Ultrasonic surgical instrument with multiple plane articulation axis assembly

Abstract

An ultrasonic surgical instrument and method of deflecting an end effector including an acoustic waveguide having a proximal waveguide body portion defining a longitudinal axis, a distal waveguide body portion having an ultrasonic blade projecting distally therefrom, and an articulation body portion extending between the proximal and distal waveguide body portions. The articulation body portion of the acoustic waveguide is configured to flex in a first direction to deflect the ultrasonic blade relative to the longitudinal axis and through a first plane. Additionally, the articulation body portion of the acoustic waveguide is further configured to flex in a second direction to deflect the ultrasonic blade relative to the longitudinal axis and through a second plane. The second direction is different than the first direction such that the second plane is different than the first plane to achieve multi-plane deflection of the ultrasonic blade relative to the longitudinal axis.

Description

Background Technology

[0001] Various surgical instruments include end effectors having a blade element that vibrates at ultrasonic frequencies to cut and / or seal tissue (e.g., by denaturing proteins in tissue cells). These instruments include one or more piezoelectric elements that convert electrical power into ultrasonic vibrations, which are transmitted along an acoustic waveguide to the blade element. The precision of cutting and coagulation can be controlled by the operator's technique and by adjusting the power level, blade angle, tissue traction, and blade pressure. The power level used to drive the blade element can be varied (e.g., in real time) based on sensed parameters such as tissue impedance, tissue temperature, tissue thickness, and / or other factors. Some instruments have clamping arms and clamping pads for gripping tissue with the blade element.

[0002] These surgical instruments can be directly grasped and manipulated by the surgeon or incorporated into robot-assisted surgery. During robot-assisted surgery, the surgeon typically operates a master controller to remotely control the movement of these surgical instruments at the surgical site. The controller can be located at a considerable distance from the patient (e.g., across the operating room, in a different room, or in a completely different building). Alternatively, the controller can be placed in the operating room very close to the patient. In any case, the controller typically includes one or more hand input devices (such as joysticks, exoskeleton gloves, master manipulators, etc.) which are coupled to the surgical instruments by servo mechanisms. In one example, servo motors move manipulators supporting surgical instruments based on the surgeon's manipulation of the hand input devices. During surgery, the surgeon can use a variety of surgical instruments via the robotic surgical system, including ultrasonic scalpels, tissue grippers, needle actuators, electrosurgical cauterization probes, etc. Each of these structures performs functions for the surgeon, such as cutting tissue, coagulating tissue, grasping or driving needles, holding blood vessels, dissecting tissue, or cauterizing tissue.

[0003] Examples of ultrasound surgical instruments include HARMONIC Ultrasonic scissors, HARMONIC Ultrasonic scissors, HARMONIC Ultrasonic scissors and HARMONIC The ultrasonic scalpel and all the instruments mentioned above were obtained from Ethicon Endo-Surgery, Inc. of Cincinnati, Ohio. Other examples and related concepts of such devices are disclosed in the following patents: U.S. Patent 5,322,055, entitled "Clamp Coagulator / Cutting System for Ultrasonic Surgical Instruments," published June 21, 1994, the disclosure of which is incorporated herein by reference; U.S. Patent 5,873,873, entitled "Ultrasonic Clamp Coagulator Apparatus Having Improved Clamp Mechanism," published February 23, 1999, the disclosure of which is incorporated herein by reference; U.S. Patent 5,980,510, entitled "Ultrasonic Clamp Coagulator Apparatus Having Improved Clamp ArmPivot Mount," filed October 10, 1997, the disclosure of which is incorporated herein by reference; and U.S. Patent 4, 2001, entitled "Blades with Functional Balance Asymmetries for use with Ultrasonic Surgical Instruments." The disclosures of U.S. Patent 6,325,811, entitled "Blades with Functional Balance Asymmetries for Use with Ultrasonic Surgical Instruments," published August 10, 2004, are incorporated herein by reference; the disclosures of U.S. Patent 8,461,744, entitled "Rotating Transducer Mount for Ultrasonic Surgical Instruments," published June 11, 2013, are incorporated herein by reference; the disclosures of U.S. Patent 8,591,536, entitled "Ultrasonic Surgical Instrument Blades," published November 26, 2013, are incorporated herein by reference; and the disclosures of U.S. Patent 8,623,027, entitled "Ergonomic Surgical Instruments," published January 7, 2014, are incorporated herein by reference.And U.S. Patent 8,911,460, entitled "Ultrasonic Surgical Instruments," published on December 16, 2014, the disclosure of which is incorporated herein by reference; and U.S. Patent 9,023,071, entitled "Ultrasonic Device for Fingertip Control," published on May 5, 2015, the disclosure of which is incorporated herein by reference.

[0004] Other examples of ultrasonic surgical instruments are disclosed in the following documents: U.S. Publication 2006 / 0079874, entitled “Tissue Pad for Use with an Ultrasonic Surgical Instrument,” published April 13, 2006, the disclosure of which is incorporated herein by reference; U.S. Publication 2007 / 0191713, entitled “Ultrasonic Device for Cutting and Coagulating,” published August 16, 2007, the disclosure of which is incorporated herein by reference; U.S. Publication 2007 / 0282333, entitled “Ultrasonic Waveguide and Blade,” published December 6, 2007, the disclosure of which is incorporated herein by reference; U.S. Publication 2008 / 0200940, entitled “Ultrasonic Device for Cutting and Coagulating,” published August 21, 2008, the disclosure of which is incorporated herein by reference; and U.S. Publication 2015 / 0200940, entitled “Ultrasonic Device for Cutting and Coagulating,” published May 5, 2015. U.S. Patent 9,023,071 for “Fingertip Control”, the disclosure of which is incorporated herein by reference.

[0005] Some ultrasound surgical instruments may include cordless transducers, such as those disclosed in: U.S. Patent 9,381,058, entitled “Recharge System for Medical Devices,” published July 5, 2016, the disclosure of which is incorporated herein by reference; U.S. Publication 2012 / 0116265, entitled “Surgical Instrument with Charging Devices,” published May 10, 2012, the disclosure of which is incorporated herein by reference; and / or U.S. Patent Application 61 / 410,603, entitled “Energy-Based Surgical Instruments,” filed November 5, 2010, the disclosure of which is incorporated herein by reference.

[0006] Additionally, some ultrasound surgical instruments may include joint motion axis segments. Examples of such ultrasound surgical instruments are disclosed in the following: U.S. Patent 9,393,037, entitled "Surgical Instruments with Articulating Shafts," published July 19, 2016, the disclosure of which is incorporated herein by reference; U.S. Patent 9,095,367, entitled "Flexible Harmonic Waveguides / Blades for Surgical Instruments," published August 4, 2015, the disclosure of which is incorporated herein by reference; U.S. Patent 10,226,274, entitled "Ultrasonic Surgical Instrument with Articulation Joint Having Plurality of Locking Positions," published March 12, 2019, the disclosure of which is incorporated herein by reference; and U.S. Patent 10,226,274, entitled "Ultrasonic Surgical Instrument with Rigidizing Articulation," published July 31, 2018. The disclosures of U.S. Patent 10,034,683, entitled “DriveMembers,” are incorporated herein by reference; U.S. Patent Publication 2016 / 0302818, entitled “Ultrasonic Surgical Instrument with Movable Rigidizing Member,” published on October 10, 2016, are incorporated herein by reference; U.S. Patent Publication 2016 / 0302819, entitled “Ultrasonic Surgical Instrument with Articulating End Effector having a Curved Blade,” published on October 20, 2016, are incorporated herein by reference; and U.S. Patent 10,342,567, entitled “Ultrasonic Surgical Instrument with Opposing Thread Drive for End Effector Articulation,” published on July 9, 2019, are incorporated herein by reference.The following U.S. patents are incorporated herein by reference: U.S. Patent Publication 2015 / 0320438, entitled "Ultrasonic Surgical Instrument with EndEffector Having Restricted Articulation," published November 12, 2015; U.S. Patent Publication 2017 / 0281217, entitled "Surgical Instrument with DualMode Articulation Drive," published October 5, 2017; U.S. Patent Publication 2017 / 0281218, entitled "Surgical Instrument with Motorized Articulation Drive in Shaft Rotation Knob," published October 5, 2017; and U.S. Patent Publication 2017 / LockingArticulation Drive, published October 5, 2017. The disclosures of U.S. Patent Publication 2017 / 0281219, entitled "Wheel," are incorporated herein by reference; U.S. Patent Publication 2017 / 0281220, entitled "Surgical Instrument with Selectively Locked Articulation Assembly," published on October 5, 2017, are incorporated herein by reference; and U.S. Patent Publication 2017 / 0281221, entitled "Articulation Joint for Surgical Instrument," published on October 5, 2017, are incorporated herein by reference.

[0007] Some instruments are operable to seal tissue by applying radiofrequency (RF) electrosurgical energy. An example of a surgical instrument operable to seal tissue by applying RF energy is manufactured by Ethicon Endo-Surgery, Inc. (Cincinnati, Ohio). Tissue sealing device. Other examples and related concepts of such devices are disclosed in the following documents: U.S. Patent 6,500,176, entitled "Electrosurgical Systems and Techniques for Sealing Tissue," published December 31, 2002, the disclosure of which is incorporated herein by reference; U.S. Patent 7,112,201, entitled "Electrosurgical Instrument and Method of Use," published September 26, 2006, the disclosure of which is incorporated herein by reference; U.S. Patent 7,125,409, entitled "Electrosurgical Working End for Controlled Energy Delivery," published October 24, 2006, the disclosure of which is incorporated herein by reference; U.S. Patent 7,169,146, entitled "Electrosurgical Probe and Method of Use," published January 30, 2007, the disclosure of which is incorporated herein by reference; and U.S. Patent 6, entitled "Electrosurgical Jaw Structure for Controlled...", published March 6, 2007. The disclosures of U.S. Patent 7,186,253 entitled "Electrosurgical Instrument," published on March 13, 2007, are incorporated herein by reference; the disclosures of U.S. Patent 7,189,233 entitled "Electrosurgical Instrument," published on May 22, 2007, are incorporated herein by reference; the disclosures of U.S. Patent 7,220,951 entitled "Surgical Sealing Surfaces and Methods of Use," published on May 22, 2007, are incorporated herein by reference; the disclosures of U.S. Patent 7,309,849 entitled "Polymer Compositions Exhibiting a PTC Property and Methods of Fabrication," published on December 18, 2007, are incorporated herein by reference; and the disclosures of U.S. Patent 7,309,849 entitled "Electrosurgical Instrument and Method of..." published on December 25, 2007, are incorporated herein by reference. The disclosure of U.S. Patent 7,311,709 entitled “Electrosurgical Instrument and Method of Use” is incorporated herein by reference; the disclosure of U.S. Patent 7,354,440 entitled “Electrosurgical Instrument and Method of Use”, published on April 8, 2008, is incorporated herein by reference.U.S. Patent 7,381,209, entitled "Electrosurgical Instrument," published on June 3, 2008, is incorporated herein by reference.

[0008] Some devices are capable of applying both ultrasonic energy and RF electrosurgical energy to tissue. Examples of such devices are described in U.S. Patent 9,949,785, entitled “Ultrasonic Surgical Instrument with Electrosurgical Feature,” published April 24, 2018, the disclosure of which is incorporated herein by reference; and in U.S. Patent 8,663,220, entitled “Ultrasonic Surgical Instruments,” published March 4, 2014, the disclosure of which is incorporated herein by reference.

[0009] Although several surgical instruments and systems have been manufactured and used, it is believed that no one prior to the inventors had manufactured or used the invention described in the appended claims. Attached Figure Description

[0010] Although this specification provides for claims that specifically point out and expressly declare such technology, it is believed that such technology will be better understood from certain examples described below in conjunction with the accompanying drawings, wherein similar reference numerals indicate the same elements, and wherein:

[0011] Figure 1 A front perspective view of a first example of an ultrasonic surgical instrument having an end effector, a first exemplary base assembly configured to connect to a robot drive interface, and a first exemplary shaft assembly having a first exemplary acoustic waveguide is depicted.

[0012] Figure 2 Depicting Figure 1 Rear perspective view of an ultrasonic surgical instrument;

[0013] Figure 3A yes Figure 1 An enlarged perspective view of an ultrasonic surgical instrument, in which the end effector is in the closed position and the shaft assembly is in a straight configuration;

[0014] Figure 3B Depicting something similar to Figure 3A An enlarged perspective view of an ultrasonic surgical instrument, but showing the end effector in the open position;

[0015] Figure 4A Depicting Figure 1 An enlarged perspective view of an ultrasonic surgical instrument, wherein the end effector is in the closed position and the shaft assembly is in the first articular motion configuration;

[0016] Figure 4B Depicting something similar to Figure 4A A magnified perspective view of an ultrasonic surgical instrument, but its central axis assembly is in the second joint motion configuration;

[0017] Figure 5 Depicting Figure 1 A magnified perspective view of an ultrasonic surgical instrument, in which various components of the base assembly have been removed to provide a clearer view of the internal space of the base assembly;

[0018] Figure 6 Depicting Figure 1 A magnified front view of an ultrasonic surgical instrument, in which various components of the base assembly have been removed to provide a clearer view of the internal space of the base assembly;

[0019] Figure 7 A front perspective view depicting a second example of an ultrasonic surgical instrument having a multiplanar axis assembly in a linear configuration;

[0020] Figure 8 Depicting Figure 7 An enlarged front perspective view of the shaft assembly, in which the distal joint motion segment and the proximal joint motion segment are in the distal joint motion configuration and the proximal joint motion configuration, respectively;

[0021] Figure 9 Depicting a linear configuration Figure 8 Enlarged perspective view of the distal joint motion segment;

[0022] Figure 10 Depicting a linear configuration Figure 8 Enlarged front perspective view of the distal joint motion segment;

[0023] Figure 11 Depicting along Figure 10 Section line 11-11 is taken Figure 10 A cross-sectional perspective view of the distal joint motion segment, with various components removed for clarity;

[0024] Figure 12 Depicting the motion configuration of the proximal joint Figure 8 Enlarged front view of the proximal joint motion segment;

[0025] Figure 13 Depicting Figure 8 The distal posterior perspective view of the distal link of the proximal joint motion segment;

[0026] Figure 14 Depicting Figure 13 A near-rear perspective view of the distal link;

[0027] Figure 15 Depicting Figure 13 A front view of the distal end of the distal link;

[0028] Figure 16 Depicting Figure 13 A front view of the proximal end of the distal link;

[0029] Figure 17 Depicting Figure 8 The distal posterior perspective view of the intermediate link of the proximal joint motion segment;

[0030] Figure 18 Depicting Figure 17 A close-up perspective view of the rear of the middle link;

[0031] Figure 19 Depicting Figure 17 A front view of the far end of the middle connecting rod;

[0032] Figure 20 Depicting Figure 17 A front view of the proximal end of the middle connecting rod;

[0033] Figure 21 Depicting Figure 8 The distal posterior perspective view of the proximal link of the proximal joint motion segment;

[0034] Figure 22 Depicting Figure 21 Rear proximal perspective view of the proximal link;

[0035] Figure 23 Depicting Figure 21 A front view of the distal end of the proximal link;

[0036] Figure 24 Depicting Figure 21 A front view of the proximal end of the proximal link;

[0037] Figure 25 It is a front perspective view of a first exemplary multi-flexible acoustic waveguide having a flexible distal yaw band and a flexible proximal pitch band in a straight profile.

[0038] Figure 26 Depicting a straight profile Figure 25 A top view of the acoustic waveguide;

[0039] Figure 27 A top view of a second exemplary multi-flexible acoustic waveguide is depicted, wherein a flexible distal yaw band and a flexible proximal pitch band are in an exemplary double-arc profile.

