Stapler beam architecture
An end effector that can have an upper jaw and a lower jaw. A wrist can connect the end effector to an elongated shaft. A beam member can be arranged to translate within the upper and lower jaw. An actuation assembly can have a pushing assembly configured to transfer compressive force to the beam member and a pulling assembly configured to transfer tensile force to the beam member.
1. An apparatus comprising:
an end effector comprising an upper jaw and a lower jaw;
an instrument shaft;
a wrist assembly moveably connecting the end effector to the instrument shaft, wherein the wrist assembly is operable to articulate the end effector relative to the instrument shaft about two orthogonal axes relative to the instrument shaft, wherein the wrist assembly comprises an internal sheath having an inner passage, and wherein the internal sheath is flexible to bend with movement of the wrist assembly but does not move axially;
a beam member arranged to translate within the upper jaw and the lower jaw, the beam member having a first portion for moveably coupling to the upper jaw and a second portion for moveably coupling to the lower jaw; and
an actuation assembly comprising a pushing assembly and a pulling assembly, wherein the pulling assembly is configured to transfer tensile force to the beam member to translate the beam member proximally relative to the upper jaw and the lower jaw, wherein the pushing assembly is configured to transfer compressive force to the beam member to translate the beam member distally relative to the upper jaw and the lower jaw, wherein the actuation assembly extends through the inner passage, and wherein the internal sheath guides and constrains the actuation assembly during movement of the actuation assembly relative to the internal sheath.
2. A surgical tool comprising:
an end effector comprising an upper jaw and a lower jaw;
an instrument shaft;
a wrist assembly moveably connecting the end effector to the instrument shaft, wherein the wrist assembly is operable to articulate the end effector relative to the instrument shaft about two orthogonal axes relative to the instrument shaft, wherein the wrist assembly comprises an internal sheath having an inner passage, and wherein the internal sheath is flexible to bend with movement of the wrist assembly but does not move axially;
a beam member arranged to translate within the upper jaw and the lower jaw, the beam member having a first portion for moveably coupling to the upper jaw and a second portion for moveably coupling to the lower jaw; and
an actuation assembly comprising a pushing assembly and a pulling assembly, wherein the pulling assembly is configured to transfer a tensile force to the beam member to translate the beam member proximally relative to the upper jaw and the lower jaw, wherein the pushing assembly is configured to transfer a compressive force to the beam member to translate the beam member distally relative to the upper jaw and the lower jaw, wherein the actuation assembly extends through the inner passage, and wherein the internal sheath guides and constrains the actuation assembly during movement of the actuation assembly relative to the internal sheath.
3. The surgical tool of claim 2 , wherein:
the pulling assembly comprises an elongated cable; and
the pushing assembly comprises an inner lumen surrounding the elongated cable.
4. The surgical tool of claim 2 , wherein the pushing assembly comprises a close-coiled spring.
5. The surgical tool of claim 4 , wherein the close-coiled spring has a cylindrical outer surface.
6. The surgical tool of claim 4 , wherein the close-coiled spring has interfacing convex and concave surfaces.
7. The surgical tool of claim 4 , wherein close-coiled spring comprises a spiral cut tube.
8. The surgical tool of claim 2 , wherein the pushing assembly comprises a tube having a pattern of recesses.
9. The surgical tool of claim 2 , wherein the pushing assembly comprises a plurality of pushing elements that separate under tension.
10. The surgical tool of claim 9 , wherein the pushing assembly comprises a plurality of spherical members.
11. The surgical tool of claim 10 , wherein the pulling assembly defines an inner lumen that houses the spherical members.
12. The surgical tool of claim 11 , wherein the spherical members are linked by a flexible rod.
13. The surgical tool of claim 2 , wherein the pushing assembly comprises separate elements having interfacing surfaces that limit transverse relative sliding between the separate elements to one direction.
14. The surgical tool of claim 2 , wherein the pushing assembly comprises separate elements having interfacing surfaces that inhibit relative twisting between the separate elements.
15. The surgical tool of claim 2 , wherein the pushing assembly comprises a stack of flat washers.
16. The surgical tool of claim 2 , wherein the pushing assembly comprises a stack of torus disks.
17. The surgical tool of claim 2 , wherein the pulling assembly comprises a plurality of sheet metal bands.
18. The surgical tool of claim 17 , wherein the pushing assembly comprises a stack of rectangular washers defining a lumen through which the plurality of sheet metal bands extends.
19. The surgical tool of claim 2 , wherein:
the pushing assembly comprises a one-dimensional array of flexible rods;
the pulling assembly comprises the one-dimensional array of flexible rods;
the one-dimensional array of flexible rods transfers the tensile force to the beam member; and
the one-dimensional array of flexible rods transfers the compressive force to the beam member.
20. The surgical tool of claim 2 , wherein:
the pushing assembly comprises a nickel-titanium rod;
the pulling assembly comprises the nickel-titanium rod;
the nickel-titanium rod transfers the tensile force to the beam member; and
the nickel-titanium rod transfers the compressive force to the beam member.