Suturing device with articulated tool assembly

Abstract

The present invention relates to a suturing device with an articulated tool assembly. A surgical suturing device includes a mounting assembly that is pivotally supported on a distal portion of a housing about a pivot axis and is movable between a non-articulated position and an articulated position. A drive assembly includes a flexible body having a working end, and an articulation assembly includes an active articulation link that is coupled to the mounting assembly and is movable between a retracted position and an advanced position to allow the mounting assembly to pivot about the pivot axis. A door assembly defines a channel for receiving the flexible body of the drive assembly. The active articulation link is positioned to engage the door assembly when the active articulation link moves between its retracted position and an advanced position to move the door assembly to a position that increases the bending radius of the flexible body of the drive assembly.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of and priority to U.S. Provisional Patent Application No. 62 / 828,217, filed on April 2, 2019, the entire disclosure of which is incorporated herein by reference. Technical Field

[0003] The present disclosure relates to surgical stapling devices, and more particularly to surgical stapling devices having a tool assembly supported on the stapling device for articulation. Background Art

[0004] A surgical suturing device configured for endoscopic or laparoscopic use includes an elongated body having a proximal portion and a distal portion, and a tool assembly supported on the distal portion of the elongated body. Typically, the tool assembly is supported by a pivot member that facilitates articulation of the tool assembly relative to the elongated body. In some suturing devices, the tool assembly is limited to articulation about 45 degrees around the pivot member in one or both directions.

[0005] Known suturing device comprises the main body that extends through suturing device and has the articulated mechanism that is connected to the distal end of tool assembly.Usually, articulated mechanism comprises one or more articulated connecting rods, and described articulated connecting rod can move along the longitudinal axis of the main body of suturing device, so that tool assembly pivots around the axis transverse to the longitudinal axis.

[0006] In known suturing devices, the tool assembly is unstable when it is in a non-articulated position, i.e., a position in which the longitudinal axis of the tool assembly is aligned with the longitudinal axis of the elongated body. Thus, as the tool assembly moves within the body cavity, the tool assembly becomes misaligned with the longitudinal axis of the body.

[0007] There is a continuing need in the art for a suturing device including a tool assembly that is capable of articulating over a wide range of angles and that is stable in all articulated positions, including non-articulated positions. Summary of the invention

[0008] One aspect of the present disclosure relates to a surgical suturing device, which includes a main body, a mounting assembly, a drive assembly, a hinge assembly, and a door assembly. The housing includes a proximal portion and a distal portion. The mounting assembly is pivotally supported on the distal portion of the housing around a pivot axis and can move between a non-articulated position and an articulated position. The drive assembly includes a flexible body having a working end. The drive assembly can move from a retracted position to an advanced position within the housing. The articulated assembly includes an active articulated link having a proximal portion and a distal portion coupled to the mounting assembly. The active articulated link can move between a retracted position and an advanced position to pivot the mounting assembly around the pivot axis. The door assembly defines a channel for receiving the flexible body of the drive assembly, wherein when the active articulated link moves between its retracted position and the advanced position to move the door assembly to a position that increases the bending radius of the flexible body of the drive assembly, the active articulated link is positioned to engage the door assembly.

[0009] In an embodiment, the door assembly is pivotably supported within the housing.

[0010] In some embodiments, the door assembly includes an upper door and a lower door.

[0011] In certain embodiments, each of the upper door and the lower door includes an elongated body and a U-shaped member supported on a distal portion, wherein the U-shaped members of the upper door and the lower door define a channel.

[0012] In an embodiment, the elongated body of each of the upper door and the lower door includes a pivot member that pivotally connects the upper door and the lower door within the housing.

[0013] In some embodiments, each U-shaped member of the upper door and the lower door includes an engagement member, wherein the active hinge link is positioned to engage one of the engagement members of the upper door or the lower door.

[0014] In certain embodiments, the articulation link includes a passive articulation link having a distal portion coupled to the mounting assembly such that pivotal movement of the mounting assembly about the pivot axis causes movement of the passive articulation link within the housing between the retracted position and the advanced position.

[0015] In an embodiment, the wind shield is supported on each side of the elongated body of the drive assembly.Each blow-out plate includes a distal end supported on the mounting assembly at a distal position of the pivot axis and a proximal end supported within the housing at a proximal position of the pivot axis.

