Surgical instruments with articulated sections such as used in robotic surgical systems

Abstract

A surgical instrument is provided that includes an elongate shaft that includes an articulation segment. A jaw assembly extends from a distal segment of the elongate shaft. A first jaw member is actuatable between a closed configuration and an open configuration. An articulation cable assembly includes a first articulation cable that includes a first extension portion, a second extension portion spaced apart from the first extension portion, and a loop portion connecting distal ends of the first extension portion and the second extension portion of the first articulation cable. A first collar is positioned around the loop portion of the first articulation cable. A second articulation cable includes a first extension portion, a second extension portion spaced apart from the first extension portion, and a loop portion connecting distal ends of the first extension portion and the second extension portion of the second articulation cable. A second collar is positioned around the loop portion of the second articulation cable.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to U.S. Patent Application No. 17 / 018,346, filed on September 11, 2020. Technical Field

[0003] This disclosure relates to surgical instruments, and more specifically, to surgical instruments having articulated sections, such as those used in robotic surgical systems. Background Technology

[0004] Robotic surgical systems are increasingly being used in a wide variety of surgical procedures. Some robotic surgical systems include a console that supports the robotic arm. One or more different surgical instruments can be configured for use with the robotic surgical system and can be selectively mounted to the robotic arm. The robotic arm provides one or more inputs to the mounted surgical instruments to enable the manipulation of the mounted surgical instruments.

[0005] Surgical forceps are instruments that can be used with robotic surgical systems, relying on the mechanical action between their jaw components to grasp, clamp, and contract tissue. Electrosurgical forceps utilize mechanical clamping action and energy to heat tissue for procedures such as coagulation, cauterization, or sealing. Typically, once the tissue has been processed, a cutting element is used to cut it. Therefore, electrosurgical forceps are designed to incorporate a cutting element to effectively cut processed tissue. Alternatively, energy-based cutting mechanisms, such as thermal cutting, electrical cutting, and ultrasonic cutting, can be implemented. Summary of the Invention

[0006] As used herein, the term "distal" refers to the portion described as being farther from the operator (whether a human surgeon or a surgical robot), while the term "proximal" refers to the portion described as being closer to the operator. As used herein, the terms "about," "substantially," etc., indicate manufacturing, material, environmental, usage, and / or measurement tolerances and variations, and in any case may cover up to 10% variation. Furthermore, to the extent consistent, any aspect described herein may be used in conjunction with any or all other aspects described herein.

[0007] A surgical instrument is provided according to various aspects of this disclosure, comprising an elongated shaft defining a longitudinal axis, a proximal segment, and a distal segment. The elongated shaft includes a hinged section located between the proximal and distal segments. A jaw assembly extends from the distal segment of the elongated shaft. The jaw assembly includes a first jaw member and a second jaw member. The first jaw member is actuable relative to the second jaw member between a closed configuration and an open configuration. A hinged cable assembly includes a first hinged cable extending along the longitudinal axis of the elongated shaft from the proximal segment to the distal segment. The first hinged cable includes a first extension, a second extension spaced apart from the first extension, and a loop portion connecting the distal ends of the first and second extensions of the first hinged cable. A first collar is positioned around the loop portion of the first hinged cable. The first hinged cable is coupled to the distal segment of the elongated shaft. A second articulated cable extends from the proximal section to the distal section along the longitudinal axis of the elongated shaft. The second articulated cable includes a first extension, a second extension spaced apart from the first extension, and a loop portion connecting the first extension and the distal ends of the second extension. A second collar is positioned around the loop portion of the second articulated cable. The second articulated cable is coupled to the distal section of the elongated shaft.

[0008] In one aspect of this disclosure, the first jaw member includes a first jaw wire extending therefrom proximally, and the second jaw member includes a second jaw wire extending therefrom proximally.

[0009] In one aspect of this disclosure, a connecting fork is positioned around the first jaw member and the second jaw member. The distal end portions of the first and second articulated cables are positioned within the connecting fork. The first and second collars are also positioned within the connecting fork.

[0010] In one aspect of this disclosure, a skirt-like portion is positioned around the hinged segment of the elongated shaft. The skirt-like portion includes a first aperture, a second aperture, a third aperture, and a fourth aperture. A first extension of the first hinged cable passes through the first aperture. A second extension of the first hinged cable passes through the second aperture. A first extension of the second hinged cable passes through the third aperture. A second extension of the second hinged cable passes through the fourth aperture.