[0040] Figure 28 A front perspective view of a third exemplary multi-flexible acoustic waveguide, depicting a first example of a flexible wire with a straight profile;

[0041] Figure 29 Depicting along Figure 28 Section line 29-29 is taken Figure 28 A cross-sectional view of the acoustic waveguide;

[0042] Figure 30A Depicting Figure 28 A top view of an acoustic waveguide, in which the flexible wire is in a straight profile;

[0043] Figure 30B Depicting something similar to Figure 30A A top view of the acoustic waveguide, but in which the flexible wire is in an exemplary arcuate profile;

[0044] Figure 31 A front perspective view of a fourth exemplary multi-flexible acoustic waveguide, depicting a second example of a flexible wire with a straight profile;

[0045] Figure 32 Depicting along Figure 31 Section line 32-32 is taken Figure 31 A cross-sectional view of the acoustic waveguide;

[0046] Figure 33 A front perspective view of a fifth exemplary multi-flexible acoustic waveguide, depicting a third example of a flexible wire with a straight profile.

[0047] Figure 34 Depicting along Figure 33 Section line 34-34 is taken Figure 33 A cross-sectional view of the acoustic waveguide;

[0048] Figure 35A A top view of a sixth exemplary multi-flexible acoustic waveguide is depicted, wherein the flexible waveguide body is in a straight profile;

[0049] Figure 35B Depicting something similar to Figure 35A A top view of an acoustic waveguide, but in which the flexible waveguide body is in an exemplary arcuate profile;

[0050] Figure 36 A perspective view of an ultrasonic scalpel is depicted, in which a first example of a circumferential scalpel profile has a first back-cutting edge;

[0051] Figure 37 Depicting Figure 36 A view of the distal end of an ultrasonic scalpel;

[0052] Figure 38 A perspective view of another ultrasonic scalpel is depicted, in which a second example of a circumferential scalpel profile has a second back-cutting edge;

[0053] Figure 39 Depicting Figure 38A view of the distal end of an ultrasonic scalpel;

[0054] Figure 40A Depicting Figure 1 An enlarged cross-sectional perspective view of an ultrasonic surgical instrument taken along its centerline, showing an ultrasonic scalpel of an end effector positioned relative to the clamping arm of the end effector, with the shaft assembly in a straight configuration.

[0055] Figure 40B Depicting Figure 40A An enlarged sectional view of an ultrasonic surgical instrument taken along its centerline, showing an ultrasonic scalpel of an end effector positioned relative to the clamping arm of the end effector, wherein the shaft assembly is in a first articular motion configuration;

[0056] Figure 41A An enlarged sectional view of the end effector and shaft assembly, taken along their centerline, is depicted, showing an ultrasonic scalpel positioned relative to the clamping arm, with the shaft assembly in a straight configuration.

[0057] Figure 41B Depicting something similar to Figure 41A An enlarged cross-sectional view of the end effector and shaft assembly, but showing the ultrasonic scalpel positioned relative to the clamping arm, with the shaft assembly in a first joint motion configuration;

[0058] Figure 42 An enlarged sectional view taken along the centerline of a third example of an ultrasonic surgical instrument is depicted. This third example of the ultrasonic surgical instrument has… Figure 1 The end effector and the second exemplary shaft assembly, the second exemplary shaft assembly having an ultrasonic scalpel fixed relative to the clamping arm in a linear configuration and an articulated motion configuration;

[0059] Figure 43A Depicting Figure 42 An enlarged perspective view of a second exemplary base assembly of an ultrasonic surgical instrument, wherein various components have been removed to allow for... Figure 42 When the shaft assembly is in a straight configuration, the passively movable transducer assembly located near the side is more clearly visible;

[0060] Figure 43B Depicting something similar to Figure 43A An enlarged perspective view of the base assembly, but showing... Figure 42 A passively movable transducer assembly that is in the distal position when the shaft assembly is in the articulated motion configuration;

[0061] Figure 44A An enlarged perspective view of a fourth example of an ultrasonic surgical instrument is depicted, in which various components of the third exemplary base assembly have been removed to more clearly see the active, movable transducer assembly in a proximal position; and

[0062] Figure 44B Depicting something similar to Figure 44A An enlarged perspective view of the base assembly, but showing the active movable transducer assembly in a distal position.

[0063] The accompanying drawings are not intended to be limiting in any way, and various embodiments of the present technology are contemplated to be implemented in a variety of other ways, including those not necessarily shown in the drawings. The drawings, which are incorporated in and form a part of this specification, illustrate several aspects of the present technology and, together with the specification, serve to explain the principles of the present technology; however, it should be understood that the present technology is not limited to the precise arrangement shown. Detailed Implementation

[0064] The following description of certain examples of the present technology is not intended to limit the scope of the present technology. Other examples, features, aspects, embodiments, and advantages of the present technology will become apparent to those skilled in the art from the following description, which is given by way of example, representing one of the best ways contemplated for implementing the present technology. As will be appreciated, the technology described herein can have other different and obvious aspects, all of which are not departing from the present technology. Therefore, the accompanying drawings and descriptions should be considered substantially illustrative rather than restrictive.

[0065] Furthermore, it should be understood that any one or more of the teachings, expressions, embodiments, examples, etc., described herein may be combined with any one or more of the other teachings, expressions, embodiments, examples, etc., described herein. Therefore, the following teachings, expressions, embodiments, examples, etc., should not be considered in isolation from each other. Various suitable ways in which the teachings herein can be combined will be apparent to those skilled in the art. Such modifications and variations are intended to be included within the scope of the claims.

[0066] For clarity of disclosure, the terms "proximal" and "distal" are defined herein with respect to a human or robotic operator of the surgical instrument. The term "proximal" refers to the element location of the surgical end effector that is closer to the human or robotic operator of the surgical instrument and further away from the surgical instrument. The term "distal" refers to the element location of the surgical end effector that is closer to the surgical instrument and further away from the human or robotic operator of the surgical instrument. It should also be understood that, for convenience and clarity, spatial terms such as "front," "rear," "clockwise," "counterclockwise," "longitudinal," and "lateral" are also used herein with reference to relative positions and orientations. Such terms are used hereinafter with reference to views for clarity and are not intended to limit the invention described herein.

[0067] I. Exemplary Surgical Instruments

[0068] Figure 1 Exemplary surgical instruments, such as ultrasonic surgical instruments (10), are illustrated. At least a portion of the ultrasonic surgical instrument (10) may be constructed and operated in accordance with the teachings of any of the various patents, patent application publications, and patent applications cited herein. As described herein and as will be described in more detail below, the ultrasonic surgical instrument (10) is operable to substantially simultaneously cut tissue and seal or weld tissue (e.g., blood vessels, etc.). Although this example incorporates various ultrasonic features as the ultrasonic surgical instrument (10), the invention is not intended to be unnecessarily limited to the ultrasonic features described herein.

[0069] The ultrasonic surgical instrument (10) of this example includes a main body assembly, such as a first exemplary base assembly (12), a shaft assembly (14), and an end effector (16). The base assembly (12) includes a housing (18), a button (22), and a pair of latches (24). The button (22) is operatively connected to an electrical base power controller (not shown) and is configured to selectively power the ultrasonic surgical instrument (10) for use. Additionally, the housing (18) of this example includes a front housing cover (26) and a rear housing cover (28), which are detachably secured together via the latches (24). More specifically, the latches (24) detachably secure the front housing cover (26) to the rear housing cover (28), such that the front housing cover (26) can be removed to access the internal space (30) within the base assembly (12) (see See...). Figure 5 The shaft assembly (14) extends distally from the base assembly (12) to the end effector (16), thereby transmitting mechanical and / or electrical forces between them for use, as will be discussed in more detail below. As shown in this example, the base assembly (12) is configured to be operatively connected to a robot actuator (not shown) for driving various features of the shaft assembly (14) and / or the end effector (16). However, in another example, the body assembly may alternatively include a handle assembly (not shown), which in one example may include a pistol grip (not shown) configured to be directly grasped and manipulated by a surgeon to drive various features of the shaft assembly (14) and / or the end effector (16). Therefore, the invention is not intended to be unnecessarily limited to use with the base assembly (12) and the robot actuator (not shown).

[0070] Therefore, regarding Figure 2The base assembly (12) includes a robot drive interface (32) that extends through the base plate (34) of the rear housing cover (28) and is configured to be mechanically coupled to a robot actuator (not shown). The robot drive interface (32) of this example includes a plurality of instrument actuators (36a, 36b, 36c, 36d, 36e, 36f), each having a plurality of input bodies (38a, 38b, 38c, 38d, 38e, 38f). Each input body (38a, 38b, 38c, 38d, 38e, 38f) (which may also be referred to herein as a “disc”) is configured to be detachably coupled to a robot actuator (not shown) and, in this example, is generally cylindrical and rotatable about an axis. The input body (38a, 38b, 38c, 38d, 38e, 38f) has a plurality of slots (40) configured to receive portions of a robot actuator (not shown) for gripping and rotatably driving the input body (38a, 38b, 38c, 38d, 38e, 38f) to guide the operation of the shaft assembly (14) and / or end effector (16), as will be discussed in more detail below. The base assembly (12) also receives an electrical plug (42) operatively connected to a power source (not shown) to provide power to the base assembly (12) for operation as needed, such as powering an electrical base power controller (not shown) and directing electrical energy to the shaft assembly (14) or end effector (16) for various features associated with cutting, sealing, or welding structures.

[0071] A. Exemplary end effector and acoustic transmission system

[0072] like Figures 3A to 3B Best viewed, the end effector (16) of this example includes a clamping arm (44) and an ultrasonic scalpel (46). The clamping arm (44) has a clamping pad (48) facing the scalpel (46) and fixed to the underside of the clamping arm (44). In one example, the clamping pad (48) may contain polytetrafluoroethylene (PTFE) and / or any other suitable material. The clamping arm (44) is pivotally fixed to a distally projecting tongue (50) of the shaft assembly (14). The clamping arm (44) is operable to selectively pivot toward and away from the scalpel (46) to selectively clamp tissue between the clamping arm (44) and the scalpel (46). A pair of arms (51) extend laterally from the clamping arm (44) and are pivotally fixed to another portion of the shaft assembly (14), which is configured to slide longitudinally such that the clamping arm (44) is positioned as indicated by arrow (52). Figure 3A The closed position shown is the same as Figure 3B It pivots between the open positions shown.

[0073] In addition to pivoting relative to the blade (46), the clamping arm (44) of this example is further configured to rotate about the blade (46) relative to the blade (46) and about the shaft assembly (14) as indicated by arrow (53). In one example, the clamping arm (44) rotates entirely about the blade (46) in a clockwise or counterclockwise direction and can be selectively fixed at any angular position relative to the blade (46) for guiding the clamping arm (44) from an open position to a closed position to clamp tissue. In another example, the clamping arm (44) may have a rotation stop (not shown) configured to limit the rotational movement of the clamping arm (44) relative to the blade (46) at one or more predetermined positions.

[0074] The blade (46) in this example is operable to vibrate at an ultrasonic frequency to effectively cut through and seal tissue, especially when the tissue is compressed between the clamping pad (48) and the blade (46). The blade (46) is positioned at the distal end of an acoustic actuator. This acoustic actuator includes a transducer assembly (54) (see...). Figure 5 The waveguide (56) includes a flexible portion (58), which is discussed in more detail below. It should be understood that the waveguide (56) may be configured to amplify mechanical vibrations transmitted through it. Furthermore, the waveguide (56) may include features operable to control the gain of longitudinal vibrations along the waveguide (56) and / or features for tuning the waveguide (56) to the resonant frequency of the system. Referring to the teachings herein, the waveguide (56) may be combined with a transducer assembly (54) (see...). Figure 5 Various suitable methods of mechanical and acoustic connection will be obvious to those skilled in the art.

[0075] Those skilled in the art will understand that, as a physics problem, the location of the distal end of the blade (46) corresponds to an antinode, which is associated with resonant ultrasonic vibrations transmitted through the flexible portion (58) of the waveguide (56). When for the transducer assembly (54) (see...) Figure 5 When powered, the distal end of the blade (46) is configured to vibrate at a predetermined frequency f, for example, 55.5 kHz, in a range of approximately 10 to 500 micrometers between peaks, and in some cases in a range of approximately 20 to approximately 200 micrometers. o Move longitudinally. When the transducer assembly (54) in this example (see...) Figure 5When activated, these mechanical oscillations are transmitted through the waveguide (56) to the blade (46), thereby providing the blade (46) with oscillations at a resonant ultrasonic frequency. Thus, when tissue is secured between the blade (46) and the clamping pad (48), the ultrasonic oscillations of the blade (46) can simultaneously cut the tissue and denature proteins in adjacent tissue cells, thereby providing a coagulation-promoting effect with relatively little thermal diffusion. In some configurations, in addition to applying ultrasonic energy to the tissue, the end effector (16) can also be operated to apply radiofrequency (RF) electrosurgical energy to the tissue. In any case, other suitable configurations of the acoustic transmission assembly and transducer assembly (54) will be apparent to those skilled in the art upon reference to the teachings herein. Similarly, other suitable configurations of the end effector (16) will be apparent to those skilled in the art upon reference to the teachings herein.

[0076] B. Exemplary shaft components and joint motion segments

[0077] like Figures 3A to 3B As shown, the shaft assembly (14) includes: a proximal shaft portion (60) extending along a longitudinal axis (61); a distal shaft portion (62) projecting distally relative to the proximal shaft portion (60); and an articulated segment (64) extending between the proximal shaft portion (60) and the distal shaft portion (62). The shaft assembly (14) is configured to rotate about the longitudinal axis (61), as indicated by arrow (66). In one example, the shaft assembly (14) rotates entirely about the longitudinal axis (61) in a clockwise or counterclockwise direction and can be selectively fixed at any rotational position about the longitudinal axis (61) for positioning the articulated segment (64) and / or the end effector (16) about the longitudinal axis (61). Although the end effector (16) generally rotates with the shaft assembly (14) as indicated by arrow (66), the end effector (16) can be rotated simultaneously and independently relative to the shaft assembly (14) during use as indicated by arrow (53) for repositioning portions of the shaft assembly (14) and / or the end effector (16) as needed.

[0078] The articulation segment (64) is configured to selectively position the end effector (16) relative to a longitudinal axis (61) defined by the proximal shaft portion (60) at various lateral deflection angles. The articulation segment (64) can take many forms. In this example, the articulation segment (64) includes a proximal link (68), a distal link (70), and a plurality of intermediate links (72) connected in series between the proximal link (68) and the distal link (70). The articulation segment (64) also includes a pair of articulation bands (74) extending along a pair of corresponding channels (76) jointly defined by the links (68, 70, 72). The links (68, 70, 72) are generally configured to pivot relative to each other when the articulation bands (74) are actuated, thereby bending the articulation segment (64) having a flexible portion (58) with a waveguide (56) to achieve an articulated state. By way of example only, the joint motion segment (64) may alternatively or additionally be constructed based on one or more of the teachings of U.S. Patent 9,402,682, entitled “Articulation Joint Features for Articulating Surgical Device,” published August 2, 2016, the disclosure of which is incorporated herein by reference. As another illustrative example only, the joint motion segment (64) may alternatively or additionally be constructed based on one or more of the teachings of U.S. Patent 9,393,037, entitled “Surgical Instruments with Articulating Shafts,” published July 19, 2016 (the disclosure of which is incorporated herein by reference), and U.S. Patent 9,095,367, entitled “Flexible Harmonic Waveguides / Blades for Surgical Instruments,” published August 4, 2015 (the disclosure of which is incorporated herein by reference). As a supplement to or alternative to the foregoing, the articular segment (64) may be constructed and / or operated in accordance with at least some of the teachings of U.S. Patent 10,034,683, entitled “Ultrasonic Surgical Instrument with Rigidizing Articulation Drive Members”, issued July 31, 2018. Alternatively, the articular segment (64) may be constructed and operated in any other suitable form.

[0079] Figures 3B to 4BThe links (68, 70, 72) shown are pivotally interlocked to secure the distal shaft portion (62) relative to the proximal shaft portion (60) while allowing the distal shaft portion (62) to deflect relative to the longitudinal axis (61). In this example, the proximal link (68) is rigidly connected to the proximal shaft portion (60) and has a pair of arcuate grooves (78) opposite each other. The intermediate links (72) each have a pair of arcuate tongues (80) extending proximally from them and a pair of arcuate grooves (78) positioned distally opposite the respective tongues (80). Each intermediate link (72) has a tongue (80) that is pivotally received within an adjacent arcuate groove (78) of another intermediate link (72) or a proximal link (68), if applicable. The distal link (70) is rigidly connected to the distal shaft portion (62) and has another pair of arcuate tongues (80) that are opposite each other and pivotally received within adjacent arcuate grooves (78) of the intermediate link (72). The tongues (80) and grooves (78) are joined together to form a series of interlocking links (68, 70, 72).

