end effector from the longitudinal axis;
(e) a second pair of translating members, wherein the second pair of translating members is operatively connected to the clamp arm and operable to drive the clamp arm toward and away from the working element; and
(f) an idler operatively connected between each of the second pair of translating members and configured to provide coordinated opposing longitudinal movement of the second pair of translating members in response to deflection of the end effector from the longitudinal axis.