Articulating ultrasonic surgical instrument and system

Abstract

An ultrasonic surgical instrument includes a housing, an elongated shaft extending distally from the housing, an end effector extending distally from the elongated shaft, and a transducer assembly at least partially disposed within the elongated shaft. The end effector includes a jaw and an ultrasonic blade. The jaw is configured to pivot relative to the ultrasonic blade from an open position to a clamped position to clamp tissue therebetween. The transducer assembly is spaced distally from the housing and includes a proximal transducer and a distal transducer interconnected by a connector. The ultrasonic blade is connected to the distal transducer such that ultrasonic energy generated by the proximal transducer is transmitted to the ultrasonic blade along the connector and the distal transducer, and such that ultrasonic energy generated by the distal transducer is transmitted to the ultrasonic blade.

Description

Technical Field

[0001] This disclosure relates to surgical instruments and systems, and more specifically, to articulated ultrasonic surgical instruments and systems. Background Technology

[0002] Ultrasonic surgical instruments and systems utilize ultrasonic energy, or ultrasonic vibrations, to treat tissue. More specifically, a typical ultrasonic surgical instrument or system includes a transducer configured to generate mechanical vibrational energy at ultrasonic frequencies, which is transmitted along a waveguide to an ultrasonic end effector configured to treat tissue, for example, by coagulation, cauterization, fusion, sealing, cutting, drying, or otherwise treating the tissue.

[0003] Some ultrasound surgical instruments and systems incorporate rotational features, enabling ultrasound end effectors to rotate to the desired orientation within the surgical site. However, even in such instruments and systems, the ability to navigate within the surgical site solely through rotation and manipulation is limited. Summary of the Invention

[0004] As used herein, the term "far side" refers to the portion described that is further away from the user, while the term "proximal side" refers to the portion described that is closer to the user. Furthermore, to a degree of consistency, any or all of the aspects detailed herein may be used in conjunction with any or all of the other aspects detailed herein.

[0005] According to this disclosure, an ultrasonic surgical instrument is provided, comprising a housing, an elongated shaft extending distally from the housing, an end effector extending distally from the elongated shaft, and a transducer assembly at least partially disposed within the elongated shaft. The end effector includes jaws and an ultrasonic blade. The jaws are configured to pivot relative to the ultrasonic blade from an open position to a clamping position to clamp tissue between the two. The transducer assembly is at least partially disposed within the elongated shaft, spaced distally from the housing, and includes a proximal transducer and a distal transducer interconnected via a connector. The ultrasonic blade is connected to the distal transducer such that ultrasonic energy generated by the proximal transducer is transmitted along the connector and the distal transducer to the ultrasonic blade, and ultrasonic energy generated by the distal transducer is also transmitted to the ultrasonic blade.

[0006] In one aspect of this disclosure, the connector is a flexible connector configured to be hinged in at least one direction. In such an aspect, the elongated shaft may include a hinged portion, and the flexible connector may extend through the hinged portion such that the proximal transducer is disposed proximal to the hinged portion and the distal transducer is disposed distal to the hinged portion. The flexible connector may be formed as a strip.

[0007] In another aspect of this disclosure, the elongated shaft defines an outer diameter less than about 15 mm, less than about 12 mm, less than about 10 mm, less than about 8 mm, less than about 5 mm, or less than about 3 mm; in all respects, the outer diameter is between about 5 mm and about 8 mm. Alternatively or additionally, each of the proximal transducer and the distal transducer may define an outer diameter less than 15 mm, less than about 12 mm, less than about 10 mm, less than about 8 mm, less than about 5 mm, or less than about 3 mm; in all respects, the outer diameter is between about 5 mm and about 8 mm.

[0008] In another aspect of this disclosure, each of the proximal transducer and the distal transducer includes a proximal mass block, a distal mass block, a piezoelectric element stack held between the proximal mass block and the distal mass block under pre-compression, and a first electrode and a second electrode electrically coupled to the piezoelectric element stack.

[0009] In another aspect of this disclosure, the ultrasonic blade defines a cylindrical configuration. In this respect, the jaws can be configured to rotate about the ultrasonic blade, such that the jaws are capable of gripping tissue between the jaws and the blade in any rotational orientation of the jaws relative to the blade.

[0010] In another aspect of this disclosure, the first transducer and the second transducer are arranged around the vibration node.