[0080] The distal link (70) also includes a pair of opposing recesses (82) in which a pin (84) is configured to receive the distal end portion of a corresponding articulated band (74). More specifically, the pin (84) extends through a hole in each corresponding articulated band (74), and the distal end portion of the corresponding articulated band (74) is engaged within the recess (82). Slots (86) in each of the intermediate link (72) and the proximal link (68) are longitudinally aligned with each other and with the recess (82) to jointly define a channel (76) configured to receive the articulated band (74) while allowing the articulated band (74) to slide relative to the links (68, 70, 72). For this purpose, when the articulated band (74) is longitudinally translated in a relative manner, this will cause the articulated segment (64) to bend, thereby causing the end effector (16) to move from such a position as... Figure 3B The linear configuration shown is as follows Figure 4A The first joint motion configuration shown is as indicated by arrow (88) or as shown in the diagram. Figure 4B The second joint motion configuration is shown and, as indicated by arrow (90), laterally deflects away from the longitudinal axis (61) of the proximal axis assembly (60). Specifically, the end effector (16) will perform joint motion toward the joint motion band (74) pulled proximally. During such joint motion, another joint motion band (74) can be pulled distally. Alternatively, the other joint motion band (74) can be driven distally by a joint motion controller. Furthermore, even when the joint motion segment (64) is in a position such as Figures 4A to 4B In the articulated joint configuration shown, the flexible acoustic waveguide (56) is configured to efficiently transmit ultrasonic vibrations from the waveguide (56) to the blade (46).

[0081] C. An exemplary base assembly having a machine actuator for a robot interface

[0082] Figure 5 The internal space (30) of the base assembly (12) with the instrument actuators (36a, 36b, 36c, 36d, 36e, 36f) is shown in more detail. Generally, the instrument actuators (36a, 36b, 36c, 36d, 36e, 36f) engage with the shaft assembly (14) and are configured to guide movement of the end effector (16) and / or the shaft assembly (14), such as the movement indicated by arrows (52, 53, 66, 88, 90) in one example above (see [link to original text]). Figures 3A to 4B The shaft assembly (14) is received within the base assembly (12) and supported by bearings (92) therein to operatively connect each respective instrument actuator (36a, 36b, 36c, 36d, 36e, 36f) to the shaft assembly (14) and to the acoustic waveguide (56) (see Figure 3A The transducer assembly (54) is operatively connected to the generator (not shown) of the acoustic drive system. More specifically, the transducer assembly (54) is coupled to the generator (not shown) such that the transducer assembly (54) receives electrical power from the generator (not shown). A piezoelectric element (not shown) in the transducer assembly (54) converts this electrical power into ultrasonic vibrations. The generator (not shown) can be connected via an electrical plug (42) (see...). Figure 1 The generator (not shown) and a control module (not shown) are connected to a power supply (not shown), the power connector and the control module being configured to provide a power distribution to the transducer assembly (54) that is particularly suitable for generating ultrasonic vibrations through the transducer assembly (54). By way of example only, the generator (not shown) may include the GEN04 or GEN11 sold by Ethicon Endo-Surgery, Inc. of Cincinnati, Ohio. Alternatively or otherwise, the generator (not shown) may be constructed in accordance with at least some of the teachings disclosed in U.S. Publication 2011 / 0087212 entitled “Surgical Generator for Ultrasonic and Electrosurgical Devices”, published April 14, 2011, the disclosure of which is incorporated herein by reference. Other suitable forms that the generator (not shown) may take, and the various features and operability that the generator (not shown) may offer, will be apparent to those skilled in the art from the teachings herein.

[0083] Figures 5 to 6The example of the base assembly (12) shown includes six instrument actuators (36a, 36b, 36c, 36d, 36e, 36f), but it should be understood that any such number of such instrument actuators (36a, 36b, 36c, 36d, 36e, 36f) configured to guide movement of the shaft assembly (14) and / or the end effector (16) may also be used similarly. As shown with respect to the operation of the ultrasonic surgical instrument (10), the instrument actuator (36a) is more specifically a roller system actuator (36a) configured to rotate the shaft assembly (14) about the longitudinal axis (61). In contrast, the instrument actuators (36b, 36c, 36d, 36e, 36f) are linear system actuators (36b, 36c, 36d, 36e, 36f) configured to translately drive the movement of portions of the end effector (16) and / or shaft assembly (14) while allowing the shaft assembly (14) to rotate via the roller system actuator (36a).

[0084] In one example, the roller system actuator (36a) includes a component rigidly connected to the disk (38a) (see [reference]). Figure 2 The drive spool (96) and the driven spool (98) are rigidly connected to the proximal shaft portion (60) within the housing (18). The drive spool (96) is mounted to follow the disc (38a) (see...). Figure 2 The drive shaft (96, 98) rotates together about a common disk axis, while the driven shaft (98) is mounted to rotate together with the proximal shaft portion (60) about a longitudinal axis (61). The cable (100) is wound around each of the drive and driven shafts (96, 98) to accommodate the different orientations of the disk axis and the longitudinal axis (61), so that the drive shaft (38a) rotates together with the driven shaft (96, 98) about a longitudinal axis (61). Figure 2 The rotation of the drive spool (96) causes the driven spool (98) to rotate. Subsequently, the shaft assembly (14) (comprising the proximal shaft portion (60) and the distal shaft portion (62)) rotates as indicated by arrow (66) (see...). Figure 3A The indicated rotation about the longitudinal axis (61), such as by means of the disk (38a) (see) Figure 2 The robot is driven by actuation.

[0085] The linear system actuator (36b, 36c, 36d, 36e, 36f) in this example includes a gear-rack mechanism (102) having a rotatable drive gear (104), a translational rack gear (106), and an idler gear (108) connected between the rotatable drive gear and the translational rack gear. The drive gear (104) is connected to disks (38b, 38c, 38d, 38e, 38f) respectively (see...). Figure 2And protruding rigidly from the disk, while each rack and pinion (106) is connected to another part of the proximal shaft portion (60), thereby guiding the movement of the shaft assembly (14) and / or the end actuator (16), as discussed above. Each rack and pinion (106) is cylindrical and rigidly connected relative to the proximal shaft portion (60) to rotate with it. Thus, the rack and pinion (106) is configured to rotate with the shaft assembly (14) while remaining engaged with the idler gear (108). Thus, the corresponding disks (38b, 38c, 38d, 38e, 38f) are rotated (see Figure 2 This rotates the drive gear (104) and idler gear (108) respectively, thereby translating the rack gear (106) as needed.

[0086] In this example, about Figures 2 to 4B and Figure 6 The linear system actuator (36b) has a disk (38b) operatively connected to the clamping arm (44) to guide movement of the clamping arm (44) between an open and closed position, according to arrow (52). The linear system actuators (36c, 36d) have corresponding disks (38c, 38d) operatively connected to the clamping arm (44) to guide movement of the clamping arm (44) about the blade (46) in both clockwise and counterclockwise directions, according to arrow (53). Additionally, the linear system actuators (36e, 36f) have corresponding disks (38e, 38f) operatively connected to the articulated band (74) to guide movement of the articulated segment (64) according to arrows (88, 90) for deflection of the end actuator (16) relative to the longitudinal axis (61). Of course, in other examples, the instrument actuators (36a, 36b, 36c, 36d, 36e, 36f) may optionally be configured with more or fewer actuators (36a, 36b, 36c, 36d, 36e, 36f) and / or more or less movement, as needed. Therefore, the present invention is not intended to be unnecessarily limited to the specific movement of the instrument actuators (36a, 36b, 36c, 36d, 36e, 36f) or shaft assembly (14) and / or end effector (16) as described in this example.

[0087] II. Exemplary Multiplanar Joint Movement of Shaft Assembly

[0088] In some cases, regarding Figures 1 to 4BIt may be desirable to guide the deflection of the end effector (16) at least in part based on the various characteristics and / or constraints associated with the components that pass through the articulated segment (64) during use. By way of example, greater variability in this deflection (such as that achieved by increasing articulation along the shaft assembly (14)) may increase strain on one or more flexible components within the articulated segment (64). Thus, in one example, the articulated segment (64) may ideally articulate via links (68, 70, 72) to accurately and precisely guide the movement of the flexible components within the articulated segment (64) while reducing strain that may occur through these flexible components (e.g., acoustic waveguides (56)).

[0089] In another example, greater variability in deflection along the axis assembly (14) can be combined with multiple articulated segments (64) having corresponding links (68, 70, 72) for guiding multiple acoustic waveguides (356, 456, 556, 656, 756, 856) (see also...). Figures 25 to 35B Each of the acoustic waveguides in the ultrasonic surgical instrument (10) has a greater degree of freedom than the acoustic waveguide (56) of the ultrasonic surgical instrument (10). For this purpose, the shaft assembly (14) with the end effector (16) is more generally configured to be able to move longitudinally along the longitudinal axis (61), laterally perpendicular to the longitudinal axis (61), and laterally perpendicular to the longitudinal axis (61), as well as to rotate the end effector (16) about the longitudinal axis (61) and to pivot the end effector (16) along a plane, which may be a pitch plane or a yaw plane, depending on the relative position of the end effector (16). Although such movement provides five degrees of freedom to the end effector (16) via the acoustic waveguide (56) during use, multiple acoustic waveguides (356, 456, 556, 656, 756, 856) described below (see [link to documentation]) provide even greater degrees of freedom. Figures 25 to 35B One or more acoustic waveguides in the ) are configured to enable the end effector (16) to pivot through the additional plane in six degrees of freedom. Therefore, the additional joint segments (64) and / or alternative joint segments (not shown) are configured to guide the deflection of the end effector (16) while reducing strain on the acoustic waveguides (356, 456, 556, 656, 756, 856) (see ) Figures 25 to 35B Although the following text is as follows: Figures 7 to 8Additional details are provided for a second example of an ultrasonic surgical instrument (210) having dual articulated segments (64, 164), but the invention is not intended to be unnecessarily limited to one or more such articulated segments (64, 164). In fact, any alternative articulated segments (not shown) may be used alone or in combination to support an acoustic waveguide having one or more flexible portions, such as the acoustic waveguides (356, 456, 556, 656, 756, 856) described in more detail below (see [link to documentation]). Figures 25 to 35B Furthermore, the similarity labels below indicate similar features that are described in more detail above.

[0090] A. Joint segments used for multiplanar joint motion

[0091] Figures 7 to 8 A second example of an ultrasonic surgical instrument (210) is shown, which has another example of a base assembly (212) and a distally extending multiplanar shaft assembly (214) with an end effector (16). The base assembly and shaft assembly (212, 214) are similar to the base assembly and shaft assembly (12, 14) discussed in more detail above (see [link to documentation]). Figure 1 However, they are collectively constructed for multiplanar joint motion. More specifically, the shaft assembly (214) includes a joint motion segment (64) as a proximal joint motion segment (64) and also includes a distal joint motion segment (264). Therefore, the base assembly (212) is configured to guide joint motion of the proximal joint motion segment (64), as discussed above with respect to the base assembly (12) (see Figure 1 Furthermore, it is configured to guide joint movement of the distal joint motion segment (264). In one example, such movement of the distal joint motion segment (264) is performed by an additional instrument actuator (not shown). Alternatively, in another example, movement of the distal joint motion segment (64) is performed by another instrument actuator among the instrument actuators (36a, 36b, 36c, 36d, 36e, 36f). Unless otherwise specified herein, the base assembly and shaft assembly (212, 214) are otherwise constructed and can serve as the base assembly and shaft assembly (12, 14) discussed in more detail above (see...). Figure 1 )operate.

[0092] In this example, the proximal and distal joint motion segments (64, 264) are similarly constructed with links (68, 70, 72) as discussed above. Therefore, the proximal joint motion segment (64) moves through a plane, while the distal joint motion segment (264) moves through another plane. In this example, these planes are perpendicular to each other. Given as... Figures 7 to 8The rotational orientation of the shaft assembly (214) shown is such that the proximal articular segment (64) moves through the pitch plane, while the distal articular segment (264) moves through the yaw plane relative to the clamping arm (44). However, it should be understood that such planes vary relative to the clamping arm (44) and / or, as... Figures 7 to 8 The orientations shown, such as those in this invention, are not intended to be unnecessarily limited to the yaw and pitch planes illustrated in this example. Although Figure 8 An example of biarticular motion for each of the proximal joint motion segment (64) and the distal joint motion segment (264) is shown, such that the end effector (16) can move selectively according to the six degrees of freedom, but it should be further understood that any desired joint motion and corresponding combination of joint motions can be used similarly. Likewise, the invention is not intended to be unnecessarily limited to the specific joint motion angles shown in the yaw and pitch planes of this example.

[0093] Figures 9 to 12A distal articulated segment (264) is shown, comprising a proximal link (68), a distal link (70), and an intermediate link (72), an articulated band (74), and a distal flexible portion (358) of a first exemplary multi-flexible acoustic waveguide (356) extending therethrough. The links (68, 70, 72) collectively define a channel (76) configured to receive the articulated band (74) such that the articulated band (74) laterally aligns the links (68, 70, 72) with the remainder of the shaft assembly (214) and provides lateral support for the links (68, 70, 72) along the distal articulated segment (264). As discussed above, the links (68, 70, 72) have arcuate grooves (78) that receive arcuate tongues (80) along a lateral centerline positioned between the articular motion bands (74), causing the articular motion bands (74) to be laterally offset and positioned on the opposite side of the distal flexible portion (358), thereby maintaining the axial position of the distal articular motion segment (264). Furthermore, each link (68, 70, 72) defines a link hollow (266) configured to receive the distal flexible portion (358) and provide sufficient and constant clearance space for the distal flexible portion (358) to remain untouched by any part of one of the links (68, 70, 72), whether in a straight configuration or any articular motion configuration, limited to the maximum articular motion configuration achieved via the cooperating distal stop (268) and proximal stop (270). For this purpose, a proximal stop (270) on one link (68,70,72) is configured to engage a distal stop (268) on another adjacent link (68,70,72), thereby restricting the common joint movement of the distal joint segment (264), and consequently restricting the strain caused by the joint movement on the distal flexible portion (358) of the acoustic waveguide (356).

[0094] about Figures 11 to 12 The slot (86) of the common defining channel (76) in each link (68, 70, 72) is configured to slidably receive the joint motion band (74) (see...) Figure 10 The slot (86) also has a draft opening (271) to inhibit joint motion bands (74) during use (see...). Figure 10 The kink of the end effector (16) is also connected to an additional control component (not shown) (such as an additional drive (not shown)). Figure 7 ) and base assembly (212) (see Figure 7Between, and therefore in this example extends through the distal joint motion segment (264). These additional control members (not shown) are received along the lateral centerline by arcuate tongues (80) and grooves (78) to suppress length variations associated with joint movement of the distal joint motion segment (264). More specifically, a pair of channels (272) extend longitudinally through each link (68, 70, 72) aligned with the arcuate tongues (80) and grooves (78) to collectively define a pair of additional channels (274) configured to guide the control members (not shown) through the joint motion segment (264). Each channel (272) also has widened groove openings (276) and widened tongue openings (278) of the arcuate grooves (78) and tongues (80) respectively for the links (68, 70, 72). Each of the widened groove opening (276) and the widened tongue opening (278) is drafted to suppress kinking of the additional control member (not shown) while allowing articulation of the distal articular segment (264) as described herein. In one example, the links (68, 70, 72) may further include a material sleeve (not shown) or a material coating (not shown) configured to further suppress kinking and / or damage to the flexible portion (358) of the acoustic waveguide (356) in the event of unintentional contact.

[0095] Figures 13 to 16 A distal link (70) is shown in more detail. In one example, the distal link has a distal link body (280) having a proximal extended arcuate tongue (80) with a channel (272) and a proximal extended arcuate groove (78). The distal link body (280) also includes a distal extended coupling member (282) configured to be received in a shaft assembly (214) (see...). Figure 7 The other part is incorporated to allow for rigid connection. It is configured to connect to the joint motion band (74) (see...). Figure 10 The notch (82) and pin (84) are also angled between the arcuate tongue (80) and the groove (78), while the distal stop (268) is positioned around the arcuate tongue (80) and the groove (78), respectively. Of course, the distal link (70) can be varied as needed to position the distal joint movement segment (264) (see...) Figure 7 )Integrated into shaft assembly (214) (see Figure 7 This means that the invention is not intended to be unnecessarily limited to the specific distal link (70) shown in this example.