[0011] In one aspect of this disclosure, a jaw cable is coupled to the first jaw member. The jaw cable actuates the first jaw member between the closed configuration and the open configuration. A distal transition plug is positioned around the proximal end portion of the jaw assembly. The distal transition plug holds the first jaw wire, the second jaw wire, and the jaw cable in position within the distal segment of the elongated shaft. A proximal transition plug is positioned on the side of the hinged section opposite to the distal transition plug. The proximal transition plug holds the second jaw wire, the blade cable, the jaw cable, the first hinged cable, and the second hinged cable in position within the proximal segment of the elongated shaft. The proximal transition plug allows the first and second extensions of the first hinged cable and the first and second extensions of the second hinged cable to longitudinally translate through the proximal transition plug.

[0012] In one aspect of this disclosure, the jaw assembly includes a blade slidably disposed between the first jaw member and the second jaw member to cut and grip tissue between the first jaw member and the second jaw member. The blade is laterally offset from the center of the first jaw member and the second jaw member.

[0013] In one aspect of this disclosure, a blade cable is connected to the transverse surface of the blade. The blade cable extends through the distal transition plug.

[0014] In one aspect of this disclosure, a pivot pin extends through the proximal arm of the first jaw member and the second jaw member. The pivot pin pivotally connects the first jaw member to the second jaw member.

[0015] According to various aspects of this disclosure, a transition plug is provided disposed in the distal section of the elongated shaft. The transition plug includes an orifice and a slot defined through the orifice. The slot is laterally offset from the orifice. A blade shank supports a collar at its distal end portion. The blade shank and the collar are longitudinally translatable through the orifice of the transition plug. A blade body defines a cutting edge at its distal end portion. The blade body is longitudinally translatable through the slot of the transition plug. The blade body defines a collar slot. The collar at least partially engages within the collar slot of the blade body.

[0016] In one aspect of this disclosure, the blade is capable of longitudinal translation within the jaw assembly along an axis laterally offset from the center of the jaw assembly. The blade body is capable of longitudinal translation within a groove formed in the second jaw member. The cutting edge extends from the blade body above the upper surface of the second jaw member.

[0017] In one aspect of this disclosure, the blade bar is formed of nitinol, and the collar is formed of stainless steel.

[0018] In one aspect of this disclosure, the collar is welded to the transverse surface of the blade body.

[0019] In one aspect of this disclosure, a jaw cable is operatively coupled to the first jaw member. The jaw cable actuates the first jaw member between the closed configuration and the open configuration. The transition plug defines a second orifice. The jaw cable extends along the longitudinal axis of the elongated shaft through the second orifice of the transition plug.

[0020] In one aspect of this disclosure, the diameter of the second orifice of the transition plug is larger than the diameter of the orifice of the transition plug. Attached Figure Description

[0021] Various aspects and features of this disclosure are described below with reference to the accompanying drawings, in which:

[0022] Figure 1 This is a perspective view of a surgical instrument according to the present disclosure, which is configured for mounting on a robotic arm of a robotic surgical system.

[0023] Figure 2 yes Figure 1 A posterior perspective view of the proximal portion of a surgical instrument, with the outer shell removed;

[0024] Figure 3 It is configured to receive releasably. Figure 1 A schematic diagram of an exemplary robotic surgical system containing surgical instruments;

[0025] Figure 4 This is a perspective view of the second jaw of the jaw assembly according to this disclosure;

[0026] Figure 5 yes Figure 4 A perspective view of the jaw assembly, showing the first jaw and the second jaw;

[0027] Figure 6 yes Figure 4 A partial exploded perspective view of the jaw assembly, showing the cam bar assembly extending through the connecting fork and coupled to the first jaw;

[0028] Figure 7 yes Figure 4 A partial exploded perspective view of the jaw assembly, showing the connecting fork advancing toward the jaw assembly;

[0029] Figure 8 yes Figure 4 A perspective view of the jaw assembly, showing the connecting fork positioned around the jaw assembly;

[0030] Figure 9 yes Figure 4A perspective view of the jaw assembly, with the pivot pin removed from the jaw assembly;

[0031] Figure 10 yes Figure 4 A perspective view of the jaw assembly, in which a pivot pin is connected to the proximal arm of the first jaw member and the second jaw member;

[0032] Figure 11 This is a perspective view of the articulated cable assembly according to this disclosure;

[0033] Figure 12 yes Figure 11 An enlarged perspective view of a portion of a hinged cable assembly, wherein the hinged cable is shown in dashed lines and extends through a hinged segment of an elongated shaft, wherein the distal end portion of the hinged cable includes a collar secured in a connecting fork.