[0011] In another aspect of this disclosure, the housing is adapted to be connected to the robotic arm of a robotic surgical system. Alternatively or additionally, the housing includes at least one manual control.

[0012] In another aspect of this disclosure, the proximal transducer and the distal transducer are driven by independent electrical drive signals. In this respect, in a first operating mode, both the proximal transducer and the distal transducer can be activated, while in a second operating mode, only one of the proximal transducer or the distal transducer can be activated.

[0013] In another aspect of this disclosure, the ultrasonic amplitude transformer connects the distal transducer to the ultrasonic blade.

[0014] Details of one or more aspects of this disclosure are set forth in the following drawings and description. Other features, objectives, and advantages of the instruments and techniques described in this disclosure will be apparent from the description and drawings and from the claims. Attached Figure Description

[0015] Figure 1A This is a perspective view of a handheld articulated ultrasonic surgical instrument provided in this disclosure, wherein an elongated component is disposed in the unarticulated position;

[0016] Figure 1B yes Figure 1AA perspective view of a handheld articulated ultrasonic surgical instrument, in which an elongated component is positioned at the articulation point;

[0017] Figure 2 This is a schematic diagram of a robotic surgical system configured for use with an articulated ultrasonic surgical instrument, provided in this disclosure;

[0018] Figure 3 It is configured to be in an unhinged state and Figure 1A A perspective view of a transducer assembly used with an articulated ultrasonic surgical instrument or any other suitable articulated ultrasonic surgical instrument.

[0019] Figure 4 It is set in a hinged state. Figure 3 A perspective view of the transducer assembly; and

[0020] Figures 5A to 5D These are schematic diagrams of various other transducer assemblies provided in this disclosure. Detailed Implementation

[0021] General reference Figure 1A and Figure 1B An illustrative handheld ultrasonic surgical instrument, generally identified by reference numeral 10, is shown as an example of aspects and features of this disclosure. For the purposes of this document, the handheld ultrasonic surgical instrument 10 is described generally. Aspects and features of the handheld ultrasonic surgical instrument 10 that are not closely related to the understanding of this disclosure are omitted to avoid obscuring the aspects and features of this disclosure with unnecessary detail.

[0022] The handheld ultrasonic surgical instrument 10 generally includes a handle assembly 100 and an elongated assembly 200 extending distally from the handle assembly 100. The handle assembly 100 includes a housing 110 defining a main body portion 112 and a handle-fixing portion 114. The handle assembly 100 also includes an activation button 120 and a clamping trigger 130.

[0023] The main body portion 112 of the housing 110 is configured to support a generator assembly 300, which includes generator electronics 310 disposed within the outer housing. The generator assembly 300 may be permanently engaged with or removable from the main body portion 112 of the housing 110. Alternatively, the generator assembly 300 may be remotely positioned and coupled to the ultrasonic surgical instrument 10 via a cable.

[0024] The fixed handle portion 114 of the housing 110 defines a compartment 116 configured to house the battery assembly 400 and a door 118 configured to close the compartment 116. An electrical connection assembly (not shown) is disposed within the housing 110 of the handle assembly 100, and when the generator assembly 300 is supported on or within the main body portion 112 of the housing 110 and the battery assembly 400 is disposed within the compartment 116 of the fixed handle portion 114 of the housing 110, this electrical connection assembly is used to electrically couple the activation button 120, the generator assembly 300, and the battery assembly 400 to each other, thereby enabling the ultrasonic surgical instrument 10 to be activated in response to pressing the activation button 120. In a configuration where the generator assembly 300 is located away from the ultrasonic surgical instrument 10, it is not necessary to provide a configuration for housing the battery assembly 400 in the fixed handle portion 114, because the remotely located generator assembly 300 can be powered by a standard wall socket or other remote power source.

[0025] The elongated assembly 200 of the ultrasonic surgical instrument 10 includes an elongated shaft 210 having one or more hinged portions 220, a transducer assembly 230, a drive assembly (not shown), a hinged assembly (not shown), a rotary knob 250, a hinged knob 260, and an end effector 280 including a blade 282, a jaw 284, and a support shaft 286.

