CN115697237A

CN115697237A - Ball and socket articulation mechanism for surgical instrument

Info

Publication number: CN115697237A
Application number: CN202180041156.2A
Authority: CN
Inventors: M·S·考利
Original assignee: Covidien LP
Current assignee: Covidien LP
Priority date: 2020-06-09
Filing date: 2021-06-08
Publication date: 2023-02-03
Also published as: EP4161428A1; WO2021252418A1

Abstract

The present invention provides a surgical instrument comprising: a housing; a shaft extending from the housing and having a proximal section and a distal section; a ball joint interconnecting the proximal section and the distal section; and an end effector assembly supported at the distal section. An outer tube surrounds the shaft, is operably coupled to the end effector assembly, and is rotatable about the shaft to rotate the end effector assembly about a longitudinal axis defined by the shaft. First, second, and third cables extend around the ball joint. The distal end of the first cable, the distal end of the second cable, and the distal end of the third cable may be equally spaced about an outer surface of the socket of the ball-and-socket joint. Longitudinal translation of at least one of the first cable, the second cable, or the third cable articulates the end effector assembly relative to the longitudinal axis.

Description

Ball and socket articulation mechanism for surgical instrument

Technical Field

The present disclosure relates to surgical instruments and, more particularly, to ball and socket articulation mechanisms for surgical instruments used, for example, in robotic surgical systems.

Background

Robotic surgical systems are increasingly used in a variety of surgical procedures. Some robotic surgical systems include a console that supports a robotic arm. One or more different surgical instruments may be configured for use with the robotic surgical system and may be selectively mounted to the robotic arm. The robotic arm provides one or more inputs to the mounted surgical instrument to enable operation of the mounted surgical instrument.

The number, type, and configuration of inputs provided by the robotic arms of the robotic surgical system are constraints on the design of the surgical instrument configured for use with the robotic surgical system. That is, in designing a surgical instrument adapted to be mounted on and used with a robotic arm of a robotic surgical system, consideration should be given to how the available input provided by the robotic arm is utilized to achieve the desired function of the surgical instrument.

Disclosure of Invention

As used herein, the term "distal" refers to the portion described that is farther from the operator (whether the surgeon or robotic arm), while the term "proximal" refers to the portion described that is closer to the operator. The terms "about," "substantially," and the like as utilized herein are intended to explain manufacturing, material, environment, use, and/or measurement tolerances and variations. In addition, to the extent consistent, any aspect described herein can be used in combination with any or all other aspects described herein.

According to aspects of the present disclosure, there is provided a surgical instrument comprising: a housing; a shaft extending from the housing and having a proximal section and a distal section; a ball joint interconnecting the proximal section and the distal section; and an end effector assembly supported at the distal section of the shaft. The end effector assembly may include a first jaw member and a second jaw member. An outer tube surrounds the shaft and is operably coupled to the end effector assembly. The outer tube is rotatable about the shaft and is configured to rotate the end effector assembly about a longitudinal axis defined by the shaft. The surgical instrument also includes a first cable, a second cable, and a third cable extending around the ball-and-socket joint. The distal end of the first cable, the distal end of the second cable, and the distal end of the third cable may be equally spaced about an outer surface of the socket of the ball-and-socket joint. Proximal longitudinal translation of at least one of the first cable, the second cable, or the third cable articulates the end effector assembly relative to a longitudinal axis defined by the shaft.

In one aspect, at least one of the distal end of the first cable, the distal end of the second cable, or the distal end of the third cable can define a collar operably coupled to a post of at least one of the distal section of the shaft or the second jaw member. Alternatively, at least one of the distal end of the first cable, the distal end of the second cable, or the distal end of the third cable may define a ball operably coupled to a post of at least one of the distal section of the shaft or the second jaw member.

In one aspect, a distal end of the outer tube can be operably coupled to the first jaw member, and longitudinal movement of the outer tube can pivot the first jaw member relative to the second jaw member.

In one aspect, the second jaw member may be an ultrasonic blade configured to transmit ultrasonic energy, the socket of the ball-and-socket joint may be defined within a proximal portion of the ultrasonic blade, and the ball of the ball-and-socket joint may be formed on a distal end of an elongated rod configured to transmit ultrasonic energy to the ultrasonic blade.

In one aspect, proximal longitudinal translation of the second and third cables articulates the end effector assembly in a first direction relative to the longitudinal axis defined by the shaft, and proximal longitudinal translation of the first cable articulates the end effector assembly in a second direction opposite the first direction relative to the longitudinal axis defined by the shaft. Additionally, proximal longitudinal translation of the first and second cables articulates the end effector assembly in a third direction relative to the longitudinal axis defined by the shaft, and proximal longitudinal translation of the third cable articulates the end effector assembly in a fourth direction opposite the third direction relative to the longitudinal axis defined by the shaft.