[0096] Figures 17 to 20The intermediate link (72) is shown in more detail. In one example, the intermediate link has an intermediate link body (284) with a proximal extending arcuate tongue and a distal extending arcuate tongue (80) with a channel (272), as well as a proximal extending arcuate groove and a distal extending arcuate groove (78). The distal stop (268) is positioned around the distally facing arcuate tongue (80) and groove (78), respectively, while the proximal stop (270) is positioned around the proximal facing arcuate tongue (80) and groove (78), respectively. Of course, the intermediate link (72) can be varied as needed to move the distal joint segment (264) (see...). Figure 7 )Integrated into shaft assembly (214) (see Figure 7 This means that the invention is not intended to be unnecessarily limited to the specific intermediate link (72) shown in this example.

[0097] Figures 21 to 24 A proximal link (68) is shown in more detail in one example, having a proximal link body (286) having a distally extending arcuate tongue (80) with a channel (272) and a distally extending arcuate groove (78). The proximal link body (286) also includes a proximal extending coupling member (288) configured to be received in a shaft assembly (214) (see...). Figure 7 The slot (86) is located within another part of the joint so as to be rigidly connected to it. The slot (86) is configured to receive the joint motion band (74) (see [link]). Figure 10 And it is shown at an angle between the arcuate tongue (80) and the groove (78), while the proximal stop (270) is positioned around the arcuate tongue (80) and the groove (78), respectively. Of course, the proximal link (68) can be varied as needed to position the distal joint movement segment (264) (see Figure 7 )Integrated into shaft assembly (214) (see Figure 7 This means that the invention is not intended to be unnecessarily limited to the specific proximal link (68) shown in this example.

[0098] See again during use. Figures 7 to 8The operator selectively guides the proximal articulation segment (64) and the distal articulation segment (264) to deflect the end effector (16) relative to the longitudinal axis (61). In one example, the proximal articulation segment (64) articulates to deflect the distal remainder of the shaft assembly (214) with the end effector (16) through a pitch plane relative to the axis (61), and then the distal articulation segment (264) articulates to deflect a further distal remainder of the shaft assembly (214) with the end effector (16) through a yaw plane relative to the axis (374). In another example, the distal articulation segment (264) articulates to deflect a further distal portion of the shaft assembly (214) with end effector (16) across the yaw plane, and then the proximal articulation segment (64) articulates to deflect the distal portion of the shaft assembly (214) with end effector (16) across the pitch plane. In yet another example, the proximal and distal articulation segments (64, 264) articulate simultaneously to deflect the shaft assembly (14) and the remaining portion of the end effector across the pitch and yaw planes, respectively. Alternatively, either the proximal or distal articulation segment (64, 264) articulates without articulating the remaining portion of either the proximal or distal articulation segment (264). In any case, the end effector (16) is thus configured to deflect through at least two different planes via one or more articulated segments (64, 264).

[0099] While this example provides an end effector (16) that moves through two different planes via two corresponding articulated segments (64, 264), alternative articulated segments can be configured to provide articulation on at least two different planes in a series of joints at discrete longitudinal positions (similar to a shaft assembly (214) with articulated segments (64, 264)) or in a single joint capable of articulation through at least two planes in a discrete longitudinal position. Therefore, the invention is not intended to be unnecessarily limited to multiple articulated segments of multi-plane articulation as shown in this example, as should be understood from the various multi-flexible acoustic waveguides (356, 456, 556, 656, 756, 856) discussed in more detail below.

[0100] B. An exemplary acoustic waveguide having a flexible portion for multiplanar joint motion.

[0101] While the movement of the end effector (16) in six degrees of freedom can increase access to the patient's anatomy during surgical procedures to improve patient outcomes, this flexibility often leads to strain on components, especially those configured to transmit ultrasonic vibrations from the transducer assembly (54) to the ultrasonic scalpel (46). For example, Figure 4A The acoustic waveguide (56) of the ultrasonic surgical instrument (10) is configured to flex through a plane at a flexible portion (58) within a joint movement segment (64), but further flexing through another plane will cause excessive strain in the acoustic waveguide (56), leading to damage and eventual failure. This damage and failure is predisposed to occur because the forced flexing of the acoustic waveguide (56) generates stress concentrations at one or more locations along the waveguide (56). Subsequently, these stress concentration locations within the acoustic waveguide (56) continue to bear ultrasonic vibrations, causing damage, breakage, and failure of the waveguide (56) during use.

[0102] Therefore, the following text is about Figures 25 to 35B The discussed multi-flexible acoustic waveguides (356, 456, 556, 656, 756, 856) are configured to provide flexure in multiple planes, which improves durability. More specifically, the multi-flexible acoustic waveguides (356, 456, 556, 656, 756, 856) have one or more structural configurations configured to transmit ultrasonic vibrations when one or more of the available deflection planes flex. While the shaft assembly (214) discussed above (see...) Figure 8 The invention incorporates an acoustic waveguide (356), but it should be understood that any other waveguide (456, 556, 656, 756, 856) may also be incorporated into the shaft assembly (214), so that the invention is not intended to be unnecessarily limited to the shaft assembly (214) discussed above (see See Figure 8 Used together. The similarity labels below indicate similar features described in more detail above.

[0103] i. First exemplary multi-flexible acoustic waveguide

[0104] Figures 25 to 26A first exemplary multi-flexible acoustic waveguide (356) is shown, having a proximal flexible portion (58) and a distal flexible portion (358) configured to flex along a pitch direction passing through a pitch plane and a yaw direction passing through a yaw plane, respectively. More specifically, the acoustic waveguide (356) of this example includes: a proximal waveguide body portion (360) defining a longitudinal axis (361); a distal waveguide body portion (362) extending distally to an ultrasonic scalpel (346); and an articulated body portion (364) extending longitudinally between the proximal waveguide body portion and the distal waveguide body portion. Therefore, the articulated main body portion (364) having a proximal flexible portion (58) and a distal flexible portion (358) is configured to flex in the pitch and yaw directions, thereby deflecting the ultrasonic scalpel (346) relative to a longitudinal axis (361) passing through the pitch and yaw planes to achieve multi-plane deflection. In this example, the proximal waveguide main body portion (360), the articulated main body portion (364), the distal waveguide main body portion (362), and the ultrasonic scalpel (346) have a single integral structure, but the multi-flexible acoustic waveguide (356) may alternatively be constructed from one or more connecting structures. Therefore, the present invention is not intended to be unnecessarily limited to the single integral structure of the multi-flexible acoustic waveguide (356) shown in this example.

[0105] More specifically, the proximal flexible portion (58) includes a flexible proximal pitch band (366), while the distal flexible portion (358) includes a flexible distal yaw band (368). The articulated motion body portion (364) also includes an intermediate waveguide body portion (370) that extends between the flexible proximal pitch band (366) and the flexible distal yaw band (368) and is directly connected to both the flexible proximal pitch band and the flexible distal yaw band. Bosses (372) are positioned on the waveguide body portions (360, 362, 370) and spaced apart from each other to coincide with the corresponding acoustic nodes along the multi-flexible acoustic waveguide (356), and more specifically, to be centered at the corresponding acoustic nodes. Similarly, the flexible near-side pitch band (366) is positioned and centered on the antinode of the multi-flexible acoustic waveguide (356), while the flexible far-side yaw band (368) is also positioned and centered on the other antinode of the multi-flexible acoustic waveguide (356).

[0106] Figures 25 to 26A multi-flexible acoustic waveguide (356) is shown, wherein each of the flexible proximal pitch band (366) and the flexible distal yaw band (368) is linear, such that the multi-flexible acoustic waveguide (356) has a straight profile. Thus, each band (366, 368) is configured to transmit ultrasonic vibrations in the straight profile longitudinally toward the ultrasonic scalpel (346) during use. Selectively bending the flexible proximal pitch band (366) away from the longitudinal axis (361) relative to the longitudinal axis (361) yields one of any available arcuate profiles for the flexible proximal pitch band (366). Alternatively or otherwise, selectively bending the flexible distal yaw band (368) away from the intermediate axis (374) defined by the intermediate waveguide body portion (370) yields one of any available arcuate profiles for the flexible distal yaw band (368). In one example, the articulated body portion (364) extends along the arcuate profile of only one of the flexible proximal pitch band (366) or the flexible distal yaw band (368), such that the ultrasonic scalpel (346) deflects along the scalpel axis (376) through one of the two available planes. In another example, the articulated body portion (364) extends along the arcuate profiles of both the flexible proximal pitch band (366) and the flexible distal yaw band (368) to achieve a double arcuate profile, such that the ultrasonic scalpel (346) deflects along the scalpel axis (376) through each of the two available planes. While this example has bands (366, 368) oriented at an angle perpendicular to each other, one or both bands (366, 368) may have any relative angular orientation and are not intended to be limited to the angular orientations shown and described herein.

[0107] ii. Second exemplary multi-flexible acoustic waveguide

[0108] Figure 27A second exemplary multi-bend acoustic waveguide (456) is shown, having a proximal flexible portion (458a) and a distal flexible portion (458b) configured to flex along a yaw direction passing through a proximal yaw plane, and again along a yaw direction passing through a distal yaw plane. More specifically, the acoustic waveguide (456) of this example includes: a proximal waveguide body portion (460) defining a longitudinal axis (461); a distal waveguide body portion (462) extending distally to an ultrasonic scalpel (446); and an articulated body portion (464) extending longitudinally between the proximal and distal waveguide body portions. Therefore, the articulated body portion (464) having a proximal flexible portion (458a) and a distal flexible portion (458b) is configured to flex in the yaw direction at multiple locations, thereby deflecting the ultrasonic scalpel (446) relative to a longitudinal axis (461) passing through multiple yaw planes to achieve multi-plane deflection. In this example, the proximal waveguide body portion (460), the articulated body portion (464), the distal waveguide body portion (462), and the ultrasonic scalpel (446) have a single integral structure, but the multi-flexible acoustic waveguide (456) may alternatively be constructed from one or more connecting structures. Therefore, the present invention is not intended to be unnecessarily limited to the single integral structure of the multi-flexible acoustic waveguide (456) shown in this example.

[0109] More specifically, the proximal flexible portion (458a) includes a flexible proximal yaw band (466), while the distal flexible portion (458b) includes a flexible distal pitch band (468). The articulated motion body portion (464) also includes an intermediate waveguide body portion (470) that extends between the flexible proximal pitch band (466) and the flexible distal yaw band (468) and is directly connected to both the flexible proximal pitch band and the flexible distal yaw band. Bosses (not shown) are positioned on the waveguide body portions (360, 362, 370) and spaced apart from each other to coincide with the corresponding acoustic nodes along the multi-flexible acoustic waveguide (456), and more specifically, to be centered at the corresponding acoustic nodes. Similarly, the flexible near-side pitch band (466) is positioned and centered on the antinode of the multi-flexible acoustic waveguide (456), while the flexible far-side yaw band (468) is also positioned and centered on the other antinode of the multi-flexible acoustic waveguide (456).

[0110] Each band (436, 468) is configured to transmit ultrasonic vibrations in a straight profile longitudinally toward the ultrasonic scalpel (446) during use. The flexible proximal pitch band (466) is selectively bent away from the longitudinal axis (461) relative to the longitudinal axis (461) to obtain one of the available arcuate profiles of the flexible proximal pitch band (466). Alternatively or additionally, the flexible distal yaw band (468) is selectively bent away from the intermediate axis (474) defined by the intermediate waveguide body portion (470) to obtain one of the available arcuate profiles of the flexible distal yaw band (468). In one example, the articulated motion body portion (464) extends along the arcuate profile of only one of the flexible proximal pitch band (466) or the flexible distal yaw band (468), such that the ultrasonic scalpel (446) deflects along the scalpel axis (476) through one of the two available planes. In another example, the joint motion body portion (464) extends along the arcuate contours of both the flexible proximal yaw band (466) and the flexible distal yaw band (468) to achieve a double arcuate contour, such that the ultrasonic scalpel (446) deflects along the scalpel axis (476) through each of the two available planes, and as Figure 27 As shown. Although this example has stripes (466, 468) with the same angular orientation, one or both stripes (466, 468) may have any relative angular orientation and are not intended to be limited to the angular orientations shown and described herein.

[0111] iii. Third exemplary multi-flexible acoustic waveguide

[0112] Figures 28 to 30BA third exemplary multi-flexible acoustic waveguide (556) is shown, having a flexible portion (558) configured to flex along a full 360-degree radial direction passing through a corresponding full 360-degree radial range plane. More specifically, the acoustic waveguide (556) of this example includes: a proximal waveguide body portion (560) defining a longitudinal axis (561); a distal waveguide body portion (562) extending distally to the ultrasonic scalpel (546); and an articulation body portion (564) extending longitudinally between the proximal and distal waveguide body portions. Thus, the articulation body portion (564) with the flexible portion (558) is configured to flex radially about the longitudinal axis (561), thereby deflecting the ultrasonic scalpel (546) relative to the longitudinal axis (561) through any corresponding radial plane to achieve multi-plane deflection. In this example, the proximal waveguide body portion (560), the articulated body portion (564), the distal waveguide body portion (562), and the ultrasonic scalpel (546) have a single integral structure, but the multi-flexible acoustic waveguide (556) may alternatively be constructed from one or more connecting structures. Therefore, the present invention is not intended to be unnecessarily limited to the single integral structure of the multi-flexible acoustic waveguide (556) shown in this example.

[0113] More specifically, such as Figures 28 to 29 As shown, the flexible portion (558) includes a first example of a flexible wire (566) configured to flex in any radial direction about a longitudinal axis (561), thereby deflecting the ultrasonic scalpel (546) relative to the longitudinal axis (561) through any corresponding radial plane to achieve multi-plane deflection. The flexible wire (566) is elongated and cylindrical, defining a wire cross-sectional radius (r). Bosses (572) are positioned on the waveguide body portions (560, 562) and spaced apart from each other to coincide with corresponding acoustic nodes along the multi-flexible acoustic waveguide (556), and more specifically, to be centered at the corresponding acoustic nodes. Similarly, the flexible wire (566) is positioned and centered at the antinodes of the multi-flexible acoustic waveguide (556). Each near-side waveguide body portion (560) and far-side waveguide body portion (562) is more rigid than the flexible wire (566) and has a tapered connector (574) that narrows toward the flexible wire (566). Between the tapered connector (574) and the boss (572), each of the near-side waveguide body portion (560) and far-side waveguide body portion (562) defines a waveguide body radius. In this example, the waveguide radius is greater than the cross-sectional radius (r) of the wire.

[0114] Figure 30AA multi-flexible acoustic waveguide (556) with a flexible wire (566) in a linear form is shown, such that the multi-flexible acoustic waveguide (556) has a straight profile. Therefore, the flexible wire (566) is configured to transmit ultrasonic vibrations in the straight profile longitudinally toward the ultrasonic scalpel (546) during use. Selectively bending the flexible wire (566) away from the longitudinal axis (561) relative to the longitudinal axis (561) yields one of any available arcuate profiles of the flexible wire (566), wherein the ultrasonic scalpel (346) deflects along the scalpel axis (376) and about the bending radius (R) through one of any available radial planes. Figure 30B An example of such a bending radius (R) is shown. In the case of an arcuate profile, the flexible wire (566) is configured to decouple the longitudinal vibration component of the ultrasonic vibration from the transverse vibration component of the ultrasonic vibration, thereby transmitting ultrasonic vibrations around the bent flexible wire (566) without damaging the flexible wire (566) or significantly reducing the ultrasonic vibrations during use.

[0115] To this end, the acoustic waveguide (556) has a set of predetermined properties to decouple the longitudinal vibration component of the ultrasonic vibration from the transverse vibration component of the ultrasonic vibration during use. In this example, in addition to a plurality of wire material properties, the predetermined properties include the conductor cross-sectional radius (r) and bending radius (R) discussed above, which include the elastic modulus (E) and yield strength (σ) of the flexible wire (566). v The natural frequency (f) and constant sound velocity (c) of the flexible wire (566). Considering the variable bending radius (R), the predetermined characteristics also include a first condition, a second condition, and a third condition, which adapt to a certain range of available bending radii (R) while still effectively decoupling the longitudinal vibration component of the ultrasonic vibration from the transverse vibration component during use. These conditions are as follows, as shown in one example.

