Articulated mechanism for surgical stapling device

Abstract

The present invention relates to an articulation mechanism for a surgical stapling device, and provides a surgical stapling device comprising an adapter assembly and a tool assembly, wherein the tool assembly is coupled to the adapter assembly via a pivot member to facilitate articulation of the tool assembly relative to the adapter assembly. The adapter assembly supports a drive assembly for actuating or firing the tool assembly. The adapter assembly includes an articulation mechanism that adjusts the position of the tool assembly relative to the drive assembly to compensate for changes in the drive assembly's stroke length caused by articulation of the tool assembly.

Description

Technical Field

[0001] The present technology relates generally to surgical devices for endoscopic use and, more particularly, to surgical devices including articulation mechanisms for articulating tool assemblies. Background Art

[0002] Various types of surgical devices for endoscopically treating tissue are known in the art and are commonly used, for example, to close tissue or organs in transection, resection, and anastomosis procedures, to occlude organs in thoracic and abdominal surgery, and to electrosurgically fuse or seal tissue.

[0003] An example of such a surgical device is a surgical stapling device. Typically, a surgical stapling device includes a tool assembly having an anvil assembly and a cartridge assembly, and a drive assembly. Typically, the drive assembly includes a flexible drive beam and a clamp member supported on the distal end of the drive beam. The drive assembly is movable to advance the clamp member through the tool assembly to approach the cartridge assembly and anvil assembly, and to advance an actuating sled through the cartridge assembly to eject staples from the cartridge assembly.

[0004] During a laparoscopic or endoscopic surgical procedure, access to the surgical site is achieved through a small incision or by inserting a narrow cannula through a small entry wound in the patient. Because the area available for accessing the surgical site is limited, many endoscopic devices include a mechanism for articulating a tool assembly of the device relative to a main portion of the device to improve access to the tissue to be treated. When the tool assembly is in an articulated position pivoted about a pivot axis, as the drive assembly advances to advance the clamp member through the tool assembly, the drive beam bends relative to the pivot axis. This bending of the drive beam relative to the pivot axis changes the stroke length of the drive beam required to fully actuate the tool assembly. To compensate for this change in stroke length, it is necessary to increase the dead space in the tool assembly.

[0005] There remains a need in the art for an articulation mechanism for a surgical device that minimizes the need for dead space in the tool assembly. Summary of the Invention

[0006] Some aspects of the present disclosure relate to a surgical device comprising an adapter assembly and a tool assembly, wherein the tool assembly is coupled to the adapter assembly via a pivot member to facilitate articulation of the tool assembly relative to the adapter assembly. The adapter assembly supports a drive assembly for actuating or firing the tool assembly. The adapter assembly includes an articulation mechanism that adjusts the position of the tool assembly relative to the drive assembly to compensate for changes in the stroke length of the drive assembly caused by articulation of the tool assembly.

[0007] One aspect of the present disclosure relates to a surgical stapling device comprising a tool assembly and an adapter assembly. The tool assembly defines a first longitudinal axis and has an anvil and a cartridge assembly. The anvil is coupled to the cartridge assembly to facilitate movement of the tool assembly between an open position and a clamped position. The adapter assembly defines a second longitudinal axis and comprises an outer tube, a drive assembly, and an articulation mechanism. The outer tube has a proximal portion and a distal portion. The distal portion of the outer tube supports the tool assembly, enabling movement between a non-articulated position and an articulated position, wherein the first longitudinal axis of the tool assembly is aligned with the second longitudinal axis of the adapter assembly, and an articulated position wherein the first longitudinal axis of the tool assembly is misaligned with the second longitudinal axis of the adapter assembly. The drive assembly comprises a flexible beam and a clamp member. The flexible beam has a proximal portion and a distal portion. The clamp member is supported on the distal portion of the flexible beam. The drive assembly is movable between a retracted position and an advanced position to move the clamp member through the tool assembly, thereby moving the tool assembly from the open position to the clamped position and ejecting staples from the cartridge assembly. The articulation mechanism comprises an adapter cam and a first and second articulation link. The adapter cam defines a first cam channel, a second cam channel, and a third cam channel. A first articulated link has a distal portion coupled to the tool assembly and a proximal portion supporting a first cam member, the first cam member being received within the first cam channel of the adapter cam. A second articulated link has a distal portion coupled to the tool assembly and a proximal portion supporting a second cam member, the second cam member being received within the second cam channel of the adapter cam. A proximal portion of the outer tube supports a third cam, the third cam being received within the third cam channel of the adapter cam, wherein movement of the adapter cam causes movement of the first and second articulated links to move the tool assembly between a non-articulated position and an articulated position, and causes movement of the outer tube relative to the drive assembly to change the position of the tool assembly relative to the drive assembly.

