WO2017190304A1

WO2017190304A1 - Surgical forceps for treating and cutting tissue

Info

Publication number: WO2017190304A1
Application number: PCT/CN2016/081095
Authority: WO
Inventors: Weijiang Ding; Mingfeng Xu
Original assignee: Covidien Lp
Priority date: 2016-05-05
Filing date: 2016-05-05
Publication date: 2017-11-09
Also published as: CN109069172A; CN109069172B

Abstract

A forceps (10) includes a housing (20), movable handle (30), trigger (60), outer shaft (90), end effector assembly (100), and first and second drive bars (130,140). The end effector assembly (100), disposed at a distal end of the outer shaft (90), includes first and second jaw members (112,122) at least one of which is pivotable between a spaced-apart position and an approximated position. The first and second drive bars (130,140) extend through the outer shaft (90) and operably couple the movable handle (30) and the trigger (60), respectively, to the end effector assembly (100). Actuation of the movable handle (30) translates the first drive bar (130) through the outer shaft (90) to pivot the first and/or second jaw members (112,122) from the spaced-apart position to the approximated position. Actuation of the trigger (60) translates the second drive bar (140) through the outer shaft (90) to translate the first jaw member (112) relative to the outer shaft (90) and the second jaw member (122) from a grasping position to a cut position.

Description

SURGICAL FORCEPS FOR TREATING AND CUTTING TISSUE

BACKGROUND Technical Field

The present disclosure relates generally to surgical instruments and, more particularly, to surgical forceps for grasping tissue, treating the grasped tissue with energy, and cutting the grasped and/or treated tissue.

Background of Related Art

A surgical forceps is a pliers-like instrument that relies on mechanical action between its jaw members to grasp, clamp, and constrict tissue. Energy-based surgical forceps utilize both mechanical clamping action and energy, e.g., radiofrequency (RF) energy, microwave energy, ultrasonic energy, light energy, thermal energy, etc., to heat tissue to treat, e.g., coagulate, cauterize, or seal, tissue. Typically, once tissue is treated, the surgeon has to accurately sever the treated tissue. Accordingly, many surgical forceps are designed to incorporate a knife or cutting member utilized to effectively sever the treated tissue.

SUMMARY

As used herein, the term “distal” refers to the portion that is being described that is further from a user, while the term “proximal” refers to the portion that is being described that is closer to a user. Further, to the extent consistent, any of the aspects described herein may be used in conjunction with any of the other aspects described herein.

In accordance with the present disclosure, a forceps is provided including a housing, an outer shaft extending distally from the housing, a movable handle operably coupled to the housing, a trigger operably coupled to the housing, an end effector assembly disposed at a distal end of the outer shaft, and first and second drive bars extending through the outer shaft. The end effector assembly includes first and second jaw members at least one of which is pivotable relative to the other and the outer shaft between a spaced-apart position and an approximated position. The first jaw member is translatable relative to the outer shaft and the second jaw member between a grasping position and a cut position, while the second jaw member is inhibited from translation relative to the outer shaft and the first jaw member. The first drive bar is operably coupled between the movable handle and the first and second jaw members such that actuation of the movable handle translates the first drive bar through the outer shaft to pivot the first jaw member and/or the second jaw member from the spaced-apart position to the approximated position. The second drive bar is operably coupled between the trigger and the first and second jaw members such that actuation of the trigger translates the second drive bar through the outer shaft to translate the first jaw member from the grasping position to the cut position.

In an aspect of the present disclosure, each of the first and second jaw members includes a proximal flange and a distal jaw body. The proximal flanges are operably coupled to the first and second drive bars.

In another aspect of the present disclosure, the distal jaw bodies define curved configurations such that, upon translation of the first jaw member from the grasping position to the cut position, the distal jaw bodies are misaligned with one another.

In yet another aspect of the present disclosure, the distal jaw bodies define stepped tissue-contacting portions such that, upon translation of the first jaw member from the grasping position to the cut position, the stepped tissue-contacting portions move in sheering action relative to one another.

In still another aspect of the present disclosure, each of the first and second jaw members defines a cam slot through the proximal flange thereof. The first drive bar supports a first drive pin configured for translation through the cam slots to pivot the first jaw member and/or the second jaw member between the spaced-apart and approximated positions.

In still yet another aspect of the present disclosure, the first jaw member defines a pivot aperture, the second jaw member defines a pivot slot, and the second drive bar supports a second drive pin configured for receipt within the pivot aperture and the pivot slot such that translation of the second drive pin translates the first jaw member between the grasping position and the cut position, and such that translation of the second drive pin moves the second drive pin through the pivot slot.

In another aspect of the present disclosure, the second drive pin defines a first height in a first orientation and a second height in a second orientation. The pivot slot includes a first portion and a second portion defining a height less than that of the first height and greater than that of the second height such that movement of the second drive pin into the second portion of the pivot slot is inhibited when the second drive pin is disposed in the first orientation and permitted when the second drive pin is disposed in the second orientation. In such aspects, the first orientation of the second drive pin may correspond to the spaced-apart position of the first and second jaw members such that the first jaw member is inhibited from translating to the cut position when the first and second jaw members are disposed in the spaced-apart position.