[0016] In some embodiments, a stabilization mechanism engages the active and passive articulation links and is configured to urge the mounting assembly to a non-articulated position.

[0017] In an embodiment, the tool assembly is supported on the mounting assembly.

[0018] In some embodiments, a tool assembly may include a cartridge assembly and an anvil assembly.

[0019] In certain embodiments, the tool assembly is configured to receive a working end of the device assembly.

[0020] In an embodiment, the distal portion of the active articulation link includes a hook and the mounting assembly includes a finger, wherein the hook is positioned to engage the finger when the active articulation link is moved toward the advanced position to facilitate articulation of the mounting assembly.

[0021] In some embodiments, the active articulation link includes a first active articulation link and a second active articulation link pivotally coupled to the first active articulation link.

[0022] In some embodiments, the distal portion of each of the active and passive articulation links includes a hook, and the mounting assembly includes a finger-like member, wherein the hook is positioned to engage a corresponding one of the finger-like members when the corresponding active and passive articulation links are moved toward an advanced position to assist in articulation of the mounting assembly.

[0023] In an embodiment, the active articulated link includes a first active articulated link and a second active articulated link pivotably connected to the first active articulated link, and the passive articulated link includes a first passive articulated link and a second passive articulated link pivotably connected to the first passive articulated link. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Various embodiments of the presently disclosed surgical stapling device are described below with reference to the accompanying drawings, in which:

[0025] Figure 1 is a side perspective view of an exemplary embodiment of a presently disclosed surgical stapling device, wherein a tool assembly of the stapling device is in a non-articulated position;

[0026] Figure 2 yes Figure 1 A side perspective view of a surgical stapling device is shown with a tool assembly of the stapling device in an articulated position;

[0027] Figure 3 yes Figure 1 enlarged views of designated areas of detail shown;

[0028] Figure 4 yes Figure 2 enlarged views of designated areas of detail shown;

[0029] Figure 5 yes Figure 1 A side perspective exploded view of a heavy-duty suturing device including a tool assembly is shown;

[0030] Figure 5A is along Figure 5 A cross-sectional view taken along section line 5A-5A;

[0031] Figure 6 yes Figure 5 A side perspective view of an articulated link of an articulated assembly of a heavy load member is shown;

[0032] Figure 7 yes Figure 5 a side perspective view of a proximal portion of the reload shown with the outer tube and anvil assembly removed and the tool assembly in a non-articulated position;

[0033] Figure 8 yes Figure 7 enlarged views of designated areas of detail shown;

[0034] Fig. 9 is assembled in a non-articulated position Figure 5 a side perspective view of the heavy load shown with the outer tube of the heavy load removed;

[0035] Fig.10 yes Figure 5 A side perspective view of the stabilization system of the heavy load assembly is shown;

[0036] Fig.11 yes Fig. 9 enlarged views of designated areas of detail shown;

[0037] Fig.12 yes Figure 7 enlarged views of designated areas of detail shown;

[0038] Fig.13 is from Figure 5 a perspective view looking at a distal end of a distal portion of a housing half of a proximal body portion of the heavy load shown with a door assembly supported in the housing half;

[0039] Fig.14 yes Figure 5 An exploded side perspective view of the door assembly of the heavy-duty unit is shown;

[0040] Fig.15 is from Figure 5 a side perspective view of the door assembly of the heavy-duty member shown looking at the distal end thereof;

[0041] Fig.16 is from Figure 5 a side perspective view of the proximal end of the door assembly of the heavy-duty member shown;

[0042] Fig.17 is along Figure 7 A cross-sectional view taken along section line 17-17;

[0043] Fig.18 yes Fig.17 enlarged views of designated areas of detail shown;

[0044] Fig.19 is along Figure 8 A sectional view taken along section line 19-19;

[0045] Fig. 20 yes Figure 6 a top view of a proximal portion of the heavy load shown with the outer tube and housing halves removed and the tool assembly in a non-articulated position;

[0046] Fig.21 yes Figure 6 a top view of a proximal portion of the heavy load shown with the outer tube and housing halves removed and the tool assembly in an articulated position;

[0047] Fig. 22 is a side perspective view of a proximal end of the tool assembly and a distal end of the proximal body portion with the drive assembly removed and the tool assembly in an articulated position;

[0048] Fig.23 is a cross-sectional view of a proximal end of the tool assembly and a distal end of the proximal body portion with the drive assembly removed and the tool assembly in an articulated position; and