[0008] Another aspect of the present disclosure relates to a surgical device comprising a tool assembly and an adapter assembly. The tool assembly defines a first longitudinal axis and has a first jaw and a second jaw. The first jaw is coupled to the second jaw to facilitate movement of the tool assembly between an open position and a clamped position. The adapter assembly defines a second longitudinal axis and comprises an outer tube, a drive assembly, and an articulation mechanism. The outer tube has a proximal portion and a distal portion. The distal portion of the outer tube supports the tool assembly, enabling movement between a non-articulated position and an articulated position, wherein the first longitudinal axis of the tool assembly is aligned with the second longitudinal axis of the adapter assembly, and an articulated position wherein the first longitudinal axis of the tool assembly is misaligned with the second longitudinal axis of the adapter assembly. The drive assembly comprises a flexible beam and a clamp member. The flexible beam has a proximal portion and a distal portion. The clamp member is supported on the distal portion of the flexible beam. The drive assembly is movable between a retracted position and an advanced position to move the clamp member through the tool assembly, thereby moving the tool assembly from the open position to the clamped position. The articulation mechanism comprises an adapter cam and an articulated link. The adapter cam defines a first cam channel and a second cam channel. The articulation link has a distal portion coupled to the tool assembly and a proximal portion supporting a first cam member received within a first cam channel of the adapter cam. The proximal portion of the outer tube supports a second cam received within a second cam channel of the adapter cam. Movement of the adapter cam causes movement of the articulation link to move the tool assembly between a non-articulated position and an articulated position, and causes movement of the outer tube relative to the drive assembly to change the position of the tool assembly relative to the drive assembly.

[0009] Yet another aspect of the present disclosure relates to a surgical stapling device comprising a handle assembly, a tool assembly, and an adapter assembly. The tool assembly defines a first longitudinal axis and has a first jaw and a second jaw. The first jaw is coupled to the second jaw to facilitate movement of the tool assembly between an open position and a clamped position. The adapter assembly is supported on the handle assembly and defines a second longitudinal axis. The adapter assembly comprises an outer tube and an articulation mechanism. The outer tube has a distal portion that supports the tool assembly. The articulation mechanism comprises an adapter cam and an articulation link. The adapter cam defines a first cam channel and a second cam channel. The articulation link has a distal portion coupled to the tool assembly and a proximal portion that supports a first cam member, the first cam member being received within the first cam channel of the adapter cam. The proximal portion of the outer tube supports a second cam, which is received within the second cam channel of the adapter cam. Movement of the adapter cam causes movement of the articulation link to move the tool assembly between a non-articulated position and an articulated position, and causes longitudinal movement of the outer tube relative to the adapter cam to change the position of the tool assembly relative to the handle assembly.

[0010] In aspects of the present disclosure, the adapter cam is cylindrical and defines a longitudinal through-hole.

[0011] In some aspects of the present disclosure, a proximal portion of the outer tube is received within the longitudinal throughbore of the adapter cam.

[0012] In certain aspects of the present disclosure, the first cam channel and the second cam channel are configured to drive the first hinge link and the second hinge link in opposite directions to each other.

[0013] In aspects of the present disclosure, an adapter assembly includes an inner support tube supporting a first articulated link and a second articulated link within an outer tube.

[0014] In some aspects of the present disclosure, the first and second articulated links include curved inner surfaces that engage an outer surface of the inner support tube.

[0015] In certain aspects of the present disclosure, the adapter assembly includes a pivot assembly for pivotally coupling the tool assembly to the outer tube of the adapter assembly.

[0016] In aspects of the present disclosure, a pivot assembly includes a mounting portion and first and second pivot links.

[0017] In some aspects of the present disclosure, the mounting portion is secured to the tool assembly and pivotally coupled to the distal portion of the outer tube.

[0018] In certain aspects of the present disclosure, the mounting portion defines a longitudinal slot to facilitate passage of the drive assembly.

[0019] In aspects of the present disclosure, the first pivot link has a proximal portion coupled to the first articulated link and a distal portion coupled to the mounting portion of the pivot assembly, and the second pivot link has a proximal portion coupled to the second articulated link and a distal portion coupled to the mounting portion of the pivot assembly.

[0020] In some aspects of the present disclosure, the first and second pivot links are positioned on opposite sides of the flexible beam of the drive assembly and define a channel that aligns with the longitudinal slot formed in the mounting portion.

[0021] In certain aspects of the present disclosure, each of the first pivot link and the second pivot link has an inner guide surface that engages a flexible beam of the drive assembly.