In another aspect of the present disclosure, the first and second drive shafts extend through the outer shaft adjacent one another.

In still another aspect of the present disclosure, the first jaw member and/or second jaw member is adapted to connect to a source of energy.

In yet another aspect of the present disclosure, distal translation of the first drive bar through the outer shaft pivots the first jaw member and/or the second jaw member from the spaced-apart position to the approximated position. Additionally or alternatively, proximal translation of the second drive bar through the outer shaft translates the first jaw member from the grasping position to the cut position.

Another forceps provided in accordance with aspects of the present disclosure includes an outer shaft, an end effector assembly disposed at a distal end of the outer shaft, first and second drive bars extending through the outer shaft, and first and second drive pins. The end effector assembly includes first and second jaw members each including a proximal flange and a distal body. The proximal flange of the first jaw member defines a pivot aperture and a cam slot, while the proximal flange of the second jaw member defines a pivot slot and a cam slot. The first drive pin is supported towards a distal end of the first drive bar and extends through the cam slots such that translation of the first drive bar through the outer shaft moves the first drive pin through the cam slots to pivot the first jaw member and/or the second jaw member relative to the outer shaft and the other between a spaced-apart position and an approximated position. The second drive pin is supported towards a distal end of the second drive shaft and extends through the pivot aperture and the pivot slot such that translation of the second drive bar through the outer shaft moves the second drive pin through the pivot slot and translates the first jaw member relative to the outer shaft and the second jaw member between a grasping position and a cut position.

In an aspect of the present disclosure, the distal jaw bodies define curved configurations such that, upon translation of the first jaw member from the grasping position to the cut position, the distal jaw bodies are misaligned with one another. Further, the distal jaw bodies may define stepped tissue-contacting portions such that, upon translation of the first jaw member from the grasping position to the cut position, the stepped tissue-contacting portions move in sheering action relative to one another

In another aspect of the present disclosure, the second drive pin defines a first height in a first orientation and a second height in a second orientation, and the pivot slot includes a first portion and a second portion. The second potion of the pivot slot defines a height less than that of the first height and greater than that of the second height such that movement of the second drive pin into the second portion of the pivot slot is inhibited when the second drive pin is disposed in the first orientation and permitted when the second drive pin is disposed in the second orientation. The first orientation may correspond to the spaced-apart position of the first and second jaw members, thus inhibiting the first jaw member from translating to the cut position when disposed in the spaced-apart position.

In still another aspect of the present disclosure, the first and second drive shafts extend through the outer shaft adjacent to one another.

BRIEF DESCRIPTION OF THE DRAWINGS

Various aspects and features of the present disclosure are described hereinbelow with reference to the drawings wherein like reference numerals identify similar or identical elements:

Fig. 1 is a perspective view of an endoscopic surgical forceps provided in accordance with the present disclosure:

Fig. 2A is an exploded, perspective view of the forceps of Fig. 1；

Fig. 2B is a side view of the forceps of Fig. 1 with a portion of the housing removed to illustrate the internal components therein；

Fig. 3A is a perspective view of the distal end of the forceps of Fig. 1 with the outer shaft removed to illustrate the internal components therein；

Fig. 3B is an exploded, perspective view of the distal end of the forceps of Fig. 1, with the outer shaft removed；

Fig. 4A is a perspective view of the first jaw member of the end effector assembly of the forceps of Fig. 1；

Fig. 4B is a perspective view of the second jaw member of the end effector assembly of the forceps of Fig. 1；

Fig. 5A is a side view of the distal end of the forceps of Fig. 1 with the outer shaft removed and the end effector assembly disposed in a spaced-apart position；

Fig. 5B is a side view of the distal end of the forceps of Fig. 1 with the outer shaft removed and the end effector assembly disposed in an approximated position；

Fig. 5C is a side view of the distal end of the forceps of Fig. 1 with the outer shaft removed and the end effector assembly disposed in a cut position；

Fig. 6A is a perspective, partial cross-sectional view of the distal end of the forceps of Fig. 1 with the end effector assembly disposed in the approximated position grasping tissue therebetween for treatment of the grasped tissue； and

Fig. 6B is a perspective, partial cross-sectional view of the distal end of the forceps of Fig. 1 with the end effector assembly disposed in the cut position having divided the grasped tissue.

DETAILED DESCRIPTION

Turning to Figs. 1-6B, an endoscopic surgical forceps provided in accordance with the present disclosure is shown generally identified by reference numeral 10. As described in greater detail below, forceps 10 is configured to facilitate grasping tissue, treating the grasped tissue with energy, and cutting the grasped and/or treated tissue. Although detailed herein with respect to forceps 10, the aspects and features of the present disclosure are equally applicable for use with any suitable surgical instrument.

With reference to Figs. 1-2B, forceps 10 generally includes a housing 20 formed from first and

second housing portions

22a, 22b, a handle assembly 30, a trigger assembly 60, an activation button 70, an outer shaft 90, an end effector assembly 100, a first drive assembly 130, and second drive assembly 140, and a rotating assembly 150.

