Hydraulically and electrically actuated articulation joints for surgical instruments

Abstract

Articulation joints for use in connection with a surgical instrument that has a portion that must be passed through a trocar or similar structure and then articulated relative to another portion of the instrument received within the trocar. Various embodiments of the articulation joint include at least one fluid-actuated cylinder or flexible driven member to articulate the surgical implement relative to the handle assembly of the instrument.

1 . A surgical instrument, comprising: 
 a handle assembly; 
 a proximal tube segment attached to said handle assembly;  
 a distal tube segment;  
 an articulating joint assembly pivotally coupling said distal tube segment to said proximal tube segment, said articulating joint assembly comprising: 
 a ball member non-movably coupled to an end of one of said proximal and distal tube segments and rotatably received in a corresponding socket in an end of the other of said of proximal tube segment and distal tube segment; and  
 an actuator assembly coupled between the ends of the distal and proximal tube segments, said actuator assembly retaining a portion of said ball member in said socket and selectively rotating said ball member portion therein to articulate said distal tube segment relative to said proximal tube segment; and  
 
 a surgical implement attached to said distal tube segment.  
   
   
   
       2 . The surgical instrument of  claim 1  wherein said actuator assembly comprises at least one fluid-actuated cylinder.  
   
   
       3 . The surgical instrument of  claim 2  wherein said at least one fluid-actuated cylinder comprises: 
 a first fluid-actuated cylinder having a first housing attached to one of said distal and proximal tube segments and a selectively extendable and retractable first actuation rod attached to the end of the other of said proximal and distal tube segments; and    a second fluid-actuated cylinder having a second housing attached to one of said distal and proximal tube segments and a selectively extendable and retractable second actuation rod attached to the end of the other of said proximal and distal tube segments.    
   
   
       4 . The surgical instrument of  claim 3  wherein said first and second actuation rods are fabricated from flexible material.  
   
   
       5 . The surgical instrument of  claim 1  wherein said ball member has at least one hollow passage therethrough adapted to communicate with openings in said distal and proximal tube segments.  
   
   
       6 . The surgical instrument of  claim 2  further comprising at least one indentation formed in an outer surface of said ball member for providing clearance for at least a portion of at least one said fluid-actuated cylinder.  
   
   
       7 . The surgical instrument of  claim 1  wherein said actuator assembly comprises at least one flexible driven member extending between said distal and proximal tube segments.  
   
   
       8 . The surgical instrument of  claim 7  wherein said at least one flexible driven member comprises a flexible worm gear cable attached to a motor and threadably engaging a corresponding passageway formed in the ball member.  
   
   
       9 . The surgical instrument of  claim 8  wherein said ball member has at least one hollow passage therethrough adapted to communicate with openings in said distal and proximal tube segments.  
   
   
       10 . The surgical instrument of  claim 1  wherein said ball member is nonmovably coupled to said end of said distal tube segment and is rotatably received in a socket in said end of said proximal tube segment.  
   
   
       11 . The surgical instrument of  claim 1  wherein said surgical implement is an endocutter.  
   
   
       12 . The surgical instrument of  claim 3  wherein said proximal tube segment defines an axis and wherein said first and second fluid-actuated cylinders are located relative to each other about said axis at an angle of substantially 180 degrees.  
   
   
       13 . The surgical instrument of  claim 3  wherein said proximal tube defines an axis and wherein said first and second fluid-actuated cylinder are located relative to each other about said axis at an angle of less than 180 degrees.  
   
   
       14 . A surgical instrument, comprising: 
 a handle assembly; 
 a proximal tube segment attached to said handle assembly;  
 a distal tube segment;  
 an articulating joint assembly pivotally coupling said distal tube segment to said proximal tube segment, said articulating joint assembly comprising: 
 a ball member non-movably coupled to a distal end of end of one of said proximal and distal tube segments and rotatably received in a corresponding socket in an end of the other of said of proximal tube segment and distal tube segment; and  
 an actuator assembly coupled between said one of said distal and proximal tube segments that has said socket therein and said ball member to retain a portion of said ball member in said socket and selectively rotate said ball member portion therein to articulate said distal tube segment relative to said proximal tube segment; and  
 
 a surgical implement attached to said distal tube segment.  
   
   
   
       15 . The surgical instrument of  claim 14  wherein said actuator assembly comprises at least one fluid-actuated cylinder.  
   
   
       16 . The surgical instrument of  claim 15  wherein said at least one fluid-actuated cylinder comprises: 
 a first fluid-actuated cylinder having a first housing attached to said one of said distal and proximal tube segments that has said socket therein, said first fluid-actuated cylinder further comprising a selectively extendable and retractable first actuation rod attached to a portion of said ball member; and    a second fluid-actuated cylinder having a second housing attached to said one of said distal and proximal tube segments that has said socket therein, said second fluid-actuated cylinder further comprising a selectively extendable and retractable second actuation rod attached to another portion of said ball member.    
   
   
       17 . The surgical instrument of  claim 16  wherein said first and second actuation rods are fabricated from flexible material.  
   
   
       18 . The surgical instrument of  claim 14  wherein said ball member has at least one hollow passage therethrough adapted to communicate with openings in said distal and proximal tube segments.  
   