[0022] In aspects of the present disclosure, the inner guide surfaces of the first and second pivot links are substantially linear.

[0023] In some aspects of the present disclosure, a stapling device includes a drive member engaged with the drive assembly to move the drive assembly between its retracted and advanced positions.

[0024] In certain aspects of the present disclosure, the drive member is a drive screw.

[0025] In aspects of the present disclosure, a coupling member is supported on a distal portion of the outer tube and defines a clevis pivotally coupled to the mounting portion.

[0026] Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Various aspects of the present disclosure are described below with reference to the accompanying drawings, in which:

[0028] Figure 1 is a side perspective view of a surgical stapling device incorporating aspects of the present disclosure, wherein the stapling device is in a non-articulated position and is shown in phantom in an articulated position;

[0029] Figure 2 In the non-articulated position Figure 1 A side perspective view of the adapter assembly and tool assembly of the surgical stapling device shown in FIG, wherein the rotation knob and tool assembly are shown in phantom;

[0030] Figure 3 for Figure 2 a side perspective exploded view of the adapter assembly shown in FIG;

[0031] Figure 4 To show the cylindrical cam of the adapter assembly Figure 3 Magnified view of the indicated detail area shown in FIG;

[0032] Figure 5 Rotated 180 degrees Figure 4 A side perspective view of the cylindrical cam shown in FIG;

[0033] Figure 6 for Figure 3 A side perspective view of the drive assembly of the adapter assembly shown in FIG;

[0034] Figure 7 for Figure 1 a side perspective view of the adapter assembly and tool assembly shown in , wherein the tool assembly is in a non-articulated position;

[0035] Figure 8 for Figure 7 Magnified view of the indicated detail area shown in FIG;

[0036] Figure 9 for Figure 7 a side perspective view of a distal portion of the tool assembly and adapter assembly shown in with the anvil assembly removed from the tool assembly;

[0037] Figure 10 To follow Figure 7 a cross-sectional view taken along section line 10-10;

[0038] Figure 11 for Figure 10 Magnified view of the indicated detail area shown in FIG;

[0039] Figure 12 for Figure 10 Magnified view of the indicated detail area shown in FIG;

[0040] Figure 13 To pass Figure 7 a cross-sectional view of the adapter assembly and tool assembly shown in , wherein the tool assembly is in an articulated position; and

[0041] Figure 14 for Figure 13 Magnified view of the indicated detail area shown. DETAILED DESCRIPTION

[0042] The disclosed surgical stapling device will now be described in detail with reference to the accompanying drawings, in which the same reference numerals refer to the same or corresponding elements in each of the several views. However, it should be understood that the various aspects of the present disclosure are merely examples of the present disclosure and can be implemented in various forms. In order to avoid obscuring the present disclosure in unnecessary detail, well-known functions or structures are not described in detail. Therefore, the specific structural and functional details disclosed herein should not be interpreted as restrictive, but only as the basis for the claims and as a representative basis for teaching those skilled in the art to adopt the present disclosure differently in any appropriate detailed structure. In addition, directional terms such as front, rear, upper, lower, top, bottom, distal, proximal, and similar terms are used to help understand the description and are not intended to limit the present disclosure.

[0043] In this description, the term "proximal" is generally used to refer to that portion of the device that is closer to the clinician, and the term "distal" is generally used to refer to that portion of the device that is farther away from the clinician. In addition, the term "clinician" is generally used to refer to medical staff, including doctors, nurses, and auxiliary staff.

[0044] The disclosed surgical device includes an adapter assembly and a tool assembly, wherein the tool assembly is coupled to the adapter assembly via a pivot member to facilitate articulation of the tool assembly relative to the adapter assembly. The adapter assembly includes a drive assembly having a resilient drive beam and a clamp member positioned within the tool assembly. The drive assembly is movable between a retracted position and an advanced position over a stroke length to advance the clamp member within the tool assembly, thereby moving the tool assembly from an open position to a clamped position and ejecting a staple from the tool assembly. As the tool assembly articulates, the stroke length required to fully actuate the tool assembly changes. The adapter assembly includes an articulation mechanism that adjusts the position of the tool assembly relative to the drive assembly to compensate for this change in stroke length.