[0034] Figure 13 yes Figure 11 A perspective view of the skirt-shaped portion of the articulated cable assembly;

[0035] Figure 14 This is a front perspective view of a blade that can extend in the jaw assembly according to this disclosure;

[0036] Figure 15 This is a perspective view of a collar supported at the distal end portion of the blade shank, which is connected to... Figure 14 The side of the blade shaft;

[0037] Figure 16 It is the blade rod that extends through the slot of the transition plug and extends through Figure 14 A perspective view of the orifice ring of the transition plug; and

[0038] Figure 17 yes Figure 16 A perspective view of the transition plug, omitting the blade rod and collar. Detailed Implementation

[0039] The description of technical features or aspects of exemplary configurations of this disclosure should generally be considered as other similar features or aspects that can be used and applied to another exemplary configuration of this disclosure. Therefore, technical features described herein according to one exemplary configuration of this disclosure may be applied to other exemplary configurations of this disclosure, and thus repeated descriptions may be omitted herein.

[0040] Exemplary configurations of this disclosure will now be described more fully (see, for example, the accompanying drawings). Throughout the specification and the drawings, the same reference numerals may refer to the same elements.

[0041] Reference Figure 1 and 2The surgical instrument 10 provided according to this disclosure generally includes a housing 20, a shaft 30 extending distally from the housing 20, an end effector assembly 40 extending distally from the shaft 30, and an actuation assembly 100 disposed within the housing 20 and operatively associated with the shaft 30 and the end effector assembly 40. The instrument 10 is detailed herein as being configured for use with a robotic surgical system (e.g., robotic surgical system 500) Figure 3 Articulated electrosurgical forceps used together. However, the aspects and features of the device 10 provided according to this disclosure, as detailed below, are equally applicable to use with other suitable surgical instruments (including non-robotic surgical instruments) and / or in other suitable surgical systems (including non-robotic surgical systems).

[0042] The housing 20 of the device 10 includes first and second main body portions 22a, 22b and a proximal panel 24. Figure 2 They cooperate to enclose the actuation assembly 100 therein. The proximal panel 24 includes orifices defined therein, through which the input ends 110-140 of the actuation assembly 100 extend. A pair of latching rods 26 ( Figure 1 (Only one of them is shown) extends outward from opposite sides of housing 20, and such that housing 20 can be coupled with a surgical system (e.g., robotic surgical system 500). Figure 3 The robotic arm can be releasably engaged (directly or indirectly). An aperture 28 defined through housing 20 allows the finger wheel 440 to extend through the aperture, enabling manual manipulation of the finger wheel 440 from outside housing 20, thereby allowing manual opening and closing of the end effector assembly 40.

[0043] The shaft 30 of the device 10 includes a distal section 32, a proximal section 34, and an articulated section 36 disposed between the distal section 32 and the proximal section 34. The articulated section 36 includes one or more articulated components 37, such as links, joints, etc. Multiple articulated cables 38 (e.g., four (4) articulated cables) or other suitable actuators extend through the articulated section 36. More specifically, the articulated cable 38 is operably coupled at its distal end to the distal segment 32 of the shaft 30 and extends proximally from the distal segment 32 of the shaft 30, through the articulated section 36 and the proximal segment 34 of the shaft 30, and into the housing 20, wherein the articulated cable 38 is operably coupled to the articulated assembly 200 of the actuation assembly 100 so that the distal segment 32 can be selectively articulated relative to the proximal segment 34 and the housing 20 (and thus coupled to the end effector assembly 40), for example, around at least two articulation axes (e.g., deflection and tilting articulation). The articulated cable 38 is arranged in a generally rectangular configuration, but other suitable configurations are also contemplated.

[0044] Regarding the hinge of the end effector assembly 40 relative to the proximal segment 34 of the shaft 30, the hinge cables 38 are actuated in pairs. More specifically, to tilt the end effector assembly 40, the upper pair of cables 38 is actuated in a similar manner, while the lower pair of cables 38 is actuated in a similar manner but opposite to that of the upper pair. Regarding the deflection hinge, the right pair of cables 38 is actuated in a similar manner, while the left pair of cables 38 is actuated in a similar manner but opposite to that of the right pair.

