Ultrasonic surgical instrument with a mid-shaft closure system and related methods
An ultrasonic surgical instrument comprises a shaft assembly including a waveguide, and an end effector arranged at a distal end of the shaft assembly and including an ultrasonic blade and a clamp arm. The instrument also comprises a base translatably coupled to shaft assembly. The base includes a first mechanical input and a second mechanical input. The instrument further comprises a closure actuation mechanism operatively connected between the first mechanical input and the clamp arm and configured to actuate the clamp arm from an open position toward a closed position upon selective drive of the first mechanical input. The instrument also includes an insertion actuation mechanism operatively connected between the second mechanical input and the shaft assembly and configured to actuate the shaft assembly from a proximal position toward a distal position upon selective drive of the second mechanical input for insertion of the end effector.
1. An ultrasonic surgical instrument comprising:
(a) a shaft assembly including a static tube, a dynamic tube translatable relative to the static tube, and a waveguide configured to connect to an ultrasonic transducer;
(b) an end effector arranged at a distal end of the shaft assembly, wherein the end effector includes:
(i) an ultrasonic blade acoustically coupled with the waveguide and configured to be driven by the waveguide with ultrasonic energy, and
(ii) 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;
(c) a base translatably coupled to the shaft assembly such that each of the static tube, the dynamic tube, and the waveguide of the shaft assembly are configured to move from a proximal position toward a distal position relative to the base, wherein the base includes:
(i) a first mechanical input, and
(ii) a second mechanical input;
(d) a closure actuation mechanism operatively connected between the first mechanical input and the clamp arm and configured to actuate the clamp arm from the open position toward the closed position upon selective drive of the first mechanical input;
(e) an insertion actuation mechanism operatively connected between the second mechanical input and the shaft assembly and configured to actuate the shaft assembly from the proximal position toward the distal position upon selective drive of the second mechanical input for insertion of the end effector; and
(f) a proximal housing proximally positioned relative to the base, wherein the static tube is fixed against movement relative to the proximal housing, and wherein the dynamic tube is operatively connected to the closure actuation mechanism to actuate the clamp arm from the open position toward the closed position upon selective drive of the first mechanical input.
2. The ultrasonic surgical instrument of claim 1 , wherein the closure actuation mechanism is decoupled from the insertion actuation mechanism such that the closure and insertion actuation mechanisms are configured to be independently driven relative to each other via the first and second mechanical inputs.
3. The ultrasonic surgical instrument of claim 2 , wherein at least a portion of the closure actuation mechanism is secured relative to the base, and wherein at least a portion of the insertion actuation mechanism is secured relative to the base.
4. The ultrasonic surgical instrument of claim 1 , further comprising:
(a) a proximal housing; and
(b) and an ultrasonic transducer, wherein the ultrasonic transducer is supported by the proximal housing,
wherein the waveguide is received within the dynamic tube, wherein the dynamic tube is configured to actuate the clamp arm upon translation of the dynamic tube relative to the static tube.
5. The ultrasonic surgical instrument of claim 4 , wherein the closure actuation mechanism includes a closure cable that extends through a set of closure pulleys, wherein manipulation of at least one pulley of the set of closure pulleys via the first mechanical input causes a change of length of the closure cable within the base, thereby causing translation of the dynamic tube relative to the static tube.
6. The ultrasonic surgical instrument of claim 5 , wherein the dynamic tube includes a proximal portion and a distal portion, wherein the closure cable of the closure actuation mechanism extends from the proximal housing, through the set of closure pulleys, to the distal portion of the dynamic tube.
7. The ultrasonic surgical instrument of claim 6 , wherein manipulation of the at least one pulley of the set of closure pulleys to cause a change of length of the closure cable within the base comprises linear or rotary motion of the at least one pulley.
8. The ultrasonic surgical instrument of claim 7 , wherein the change of length of the closure cable within the base to cause translation of the dynamic tube relative to the static tube is not affected by the insertion actuation mechanism that translates the shaft assembly relative to the base.
9. The ultrasonic surgical instrument of claim 4 , wherein the dynamic tube is biased distally relative to the proximal housing.
