Articulating ultrasonic surgical instruments and systems

Abstract

A surgical instrument includes a housing having an elongated body extending distally therefrom. The elongated body defines a first articulating portion and a second articulating portion. The elongated body defines a lumen therein. An end effector is supported at a distal end portion of the elongated body. A flexible waveguide extends through the lumen of the elongated body. A proximal end portion of the flexible waveguide connects to an ultrasonic transducer. A distal end portion of the flexible waveguide is connected with the end effector. the flexible waveguide defines a first articulating portion having a narrower thickness than a thickness of other portions of the flexible waveguide and a second articulating portion having a narrower thickness than a thickness of other portions of the flexible waveguide.

1 - 20 . (canceled) 
     
     
         21 . An ultrasonic surgical instrument, comprising:
 a housing;   an elongate body extending distally from the housing, the elongate body including an articulating portion and a lumen extending through the elongate body;   an end effector supported at a distal end portion of the elongate body; and   an ultrasonic waveguide extending through the lumen, a proximal end portion of the ultrasonic waveguide extending into the housing and a distal end portion of the ultrasonic waveguide extending to the end effector,   wherein the ultrasonic waveguide is engaged with an internal wall of the elongate body within the lumen at a first location and at a second location, wherein one of the first location or the second location is proximal of the articulating portion, and wherein another of the first location or the second location is distal of the articulating portion.   
     
     
         22 . The ultrasonic surgical instrument according to  claim 21 , wherein the ultrasonic waveguide is engaged with the internal wall of the elongate body at the first location via at least one protrusion-recess engagement. 
     
     
         23 . The ultrasonic surgical instrument according to  claim 22 , wherein the at least one protrusion-recess engagement includes a pair of opposed protrusion-recess engagements. 
     
     
         24 . The ultrasonic surgical instrument according to  claim 22 , wherein the at least one protrusion-recess engagement includes a protrusion extending from the ultrasonic waveguide and a recess defined within the internal wall of the elongate body. 
     
     
         25 . The ultrasonic surgical instrument according to  claim 22 , wherein the ultrasonic waveguide is engaged with the internal wall of the elongate body at each of the first and second locations via at least one protrusion-recess engagement. 
     
     
         26 . The ultrasonic surgical instrument according to  claim 21 , wherein an annular spacing within the lumen between the ultrasonic waveguide and the internal wall of the elongate body is maintained via at least one of the engagement of the ultrasonic waveguide with the internal wall of the elongate body at the first location or the engagement of the ultrasonic waveguide with the internal wall of the elongate body at the second location. 
     
     
         27 . The ultrasonic surgical instrument according to  claim 21 , wherein the engagement of the ultrasonic waveguide with the internal wall of the elongate body at the first location fixes the ultrasonic waveguide relative to the elongate body at the first location and wherein the engagement of the ultrasonic waveguide with the internal wall of the elongate body at the second location fixes the ultrasonic waveguide relative to the elongate body at the second location. 
     
     
         28 . The ultrasonic surgical instrument according to  claim 21 , wherein the end effector includes an ultrasonic blade connected to the distal end portion of the ultrasonic waveguide and a jaw configured to cooperate with the ultrasonic blade to capture tissue between the ultrasonic blade and the jaw. 
     
     
         29 . The ultrasonic surgical instrument according to  claim 21 , wherein the housing is adapted to connect to a robotic arm of a robotic surgical system. 
     
     
         30 . The ultrasonic surgical instrument according to  claim 21 , wherein the housing includes a handle configured to enable manual manipulation of the ultrasonic surgical instrument. 
     
     
         31 . An ultrasonic surgical instrument, comprising:
 a housing;   an ultrasonic transducer supported by the housing;   an elongate body extending distally from the housing, the elongate body including an articulating portion and a lumen extending through the elongate body;   an end effector supported at a distal end portion of the elongate body; and   an ultrasonic waveguide extending through the lumen, a proximal end portion of the ultrasonic waveguide operably connected to the ultrasonic transducer and a distal end portion of the ultrasonic waveguide operably coupled to the end effector,   wherein the ultrasonic waveguide is engaged with the elongate body at a first location and at a second location, wherein one of the first location or the second location is disposed between the housing and the articulating portion of the elongate body and wherein another of the first location or the second location is disposed between the articulating portion of the elongate body and the end effector assembly.   
     
     
         32 . The ultrasonic surgical instrument according to  claim 31 , wherein the ultrasonic waveguide is engaged to an internal wall of the elongate body at at least one of the first location or the second location. 
     
     
         33 . The ultrasonic surgical instrument according to  claim 31 , wherein the ultrasonic waveguide is engaged to the elongate body at at least one of the first location or the second location via at least one protrusion-recess engagement. 
     
     
         34 . The ultrasonic surgical instrument according to  claim 33 , wherein the at least one protrusion-recess engagement includes a protrusion extending from the ultrasonic waveguide and a recess defined within the elongate body. 
     
     
         35 . The ultrasonic surgical instrument according to  claim 31 , wherein an annular spacing within the lumen between the ultrasonic waveguide and an internal wall of the elongate body is maintained via at least one of the engagement of the ultrasonic waveguide with the elongate body at the first location or the engagement of the ultrasonic waveguide with the elongate body at the second location. 
     
     
         36 . The ultrasonic surgical instrument according to  claim 31 , wherein the engagement of the ultrasonic waveguide with the elongate body at the first location fixes the ultrasonic waveguide relative to the elongate body at the first location and wherein the engagement of the ultrasonic waveguide with the elongate body at the second location fixes the ultrasonic waveguide relative to the elongate body at the second location. 
     
     
         37 . The ultrasonic surgical instrument according to  claim 31 , wherein the ultrasonic waveguide includes a flexible portion extending through the articulating portion of the elongate body, wherein one of the first location or the second location is proximal of the flexible portion, and wherein another of the first location or the second location is distal of the flexible portion. 
     
     
         38 . The ultrasonic surgical instrument according to  claim 31 , wherein the ultrasonic waveguide is engaged with the elongate body via first and second opposed engagements at the first location and via third and fourth opposed engagements at the second location. 
     
     
         39 . The ultrasonic surgical instrument according to  claim 31 , wherein the housing is adapted to connect to a robotic arm of a robotic surgical system. 
     
     
         40 . The ultrasonic surgical instrument according to  claim 31 , wherein the housing includes a handle configured to enable manual manipulation of the ultrasonic surgical instrument.