[0026] An elongated shaft 210 extends distally from the main body portion 112 of the housing 110. The one or more hinge portions 220 are defined along at least a portion of the elongated shaft 210. More specifically, the hinge portion 220... Figure 1A and Figure 1B The support shaft 286, shown as being disposed at the distal end portion of the elongated shaft 210 and coupled to the end effector 280, is such that the hinge portion 220, with respect to the longitudinal axis of the elongated shaft 210, hinges the end effector 280 with respect to the longitudinal axis of the elongated shaft 210. However, it is also contemplated that additional or alternative hinge portions 220 may be arranged periodically, intermittently, or continuously (for a portion or the entirety of the elongated shaft 210) along a portion or all of the elongated shaft 210. The hinge portion 220 may include one or more hinge elements 222, such as hinge joints, hinge links, flexible portions, extendable portions, etc., to achieve hinge of the end effector 280 in at least one direction with respect to the longitudinal axis of the elongated shaft 210, such as pitch hinge and / or lateral hinge. In some configurations, the hinge portion 220 is configured to achieve pitch and lateral hinge; in others, unrestricted hinge in any direction is achieved.

[0027] Jaws 284 are pivotally mounted on the distal end portion of support shaft 286, and the drive assembly is operatively coupled to clamp trigger 130 of handle assembly 100 with jaws 284 of end effector 280, such that clamp trigger 130 is selectively actuated to pivot jaws 284 from a spaced-apart position relative to support shaft 286 and blade 282 of end effector 280, for clamping tissue between jaws 284 and blade 282. The drive assembly may include a drive shaft, drive sleeve, drive cable, and / or other suitable components extending through handle assembly 100, elongated shaft 210 (including its hinged portion 220), and support shaft 286 to operatively couple clamp trigger 130 with jaws 284, and to enable jaws 284 to pivot between a spaced-apart position and a near-near position regardless of the hinged portion 220. The jaws 284 include a more rigid structural body that can be pivotally mounted on the distal end portion of the support shaft 286, and a more compliant jaw liner fixed to the more rigid structural body and positioned opposite the blade 282 to allow tissue to be clamped between them.

[0028] The rotary knob 250 is rotatable in either direction to allow at least a portion of the elongated assembly 200 to rotate relative to the handle assembly 100 in either direction. More specifically, in some configurations, the elongated shaft 210, transducer assembly 230, and end effector 280 are configured to rotate together relative to the handle assembly 100. In other configurations, the elongated shaft 210, the jaws 284 of the end effector 280, and the support shaft 286 of the end effector 280 are configured to rotate together relative to the handle assembly 100, transducer assembly 230, and blade 282 of the end effector 280. In this configuration, the jaws 284 are rotatable about the blade 282 to allow the jaws 284 to be oriented about the blade 282 at any suitable radial position. Thus, the jaws 284 are pivotable relative to the blade 282 between spaced-out and proximal positions to clamp tissue between the jaws 284 and the blade 282 at any suitable radial position about the blade 282.

[0029] The articulation assembly may include gears, pulleys, sleeves, tension cables, etc., which operatively couple the articulation knob 260 to one or more articulation components 222 of the articulation portion 220, such that rotation of the articulation knob 260 actuates the articulation portion 220, thereby articulating the end effector 280 and the support shaft 286 relative to the longitudinal axis of the elongated shaft 210. Alternatively, the articulation knob 260 may be operatively coupled to the support shaft 286 to induce the aforementioned articulated movement. Additional articulation actuators and / or other suitable articulation actuators (manual or electric) are also contemplated.

[0030] For further reference Figure 3 and Figure 4 The transducer assembly 230 includes a proximal transducer 232 and a distal transducer 234, a flexible connector 236 extending between the proximal transducer 232 and the distal transducer 234, a distal amplitude rod 238 extending distally from the distal transducer 234, and an ultrasonic blade 282 extending distally from the distal amplitude rod 238 as a blade serving as an end effector 280.

[0031] Transducer assembly 230 extends at least partially through elongated shaft 210, including its hinge portion 220. More specifically, proximal transducer 232 is positioned proximal to the hinge portion 220 of elongated shaft 210 (e.g., the farthest hinge portion 220 in the case of multiple hinge portions 220), distal transducer 234 is positioned within a support shaft 286 distal to the hinge portion 220 of elongated shaft 210, and flexible connector 236 extends through the hinge portion 220 of elongated shaft 210 such that, in response to the hinge of hinge portion 220, flexible connector 236 is similarly hinged, thereby hinged distal transducer 234, ultrasonic amplitude transformer 238, and ultrasonic blade 282 relative to proximal transducer 232. The transducer assembly 230 further extends through and distally from the support shaft 286 of the end effector 280, such that the blade 282 is positioned opposite the jaws 284 to allow tissue to be gripped between them. See below for reference. Figure 3 and Figure 4 The transducer assembly 230 is described in more detail.