[0116] First condition:

[0117] Second condition:

[0118] Third condition:

[0119] While the specific material, dimensions, and bending of the flexible wire (566) can vary to achieve decoupling of the longitudinal vibration component from the transverse vibration component of the ultrasonic vibration, in one example, the material is a nickel-titanium alloy. In another example, the flexible wire (566) is made of titanium. Therefore, the present invention is not intended to be unnecessarily limited to the specific material, dimensions, and bending of the flexible wire (566) shown and described herein.

[0120] about Figure 30B The flexible wire (566) has a bend around an acoustic antinode having a bending radius (R). Alternatively or in addition, an alternative flexible wire (not shown) may have an additional bend (not shown) around another antinode, such that the flexible wire (not shown) is configured to bend at two or more locations during use, similar to the acoustic waveguides (356, 456) discussed in more detail above (see...). Figures 25 to 27 The associated dual flexible portions (58, 358, 458a, 458b) (see) Figures 25 to 27 Such alternative flexible wires (not shown) can be offset from flexible wires (566), with similar acoustic waveguides (356, 456) between these flexible wires (see...). Figures 25 to 27 The intermediate waveguide body portion (not shown) or the absence of an intermediate waveguide body portion (not shown) allows the alternative flexible wire (not shown) and the flexible wire (566) to be substantially continuous. Therefore, the invention is not intended to be unnecessarily limited to an arrangement of a single flexible wire (566) as shown in this example.

[0121] iv. Fourth exemplary multi-flexible acoustic waveguide

[0122] Figures 31 to 32 A fourth exemplary multi-flexible acoustic waveguide (656) is shown, having a flexible portion (658) configured to flex along a full 360-degree radial direction passing through a corresponding full 360-degree radial range plane. More specifically, the acoustic waveguide (656) of this example includes: a proximal waveguide body portion (660) defining a longitudinal axis (661); a distal waveguide body portion (662) extending distally to the ultrasonic scalpel (646); and an articulation body portion (664) extending longitudinally between the proximal and distal waveguide body portions. Thus, the articulation body portion (664) with the flexible portion (658) is configured to flex radially about the longitudinal axis (661), thereby deflecting the ultrasonic scalpel (646) relative to the longitudinal axis (661) through any corresponding radial plane to achieve multi-plane deflection.

[0123] More specifically, the flexible portion (658) includes a first example of a flexible wire (666) configured to flex in any radial direction about the longitudinal axis (661), thereby deflecting the ultrasonic scalpel (646) relative to the longitudinal axis (661) through any corresponding radial plane to achieve multi-plane deflection. In this respect, the acoustic waveguide (656) is similar to the acoustic waveguide (556) (see...). Figure 28However, the acoustic waveguide (656) is not a single-piece construction, but rather assembled from several discrete components. Unless otherwise stated below, the flexible wire (666) is otherwise similar to the flexible wire (566) discussed above (see...). Figure 28 ).

[0124] As shown in this example, the flexible portion (658) also includes a distal wire end portion (680) opposite to the proximal wire end portion (682), wherein the flexible wire (666) extends between the distal wire end portion and the proximal wire end portion. The distal wire end portion (680) and the proximal wire end portion (682) each have a tapered connector (684) that narrows toward the flexible wire (666). The distal wire end portion (680) and the proximal wire end portion (682), extending opposite to their respective tapered connectors (684), further include a distal connector (686) configured to connect to the distal waveguide body portion (662), and a proximal connector (688) configured to connect to the proximal waveguide body portion (660). As shown in this example, the distal connector (686) includes a distal stud bolt (690) extending distally from the distal wire end portion (680) and a distal threaded hole (692) in the distal waveguide body portion (662). The distal stud bolt (690) is mechanically and acoustically engaged in the distal threaded hole (692) to connect the flexible wire (666) to the distal waveguide body portion (662). Similarly, the proximal connector (688) includes a proximal threaded bolt (694) extending proximally from the proximal wire end portion (682) and a proximal threaded hole (696) in the proximal waveguide body portion (660). The proximal stud bolt (694) is mechanically and acoustically engaged in the proximal threaded hole (696) to connect the flexible wire (666) to the proximal waveguide body portion (660).

[0125] When the acoustic waveguide (656) is assembled via multiple discrete components, one or more of the proximal waveguide body portion (660), the distal waveguide body portion (662), and the articulation body portion (664) may be formed of different materials. For example, the proximal waveguide body portion (660) may be formed of titanium, aluminum, or nitinol. Additionally, the distal waveguide body portion (662), including the ultrasonic scalpel (646), may be formed of either titanium or nitinol. Similarly, the articulation body portion (664) may be formed of either titanium or nitinol. Any combination of such materials may be incorporated into the acoustic waveguide (656) and thus configured to decouple the longitudinal vibration component of the ultrasonic vibration from the transverse vibration component of the ultrasonic vibration based on the set of predetermined characteristics discussed in more detail above. While this example uses a threaded connection into the acoustic waveguide (656) for connecting various components made of different materials, such connections may, in addition to or alternatively, include forging, welding, temperature fitting, and / or shape memory fitting. Therefore, the invention is not intended to be unnecessarily limited to the specific threaded connections (686, 688) shown and described in this example.

[0126] v. Fifth Exemplary Multi-Flexible Acoustic Waveguide

[0127] Figures 33 to 34 A fifth exemplary multi-flexible acoustic waveguide (756) is shown, having a flexible portion (758) configured to flex along a full 360-degree radial range direction passing through a corresponding full 360-degree radial range plane. More specifically, the acoustic waveguide (756) of this example includes: a proximal waveguide body portion (760) defining a longitudinal axis (761); a distal waveguide body portion (762) extending distally to the ultrasonic scalpel (746); and an articulation body portion (764) extending longitudinally between the proximal and distal waveguide body portions. Thus, the articulation body portion (764) with the flexible portion (758) is configured to flex radially about the longitudinal axis (761), thereby deflecting the ultrasonic scalpel (746) relative to the longitudinal axis (761) through any corresponding radial plane to achieve multi-plane deflection.

[0128] More specifically, the flexible portion (758) includes a first example of a flexible wire (766) configured to flex in any radial direction about the longitudinal axis (761), thereby deflecting the ultrasonic scalpel (746) relative to the longitudinal axis (761) through any corresponding radial plane to achieve multi-plane deflection. In this respect, the acoustic waveguide (756) is similar to the acoustic waveguide (556) (see [link to original text]). Figure 28However, the acoustic waveguide (756) is not a single-piece construction, but rather assembled from several discrete components. Unless otherwise stated below, the flexible wire (766) is similar to the flexible wire (566) discussed elsewhere above (see...). Figure 28 ).

[0129] As shown in this example, the flexible portion (758) also includes a distal wire end portion (780) opposite to the proximal wire end portion (782), wherein the flexible wire (766) extends between the distal wire end portion and the proximal wire end portion. The distal wire end portion (780) and the proximal wire end portion (782) each include a distal connector (786) configured to connect to the distal waveguide body portion (762), and a proximal connector (788) configured to connect to the proximal waveguide body portion (760). As shown in this example, the distal connector (786) includes the distal wire end portion (780) and a distal threaded hole (792) in the distal waveguide body portion (762). The distal wire end portion (780) is forged into the distal aperture (792), thereby mechanically and acoustically connecting the flexible wire (766) to the distal waveguide body portion (762). Similarly, the proximal connector (788) includes a proximal wire end portion (682) and a proximal aperture (796) in the proximal waveguide body portion (760). The proximal wire end portion (782) is forged into the proximal aperture (796), thereby mechanically and acoustically connecting the flexible wire (766) to the proximal waveguide body portion (760).

[0130] When the acoustic waveguide (756) is assembled via multiple discrete components, one or more of the proximal waveguide body portion (760), the distal waveguide body portion (762), and the articulation body portion (764) may be formed of different materials. For example, the proximal waveguide body portion (760) may be formed of titanium, aluminum, aluminum alloy, or nitinol. Additionally, the distal waveguide body portion (762), including the ultrasonic scalpel (746), may be formed of either titanium or nitinol. Similarly, the articulation body portion (764) may be formed of either titanium or nitinol. Any combination of such materials may be incorporated into the acoustic waveguide (756) and thus configured to decouple the longitudinal vibration component of the ultrasonic vibration from the transverse vibration component of the ultrasonic vibration based on the set of predetermined characteristics discussed in more detail above. While this example demonstrates forging the various portions of the acoustic waveguide (656) together for connecting components made of different materials, such connections may, in addition to or alternatively, include threaded connections, welding, temperature fits, and / or shape memory fits. Therefore, the invention is not intended to be unnecessarily limited to the specific forgings shown and described in this example.

[0131] vi. Sixth exemplary multi-flexible acoustic waveguide

[0132] Figures 35A to 35B A sixth exemplary multi-flexible acoustic waveguide (856) is shown, having a flexible portion (858) configured to flex along a full 360-degree radial range direction passing through a corresponding full 360-degree radial range plane. More specifically, the acoustic waveguide (856) of this example includes: a proximal waveguide body portion (860) defining a longitudinal axis (861); a distal waveguide body portion (862) extending distally to the ultrasonic scalpel (846); and an articulation body portion (864) extending longitudinally between the proximal and distal waveguide body portions. Thus, the articulation body portion (864) with the flexible portion (858) is configured to flex radially about the longitudinal axis (861), thereby deflecting the ultrasonic scalpel (846) relative to the longitudinal axis (861) through any corresponding radial plane to achieve multi-plane deflection. In this example, the proximal waveguide body portion (860), the articulated body portion (864), the distal waveguide body portion (862), and the ultrasonic scalpel (846) have a single integral structure, but the multi-flexure acoustic waveguide (856) may alternatively be constructed from one or more connecting structures. Therefore, the present invention is not intended to be unnecessarily limited to the single integral structure of the multi-flexure acoustic waveguide (856) shown in this example.

[0133] More specifically, the flexible portion (558) comprises an elongated flexible wire (866) that extends substantially the entire length of the joint-moving main portion (864), such that the proximal waveguide main portion (860) is the proximal portion of the acoustic waveguide (856) configured to be received within the transducer assembly (54), and the distal waveguide main portion (862) is generally an ultrasonic scalpel (846). Thus, the majority of the acoustic waveguide (856) is the elongated flexible wire (866) extending along a plurality of acoustic nodes (900) and a plurality of acoustic antinodes (902). Thus, the elongated flexible wire (866) is configured to flex in any radial direction about a longitudinal axis (861), and further flex in any radial direction about an axis (904), the axes being positioned and aligned at the acoustic nodes (902), respectively. Furthermore, the elongated flexible wire (858) of this example includes a plurality of flexible wire portions (906) respectively centered at the antinodes (902) of the multi-flexible acoustic waveguide (856). In this example, the flexible wire portions (906) and the intermediate wire portions are thus continuous to define the elongated flexible wire (866).

[0134] Figure 35AA multi-flexible acoustic waveguide (856) with a linear form of elongated flexible wire (866) is shown, such that the multi-flexible acoustic waveguide (856) has a straight profile. Therefore, the flexible wire (866) is configured to transmit ultrasonic vibrations in the straight profile longitudinally toward the ultrasonic scalpel (846) during use. Selectively bending the flexible wire (866) at any portion (906) relative to the axes (861, 904) yields one of any available arcuate profiles of the elongated flexible wire (866), wherein the ultrasonic scalpel (846) deflects along the scalpel axis (876) through one of any available radial planes. Figure 35B In the case of the curved profile shown, the elongated flexible wire (866) is configured to decouple the longitudinal vibration component of the ultrasonic vibration from the transverse vibration component of the ultrasonic vibration, thereby transmitting ultrasonic vibrations around the curved flexible wire (866) without damaging the flexible wire (866) or significantly reducing the ultrasonic vibrations during use. This vibration decoupling is based on a set of predetermined characteristics discussed in more detail above.

[0135] While the specific material, dimensions, and bending of the flexible wire (866) can vary to achieve decoupling of the longitudinal vibration component from the transverse vibration component of the ultrasonic vibration, in one example, the material is a nickel-titanium alloy. In another example, the flexible wire (866) is made of titanium. Therefore, in no way is the invention intended to be unnecessarily limited to the specific material, dimensions, and bending of the flexible wire (866) shown and described herein.

[0136] III. Ultrasonic scalpel with a back-cutting edge and circumferential seal

[0137] For a more detailed discussion above Figures 3A to 3BThe clamping arm (44) is configured to rotate about the blade (46) and also relative to the shaft assembly (14) as indicated by arrow (53). In one example, the clamping arm (44) rotates selectively clockwise or counterclockwise about the blade (46), allowing the operator to selectively angle the clamping arm (44) about the blade (46), thereby clamping tissue between the blade (46) and the clamping arm (44), increasing access to the tissue. When clamped between the blade (46) and the clamping arm (44), the operator selectively activates the blade (46) via ultrasonic vibration, and in one example, seals the tissue clamped between the blade and the clamping arm. As shown in this example, the blade (46) has a blade body (910) extending longitudinally to the distal hemispherical end (912). The blade body (910) and the hemispherical distal end (912) are generally smooth and bladeless, making the blade (46) axisymmetric and having a complete circular circumferential sealing profile angled around the entire longitudinal axis (61). This complete circular circumferential sealing profile indicates the engagement between the smooth surface of the blade (46) and the clamping pad (48), enabling tissue sealing to occur around the entire blade (46), in which the clamping pad (48) holds the tissue.

[0138] In some cases, it may be desirable to incorporate a back-cutting function into the blade (46) while maintaining most of the circumferential sealing profile around the blade (46) for sealing tissue against the clamping pad (48). See below for reference. Figures 36 to 39 Various examples of ultrasonic scalpels (1046, 1146) with back-cutting blades (1048, 1148) for providing such back-cutting functionality to the operator are described in more detail. While the back-cutting blades (1048, 1148) can be incorporated into the blade (46) (see...) Figure 3A However, the present invention is not intended to be unnecessarily limited to including the back-cutting function. Furthermore, it should be understood that alternative back-cutting blades (not shown) may also have a circumferential sealing profile around most of the circumferential blade profile, so the present invention is also not intended to be limited to the specific back-cutting blades (1048, 1148) shown and described herein.

[0139] A. First exemplary back-cutting edge

[0140] Figures 36 to 37A first example of a circumferential blade profile (1008) of an ultrasonic scalpel (1046) is shown, having a first back-cutting edge (1048) configured to back-cut tissue around a small portion of the circumferential blade profile (1008) and further configured to seal tissue around the majority of the circumferential blade profile (1008). More specifically, the scalpel (1046) of this example includes a blade body (1010) extending distally to a partially hemispherical distal end (1012). A pair of lateral, longitudinal, and transverse sweeping grooves (1014) extend through the partially hemispherical distal end (1012) and a portion of the blade body (1010) to define the back-cutting edge (1048) along the scalpel (1046). As shown in this example, the majority of the longitudinal length of the back-cutting edge (1048) is located on the partially hemispherical distal end (1012), rather than on the blade body (1010). More specifically, in this example, all the longitudinal lengths of the back-cutting edge (1048) are located on the distal end (1012) of the partially hemispherical end, such that although some proximal portions of the sweeping groove (1014) are located on the blade body (1010), no portion of the back-cutting edge (1048) is located on the blade body (1010).

[0141] like Figure 37 More specifically, the back-cutting edge (1048) extends longitudinally through a transversely extending plane, which is also aligned with the central blade axis (1016). Therefore, the scanning groove (1014) is laterally symmetrical about this transversely extending plane. The circumferential blade profile (1008) of this example is circular around the entire central blade axis (1016), such that the clamping pad (48) is circular at any angular position around the blade (1046), but for the portion of the clamping pad (48) near the sweeping groove (1014), it extends tangentially around the blade (1046), thus defining the circumferential sealing profile (1018). Therefore, the circumferential sealing profile (1018) is arc-shaped and angled around most of the central blade axis (1016) (e.g., greater than 180 degrees), without surrounding the portion including the sweeping groove (1014) and the back-cutting edge (1048). Therefore, the circumferential sealing profile (1018) represents a circular surface along the partially hemispherical distal end (1012) configured to seal tissue against the clamping pad (48). It should be understood that the back-cutting edge (1048) and sweeping groove (1014) can vary while still providing a circumferential sealing profile (1018) around most of the central blade axis (1016). Therefore, the invention is not intended to be limited to the specific back-cutting edge (1048) and sweeping groove (1014) shown in this example.