[0049] Fig.24 is a top view of the proximal end of the tool assembly and the distal end of the proximal body portion, with the tool assembly in an articulated position. DETAILED DESCRIPTION

[0050] The presently disclosed apparatus is now described in detail with reference to the accompanying drawings, in which the same reference numerals designate the same or corresponding elements in each of the several views. However, it should be understood that the disclosed embodiments are merely examples of the present disclosure and may be embodied in various forms. In order to avoid obscuring the present disclosure with unnecessary detail, no known functions or configurations are described in detail. Therefore, the specific structural and functional details disclosed herein should not be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching those skilled in the art to use the present disclosure differently with virtually any appropriate detailed structure.

[0051] In this specification, the term "proximal" is generally used to refer to the portion of the device that is closer to the clinician, while the term "distal" is generally used to refer to the portion of the device that is farther from the clinician. In addition, the term "endoscopic" is generally used to refer to endoscopy, laparoscopy, arthroscopy, and / or any other procedure performed through a small diameter incision or cannula. In addition, the term "clinician" is generally used to refer to medical personnel, including doctors, nurses, and support staff.

[0052] Reference Figure 1-4 The current surgical stapling device is generally shown as stapling device 10 and includes a handle assembly 12, an adapter assembly 14, and a tool assembly 16. In an embodiment, the tool assembly 16 forms a part of a heavy-duty assembly 18, which includes the tool assembly 16 and a body portion 20 having a proximal portion 22 and a distal portion 24. The adapter assembly 14 and the body portion 20 of the heavy-duty assembly 18 define a longitudinal axis "X" ( Figure 2 The proximal portion 22 of the body portion 20 of the heavy load 18 is adapted to be coupled to the distal portion 26 of the adapter assembly 14, and the distal portion of the body portion 20 is pivotally coupled to the tool assembly 16 about a pivot axis "Y" that is substantially perpendicular to the longitudinal axis "X" ( Figure 2 ). The tool assembly 16 is in a non-articulated position in which the tool assembly 16 is aligned with the longitudinal axis "X" ( Figure 1 ) and a hinged position where the tool assembly 16 is at an acute angle to the longitudinal axis "X". It is contemplated that the tool assembly 16 can be directly connected to the distal portion 26 of the adapter assembly 14 and need not form part of the heavy-duty assembly 18.

[0053] In an embodiment, the handle assembly 12 is powered and includes a fixed handle 30 and an actuation button 32 that can be actuated to control various functions of the stapling device 10, including the approach and firing of the tool assembly 16. U.S. Patent No. 9,055,943 ("the '943 patent") discloses a surgical stapling device having a powered handle assembly, an adapter assembly, and a tool assembly releasably coupled to the adapter assembly. The '943 patent is incorporated herein by reference in its entirety. Alternatively, the handle assembly 12 can be manually actuated, as described in U.S. Patent No. 5,865,361 ("the '361 patent"), which is incorporated herein by reference in its entirety.

[0054] Reference Figure 3-5 , tool assembly 16 includes anvil assembly 40 and cartridge assembly 42. In an embodiment, cartridge assembly 42 includes a staple cartridge 42a and a channel 42b, and is pivotally coupled to anvil assembly 40 between an open position and a clamped position. Alternatively, it is contemplated that cartridge assembly 42 may be fixed and anvil assembly 40 may be movable between an open position and a clamped position, as described in the '361 patent.

[0055] Reference Figure 5 , the main body 20 ( Figure 1) includes an outer sleeve 44, a first shell half 46, a second shell half 48, a mounting assembly 50, a first active hinge link 52 and a second active hinge link 54, a first passive hinge link 56 and a second passive hinge link 58, a drive assembly 60, an articulation stabilization mechanism 62, and a door assembly 64. The drive assembly 60 of the heavy-duty assembly 18 includes a flexible body 68 having a working end 66. As is known in the art, the working end 66 is movable through the tool assembly 16 to actuate the tool assembly 16. For a more detailed description of the structure and operation of the drive assembly 60, see the '361 patent. The first shell half 46 and the second shell half 48 are respectively fixed together to define a housing 70, which supports the articulation link and the articulation stabilization mechanism 62, as described in further detail below.