[0032] It is envisioned that at least the portions of the elongated shaft 210 and the support shaft 286, including the transducer assembly 230 extending therethrough, and in some configurations, the elongated shaft 210 and the support shaft 286 collectively define an outer diameter less than about 15 mm, less than about 12 mm, less than about 10 mm, less than about 8 mm, less than about 5 mm, less than about 3 mm, or between about 5 mm and about 8 mm, wherein “about” and similar terms as used herein take into account tolerances for materials, manufacture, use, measurement, environment, etc.; industry practices and customs, etc.; and may cover a variation of up to 10%. Thus, the transducer assembly 230 can define a sufficiently small diameter to allow operative retraction within the elongated shaft 210 and the support shaft 286, the diameter being at most less than, for example, 15 mm, 12 mm, 10 mm, 8 mm, 5 mm, or 3 mm; in some configurations, the transducer assembly 230 can define a diameter between about 5 mm and about 8 mm. By providing a structure with the aforementioned outer diameter, the ultrasonic surgical instrument 10 can be used minimally invasively by means of an entry device (e.g., a cannula) having a diameter of approximately 15 mm, approximately 12 mm, approximately 10 mm, approximately 8 mm, approximately 5 mm, or approximately 3 mm, respectively.

[0033] General reference Figure 2 An illustrative robotic surgical system illustrating aspects and features of the present disclosure is shown, generally identified by reference numeral 1000. For the purposes of this document, the robotic surgical system 1000 is generally described. Aspects and features of the robotic surgical system 1000 that are not closely related to the understanding of the present disclosure are omitted to avoid obscuring the aspects and features of the present disclosure with unnecessary detail.

[0034] The robotic surgical system 1000 typically includes multiple robotic arms 1002, 1003; a control unit 1004; and an operation console 1005 connected to the control unit 1004. The operation console 1005 may include a display device 1006, which may be specifically configured to display three-dimensional images; and manual input devices 1007, 1008, through which a person (not shown), such as a surgeon, can remotely manipulate the robotic arms 1002, 1003. The robotic surgical system 1000 may be configured for use in a minimally invasive or other suitable manner with a patient 1013 lying on a patient table 1012. The robotic surgical system 1000 may also include a database 1014, particularly a database connected to the control unit 1004, which stores pre-operative data, for example, from the patient 1013 and / or anatomical atlases.

[0035] Each of the robotic arms 1002 and 1003 may include multiple components connected via joints, which may be attached to, for example, surgical instruments "ST" supporting end effector assemblies 1100 and 1200. End effector assembly 1100 may be configured similarly to that described above regarding instrument 10. Figure 1A and Figure 1B The detailed description of the articulated ultrasonic surgical instrument differs from the handle assembly 100. Figure 1A and Figure 1B The housing 110 is configured to connect to the robotic arm 1002, and the instrument 10 ( Figure 1A and Figure 1B Any manual controls or features of instrument 10 are appropriately modified so that instrument 10 ( Figure 1A and Figure 1BThe manipulation, actuation, and other functions of the surgical instruments are performed by the robotic arm 1002, rather than manually by the user. The end effector 1200 can be any other suitable surgical end effector, such as an endoscopic camera, other surgical tools, etc. The robotic arms 1002 and 1003 can be driven by an electrical actuator, such as a motor, connected to the control unit 1004. The control unit 1004 (e.g., a computer) can be configured to activate the motors, specifically via a computer program, such that the robotic arms 1002 and 1003, and therefore the surgical instruments "ST" (including end effectors 1100 and 1200), perform the desired movements and / or functions according to corresponding inputs from manual input devices 1007 and 1008, respectively. The control unit 1004 can also be configured to regulate the movement of the robotic arms 1002 and 1003 and / or the motors.

[0036] Go to Figure 3 and Figure 4 The transducer assembly 230 is shown in both a non-hinged (e.g., linear) and a hinged state, respectively. As described above, the transducer assembly 230 includes a proximal transducer 232 and a distal transducer 234, a flexible connector 236 extending between the proximal transducer 232 and the distal transducer 234, an ultrasonic amplitude transformer 238 extending distally from the distal transducer 234, and an ultrasonic blade 282 (which serves as a blade for the end effector 280) extending distally from the ultrasonic amplitude transformer 238.

