Surgical instruments with articulating shafts
Various embodiments are directed to articulatable surgical instruments. Some embodiments comprise an end effector to treat tissue, where the end effector comprises an ultrasonic blade. A hollow shaft may extend proximally from the end effector along a longitudinal axis. A waveguide may extend through the shaft and may be acoustically coupled to the ultrasonic blade. The waveguide may comprise a distally positioned flange positioned within the hollow shaft proximally from the blade and may be held stationary at a first pivot point positioned within the hollow shaft proximally from the flange. A reciprocating wedge may be positioned within the hollow shaft such that distal motion of the wedge pushes the wedge between the flange and the hollow shaft, causing the ultrasonic blade to pivot about the first pivot point in a first direction.
1. An articulatable surgical instrument comprising:
a hollow outer shaft comprising a first slot and a longitudinal axis;
a hollow inner shaft movable within the hollow outer shaft, wherein the hollow inner shaft comprises a second slot, and wherein the second slot is at least partially aligned with the first slot;
an end effector positioned within the hollow inner shaft, the end effector comprising an ultrasonic blade, wherein the ultrasonic blade comprises a first flange and wherein the first flange extends through the first slot and the second slot;
a waveguide extending through the hollow inner shaft and acoustically coupled to the ultrasonic blade and a second flange, wherein the waveguide comprises a flexible portion, and wherein the second flange is coupled to the hollow inner shaft; and
wherein the hollow outer shaft is configured to translate between a proximal position and a distal position in response to a user input, and wherein the first flange moves between a proximal slot position and a distal slot position and causes the ultrasonic blade to pivot about the longitudinal axis as the hollow outer shaft translates between the proximal position and the distal position.
2. The articulatable surgical instrument of claim 1 , further comprising a spring, wherein the spring is configured to bias the hollow outer shaft distally.
3. The articulatable surgical instrument of claim 2 , further comprising reciprocating control members configured to create a tension on the spring to translate the hollow outer shaft proximally, wherein the control members are further configured to release the tension on the spring to translate the hollow outer shaft distally.
4. The articulatable surgical instrument of claim 1 , wherein the hollow inner shaft and the hollow outer shaft are translatable relative to one another along the longitudinal axis.
5. The articulatable surgical instrument of claim 1 , wherein translating the hollow outer shaft from the proximal position to the distal position causes a proximal edge of the first slot to push the first flange distally.
6. The articulatable surgical instrument of claim 1 , wherein the hollow inner shaft is configured to translate between an inner proximal position and an inner distal position in response to a user input, and wherein the first flange moves between the proximal slot position to the distal slot position and causes the ultrasonic blade to pivot about the longitudinal axis as the hollow inner shaft translates between the inner proximal position and the inner distal position.
7. The articulatable surgical instrument of claim 6 , wherein translating the hollow inner shaft from the inner proximal position to the inner distal position causes a proximal edge of the second slot to push the first flange distally.
8. The articulatable surgical instrument of claim 1 , wherein:
the ultrasonic blade further comprises a third flange extending opposite the first flange,
the hollow outer shaft comprises a third slot,
the hollow inner shaft comprises a fourth slot,
the fourth slot is at least partially aligned with the third slot, and
the third flange extends through the third slot and the fourth slot.
9. An articulatable surgical instrument comprising:
a first hollow shaft comprising an opening and a longitudinal axis, wherein the first hollow shaft is configured to translate between a proximal position and a distal position in response to an input;
a second hollow shaft concentric with the first hollow shaft; and
an end effector movable within the second hollow shaft, the end effector comprising an ultrasonic blade, wherein the ultrasonic blade comprises a flange extending through the opening, translating the first hollow shaft between the proximal position and the distal position causes movement of the flange, and the movement of the flange causes the ultrasonic blade to pivot about the longitudinal axis,
wherein the second hollow shaft is configured to translate between an inner proximal position and an inner distal position in response to a user input to further cause the movement of the flange.
10. The articulatable surgical instrument of claim 9 , wherein the second hollow shaft and the first hollow shaft are translatable relative to one another along the longitudinal axis.
11. The articulatable surgical instrument of claim 9 , wherein translating the first hollow shaft from the proximal position to the distal position causes a proximal edge of the opening to push the flange distally.
12. The articulatable surgical instrument of claim 9 , wherein translating the second hollow shaft from the inner proximal position to the inner distal position causes a proximal edge of the second hollow shaft to push the flange distally.
13. The articulatable surgical instrument of claim 9 , wherein:
the flange is a first flange and the opening is a first opening,
the ultrasonic blade further comprises a second flange extending opposite the first flange,
the first hollow shaft comprises a second opening, and
the second flange extends through the second opening.
14. The articulatable surgical instrument of claim 9 , further comprising:
a waveguide extending through the second hollow shaft and acoustically coupled to the ultrasonic blade.
15. The articulatable surgical instrument of claim 9 , further comprising:
a spring configured to bias the first hollow shaft distally; and
a control member configured to create a tension on the spring for overcoming biasing of the spring so as to translate the first hollow shaft proximally.
16. The articulatable surgical instrument of claim 15 , wherein the control member is further configured to release the tension on the spring.
17. The articulatable surgical instrument of claim 15 , wherein the control member is a reciprocating control member configured to generate reciprocating motion along the longitudinal axis.