Push-pull stapler with two degree of freedom wrist
A surgical instrument is provided comprising: a first jaw having a distal end and a proximal end wherein the proximal end of the first jaw is attached to a lever arm that includes a levering cam slot having a proximal portion and a distal portion; a second jaw having a distal end and a proximal end wherein the proximal end of the second jaw is secured to a base that includes a linear cam slot aligned with a longitudinal axis of the second jaw axis and having a proximal portion and a distal portion; a pivot rotatably mounting the first jaw to the second jaw, wherein a pivot axis extends between the first jaw and the lever arm; a cam pin configured to extend through and engage the levering cam slot and the linear cam slot; a linear drive member operatively coupled to drive the cam pin to follow the linear cam slot; wherein the cam pin imparts a lever force upon the lever arm that rotates the first jaw way from the second jaw when the cam pin contacts the distal portion of the levering cam slot and wherein the cam pin imparts a lever force upon the lever arm that rotates the first jaw toward the second jaw when the cam pin contacts the proximal end portion of the levering cam slot.
1. A surgical instrument comprising:
a first jaw having a distal end and a proximal end wherein the proximal end of the first jaw is attached to a lever arm that includes a levering cam slot having a proximal portion and a distal portion;
a second jaw having a distal end and a proximal end wherein the proximal end of the second jaw is secured to a base that includes a linear cam slot aligned with a longitudinal axis of the second jaw axis and having a proximal portion and a distal portion;
a pivot rotatably mounting the first jaw to the second jaw, wherein a pivot axis extends between the first jaw and the lever arm;
a cam pin configured to extend through and engage the levering cam slot and the linear cam slot;
a shaft that includes a proximal end portion and a distal end portion;
a two degree of freedom wrist that includes a ball joint bearing that extends from the distal end portion of the shaft, the bearing defining a passage through the bearing; and
a flexible cam drive member that passes within the passage through the bearing, and that can flex to reorient a path of the flexible cam drive member in response to two degree of freedom wrist movement, and that is operatively coupled to drive the cam pin to follow the linear cam slot;
wherein the distal portion of the levering cam slot is disposed such that the cam pin imparts a lever force upon the lever arm that rotates the first jaw away from the second jaw when the cam pin contacts the distal portion of the levering cam slot and wherein the proximal portion of the levering cam slot is disposed such that the cam pin imparts a lever force upon the lever arm that rotates the first jaw toward the second jaw when the cam pin contacts the proximal end portion of the levering cam slot.
2. The surgical instrument of claim 1 ,
wherein the cam pin includes a levering-guide cam disposed to follow the levering cam slot and includes a linear-guide cam disposed to follow the linear cam slot and the levering-guide cam and the linear guide cam are operatively coupled to move in unison.
3. The surgical instrument of claim 1 ,
wherein the first jaw levering cam slot has a curved contour.
4. The surgical instrument of claim 1 ,
wherein the levering cam slot has a linear contour.
5. The surgical instrument of claim 1 ,
wherein the cam pin includes a levering-guide roller cam disposed to follow the levering cam slot and includes a linear-guide roller cam disposed to follow the linear cam slot; and
wherein the levering-guide roller cam and the linear-guide roller cam are operatively coupled to move in unison.
6. The surgical instrument of claim 1 ,
wherein the cam pin includes a levering-guide roller cam disposed to follow the levering cam slot and includes a linear-guide roller cam disposed to follow the linear cam slot; and
wherein the cam pin includes an axle coaxially mounting the levering-guide roller and the linear-guide roller; and
wherein the flexible cam drive member is disposed to impart a linear motion to the axle, to drive the linear-guide roller mounted thereon, in contact with the second jaw linear guide surface, in a direction parallel to the longitudinal axis of the second jaw.
7. The surgical instrument of claim 1 ,
wherein the cam pin includes a levering-guide roller cam disposed to follow the levering cam slot and includes a linear-guide roller cam disposed to follow the linear cam slot; and
wherein the cam pin includes an axle coaxially mounting the levering-guide roller and the linear-guide roller; and
wherein the flexible cam member is disposed to impart a linear motion to the axle, to drive the linear-guide roller mounted thereon, in contact with the linear guide surface, in a direction parallel to the longitudinal axis of the second jaw; and
wherein the flexible cam member is disposed to impart a linear motion to the axle,
to drive the linear-guide roller mounted thereon within the second jaw linear guide slot in a direction parallel to the longitudinal axis of the second jaw, and
to drive the levering-guide roller mounted thereon within the levering-guide slots between the proximal portion of the levering cam slot levering-guide and the distal portion of the levering cam slot levering-guide.