[0045] Figure 1 A surgical device according to aspects of the present disclosure is shown generally as surgical device 10. Surgical device 10 includes a handle assembly 12, an adapter assembly 14, and a tool assembly 16. Adapter assembly 14 defines a longitudinal axis "X" ( Figure 1 ), and the tool assembly defines a longitudinal axis "Y". The tool assembly 16 is pivotally coupled to the adapter assembly 14 and can be in a non-articulated position ( Figure 1 ) to the hinge position (at Figure 1 16) and pivots between the proximal portion 14a and the anvil assembly 16 (shown in phantom in the figure), wherein in the non-articulated position, the longitudinal axis "X" of the adapter assembly 14 and the longitudinal axis "Y" of the anvil assembly 16 are aligned with each other, and in the articulated position, the longitudinal axis "X" of the adapter assembly 14 and the longitudinal axis "Y" of the tool assembly 16 are misaligned with each other. The handle assembly 12 includes a body 12a that defines a fixed handle 18 and an actuation button 20 that is operable to initiate operation of the surgical device 10, namely, approximation of the tool assembly 16, articulation of the tool assembly 16, and firing of staples from the tool assembly 16. The handle assembly 12 supports a rotation knob 22 that is coupled to the proximal portion 14a of the adapter assembly 14 and is rotatable to rotate the adapter assembly 14 and the tool assembly 16 relative to the handle assembly 12 about the longitudinal axis "X". Although the depicted surgical device 10 may be configured to fire staples, it is contemplated that the surgical device 10 may be adapted to fire any other suitable fasteners, such as retaining clips and two-piece fasteners. Although the figures depict a linear surgical device 10, it is contemplated that certain components described herein may be applicable to other types of endoscopic surgical instruments, including surgical stapling devices having non-linear tool assemblies, endoscopic forceps, graspers, dissectors, other types of surgical stapling instruments, powered vascular sealing and / or cutting devices, and the like.

[0046] Figure 1-3 The tool assembly 16 is shown to include an anvil 24 and a cartridge assembly 26. The anvil 24 is pivoted by a pivot member 28 ( Figure 9 ) is coupled to the cartridge assembly 26, the pivot member facilitating movement of the anvil 24 relative to the cartridge assembly 26 between the open position and the clamped position. Although the cartridge assembly 26 is shown as pivoting relative to the anvil 24, it is contemplated that the cartridge assembly 26 may be stationary and the anvil 24 may pivot relative to the cartridge assembly 26. The anvil 24 includes a proximal portion that supports or includes a bracket 30. The bracket 30 ( Figure 3 ) supports a pivot pin 32 that extends radially outward from the bracket 30 in a direction away from the bin assembly 26.

[0047] Figure 2 and 3Adapter assembly 14 is shown, comprising outer tube 40, coupling member 42, pivot assembly 44, hinge mechanism 46, and drive assembly 48 ( Figure 6 ). The outer tube 40 has a proximal portion 40a and a distal portion 40b. The proximal portion 40a of the outer tube 40 is coupled to the hinge mechanism 46 and is described in further detail below. The distal portion 40b of the outer tube 40 supports a coupling member 42. The coupling member 42 includes a proximal portion housed within the distal portion 40b of the outer tube 40 and a distal portion that supports the tool assembly 16. In various aspects of the present disclosure, the proximal portion of the coupling member 42 is fixedly secured within the distal portion 40b of the outer tube 40 by a pin 49. The distal portion of the coupling member 42 defines a U-shaped clamp 50 that pivotally supports the pivot assembly 44 and the tool assembly 16, as described below. The U-shaped clamp 50 includes spaced apart fingers 52 that define an opening 52a.

[0048] The pivot assembly 44 includes a mounting portion 58 and a first pivot link 60a and a second pivot link 60b. The mounting portion 58 defines a longitudinal slot 62 and includes a proximally extending bracket 66 that supports a pivot member 68. The longitudinal slot 62 of the mounting portion 58 has an inwardly curved proximal end 64 that decreases in width in the distal direction. The longitudinal slot 62 receives the drive assembly 48 ( Figure 6 ). The curved proximal end 64 of the longitudinal slot 62 provides a support surface for the drive assembly 48 when the tool assembly 16 is articulated. The pivot member 68 is received within an opening 52a of one of the fingers 52 of the U-shaped clamp 50 of the coupling member 42. The coupling member 44 has a distal portion that is received within the proximal portion of the anvil 24 and fixedly secured to the proximal portion by a pin (not shown). The pivot pin 32 of the bracket 30 on the proximal portion of the anvil 24 is received within another opening 52a of the other spaced-apart finger 52 of the U-shaped clamp 50 of the coupling member 42 to pivotally secure the tool assembly 16 to the U-shaped clamp 50 of the coupling member 42.