[0056] Mounting assembly 50( Fig.19 ) includes a first mounting portion 72, a second mounting portion 74, a first coupling member 76, and a second coupling member 78. The first mounting portion 72 defines a longitudinal slot 72a and includes a pivot member 80 and an internal finger 81. The internal finger 81 is positioned to engage the articulation links 52 and 56 during articulation of the tool assembly 16, as discussed in further detail below. The first coupling member 76 has a first end 76a and a second end 76b, the first end defining an opening 76a for receiving the pivot member 80, the second end 76b being received in a recess 82 defined in a distal end of the first housing half 46 of the heavy load 18, such that the first coupling member 76 pivotally secures the tool assembly 16 to the first housing half 46. The pivot member 80 is also received in an opening 40a ( Figure 5 ) to pivotally connect the anvil assembly 40 to the first mounting portion 72 of the mounting assembly 50.

[0057] The second mounting portion 74 also includes a pivot member 84 ( Fig.19 ). The second coupling member 48 has a first end, the first end defining an opening 74a for receiving a pivot member 84 of the second mounting portion 74, and a second end being received in a recess 86 defined in the second housing half 48 to pivotally secure the second mounting portion 74 to the second housing half 48 of the main body portion 20 of the heavy load assembly 18. The outer sleeve 44 of the proximal portion 22 of the heavy load 18 is positioned around the first housing half 46 and the second housing half 48 to prevent the first housing half 46 and the second housing half 48 from being separated from each other and to prevent the second ends of the first coupling member 76 and the second coupling member 78 from moving from the recesses 82, 86, respectively.

[0058] The second mounting portion 74 includes a distal extension 90 that defines a slot 92 that aligns with the slot 72a in the first mounting portion 72. The distal extension 90 is received at the proximal end ( Fig.18 ) and defines an opening 94. The proximal end of anvil assembly 40 and channel 42b of cartridge assembly 42 further define an opening 96 that aligns with opening 94 in second mounting portion 74 of mounting assembly 50. Openings 94 and 96 receive pivot members (not shown) to secure anvil assembly 40 to second mounting portion 74 and to pivotally secure cartridge assembly 42 to anvil assembly 40 about pivot axis "Y" ( Fig.19 ).

[0059] Reference Figure 3-5 The first mounting portion 72 and the second mounting portion 74 are each secured together using a pin or a rivet to fixedly secure the tool assembly 16 to the mounting assembly 50. For a more detailed description of the interconnection between the mounting assembly 50 and the tool assembly 16, see the '361 patent.

[0060] Reference Figure 5-8 , the first active articulation link 52 and the second active articulation link 54 are supported between the first housing half 46 and the second housing half 48 on opposite sides of the housing 70 of the main body portion 20, respectively. The first active articulation link 52 is elongated and includes a proximal portion 100 and a distal portion 102. The proximal portion 100 is adapted to engage an articulation drive mechanism (not shown) located within the adapter assembly 14 to convert the motion of the drive mechanism into longitudinal movement of the articulation link 52. In an embodiment, the proximal portion 100 may include a lateral extension 104 positioned to engage the articulation drive mechanism (not shown) of the adapter assembly 14, as known in the art. Alternatively, it is contemplated that the active articulation link 52 may engage the drive mechanism (not shown) of the adapter assembly 14 using a variety of different configurations or coupling arrangements. The distal portion 102 of the articulation link 52 includes an inner cam surface 106, a hook 108, and an opening 110. The cam surface 106 forms an inner surface of the hook 108 and is positioned to support a side of the drive assembly 60, as described in further detail below. The cam surface 106 defines a curved surface that extends in a distal direction toward the longitudinal axis "X".

[0061] The function of the hook 108 will be described in further detail below. The opening 110 receives a pivot member 112 supported on the second active articulation link 54 to pivotally couple the second active articulation link 54 to the distal portion 102 of the first active articulation link 52 .

