Surgical devices and systems with rotating end effector assemblies having an ultrasonic blade
Surgical devices and systems having rotating end effector assemblies for treating tissue are provided. Methods for using the same are also provided.
1. A surgical device, comprising: an instrument shaft; a waveguide extending through the instrument shaft; a rotation assembly having a tubular body having a plurality of channels defined therein; and an end effector assembly at a distal end of the instrument shaft, the end effector assembly including: a clamping element coupled to the tubular body of the rotation assembly, and an ultrasonic blade coupled to a distal end of the waveguide; wherein the rotation assembly further includes a sliding means for selectively causing rotation of the tubular body and thereby rotate the clamping element about and relative to the ultrasonic blade, wherein the sliding means comprises a pin plate and an actuator rod, and wherein the pin plate has one or more pins extending radially outward therefrom and configured to slide within the plurality of channels in response to axial translation of the actuator rod relative to the instrument shaft.
2. The device of claim 1 , further comprising an ultrasonic transducer, wherein the waveguide is acoustically coupled with the ultrasonic transducer.
3. The device of claim 1 , wherein the instrument shaft includes a locking mechanism that is configured to selectively lock the tubular body to thereby prevent rotation thereof relative to the instrument shaft.
4. The device of claim 1 , further comprising a first ratchet-like mechanism that is configured to prevent rotation of the tubular body relative to the instrument shaft in a first direction.
5. The device of claim 4 , further comprising a second ratchet-like mechanism configured to prevent rotation of the tubular body relative to the instrument shaft in a second direction that is opposite the first direction.
6. The device of claim 1 , wherein the tubular body has a plurality of projections that extend radially outward from a segment of the tubular body, and wherein the plurality of channels are formed between the plurality of projections.
7. The device of claim 1 , further comprising a clamping assembly that is coupled to the clamping element and configured to selectively move the clamping element towards and away from the ultrasonic blade.
8. The device of claim 1 , wherein the instrument shaft has an articulable region and a non-articulable region.
9. The device of claim 8 , further comprising an articulation means for deflecting the end effector assembly from a position aligned with a longitudinal axis, wherein the longitudinal axis extends along the non-articulable section of the instrument shaft.
10. The device of claim 1 , further comprising a handle housing having the instrument shaft extending therefrom.
11. The device of claim 1 , further comprising an instrument housing that is configured to be mounted to an electromechanical arm, wherein the instrument shaft extends from the instrument housing.
12. The device of claim 1 , wherein the sliding means comprises a pin plate and an actuator rod, and wherein the pin plate has one or more pins extending radially outward therefrom and configured to slide within the plurality of channels in response to axial translation of the actuator rod relative to the instrument shaft.
13. A surgical device, comprising: a housing having an ultrasonic transducer disposed therein; an instrument shaft extending from the housing; a flexible waveguide extending through the instrument shaft; an end effector assembly at a distal end of the instrument shaft, the end effector assembly having a jaw and an ultrasonic blade, the ultrasonic blade being is coupled to the waveguide; an articulation assembly configured to selectively articulate a distal portion of the instrument shaft to cause the end effector assembly to move between an unarticulated condition and an articulated condition; and a rotation means for selectively rotating the jaw about the ultrasonic blade relative to an outer sleeve of the instrument shaft while the end effector assembly is in the unarticulated condition or the articulated condition.
14. The device of claim 13 , wherein the articulation assembly is further configured to selectively articulate the distal portion of the instrument shaft to cause the end effector assembly to move between a plurality of articulated conditions.
15. The device of claim 13 , wherein the articulation assembly comprises an articulation pull that is coupled to the instrument shaft and to at least one actuator rod, and wherein the at least one actuator rod extends through the instrument shaft.
16. The device of claim 13 , wherein the rotation means comprises an inner sleeve having a plurality of channels defined therein and one or more pins configured to selectively slide within the channels to thereby cause rotation of the jaw about the ultrasonic blade.
17. The device of claim 16 , further comprising a first locking assembly having a first plurality of teeth that extend circumferentially around an end of the inner sleeve and a first spring arm configured to engage the first plurality of teeth to prevent rotation of the inner sleeve relative to the instrument shaft in a first direction.
18. The device of claim 17 , further comprising a second locking assembly having a second plurality of teeth that extend circumferentially around the end of the inner sleeve and a second spring arm configured to engage the second plurality of teeth to prevent rotation of the inner sleeve relative to the instrument shaft in a second direction that is opposite the first direction.
19. The device of claim 13 , further comprising an electromechanical arm having a motor disposed therein, wherein the housing is mounted to the electromechanical arm.