Surgical stapling device
A surgical device is disclosed which includes a handle portion, a central body portion and a SULU. The SULU includes a proximal body portion, an intermediate pivot member and a tool assembly. The intermediate pivot member is pivotally secured to the proximal body portion about a first pivot axis and the tool assembly is pivotally secured to the intermediate pivot member about a second pivot axis which is orthogonal to the first pivot axis. The SULU includes a plurality of articulation links which are operably connected to the tool assembly by non-rigid links. The articulation links are adapted to releasably engage articulation links positioned in the central body portion. The body portion articulation links are connected to an articulation actuator which is supported for omni-directional movement to effect articulation of the tool assembly about the first and second axes. The handle portion includes a spindle and barrel assembly drive mechanism for advancing and retracting a drive member positioned in the tool assembly. In one embodiment, the tool assembly includes a cartridge assembly having a plurality of staples and an anvil assembly.
1. A surgical tool comprising:
a shaft having a proximal end and a distal end;
a distal tool assembly attached to the distal end of the shaft, the distal tool assembly comprising:
a drive member comprising:
a lower transverse portion comprising first and second transverse protrusions extending in substantially opposite directions along a first axis,
an upper transverse portion comprising third and fourth transverse protrusions extending in substantially opposite directions along a second axis, the second axis being substantially parallel to the first axis, and
a vertical portion extending between and connecting the lower transverse portion and the upper transverse portion along a third axis substantially perpendicular to the first and second axes, the upper transverse portion and the lower transverse portion being substantially transverse to the vertical portion,
a first jaw comprising:
a proximal end,
a distal end, and
an elongated channel extending between the proximal end of the first jaw and the distal end of the first jaw, the elongated channel being configured to receive a staple cartridge, wherein corresponding slots and grooves in the staple cartridge and the carrier portion are configured to retain the staple cartridge within the elongated channel,
a second jaw pivotable relative to the first jaw, the second jaw comprising:
a proximal end,
a distal end,
an anvil having at least one staple forming surface thereon, the at least one staple forming surface having at least one staple deforming pocket, and
the anvil having a longitudinal channel extending between the proximal end of the second jaw and the distal end of the second jaw, the longitudinal channel being configured to receive the third and fourth transverse protrusions of the upper transverse portion of the drive member, and
at least one first cable extending through at least a portion of the elongated channel, the at least one first cable being attached to the drive member, wherein force on the at least one first cable causes the drive member to move along the first and second jaws such that the third and fourth transverse protrusions of the upper transverse portion of the drive member move through the longitudinal channel and causes at least one of:
the first and second jaws to clamp,
staples to be ejected from a staple cartridge when a staple cartridge is received within the elongated channel of the first jaw, and
retraction of the drive member in a proximal direction; and
a connection mechanism connecting the distal tool assembly to the shaft, the connection mechanism comprising:
a first pivot axis being substantially perpendicular to a longitudinal axis of the shaft,
at least one pulley rotatable about the first pivot axis, wherein rotation of the at least one pulley causes the distal tool assembly to pivot about the first pivot axis,
at least one second cable received in a channel of the pulley, wherein movement of the at least one second cable causes the pulley to rotate about the first pivot axis such that the distal tool assembly pivots about the first pivot axis, and
a second pivot axis being substantially perpendicular to the longitudinal axis of the shaft and to the first pivot axis, wherein the distal tool assembly is pivotable about the second pivot axis.
2. The surgical tool of claim 1 , wherein the distal tool assembly further includes a staple cartridge received within the elongated channel of the first jaw, the staple cartridge having a longitudinal slot and having at least three rows of staples disposed on each side of the longitudinal slot, the at least three rows of staples on each side of the longitudinal slot being substantially parallel to the longitudinal slot.
3. The surgical tool of claim 2 , wherein the distal tool assembly is rotatable about the longitudinal axis of the shaft.
4. The surgical tool of claim 3 , further comprising:
at least one third cable extending through at least a portion of the elongated channel and attached to the drive member, wherein force on the at least one third cable causes the drive member to move along the first and second jaws such that the third and fourth transverse protrusions of the upper transverse portion of the drive member move through the longitudinal channel and causes at least one of:
the first and second jaws to clamp,
staples to be ejected from the staple cartridge, and
retraction of the drive member in a distal direction.