In one aspect, a hinge subassembly may be disposed within the housing and may be operably coupled to the proximal ends of the first, second, and third cables. The articulation subassembly is configured to cause longitudinal translation of the first cable, the second cable, and the third cable. The articulation subassembly may include a first lead screw and a first nut threadably coupled to the first lead screw, a second lead screw and a second nut threadably coupled to the second lead screw, and a third lead screw and a third nut threadably coupled to the third lead screw. The proximal end of the first cable is coupled to the first nut, the proximal end of the second cable is coupled to the second nut, and the proximal end of the third cable is coupled to the third nut.

According to another aspect of the present disclosure, there is provided a surgical system comprising: a robotic surgical system having a control device and a robotic arm; and a surgical instrument configured to be operably coupled to the robotic arm. The surgical instrument includes: a housing; a shaft extending from the housing and defining a longitudinal axis; an elongate shaft extending through the shaft and defining a ball at a distal end of the elongate shaft; and an end effector assembly including a socket operably coupled to the ball of the elongate rod. The end effector assembly may include a first jaw member and a second jaw member. An outer tube surrounds the shaft and is operably coupled to the end effector assembly. The outer tube is rotatable about the shaft and is configured to rotate the end effector assembly about the longitudinal axis defined by the shaft. The surgical instrument can also include first, second, and third cables extending through the shaft and operably coupled to the end effector assembly. The distal ends of the first cable, the second cable, and the third cable may be equally spaced about the outer surface of the socket. Proximal longitudinal translation of at least one of the first cable, the second cable, or the third cable articulates the end effector assembly relative to the longitudinal axis defined by the shaft.

In one aspect, a distal end of the outer tube can be operably coupled to the first jaw member, and longitudinal movement of the outer tube pivots the first jaw member relative to the second jaw member.

In one aspect, the second jaw member may be an ultrasonic blade configured to transmit ultrasonic energy, and the first jaw member is a clamp arm.

According to another aspect of the present disclosure, there is provided a surgical instrument comprising: a housing; a shaft extending from the housing and defining a longitudinal axis; an elongated shaft extending through the shaft and defining a ball at a distal end of the elongated shaft; and an end effector assembly defining a socket operably coupled to the ball of the elongated rod. The surgical instrument also includes first, second, and third cables extending through the shaft and operably coupled to the end effector assembly. The distal ends of the first, second, and third cables are equally spaced about the outer surface of the socket of the end effector assembly. Proximal longitudinal translation of the second and third cables articulates the end effector assembly in a first direction relative to the longitudinal axis defined by the shaft, and proximal longitudinal translation of the first cable articulates the end effector assembly in a second direction opposite the first direction relative to the longitudinal axis defined by the shaft.

In one aspect, proximal longitudinal translation of the first and second cables articulates the end effector assembly in a third direction relative to the longitudinal axis defined by the shaft, and proximal longitudinal translation of the third cable articulates the end effector assembly in a fourth direction opposite the third direction relative to the longitudinal axis defined by the shaft.

In one aspect, the surgical instrument further includes an articulation subassembly disposed within the housing and operably coupled to the proximal ends of the first, second, and third cables. The articulation subassembly is configured to cause longitudinal translation of the first cable, the second cable, and the third cable.

In one aspect, at least one of the distal end of the first cable, the distal end of the second cable, or the distal end of the third cable defines a collar operably coupled to a post of at least one of the distal section of the shaft or the end effector assembly. Alternatively, at least one of the distal end of the first cable, the distal end of the second cable, or the distal end of the third cable defines a ball operably coupled to a post of at least one of the distal section of the shaft or the end effector assembly.

Drawings

Various aspects and features of the disclosure are described below with reference to the drawings, wherein like reference numerals designate identical or corresponding elements in each of the several views.

Fig. 1A is a perspective view of a surgical instrument configured for mounting on a robotic arm of a robotic surgical system provided in accordance with the present disclosure;

FIG. 1B is a rear perspective view of a proximal portion of the surgical instrument of FIG. 1A;

FIG. 2 is a schematic illustration of an exemplary robotic surgical system configured to releasably receive the surgical instrument of FIG. 1A;

FIG. 3 is a side perspective view of the surgical instrument of FIG. 1A with the housing removed;

FIG. 4A is a rear perspective view of a ball and socket arrangement for use with the surgical instrument of FIG. 1A, according to one aspect of the present disclosure;

FIG. 4B is a rear perspective view of another ball and socket arrangement for use with the surgical instrument of FIG. 1A, according to another aspect of the present disclosure;

FIG. 5A is a side view of a distal portion of the surgical instrument of FIG. 1A, with the end effector assembly articulated;

FIG. 5B is a top view of the distal portion of the surgical instrument of FIG. 1A with the end effector assembly articulated;

FIG. 6 is a side view of a distal portion of the surgical instrument of FIG. 1A with the end effector assembly articulated and the outer tube removed;

FIG. 7A is a front view of an end effector assembly of the surgical instrument of FIG. 1A;

FIG. 7B is a side view of an end effector assembly of the surgical instrument of FIG. 1A;

8A-8D are front views of an end effector assembly of the surgical instrument of FIG. 1A in various articulated positions; and is

FIG. 9 is a front perspective view illustrating an articulation sheath of the end effector assembly of the surgical instrument of FIG. 1A.