Housing portions

22a, 22b of housing 20 are substantially similar to one another and each includes a distal aperture portion 23, a rotation wheel window 24, a trigger pivot 25, a movable handle pivot 26, a plurality of engagement members 27, a button compartment portion 28, and a cable aperture portion 29. Distal aperture portions 23 (only distal aperture portion 23 of housing portion 22a is shown) cooperate to define a distal aperture enabling outer shaft 90 to extend therethrough.

Rotation wheel windows 24 enable rotation wheel 152 of rotating assembly 150 to extend therethrough to enable manipulation thereof by a user.

Trigger pivots 25 (only trigger pivot 25 of housing portion 22a is shown) are configured to pivotably support trigger 62 of trigger assembly 60 therebetween to enable pivoting of trigger 62 relative to housing 20.

Movable handle pivots 26 (only movable handle pivot 26 of housing portion 22a is shown) are configured to pivotably support movable handle 32 therebetween to enable pivoting of movable handle 32 relative to housing 20.

Engagement members 27 enable the engagement of first and

second housing portions

22a, 22b to one another to form housing 20, e.g., via pin-aperture engagement, screws, etc., although other suitable engagements, e.g., ultrasonic welding, are also contemplated.

Button compartment portions 28 (only button compartment portion 28 of housing portion 22a is shown) cooperate to define a button compartment for receipt of activation button 70.

Cable aperture portions 29 (only cable aperture portion 29 of housing portion 22a is shown) cooperate to define a cable aperture for receipt of an electrosurgical cable (not shown) therethrough. The electrosurgical cable includes wires (not shown) extending therethrough to operably couple a source of energy, e.g., an electrosurgical generator (not shown) , to activation button 70 and end effector assembly 100 to enable the selective supply of energy to end effector assembly 100 in response to actuation of activation button 70. Alternatively, forceps 10 may be configured as a hand-held device including battery and generator components disposed on or within housing 20.

Handle assembly 30 includes a movable handle 32, a first linkage 42, and a second linkage 46. Movable handle 32 includes a grasping portion 34 extending from housing 20 and defining a finger hole 36 to facilitate grasping by a user, an extension portion 38 extending from grasping portion 34 into housing 20, and a protrusion 40 protruding from grasping portion 34 towards activation button 70 to facilitate actuation of activation button 70 in response to actuation of movable handle 32.

First linkage 42 is fixed relative to extension portion 38 of movable handle 32 at an engagement point 43 and extends therefrom. Engagement point 43 furthe defines a pair of outwardly-facing pivot apertures (only one of which is shown) configured to receive movable handle pivots 26 of

housing portions

22a, 22b to pivotably couple movable handle 32 relative to housing 20. As such, movable handle 32 is pivotable relative to housing 20 between an initial position, wherein movable handle 32 is spaced-apart from a fixed handle portion 50 of housing 20, and an actuated position, wherein movable handle 32 is disposed in close proximity to fixed handle portion 50. Protrusion 40 of movable handle 32 may be configured to actuate activation button 70 in the actuated position of movable handle 32, or may require movement of movable handle 32 to a second actuated position, wherein movable handle 32 is disposed even closer to fixed handle portion 50 such that protrusion 40 actuates activation button 70.

Second linkage 46 defines a bifurcated configuration (only one arm of which is shown) and is pivotably coupled to first linkage 42 via a floating pivot 47 at a first end of second linkage 46. Second linkage 46 further includes a drive pin 49 disposed at a second end thereof that is configured for receipt within first mandrel 134 of first drive assembly 130 such that pivoting of movable handle 32 between the initial and actuated positions translates first drive bar 132 of first drive assembly 130 through and relative to housing 20 and outer shaft 90.

Trigger assembly 60 includes a trigger 62 defining a toggle portion 64 extending from housing 20 to facilitate manipulation by a user, a pivot portion 66 disposed within housing 20, and drive portion 68 extending between toggle portion 64 and pivot portion 66. Pivot portion 66 defines a pair of outwardly-facing pivot apertures (only one of which is shown) configured to receive trigger pivots 25 of

housing portions

22a, 22b to pivotably couple trigger 62 relative to housing 20. As such, trigger 62 is pivotable relative to housing 20 between a first, more-distal position and a second, more-proximal position.

Drive portion 68 of trigger 62 defines an opening 69a and a pair of opposed drive pin portions 69b extending inwardly into opening 69a. As detailed below, drive pin potions 69b are configured for receipt within second mandrel 144 of second drive assembly 140 such that pivoting of trigger 62 between the first position and the second position translates second drive bar 142 of second drive assembly 140 through and relative to housing 20 and outer shaft 90.

Referring still to Figs. 1-2B, outer shaft 90 includes a ring 92 engaged thereabout towards the proximal end thereof. Ring 92 is configured for receipt within an annular recess 93 defined within each

housing portion

22a, 22b (only annular recess 93 of housing portion 22a is shown) to longitudinal fix outer shaft 90 relative to housing 20 while permitting rotation of outer shaft 90 relative to housing 20. Outer shaft 90 further defines a pair of opposed apertures 94 (only one of which is shown) and a pair of opposed longitudinally-extending slots 96 (only one of which is shown) . As detailed below, apertures 94 and slots 96 facilitate the operable coupling of end effector assembly 100 at the distal end of outer shaft 90.