[0062] The second active hinge link 54 also includes a distal portion defining an opening 114. The opening 114 receives a pivot member 116 ( Fig.18 ), the pivot member 116 is laterally offset from the pivot axis "Y" ( Figure 2 ) is supported on a first side of the mounting assembly 50 at a position to pivotally secure the second active articulation link 54 to the mounting assembly 50. Although not shown, the first active articulation link 52 is constrained to move linearly within the housing 50 of the main body 20 of the heavy load assembly 18. Pivoting the second articulation link 54 between the first articulation link 52 and the mounting assembly 50 increases the possible articulation range of the tool assembly 16 relative to the adapter assembly 14. As the first active articulation link 52 moves longitudinally within the main body 20 of the heavy load 18, the second active articulation link 54 advances and pivots about the pivot member 112 to cause the tool assembly 116 to move about the axis "Y" ( Figure 2 It should be noted that the length of the second active articulation link 54 is substantially shorter than the length of the first active articulation link 52, so that when the mounting assembly 50 and the tool assembly 16 are articulated, the links 52 and 54 do not protrude outwardly from the mounting assembly 50 more than a predetermined distance.

[0063] The first active articulation link 52 further defines a bushing engagement surface 118. In an embodiment, the bushing engagement surface 118 is positioned between the proximal portion 100 and the distal portion 102 and is positioned to engage the stabilization mechanism 62 ( Figure 5 ) interact to provide stability to the tool assembly 16 in the non-articulated position of the tool assembly, as described in detail below.

[0064] The first passive articulation link 56 includes an elongated body having a proximal portion 120 and a distal portion 122. The proximal portion 120 includes a bushing engagement surface 124 that is positioned to engage the stabilization mechanism 62 ( Figure 5 ) interact to provide stability to the tool assembly 16 in the non-articulated position of the tool assembly 16, as described in detail below. The distal portion 122 of the articulation link 56 includes an inner cam surface 126, a hook 128, and an opening 130. The cam surface 126 forms an inner surface of the hook 128 and is positioned to engage one side of the drive assembly 60, as described in further detail below. The cam surface 126 defines a curved surface that extends in a distal direction toward the longitudinal axis "X". The function of the hook 128 will be described in further detail below. The opening 130 receives a pivot member 132 that is supported on the second passive articulation link 58 to pivotally connect the second passive articulation link 58 to the distal portion 122 of the first passive articulation link 52.

[0065] The second passive hinge link 58 also includes a distal portion defining an opening 134. The opening 134 receives a pivot member 136 supported on a second side of the mounting assembly 50 to be laterally offset from the pivot axis "Y" ( Figure 2 ) is pivotally secured to the mounting assembly 50 at a position of the first passive articulation link 56. Although not shown, the first passive articulation link 56 is constrained to move linearly within the housing 50 of the main body portion 20 of the heavy-duty assembly 18. As described above with respect to the second active articulation link 54, pivotally coupling the second passive articulation link 58 between the first passive articulation link 56 and the mounting assembly 50 increases the articulation range of the tool assembly 16 relative to the adapter assembly 14. As discussed above with respect to the second active articulation link 54, the length of the second passive articulation link 58 is substantially shorter than the length of the first passive articulation link 56, such that the links 56 and 58 do not protrude outwardly from the mounting assembly 50 beyond a predetermined distance.

[0066] Also refer to Figure 9-12 , the articulation stabilization system 62 includes a biasing mechanism 140 that includes a sliding member 142 and a plurality of springs 144. In an embodiment, the sliding member 142 is generally annular and includes a first half 146 and a second half 148. The sliding member 142 is slidably positioned within a recess 150 defined in an outer surface of the housing 70 of the body portion 20 of the heavy load assembly 18. The sliding member 142 includes a distally extending spring mounting tab 150, a first proximally extending bushing 152, and a second proximally extending bushing 154. In an embodiment, each of the halves 146, 148 of the sliding member 142 includes a corresponding sidewall recess 160 and a sidewall extension 162 that engage to form the annular sliding member 142.

[0067] In an embodiment, the spring 144 is a coil spring having a proximal portion received around the spring mounting tab 150 of the slide member 142. Each spring 144 is positioned within a corresponding pocket 164 defined in the housing 22 to urge the slide member 142 distally around the housing 22. The first bushing 152 of the slide member 142 is received within the recess 118 of the first active articulation link 52 to urge the articulation link 52 proximally to a position where the tool assembly 16 is in a non-articulated position. When the articulation link 52 is positioned so that the tool assembly 16 is in a non-articulated position, the spring 144 is in an unbiased state, wherein the bushing 152 is positioned within the recess 118 and engages the articulation link 52. Additionally, the bushing 154 is positioned within the surface 124 to engage the first passive articulation link 56 to urge the articulation link 56 proximally to a position where the tool assembly 16 is also in a non-articulated position. When the articulation link 56 is positioned such that the tool assembly 16 is in the non-articulated position, the spring 144 is in an unbiased state wherein the engaged bushing 154 is positioned within the surface 124 of the articulation link 56 .