Detailed Description

Robotic devices often utilize one or more articulated joints to increase the dexterity and access of surgical instruments within the abdominal cavity. The articulated joints are controlled by cables coupled to the respective motors. For example, a typical robot may have four motors to control four cables that may be used for articulation, jaw pivoting, knife throwing, and/or any other mechanical action required by the end effector. For a wrist joint, this typically requires two motors to achieve movement in two degrees of freedom.

The present disclosure provides an articulating mechanism utilizing a ball and socket joint in which three articulation cables are coupled to a socket. The end effector assembly (e.g., ultrasonic blade and clamp, grasper, bipolar forceps, electrosurgical vascular sealing forceps, monopolar electrode, etc.) may be rotated on a ball-and-socket joint with three co-located degrees of freedom, allowing articulation in a three-dimensional conical envelope rather than a plane, and having a compact configuration. The end effector assembly may be rotated about its central axis so that the end effector assembly can be positioned in any orientation required to grasp or treat tissue.

The disclosed articulating mechanism with a ball-and-socket joint has advantages over conventional articulating joints at least because of its compactness and its ability to reach any point in its travel envelope with less motion, less cables, and/or less motor. In particular, the disclosed ball and socket articulation configuration requires only three articulation cables and reduces the number of control motors required for actuation (e.g., articulation). As described in detail below, each of the three articulation cables is independently controlled by pulling or loosening (e.g., pushing) one or more of the three articulation cables. Three articulation cables are the minimum number of wires required to articulate the ball joint anywhere in its articulated enclosure. Additional or alternative aspects and features of the present disclosure are also described in detail below.

In aspects, the actuation cable is movably coupled to the socket portion of the joint and may be coupled to the socket portion of the joint via another ball and socket joint, a pin and collar joint, or any other type of joint that couples the actuation cable to the socket but still allows independent movement. In aspects, the flexible outer tube is rotatable to rotate the end effector assembly. This enables the articulation range of the end effector assembly to reach any orientation in its articulation envelope. The outer tube may be articulated via segments, helical U-joints, or other configurations while maintaining torsional and linear integrity.

Referring to fig. 1A-1B, 2 and 3, a surgical instrument 10 provided in accordance with the present disclosure generally includes: a housing 20; a shaft 30 extending distally from the housing 20; an end effector assembly 40 extending distally from shaft 30; and a gearbox assembly 100 (FIG. 3) disposed within the housing 20 and operatively associated with the end effector assembly 40. The surgical instrument 10 is detailed herein as an articulating electrosurgical clamp configured for use with a robotic surgical system, such as the robotic surgical system 1000 (fig. 2). However, the aspects and features of the surgical instrument 10 provided in accordance with the present disclosure, which are detailed below, are equally applicable for use with other suitable surgical instruments and/or for other suitable surgical systems.

With particular reference to FIG. 1A, the housing 20 of the surgical instrument 10 includes a first body portion 22a, a second body portion 22b, and a proximal panel 24 that cooperate to enclose a gearbox assembly 100 (FIG. 3) therein. The proximal panel 24 includes apertures defined therein through which the first, second, third, and

fourth inputs

110, 120, 130, 140 (fig. 1B) of the gearbox assembly 100 extend to couple to a driver (e.g., motor) of the robotic surgical system 1000 (fig. 2). A pair of latch levers 26 (only one of which is shown in fig. 1) extend outwardly from opposite sides of the housing 20 and enable the housing 20 to be releasably engaged with a robotic arm of a surgical system, such as a robotic surgical system 1000 (fig. 2).

The shaft 30 of the surgical instrument 10 includes a proximal section 34 and a distal section 32. Distal segment 32 is operably coupled to end effector assembly 40 and is configured to articulate relative to proximal segment 34. Outer tube 45 surrounds proximal section 34 and distal section 32 of shaft 30 and is operably coupled to at least a portion of end effector assembly 40. At least a portion of outer tube 45 is flexible to enable end effector assembly 40 to articulate relative to proximal section 34 of shaft 30. Additionally or alternatively, a portion of outer tube 45 may have a helical cut or other flexibility enhancing feature or structure to enable articulation of end effector assembly 40. In a configuration, outer tube 45 is rotatable relative to shaft 30, and a distal end of outer tube 45 is fixedly coupled to at least a portion of end effector assembly 40 (e.g., fixedly coupled to first jaw member 42) such that rotation of outer tube 45 causes a corresponding rotation of at least a portion of end effector assembly 40 (e.g., first jaw member 42) about longitudinal axis "L" of surgical instrument 10.