[0049] Each of the first and second pivot links 60a, 60b includes an inner guide surface 70, a distal portion 72, and a proximal portion 74. The inner guide surface 70 is generally linear, and the distal and proximal portions 72, 74 curve outwardly in a direction away from the guide surface 70, giving the first and second pivot links a flattened, C-shaped configuration. The distal portion 72 of the first pivot link 60a is pivotally coupled to the mounting portion 58 on a first side of the longitudinal slot 62 by a pivot member 75a, and the distal portion of the second pivot link 60a is pivotally coupled to the mounting portion 58 on a second side of the longitudinal slot 62 by a pivot member 75b. The proximal portions 74 of the first and second pivot links 60a, 60b are coupled to the hinge mechanism 46, as described below. It should be noted that the pivot links 60a and 60b are secured to the mounting portion 58 such that the inner guide surfaces 70 of the pivot links 60a and 60b face each other and are positioned proximal to the longitudinal slot 62 to define the longitudinal slot 62 ( Figure 12 ) channel 70a.

[0050] The hinge mechanism 46 includes an adapter cam 80, a first hinge link 82 and a second hinge link 84, and an inner support tube 86. The first hinge link 82 includes a first link portion 82a and a second link portion 82b fixedly coupled together by a pin or rivet (not shown). Similarly, the second hinge link 84 includes a first link portion 84a and a second link portion 84b fixedly coupled together by a pin or rivet (not shown). It is contemplated that the first hinge link 82 and the second hinge link 84 may be integrally formed as a single piece. The first hinge link 82 has a distal portion coupled to the proximal portion 74 of the first pivot link 60a via a pivot pin 86, and the second hinge link 84 has a distal portion coupled to the proximal portion 74 of the second pivot link 60b via a pivot pin 88. Each of the first hinge link 82 and the second hinge link 84 includes a curved inner surface 90 that engages with the outer surface of the inner support tube 86 so that the first hinge link 82 and the second hinge link 84 are movably supported within the outer tube 40 along the outer surface of the inner support tube 86 ( Figure 11 ).

[0051] The proximal portion of each of the articulation links 82 and 84 supports an inwardly extending cam member 92 and 94, respectively. The cam members 92 and 94 engage with the adapter cam 80, as described below, such that movement of the adapter cam 80 causes longitudinal movement of the first and second articulation links 82, 84 within the outer tube 40.

[0052] Figure 3-5, 7 and 8 show the adapter cam 80. In various aspects of the present disclosure, the adapter cam or barrel cam 80 includes a cylindrical body 100 defining a longitudinal throughbore 80a and three cam channels. It is contemplated that the adapter cam or barrel cam can have a variety of different configurations other than a cylindrical or cylindrical shape. The three cam channels include a first cam channel 102, a second cam channel 104, and a third cam channel 106. The barrel cam 80 is axially fixed and rotatably supported in the proximal portion of the adapter assembly 14. Although not shown, the barrel cam 80 is coupled to the handle assembly 12 ( Figure 1 ), so that the cylindrical cam 80 can selectively rotate in a clockwise or counterclockwise direction.

[0053] 84 , which are connected to the outer tube 40. The first and second articulation links 82 and 84 are connected to the outer tube 40 by the first and second articulation links 82 and 84, respectively. The first and second articulation links 82 and 84 are connected to the inner support tube 86 and the outer tube 40 by the first and second articulation links 82 and 84, respectively. The first and second articulation links 82 and 84 are connected to the outer tube 40 by the first and second articulation links 82 and 84, respectively. The first and second articulation links 82 and 84 are connected to the outer tube 40 by the first and second articulation links 82 and 84, respectively. The first and second articulation links 82 and 84 are connected to the outer tube 40 by the second and second articulation links 84, respectively. The first and second articulation links 82 and 84 are connected to the inner support tube 86 and the outer tube 40, respectively. The first and second articulation links 82 and 84 are connected to the outer tube 40 by the first and second articulation links 82 and 84, respectively. The first and second articulation links 82 and 84 are connected to the outer tube 40 by the first and second articulation links 82 and 84, respectively. Figure 1 ) pivot. The tool assembly 16 is supported on the mounting portion 58. Therefore, pivotal movement of the mounting portion 58 causes pivotal movement of the tool assembly 16.

[0054] The proximal portion 40a of the outer tube 40 supports a cam member 110, which extends radially outward from the outer tube 40 within the longitudinal bore 80a of the barrel cam 80 into the third cam channel 106 of the cam barrel 80. In various aspects of the present disclosure, the cam member 110 is secured within a bore 112 formed in the outer tube 40. Alternatively, the cam member 110 may be integrally formed with the outer tube 40. In some aspects of the present disclosure, a reinforcement member 114 is supported within the outer tube 40 and defines a bore 116 that receives the cam member 110 to provide additional support to the outer tube 40. The outer tube 40 may also include a cap 120 that is received around the proximal portion of the barrel cam 80 to enclose the third cam channel 106. The third cam channel 106 is configured to advance or retract the outer tube 40 relative to the handle assembly 12 and the barrel cam 80 when the barrel cam 80 is rotated within the adapter assembly 14.