Turning to Figs. 3A-4B, in conjunction with Figs. 2A and 2B, end effector assembly 100 includes first and

second jaw members

110, 120 pivotably coupled to one another and outer shaft 90 to enable movement of first and

second jaw members

110, 120 relative to one another and outer shaft 90 between a spaced-apart position and an approximated position for grasping tissue therebetween. As an alternative to this bilateral configuration, end effector assembly 100 may define a unilateral configuration, e.g., wherein jaw member 120 is fixed relative to outer shaft 90 and jaw member 110 is pivotable relative to jaw member 120 and outer shaft 90 between the spaced-apart and approximated positions.

Each

jaw member

110, 120 of end effector assembly 100 includes a

proximal flange

111, 121 and a

distal jaw body

112, 122. Proximal flange 111 of jaw member 110 defines a cam slot 113 having proximal and

distal slot sections

114a, 114b, respectively. Distal slot section 114b extends generally longitudinally along proximal flange 111 of jaw member 110, although distal slot section 114b may be angled relative to a longitudinal axis of proximal flange 111. Proximal slot section 114a is angled relative to distal slot section 114b (at an angle greater than the angle of distal slot section 114b in embodiments where distal slot section 114b is angled) and the longitudinal axis of proximal flange 111 of jaw member 110. Proximal flange 111 of jaw member 110 further defines a first pivot aperture 115 therethrough that is disposed proximally of cam slot 113.

Proximal flange 121 of jaw member 120 defines a bifurcated configuration formed from a pair of spaced-apart flange segments configured to receive proximal flange 111 of jaw member 110 therebetween. Alternatively, proximal flange 111 of jaw member 110 may be bifurcated and configured to receive a singular proximal flange 121 of jaw member 120, both

proximal flanges

111, 121 may be singular and arranged in side-by-side relation, or both

proximal flanges

111, 121 may be bifurcated and arranged in an offset configuration or a nestled. As both flange segments of proximal flange 121 are similar, the flange segments will be collectively referred to hereinbelow as proximal flange 121, unless otherwise noted.

Proximal flange portion 121 of jaw member 120 defines a cam slot 123, a first pivot aperture 124a disposed proximally of cam slot 123, and a second pivot aperture 125 generally positioned between cam slot 123 and first pivot aperture 124a. Cam slot 123 defines a generally linear (although arced configurations are also contemplated) and is angled relative to a longitudinal axis of proximal flange 121 of jaw member 120 in an opposite direction relive to the angling of proximal slot section 114a of cam slot 113 of proximal flange 111 of jaw member 110. A first drive pin 103 is configured for slidable positioning within opposed longitudinally-extending slots 96 of outer shaft 90, cam slot 113 of proximal flange 111 of jaw member 110, and cam slot 123 of proximal flange 121 of jaw member 120. First drive pin 103, as detailed below, is further configured to operably couple to first drive bar 132 of first drive assembly 130 such that translation of first drive bar 132 through outer shaft 90, e.g., in response to pivoting of movable handle 32 (Fig. 1) , pivots

jaw members

110, 120 relative to one another between the spaced-apart position (Fig. 5A) and the approximated position (Fig. 5B) .

First pivot aperture 124a of proximal flange 121 of jaw member 120 includes a tail slot 124b in communication therewith and extending proximally therefrom longitudinally relative to the longitudinal axis of proximal flange 121 of jaw member 120. Tail slot 124b defines a reduced height as compared to the diameter of first pivot aperture 124a. A second drive pin 105 is configured for receipt within pivot aperture 115 of proximal flange 111 of jaw member 110 and first pivot aperture 124a of proximal flange 121 of jaw member 120 to pivotably

couple jaw members

110, 120 relative to one another. Second drive pin 105 is also captured, rotatably fixed, within a pair of recesses 143 defined at the distal end of second drive bar 142 of second drive assembly 140. As a result of this configuration, proximal translation of second drive bar 142 moves second drive pin 105 proximally from first pivot aperture 124a into tail slot 124b, thus allowing jaw member 120 to remain stationary upon proximal translation of second drive bar 142. With respect to jaw member 110, however, with second drive pin 105 extending through pivot aperture 115 of proximal flange 111 of jaw member 110, proximal translation of second drive bar 142 pulls jaw member 110 to slide proximally relative to jaw member 120 to a cut position.

Second drive pin 105 is configured to inhibit entry thereof into tail slot 124b when

jaw members

110, 120 are disposed in the spaced-apart position, thereby inhibiting jaw member 110 from moving to the cut position when

jaw members

110, 120 are disposed in the spaced-apart position. Second drive pin 105 defines a center portion 106a configured for receipt within pivot aperture 115 of proximal flange 111 of jaw member 110 and a pair of opposed outer portions 106b, each of which is configured for receipt within the first pivot aperture 124a of one of the flange segments of proximal flange 121 of jaw member 120. Center portion 106a defines a circular cross-sectional configuration such that rotation of jaw member 110 about center portion 106a of second drive pin 105 is uninhibited by second drive pin 105, regardless of the orientation thereof. Outer portions 106b define semi-circular configurations such that, in a first orientation, e.g., wherein the semi-circle faces proximally or distally, outer portions 106b define a height equal to a full diameter of second drive pin 105, while, in a second orientation, e.g., wherein the semi-circle faces up or down, outer portions 106b define a height equal to a half diameter of second drive pin 105. At intermediate orientations between the first and second orientations, the height of outer portions 106b decreases from the full diameter to the half diameter. Tail slot 124b defines a height that is slightly larger than the half diameter of second drive pin 105 and less than the full diameter of second drive pin 105.