8. The surgical instrument of claim 1 further including:
a motor to move the flexible cam drive cable longitudinally within the shaft.
9. The surgical instrument of claim 1 further including:
a staple cartridge disposed within the second jaw;
a drive shuttle;
a screw drive to drive the drive shuttle within the cartridge in a direction parallel to a longitudinal axis of the second jaw; and
a rotational drive extending within the shaft between the proximal end portion of the shaft and the distal end portion of the shaft, including a flexible region that traverses the wrist, operatively coupled to impart a rotational force to the screw drive that can flex to permit two-degree of freedom flexing of the rotational drive while the rotational drive cable imparts an off-axis rotation force to the lead screw drive.
10. The surgical instrument of claim 9 ,
the rotational drive including a rotational drive cable that extends within the shaft between the proximal end portion of the shaft and the distal end portion of the shaft; and further including:
a two degree of freedom coupling member operatively coupled between the rotational drive cable and the screw drive.
11. A surgical instrument comprising:
a first jaw having a distal end and a proximal end wherein the proximal end of the first jaw is attached to a lever arm that includes first and second levering cam slots, each having a proximal portion and a distal portion;
a second jaw having a distal end and a proximal end wherein the proximal end of the second jaw is secured to a base that includes first and second linear cam slots, each aligned with a longitudinal axis of the second jaw axis and having a proximal portion and a distal portion;
a pivot rotatably mounting the first jaw to the second jaw, wherein a pivot axis extends between the first jaw and the lever arm;
first and second levering-guide roller cams configured to respectively extend through and engage the first and second levering cam slots;
first and second linear-guide roller cams, that are coaxially mounted with the first and second levering-guide roller cams and that are configured to respectively extend through and engage the first and second linear cam slots;
a shaft that includes a proximal end portion and a distal end portion;
a two degree of freedom wrist that includes a ball joint bearing that extends from the distal end portion of the shaft, the bearing defining a passage through the bearing;
a flexible cam drive member that passes within the passage through the bearing, and that can flex to reorient a path of the flexible cam drive member in response to two degree of freedom wrist movement, and that is operatively coupled to drive the first and second linear-guide roller cams follow the first and second linear cam slots in parallel with the longitudinal axis of the second jaw;
wherein the distal portions of the first and second levering cam slots are disposed such that the levering-guide roller cams impart a lever force upon the lever arm that rotates the first jaw away from the second jaw when the levering-guide roller cams contact the distal portions of the first and second levering cam slots and wherein the proximal portions of the first and second levering cam slots are disposed such that the levering-guide roller cams impart a lever force upon the lever arm that rotates the first jaw toward the second jaw when the levering-guide roller cams contact the proximal end portions of the first and second levering cam slots further including:
a staple cartridge disposed within the second jaw;
a drive shuttle;
a screw drive to drive the drive shuttle within the cartridge in a direction parallel to a longitudinal axis of the second jaw; and
a rotational drive extending within the shaft between the proximal end portion of the shaft and the distal end portion of the shaft, including a flexible region that traverses the wrist, operatively coupled to impart a rotational force to the screw drive that can flex to permit two-degree of freedom flexing of the rotational drive while the rotational drive cable imparts an off-axis rotation force to the lead screw drive.
12. The surgical instrument of claim 11
the bearing including a ball joint bearing.
13. The surgical instrument of claim 11
the rotational drive including rotational drive cable that extends within the shaft between the proximal portion of the shaft and the distal portion of the shaft; further including:
a two degree of freedom coupling member operatively coupled between the rotational drive cable and the screw drive.
14. The surgical instrument of claim 1 ,
the wrist further including at least one coupling pin rotatably mounting the bearing to the base to permit rotation of the end effector in a first degree of freedom relative to the bearing and including at least one transverse slot to receive the at least one coupling pin to permit rotation of the end effector in a second degree of freedom relative to the bearing.
15. The surgical instrument of claim 1 further including:
a rigid plunger transversely centered inside the shaft and moveable parallel to the longitudinal axis of the shaft; and
the flexible cam drive member operatively coupled to the plunger to move in unison with the plunger to deliver force to control opening and closing of the jaws.
16. The surgical instrument of claim 11 ,
the wrist further including at least one coupling pin rotatably mounting the bearing to the base to permit rotation of the end effector in a first degree of freedom relative to the bearing and including at least one transverse slot to receive the at least one coupling pin to permit rotation of the end effector in a second degree of freedom relative to the bearing.
17. The surgical instrument of claim 11 further including:
a rigid plunger transversely centered inside the shaft and moveable parallel to the longitudinal axis of the shaft; and
the flexible cam drive member operatively coupled to the plunger to move in unison with the plunger to deliver force to control opening and closing of the jaws.