[0055] Inner support tube 86 supports ring 124, which is secured thereto and positioned distally of barrel cam 80 to prevent barrel cam 80 from moving distally within adapter assembly 14. Shim 126 is positioned between barrel cam 80 and ring 124 to minimize friction between barrel cam 80 and ring 124. In aspects of the present disclosure, ring 124 and barrel cam 80 may be formed of metal, such as stainless steel, and the shim may be formed of plastic or other material having a low coefficient of friction.

[0056] Figure 6 14. The drive assembly 48 is shown and includes a clamp member 130, a flexible beam 132, a rigid beam 134, and a coupling member 136. The drive assembly 48 extends through the inner support tube 86 of the articulation mechanism 46. The clamp member 130 is configured to move through the tool assembly 16 to actuate the tool assembly 16, as is known in the art. In aspects of the present disclosure, the clamp member 130 includes a first beam 138, a second beam 140, and a vertical support 142. The vertical support 142 includes a blade 144. As the clamp member 130 advances through the tool assembly 16, the first beam 138 of the clamp member 130 engages the anvil 24 and the second beam 140 of the clamp member 130 engages the cartridge assembly 26 to move the tool assembly 16 into a clamped position ( Figure 1 As the clamp member 130 moves through the tool assembly 16, the vertical strut 142 engages an actuation slide (not shown) to remove the clamp member 130 from the cartridge assembly 26 ( Figure 1 ) ejects the nail. For a detailed description of exemplary aspects of the construction and operation of the clamp member 0, see U.S. Patent No. 6,241,139.

[0057] The flexible beam 132 includes a distal end secured to the clamp member 130 and a proximal end secured to the rigid beam 134. The flexible beam 132 is moved to the articulated position ( Figure 13 ) allows the beam 132 to bend to allow the clamp member 130 to bend along the longitudinal axis "Y" ( Figure 1 ) is formed of a movable material, such as spring steel. The rigid beam 134 defines a blind hole 140 ( Figure 13 ) and secured to the coupling member 136. The coupling member 136 defines a threaded channel 142 aligned with the blind hole 140.

[0058] The adapter assembly 14 includes a drive screw 144 including a distal threaded portion 146 received within the threaded channel 142 of the coupling member 136 and extending into the blind hole 140 of the rigid beam 134. The drive screw 144 includes a distal threaded portion 146 extending to the handle assembly 12 ( Figure 1Although not shown, handle assembly 12 includes a mechanism for rotating drive screw 144 within coupling member 136 of drive assembly 48 to move drive assembly 48 within adapter assembly 14 and tool assembly 16 to actuate tool assembly 16.

[0059] Figure 10 and 13 The distance or stroke length that the drive assembly 46 must travel to fully actuate the tool assembly 16, i.e., to eject all of the staples from the cartridge assembly, is shown. The stroke length "X1" ( Figure 10 ) is different from the stroke length "X2". The reason for this difference is that when the tool assembly 16 is in the non-articulated position, the drive assembly 46 follows a straight line along the longitudinal axis "X" of the adapter assembly 14 and through the transverse pivot axis "Z" of the tool assembly 16 to the distal portion of the tool assembly 16. Figure 13 ), first pivot link 60a and second pivot link 60b guide flexible beam 132 along a path inboard of transverse pivot axis "Z", thereby shortening the distance drive assembly 46 must travel to fully actuate tool assembly 16. This difference increases along a parabolic curve, such that the difference increases at a greater rate as the degree of articulation increases. In known devices, to compensate for this distance, the length of tool assembly 16 must be increased to include dead space to accommodate clamp member 130 of drive assembly 46. As used herein, "dead space" is the portion of the tool assembly that does not contain staples for suturing tissue. The present disclosure addresses this problem by providing an articulation mechanism that can change the position of the tool assembly relative to the drive assembly during articulation to compensate for changes in the stroke length of the drive assembly.

[0060] Figure 9-12 The adapter assembly 14 and tool assembly 16 are shown in a non-articulated position with the drive assembly 48 in the fully advanced position. In the fully advanced position, the clamp member 130 is positioned in the knife slot 200 ( Figure 9 ) at the distal end. In the non-articulated position, the cam member 92 of the first articulated link 82 is received in the first cam channel 102 of the cylindrical cam 80 ( Figure 11 ), the cam member 94 of the second hinge link 84 is received in the cam channel 104 of the cylindrical cam 80, and the cam member 110 is received in the cam channel 106 of the cylindrical cam 80.