[0068] For a more detailed description of the presently disclosed stabilization system 62 , see U.S. Patent Application No. 62 / 585,703, filed on November 14, 2017 (“the '703 Application”), which is incorporated herein by reference in its entirety.

[0069] Also refer to Figure 13-16 , the door assembly 64 includes an upper door 170 and a lower door 172. Each of the upper door 170 and the lower door 172 includes an elongated body 174 and a U-shaped member 176, respectively. When the upper door 170 and the lower door 172 are assembled, the doors 170 and 172 define a channel 178. The size of the channel 178 is designed to receive and allow the flexible body 68 of the drive assembly 60 to pass through when the drive assembly 60 moves between the retracted position and the advanced position to access and fire staples from the stapling device 10, as is known in the art.

[0070] The elongated body 174 of each of the doors 170, 172 includes a pivot member 180 that is pivotally coupled to the inner wall of the housing 70 of the main body portion 20 of the heavy-duty assembly 18 to axially secure the doors 170, 172 within the housing 70 while allowing the doors 170, 172 to pivotally move within the housing 70. Each of the U-shaped members 176 of the doors 170, 172 may have an engagement member 182 that is positioned to abut the cam surfaces 106, 126 of the hinge links 52, 56, respectively, as described in further detail below. In use, when the tool assembly 16 is in an articulated position relative to the adapter assembly 14, the doors 170, 172 increase the bending radius of the flexible body 68 of the drive assembly 60.

[0071] Refer again Figure 5 and Figure 8 The heavy load assembly 18 also includes a blow-out plate 184. The blow-out plate 184 is positioned on the opposite side of the flexible body 68 of the drive assembly 60 and extends from the pivot axis "Y" ( Figure 2 ) extends from a distal position to a proximal position of the pivot axis "Y". In an embodiment, the distal end of the blow-out plate 184 is fixed in a slot 186 ( Figure 8 ). In some embodiments, the proximal end of the blow-out plate 184 includes a lateral portion 188 that is received in a groove 190 ( Figure 8 ) to allow the proximal end of blow-out plate 184 to slide within housing 70. As the radius of curvature changes as tool assembly 16 articulates about pivot axis "Y", the sliding movement allows blow-out plate 184 to adjust accordingly. Blow-out plate 184 is positioned to prevent flexible body 68 of drive assembly 60 from bulging outward during approximation and firing of stapling device 10. For a more detailed description of blow-out plate 184, see the '361 patent.

[0072] Reference Figure 17-20 , when the tool assembly 18 of the heavy load 18 is in the non-articulated position, the flexible body 68 of the drive assembly 60 extends between the blow-out plates 184 along the longitudinal axis "X" of the main body portion 20 of the heavy load 18 and passes through the channel 178 of the door assembly 64. In addition, the stabilizing mechanism 62 pushes the hinge links 52 and 56 to the neutral position. In its neutral position, the cam surfaces 106, 128 of the hinge links 52, 56 are positioned to engage with the outer wall of the blow-out plate 184, and the door assembly 64 is positioned so that the channel 178 defined by the door assembly 64 is aligned with the longitudinal axis "X". It should be noted that the engagement members 182 of the doors 170, 172 of the door assembly 64 are positioned toward the proximal ends of the cam surfaces 106, 126. As discussed above, the cam surfaces 106, 126 define a curved surface that extends in the distal direction toward the longitudinal axis "X".

[0073] Reference Figure 21-23 , when the adapter assembly 14 ( Figure 1 ) in the driving mechanism, the active hinge connecting rod 52 is along Fig.21 When the first active hinge link 52 advances the second active hinge link 54 to move the mounting assembly 50 and the tool assembly 16 around the pivot axis "Y" ( Fig.19 ) pivots. As the tool assembly 16 pivots about the pivot axis "Y", the second passive articulated link 58 moves proximally via the pivot member 136 of the mounting assembly 50. As the second passive articulated link 58 moves proximally, the first passive articulated link 56 pivotally coupled to the second passive articulated link 58 also moves proximally. Fig.21 Move proximally in the direction indicated by the arrow "B".