[0142] When used for sealing tissue, the operator selectively rotates the clamping arm (44) relative to the blade (1046) to position the clamping pad (48) at any desired angular position aligned radially with the circumferential sealing profile (1018). Tissue is then received between the clamping pad (48) and the blade (1046) against the circumferential sealing profile (1018), and the clamping arm (44) pivots from an open position to a closed position to hold the tissue against the blade (1046). The operator selectively activates the blade (1046) via ultrasonic vibration to seal the tissue held between the clamping pad (48) and the clamping arm (44). In cases where the operator wishes to selectively backcut the tissue, the clamping arm (44) is positioned away from the backcutting edge (1048), leaving the backcutting edge (1048) relatively exposed. The operator then directly engages the tissue with the backcutting edge (1048) to backcut the tissue as needed.

[0143] In one example, the clamping arm (44) is further configured to be radially aligned only with the circumferential sealing profile (1018) to prevent the operator from unintentionally moving the clamping pad (48) in a direction that directly engages with the back-cutting blade (1048). The clamping arm (44) may have a mechanical stop (not shown) and / or associated software configured to suppress such rotation. Of course, the invention is not intended to be unnecessarily limited to including such alignment constraints, and in some examples, the clamping arm (44) can be freely moved to any angular position around the blade (1046).

[0144] B. Second exemplary back-cutting blade

[0145] Figures 38 to 39 A third example of a circumferential blade profile (1108) of an ultrasonic scalpel (1146) is shown, having a second back-cutting edge (1148) configured to back-cut tissue around a small portion of the circumferential blade profile (1108) and further configured to seal tissue around a large portion of the circumferential blade profile (1108). More specifically, the scalpel (1146) of this example includes a blade body (1110) extending distally to a partially hemispherical distal end (1112). A pair of lateral, longitudinal, and transverse sweeping grooves (1114) extend through the partially hemispherical distal end (1012). Additionally, a pair of lateral, longitudinal, and transverse sweeping grooves (1115) extend along the blade body (1010). The sweeping grooves (1114) and the grooves (1115) together define the back-cutting edge (1148) along the scalpel (1146). As shown in this example, most of the longitudinal length of the back-cutting edge (1148) is located on the blade body (1110), such that the back-cutting edge (1148) extends along most of the length of the blade (1146).

[0146] like Figure 39More specifically, the back-cutting edge (1148) extends longitudinally through a transversely extending plane, which is also aligned with the central blade axis (1116). Therefore, the scanning grooves (1114, 1115) are laterally symmetrical about this transversely extending plane. The circumferential blade profile (1108) of this example is circular at most of the angle around the central blade axis (1016), such that the clamping pad (48) is positioned at this most of the angle around the blade (1046), but for the portion of the clamping pad (48) near the sweeping grooves (1114, 1115), it extends tangentially around the blade (1046), thus defining the circumferential sealing profile (1118). Therefore, the circumferential sealing profile (1118) is arc-shaped and angled around most of the central blade axis (1116) (e.g., greater than 180 degrees), without surrounding the portion including the sweeping grooves (1114, 1115) and the back-cutting edge (1148). Therefore, the circumferential sealing profile (1118) represents a circular surface along the partially hemispherical distal end (1112), which is configured to seal tissue against the clamping pad (48). It should be understood that the back-cutting edge (1148) and sweeping grooves (1114, 1115) can vary while still providing a circumferential sealing profile (1118) around most of the central blade axis (1116). Therefore, the invention is not intended to be limited to the specific back-cutting edge (1148) and sweeping grooves (1114, 1115) shown in this example.

[0147] When used for sealing tissue, the operator selectively rotates the clamping arm (44) relative to the blade (1146) to position the clamping pad (48) at any desired angular position aligned radially with the circumferential sealing profile (1118). Tissue is then received between the clamping pad (48) and the blade (1146) against the circumferential sealing profile (1118), and the clamping arm (44) pivots from an open position to a closed position to hold the tissue against the blade (1146). The operator selectively activates the blade (1146) via ultrasonic vibration to seal the tissue held between the clamping pad (48) and the clamping arm (44). In cases where the operator wishes to selectively backcut the tissue, the clamping arm (44) is positioned away from the backcutting edge (1148), leaving the backcutting edge (1148) relatively exposed. The operator then directly engages the tissue with the backcutting edge (1148) to backcut the tissue as needed.

[0148] In one example, the clamping arm (44) is further configured to be radially aligned only with the circumferential sealing profile (1118) to prevent the operator from unintentionally moving the clamping pad (48) in a direction that directly engages with the back-cutting blade (1148). The clamping arm (44) may have a mechanical stop (not shown) and / or be configured with associated software capable of suppressing such rotation. Of course, the invention is not intended to be unnecessarily limited to including such alignment constraints, and in some examples, the clamping arm (44) can be freely moved to any angular position around the blade (1146).

[0149] IV. Exemplary displacement of an acoustic transmission system with joint motion of shaft assembly

[0150] about Figures 40A to 41B In one example, the distal end of the blade (46) is positioned in a straight configuration to be aligned with the distal end of the clamping arm (44) in a predetermined alignment manner, such as... Figure 40A and Figure 41A As shown. More specifically, this pre-alignment positions the distal end of the blade (46) longitudinally flush with the distal end of the clamping arm (44) in the closed position, such that the distal end of the blade (46) and the clamping arm (44) are positioned in a common plane perpendicular to the axis defined by the blade (46). When the articulation segment (64) performs articulation from the linear configuration to the articulation configuration, as Figure 40B and Figure 41B As shown, the joint motion segment (64) substantially elongates as the radius of curvature along the joint motion segment (64) increases. Subsequently, the blade (46) moves proximally relative to the clamping arm (44), causing the acoustic waveguide (56) and the blade (46) to move from the transducer assembly (54) (see...) Figure 6 The longitudinal length from the distal end of the blade (46) to the distal end of the clamping arm (44) is constant, and the distal end of the blade (46) and the distal end of the clamping arm (44) are no longer longitudinally aligned in a predetermined alignment manner.

[0151] In some cases, it may be desirable to adjust the blade (46) longitudinally relative to the clamping arm (44) in order to maintain a predetermined alignment between the blade (46) and the clamping arm (44), wherein the articulated segment (64) is in both a linear and articulated configuration. Given a constant longitudinal length of the acoustic waveguide (56) and the blade (46), the proximal portion of the acoustic drive system (such as the transducer assembly (54)) can be adjusted. Figure 5 The transducer assembly (1254, 1354) can be shifted to compensate for the offset at the distal portion of the acoustic drive system (such as the blade (46)). For this purpose, the shiftable transducer assembly (1254, 1354) (see...) can be shifted. Figures 43A to 44B ) is integrated into an ultrasonic surgical instrument (10) to align the blade (46) with the clamping arm (44) as needed, such as Figure 41A As shown. In Figure 42In the alternative example shown, the ultrasonic surgical instrument (1210) has a pin (109) extending through a node and a distal axial portion (62) of the acoustic waveguide (56) to secure the acoustic waveguide (56) relative to the distal axial portion (62). The pin (109) also longitudinally secures the blade (46) in a predetermined alignment position relative to the clamping arm (44). The invention is not intended to unnecessarily limit itself to mechanically securing the blade (46) relative to the clamping arm (44). Furthermore, one or more portions of the acoustic drive system are secured along the longitudinal axis (61) (see...). Figure 40B Such longitudinal adjustments can be performed in alternative ultrasonic surgical instruments (not shown) even without a clamping arm (not shown) to achieve additional alignment relative to the acoustic actuator without regard to the joint movement of the articular segment (64). Therefore, the invention is not intended to be unnecessarily limited to maintaining a predetermined alignment between the clamping arm (44) and the blade (46), as shown and described herein. In any case, similar reference numerals below indicate similar features described in more detail above.

[0152] A. Passive Displaceable Transducer Assembly

[0153] Figures 42 to 43B A third example of an ultrasonic surgical instrument (1210) is shown, having an end effector (16) and a second exemplary shaft assembly (1214) having a pin (109) through an acoustic waveguide (56) such that the blade (46) is longitudinally fixed in a predetermined alignment with a clamping arm (44), as discussed in more detail above. The ultrasonic surgical instrument (1210) also includes a second exemplary base assembly (1212), which, together with the base assembly (12) (see...), Figure 6The device is constructed similarly, but with a passively movable transducer assembly (1254) and a passive system actuator (1236). The movable transducer assembly (1254) is movably coupled between the housing (18) and the passive system actuator (1236) such that the passive system actuator (1236) allows the movable transducer assembly (1254) to be pushed proximally or distally along the longitudinal axis (61). Thus, the movable transducer assembly (1254) adapts to longitudinal movement (56) of the acoustic waveguide and the blade (46) to maintain a predetermined alignment. In this example, when the end effector deflects away from the longitudinal axis (61), the pin (109) pulls the acoustic waveguide (56) distally, causing the movable transducer assembly (1254) to be pulled distally toward the end effector (16) and along the longitudinal axis (61). In contrast, when the end effector deflects toward the longitudinal axis (61), the pin (109) pushes the acoustic waveguide (56) proximally, causing the movable transducer assembly (1254) to move away from the end effector (16) and proximally along the longitudinal axis (61). Given that the movable transducer assembly (1254) and system actuator (1236) are capable of movement rather than providing an initiating force for such movement, the movable transducer assembly (1254) and system actuator (1236) are referred to herein as “passive.” Nevertheless, as will be described in more detail below, the movable transducer assembly (1254) and system actuator (1236) can still provide forces (such as reaction forces) to maintain tension and / or compression on the acoustic waveguide (56).

[0154] More specifically, Figures 43A to 43B The movable transducer assembly (1254) of this example shown includes a transducer housing (1270) and a transducer amplitude rod (1272) threadedly engaged with an acoustic waveguide (56). In one example, the housing (18) has a pair of distal mounts (1274) and a pair of proximal mounts (1276) configured to longitudinally capture a passive system actuator (1236) while allowing longitudinal movement of the transducer housing (1270) and the transducer amplitude rod (1272) through a central space (1278). Thus, the passive system actuator (1236) is elastically and translationally supported relative to the housing (18) along a longitudinal axis (61), but it should be understood that the invention is not intended to be unnecessarily limited to elastic or translational mounting within the housing (18).

[0155] More specifically, the passive system actuator (1236) of this example includes an annular base (1280) and a distal annular spring (1282) and a proximal annular spring (1284), the annular base being rigidly connected to and extending radially outward from the transducer housing (1270). The distal annular spring (1282) is compressed between the annular base (1280) and the distal mounting (1274), while the proximal annular spring (1284) is compressed between the annular base (1280) and the proximal mounting (1276). The distal mounting (1274) and the proximal mounting (1276) also laterally secure the annular base (1280) to the transducer housing (1270) on the longitudinal axis (61). Regarding Figure 43A The movable transducer assembly (1254) is located proximally on the longitudinal axis (61), while the articular segment (64) (see...) Figure 40A ) in a linear configuration (see Figure 40A In contrast, regarding Figure 43B The movable transducer assembly (1254) is located distally on the longitudinal axis (61), while the articulated segment (64) (see...) Figure 40B ) in the joint motion configuration (see Figure 40B In any longitudinal position between the distal and proximal positions, the distal annular spring (1282) and the proximal annular spring (1284) effectively balance the pin (109) (see...). Figure 42 The force applied by the transducer assembly (1254) allows the annular base (1280) to translateably support the transducer housing (1270) relative to the housing (18) of the base assembly (1212). As shown in this example, the distal annular spring (1282) and the proximal annular spring (1284) are in a compressed state. More specifically, as the movable transducer assembly (1254) moves from the proximal position to the distal position, the compression of the distal annular spring (1282) increases, while the compression of the proximal annular spring (1284) decreases. Additionally, as the movable transducer assembly (1254) moves from the distal position to the proximal position, the compression of the distal annular spring (1282) decreases, while the compression of the proximal annular spring (1284) increases.

[0156] The distal annular spring (1282) and the proximal annular spring (1284) are configured to balance the annular base (1280) and the transducer housing (1270) supported therein according to a predetermined balance in any longitudinal position, to accommodate the joint movement segment (64) (see...). Figure 40AThe movement of the acoustic waveguide (56) is caused by the joint movement of the spring. In one example, the distal annular spring (1282) and the proximal annular spring (1284) balance the acoustic waveguide (56) between a proximal and distal position under tension. In another example, the distal annular spring (1282) and the proximal annular spring (1284) balance the acoustic waveguide (56) between a proximal and distal position under compression. In yet another example, the distal annular spring (1282) and the proximal annular spring (1284) balance the acoustic waveguide (56) under compression toward the proximal position and under tension toward the distal position, wherein there are neutral, uncompressed and untensioned states between the proximal and distal positions. In yet another example, the distal annular spring (1282) and the proximal annular spring (1284) balance the acoustic waveguide (56) under tension toward the proximal position and under compression toward the distal position, wherein there are neutral, uncompressed, and untensioned states between the proximal and distal positions. Therefore, the present invention is not intended to unnecessarily limit one or more parts of an acoustic transmission system (such as the acoustic waveguide (56)) to maintaining a particular state of compression or tension.

[0157] In use, regarding Figure 6 as well as Figures 42 to 43B The linear system actuators (36e, 36f) actuate the joint kinematic band (74) (see...) Figure 40BThe movement of the articulated segment (64) is guided to deflect the end effector (16) relative to the longitudinal axis (61). The articulated segment (64) articulates from a linear configuration toward an articulated configuration such that the pin (109) pulls the acoustic waveguide (56) with the movable transducer assembly (1254) distally from a proximal position toward a distal position to maintain a predetermined alignment between the blade (46) and the clamping arm (44). In this respect, the movement of the movable transducer assembly (1254) depends on the articulation of the articulated segment (64). As the movable transducer assembly (1254) translates from a proximal position toward a distal position, the annular base (1280) of the passive system actuator (1236) supports the transducer housing (1270) and the sensor amplitude rod (1272). Additionally, the annular base (1280) presses the distal annular spring (1282) against the distal mounting base (1274), while the proximal annular spring (1284) expands, thereby pushing the annular base (1280) distally toward the mounting base (1274). As the articulation segment (64) is positioned in the articulation configuration during use, the distal annular spring (1282) and the proximal annular spring (1284) continue to balance the movable transducer assembly (1254) and the acoustic waveguide (56) with pins (109). Thus, the blade (46) maintains the same predetermined alignment with the clamping arm (44) before, during, and after the articulation of the articulation segment (64). Of course, any alignment may be required, and the invention is not intended to be limited to the alignment of the blade (46) shown and described in this example. While this example describes the movement of the articulated segment (64) from a linear configuration toward an articulated configuration, it should be understood that when the articulated segment (64) is moved from the articulated configuration toward a linear configuration, the movable transducer assembly (1254) and associated components will move in the opposite direction to that discussed above. Furthermore, in another example, the articulation of the articulated segment (64) can be controlled by an operator via a handle assembly (not shown), such as by a knob (not shown) operatively connected to the articulated segment (64), rather than by a robot actuator (not shown). Therefore, the invention is not intended unnecessarily to be used with the base assembly (1212) as shown and described herein.