[0061] Figure 13 and 14 The tool assembly 16 is shown in Figure 13The adapter assembly 14 and the tool assembly 16 are articulated about the transverse pivot axis "Z" in the direction of the arrow "B" in FIG. Figure 1 ) operation in Figure 13 and 14 When the cam members 92 and 94 are rotated in the direction of arrow "C" in FIG. 1 , they move in different directions in the cam channels 102 and 104, respectively, so that the first hinge link 82 is rotated in the direction of arrow "C" in FIG. Figure 14 Move in the direction of arrow "D" in the figure and make the second cam link 84 move in the direction of arrow "D" in the figure. Figure 14 As described above, the distal portions of the first and second cam links 82, 84 are coupled to the pivot links 60a and 60b. Figure 13 ) when moving on Figure 14 Pull the first pivot link 60a in the direction of arrow "F" in Figure 14 The movement of the first pivot link 60a and the second pivot link 60b causes the tool assembly 16 to pivot about the transverse axis "Z" in the direction of the arrow "H". Figure 14 , the guide surfaces 70 of the first and second pivot links 60a, 60b define a channel 70a through which the flexible beam 132 extends. The channel 70a is offset inwardly from the pivot axis "Z" of the tool assembly 16. As described above, this shortens the stroke length required for the drive assembly 48 to actuate the tool assembly 16.

[0062] To compensate for the Figure 10 ) to "X2" drive assembly stroke length changes, so that the cam member 110 positioned in the cam channel 106 in the cylindrical cam 80 is Figure 14 80 along the cam channel 106 to advance the outer tube 40 relative to the drive assembly 48. As the outer tube 40 moves distally about the drive assembly 48 relative to the barrel cam 80, the length of the adapter assembly 14 is adjusted to compensate for the change in stroke length. It should be noted that the configuration of the cam channel 106 in the barrel cam 80 allows for a greater degree of adjustment in the length of the adapter assembly as the degree of articulation increases.

[0063] Those skilled in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary aspects of the present disclosure. It is contemplated that the elements and features shown or described in conjunction with one exemplary embodiment may be combined with elements and features of another exemplary 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-mentioned aspects of the present disclosure. Therefore, the present disclosure is not limited by what has been particularly shown and described, except as indicated by the appended claims.

Claims

1. A surgical stapling device comprising: a tool assembly defining a first longitudinal axis and having an anvil and a cartridge assembly, the anvil coupled to the cartridge assembly to facilitate movement of the tool assembly between an open position and a clamped position; as well as an adapter assembly defining a second longitudinal axis and comprising: an outer tube having a proximal portion and a distal portion, the distal portion of the outer tube supporting the tool assembly such that the tool assembly is movable from a non-articulated position in which the first longitudinal axis of the tool assembly is aligned with the second longitudinal axis of the adapter assembly and an articulated position in which the first longitudinal axis of the tool assembly is misaligned with the second longitudinal axis of the adapter assembly; a drive assembly having a flexible beam having a proximal portion and a distal portion, the clamp member supported on the distal portion of the flexible beam, the drive assembly movable between a retracted position and an advanced position to move the clamp member through the tool assembly to move the tool assembly from the open position to the clamped position and eject the staples from the cartridge assembly; An articulation mechanism includes an adapter cam and a first articulation link and a second articulation link, the adapter cam defining a first cam channel, a second cam channel and a third cam channel, the first articulation link having a distal portion coupled to the tool assembly and a proximal portion supporting a first cam member, the first cam member being received in the first cam channel of the adapter cam, the second articulation link having a distal portion coupled to the tool assembly and a proximal portion supporting a second cam member, the second cam member being received in the second cam channel of the adapter cam, and the proximal portion of the outer tube supporting a third cam, the third cam being received in the third cam channel of the adapter cam, wherein movement of the adapter cam causes movement of the first articulation link and the second articulation link to move the tool assembly between the non-articulated position and the articulated position, and causes movement of the outer tube relative to the drive assembly to change the position of the tool assembly relative to the drive assembly. 2 . The surgical stapling device according to claim 1 , wherein the adapter cam is cylindrical and defines a longitudinal through-hole. 3 . The surgical stapling device according to claim 2 , wherein the proximal portion of the outer tube is received in the longitudinal through-hole of the adapter cam.