A plurality of articulation cables 38 (fig. 4A) (e.g., three (3) articulation cables) or other suitable actuators extend through shaft 30 and are coupled at a distal end thereof to distal section 32 of shaft 30 or to second jaw member 44 (e.g., where the second jaw member is an ultrasonic blade). More specifically, articulation cable 38 is operably coupled at a distal end thereof to distal section 32 or second jaw member 44 of shaft 30, and extends proximally from distal section 32 or second jaw member 44 of shaft 30, through proximal section 34 of shaft 30, and into housing 20, wherein articulation cable 38 is operably coupled to articulation subassembly 200 of gearbox assembly 100 to enable distal section 32 (and thus end effector assembly 40) to be selectively articulated relative to proximal section 34 and housing 20.

With continued reference to fig. 1A, end effector assembly 40 includes a first jaw member 42 and a second jaw member 44, wherein first jaw member 42 is pivotably coupled relative to second jaw member 44 about a pivot 50. Jaw member 42 may be pivotably coupled to distal section 32 of shaft 30 and/or outer tube 45. This configuration enables jaw member 42 to pivot relative to jaw member 44 and distal segment 32 of shaft 30 between a spaced-apart position (e.g., an open position of end effector assembly 40) and an approximated position (e.g., a closed position of end effector assembly 40), for example, by linear movement of outer tube 45, for grasping tissue therebetween.

In some configurations, first movable jaw member 42 comprises a more rigid structure that supports a more compliant jaw lining (defining tissue contacting surface 46), and second jaw member 44 is an ultrasonic blade (defining tissue contacting surface 48), wherein in the closed position, the jaw lining and ultrasonic blade cooperate to grasp tissue between their tissue contacting surfaces 46, 48. In such a configuration, an ultrasonic transducer (not shown) may be positioned proximal of the articulation section (e.g., within the proximal segment 34 of the shaft 30 or within the housing 20), and a waveguide (not shown) including one or more articulation sections (e.g., flexible portions, interface portions, linkage portions, etc.) is provided extending through the articulation section to interconnect the ultrasonic horn extending from the ultrasonic transducer with the blade, such that ultrasonic energy generated by the ultrasonic transducer may be transmitted along the waveguide to the blade to treat tissue therewith, regardless of articulation of the articulation section. Alternatively, the ultrasonic transducer may be disposed within the distal section 32 of the shaft 30 (e.g., disposed distal of the articulating portion) and may be connected to the blade (with or without an ultrasonic waveguide therebetween) via an ultrasonic horn such that ultrasonic energy generated by the ultrasonic transducer is transmitted along the ultrasonic horn (and waveguide, if provided) to the blade for treating tissue with the ultrasonic energy.

In other configurations, as described above,

jaw members

42, 44 may be configured for supplying other energy (e.g., monopolar RF, bipolar RF, microwave, thermal laser, etc.) and/or for other purposes (e.g., grasping, stapling, clamping). For example, with respect to bipolar RF energy, tissue contacting surface 46 of first jaw member 42 and tissue contacting surface 48 of second jaw member 44 are at least partially formed from an electrically conductive material and are energizable to different electrical potentials to enable electrical energy to be conducted through tissue grasped therebetween. In such configurations, surgical instrument 10 defines a conductive path (not shown) through housing 20 and shaft 30 to end effector assembly 40, which may include leads, contacts, and/or conductive components to enable at least one of tissue contacting surface 46 of first jaw member 42 or tissue contacting surface 48 of second jaw member 44 to be electrically connected to an energy source (not shown) (e.g., an electrosurgical generator) for supplying energy to one of tissue contacting surface 46 or tissue contacting surface 48 to treat (e.g., seal) tissue grasped between first jaw member 42 and second jaw member 44.

As an alternative to single-sided movement, a double-sided movement can be achieved whereby both first jaw member 42 and second jaw member 44 can pivot relative to each other and distal segment 32 of shaft 30.

In various aspects, regardless of the particular energy configuration and/or arrangement of the

jaw members

42, 44, a drive rod (not shown) is operably coupled to at least one of the first jaw member 42 or the second jaw member 44 such that longitudinal actuation of the drive rod (not shown) pivots the first jaw member 42 relative to the second jaw member 44 between a spaced-apart position (e.g., open) and an approximated position (e.g., closed) (or vice versa). However, other suitable mechanisms and/or configurations for pivoting first jaw member 42 relative to second jaw member 44 between the spaced-apart and approximated positions are also contemplated. For example, in one aspect, a distal end of outer tube 45 is coupled to at least one of first jaw member 42 or second jaw member 44, and distal longitudinal translation of outer tube 45 pivots one of first jaw member 42 or third jaw member 44 relative to the other.