[0045] The end effector assembly 40 includes connecting forks 41 (extending from the distal segment 32 of the shaft 30, integrally formed with or constituting the distal segment 32 of the shaft 30) that support the first jaw member 42 and the second jaw member 44, respectively. Each jaw member 42, 44 includes proximal extensions 43a, 45a and distal body portions 43b, 45b, respectively. The distal body portions 43b, 45b define opposing tissue contact surfaces 46, 48, respectively. The proximal extensions 43a and 45a are pivotally connected to each other about a pivot pin 50 and operably connected to each other via a cam slot assembly 52 including a cam pin 53 slidably received within a cam slot defined within the proximal extension 43a of the jaw member 42, such that the jaw member 42 is pivotable relative to the jaw member 44 and the distal segment 32 of the shaft 30 between a spaced position (e.g., an open position of the end effector assembly 40) and an approach position (e.g., a closed position of the end effector assembly 40) for gripping tissue between tissue contact surfaces 46 and 48. As an alternative to this unilateral configuration, a bilateral configuration may be provided, in which the two jaw members 42 and 44 are pivotable relative to each other and the distal segment 32 of the shaft 30.

[0046] The tissue contact surfaces 46 and 48 of the jaw members 42 and 44 are at least partially formed of a conductive material and can be excited to different potentials to conduct electrical energy through the tissue held therebetween. However, the tissue contact surfaces 46 and 48 can also be configured to provide any suitable energy, such as heat, microwave, light, ultrasound, etc., through the tissue held therebetween for energy-based tissue manipulation. The instrument 10 defines a conductive path (not shown) extending through the housing 20 and shaft 30 to an end effector assembly 40, which may include leads, contacts, and / or conductive components such that the tissue contact surfaces 46 and 48 of the jaw members 42 and 44 can be electrically connected, respectively, via electrosurgical cables extending therebetween to an energy source (not shown), such as an electrosurgical generator, for supplying energy to the tissue contact surfaces 46 and 48 to manipulate, for example, the tissue held between the tissue contact surfaces 46 and 48. Conductive pathways to the tissue contact surfaces 46, 48 of the jaw members 42, 44 may be provided by jaw wires extending proximally from the jaw members (e.g., jaw members 42, 44), as described below. Figures 4 to 13 A more detailed description of clamp-jaw wires.

[0047] As described above, the actuation assembly 100 is disposed within the housing 20 and includes a hinge assembly 200, a cutting drive assembly 300, and a jaw drive assembly 400. The hinge assembly 200 is operably connected to the first input terminal 110 and the second input terminal 120 of the actuation assembly 100 and the hinge cable 38, respectively. Figure 1 Between, so that when a suitable rotational input is received to the first input 110 and / or the second input 120, the hinge assembly 200 manipulates the cable 38 ( Figure 1 The end effector assembly 40 is hinged in the desired direction, for example, to tilt and / or deflect the end effector assembly 40.

[0048] Actuation component 100 is configured to activate when instrument 10 is mounted on robotic surgical system 500. Figure 3 ) and robotic surgical system 500 ( Figure 3 The robotic surgical system 500 is operably docked to enable the robotic operation of the actuation component 100 to provide the aforementioned functionality. Figure 3 The actuation assembly 100 selectively provides rotational input to its inputs 110-140 to articulate tissue between the end effector assembly 40, the gripping jaw members 42, 44, and / or to cut tissue gripped between the jaw members 42, 44. However, it is also conceivable that the actuation assembly 100 is configured to interface with any other suitable surgical system (e.g., a manual surgical handle, a motorized surgical handle, etc.). For the purposes of this document, a robotic surgical system 500 is generally described. Figure 3 ).

[0049] Go to Figure 3 The robotic surgical system 500 is configured for use according to this disclosure. Aspects and features of the robotic surgical system 500 that are not closely related to the understanding of this disclosure are omitted so as not to obscure the aspects and features of this disclosure with unnecessary detail.