In the approximated position of

jaw members

110, 120, proximal flange 121 of jaw member 120 is oriented such that tail slot 124b is aligned with the half-diameter height of second drive pin 105, thus permitting translation of second drive pin 105 therethrough. However, when

jaw members

110, 120 are not in the approximated position, or a position sufficiently close to the approximated position, tail slot 124b of proximal flange 121 of jaw member 120 is aligned with a height of second drive pin 105 that is greater than the height of tail slot 124b, thus inhibiting translation of second drive pin 105 therethrough. The particular height of tail slot 124b relative to the diameter of second drive pin 105 may be selected in accordance with the desired position of

jaw members

110, 120 at which movement of jaw member 110 to the cut position is permitted. This may correspond, for example, to the approximated position or a position sufficiently close to the approximated position, e.g., to enable movement of jaw member 110 to the cut position where larger tissue structures are grasped between

jaw members

110, 120 inhibiting

jaw members

110, 120 from reaching the approximated position.

A pair of pivot-pin components (not explicitly shown) are configured for receipt within second pivot apertures 125 of the flange segments of proximal flange 121 of jaw member 120 and opposed apertures 94 of outer shaft 90 (see FIG. 1) so as to pivotably couple jaw member 120 to outer shaft 90 on either side of proximal flange 111 of jaw member 110. This configuration inhibits translation of jaw member 120. Thus, jaw member 120 is only movable in pivoting fashion relative to outer shaft 90.

Continuing with reference to Figs. 3A-4B, in conjunction with Figs. 2A and 2B,

distal jaw bodies

112, 122 of

jaw members

110, 120 each define a curved configuration, wherein

distal jaw bodies

112, 122 curve laterally in similar directions.

Distal jaw bodies

112, 122 each further define opposing tissue-contacting

portions

116, 126. Tissue-contacting portion 116 of distal jaw body 112 of jaw member 110 is defined by protruding and recessed tissue-contacting

surfaces

117a, 117b offset by a step 117c. Likewise, tissue-contacting portion 126 of distal jaw body 122 of jaw member 120 is defined by protruding and recessed tissue-contacting

surfaces

127a, 127b offset by a step 127c. Tissue-contacting

portions

116, 126 define complementary configurations such that the

steps

117c, 127c thereof inter-fit with one another when

jaw members

110, 120 are disposed in the approximated position (see Fig. 6A) , e.g., with protruding surface 117a of jaw member 120 opposed to recessed surface 127b of jaw member 120 and recessed surface 117b of jaw member 110 opposed to protruding surface 127a of jaw member 120. As detailed below, as a result of the curved, stepped configurations of tissue-contacting

portions

116, 126 of

jaw members

110, 120, proximal sliding of jaw member 110 to the cut position causes tissue-contacting

portions

116, 126 to at least partially move out of inter-fit position to a stacked configuration, wherein

steps

117c, 127c, in a sheering action, slide laterally over one another to cut tissue disposed therebetween.

Tissue-contacting

portions

116, 126 are formed at least partially from an electrically-conductive material and either or both are adapted to connect to a source of energy as well as activation button 70 (Fig. 1) to enable the selective supply of energy thereto for treating tissue grasped therebetween. In some embodiments, one or both of

distal jaw bodies

112, 122 of

jaw members

110, 120 includes an outer

insulative jaw housing

118, 128. Alternatively, one or both of

distal jaw bodies

112, 122 may be formed entirely from an electrically-conductive material.

Referring to Figs. 2A-3B, first drive assembly 130 includes a first drive bar 132 that extends from housing 20 through outer shaft 90 to end effector assembly 100. As noted above, first drive bar 132 supports first drive pin 103 at the distal end thereof. First drive pin 103 operably coupled first drive bar 132 with

jaw members

110, 120, as mentioned above, such that translation of first drive bar 132 through outer shaft 90, e.g., in response to pivoting of movable handle 32 (Fig. 1) , pivots

jaw members

A first mandrel 134 of drive assembly 130 is slidably disposed about first drive bar 132 towards the proximal end thereof. Drive pin 49 of handle assembly 30 is configured for receipt within the annular recess defined by first mandrel 134 such that pivoting of movable handle 32 between the initial and actuated positions translates mandrel 134 relative to housing 20. A first biasing member 136 is disposed about first drive bar 132 and engaged between first mandrel 134 and a proximal washer 138 that is fixedly engaged about first drive bar 132, e.g., via welding or a pin-aperture engagement. This configuration establishes a force-limiting mechanism whereby first biasing member 136 resists extension up to a threshold force such that, below the threshold force, pivoting of movable handle 32 from the initial position towards the actuated position urges first mandrel 134 and first drive bar 132 distally to thereby move

jaw members

110, 120 from the spaced-apart position towards the approximated position. However, upon reaching the threshold force, corresponding to a threshold pressure applied to tissue grasped between

jaw members

110, 120, further pivoting of movable handle 32 from the initial position towards the actuated position urges first mandrel 134 distally and causes elongation of first biasing member 136 such that first drive bar 132 is maintained in position, thereby maintaining the position of and pressure applied by

jaw members

110, 120. First drive assembly 130 further includes a second biasing member 139 operably positioned to bias first drive bar 132 proximally, thereby biasing

jaw members

110, 120 towards the spaced-apart position and movable handle 32 towards the initial position.

