Surgical instrument with articulation region
A surgical instrument ( 10, 110, 210 ) includes an articulating tube assembly ( 20, 120, 220 ) having a proximal end and a distal end, an articulating region ( 23, 123, 223 ) disposed between the proximal end and the distal end, and a proximal axis axially extending from the proximal end to the articulating region ( 23, 123, 223 ). The articulating tube assembly ( 20, 120, 220 ) includes an inner tube ( 24, 124, 224 ) and an outer tube ( 26, 126, 226 ) each having the articulating region ( 23, 123, 223 ). The inner tube ( 24, 124, 224 ) and the outer tube ( 26, 126, 226 ) being movable relative to each other proximal to the articulating region ( 23, 123, 223 ) and fixed axially relative one another distal to the articulating region ( 23, 123, 223 ). The surgical instrument ( 10, 110, 210 ) also includes an actuation assembly ( 22, 122, 222 a ) coupled to the articulating tube assembly ( 20, 120, 220 ) for moving the inner tube ( 24, 124, 224 ) and the outer tube ( 26, 126, 226 ) axially relative to each other for articulating the articulating region ( 23, 123, 223 ) of the articulating tube assembly ( 20, 120, 220 ) between a first configuration and a second configuration, wherein the articulating region ( 23, 123, 223 ) is rigid in the first configuration and the second configuration.
1. A surgical instrument comprising:
an articulating tube assembly having a proximal end and a distal end, an articulating region disposed between said proximal end and said distal end, and a proximal axis axially extending from said proximal end to said articulating region, said articulating tube assembly including:
an inner tube comprising said articulating region with said articulating region of said inner tube comprising:
a beam extending axially between a proximal end and a distal end of said articulation region of said articulating tube assembly of said inner tube;
bottoming segments extending circumferentially from and spaced axially along said beam with said bottoming segments defining a gap therebetween;
an outer tube movable axially relative to said inner tube proximal to said articulating region and fixed axially relative to said inner tube distal to said articulating region, said outer tube comprising said articulating region with said articulating region of said outer tube comprising:
a beam extending axially between said proximal end and said distal end of said articulation region of said articulating tube assembly of said outer tube;
bottoming segments extending circumferentially from and spaced axially along said beam; and
an actuation assembly coupled to said articulating tube assembly for moving said inner tube and said outer tube axially relative to each other in one of a first direction,
wherein said first direction, said articulating region is configured to articulate until said bottoming segments of said inner tube bottom on each other to close said gap of said inner tube such that axial loading about a circumference between said bottoming segments of said inner tube provides rigidity to said articulating region in a substantially curved condition relative to said proximal axis,
wherein said second direction, said bottoming segments of the outer tube bottom on each other such that axial loading about a circumference between said bottoming segments of said outer tube provides rigidity to maintain said articulating region in a substantially straight condition along said proximal axis;
wherein said beam of said inner tube further comprises a pair of beams extending axially between said proximal end and said distal end of said articulating region of said articulating tube assembly, and tie straps extending circumferentially between and spaced axially along said pair of beams, said tie straps adapted to maintain a cylindrical profile of said articulation region and prevent said beams from buckling during articulation of said inner tube.
2. The surgical instrument of claim 1 , further comprising a working tool disposed within the articulating tube assembly with said working tool comprising a proximal end and a distal end, and a flexible region disposed between said proximal and distal ends of said working tool with said flexible region adapted to be aligned with said articulating region of said articulating tube assembly.
3. The surgical instrument of claim 1 , wherein each of said bottoming segments of said inner tube comprise inclined lower sides adapted to provide surface-to-surface contact against each other when said bottoming segments of said inner tube bottom on each other in said substantially curved condition.
4. The surgical instrument of claim 1 , wherein each of said bottoming segments of said inner tube, when said articulating region is in said substantially curved condition, articulates between approximately 3.5° and 4°.
5. The surgical instrument of claim 1 , wherein each of said bottoming segments of said outer tube comprises a projection and a recess with said projection of one of said bottoming segments of said outer tube adapted to be received within said recess of an adjacent one of said bottoming segments of said outer tube in said substantially straight condition to increase torsional and rotational stiffness of said outer tube.
6. The surgical instrument of claim 1 , wherein said outer tube further comprises tie straps coupled to said beam of said outer tube with said tie straps being nonlinear to prevent interference of said tie straps with said bottoming segments of said inner tube during articulation of said articulating tube assembly.
7. The surgical instrument of claim 1 , wherein said beam of said outer tube further comprises a pair of beams extending axially between said proximal end and said distal end of said articulation region of said articulating tube assembly with said pair of beams of said inner tube and said pair of beams of said outer tube being radially oriented opposite said proximal axis.
8. The surgical instrument of claim 1 , wherein said actuation assembly further comprising a handle and a trigger coupled to said handle with said trigger adapted to be actuated to move said inner tube and said outer tube axially relative to each other in one of said first and second directions.
9. The surgical instrument of claim 8 , wherein said trigger further comprises a first trigger coupled to said inner tube and adapted to be actuated to move said inner tube distally relative to said outer tube to articulate said articulating region to said substantially straight condition, and a second trigger coupled to said outer tube to be actuated to move said outer tube proximally relative to said inner tube to articulate said articulating region to said substantially curved condition.
10. The surgical instrument of claim 9 , further comprising locking features coupled to each of said first and second triggers with said locking features adapted to lock said articulating region in one of said substantially straight condition and said substantially curved condition.
11. The surgical instrument of claim 1 , wherein said actuation assembly further comprises a handle and a lever pivotally coupled to said handle with said lever adapted to be actuated to move said inner tube and said outer tube axially relative to each other in one of said first and second directions.
12. The surgical instrument of claim 1 , further comprising a viewing assembly coupled to said articulating tube assembly with said viewing assembly comprising:
a main tube coaxially disposed over said outer tube with said main tube comprising a proximal end and a distal end with said distal end of said articulating tube assembly extending beyond said distal end of said main tube;
a flexible region disposed between said proximal end and said distal end of said main tube with said flexible region adapted to be aligned with said articulating region of said articulating tube assembly; and
a viewing element at said distal end of said main tube.
13. The surgical instrument of claim 12 , wherein said viewing assembly further comprises a shroud coupled to said main tube and at least partially covering said viewing element with said flexible region comprising at least a portion of said shroud.
14. The surgical instrument of claim 1 , wherein a number of said bottoming segments of said inner tube is greater than a number of said bottoming segments of said outer tube.