[0050] A robotic surgical system 500 typically includes: multiple robotic arms 502, 503; a control unit 504; and an operation console 505 connected to the control unit 504. The operation console 505 may include a display device 506, which may be specifically configured to display three-dimensional images; and manual input devices 507, 508, through which a person, such as a surgeon, can remotely manipulate the robotic arms 502, 503 in a first operating mode. The robotic surgical system 500 may be configured for minimally invasive use on a patient 513 lying on a patient table 512 awaiting treatment. The robotic surgical system 500 may also include a database 514, particularly a database connected to the control unit 504, which stores preoperative data, for example, from the patient 513 and / or anatomical atlases.

[0051] Each of the robotic arms 502 and 503 may include multiple components connected via joints and mounted devices, such as surgical tools "ST". One or more of the surgical tools "ST" may be instruments 10 ( Figure 1 Therefore, such functionality is provided on the robotic surgical system 500.

[0052] Robotic arms 502 and 503 may be driven by electric actuators (e.g., motors) connected to a control unit 504. The control unit 504 (e.g., a computer) may be configured to activate the motors in a manner specifically through computer programs that cause the robotic arms 502 and 503, and the surgical instruments "ST" mounted thereon, to perform desired movements and / or functions, respectively, based on corresponding inputs from manual input devices 507 and 508. The control unit 504 may also be configured to adjust the manner of movement of the robotic arms 502 and 503 and / or the motors.

[0053] Go to Figures 4 to 10 In some configurations, the end effector assembly 40 ( Figure 1 ) including from the slender shaft 30 ( Figure 1The jaw assembly 649 extends from the distal segment 32 of the jaw assembly 41. The jaw assembly 649 includes a first jaw member 642 and a second jaw member 644. The first jaw member 642 is actuable relative to the second jaw member 644 (e.g., about a pivot pin 685) between a closed configuration and an open configuration. The pivot pin 685 extends through proximal arms 686 and 687 of the first and second jaw members, respectively. The pivot pin 685 pivotally connects the first jaw member to the second jaw member. A connecting fork 641 is positioned about the proximal arms 686 and 687. The connecting fork 641 is compatible with connecting fork 41 ( Figure 1 They are essentially the same, unless otherwise stated.

[0054] The first jaw member 642 includes a first jaw wire 681 extending proximally therefrom. The second jaw member 644 includes a second jaw wire 682 extending proximally therefrom. The first jaw wire 681 provides electrosurgical power to the first jaw member 642, and the second jaw wire 682 provides electrosurgical power to the second jaw member 644.

[0055] Jaw assembly 649 includes blade 684 (see example) Figure 4 The blade is slidably disposed between the first jaw member 642 and the second jaw member 644 to cut tissue gripped between the first jaw member 642 and the second jaw member 644. The blade 684 extends from the central axis of the first jaw member 642 and the second jaw member 644 (see, for example...). Figure 14 The axis (YY) is offset laterally. A blade cable 673 is attached to and extends proximally from the blade 684. The blade cable 673 allows the blade 684 to slide slidably through a channel 674 formed in the first jaw member 642. A corresponding channel (not shown) may also be defined in the second jaw member 644. The blade cable 673 may be a rod (such as a flexible rod) or a cable (such as a braided cable) with sufficient rigidity to advance the blade 684.

[0056] Jaw cable 683 is coupled to and extends proximally from the proximal arm 686 of the first jaw member 642 to actuate the first jaw member 642 between a closed configuration and an open configuration. Jaw cable 683 is coupled to the proximal arm 686 via cam bar assembly 699. Cam bar assembly 699 includes a distal plug 698 coupled to a cam bar 697 disposed in a cam slot 696 of the proximal arm 686.

[0057] Specifically, refer to Figure 1 and Figures 11 to 13 The articulated cable assembly 1131 includes a first articulated cable 1132 and a second articulated cable 1136, the first articulated cable and the second articulated cable being along the longitudinal axis of the elongated shaft 30 (e.g., Figure 1The axis XX extends from the proximal segment 34 of the elongated shaft 30 to the distal segment 32. The first articulated cable 1132 has a configuration substantially the same as the second articulated cable 1136. The articulated cable assembly 1131 selectively actuates the distal segment 32 relative to the proximal segment 34 (and thus actuates the end effector assembly 40). Hinges (e.g., deflection and tilting hinges) can be achieved about at least two articulated axes, similar to those described above with respect to the articulated cable 38.