[0074] As the tool assembly 16 pivots about the pivot axis “Y”, the flexible body 68 of the drive assembly 60 pivots about the pivot axis “Y” ( Fig.19 ) bend. As discussed above, the doors 170, 172 ( Fig.14 ) defines a channel 178 for receiving the flexible body 68 of the drive assembly 60. When the first passive hinge link 56 is moved along Fig.21 When retracted in the direction indicated by arrow "B" in FIG. 1 , the cam surface 126 of the first passive hinge link 56 engages the engagement surface 182 of the door assembly 64 to allow the door assembly 64 to rotate about the pivot member 180 along Fig.21 As the door assembly 64 pivots about the pivot member 180, the door assembly 64 engages the flexible body 68 of the drive assembly 60 to push the flexible body 68 toward the first active hinge link 52. This increases the bending radius of the flexible body 68 of the drive assembly 60 by rearranging the position of the flexible body 68 in a direction opposite to the hinge direction of the tool assembly 16. Fig.21 As can be seen in FIG. 1 , the cam surface 106 of the articulation link 52 provides additional support to the outer surface of the flexible body 68 of the drive assembly 60 to prevent buckling of the flexible body 68 when the tool assembly 16 is articulated.

[0075] like Fig.23 As shown, as the active articulation link 52 moves distally toward the mounting assembly 50, the hook 108 on the distal portion of the first active articulation link 52 engages the internal finger 81 of the mounting assembly 50 to urge the mounting assembly 50 in the direction of articulation.

[0076] When the first active hinge link 52 moves toward the proximal side, Fig.21 As shown, the bushing engagement surface 118 of the first active articulation link 52 engages and pushes the slide member 142 distally in the direction indicated by arrow "K" against the urging of the spring 144 to compress the spring 144. As described in detail in the '703 application, the spring force of the spring 144 pushes the slide member 142 proximally to push the first active articulation link 52 toward a position where the mounting assembly 50 is in a non-articulated position.

[0077] Reference Fig.24 , when the adapter assembly 14 ( Figure 1 ) in the driving mechanism to retract the active hinge link 52 in the direction indicated by the arrow "D", the first active hinge link 52 retracts the second active hinge link 54 to allow the tool assembly 16 to rotate in the opposite direction around the pivot axis "Y" ( Fig.19 ) pivots. The tool assembly 16 pivots about the pivot axis "Y" ( Fig.19 ) pivots, the second passive articulated link 58 moves distally and pivots about the pivot member 136 of the mounting assembly 50. When the second passive articulated link 58 moves distally, the first passive articulated link 56 pivotally coupled to the second passive articulated link 58 also moves distally in the direction indicated by arrow “E”.

[0078] As the tool assembly 16 pivots about the pivot axis "Y", the flexible body 68 of the drive assembly 60 bends about the pivot axis "Y". As discussed above, the doors 170, 172 ( Fig.14 ) defines a channel 178 for receiving the flexible body 68 of the drive assembly. Fig.24 When the first active hinge link 52 is retracted in the direction indicated by arrow "D", the cam surface 106 of the first active hinge link 52 engages the engagement surface 182 of the door assembly 64 to pivot the door assembly 64 about the pivot member 180 in the direction indicated by arrow "F". As the door assembly 64 pivots about the pivot member 180, the door assembly 64 engages the flexible body 68 of the drive assembly 60 to push the flexible body 68 toward the first passive hinge link 52. This increases the bending radius of the flexible body 68 of the drive assembly 60 by rearranging the position of the flexible body 68 in the direction opposite to the hinge direction of the tool assembly 16. Although not in Fig.24 18, but the cam surface 126 of the first passive articulation link 56 supports the outer surface of the blow-out plate 184 to provide additional support for the flexible body 68 of the drive assembly 60 to prevent buckling of the flexible body 68 when the tool assembly 16 is articulated.

[0079] As the first passive articulation link 56 moves distally toward the mounting assembly 50 , the hook 128 on the distal portion of the first passive articulation link 56 engages the inner finger 81 of the mounting assembly 50 to urge the mounting assembly 50 in the articulation direction.

[0080] When the first passive hinge link 56 moves distally, the bushing engagement surface 124 of the first passive hinge link 52 engages and pushes the sliding member 142 against the spring 144 ( Fig.10 ) to compress spring 144. As described in detail in the '703 application, the spring force of spring 144 pushes sliding member 142 proximally to push first passive articulation link 56 proximally toward a position where mounting assembly 50 is in a non-articulated position.