[0037] The proximal transducer 232 can be positioned relative to the slender shaft 210 ( Figure 1A The transducer 232 is substantially fixed in position within the elongated shaft and includes a proximal end mass 233a, a distal end mass 233b, and a piezoelectric element stack 233c disposed between the proximal and distal end mass 233a. The proximal transducer 232 also includes a stress bar 233d, which engages with the distal end mass 233b via, for example, threading, welding, or other suitable joining, and extends proximally through the piezoelectric element stack 233c and the proximal end mass 233a. A bolt 233e, engaging the stress bar 233d proximally with the stress bar 233d, holds the piezoelectric element stack 233c between the proximal and distal end mass 233a under longitudinal pre-compression, but other suitable configurations for pre-compressing the piezoelectric element stack 233c are also contemplated. The proximal transducer 232 further includes a first electrode 233f and a second electrode 233g electrically coupled between the piezoelectric elements of the piezoelectric element stack 233c, enabling it to be energized to generate ultrasonic energy. Electrical leads (not shown) connect the first electrode 233f and the second electrode 233g to the generator assembly 300. Figure 1A ) connected to enable the generator component 300 ( Figure 1AThe generated electric drive signal is transmitted to the piezoelectric element stack 233c of the proximal transducer assembly 232 to energize the piezoelectric element stack 233c to generate ultrasonic energy.

[0038] The distal transducer 234 includes a proximal end mass 235a, a distal end mass 235b, and a piezoelectric element stack 235c disposed between the proximal end mass 235a and the distal end mass 235b. A stress bar (not shown) extends between the proximal end mass 235a and the distal end mass 235b and through the piezoelectric element stack 235c to hold the piezoelectric element stack 235c between the proximal end mass 235a and the distal end mass 235b under longitudinal pre-compression. The distal transducer 234 further includes a first electrode 235f and a second electrode 235g electrically coupled between the piezoelectric elements of the piezoelectric element stack 235c to enable it to be energized to generate ultrasonic energy. Electrical leads (not shown) connect the first electrode 235f and the second electrode 235g to the generator assembly 300. Figure 1A ) connected to enable the generator component 300 ( Figure 1A The generated electrical drive signal is transmitted to the piezoelectric element stack 235c of the distal transducer assembly 234 to energize the piezoelectric element stack 235c to generate ultrasonic energy. The first electrode 235f and the second electrode 235g of the distal transducer 234 can be energized as the first electrode 233f and the second electrode 233g of the proximal transducer 234, respectively, via a common control and output electrical drive signal (via a common or separate lead). Alternatively, the energizer can be energized via a signal from the generator assembly 300. Figure 1A The independent control and output of the electric drive signals energize the near-side transducer 232 and the far-side transducer 234, respectively.

[0039] In some configurations, the activation button 120 ( Figure 1A The transducer itself or an additional activation button (not shown) enables activation at different levels, such as a first activation corresponding to a low-power mode (generating a relatively low speed of the ultrasonic blade 282) and a high-power mode (generating a relatively high speed of the ultrasonic blade 282). In such a configuration, only one of the transducers 232, 234 can be activated in the low-power mode, while both transducers 232, 234 are activated in the high-power mode. Alternatively, both transducers 232, 234 can be activated in both modes (wherein one or both transducers 232, 234 are activated to different power levels in different modes).

[0040] The flexible connector 236 includes a proximal hub 237a, a distal hub 237b, and a body 237c extending between the proximal hub 237a and the distal hub 237b. The proximal hub 237a is integrally formed or engaged with the distal mass block 233b of the proximal transducer 232, while the distal hub 237b is integrally formed or engaged with the proximal mass block 235a of the distal transducer 234. The body 237c is flexible in at least one direction. In some configurations, as shown, the body 237c is formed as a strip capable of bending in a direction perpendicular to the wide side surface of the strip. In other configurations, the body 237c may include, for example, one or more reduced-size portions (to increase flexibility in one or more directions), bent hinge segments, ball joints, pin joints, combinations thereof, and / or other suitable hinge features to enable the flexible connector 236 to hinge in one or more directions.

[0041] The ultrasonic amplitude transformer 238 is integrally formed or joined to the distal mass 235b of the distal transducer 234 and extends distally therefrom. The blade 282 is integrally formed or joined to the ultrasonic amplitude transformer 238 and extends distally therefrom. In some configurations, the ultrasonic amplitude transformer 238 is omitted, and the blade 282 is formed or joined directly to the distal mass 235b.