[0058] The first articulated cable 1132 includes a first extension 1133, a second extension 1134 spaced apart from the first extension 1133, and loop portions 1135 connecting the distal ends 1114 and 1115 of the first extension 1133 and the second extension 1134 of the first articulated cable 1132, respectively. The articulated cable 1132 is a single, integrally formed cable wrapped around the distal segment 1120 of the elongated shaft 30 to form the first extension 1133 and the second extension 1134 from the single articulated cable 1132. Using a single articulated cable 1132 to form two strands (i.e., the first extension 1133 and the second extension 1134) simplifies manufacturing and reduces manufacturing costs.

[0059] The second articulated cable 1136 includes a first extension 1137, a second extension 1138 spaced apart from the first extension 1137, and a loop portion 1139 connecting the distal end (not shown) of the first extension 1137 and the distal end 1117 of the second extension 1138. The articulated cable 1136 is a single, integrally formed cable wrapped around the distal segment 1120 of the elongated shaft 30 to form the first extension 1137 and the second extension 1138 from the single articulated cable 1136. Using a single articulated cable 1136 to form two strands (i.e., the first extension 1137 and the second extension 1138) simplifies manufacturing and reduces manufacturing costs.

[0060] A first collar 1171 is positioned around the loop portion 1135 of the first articulated cable 1132. The first collar 1171 is coupled to the distal segment 32 of the elongated shaft 30, thereby connecting the first articulated cable 1132 to the distal segment 32 of the elongated shaft 30. A second collar (not shown) is positioned around the loop portion 1139 of the second articulated cable 1136. The second collar is substantially the same as the first collar 1171, but is positioned relative to it. The second collar is coupled to the distal segment 32 of the elongated shaft 30, thereby connecting the second cable 1136 to the distal segment 32 of the elongated shaft 30.

[0061] The loop portions 1135 and 1139 of the first articulated cable 1132 and the second articulated cable 1136 are positioned in the connecting fork 641. The first collar 1171 and the second collar are positioned in the connecting fork 641 and are securely fixed to the distal section 20 of the elongated shaft by the connecting fork 641. The first collar 1171 and the second collar can each be fixed in a recess formed in the distal transition plug 1195, and the connecting fork 641 can prevent the first collar 1171 and the second collar from moving out of the recess.

[0062] The distal transition plug 1195 is positioned around the proximal end portion 1119 of the jaw assembly 649. The distal transition plug 1195 holds the first jaw wire 681, the second jaw wire 682, and the jaw cable 683 in position within the distal segment 32 of the elongated shaft 30. The proximal transition plug 1196 is positioned on the opposite side of the articulated segment 36 to the distal transition plug 1195. The proximal transition plug 1196 holds the second jaw wire 682, the blade cable 673, the jaw cable 683, the first articulated cable 1133, and the second articulated cable 1138 in position within the proximal segment 34 of the elongated shaft 30. The proximal transition plug 1196 holds the first extension 1133 and the second extension 1134 of the first articulated cable 1132, and the first extension 1137 and the second extension 1138 of the second articulated cable 1136 in a spaced-apart position. The proximal transition plug 1196 allows the first extension 1133 and the second extension 1134 of the first articulated cable 1132, and the first extension 1137 and the second extension 1138 of the second articulated cable 1136, to longitudinally translate through the proximal transition plug. The distal transition plug 1195 holds the jaw cable 683, the blade bar 1403, and the jaw wire 1482 in two positions. The first position is for aligning the jaws to the desired position, and the second position is for aligning the desired wrist position. One purpose of the transition plugs 1195 and 1196 is to provide a smooth, low-friction transition between the desired positions of the cables, wiring, etc., that extend through them.

[0063] The first and second rings can be securely fixed in the distal section 32 of the slender shaft 30 between the connecting fork 641 and the distal transition plug 1195.

[0064] Specifically, refer to Figure 13The skirt-like portion 1390 is positioned around the hinge segment 36 of the elongated shaft 30. The skirt-like portion 1390 includes a first aperture 1391, a second aperture 1392, a third aperture 1393, and a fourth aperture 1394. A first extension 1133 of the first hinge cable 1132 passes through the first aperture 1391. A second extension 1134 of the first hinge cable 1132 passes through the second aperture 1392. A first extension 1137 of the second hinge cable 1136 passes through the third aperture 1393. A second extension 1138 of the second hinge cable 1136 passes through the fourth aperture 1394. The skirt-like portion 1390 is positioned to cover a pivot joint between the hinge segment 36 of the elongated shaft 30 and the distal segment 32 of the elongated shaft 30 (and / or, in a configuration with multiple hinge segments 36, a pivot joint between adjacent hinge segments 36). Therefore, the clamping point between the hinge segment 36 and the distal segment 32 and / or between the hinge segment 36 is eliminated.