   
       19 . The surgical instrument of  claim 15  further comprising at least one indentation formed in an outer surface of said ball member for providing clearance for at least a portion of at least one said fluid-actuated cylinder.  
   
   
       20 . The surgical instrument of  claim 14  wherein said surgical implement comprises an endocutter end effector.  
   
   
       21 . The surgical instrument of  claim 16  wherein said proximal tube segment defines an axis and wherein said first and second fluid-actuated cylinders are located relative to each other about said axis at an angle of substantially 180 degrees.  
   
   
       22 . The surgical instrument of  claim 16  wherein said proximal tube defines an axis and wherein said first and second fluid-actuated cylinder are located relative to each other about said axis at an angle of less than 180 degrees.  
   
   
       23 . A surgical instrument, comprising: 
 a handle assembly; 
 a proximal tube segment attached to said handle assembly;  
 a distal tube segment;  
 an articulating joint assembly pivotally coupling said distal tube segment to said proximal tube segment, said articulating joint assembly comprising: 
 a disc-like member non-movably coupled to an end of one of said proximal and distal tube segments and rotatably received in a corresponding socket in an end of the other of said of proximal tube segment and distal tube segment; and  
 an actuator assembly coupled between the ends of the distal and proximal tube segments, said actuator assembly retaining said disc-like member in said socket and selectively rotating said disc-like member therein to articulate said distal tube segment relative to said proximal tube segment; and  
 
 a surgical implement attached to said distal tube segment.  
   
   
   
       24 . The surgical instrument of  claim 23  wherein said actuator assembly comprises at least one fluid-actuated cylinder.  
   
   
       25 . The surgical instrument of  claim 24  wherein said at least one fluid-actuated cylinder comprises: 
 a first fluid-actuated cylinder having a first housing attached to one of said distal and proximal tube segments and a selectively extendable and retractable first actuation rod attached to the end of the other of said proximal and distal tube segments; and    a second fluid-actuated cylinder having a second housing attached to one of said distal and proximal tube segments and a selectively extendable and retractable second actuation rod attached to the end of the other of said proximal and distal tube segments.    
   
   
       26 . The surgical instrument of  claim 25  wherein said first and second actuation rods are fabricated from flexible material.  
   
   
       27 . The surgical instrument of  claim 23  wherein said disc-like member has at least one hollow passage therethrough adapted to communicate with openings in said distal and proximal tube segments.  
   
   
       28 . The surgical instrument of  claim 23  wherein said actuator assembly comprises at least one flexible driven member extending between said distal and proximal tube segments.  
   
   
       29 . The surgical instrument of  claim 28  wherein said at least one flexible driven member comprises a flexible worm gear cable attached to a motor and threadably engaging a corresponding passageway formed in the disc-like member.  
   
   
       30 . The surgical instrument of  claim 29  wherein said ball member has at least one hollow passage therethrough adapted to communicate with openings in said distal and proximal tube segments.  
   
   
       31 . The surgical instrument of  claim 23  wherein said disc-like member is nonmovably coupled to said end of said distal tube segment and is rotatably received in a socket in said end of said proximal tube segment.  
   
   
       32 . The surgical instrument of  claim 23  wherein said surgical implement is an endocutter.  
   
   
       33 . A surgical instrument, comprising: 
 a handle assembly; 
 a proximal tube segment attached to said handle assembly;  
 a distal tube segment;  
 an articulating joint assembly pivotally coupling said distal tube segment to said proximal tube segment, said articulating joint assembly comprising: 
 a disc-like member non-movably coupled to an end of one of said proximal and distal tube segments and rotatably received in a corresponding socket in an end of the other of said of proximal tube segment and distal tube segment; and  
 an actuator assembly coupled between said one of said distal and proximal tube segments that has said socket therein and said disc-like member to retain a portion of said disc-like member in said socket and selectively rotate said disc-like member portion therein to articulate said distal tube segment relative to said proximal tube segment; and  
 
   a surgical implement attached to said distal tube segment.    
   
   
       34 . The surgical instrument of  claim 33  wherein said actuator assembly comprises at least one fluid-actuated cylinder.  
   
   
       35 . The surgical instrument of  claim 33  wherein said at least one fluid-actuated cylinder comprises: 
 a first fluid-actuated cylinder having a first housing attached to the one of said distal and proximal tube segments having said socket formed therein and a selectively extendable and retractable first actuation rod attached to a portion of said disc-like member; and    a second fluid-actuated cylinder having a second housing attached to the one of said distal and proximal tube segments having said socket formed therein and a selectively extendable and retractable second actuation rod attached to another portion of said disc-like member.    
   
   
       36 . The surgical instrument of  claim 35  wherein said first and second actuation rods are fabricated from flexible material.  
   
   
       37 . The surgical instrument of  claim 33  wherein said disc-like member has at least one hollow passage therethrough adapted to communicate with openings in said distal and proximal tube segments.  
   
   
       38 . The surgical instrument of  claim 33  wherein said disc-like member is nonmovably coupled to said end of said distal tube segment and is rotatably received in a socket in said end of said proximal tube segment.  
   
   
       39 . The surgical instrument of  claim 33  wherein said surgical implement is an endocutter.