Surgical instrument with an articulatable shaft assembly and dual end effector roll
An ultrasonic surgical instrument includes a shaft assembly, an end effector, and a clamp arm driver. The shaft assembly includes a shaft portion extending along a first longitudinal axis, an articulation assembly, a distal shaft portion, and an ultrasonic waveguide extending through the proximal shaft portion, the articulation assembly, and the distal shaft portion. The articulation section is configured to deflect the end effector toward and away from the first longitudinal axis between a straight and articulated configuration. The end effector includes an ultrasonic blade defining a second longitudinal axis and a clamp arm configured to move between an open and closed configuration in order to grasp tissue. The clamp arm drive is configured to rotate the clamp arm relative to the ultrasonic blade about the second longitudinal axis and actuate the clamp arm between the open and closed configuration while the end effector is in the articulated configuration.
1. An ultrasonic surgical instrument, comprising:
(a) a shaft assembly, comprising:
(i) a proximal shaft portion extending along a first longitudinal axis,
(ii) an articulation assembly,
(iii) a distal shaft portion extending distally from the articulation assembly, and
(iv) an ultrasonic waveguide, wherein the ultrasonic waveguide extends through the proximal shaft portion, at least a section of the articulation assembly, and the distal shaft portion, wherein the ultrasonic waveguide comprises a flexible portion;
(b) an end effector extending distally from the distal shaft portion, wherein the articulation assembly is configured to deflect the end effector toward and away from the first longitudinal axis between a straight configuration and an articulated configuration, wherein the end effector comprises:
(i) an ultrasonic blade extending from the ultrasonic waveguide, wherein the ultrasonic blade defines a second longitudinal axis, and
(ii) a clamp arm configured to actuate relative to the ultrasonic blade between an open configuration and a closed configuration in order to grasp tissue; and
(c) a clamp arm driver including an elongated portion and a flexible section, wherein the flexible section extends distally from the elongated portion, wherein the clamp arm driver is configured to actuate the clamp arm between the open configuration and the closed configuration while the end effector is in the articulated configuration, wherein the clamp arm driver is also configured to rotate the clamp arm relative to the ultrasonic blade about the second longitudinal axis while the end effector is in the articulated configuration,
wherein the flexible section of the clamp arm driver houses the flexible portion of the ultrasonic waveguide.
2. The ultrasonic surgical instrument of claim 1 , wherein the flexible portion is configured to bend while the end effector is in the articulated configuration.
3. The ultrasonic surgical instrument of claim 2 , wherein the elongated portion is associated with the proximal shaft portion, wherein the elongated portion extends along the first longitudinal axis.
4. The ultrasonic surgical instrument of claim 3 , wherein the elongated portion comprises a tube.
5. The ultrasonic surgical instrument of claim 3 , wherein the flexible section comprises a plurality of longitudinally extending connecting members and a plurality of circumferentially extending connecting members.
6. The ultrasonic surgical instrument of claim 5 , wherein the plurality of circumferentially extending connecting members connect adjacent longitudinally extending connecting members of the plurality of longitudinally extending connecting members.
7. The ultrasonic surgical instrument of claim 6 , wherein the plurality of circumferentially extending connecting members and the plurality of longitudinally extending connecting members are collectively formed with a single, unitary construction.
8. The ultrasonic surgical instrument of claim 3 , wherein the shaft assembly further comprises a waveguide sheath interposed between the ultrasonic waveguide and the clamp arm driver.
9. The ultrasonic surgical instrument of claim 8 , wherein the waveguide sheath comprises a flexible cover housing the flexible portion of the ultrasonic waveguide.
10. The ultrasonic surgical instrument of claim 1 , wherein the clamp arm is pivotally coupled to a first tongue associated with the distal shaft portion, wherein the first tongue is rotatable relative to the distal shaft portion.
11. The ultrasonic surgical instrument of claim 10 , wherein the clamp arm is pivotally coupled with a second tongue associated with a distal end of the clamp arm driver.
