Ultrasonic surgical instrument with articulation joint having plurality of locking positions
An apparatus comprises a body assembly, a shaft, an acoustic waveguide, an articulation section, an end effector, an articulation drive assembly, and a locking feature. The shaft extends distally from the body assembly. The waveguide comprises a flexible portion. The articulation drive assembly is operable to drive articulation of the articulation section to thereby deflect the end effector from the longitudinal axis of the shaft. The articulation drive assembly comprises an actuator. The actuator is movable relative to the body assembly to drive articulation of the articulation section. The locking feature is in communication with the actuator. The locking feature is movable between an unlocked state and a locked state. The locking feature is configured to permit movement of the actuator relative to the body assembly in the unlocked state. The locking feature is configured to prevent movement of the actuator relative to the body assembly in the locked state.
1. A surgical instrument, comprising:
(a) a body assembly;
(b) a shaft assembly extending distally from the body assembly and defining a longitudinal axis, wherein the shaft assembly includes a first member;
(c) an articulation section coupled with the shaft assembly;
(d) an end effector coupled with the articulation section, wherein the end effector has a working element configured to engage tissue; and
(e) an articulation control assembly configured to drive articulation of the articulation section to thereby deflect the end effector from the longitudinal axis, wherein the articulation control assembly includes:
(i) a cam member including a first cam channel and configured to selectively rotate relative to the body assembly,
(ii) a first pin received within the first cam channel and operatively connected to the first member such that the first member is configured to translate to thereby deflect the end effector from the longitudinal axis in response to rotation of the cam member relative to the body assembly, and
(iii) a first collar at least partially surrounding the longitudinal axis,
wherein the first cam channel frictionally engages the first pin to prevent inadvertent articulation of the articulation section unless the cam member is selectively rotated such that the articulation control assembly is self-locking,
wherein the first pin extends from the first collar and into the first cam channel, and wherein the first collar is secured to the first member such that the first member of the shaft assembly is configured to translate with the first collar and further configured to rotate relative to the first collar about the longitudinal axis.
2. The surgical instrument of claim 1 , wherein the articulation control assembly further includes:
(i) the cam member including a second cam channel,
(ii) a second pin received within the second cam channel, and
(iii) a second member operatively connected to the second pin and configured to translate to thereby deflect the end effector from the longitudinal axis in response to rotation of the cam member relative to the body assembly,
wherein the second cam channel frictionally engages the second pin to prevent inadvertent articulation of the articulation section unless the cam member is selectively rotated such that the articulation control assembly is self-locking.
3. The surgical instrument of claim 2 , wherein the first and second members are configured to translate simultaneously in opposite directions to thereby deflect the end effector from the longitudinal axis in response to rotation of the cam member relative to the body assembly.
4. The surgical instrument of claim 3 , wherein the articulation control assembly further includes:
(i) a second collar, wherein the second pin extends from second collar into the second cam channel, wherein the second collar is secured to the second member and configured to translate.
5. The surgical instrument of claim 4 , wherein the first collar is secured to the first member via a third pin, and wherein the second collar is secured to the second member via a fourth pin.
6. The surgical instrument of claim 3 , wherein the first and second members respectively are a first band and a second band.
7. The surgical instrument of claim 1 , wherein the first cam channel is arcuate.
8. The surgical instrument of claim 1 , wherein the cam member is a cam plate.
9. The surgical instrument of claim 1 , wherein the cam member is configured to rotate in a first plane, and wherein the first pin extends transversely to the first plane in the first cam channel.
10. The surgical instrument of claim 1 , wherein the cam member is configured to rotate in a first angular direction to thereby deflect the end effector in a first lateral direction relative to the longitudinal axis, and wherein the cam member is configured to rotate in a second angular direction opposite the first angular direction to thereby deflect the end effector in a second lateral direction opposite the first lateral direction relative to the longitudinal axis.
11. The surgical instrument of claim 1 , wherein the articulation control assembly further includes a knob extending from the cam member.
12. The surgical instrument of claim 11 , wherein the cam member is configured to rotate in a first plane, wherein the first pin extends transversely to the first plane in the first cam channel, and wherein the knob extends transversely from the cam member relative to the first plane.