[0065] Specifically, refer to Figure 11 and Figures 14 to 17 A transition plug 1485 is disposed in the distal section 32 of the elongated shaft 30. The transition plug 1485 is substantially the same as the transition plug 1195 unless otherwise stated. The transition plug 1485 includes an orifice 1401 and a slot 1402 defined through the orifice. The slot 1402 is laterally offset from the orifice 1401. A blade shank 1403 supports a collar 1404 at its distal end portion 1414. The blade shank 1403 and the collar 1404 are longitudinally translatable through the orifice 1401 of the transition plug 1485. A blade body 1403 defines a cutting edge 1484 at its distal end portion 1415. The blade body 1405 is longitudinally translatable through the slot 1402 of the transition plug 1485. The slot 1402 has a shape corresponding to the shape of the blade body 1405. The slot 1402 holds the blade body 1405 in a position (e.g., a lateral position) through the slot. The orifice 1401 has a generally cylindrical shape that corresponds to the shape of the collar 1404.

[0066] The blade body 1405 defines a collar slot 1406. A collar 1404 is at least partially engaged within the collar slot 1404 of the blade body 1405. The collar slot 1406 is defined in a transverse surface 1409 of the blade body 1405. The collar slot 1406 may extend completely through the thickness of the blade body 1405, or may be formed as a notch that does not extend completely through the thickness of the blade body 1405.

[0067] The blade body 1405 is capable of operating along an axis that is laterally offset from the center of the jaw member 1444 (e.g., Figure 14The blade body 1405 is capable of longitudinal translation along the axis Y. The blade body 1405 is able to translate longitudinally within a groove 1474 formed in the second jaw member 1444. A cutting edge 1484 extends from the blade body 1405 above the upper surface 1407 of the second jaw member 1444. The cutting edge 1484 is positioned to cut tissue during its longitudinal translation. The blade body 1405 has a height that does not extend above the upper surface 1407 of the second jaw member 1444, and therefore only the cutting edge 1484 extends above the upper surface 1407 of the second jaw member 1444, but other configurations are also conceivable.

[0068] As an example, the blade shank 1403 may be formed of or contain nitinol, and the collar 1404 may be formed of or contain stainless steel. The collar 1404 may be welded to the transverse surface 1409 of the blade body 1405.

[0069] Clasp cable (e.g., Figure 11 The jaw cable 683 extends along the longitudinal axis of the elongated shaft 30 through the second orifice 1408 of the transition plug 1485. The second orifice 1408 may have a generally cylindrical shape corresponding to the shape of the jaw cable extending therethrough.

[0070] The diameter of the second orifice 1408 of the transition plug 1485 is larger than the diameter of the orifice 1401 of the transition plug 1485.

[0071] The second jaw wire 1482 extends proximally from the second jaw member 1444. The second jaw wire 1482 is substantially the same as the second jaw wire 482 described herein.

[0072] The cutting edge 1484 may be defined on the proximal edge 1417 and / or the distal edge 1418 of the blade body 1405.

[0073] It should be understood that various modifications can be made to the aspects and features disclosed herein. Therefore, the above description should not be construed as limiting, but merely as examples of various aspects and features. Those skilled in the art will be able to conceive of other modifications within the scope and spirit of the appended claims.

Claims

1. A surgical instrument, said surgical instrument comprising: An elongated shaft defining a longitudinal axis, a proximal segment, and a distal segment, the elongated shaft including a hinged segment located between the proximal segment and the distal segment; A jaw assembly extending from the distal segment of the elongated shaft, the jaw assembly including a first jaw member and a second jaw member, the first jaw member being configured to actuate relative to the second jaw member between a closed configuration and an open configuration; A transition plug, at least partially disposed in the distal section of the elongated shaft, the transition plug comprising an orifice and a slot defined through the orifice, the slot being laterally offset from the orifice; A blade body configured to cut tissue; as well as A blade rod, wherein a collar is supported at its distal end portion for attaching the collar to the blade body, the blade rod and the collar being longitudinally translatable within the orifice of the transition plug to allow the blade body to translate through the slot of the transition plug.