10. The ultrasonic surgical instrument of claim 4 , wherein the static tube includes an outer tube, wherein the dynamic tube includes an inner tube.
11. The surgical instrument of claim 4 , wherein the closure actuation mechanism is operatively connected to a distal end of the dynamic tube, wherein the insertion actuation mechanism is operatively connected to a distal end of the static tube.
12. The ultrasonic surgical instrument of claim 1 , wherein the insertion actuation mechanism includes at least one insertion cable that engages a spool, wherein manipulation of the spool via the second mechanical input causes the shaft assembly to translate relative to the base.
13. The ultrasonic surgical instrument of claim 12 , wherein the at least one insertion cable includes a proximal insertion cable and a distal insertion cable.
14. The ultrasonic surgical instrument of claim 13 , wherein the static tube includes a proximal portion and a distal portion, wherein the proximal insertion cable extends from the proximal portion of the static tube to the spool, wherein the distal insertion cable extends from the distal portion of the static tube to the spool.
15. The ultrasonic surgical instrument of claim 12 , wherein rotation of the second mechanical input causes rotation of the spool thereby causing translation of the shaft assembly relative to the base.
16. An ultrasonic surgical instrument comprising:
(a) a proximal housing;
(b) a shaft assembly extending distally from the proximal housing, wherein the shaft assembly comprises:
(i) a static tube fixed against movement relative to the proximal housing, and
(ii) a dynamic tube translatable relative to the static tube;
(c) an ultrasonic transducer supported by the proximal housing;
(d) a waveguide acoustically coupled with the ultrasonic transducer and extending distally through the dynamic tube of the shaft assembly;
(e) an end effector arranged at a distal end of the shaft assembly, wherein the end effector comprises:
(i) an ultrasonic blade acoustically coupled with the waveguide, wherein the ultrasonic transducer is operable to drive the waveguide and the ultrasonic blade with ultrasonic energy, and
(ii) a clamp arm movable relative to the ultrasonic blade for clamping tissue therebetween, wherein the dynamic tube is operable to translate relative to the static tube to actuate the clamp arm relative to the ultrasonic blade; and
(f) a base translatably coupled to the shaft assembly, wherein the base comprises:
(i) a first mechanical input configured to cause the dynamic tube to translate relative to the static tube to actuate the clamp arm relative to the ultrasonic blade, and
(ii) a second mechanical input configured to cause the shaft assembly to translate relative to the base.
17. The ultrasonic surgical instrument of claim 16 , further comprising:
(a) a closure actuation mechanism, wherein the closure actuation mechanism includes a closure cable that extends through a set of closure pulleys, wherein manipulation of at least one pulley of the set of closure pulleys causes a change of length of the closure cable within the base, thereby causing translation of the dynamic tube relative to the static tube; and
(b) an insertion actuation mechanism, wherein the insertion actuation mechanism includes at least one insertion cable that engages a spool, wherein manipulation of the spool causes the shaft assembly to translate relative to the base.
18. A method of using an ultrasonic surgical instrument including a shaft assembly having a dynamic tube and a static tube, an end effector having an ultrasonic blade and a clamp arm, and a base, the method comprising:
(a) translating the shaft assembly relative to the base, wherein the act of translating the shaft assembly relative to the base includes rotating a spool to pay in one of a proximal insertion cable or a distal insertion cable and to pay out the other of the proximal or distal insertion cables; and
(b) actuating the clamp arm relative to the ultrasonic blade, wherein the act of actuating the clamp arm relative to the ultrasonic blade includes manipulating at least one closure pulley to cause a change of length of a closure cable within the base to thereby translate the dynamic tube relative to the static tube.
19. The method of claim 18 , wherein the act of translating the shaft assembly relative to the base includes maintaining a constant length of the closure cable within the base.
20. The method of claim 18 , wherein the act of actuating the clamp arm relative to the ultrasonic blade includes translating the ultrasonic blade distally relative to the dynamic tube by a distance, the method further comprising translating the dynamic tube proximally relative to the base by the distance.