[0158] B. Active movable transducer assembly

[0159] Figures 44A to 44B A fourth example of an ultrasonic surgical instrument (1310) is shown, which has an end effector (16) (see [link]). Figure 41A ) and shaft assembly (14), without pin (109) passing through acoustic waveguide (56) (see Figure 42This allows the blade (46) to be or not longitudinally aligned with the clamping arm (44). The ultrasonic surgical instrument (1310) also includes a third exemplary base assembly (1312), which, together with the base assembly (12) (see...), ... Figure 6 The device is constructed similarly, but with an active movable transducer assembly (1354) and an active system actuator (1336). The movable transducer assembly (1354) is movably coupled between the housing (18) and the active system actuator (1336), such that the active system actuator (1336) pushes the movable transducer assembly (1354) proximally or distally along the longitudinal axis (61). In one example, the active system actuator (1336) keyes the movement of the movable transducer assembly (1354) to accommodate the acoustic waveguide (56) and the knife (46) (see [link to documentation]). Figure 41A The longitudinal movement of the shaft assembly (14) is used to maintain a predetermined alignment during joint movement. In this example, the shaft assembly (14) or shaft assembly (1214) (see...) Figure 42 This can be incorporated into an ultrasonic surgical instrument (1310). In another example, an active system actuator (1336) guides the movement of a movable transducer assembly (1354) to position the blade (46) at any longitudinal position relative to the shaft assembly (14) and / or the clamping arm (44), as needed by the operator. Therefore, the invention is not intended to be unnecessarily limited to movable or fixed acoustic waveguides (56), such as those via pins (109). Thus, the movable transducer assembly (1354) and the system actuator (1336) are referred to herein as “active”, considering that the movable transducer assembly (1354) and the system actuator (1336) induce such movement by force rather than simply by supporting movement.

[0160] More specifically, Figures 44A to 44B The movable transducer assembly (1354) of this example shown includes a transducer housing (1370) and a transducer amplitude rod (1372) threadedly engaged with an acoustic waveguide (56). The active system actuator (1336) of this example includes a rack and pinion mechanism (102) having a rotatable drive gear (104) and a translational rack gear (106), discussed in more detail above, and a transducer connector (1374) rigidly extending proximally from the rack gear (106). The transducer connector (1374) receives the transducer housing (1370) to longitudinally secure the transducer housing (1370) and the transducer amplitude rod (1372) relative to the rack gear (106) extending distally therefrom, while laterally supporting the transducer housing (1370) and the transducer amplitude rod (1372). In this example, the rotatable drive gear (104) engages directly with the rack and pinion (106) to selectively translate the movable transducer assembly (1354) as needed.

[0161] In use, regarding Figure 41A and 44A to Figure 44B The drive gear (104) is selectively rotated via a robot actuator (not shown) to linearly translate the rack gear (106) along the longitudinal axis (61) as needed. The transducer connector (1374) then pushes the movable transducer assembly (1354) distally or proximally along the longitudinal axis (61), thereby translating the acoustic waveguide (56) and the blade (46) as needed. In one example, the active system actuator (1336) keyes the movement of the movable transducer assembly (1354) to accommodate the longitudinal movement of the acoustic waveguide (56) and the blade (46) to maintain a predetermined alignment during articulation. Alternatively or additionally, the active system actuator (1336) guides the movement of the movable transducer assembly (1354) to position the blade (46) at any longitudinal position relative to the shaft assembly (14) and / or the gripping arm (44) as required by the operator. In this respect, the movement of the movable transducer assembly (1354) is independent of the joint movement of the articulated segment (64), allowing the movable transducer assembly (1354) to move with or without joint movement of the articulated segment (64). While the joint movement of the articulated segment (64) and / or the movable transducer assembly (1354) can be controlled by a robot actuator (not shown), as discussed in this example, an operator may alternatively control the joint movement of the articulated segment (64) and / or the movable transducer assembly (1354) via a handle assembly (not shown), such as by a knob (not shown) operatively connected to the articulated segment (64) and / or the movable transducer assembly (1354). Therefore, the invention is not intended to be unnecessarily limited to use with the base assembly (1312) as shown and described herein.

[0162] V. Exemplary Combinations

[0163] The following examples illustrate various non-exhaustive ways in which the teachings herein can be combined or applied. It should be understood that the following examples are not intended to limit the scope of any claims that may be provided at any time in this patent application or a subsequent filing thereof. No disclaimer is intended. The following examples are provided merely for illustrative purposes. It is contemplated that the various teachings herein may be arranged and applied in a variety of other ways. It is also contemplated that some variations may omit certain features mentioned in the following examples. Therefore, none of the aspects or features mentioned below should be considered definitive unless otherwise expressly indicated, for example, by the inventor or a successor of the inventor of interest, at a later date. If any claim set forth in this patent application or a subsequent filing related to this patent application includes additional features beyond those mentioned below, such additional features should not be presumed to have been added for any reason related to patentability.

[0164] Example 1

[0165] An acoustic waveguide for an ultrasonic surgical instrument includes: (a) a proximal waveguide body portion defining a longitudinal axis; (b) a distal waveguide body portion having an ultrasonic scalpel projecting distally therefrom; and (c) an articulated body portion extending between the proximal and distal waveguide body portions, wherein the articulated body portion is configured to flex in a first direction to deflect the ultrasonic scalpel relative to the longitudinal axis and through a first plane, wherein the articulated body portion is further configured to flex in a second direction to deflect the ultrasonic scalpel relative to the longitudinal axis and through a second plane, and wherein the second direction differs from the first direction such that the second plane differs from the first plane to achieve multiplanar deflection of the ultrasonic scalpel relative to the longitudinal axis.

[0166] Example 2

[0167] According to the acoustic waveguide described in Embodiment 1, the second plane is perpendicular to the first plane.

[0168] Example 3

[0169] According to any one or more of the acoustic waveguides in Embodiments 1 to 2, the joint motion main body includes a first flexible member.

[0170] Example 4

[0171] According to the acoustic waveguide of Embodiment 3, the first flexible member is a flexible member configured to receive acoustic vibrations from the proximal waveguide body portion and transmit acoustic vibrations from the proximal waveguide body portion to the distal waveguide body portion for driving an ultrasonic scalpel using acoustic vibrations.

[0172] Example 5

[0173] According to one or more of the embodiments 3 to 4, the first flexible member has a set of predetermined characteristics and the acoustic vibration has a longitudinal vibration component and a transverse vibration component, and the set of predetermined characteristics of the flexible member is configured to decouple the longitudinal vibration component from the transverse vibration component, thereby transmitting the acoustic vibration from the proximal waveguide body portion to the distal waveguide body portion for driving an ultrasonic scalpel using the acoustic vibration.

[0174] Example 6

[0175] According to any one or more of the acoustic waveguides in Embodiments 3 to 5, wherein the first flexible member is a flexible wire.

[0176] Example 7

[0177] According to the acoustic waveguide of Embodiment 6, the flexible wire has a wire cross-sectional radius, the near-side waveguide body portion has a near-side waveguide radius, and the far-side waveguide body portion has a far-side waveguide radius, wherein the wire cross-sectional radius is smaller than the near-side waveguide radius and the far-side waveguide radius.

[0178] Example 8

[0179] According to one or more of the embodiments 6 to 7, the acoustic waveguide is wherein the flexible wire is positioned on the node.

[0180] Example 9

[0181] According to any one or more of embodiments 6 to 8, the acoustic waveguide is wherein the flexible wire is centered at the node.

[0182] Example 10

[0183] According to any one or more of the acoustic waveguides in Embodiments 3 to 10, the first flexible member is formed as a single integral structure with the near-side main body portion and the far-side waveguide main body portion.

[0184] Example 11

[0185] According to any one or more of embodiments 3 to 10, the acoustic waveguide has a first flexible member attached to the proximal waveguide body portion at a proximal component joint, and the first flexible member is attached to the distal waveguide body portion at a distal component joint.

[0186] Example 12

[0187] According to any one or more of the acoustic waveguides in Embodiments 3 to 11, the joint motion main body includes a second flexible member.

[0188] Example 13

[0189] According to the acoustic waveguide of Embodiment 12, the first flexible member is a first flexible strip, and the second flexible member is a second strip.

[0190] Example 14

[0191] According to any one or more of embodiments 1 to 13, the ultrasonic scalpel extends along a scalpel axis and has a scalpel body defining a circumferential scalpel profile around the scalpel axis, and wherein the ultrasonic scalpel includes a back-cutting edge extending longitudinally along the scalpel body such that the circumferential scalpel profile is circular for most of the circumferential scalpel profile and is configured to seal the clamping pad.

[0192] Example 15

[0193] According to the acoustic waveguide of Embodiment 14, the blade body has a distal blade portion that tapers to a distal blade end, and at least a majority of the back-cutting edge extends longitudinally along the distal blade portion that tapers to a distal blade end.

[0194] Example 16

[0195] An ultrasonic surgical instrument includes: (a) an end effector including an ultrasonic scalpel; (b) a body assembly; and (c) a shaft assembly having a first articulated segment and extending longitudinally from the body assembly to the end effector, the shaft assembly including: (i) a proximal waveguide body portion positioned proximal to the first articulated segment and defining a longitudinal axis; (ii) a distal waveguide body portion positioned distal to the first articulated segment and acoustically communicating with the ultrasonic scalpel, the ultrasonic scalpel projecting distally from the distal waveguide body portion; and (iii) The joint motion body extends through a first joint motion segment between the proximal waveguide body and the distal waveguide body, wherein the joint motion body is configured to flex in a first direction, thereby deflecting the ultrasonic scalpel relative to the longitudinal axis and through a first plane, and wherein the joint motion body is further configured to flex in a second direction, thereby deflecting the ultrasonic scalpel relative to the longitudinal axis and through a second plane, wherein the second direction is different from the first direction, and the second plane is different from the first plane, so as to achieve multi-plane deflection of the ultrasonic scalpel relative to the longitudinal axis.

[0196] Example 17

[0197] According to the ultrasonic surgical instrument of Embodiment 16, the joint movement body includes a first flexible member, and the first joint movement segment of the central axis assembly is configured to limit the first flexible member to a predetermined maximum bending radius.

[0198] Example 18

[0199] According to the ultrasonic surgical instrument of Embodiment 16, the joint movement body includes a first flexible member and a second flexible member, the shaft assembly further includes a second joint movement segment, and the first flexible member and the second flexible member are positioned in the first joint movement segment and the second joint movement segment.

[0200] Example 19

[0201] According to one or more of the ultrasonic surgical instruments described in Examples 16 to 18, the main body component further includes a robot drive interface operatively connected to the joint motion body portion and configured to connect to a robot actuator to selectively guide the flexion of the joint motion body portion in a first direction or a second direction.

[0202] Example 20

[0203] A method for deflecting an end effector of an ultrasonic surgical instrument, wherein the ultrasonic surgical instrument has an acoustic waveguide comprising: (a) a proximal waveguide body portion defining a longitudinal axis; (b) a distal waveguide body portion having an ultrasonic scalpel projecting distally therefrom; and (c) an articulation body portion extending between the proximal and distal waveguide body portions, the method comprising: (a) flexing the articulation body portion along a first direction to deflect the ultrasonic scalpel relative to the longitudinal axis and through a first plane; and (b) flexing the articulation body portion along a second direction different from the first direction to deflect the ultrasonic scalpel relative to the longitudinal axis and through a second plane different from the first plane.

[0204] Example 21

[0205] An ultrasonic surgical instrument includes: (a) an end effector including an ultrasonic scalpel; (b) a body assembly; and (c) an axis assembly including: (i) a proximal axis portion defining a longitudinal axis; (ii) a distal axis portion; and (iii) an articulation segment extending between the proximal and distal axis portions, wherein the articulation segment is configured to articulate in a first direction, thereby deflecting the ultrasonic scalpel relative to the longitudinal axis and through a first plane, and wherein the articulation segment is further configured to articulate in a second direction, thereby deflecting the ultrasonic scalpel relative to the longitudinal axis and through a second plane, wherein the second direction differs from the first direction, such that the second plane differs from the first plane, to achieve multiplanar deflection of the ultrasonic scalpel relative to the longitudinal axis.

[0206] Example 22

[0207] According to the ultrasonic surgical instrument of embodiment 21, the joint motion segment includes a plurality of links configured to pivot relative to each other, thereby performing joint motion in a first direction or a second direction.

[0208] Example 23

[0209] An end effector of an ultrasonic surgical instrument includes: (a) an ultrasonic scalpel, wherein the ultrasonic scalpel extends along a scalpel axis and has a scalpel body defining a circumferential scalpel profile around the scalpel axis, and wherein the ultrasonic scalpel includes a back-cutting edge extending longitudinally along the scalpel body such that the circumferential scalpel profile is circular for most of the circumferential scalpel profile and is configured to engage a clamping pad.

[0210] Example 24

[0211] According to the end effector of embodiment 23, the blade body has a distal blade portion that tapers to a distal blade end, and at least a majority of the back-cutting blade extends longitudinally along the distal blade portion that tapers to a distal blade end.

[0212] Example 25

[0213] An ultrasonic surgical instrument includes: (a) an end effector including an ultrasonic scalpel; (b) a shaft assembly extending proximally from the end effector and defining a longitudinal axis, wherein the shaft assembly includes: (i) an articulated segment configured to move from a linear configuration to an articulated configuration, thereby deflecting the end effector relative to the longitudinal axis; and (ii) an acoustic waveguide having a flexible waveguide portion located within the articulated segment and a distal waveguide portion acoustically connected to the ultrasonic scalpel; and (c) a body assembly extending proximally from the shaft assembly, the body assembly including: (i) a housing; and (ii) a movable transducer assembly fixed to the acoustic waveguide and configured to generate ultrasonic energy, wherein the movable transducer assembly is movably mounted relative to the housing and configured to accommodate deflection of the end effector.

[0214] Example 26

[0215] According to the ultrasonic surgical instrument of embodiment 25, the movable transducer assembly is further configured to enable the acoustic waveguide to move relative to the shaft assembly while moving the joint motion segment from a linear configuration joint to a joint motion configuration.

[0216] Example 27

[0217] According to one or more of the ultrasonic surgical instruments described in Examples 26 to 26, the end effector further includes a clamping arm movably connected relative to the ultrasonic scalpel at a predetermined longitudinal position, and wherein the movable transducer assembly is configured to move during joint movement of the joint segment, thereby moving the acoustic waveguide relative to the joint segment and holding the ultrasonic scalpel relative to the clamping arm at the predetermined longitudinal position.

[0218] Example 28

[0219] According to one or more of the ultrasonic surgical instruments described in Examples 25 to 27, the ultrasonic scalpel is fixed in a predetermined longitudinal position relative to the clamping arm.

[0220] Example 29

[0221] According to one or more of the ultrasonic surgical instruments described in Examples 25 to 28, the shaft assembly further includes a proximal shaft portion and a distal shaft portion, wherein the proximal shaft portion defines a longitudinal axis and wherein the distal shaft portion supports an end effector extending distally therefrom.

[0222] Example 30

[0223] The ultrasonic surgical instrument according to any one or more of Examples 25 to 29, wherein the acoustic waveguide and the ultrasonic scalpel together define a constant longitudinal length.

[0224] Example 31

[0225] The ultrasonic surgical instrument according to any one or more of Examples 25 to 30, wherein the main body assembly further includes an active system actuator connected to the movable transducer assembly and configured to selectively move the movable transducer assembly relative to the housing.

[0226] Example 32

[0227] According to the ultrasonic surgical instrument of embodiment 31, the active system actuator is configured to selectively move the movable transducer assembly relative to the housing independently of the joint movement of the joint segment.

[0228] Example 33

[0229] According to one or more of the ultrasonic surgical instruments described in Examples 31 to 32, the active system actuator has a translational rack and pinion fixed relative to the movable transducer assembly, and wherein the translational rack and pinion is configured to be selectively driven, thereby selectively translating the movable transducer assembly for translating the acoustic waveguide relative to the joint motion segment.

[0230] Example 34

[0231] The ultrasonic surgical instrument according to any one or more of Examples 25 to 30, wherein the main body assembly further includes a passive system actuator connected to the movable transducer assembly and configured to enable the movable transducer assembly to move relative to the housing.

[0232] Example 35

[0233] According to the ultrasonic surgical instrument of embodiment 34, a passive system actuator is coupled between the movable transducer assembly and the housing and movably supports the movable transducer assembly such that the movable transducer assembly is configured to be pushed together with the acoustic waveguide to accommodate the deflection of the end effector.