12. The ultrasonic surgical instrument of claim 1 , further comprising a drive chassis, wherein the clamp arm driver comprises a proximal end housed within the drive chassis, wherein the proximal end of the clamp arm driver comprises a circular rack and a proximal gear, wherein the drive chassis is configured to rotate the clamp arm driver via the proximal gear, wherein the drive chassis is configured to translate the clamp arm driver via the circular rack.
13. The ultrasonic surgical instrument of claim 1 , wherein the clamp arm driver is also configured to rotate the clamp arm relative to the ultrasonic blade about the second longitudinal axis while the end effector is in the straight configuration.
14. The ultrasonic surgical instrument of claim 1 , wherein the clamp arm driver is also configured to actuate the clamp arm between the open configuration and the closed configuration while the end effector is in the straight configuration.
15. An ultrasonic surgical instrument, comprising:
(a) a shaft assembly, comprising
(i) a proximal shaft portion extending along a first longitudinal axis,
(ii) an articulation assembly, and
(iii) an ultrasonic waveguide comprising a flexible portion housed within a section of the articulation assembly;
(b) an end effector extending distally from the articulation assembly, wherein the articulation assembly is configured to deflect the end effector toward and away from the first longitudinal axis between a straight configuration and an articulated configuration, wherein the end effector comprises:
(i) an ultrasonic blade extending from the ultrasonic waveguide, wherein the ultrasonic blade defines a second longitudinal axis, and
(ii) a clamp arm configured to actuate relative to the ultrasonic blade between an open configuration and a closed configuration in order to grasp tissue; and
(c) a clamp arm driver comprising a flexible section interposed between the section of the articulation assembly and the flexible portion of the ultrasonic waveguide, wherein the clamp arm driver is configured to actuate the clamp arm between the open and closed configurations and rotate the clamp arm relative to the ultrasonic blade about the second longitudinal axis while the end effector is in the articulated configuration,
wherein the flexible section is configured to be translated to thereby transfer translation therethrough, and
wherein the flexible section is further configured to be rotated to thereby transfer rotation therethrough.
16. The ultrasonic surgical instrument of claim 15 , wherein the flexible section has a proximal section end and a distal section end, wherein the flexible section is configured to be translated to thereby transfer translation from the proximal section end to the distal section end, and wherein the flexible section is further configured to be rotated to thereby transfer rotation from the proximal section end to the distal section end.
17. The ultrasonic surgical instrument of claim 16 , wherein the flexible section from the proximal section end to the distal section end is of a single, unitary construction.
18. The ultrasonic surgical instrument of claim 17 , wherein the flexible section is configured to translate and rotate while the end effector is deflected in the articulated configuration.
19. A surgical instrument, comprising:
(a) a shaft assembly, comprising
(i) a drive chassis,
(ii) a proximal shaft portion extending along a first longitudinal axis,
(iii) an articulation assembly operatively coupled to the drive chassis, and
(iv) an ultrasonic waveguide, wherein the ultrasonic waveguide extends through the proximal shaft portion and at least a section of the articulation assembly;
(b) an end effector extending distally from the shaft assembly, wherein the articulation assembly is configured to deflect the end effector toward and away from the first longitudinal axis between a straight configuration and an articulated configuration, wherein the end effector comprises:
(i) an ultrasonic blade extending from the ultrasonic waveguide, wherein the ultrasonic blade defines a second longitudinal axis, and
(ii) a clamp arm configured to actuate relative to the ultrasonic blade between an open configuration and a closed configuration in order to grasp tissue; and
(c) a clamp arm driver including a circular rack and a proximal gear operatively coupled to the drive chassis, wherein the drive chassis is configured to translate the clamp arm driver via the circular rack to thereby actuate the clamp arm between the open and closed configurations while the end effector is in the articulated configuration, wherein the drive chassis is also configured to rotate the clamp arm driver via the proximal gear to rotate the clamp arm relative to the ultrasonic blade about the second longitudinal axis while the end effector is in the articulated configuration.
20. The surgical instrument of claim 19 , wherein the clamp arm driver comprises a proximal end housed within the drive chassis, wherein the proximal end of the clamp arm driver includes the circular rack and the proximal gear.