5. The surgical tool of claim 4 , further comprising at least one of the at least one first cable and the at least one second cable extending through the connection mechanism.
6. The surgical tool of claim 4 , further comprising the at least one first cable being attached to the drive member by at least one first hole in the drive member and the at least one second cable being attached to the drive member by at least one second hole in the drive member.
7. The surgical tool of claim 3 , further comprising the at least one first cable extending through the connection mechanism.
8. The surgical tool of claim 2 , further comprising the at least one first cable being attached to the drive member by at least one hole in the drive member.
9. The surgical tool of claim 2 , further comprising a sled having at least one cam wedge, wherein force on the at least one first cable causes the drive member to contact the sled such that the at least one cam wedge causes the staples to be ejected from the staple cartridge.
10. A surgical tool comprising:
a shaft having a proximal end and a distal end;
a distal tool assembly attached to the distal end of the shaft and rotatable about the longitudinal axis of the shaft, the distal tool assembly comprising:
a drive member comprising:
a lower transverse portion comprising first and second transverse protrusions extending in substantially opposite directions,
an upper transverse portion comprising third and fourth transverse protrusions extending in substantially opposite directions, and
a vertical portion extending between and connecting the lower transverse portion and the upper transverse portion, the vertical portion being substantially perpendicular to the lower transverse portion and the upper transverse portion, and the upper transverse portion and the lower transverse portion being substantially transverse to the vertical portion,
a first jaw comprising:
a proximal end,
a distal end, and
an elongated channel extending between the proximal end of the first jaw and the distal end of the first jaw, the elongated channel being configured to receive a staple cartridge
a second jaw pivotable relative to the first jaw, the second jaw comprising:
a proximal end,
a distal end,
an anvil having at least one staple forming surface thereon, the at least one staple forming surface defining at least one staple deforming pocket, and
the anvil defining a longitudinal channel extending between the proximal end of the second jaw and the distal end of the second jaw, the longitudinal channel being configured to receive the third and fourth transverse protrusions of the upper transverse portion of the drive member, and
at least one first cable extending through at least a portion of the elongated channel, the at least one first cable being attached to the drive member, wherein force on the at least one first cable causes the drive member to move along the first and second jaws such that the third and fourth transverse protrusions of the upper transverse portion of the drive member move through the longitudinal channel and causes at least one of:
the first and second jaws to clamp,
staples to be ejected from a staple cartridge when a staple cartridge is received within the elongated channel of the first jaw, and
retraction of the drive member in a proximal direction; and
a connection mechanism connecting the distal tool assembly to the shaft, the connection mechanism comprising:
a first pivot axis being substantially perpendicular to a longitudinal axis of the shaft,
at least one pulley rotatable about the first pivot axis, wherein rotation of the at least one pulley causes the distal tool assembly to pivot about the first pivot axis,
at least one second cable received in a channel of the pulley, wherein movement of the at least one second cable causes the pulley to rotate about the first pivot axis such that the distal tool assembly pivots about the first pivot axis, and
a second pivot axis being substantially perpendicular to the longitudinal axis of the shaft and to the first pivot axis, wherein the distal tool assembly is pivotable about the second pivot axis.
11. The surgical tool of claim 10 , wherein the tool assembly further includes a staple cartridge received within the elongated channel of the first jaw, the staple cartridge defining a longitudinal slot and having at least three rows of staples disposed on each side of the longitudinal slot, the at least three rows of staples on each side of the longitudinal slot being substantially parallel to the longitudinal slot, wherein corresponding slots and grooves in the staple cartridge and the first jaw function to retain the staple cartridge within the elongated channel.
12. The surgical tool of claim 11 , further comprising:
at least one third cable extending through at least a portion of the elongated channel and attached to the drive member, wherein force on the at least one third cable causes the third and fourth transverse protrusions of the upper transverse portion of the drive member to move through the longitudinal channel and causes at least one of:
the first and second jaws to clamp,
staples to be ejected from the staple cartridge, and
retraction of the drive member in a distal direction.