[0234] Example 36

[0235] According to one or more of the ultrasonic surgical instruments described in Examples 34 to 35, the shaft assembly further includes a proximal shaft portion and a distal shaft portion, an articulation segment is positioned between the proximal shaft portion and the distal shaft portion, wherein the proximal shaft portion defines a longitudinal axis, and wherein the distal shaft portion supports an end effector extending distally therefrom, and wherein the acoustic waveguide has a distal waveguide end portion longitudinally fixed to the distal shaft portion, such that articulation of the articulation segment causes the acoustic waveguide to translate along the longitudinal axis, thereby actuating the movement of the movable transducer assembly.

[0236] Example 37

[0237] According to one or more of the ultrasonic surgical instruments described in Examples 34 to 36, the passive system actuator has a biasing element configured to elastically bias the displaceable transducer assembly relative to the housing.

[0238] Example 38

[0239] According to one or more of the ultrasonic surgical instruments described in Examples 34 to 37, the movable transducer assembly is positioned on the longitudinal axis and elastically biased along the longitudinal axis.

[0240] Example 39

[0241] The ultrasonic surgical instrument according to any one or more of Embodiments 25 to 38, wherein the main body component further includes a robot drive interface configured to connect to a robot actuator for robotically controlling joint movement of joint segments.

[0242] Example 40

[0243] An ultrasonic surgical instrument includes: (a) an end effector comprising: (i) a gripping arm configured to selectively move from an open position toward a closed position; and (ii) an ultrasonic scalpel longitudinally fixed relative to the gripping arm at a predetermined longitudinal position; and (b) a shaft assembly extending proximally from the end effector, wherein the shaft assembly includes: (i) a proximal shaft portion defining a longitudinal axis; (ii) a distal shaft portion supporting the end effector extending distally therefrom; and (iii) an articulated segment positioned between the proximal and distal shaft portions, wherein the articulated segment is configured to move from a linear configuration to an articulated configuration, thereby allowing the end effector to... For longitudinal axis deflection, (iv) an acoustic waveguide having a distal waveguide portion, a proximal waveguide portion, and a flexible waveguide portion positioned between the distal and proximal waveguide portions within the articulated motion segment, wherein the distal waveguide portion is acoustically connected to the ultrasonic scalpel; and (c) a body assembly extending proximally from the axis assembly, the body assembly comprising: (i) a movable transducer assembly fixed to the proximal waveguide portion along the longitudinal axis and configured to generate ultrasonic energy; and (ii) a system actuator connected to the movable transducer assembly and configured to translate the movable transducer assembly along the longitudinal axis to maintain a predetermined longitudinal position of the ultrasonic scalpel relative to the clamping arm in both linear and articulated motion configurations.

[0244] Example 41

[0245] According to the ultrasonic surgical instrument of Example 40, the acoustic waveguide and ultrasonic scalpel define a constant longitudinal length in both linear and articulated configurations.

[0246] Example 42

[0247] The ultrasonic surgical instrument according to any one or more of Embodiments 40 to 41, wherein the main body component further includes a robot drive interface configured to connect to a robot actuator for robotically controlling joint movement of joint segments.

[0248] Example 43

[0249] According to one or more of the ultrasonic surgical instruments described in Examples 40 to 42, the movable transducer assembly is located proximally on the longitudinal axis when the joint motion segment is in a linear configuration, and the movable transducer assembly is located distally on the longitudinal axis when the joint motion segment is in a joint motion configuration.

[0250] Example 44

[0251] A method of deflecting an end effector of an ultrasonic surgical instrument includes: (a) moving a movable transducer assembly to longitudinally push an acoustic waveguide relative to an articulated segment of a shaft assembly of the ultrasonic surgical instrument; and (b) articulating the articulated segment of the shaft assembly to deflect the end effector relative to a longitudinal axis defined by the shaft assembly.

[0252] VI. Miscellaneous

[0253] Any one or more of the teachings, expressions, implementations, examples, etc. described herein may be combined with any one or more of the teachings, expressions, implementations, examples, etc. described in the following patents: U.S. Patent Application 16 / 556,625, entitled "Ultrasonic Surgical Instrument with Axisymmetric Clamping," filed on the same date as this document; U.S. Patent Application 16 / 556,635, entitled "Ultrasonic Blade and Clamp ArmAlignment Features," filed on the same date as this document; and / or U.S. Patent Application 16 / 556,727, entitled "Rotatable Linear Actuation Mechanism," filed on the same date as this document. The disclosure of each of these applications is incorporated herein by reference.

[0254] It should be understood that any type of device described herein may also include various other features besides those described above or as alternatives to those described above. By way of example only, in addition to the teachings above, it should be understood that the devices described herein can be constructed and operated according to at least some of the teachings of the following patents: U.S. Patent 5,322,055; U.S. Patent 5,873,873; U.S. Patent 5,980,510; U.S. Patent 6,325,811; U.S. Patent 6,773,444; U.S. Patent 6,783,524; U.S. Patent 9,095,367; U.S. Publication 2006 / 0079874; U.S. Publication 2007 / 0191713; U.S. Publication 2007 / 0282333; U.S. Publication 2 U.S. Patent No. 008 / 0200940; U.S. Patent No. 8,623,027, published January 7, 2014; U.S. Patent No. 9,023,071, published May 5, 2015; U.S. Patent No. 8,461,744, published June 11, 2013; U.S. Patent No. 9,381,058, published July 5, 2016; U.S. Publication No. 2012 / 0116265; U.S. Patent No. 9,393,037, published July 19, 2016; U.S. Patent No. 10,172,636, published January 8, 2019; and / or U.S. Patent Application No. 61 / 410,603. The disclosure of each of the foregoing patents, publications, and applications is incorporated herein by reference. It should also be understood that the apparatus described herein may have similar functions to HARMONIC. Ultrasonic scissors, HARMONIC Ultrasonic scissors, HARMONIC Ultrasonic scissors and / or HARMONIC The ultrasonic scalpel shares various structural and functional similarities. Furthermore, the instruments described herein may have various structural and functional similarities to those taught in any of the other references cited herein or incorporated herein by reference.

[0255] The teachings of the references cited in this article, HARMONIC ultrasonic scissors (HARMONIC) Ultrasonic Shears, HARMONIC ultrasonic scissors (HARMONIC) Ultrasonic Shears, HARMONIC ultrasonic scissors (HARMONIC) Ultrasonic Shears and / or HARMONIC Harmonic Ultrasonic Scalpel While there is some overlap between the teachings of this document (UltrasonicBlades) and the apparatus described herein, it is not intended that any description herein be assumed to be accepted prior art. Some teachings herein will actually extend beyond the teachings of the references cited herein and HARMONIC. Ultrasonic shears, HARMONIC Ultrasonic shears, HARMONIC Ultrasonic shears and HARMONIC The range of ultrasonic scalpel treatment.

[0256] It should be understood that any patent, patent publication, or other public material allegedly incorporated herein by reference, whether in whole or in part, is incorporated only to the extent that the incorporated material does not conflict with any existing definitions, statements, or other public material set forth in this disclosure. Therefore, and to the extent necessary, the disclosures expressly listed herein replace any conflicting material incorporated herein by reference. Any material, or part thereof, allegedly incorporated herein by reference that conflicts with any existing definitions, statements, or other public material set forth herein will be incorporated only to the extent that the incorporated material does not conflict with any existing public material.

[0257] The aforementioned devices can be applied to traditional medical treatments and surgeries performed by medical professionals, as well as robot-assisted medical treatments and surgeries. To cite examples only, the various teachings herein can be readily incorporated into another example of a robotic surgical system, and those skilled in the art will recognize that the various teachings herein can be readily incorporated into the teachings of any of the following applications: U.S. Patent 8,844,789, entitled “Automated EndEffector Component Reloading System for Use with a Robotic System,” published September 30, 2014, the disclosure of which is incorporated herein by reference; U.S. Patent 8,820,605, entitled “Robotically-Controlled Surgical Instruments,” published September 2, 2014, the disclosure of which is incorporated herein by reference; U.S. Patent 8,616,431, entitled “Shiftable Drive Interface for Robotically-Controlled Surgical Tool,” published December 31, 2013, the disclosure of which is incorporated herein by reference; and U.S. Patent 8,616,431, entitled “Surgical Stapling Instruments with Cam-DrivenStaple Deployment,” published November 5, 2013. U.S. Patent 8,573,461, entitled “Arrangements,” the disclosure of which is incorporated herein by reference; U.S. Patent 8,602,288, entitled “Robotically-Controlled Motorized Surgical End Effector System with Rotary Actuated Closure Systems Having Variable Actuation Speeds,” published on December 10, 2013, the disclosure of which is incorporated herein by reference; U.S. Patent 9,301,759, entitled “Robotically-Controlled Surgical Instrument with Selectively Articulatable End Effector,” published on April 5, 2016, the disclosure of which is incorporated herein by reference; and U.S. Patent 8,783,541, entitled “Robotically-Controlled Surgical End Effector System,” published on July 22, 2014, the disclosure of which is incorporated herein by reference.The disclosures of U.S. Patent 8,479,969, entitled "Drive Interface for Operably Coupling a Manipulatable Surgical Tool to a Robot," published on July 9, 2013, are incorporated herein by reference; the disclosures of U.S. Patent 8,800,838, entitled "Robotically-Controlled Cable-Based Surgical End Effectors," published on August 12, 2014, are incorporated herein by reference; and / or the disclosures of U.S. Patent 8,573,465, entitled "Robotically-Controlled Surgical End Effector System with Rotary Actuated Closure Systems," published on November 5, 2013, are incorporated herein by reference.

[0258] The versions described above may be designed to be discarded after a single use, or they may be designed to be used multiple times. In either or both cases, these types may be repaired for reuse after at least one use. Repair may include any combination of the following steps: disassembling the device, then cleaning or replacing specific parts, and subsequently reassembling. Specifically, some types of devices may be disassembled, and any combination may be used to selectively replace or remove any number of specific parts or portions of the device. While cleaning and / or replacing specific components, some types of the device may be reassembled at a repair facility or by an operator just before surgery for subsequent use. Those skilled in the art will appreciate that the repair of devices can utilize a variety of techniques for disassembly, cleaning / replacement, and reassembly. The use of such techniques and the resulting repaired devices are within the scope of this application.

[0259] By way of example only, the types described herein can be sterilized before and / or after surgery. In one sterilization technique, the device is placed in a closed and sealed container such as a plastic bag or a TYVEK bag. The container and device can then be placed in a radiation field that can penetrate the container, such as gamma radiation, X-rays, or high-energy electrons. The radiation kills bacteria on the device and in the container. The sterilized device can then be stored in a sterile container for later use. Any other techniques known in the art can also be used to sterilize the device, including but not limited to beta or gamma radiation, ethylene oxide, or vapor.

[0260] Various embodiments of the invention have been shown and described, and further improvements to the methods and systems described herein can be achieved by suitable modifications made by those skilled in the art without departing from the scope of the invention. Several such possible modifications have been mentioned, and other modifications will be apparent to those skilled in the art. For example, the embodiments, implementations, geometries, materials, dimensions, ratios, steps, etc., discussed above are illustrative and not essential. Therefore, the scope of the invention should be considered in accordance with the following claims and should be understood as not being limited to the details of the structures and operations shown and described in the specification and drawings.

Claims

1. An ultrasonic surgical instrument, comprising: (a) an end effector comprising an ultrasonic blade; (b) a body assembly; and (c) a shaft assembly having a first articulation segment and extending longitudinally from the body assembly to the end effector, the shaft assembly comprising: (i) a proximal waveguide body portion positioned proximal to the first articulation segment and defining a longitudinal axis, (ii) a distal waveguide body portion positioned distal to the first articulation segment and in acoustic communication with the ultrasonic blade, the ultrasonic blade projecting distally from the distal waveguide body portion, and (iii) an articulation body portion extending through the first articulation segment between the proximal waveguide body portion and the distal waveguide body portion, wherein the articulation body portion is configured to flex in a first direction to deflect the ultrasonic blade relative to the longitudinal axis and through a first plane, and wherein the articulation body portion is further configured to flex in a second direction to deflect the ultrasonic blade relative to the longitudinal axis and through a second plane, wherein the second direction is different than the first direction such that the second plane is different than the first plane to effect multi-plane deflection of the ultrasonic blade relative to the longitudinal axis, wherein the articulation body portion comprises a first flexible member, and wherein the first articulation segment of the shaft assembly is configured to constrain the first flexible member to a predetermined minimum bend radius R, wherein the predetermined minimum bend radius is associated with a cross-sectional radius r of the first flexible member in accordance with a condition to decouple a longitudinal vibration component of acoustic vibrations of the first flexible member from a transverse vibration component of acoustic vibrations of the first flexible member to transmit acoustic vibrations from the proximal waveguide body portion to the distal waveguide body portion and drive the ultrasonic blade with the acoustic vibrations, wherein the condition for the bend radius R of the first flexible member is: the ultrasonic surgical instrument further comprising an acoustic waveguide comprising: where r is the cross-sectional radius of the first flexible member, E is the modulus of elasticity of the first flexible member, σ y is the yield strength of the first flexible member, f is the natural frequency of the first flexible member, and c is the speed of sound.

2. The ultrasonic surgical instrument of claim 1, wherein, (a) the proximal waveguide body portion; (b) the distal waveguide body portion; and (c) the articulation body portion. the second plane is perpendicular to the first plane.

3. The ultrasonic surgical instrument of claim 2, wherein, the first flexible member is a flexible member configured to receive acoustic vibrations from the proximal waveguide body portion and transmit the acoustic vibrations from the proximal waveguide body portion to the distal waveguide body portion for driving the ultrasonic blade with the acoustic vibrations.

4. The ultrasonic surgical instrument of claim 2, wherein, ​ 5. The ultrasonic surgical instrument of claim 4, wherein, The first flexible member has a set of predetermined properties, and the acoustic vibrations have a longitudinal vibration component and a transverse vibration component, and wherein the set of predetermined properties of the flexible member is configured to decouple the longitudinal vibration component from the transverse vibration component, thereby transmitting the acoustic vibrations from the proximal waveguide body portion to the distal waveguide body portion for driving the ultrasonic blade with the acoustic vibrations.

6. The ultrasonic surgical instrument of claim 5, wherein, The first flexible member is a flexible wire.

7. The ultrasonic surgical instrument of claim 6, wherein, The flexible wire has a wire cross-sectional radius, the proximal waveguide body portion has a proximal waveguide radius, and the distal waveguide body portion has a distal waveguide radius, and wherein the wire cross-sectional radius is less than the proximal waveguide radius and the distal waveguide radius.

8. The ultrasonic surgical instrument of claim 6, wherein, The flexible wire is positioned on a node.

9. The ultrasonic surgical instrument of claim 8, wherein, The flexible wire is centered on the node.

10. The ultrasonic surgical instrument of claim 2, wherein, The first flexible member is formed as a single integral structure with the proximal waveguide body portion and the distal waveguide body portion.

11. The ultrasonic surgical instrument of claim 2, wherein, The first flexible member is attached to the proximal waveguide body portion at a proximal component joint, and wherein the first flexible member is attached to the distal waveguide body portion at a distal component joint.

12. The ultrasonic surgical instrument of claim 2, wherein, The articulation body portion includes a second flexible member.

13. The ultrasonic surgical instrument of claim 12, wherein, The first flexible member is a first flexible band, and wherein the second flexible member is a second band.

14. The ultrasonic surgical instrument of claim 1, wherein, The ultrasonic blade extends along a blade axis and has a blade body that defines a circumferential blade profile about the blade axis, and wherein the ultrasonic blade includes a return edge that extends longitudinally along the blade body such that the circumferential blade profile is circular about a majority of the circumferential blade profile and is configured to engage a clamp pad.

15. The ultrasonic surgical instrument of claim 14, wherein, The blade body has a distal blade portion that tapers to a distal blade tip, and wherein at least a majority of the return edge extends longitudinally along the distal blade portion that tapers to the distal blade tip.

16. The ultrasonic surgical instrument of claim 1, wherein, The articulation body portion includes a first flexible member and a second flexible member, wherein the shaft assembly further includes a second articulation segment, and wherein the first flexible member and the second flexible member are positioned in the first articulation segment and the second articulation segment.

17. The ultrasonic surgical instrument of claim 1, wherein, The body assembly further includes a robotic drive interface that is operatively connected to the articulation body portion and is configured to connect to a robotic drive for selectively directing flexing of the articulation body portion in the first direction or the second direction.

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