Surgical instruments with articulating shafts
Various embodiments are directed to articulatable surgical instruments and surgical systems comprising articulatable surgical instruments. Some embodiments comprise an end effector to comprising an ultrasonic blade. A hollow shaft may extend proximally from the end effector along a longitudinal axis. The hollow shaft may comprise a rigid portion and a flexible portion at a first position on the longitudinal axis distal from the rigid portion. A waveguide may extend through the shaft and may be acoustically coupled to the ultrasonic blade. The waveguide may comprise a flexible portion at the first position on the longitudinal axis such that the end effector is pivotable away from the longitudinal axis from the first position.
1. An articulatable surgical instrument comprising:
an end effector comprising an ultrasonic blade, wherein the ultrasonic blade comprises a flange;
a hollow shaft extending proximally from the end effector along a longitudinal axis, the hollow shaft comprising a rigid portion and a flexible portion at a first position on the longitudinal axis distal from the rigid portion;
a waveguide extending through the hollow shaft and acoustically coupled to the ultrasonic blade, wherein the waveguide comprises a flexible portion at the first position on the longitudinal axis; and
an interface portion positioned within the hollow shaft, wherein the interface portion is configured to translate within the hollow shaft between a proximal position and a distal position in response to a user input, wherein the interface portion causes the flange to cause the ultrasonic blade to pivot about the longitudinal axis as the interface portion translates between the proximal position and the distal position, and wherein the interface portion comprises a wedge configured to engage the flange as it translates between the proximal position and the distal position.
2. The articulatable surgical instrument of claim 1 , wherein the end effector further comprises:
a member, wherein the ultrasonic blade extends through the member;
a clamp arm coupled to the member at a pivot point offset from the longitudinal axis, wherein the clamp arm is pivotable relative to the ultrasonic blade about the pivot point; and
wherein the interface portion comprises a flexible control cable coupled to the clamp arm at a point offset from the pivot point such that distal and proximal translation of the flexible control cable causes the clamp arm to pivot relative to the ultrasonic blade.
3. A surgical system comprising:
an articulatable surgical instrument comprising:
an end effector to treat tissue, wherein the end effector comprises an ultrasonic blade, and wherein the ultrasonic blade comprises a flange;
a hollow shaft extending proximally from the end effector along a longitudinal axis, the hollow shaft comprising a rigid portion and a flexible portion at a first position on the longitudinal axis distal from the rigid portion;
a waveguide extending through the hollow shaft and acoustically coupled to the ultrasonic blade, wherein the waveguide comprises a flexible portion at the first position on the longitudinal axis such that the end effector is pivotable away from the longitudinal axis from the first position; and
an interface portion positioned within the hollow shaft, wherein the interface portion is configured to translate within the hollow shaft between a proximal position and a distal position in response to a user input, wherein the interface portion causes the flange to cause the ultrasonic blade to pivot about the longitudinal axis as the interface portion translates between the proximal position and the distal position, and wherein the interface portion comprises a wedge configured to engage the flange as it translates between the proximal position and the distal position; and
an instrument mounting portion coupled to the end effector, wherein the instrument mounting portion is configured to pivot the end effector.
4. The surgical system of claim 3 , wherein the end effector further comprises:
a member, wherein the ultrasonic blade extends through the member;
a clamp arm coupled to the member at a pivot point offset from the longitudinal axis, wherein the clamp arm is pivotable relative to the ultrasonic blade about the pivot point; and
wherein the interface portion comprises a flexible control cable coupled to the clamp arm at a point offset from the pivot point such that distal and proximal translation of the flexible control cable causes the clamp arm to pivot relative to the ultrasonic blade.
5. An articulatable surgical instrument comprising:
an end effector comprising an ultrasonic blade, wherein the ultrasonic blade comprises a flange;
a hollow shaft extending from the end effector along a longitudinal axis, the hollow shaft comprising a rigid shaft portion and a flexible shaft portion;
a waveguide extending through the hollow shaft and acoustically coupled to the ultrasonic blade, the waveguide comprising a flexible waveguide portion; and
an interface portion positioned within the hollow shaft, wherein the interface portion is configured to translate within the hollow shaft between a proximal position and a distal position in response to a user input, wherein the interface portion causes the flange to cause the ultrasonic blade to pivot about the longitudinal axis as the interface portion translates between the proximal position and the distal position, wherein the flexible waveguide portion is positionally aligned with the flexible shaft portion such that the end effector is pivotable away from the longitudinal axis, and wherein the interface portion comprises a wedge configured to engage the flange as it translates between the proximal position and the distal position.
6. The articulatable surgical instrument of claim 5 , wherein the end effector further comprises:
a member, wherein the ultrasonic blade extends through the member;
a clamp arm coupled to the member at a pivot point offset from the longitudinal axis, wherein the clamp arm is pivotable relative to the ultrasonic blade about the pivot point; and
wherein the interface portion comprises a flexible control cable coupled to the clamp arm at a point offset from the pivot point such that distal and proximal translation of the flexible control cable causes the clamp arm to pivot relative to the ultrasonic blade.