Referring momentarily to fig. 4A and 4B, a proximal portion of second jaw member 44 can extend through distal segment 32 of shaft 30 and define a socket 442 that couples to a ball 444 formed on a distal end of elongate shaft 446 or other suitable support extending through shaft 30 to form a ball-and-socket joint between second jaw member 44 and elongate shaft 446. In configurations in which the second jaw member 44 is an ultrasonic blade and the ultrasonic transducer is proximal of the articulating portion, the socket 442 may be defined within a proximal end portion of the ultrasonic blade, and the elongate shaft 446 (including the ball 444 formed on a distal end portion thereof) may be a waveguide hingeably coupled to the blade and configured to transmit ultrasonic energy to the blade through a ball-and-socket joint regardless of the articulated position of the blade relative to the waveguide. Alternatively, the socket 442 may be formed on the distal section 32 of the shaft 30 or another structure secured in engagement therewith, and/or the ball 442 may be formed on the proximal section 32 of the shaft 30 or another structure secured in engagement therewith. Additionally or alternatively, the ball and

socket

444, 442 may be reversed.

Referring to FIG. 3, as described above, gearbox assembly 100 is disposed within housing 20 and includes articulation subassembly 200 and jaw drive subassembly 400. Articulation subassembly 200 is operably coupled between first, second, and

third inputs

110, 120, 130 (fig. 1B) and articulation cable 38 (fig. 1A) of gearbox assembly 100, respectively, such that, upon receipt of an appropriate input into first, second, and/or

third inputs

110, 130, 120, respectively, articulation subassembly 200 manipulates articulation cable 38 (fig. 1A) to articulate end effector assembly 40 in a desired direction relative to a longitudinal axis "L" defined by shaft 30 to, for example, pitch and/or yaw end effector assembly 40.

Rotation of the lead screws of the articulation subassembly 200 causes corresponding longitudinal translation of the respective nuts along the length of the lead screws. Each cable 38 is coupled to a respective nut such that proximal longitudinal translation of the nut causes proximal longitudinal translation of the respective cable 38, and distal longitudinal translation of the nut causes slack to be provided to the corresponding cable 38 coupled thereto. In this configuration, rotation of first, second, and

third inputs

110, 120, 130 effects longitudinal translation of respective nuts coupled to proximal portions of respective articulation cables 38 (fig. 1A) to articulate end effector assembly 40 relative to longitudinal axis "L" defined by shaft 30. Specifically, articulation subassembly 200 of gearbox assembly 100 includes first, second, and third lead screws 111, 112, 113 coupled to first, second, and third input ends 110, 120, and 130, respectively. First nut 210 is threadably coupled to first lead screw 111, second nut 220 is threadably coupled to second lead screw 112, and third nut 230 is threadably coupled to third lead screw 113. Rotation of first input 110, second input 120, and third input 130 causes a corresponding rotation of first lead screw 111, second lead screw 112, and third lead screw 113, which in turn causes a corresponding longitudinal translation of first nut 210, second nut 220, or third nut 230.

Jaw drive subassembly 400 is operably coupled between fourth input 140 (fig. 1B) of gear box assembly 100 and a drive rod (not shown) or other suitable structure (e.g., outer tube 45) such that upon receiving an appropriate input into fourth input 140, jaw drive subassembly 400 pivots first jaw member 42 and/or second jaw member 44 between the spaced-apart and approximated positions to grasp tissue therebetween and apply a closing force within an appropriate closing force range. In various aspects, the jaw drive subassembly 400 can be operably coupled to the outer tube 45 such that the jaw drive subassembly 400 can both longitudinally translate the outer tube 45 (e.g., to pivot the second jaw member 45) and rotate the outer tube 45 (e.g., to rotate the end effector assembly 40, or a portion thereof, about the longitudinal axis "L").

When the surgical instrument 10 is installed on the robotic surgical system 1000 (fig. 2), the gearbox assembly 100 is configured to operably interface with the robotic surgical system 1000 (fig. 2) to effectuate the mechanical operation of the gearbox assembly 100 to provide the detailed functionality described above. That is, robotic surgical system 1000 (fig. 2) selectively provides input to first input 110, second input 120, third input 130, and fourth input 140 of gearbox assembly 100 to articulate end effector assembly 40, grasp tissue between first jaw member 42 and second jaw member 44, and/or treat grasped tissue. However, it is also contemplated that gearbox assembly 100 may be configured to interface with any other suitable surgical system (e.g., a manual surgical handle, a powered surgical handle, etc.). For purposes herein, a robotic surgical system 1000 (fig. 2) is generally described.

Turning to fig. 2, a robotic surgical system 1000 is configured for use in accordance with the present disclosure. Aspects and features of the robotic surgical system 1000 not germane to an understanding of the present disclosure are omitted so as not to obscure the aspects and features of the present disclosure with unnecessary detail.

The robotic surgical system 1000 generally includes: a plurality of

robot arms

1002, 1003; a control device 1004; and an operation console 1005 coupled with the control device 1004. The operating console 1005 may include a display device 1006, which may be specifically configured to display three-dimensional images; and

manual input devices

1007, 1008 by which personnel, such as a surgeon, can remotely manipulate the

robotic arms

1002, 1003 in the first mode of operation. The robotic surgical system 1000 may be configured for minimally invasive use with a patient 1013 to be treated lying on a patient table 1012. The robotic surgical system 1000 may also include a database 1014, particularly a database coupled to the control device 1004, in which preoperative data, such as from the patient 1013 and/or an anatomical atlas, is stored.