13. The surgical tool of claim 11 , further comprising the at least one first cable extending through the connection mechanism.
14. The surgical tool of claim 11 , further comprising a sled having at least one cam wedge, wherein force on the at least one first cable causes the drive member to contact the sled such that the at least one cam wedge causes the staples to be ejected from the staple cartridge.
15. A surgical tool comprising:
a shaft having a proximal end and a distal end;
a distal tool assembly attached to the distal end of the shaft, the distal tool assembly comprising:
a drive member comprising:
a lower transverse portion comprising first and second transverse protrusions extending in substantially opposite directions,
an upper transverse portion comprising third and fourth transverse protrusions extending in substantially opposite directions, and
a vertical portion extending between and connecting the lower transverse portion and the upper transverse portion, the vertical portion being substantially perpendicular to the lower transverse portion and the upper transverse portion, and the upper transverse portion and the lower transverse portion being substantially transverse to the vertical portion,
a first jaw comprising:
a proximal end,
a distal end, and
an elongated channel extending between the proximal end of the first jaw and the distal end of the first jaw, the elongated channel being configured to receive a staple cartridge,
a second jaw pivotable relative to the first jaw, the second jaw comprising:
a proximal end,
a distal end,
an anvil having at least one staple forming surface thereon, the at least one staple forming surface having at least one staple deforming pocket, and
the anvil having a longitudinal channel extending between the proximal end of the second jaw and the distal end of the second jaw, the longitudinal channel being configured to receive the third and fourth transverse protrusions of
the upper transverse portion of the drive member, and
at least one first cable extending through at least a portion of the elongated channel, the at least one first cable being attached to the drive member by at least one first hole in the drive member, wherein force on the at least one first cable causes the third and fourth transverse protrusions of the upper transverse portion of the drive member to move through the longitudinal channel and causes at least one of:
the first and second jaws to clamp,
staples to be ejected from a staple cartridge when a staple cartridge is received within the elongated channel of the first jaw, and
retraction of the drive member in a proximal direction; and
a connection mechanism connecting the distal tool assembly to the shaft, the connection mechanism comprising:
a first pivot axis being substantially perpendicular to a longitudinal axis of the shaft,
at least one pulley rotatable about the first pivot axis, wherein rotation of the at least one pulley causes the distal tool assembly to pivot about the first pivot axis,
at least one second cable and received in a channel of the pulley, wherein movement of the at least one second cable causes the pulley to rotate about the first pivot axis such that the distal tool assembly pivots about the first pivot axis, and
a second pivot axis being substantially perpendicular to the longitudinal axis of the shaft and to the first pivot axis, wherein the distal tool assembly is pivotable about the second pivot axis.
16. The surgical tool of claim 15 , wherein the tool assembly further includes a staple cartridge received within the elongated channel of the first jaw, the staple cartridge having a longitudinal slot and including at least three rows of staples disposed on each side of the longitudinal slot, the at least three rows of staples on each side of the longitudinal slot being substantially parallel to the longitudinal slot, wherein corresponding slots and grooves in the staple cartridge and the first jaw function to retain the staple cartridge within the elongated channel.
17. The surgical tool of claim 15 , wherein the distal tool assembly is rotatable about the longitudinal axis of the shaft.
18. The surgical tool of claim 16 , further comprising:
at least one third cable extending through at least a portion of the elongated channel and attached to the drive member by at least one second hole in the drive member, wherein force on the at least one third cable causes the third and fourth transverse protrusions of the upper transverse portion of the drive member to move through the longitudinal channel and causes at least one of:
the first and second jaws to clamp,
staples to be ejected from the staple cartridge, and
retraction of the drive member in a distal direction.
19. The surgical tool of claim 16 , further comprising the at least one first cable extending through the connection mechanism.
20. The surgical tool of claim 16 , further comprising a sled having at least one cam wedge, wherein force on the at least one first cable causes the drive member to contact the sled such that the at least one cam wedge causes the staples to be ejected from the staple cartridge.