ULTRASONIC SURGICAL INSTRUMENT WITH A MULTIPLANAR ARTICULATION JOINT
An ultrasonic surgical instrument includes a shaft assembly having a proximal shaft portion extending along a longitudinal axis and having an articulation section extending distally therefrom. The instrument also includes a waveguide including a flexible portion which extends at least partially through the articulation section. The instrument further includes an end effector arranged at a distal end of the shaft assembly. The end effector includes an ultrasonic blade acoustically coupled with the waveguide and configured to be driven by the waveguide with ultrasonic energy. The articulation section is configured to selectively deflect the end effector relative to the longitudinal axis and through a first plane. The articulation section is further configured to selectively deflect the end effector relative to the longitudinal axis and through a second plane. The second plane is different from the first plane for multiplanar deflection of the end effector relative to the longitudinal axis.
1 . An ultrasonic surgical instrument, comprising:
(a) a shaft assembly, wherein the shaft assembly comprises:
(i) a proximal shaft portion extending along a longitudinal axis, and
(ii) an articulation section extending distally from the proximal shaft portion;
(b) a waveguide including a flexible portion, wherein the flexible portion extends at least partially through the articulation section; and
(c) an end effector arranged at a distal end of the shaft assembly, wherein the end effector includes an ultrasonic blade acoustically coupled with the waveguide and configured to be driven by the waveguide with ultrasonic energy,
wherein the articulation section is configured to selectively deflect the end effector relative to the longitudinal axis and through a first plane,
wherein the articulation section is further configured to selectively deflect the end effector relative to the longitudinal axis and through a second plane, and
wherein the second plane is different from the first plane for multiplanar deflection of the end effector relative to the longitudinal axis.
2 . The ultrasonic surgical instrument of claim 1 , wherein the articulation section of the shaft assembly defines an articulation section lumen configured to provide clearance between the flexible portion of the waveguide and the articulation section throughout deflection of the end effector relative to the longitudinal axis through the first and second planes.
3 . The ultrasonic surgical instrument of claim 1 , wherein the articulation section defines a plurality of rotational axes, wherein the articulation section is configured to selectively rotate the end effector about the rotational axes during deflection of the end effector relative to the longitudinal axis through at least one of the first or second planes.
4 . The ultrasonic surgical instrument of claim 3 , wherein the plurality of rotational axes includes at least one pitch axis and at least one yaw axis.
5 . The ultrasonic surgical instrument of claim 3 , wherein the plurality of rotational axes includes a proximal pitch axis and a distal pitch axis.
6 . The ultrasonic surgical instrument of claim 3 , wherein the plurality of rotational axes includes a proximal yaw axis and a distal yaw axis.
7 . The ultrasonic surgical instrument of claim 1 , further comprising a plurality of articulation cable segments grounded to at least a portion of the articulation section of the shaft assembly, wherein selective manipulation of the articulation cable segments causes deflection of the end effector relative to the longitudinal axis through the first and second planes.
8 . The ultrasonic surgical instrument of claim 7 , wherein the plurality of articulation cable segments includes a plurality of proximal articulation cable segments grounded to a first link of the articulation section, wherein the plurality of articulation cable segments further includes a plurality of distal articulation cable segments grounded to a second link of the articulation section, wherein the second link is distal relative to the first link.
9 . The ultrasonic surgical instrument of claim 7 , wherein the plurality of articulation cable segments includes a pair of laterally-offset articulation cable segments.
10 . The ultrasonic surgical instrument of claim 7 , wherein the plurality of articulation cable segments includes a pair of transversely-offset articulation cable segments.
11 . The ultrasonic surgical instrument of claim 7 , wherein the plurality of articulation cable segments includes a pair of articulation cable segments integrally formed together as a single cable.
12 . The ultrasonic surgical instrument of claim 1 , wherein the end effector further includes a clamp arm movably secured relative to the ultrasonic blade and configured to move from an open position configured to receive a tissue toward a closed position configured to clamp the tissue against the ultrasonic blade, the ultrasonic surgical instrument further comprising at least one closure cable extending distally through the articulation section to the clamp arm and configured to actuate the clamp arm from one of the open or closed positions toward the other of the open or closed positions.
13 . The ultrasonic surgical instrument of claim 1 , wherein the articulation section of the shaft assembly is configured to limit the flexible portion of the waveguide to a predetermined maximum bend radius.
14 . The ultrasonic surgical instrument of claim 13 , wherein the articulation section of the shaft assembly defines an articulation section lumen configured to provide clearance between the flexible portion of the waveguide and the articulation section when the flexible portion of the waveguide is bent to the predetermined maximum bend radius.
15 . The ultrasonic surgical instrument of claim 1 , further comprising a base assembly, wherein the base assembly includes a robotic driven interface operatively connected to the articulation section of the shaft assembly and configured to connect to a robotic drive for selectively directing deflection of the end effector relative to the longitudinal axis through the first and second planes.
16 . An ultrasonic surgical instrument, comprising:
(a) an end effector including an ultrasonic blade; and
(b) a shaft assembly, including:
(i) a proximal shaft portion defining a longitudinal axis,
(ii) a distal shaft portion, and
(iii) an articulation section extending between the proximal and distal shaft portions,
wherein the articulation section is configured to articulate in a first direction to thereby deflect the ultrasonic blade relative to the longitudinal axis and through a first plane,
wherein the articulation section is further configured to articulate in a second direction to thereby deflect the ultrasonic blade relative to the longitudinal axis and through a second plane,
wherein the second direction is different from the first direction such that the second plane is different from the first plane for multiplanar deflection of the ultrasonic blade relative to the longitudinal axis.
17 . The ultrasonic surgical instrument of claim 16 , wherein the articulation section includes a plurality of links configured to pivot relative to each other to thereby articulate in the first direction or the second direction.
18 . The ultrasonic surgical instrument of claim 17 , wherein the plurality of links includes a first link, a second link, and a third link, wherein the first link is configured to pivot relative to the second link to thereby articulate in the first direction, wherein the second link is configured to pivot relative to the third link to thereby articulate in the second direction.
19 . The ultrasonic surgical instrument of claim 17 , wherein each of the links includes a link hollow, wherein the link hollows of the links collectively define an articulation section lumen for receiving a waveguide.
20 . A method of deflecting an end effector of an ultrasonic surgical instrument, wherein the ultrasonic surgical instrument has a shaft assembly including (a) a proximal shaft portion defining a longitudinal axis; (b) a distal shaft portion; and (c) an articulation section extending between the proximal and distal shaft portions, the method comprising:
(a) articulating the articulation section in a first direction to thereby deflect the distal shaft portion relative to the longitudinal axis and through a first plane; and
(b) articulating the articulation section in a second direction different from the first direction to thereby deflect the distal shaft portion relative to the longitudinal axis and through a second plane different from the first plane.