Second drive assembly 140 includes a second drive bar 142 that extends from housing 20 through outer shaft 90 to end effector assembly 100. Second drive bar 142 extends adjacent first drive bar 132 within outer shaft 90. Second drive bar 142 supports second drive pin 105 within recesses 143 thereof to thereby operably coupled second drive bar 142 to

jaw members

110, 120. As such, translation of second drive bar 142 through outer shaft 90, e.g., in response to pivoting of trigger 62, slides jaw member 110 relative to jaw member 120 between the grasping position (Figs. 5A and 5B) and the cut position (Fig. 5C) .

Second drive assembly 140 includes a second mandrel 144 slidably disposed about first drive bar 132 of first drive assembly 130 and fixedly engaged to second drive bar 142 of second drive assembly 140 towards the proximal end thereof, e.g., via welding or a pin-aperture engagement. Second mandrel 144 is configured to receive drive pin potions 69b of trigger assembly 60 within the annular recess defined by second mandrel 144 such that pivoting of trigger 62 between the first position and the second position urges second mandrel 144 proximally, thereby translating second drive bar 142 proximally to slide jaw member 110 from the grasping position (Figs. 5A and 5B) to the cut position (Fig. 5C) .

With particular reference to Fig. 3B, a control block 146 operably couples first and second drive bars 132, 142, respectively, so as to confine relative movement of first and second drive bars 132, 142, respectively, to longitudinal translation. Control block 146 extends through a first slot 147 defined within first drive bar 132 and a second slot 148 defined within second drive bar 142 The length of first slot 147 generally approximates the length of control block 146 so as to establish a fixed engagement therebetween. Second slot 148 is elongated relative to the length of control block 146 to allow control block 146 to translate along second slot 148 as first drive bar 132 is translated relative to second drive bar 142, and vice versa.

Referring again to Figs. 2A and 2B, rotating assembly 150 includes a rotation wheel 152 fixedly mounted on outer shaft 90 within housing 20. Rotation wheel 152 extends through rotation wheel windows 24 of housing 20 to enable manipulation of rotation wheel 152 from the exterior of housing 20. With rotation wheel 152 fixed about outer shaft 90, outer shaft 90 coupled to

jaw members

110, 120, and

jaw members

110, 120 coupled to first and second drive bars 132, 142, rotation of rotation wheel 152 relative to housing 20 thereby rotates outer shaft 90, end effector assembly 100, and first and

second drive assemblies

130, 140, respectively, relative to housing 20.

Turning now to Figs. 1 and 5A-6B, the use and operation of forceps 10 is detailed. Initially, movable handle 32 is disposed in the initial position and, accordingly,

jaw members

110, 120 are disposed in the spaced-apart position (Fig. 5A) . In this position, as shown in Fig. 5A, first drive bar 132 is disposed in a proximal-most position and second drive bar 142 is disposed in a distal-most position. Further, in this position, first drive pin 103 is disposed towards the proximal ends of slots 113, 123 (Figs. 4A and 4B) and second drive pin 105 is disposed within first pivot aperture 124a of proximal flange 121 of jaw member 120 (Figs. 4A and 4B) .

With

jaw members

110, 120 disposed in the spaced-apart position, forceps 10 may be maneuvered and/or manipulated into position such that tissue to be grasped, treated, and or cut, is disposed between

jaw members

110, 120. Such may include rotation of rotation wheel 152 to rotate

jaw members

110, 120 to a desired orientation. Once

jaw members

110, 120 are properly positioned, and in order to grasp tissue, movable handle 32 is moved from the initial position to the actuated position. Movement of movable handle 32 to the actuated position translates first drive bar 132 distally such that first drive pin 132 is moved distally through slots 113, 123 (Figs. 4A and 4B) to thereby pivot

jaw members

110, 120 from the spaced-apart position towards the approximated position (Figs. 5B and 6A) . At this point, second drive bar 142 remains stationary and second drive pin 105 remains disposed within first pivot aperture 124a of proximal flange 121 of jaw member 120 (Figs. 4A and 4B) .