[0042] As shown, the blade 282 defines a straight cylindrical structure. As detailed above, this structure allows for the connection between the blade 282 and the jaws 284 (…). Figure 1A Between ) with jaws 284 ( Figure 1A ) any rotational orientation of the tissue relative to the blade 282 (in the jaws 284) Figure 1A (In embodiments where the blade 282 can rotate around the blade 282). The blade 282 may alternatively define other suitable cross-sectional configurations, such as polygonal configurations, and / or may include a tapering shape along its length. Furthermore, as an alternative to defining a straight configuration, the blade 282 may define a curved and / or angled configuration, including one or more curved / angled portions that are curved / angled in similar or different directions.

[0043] Continue to refer to Figure 3 and Figure 4As detailed above, the transducer assembly 230 must be defined with a sufficiently small diameter to be operatively housed within the elongated shaft 210 and the support shaft 286. More specifically, in some configurations, the proximal transducer 232 and the distal transducer 234 are defined with outer diameters less than about 12 mm, less than about 10 mm, or less than about 8 mm. Therefore, the diameter (or the maximum cross-sectional dimension of the non-circular elements) of the piezoelectric element stacks 233c, 235c is limited, which in turn limits the ultrasonic energy that can be generated by the proximal transducer 232 and the distal transducer 234. Furthermore, the physics of longitudinal standing waves means that the increase in energy produced by increasing the number of piezoelectric elements in this stack is relatively minimal.

[0044] Regardless of whether the transducer assembly 230 is in an unhinged state ( Figure 3 () or in a hinged state () Figure 4 The transducer assembly 230, as detailed above, is configured such that the ultrasonic energy generated by the proximal transducer 232 can be transmitted along the flexible connector 236, the distal transducer 234, and the ultrasonic amplitude transformer 238 to the blade 282, and also allows the ultrasonic energy generated by the distal transducer 234 to be transmitted along the ultrasonic amplitude transformer 238 to the blade 282. Therefore, by providing two transducers 232 and 234 to generate the ultrasonic energy transmitted to the blade 282, the total amount of ultrasonic energy provided at the blade 282 can be increased without increasing the overall diameter of the system. In some devices, the proximal transducer 232 and the distal transducer 234 are located at or near a node of the system.

[0045] refer to Figures 5A to 5D Transducer assembly 230 ( Figure 3 and Figure 4 The constructions described above in detail are merely exemplary; this disclosure is not limited to two transducers connected by a flexible connector. Instead, any suitable construction of the transducers and connectors can be provided to enable the transfer of a suitable amount of ultrasonic energy to the blade while maintaining the overall diameter of the system below a threshold diameter. For example, as... Figure 5A As shown, the first transducer, the second transducer, and the third transducer 2232 may be provided with: a first flexible connector and a second flexible connector 2236 disposed between them; and an ultrasonic amplitude transformer 2238 and a blade 2282 extending distally from the distal transducer 2232.

[0046] like Figure 5BAs shown, as another example, the first transducer, the second transducer, the third transducer, and the fourth transducer 3232 may be provided with: a first flexible connector and a second flexible connector 3236, which connect the first transducer and the second transducer 3232 and the third transducer and the fourth transducer 3232 respectively; a rigid connector 3236', which connects the second transducer and the third transducer 3232 to each other and to each other; and an ultrasonic amplitude transformer 3238 and a blade 3282 extending distally from the distal transducer 3232.

[0047] Figure 5C Another example is shown, in which the first transducer and the second transducer 4232 are connected by a flexible connector 4236, an ultrasonic amplitude transformer 4238 extends distally from the distal transducer 4232, a waveguide 4236' extends distally from the ultrasonic amplitude transformer 4238, and a blade 4282 is defined at or engaged with the distal end of the waveguide 4236'.

[0048] Figure 5D The diagram illustrates a first transducer, a second transducer, and a third transducer 5232, wherein the first and second transducers 5232 are connected via a rigid connector 5236', and the second and third transducers 5232 are connected via a flexible connector 5236. An ultrasonic amplitude transformer 5238 and a blade 5282 extend distally from the distal transducer 5232. Other configurations incorporating the aforementioned components or any other suitable combination of components interconnecting multiple transducers with ultrasonic blades are also envisioned.