Each of the

robotic arms

1002, 1003 may include a plurality of members connected by joints and a mounted device, which may be, for example, a surgical tool "ST". One or more of the surgical tools "ST" may be a surgical instrument 10 (fig. 1A), thus providing such functionality on the robotic surgical system 1000.

The

robotic arms

1002, 1003 may be driven by an electric drive (e.g., a motor) connected to a control device 1004. The control device 1004 (e.g., a computer) may be configured, in particular by a computer program, to activate the motors in a manner that causes the

robotic arms

1002, 1003, and thus the installed surgical tool "ST" of the robotic arms, to perform a desired movement and/or function in accordance with corresponding inputs from the

manual input devices

1007, 1008, respectively. The control device 1004 may also be configured in such a way that it regulates the movement of the

robotic arms

1002, 1003 and/or the motors.

Referring to fig. 1A-1B, 3, and 4A-4B, as described above with respect to articulation of end effector assembly 40 relative to proximal section 34 of shaft 30, actuation of articulation cable 38 may be effected by rotation of first input 110, second input 120, or third input 130. Specifically, the proximal end of the first cable 381 is operatively coupled to the first input 110 via the first nut 210, the proximal end of the second cable 382 is operatively coupled to the second input 120 via the second nut 220, and the proximal end of the third cable 383 is operatively coupled to the third input 130 via the third nut 230. The distal end 381b of the first cable 381, the distal end 382b of the second cable 382, and the distal end 383b of the third cable 383 are each operably coupled to the distal section 32 of the shaft 30 or the second jaw member 44 (e.g., where the second jaw member is an ultrasonic blade), e.g., equally spaced about the circumference of the distal section 32 or equally spaced about the outer surface of the socket 442 of the second jaw member 44. Specifically, the distal ends 381b, 382b, and 383b of the first, second, and

third wires

381, 382, and 383 may define

respective collars

391, 392, and 393 having a collar-on-collar configuration (fig. 4A) for pivotable coupling to the distal section 32 of the shaft 30 or a corresponding post (or ball) of the second jaw member 44. Alternatively, the distal ends 381B, 382B, and 383B of the first, second, and

third wires

381, 382, and 383 can define respective balls 395, 396, 397 having a ball and socket configuration (fig. 4B) for pivotable coupling to the distal section 32 of the shaft 30 or a corresponding socket of the second jaw member 44.

Referring to fig. 5A-5B, 7A-7B, 8A-8D, and 9, articulation of end effector assembly 40 to a desired orientation results from coordinated actuation (e.g., longitudinal movement) of first cable 381, second cable 382, and/or third cable 383, and/or rotation of outer tube 45. End effector assembly 40 may articulate about a range of motion defining articulation envelope 40 e.

To effect articulation of end effector assembly 40 (fig. 8A) in a first direction (e.g., vertically upward), simultaneous and substantially equal proximal longitudinal translation of second cable 382 and third cable 383 in the direction of arrow "D" (fig. 5B) (consistent with corresponding distal longitudinal translation of first cable 381 in the direction of arrow "E" (fig. 5B), or slack provided to first cable 381) articulates end effector assembly 40 in the direction of arrow "DD" (fig. 5A and 8A). On the other hand, proximal longitudinal translation of first cable 381 in a direction opposite that of arrow "E" (fig. 5B) (consistent with corresponding simultaneous and substantially equal distal longitudinal translation of second and

third cables

382 and 383 in a direction opposite that of arrow "D" (fig. 5B), or slack provided to second and third cables 382 and 383) articulates end effector assembly 40 in a direction of arrow "EE" (fig. 8A) (e.g., a second opposite (vertically downward) direction).

To effect articulation of end effector assembly 40 (fig. 8B) in the third and fourth directions (e.g., horizontally), proximal longitudinal translation of second cable 382 in the direction of arrow "D" (fig. 5B) (consistent with simultaneous distal longitudinal translation of third cable 383 in the direction opposite to the direction of arrow "D" (fig. 5B), or slack provided to third cable 383) horizontally articulates end effector assembly 40 in the direction of arrow "FF" (fig. 8B). On the other hand, proximal longitudinal translation of third cable 383 in the direction of arrow "D" (fig. 5B) (consistent with simultaneous distal longitudinal translation of second cable 382 in the direction opposite arrow "B" (fig. 5B), or slack provided to second cable 382) horizontally articulates end effector assembly 40 in the direction of arrow "GG" (fig. 8B). In both cases, that is, when it is desired to articulate end effector assembly 40 only in the horizontal direction of arrow "FF" or "GG" without any vertical movement thereof, first cable 381 is longitudinally translated and/or outer tube 45 is rotated to some extent to ensure true horizontal articulation of end effector assembly 40.