2. The surgical instrument of claim 1, wherein the blade body is capable of longitudinal translation within the jaw assembly along an axis laterally offset from the center of the jaw assembly.

3. The surgical instrument of claim 1, wherein the blade body is longitudinally translatable in a groove formed in the second jaw member, and wherein the cutting edge of the blade body extends from the blade body above the upper surface of the second jaw member.

4. The surgical instrument of claim 1, wherein the blade shaft is formed of nitinol and the collar is formed of stainless steel.

5. The surgical instrument of claim 1, wherein the collar is welded to the side surface of the blade body.

6. The surgical instrument of claim 1, further comprising a connecting fork positioned around the jaw assembly and around the transition plug.

7. The surgical instrument of claim 1, wherein the first jaw member includes a first jaw wire extending proximally therefrom, and wherein the second jaw member includes a second jaw wire extending proximally therefrom, the first jaw wire being configured to provide electrosurgical energy to the first jaw member, and the second jaw wire being configured to provide electrosurgical energy to the second jaw member.

8. The surgical instrument of claim 7, further comprising a jaw cable operatively coupled to the first jaw member, the jaw cable being configured to actuate the first jaw member between the closed configuration and the open configuration, the transition plug defining a second orifice therein, wherein the jaw cable extends along the longitudinal axis of the elongated shaft through the second orifice of the transition plug.

9. The surgical instrument of claim 8, wherein the diameter of the second orifice of the transition plug is larger than the diameter of the orifice of the transition plug.

10. The surgical instrument of claim 9, further comprising a second transition plug positioned on the opposite side of the articulated section, the second transition plug being configured to hold the second jaw wire, the blade bar, and the jaw cable within the elongated shaft.

11. A surgical instrument, said surgical instrument comprising: An elongated shaft defining a longitudinal axis, a proximal segment, and a distal segment, the elongated shaft including a hinged segment located between the proximal segment and the distal segment; A jaw assembly extending from the distal segment of the elongated shaft, the jaw assembly including a first jaw member and a second jaw member, the first jaw member being configured to actuate relative to the second jaw member between a closed configuration and an open configuration, the second jaw member defining a groove therein, the groove being laterally offset from the central axis of the second jaw member; A transition plug disposed in the distal section of the elongated shaft, the transition plug including an orifice and a slot defined through the orifice, the slot being laterally offset from the orifice; A blade body configured to cut tissue; as well as A blade shank, which supports a collar at its distal end portion for attaching the collar to the blade body, the blade shank and the collar being longitudinally translatable within the orifice of the transition plug to allow the blade body to translate through the slot of the transition plug, wherein the blade body is longitudinally positioned within the groove of the second jaw member.

12. The surgical instrument of claim 11, further comprising a collar slot defined in a transverse surface of the blade body, the collar being at least partially fixed in the collar slot.

13. The surgical instrument of claim 11, wherein the cutting edge of the blade body extends from the blade body above the upper surface of the second jaw member.

14. The surgical instrument of claim 11, wherein the blade shaft is formed of nitinol and the collar is formed of stainless steel.

15. The surgical instrument of claim 14, wherein the collar is welded to the transverse surface of the blade body.

16. The surgical instrument of claim 11, further comprising a connecting fork positioned around the jaw assembly and around the transition plug.

17. The surgical instrument of claim 11, wherein the first jaw member includes a first jaw wire extending proximally therefrom, and wherein the second jaw member includes a second jaw wire extending proximally therefrom, the first jaw wire being configured to provide electrosurgical energy to the first jaw member, and the second jaw wire being configured to provide electrosurgical energy to the second jaw member.

18. The surgical instrument of claim 17, further comprising a jaw cable operatively coupled to the first jaw member, the jaw cable being configured to actuate the first jaw member between the closed configuration and the open configuration, the transition plug defining a second orifice therein, wherein the jaw cable extends along the longitudinal axis of the elongated shaft through the second orifice of the transition plug.

19. The surgical instrument of claim 18, wherein the diameter of the second orifice of the transition plug is larger than the diameter of the orifice of the transition plug.

20. The surgical instrument of claim 19, further comprising a second transition plug positioned on the opposite side of the articulated section, the second transition plug being configured to hold the second jaw wire, the blade bar, and the jaw cable within the elongated shaft.

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