13. The surgical instrument of claim 12 , wherein the knob extends transversely from the cam member relative to the first plane such that the knob is transversely offset from the longitudinal axis.
14. The surgical instrument of claim 1 , wherein the shaft assembly further includes an outer sheath, and wherein the articulation control assembly is secured to a proximal portion of the outer sheath.
15. The surgical instrument of claim 1 , wherein the first collar surrounds the longitudinal axis and at least a portion of the shaft assembly.
16. The surgical instrument of claim 1 , wherein the first collar is secured to the first member via a third pin, wherein the first collar includes an annular groove at least partially surrounding the longitudinal axis, and wherein the third pin is received within the annular groove.
17. A surgical instrument, comprising:
(a) a body assembly;
(b) a shaft assembly extending distally from the body assembly and defining a longitudinal axis, wherein the shaft assembly includes a first member;
(c) an articulation section coupled with the shaft assembly;
(d) an end effector coupled with the articulation section, wherein the end effector has a working element configured to engage tissue; and
(e) an articulation control assembly configured to drive articulation of the articulation section to thereby deflect the end effector from the longitudinal axis, wherein the articulation control assembly includes:
(i) a cam member including a first cam channel and configured to selectively rotate relative to the body assembly,
(ii) a first pin received within the first cam channel and operatively connected to the first member such that the first member is configured to translate to thereby deflect the end effector from the longitudinal axis in response to rotation of the cam member relative to the body assembly, and
(iii) a first collar at least partially surrounding the longitudinal axis,
wherein the first cam channel frictionally engages the first pin to prevent inadvertent articulation of the articulation section unless the cam member is selectively rotated such that the articulation control assembly is self-locking,
wherein the first pin extends from the first collar and into the first cam channel, and wherein the first collar is secured to the first member such that the first member of the shaft assembly is configured to translate with the first collar, and
wherein the first collar is secured to the first member via a second pin, wherein the first collar includes an annular groove at least partially surrounding the longitudinal axis, and wherein the second pin is received within the annular groove.
18. The surgical instrument of claim 17 , wherein the first collar surrounds the longitudinal axis and at least a portion of the shaft assembly.
19. The surgical instrument of claim 18 , wherein the articulation control assembly further includes a knob extending from the cam member, wherein the cam member is configured to rotate in a first plane, wherein the first pin extends transversely to the first plane in the first cam channel, and wherein the knob extends transversely from the cam member relative to the first plane, and wherein the knob extends transversely from the cam member relative to the first plane such that the knob is transversely offset from the longitudinal axis.
20. A method of deflecting an end effector of a surgical instrument, the surgical instrument including: (a) a body assembly; (b) a shaft assembly extending distally from the body assembly and defining a longitudinal axis, wherein the shaft assembly includes a first member; (c) an articulation section coupled with the shaft assembly; (d) the end effector coupled with the articulation section, wherein the end effector has a working element configured to engage tissue; and (e) an articulation control assembly configured to drive articulation of the articulation section to thereby deflect the end effector from the longitudinal axis, wherein the articulation control assembly includes: (i) a cam member including a first cam channel and configured to selectively rotate relative to the body assembly, (ii) a first pin received within the first cam channel and operatively connected to the first member such that the first member is configured to translate to thereby deflect the end effector from the longitudinal axis in response to rotation of the cam member relative to the body assembly, and (iii) a first collar at least partially surrounding the longitudinal axis, wherein the first cam channel frictionally engages the first pin to prevent inadvertent articulation of the articulation section unless the cam member is selectively rotated such that the articulation control assembly is self-locking, wherein the first pin extends from the first collar and into the first cam channel, and wherein the first collar is secured to the first member such that the first member is configured to translate with the first collar and further configured to rotate relative to the first collar about the longitudinal axis, the method comprising:
(a) preventing articulation of the articulation section via the articulation control assembly until the cam member is selectively rotated; and
(b) selectively rotating the cam member thereby translating the first collar and the first member to deflect the end effector relative to the longitudinal axis.