End effector assembly 40 may also be articulated in any of an infinite number of hybrid vertical horizontal directions (fig. 8C) by adjusting the relative degree of longitudinal movement (actuation length) of each of first cable 381, second cable 382, and third cable 383. For example, as shown in fig. 8C, end effector assembly 40 is articulated vertically in the direction of arrow "DD" and horizontally in the direction of arrow "GG". This hybrid articulation is achieved by unequal proximal longitudinal translation of the second cable 382 and the third cable 383 in the direction of arrow "D" (fig. 5B), with the degree of longitudinal translation of the third cable 383 being greater than the degree of longitudinal translation of the second cable 382. Proximal longitudinal translation of both the second cable 382 and the third cable 383 in the direction of arrow "D", although not equal, is consistent with simultaneous distal translation of the first cable 381 in the direction of arrow "E" (fig. 5B), or slack provided to the first cable 381. Such specific description is merely exemplary, and it should be understood that any combination of actuation between first cable 381, second cable 382, and third cable 383, and/or rotation of outer tube 45, may be adjusted to articulate end effector assembly 40 within articulation sheath 40e (fig. 9) in a vertical direction, a horizontal direction, or a combined vertical and horizontal direction.

In addition to the articulation of end effector assembly 40 described above, rotation of outer tube 45 about shaft 30 also causes end effector assembly 40 to rotate about a central longitudinal axis "L" defined by shaft 30, e.g., in the direction of arrow "R" (fig. 7A-7B and 8D). Such rotation of end effector assembly 40 is possible when end effector assembly 40 is not articulated (when end effector assembly 40 is longitudinally aligned with longitudinal axis "L"), and when end effector assembly 40 is articulated in either a vertical direction, a horizontal direction, or a combined vertical-horizontal direction. Rotation of outer tube 45 orients one or both

jaw members

42, 44 in a desired orientation. In some configurations, rotation of outer tube 45 rotates both

jaw members

42, 44 in conjunction with one another. Alternatively, rotation of outer tube 45 can rotate jaw member 42 about jaw member 44 to orient jaw member 42 at different radial positions about jaw member 44 to clamp tissue therebetween at corresponding radial positions. The combination of articulation of end effector assembly 40 (achieved by longitudinal translation of first cable 381, second cable 382, and/or third cable 383) and rotation of end effector assembly 40 (or a portion thereof) (achieved by rotation of outer tube 45) allows end effector assembly 40 a range of motion anywhere within articulation sheath 40e (fig. 9).

While several particular versions of the apparatus according to the present disclosure are shown in the drawings, it is not intended that the disclosure be limited thereto, as the disclosure is intended to be as broad in scope as the art will allow and the specification should be read likewise. Therefore, the above description should not be construed as limiting, but merely as exemplifications of particular aspects. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.

It should be understood that various features of the devices disclosed herein may be combined in different combinations than those specifically presented in the specification and drawings. It will also be understood that certain acts or events of any of the processes or methods described herein can be performed in a different order, may be fully added, merged, or omitted, depending on the example (e.g., not all described acts or events may be required for the performance of the techniques). Additionally, although certain aspects of devices according to the present disclosure are described as being performed by a single module or unit for clarity, it should be understood that the techniques of the present disclosure may be performed by a combination of units or modules associated with, for example, a medical device.

Claims

1. A surgical instrument, the surgical instrument comprising:

a housing;

a shaft extending from the housing and defining a longitudinal axis, the shaft including a proximal section and a distal section;

a ball joint interconnecting the proximal and distal sections of the shaft;

an end effector assembly supported at the distal section of the shaft;

an outer tube surrounding the shaft and operably coupled to the end effector assembly, wherein the outer tube is rotatable about the shaft and configured to rotate the end effector assembly about the longitudinal axis defined by the shaft; and

a first cable, a second cable, and a third cable extending about the ball-and-socket joint, wherein proximal longitudinal translation of at least one of the first cable, the second cable, or the third cable articulates the end effector assembly relative to the longitudinal axis defined by the shaft.

2. The surgical instrument of claim 1, wherein at least one of the distal end of the first cable, the distal end of the second cable, or the distal end of the third cable defines at least one of:

a collar operably coupled to the post of at least one of the distal section of the shaft or the second jaw member; or

A ball operably coupled to a post of at least one of the distal section of the shaft or the second jaw member.

3. The surgical instrument of claim 1, wherein the end effector assembly comprises a first jaw member and a second jaw member.

4. The surgical instrument of claim 3, wherein a distal end of the outer tube is operably coupled to the first jaw member and longitudinal movement of the outer tube pivots the first jaw member relative to the second jaw member.