With

jaw members

110, 120 disposed in the approximated position grasping tissue “T” therebetween (Fig. 6A) , energy may be supplied to either or both of tissue-contacting

portions

116, 126 of

jaw members

110, 120 to treat tissue “T. ” More specifically, protrusion 40 of handle assembly 30 may be configured to activate activation button 70 upon

jaw members

110, 120 reaching the approximated position, or movable handle 32 may be moved from the actuated position further towards fixed handle 50 to activate activation button 70. In either configuration, energy is conducted through tissue “T” to treat tissue “T. ”

Once tissue “T” has been treated, or where it is only desired to cut tissue “T, ” trigger 62 is moved from the first position to the second position to thereby translate second drive bar 142 proximally. Proximal translation of second drive bar 142 pulls second drive pin 105 proximally, thereby also pulling first jaw member 110 proximally from the grasping position (Figs. 5B and 6A) to the cut position (Figs. 5C and 6B) . As second drive pin 105 is moved proximally, second drive pin 105 enters proximal tail 124b of proximal flange 121 of jaw member 120 (Figs. 4A and 4B) , thus permitting jaw member 120 to remain stationary during proximal movement of jaw member 110 to the cut position (Figs. 5C and 6B) .

With reference to Figs. 6A and 6B, due to the curved configurations of distal jaw bodies 112, 122 (Figs. 4A and 4B, respectively) of

jaw members

110, 120, as noted above, as jaw member 110 is translated proximally relative to jaw member 120, tissue-contacting

portions

116, 126 are at least partially moved from an inter-fit position to a stacked configuration, wherein

steps

117c, 127c, in a sheering action, slide laterally over one another to cut tissue “T” disposed therebetween (Fig. 6B) .

Steps

117c, 127c may define sharpened edges to facilitate cutting in this manner. Further, in embodiments where distal slot section 114b of jaw member 110 is angled, the angled configuration facilitates

steps

117c, 127c sliding over one another by slightly lifting jaw member 110 (due to the interaction between first drive pin 103 and the angled distal slot section 114b) as jaw member 110 is pulled proximally.

Once tissue “T” has been grasped, treated, and/or cut, trigger 62 may be returned to the first position and, thereafter, movable handle 32 returned to the initial position to release tissue “T. ” Forceps 10 may then be used, similarly as detailed above, to grasp, treat, and/or cut other tissue (s) .

The various embodiments disclosed herein may also be configured to work with robotic surgical systems and what is commonly referred to as “Telesurgery. ” Such systems employ various robotic elements to assist the surgeon in the operating theatre and allow remote operation (or partial remote operation) of surgical instrumentation. Various robotic arms, gears, cams, pulleys, electric and mechanical motors, etc. may be employed for this purpose and may be designed with a robotic surgical system to assist the surgeon during the course of an operation or treatment. Such robotic systems may include remotely steerable systems, automatically flexible surgical systems, remotely flexible surgical systems, remotely articulating surgical systems, wireless surgical systems, modular or selectively configurable remotely operated surgical systems, etc.

In particular, the transmission assemblies of the present disclosure may be configured for use with such robotic systems in addition to being used with manually-operated assemblies. That is, depending on the particular procedure, the transmission assembly may be coupled to a manually-operated assembly or a robotic system. Thus, the transmission assemblies of the present disclosure are capable of being used in either configuration without the need for multiple transmission assemblies depending on whether robotic or manual surgery is desired.

With respect to coupling the transmission assembly to a robotic system, the robotic system would include suitable components, such as those detailed above, capable of manipulating and actuating the transmission assembly. The robotic surgical systems may further be employed with one or more consoles that are next to the operating theater or located in a remote location. In this instance, one team of surgeons or nurses may prep the patient for surgery and configure the robotic surgical system with one or more of the transmission assemblies while another surgeon (or group of surgeons) remotely control the transmission assembly (s) via the robotic surgical system. As can be appreciated, a highly skilled surgeon may perform multiple operations in multiple locations without leaving his/her remote console which can be both economically advantageous and a benefit to the patient or a series of patients.

In use, the robotic arms of the surgical system are typically coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement, manipulation, and/or actuation of the transmission assembly (s) coupled thereto. The movement of the master handles may be scaled so that the operably components of the transmission assembly (s) has a corresponding movement that is different, smaller or larger, than the movement performed by the operating hands of the surgeon. The scale factor or gearing ratio may be user-adjustable so that the operator can control the resolution of the operable components of the transmission assembly (s) .

The master handles of the robotic system may further include various sensors to provide feedback to the surgeon relating to various tissue parameters or conditions, e.g., tissue resistance due to manipulation, cutting or otherwise treating, pressure by the instrument onto the tissue, tissue temperature, tissue impedance, etc. As can be appreciated, such sensors provide the surgeon with enhanced tactile feedback simulating actual operating conditions. The master handles may also include a variety of different actuators for delicate tissue manipulation or treatment further enhancing the surgeon’s ability to mimic actual operating conditions.

From the foregoing and with reference to the various figure drawings, those skilled in the art will appreciate that certain modifications can also be made to the present disclosure without departing from the scope of the same. While several embodiments of the disclosure have been shown in the drawings, it is not intended that the disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Therefore, the above description should not be construed as limiting, but merely as exemplifications of particular embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.