4. The stapling device of claim 3, wherein the first cam channel and the second cam channel are configured to drive the first hinge link and the second hinge link in opposite directions to each other. 5 . The stapling device of claim 4 , wherein the adapter assembly comprises an inner support tube supporting the first articulated link and the second articulated link within the outer tube.

6. The stapling device of claim 5, wherein the first and second articulated links include curved inner surfaces that engage an outer surface of the inner support tube.

7. The stapling device of claim 1, wherein the adapter assembly includes a pivot assembly for pivotally coupling the tool assembly to the outer tube of the adapter assembly, the pivot assembly including a mounting portion and first and second pivot links.

8. The stapling device of claim 7, wherein the mounting portion is secured to the tool assembly and pivotally coupled to the distal portion of the outer tube, the mounting portion defining a longitudinal slot to facilitate passage of the drive assembly.

9. The stapling device of claim 8, wherein the first pivot link has a proximal portion coupled to the first hinge link and a distal portion coupled to the mounting portion of the pivot assembly, and the second pivot link has a proximal portion coupled to the second hinge link and a distal portion coupled to the mounting portion of the pivot assembly.

10. The stapling device of claim 9, wherein the first pivot link and the second pivot link are positioned on opposite sides of the flexible beam of the drive assembly and define a channel aligned with the longitudinal slot formed in the mounting portion.

11. The stapling device of claim 10, wherein each of the first pivot link and the second pivot link has an inner guide surface that engages the flexible beam of the drive assembly.

12. The stapling device of claim 11, wherein the inner guide surface is substantially linear.

13. The stapling device of claim 1, further comprising a drive member engaged with the drive assembly to move the drive assembly between its retracted and advanced positions. The stapling device according to claim 13 , wherein the drive member is a drive screw.

15. The stapling device of claim 8, further comprising a coupling member supported on the distal portion of the outer tube, the coupling member defining a clevis pivotally coupled to the mounting portion.

16. A surgical device comprising: a tool assembly defining a first longitudinal axis and having a first jaw and a second jaw, the first jaw coupled to the second jaw to facilitate movement of the tool assembly between an open position and a clamped position; as well as an adapter assembly defining a second longitudinal axis and comprising: an outer tube having a proximal portion and a distal portion, the distal portion of the outer tube supporting the tool assembly such that the tool assembly is movable from a non-articulated position in which the first longitudinal axis of the tool assembly is aligned with the second longitudinal axis of the adapter assembly and an articulated position in which the first longitudinal axis of the tool assembly is misaligned with the second longitudinal axis of the adapter assembly; a drive assembly having a flexible beam having a proximal portion and a distal portion, the clamp member supported on the distal portion of the flexible beam, the drive assembly movable between a retracted position and an advanced position to move the clamp member through the tool assembly to move the tool assembly from the open position to the clamped position; An articulation mechanism includes an adapter cam and an articulation link, the adapter cam defining a first cam channel and a second cam channel, the articulation link having a distal portion coupled to the tool assembly and a proximal portion supporting a first cam member, the first cam member being received in the first cam channel of the adapter cam, the proximal portion of the outer tube supporting a second cam, the second cam being received in the second cam channel of the adapter cam, wherein movement of the adapter cam causes movement of the articulation link to move the tool assembly between the non-articulated position and the articulated position, and causes movement of the outer tube relative to the drive assembly to change the position of the tool assembly relative to the drive assembly.

17. The surgical device of claim 16, wherein the adapter cam is cylindrical and defines a longitudinal through-hole.

18. The surgical device of claim 17, wherein the proximal portion of the outer tube is received within the longitudinal throughbore of the adapter cam.

19. A surgical device comprising: handle assembly; a tool assembly defining a first longitudinal axis and having a first jaw and a second jaw, the first jaw coupled to the second jaw to facilitate movement of the tool assembly between an open position and a clamped position; as well as an adapter assembly supported on the handle assembly and defining a second longitudinal axis, the adapter assembly comprising an outer tube and an articulation mechanism, the outer tube having a distal portion supporting the tool assembly, the articulation mechanism comprising an adapter cam and an articulation link, the adapter cam defining a first cam channel and a second cam channel, the articulation link having a distal portion coupled to the tool assembly and a proximal portion supporting a first cam member, the first cam member being received in the first cam channel of the adapter cam, the proximal portion of the outer tube supporting a second cam, the second cam being received in the second cam channel of the adapter cam, wherein movement of the adapter cam causes movement of the articulation link to move the tool assembly between a non-articulated position and an articulated position, and causes longitudinal movement of the outer tube relative to the adapter cam to change the position of the tool assembly relative to the handle assembly.

20. The surgical device of claim 19, further comprising an anvil supported on the first jaw and a cartridge assembly supported on the second jaw.

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