[0081] Those skilled in the art will appreciate that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments. It is conceivable that the elements and features described or illustrated in conjunction with one exemplary embodiment may be combined with the elements and features of another embodiment without departing from the scope of the present disclosure. Similarly, those skilled in the art will understand other features and advantages of the present disclosure based on the above-described embodiments. Therefore, except as indicated by the appended claims, the present disclosure is not limited by what has been specifically shown and described.

Claims

1. A surgical suturing device, comprising: The main body part includes a shell, a mounting assembly, a drive assembly, a hinge assembly and a door assembly, the shell includes a proximal portion and a distal portion, the mounting assembly is pivotally supported on the distal portion of the shell between a non-articulated position and an articulated position around a pivot axis, the drive assembly includes a flexible body with a working end, the drive assembly can be moved from a retracted position to an advanced position in the shell, the hinge assembly includes an active hinge link and a passive hinge link, the active hinge link has a proximal portion and a distal portion, the distal portion of the active hinge link has a cam surface, the distal portion of the active hinge link is connected to the mounting assembly and can be moved between a retracted position and an advanced position to allow the mounting assembly to pivot around the pivot axis, the door assembly defines a channel, the flexible body of the drive assembly The active hinge link has a cam surface that is positioned to engage the door assembly when the active hinge link moves between its retracted position and an advanced position to move the door assembly to a position that increases the bending radius of the flexible body of the drive assembly, the passive hinge link having a distal portion that is coupled to the mounting assembly so that pivotal movement of the mounting assembly about the pivot axis causes movement of the passive hinge link between the retracted position and the advanced position, the distal portion of the passive hinge link having a cam surface, wherein the cam surface of the passive hinge link is positioned to engage the door assembly when the passive hinge link moves between its retracted position and an advanced position to move the door assembly to a position that increases the bending radius of the flexible body of the drive assembly, wherein the door assembly is pivotally supported within the housing, The door assembly comprises an upper door and a lower door, Each of the upper door and the lower door includes an elongated body and a U-shaped member supported on a distal portion, wherein the U-shaped members of the upper door and the lower door define the channel.

2. The suturing device of claim 1, wherein the elongated body of each of the upper and lower doors includes a pivot member that pivotally connects the upper and lower doors within the housing.

3. The suturing device of claim 2, wherein each of the U-shaped members of the upper and lower doors includes an engagement member, the active hinge link being positioned to engage one of the engagement members of the upper or lower door.

4. The suturing device according to claim 1 further includes a blow-out plate supported on each side of the slender body of the drive assembly, each of the blow-out plates having a distal end supported on the mounting assembly at a distal position of the pivot axis and a proximal end supported within the shell at a proximal side of the pivot axis.

5. The suturing device of claim 1, further comprising a stabilizing mechanism engaged with the active and passive articulated links and configured to urge the mounting assembly to the non-articulated position.

6. The suturing device of claim 1, further comprising a stabilizing mechanism engaged with the articulating assembly, the stabilizing mechanism being positioned to urge the mounting assembly to the non-articulated position.

7. The suturing device of claim 1, further comprising a tool assembly supported on the mounting assembly.

8. The suturing device of claim 7, wherein the tool assembly comprises a cartridge assembly and an anvil assembly.

9. The suturing device of claim 8, wherein the tool assembly is configured to receive the working end of the device assembly.

10. A suturing device according to claim 1, wherein the distal portion of the active articulation link includes a hook and the mounting assembly includes a finger-like member, and when the active articulation link moves toward the advanced position to assist in the articulation of the mounting assembly, the hook is positioned to engage the finger-like member.

11. The suturing device of claim 10, wherein the active articulation link comprises a first active articulation link and a second active articulation link pivotally coupled to the first active articulation link.

12. A suturing device according to claim 1, wherein the distal ends of the active articulation link and the passive articulation link each include a hook and the mounting assembly includes a finger-like member, and when the corresponding active and passive articulation links move toward the advanced position to assist in the articulation of the mounting assembly, the hook is positioned to engage a corresponding one of the finger-like members.

13. The suturing device according to claim 1, wherein the active articulated link comprises a first active articulated link and a second active articulated link pivotally connected to the first active articulated link, and the passive articulated link comprises a first passive articulated link and a second passive articulated link pivotally connected to the first passive articulated link.

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