Claims

A forceps, comprising:

a housing；

an outer shaft extending distally from the housing；

a movable handle operably coupled to the housing；

a trigger operably coupled to the housing；

an end effector assembly disposed at a distal end of the outer shaft, the end effector assembly including first and second jaw members at least one of which is pivotable relative to the other and the outer shaft between a spaced-apart position and an approximated position, the first jaw member translatable relative to the outer shaft and the second jaw member between a grasping position and a cut position, the second jaw member inhibited from translation relative to the outer shaft and the first jaw member；

a first drive bar extending through the outer shaft and operably coupled between the movable handle and the first and second jaw members such that actuation of the movable handle translates the first drive bar through the outer shaft to pivot the at least one of the first or second jaw members from the spaced-apart position to the approximated position； and

a second drive bar extending through the outer shaft and operably coupled between the trigger and the first and second jaw members such that actuation of the trigger translates the second drive bar through the outer shaft to translate the first jaw member from the grasping position to the cut position.
The forceps according to claim 1, wherein each of the first and second jaw members includes a proximal flange and a distal jaw body, the proximal flanges operably coupled to the first and second drive bars.
The forceps according to claims 2, wherein the distal jaw bodies define curved configurations such that, upon translation of the first jaw member from the grasping position to the cut position, the distal jaw bodies are misaligned with one another.
The forceps according to claim 3, wherein the distal jaw bodies define stepped tissue-contacting portions such that, upon translation of the first jaw member from the grasping position to the cut position, the stepped tissue-contacting portions move in sheering action relative to one another.
The forceps according to claim 2, wherein each of the first and second jaw members defines a cam slot through the proximal flange thereof, and wherein the first drive bar supports a first drive pin configured for translation through the cam slots to pivot the at least one of the first or second jaw members between the spaced-apart and approximated positions.
The forceps according to claim 2, wherein the first jaw member defines a pivot aperture, the second jaw member defines a pivot slot, and the second drive bar supports a second drive pin configured for receipt within the pivot aperture and the pivot slot such that translation of the second drive pin translates the first jaw member between the grasping position and the cut position, and such that translation of the second drive pin moves the second drive pin through the pivot slot.
The forceps according to claim 6, wherein the second drive pin defines a first height in a first orientation and a second height in a second orientation, and wherein the pivot slot includes a first portion and a second portion, the second potion defining a height less than that of the first height and greater than that of the second height such that movement of the second drive pin into the second portion of the pivot slot is inhibited when the second drive pin is disposed in the first orientation and permitted when the second drive pin is disposed in the second orientation.
The forceps according to claim 7, wherein the first orientation of the second drive pin corresponds to the spaced-apart position of the first and second jaw members such that the first jaw member is inhibited from translating to the cut position when the first and second jaw members are disposed in the spaced-apart position.
The forceps according to claim 1, wherein the first and second drive shafts extend through the outer shaft adjacent one another.
The forceps according to claim 1, wherein at least one of the first or second jaw members is adapted to connect to a source of energy.
The forceps according to claim 1, wherein distal translation of the first drive bar through the outer shaft pivots the at least one of the first or second jaw members from the spaced-apart position to the approximated position.
The forceps according to claim 1, wherein proximal translation of the second drive bar through the outer shaft translates the first jaw member from the grasping position to the cut position.
A forceps, comprising:

an outer shaft；

an end effector assembly disposed at a distal end of the outer shaft, the end effector assembly including first and second jaw members each including a proximal flange and a distal body, the proximal flange of the first jaw member defining a pivot aperture and a cam slot, the proximal flange of the second jaw member defining a pivot slot and a cam slot；

a first drive bar extending through the outer shaft；

a first drive pin supported towards a distal end of the first drive bar and extending through the cam slots such that translation of the first drive bar through the outer shaft moves the first drive pin through the cam slots to pivot at least one of the first or second jaw members relative to the outer shaft and the other between a spaced-apart position and an approximated position；

a second drive bar extending through the outer shaft； and

a second drive pin supported towards a distal end of the second drive shaft and extending through the pivot aperture and the pivot slot such that translation of the second drive bar through the outer shaft moves the second drive pin through the pivot slot and translates the first jaw member relative to the outer shaft and the second jaw member between a grasping position and a cut position.
The forceps according to claim 13, wherein the distal jaw bodies define curved configurations such that, upon translation of the first jaw member from the grasping position to the cut position, the distal jaw bodies are misaligned with one another.
The forceps according to claim 14, wherein the distal jaw bodies define stepped tissue-contacting portions such that, upon translation of the first jaw member from the grasping position to the cut position, the stepped tissue-contacting portions move in sheering action relative to one another.
The forceps according to claim 13, wherein the second drive pin defines a first height in a first orientation and a second height in a second orientation, and wherein the pivot slot includes a first portion and a second portion, the second potion of the pivot slot defining a height less than that of the first height and greater than that of the second height such that movement of the second drive pin into the second portion of the pivot slot is inhibited when the second drive pin is disposed in the first orientation and permitted when the second drive pin is disposed in the second orientation.
The forceps according to claim 16, wherein the first orientation of the second drive pin corresponds to the spaced-apart position of the first and second jaw members, thus inhibiting the first jaw member from translating to the cut position when the first and second jaw members are disposed in the spaced-apart position.
The forceps according to claim 13, wherein the first and second drive shafts extend through the outer shaft adjacent to one another.
The forceps according to claim 13, wherein distal translation of the first drive bar through the outer shaft pivots the at least one of the first or second jaw members from the spaced-apart position to the approximated position.
The forceps according to claim 13, wherein proximal translation of the second drive bar through the outer shaft translates the first jaw member from the grasping position to the cut position.