[0049] Figures 5A to 5D The transducer, flexible connector, ultrasonic amplitude transformer, and blade of the configuration may be similar to and include the transducer assembly 230 detailed above. Figure 3 and Figure 4 Any of the features of the ) . In addition, the plurality of flexible connectors can be oriented to allow hinges in the same plane to allow a greater degree of flexibility or to hinges in different planes to allow multidimensional hinges.

[0050] It should be understood that the various aspects disclosed herein can be combined in combinations different from those specifically presented in the specification and drawings. Furthermore, while several aspects of this disclosure are presented in the specification and drawings, they are not intended to limit the disclosure thereto, as the disclosure is intended to be as broad as permitted in the art and the specification should be read in the same manner. Therefore, the above description should not be construed as restrictive, but rather as illustrative of particular embodiments only. Those skilled in the art will be able to conceive of other modifications within the scope and spirit of the appended claims.

Claims

1. An ultrasonic surgical instrument, the ultrasonic surgical instrument comprising: case; An elongated shaft extending distally from the housing, wherein the elongated shaft includes a hinged portion; An end effector extending distally from the elongated axis, the end effector including jaws and an ultrasonic blade, wherein the jaws are configured to pivot relative to the ultrasonic blade from an open position to a clamping position to clamp tissue between the two; as well as A transducer assembly, at least partially disposed within the elongated shaft, spaced distally from the housing and including a proximal transducer and a distal transducer interconnected by a connector, wherein the connector extends through the hinge portion such that the proximal transducer is disposed proximal to the hinge portion and the distal transducer is disposed distal to the hinge portion. The ultrasonic blade is connected to the distal transducer such that ultrasonic energy generated by the proximal transducer is transmitted along the connector and the distal transducer to the ultrasonic blade, and ultrasonic energy generated by the distal transducer is transmitted to the ultrasonic blade.

2. The ultrasonic surgical instrument of claim 1, wherein the connector is a flexible connector configured to be hinged in at least one direction.

3. The ultrasonic surgical instrument according to claim 2, wherein the flexible connector is formed as a strip.

4. The ultrasonic surgical instrument according to claim 1, wherein the elongated shaft has an outer diameter of less than 15 mm.

5. The ultrasonic surgical instrument according to claim 1, wherein the elongated shaft defines an outer diameter of less than 8 mm.

6. The ultrasonic surgical instrument according to claim 1, wherein the elongated shaft defines an outer diameter between 5 mm and 8 mm.

7. The ultrasonic surgical instrument of claim 1, wherein each of the proximal transducer and the distal transducer has an outer diameter of less than 15 mm.

8. The ultrasonic surgical instrument of claim 1, wherein each of the proximal transducer and the distal transducer has an outer diameter of less than 8 mm.

9. The ultrasonic surgical instrument of claim 1, wherein each of the proximal transducer and the distal transducer has an outer diameter between 5 mm and 8 mm.

10. The ultrasonic surgical instrument of claim 1, wherein each of the proximal transducer and the distal transducer comprises: Proximal mass block; Distal mass block; A stack of piezoelectric elements is held between the proximal mass block and the distal mass block under pre-compression; as well as A first electrode and a second electrode are electrically coupled to the piezoelectric element stack.

11. The ultrasonic surgical instrument of claim 1, wherein the ultrasonic blade defines a cylindrical configuration.

12. The ultrasonic surgical instrument of claim 11, wherein the jaws are configured to rotate about the ultrasonic blade such that the jaws are capable of gripping tissue between the jaws and the ultrasonic blade in any rotational orientation of the jaws relative to the ultrasonic blade.

13. The ultrasonic surgical instrument according to claim 1, wherein the proximal transducer and the distal transducer are arranged around the vibration node.

14. The ultrasonic surgical instrument of claim 1, wherein the housing is adapted to be connected to the robotic arm of a robotic surgical system.

15. The ultrasonic surgical instrument according to claim 1, wherein the housing includes at least one manual control.

16. The ultrasonic surgical instrument according to claim 1, wherein the proximal transducer and the distal transducer are driven by independent electrical drive signals.

17. The ultrasonic surgical instrument according to claim 16, wherein, In the first operating mode, both the proximal transducer and the distal transducer are activated, and in the second operating mode, only one of the proximal transducer or the distal transducer is activated.

18. The ultrasonic surgical instrument according to claim 1, wherein, The ultrasonic surgical instrument also includes an ultrasonic amplitude transformer that connects the distal transducer to the ultrasonic blade.

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