5. The surgical instrument of claim 3, wherein the second jaw member is an ultrasonic blade configured to transmit ultrasonic energy, the socket of the ball-and-socket joint is defined within a proximal portion of the ultrasonic blade, and the ball of the ball-and-socket joint is formed on a distal end of the elongate rod configured to transmit ultrasonic energy to the ultrasonic blade.

6. The surgical instrument of claim 1, wherein:

proximal longitudinal translation of the second and third cables articulates the end effector assembly in a first direction relative to the longitudinal axis defined by the shaft; and is

Proximal longitudinal translation of the first cable articulates the end effector assembly in a second direction opposite the first direction relative to the longitudinal axis defined by the shaft.

7. The surgical instrument of claim 6, wherein:

proximal longitudinal translation of the first and second cables articulates the end effector assembly in a third direction relative to the longitudinal axis defined by the shaft; and is provided with

Proximal longitudinal translation of the third cable articulates the end effector assembly in a fourth direction opposite the third direction relative to the longitudinal axis defined by the shaft.

8. The surgical instrument of claim 1, further comprising an articulation subassembly disposed within the housing and operably coupled to a proximal end of the first cable, a proximal end of the second cable, and a proximal end of the third cable, the articulation subassembly configured to cause longitudinal translation of the first cable, the second cable, and the third cable.

9. The surgical instrument of claim 8, wherein the articulation subassembly comprises:

a first lead screw and a first nut threadably coupled to the first lead screw, the proximal end of the first cable coupled to the first nut;

a second lead screw and a second nut threadably coupled to the second lead screw, the proximal end of the second cable coupled to the second nut; and

a third lead screw and a third nut threadably coupled to the third lead screw, the proximal end of the third cable coupled to the third nut.

10. The surgical instrument of claim 1, wherein the distal ends of the first, second, and third cables are equally spaced around the outer surface of the socket of the ball-and-socket joint.

11. A surgical system, the surgical system comprising:

a robotic surgical system comprising a control device and a robotic arm; and

a surgical instrument configured to be operably coupled to the robotic arm of the robotic surgical system, the surgical instrument comprising:

a housing;

a shaft extending from the housing and defining a longitudinal axis;

an elongated rod extending through the shaft and defining a ball at a distal end of the elongated rod;

an end effector assembly comprising a first jaw member and a second jaw member, the second jaw member defining a socket operably coupled to the ball of the elongated rod;

an outer tube surrounding the shaft and operably coupled to the end effector assembly, wherein the outer tube is rotatable about the shaft and is configured to rotate the end effector assembly about the longitudinal axis defined by the shaft; and

first, second, and third cables extending through the shaft and operably coupled to the end effector assembly, wherein a distal end of the first, second, and third cables are equally spaced about an outer surface of the socket of the second jaw member, and wherein proximal longitudinal translation of at least one of the first, second, or third cables articulates the end effector assembly relative to the longitudinal axis defined by the shaft.

12. The surgical system of claim 11, wherein at least one of the distal end of the first cable, the distal end of the second cable, or the distal end of the third cable defines at least one of:

a collar operably coupled to the post of at least one of the distal section of the shaft or the second jaw member; or alternatively

13. The surgical system of claim 11, wherein a distal end of the outer tube is operably coupled to the first jaw member and longitudinal movement of the outer tube pivots the first jaw member relative to the second jaw member.

14. The surgical system of claim 11, wherein the second jaw member is an ultrasonic blade configured to transmit ultrasonic energy and the first jaw member is a clamp arm.

15. The surgical system of claim 11, wherein:

16. The surgical system of claim 15, wherein:

proximal longitudinal translation of the first and second cables articulates the end effector assembly in a third direction relative to the longitudinal axis defined by the shaft; and is

17. The surgical system of claim 11, the surgical instrument further comprising an articulation subassembly disposed within the housing and operably coupled to proximal ends of the first, second, and third cables, the articulation subassembly configured to cause longitudinal translation of the first, second, and third cables.

18. The surgical system of claim 17, wherein the articulation subassembly comprises:

19. A surgical instrument, the surgical instrument comprising:

a housing;

a shaft extending from the housing and defining a longitudinal axis;

an end effector assembly defining a socket operably coupled to the ball of the elongate rod; and

first, second, and third cables extending through the shaft and operably coupled to the end effector assembly, wherein a distal end of the first cable, a distal end of the second cable, and a distal end of the third cable are equally spaced about an outer surface of the socket of the end effector assembly, wherein:

proximal longitudinal translation of the second and third cables articulates the end effector assembly in a first direction relative to the longitudinal axis defined by the shaft;

proximal longitudinal translation of the first cable articulates the end effector assembly in a second direction opposite the first direction relative to the longitudinal axis defined by the shaft;

20. The surgical instrument of claim 19, wherein at least one of the distal end of the first cable, the distal end of the second cable, or the distal end of the third cable defines at least one of:

a collar operably coupled to a post of at least one of the distal section of the shaft or the end effector assembly; or

A ball operably coupled to a post of at least one of the distal section of the shaft or the end effector assembly.