Clamping force control features for surgical end effectors

Abstract

A surgical instrument and method of compressing tissue includes an end effector and a shaft assembly. The end effector has a jaw and a clamp arm movable between an open position and a closed position. The shaft assembly includes a clamp actuator having a proximal actuator portion, a distal actuator portion, and a force limiter. A force limiter is longitudinally connected between the proximal actuator portion and the distal actuator portion, and the force limiter is configured to transmit motion from the proximal actuator portion to the distal actuator portion until a predetermined force is transmitted through the force limiter. At least a portion of the force limiter is configured to deflect when a predetermined force is exceeded such that the proximal actuator portion is configured to move longitudinally relative to the distal actuator portion to limit a clamping force between the jaw and the clamping arm.

Description

Background Art

[0001] A variety of surgical instruments include end effectors that are used for conventional medical treatments and procedures performed by medical professional operators and applications in robot-assisted surgery. Such surgical instruments can be directly grasped and manipulated by surgeons, or incorporated into robot-assisted surgery. In the case of robot-assisted surgery, surgeons can operate a master controller to remotely control the movement of such surgical instruments at the surgical site. The controller can be at a great distance from the patient (e.g., through the operating room, in a different room, or in a building completely different from the patient). Alternatively, the controller can be placed in a position very close to the patient in the operating room. In any case, the controller may include one or more hand input devices (such as joysticks, exoskeleton gloves, master manipulators, etc.), which are connected to the surgical instrument by a servo mechanism. In one example, a servo motor moves the manipulator supporting the surgical instrument based on the surgeon's manipulation of the hand input device. During surgery, surgeons can use various surgical instruments via a robotic surgical system, including ultrasonic knives, tissue graspers, needle drivers, electrosurgical cautery probes, etc. Each of these structures performs a function for the surgeon, such as cutting tissue, coagulating tissue, holding or driving a needle, grasping a blood vessel, dissecting tissue, or cauterizing tissue.

[0002] In one example, the end effector of a surgical instrument includes a knife 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 that are transmitted to the knife element along an acoustic waveguide. The accuracy of cutting and coagulation can be controlled by the operator's technique and adjustment of the power level, blade angle, tissue traction, and knife pressure. The power level used to drive the knife element can be changed (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 grasping tissue with the knife element. Examples of ultrasonic surgical instruments and related concepts are disclosed in the following documents: U.S. Publication No. 2006 / 0079874, entitled “Tissue Pad for Use with an Ultrasonic Surgical Instrument,” published on April 13, 2006 (now abandoned), the disclosure of which is incorporated herein by reference; U.S. Publication No. 2007 / 0191713, entitled “Ultrasonic Device for Cutting and Coagulating,” published on August 16, 2007 (now abandoned), the disclosure of which is incorporated herein by reference; and U.S. Publication No. 2008 / 0200940, entitled “Ultrasonic Device for Cutting and Coagulating,” published on August 21, 2008 (now abandoned), the disclosure of which is incorporated herein by reference.

[0003] Examples of robotic systems in which at least some have ultrasonic features and / or associated articulatable portions include U.S. patent application Ser. No. 16 / 556,661, filed on Aug. 30, 2019, and entitled “Ultrasonic Surgical Instrument with a Multi-Planar Articulating Shaft Assembly”; U.S. patent application Ser. No. 16 / 556,667, filed on Aug. 30, 2019, and entitled “Ultrasonic Transducer Alignment of an Articulating Ultrasonic Surgical Instrument”; U.S. patent application Ser. No. 16 / 556,625, filed on the same date as the present application, and entitled “Ultrasonic Surgical Instrument with Axisymmetric Clamping”; U.S. patent application Ser. No. 16 / 556,630, filed on Aug. 30, 2019, and entitled “Ultrasonic Blade and Clamp Arm Alignment of an Articulating Ultrasonic Surgical Instrument”; U.S. patent application Ser. No. 16 / 556,645, filed on Aug. 30, 2019, and entitled “Ultrasonic Surgical Instrument with Axisymmetric Clamping”; U.S. patent application Ser. No. 16 / 556,650, filed on Aug. 30, 2019, and entitled “Ultrasonic Surgical Instrument with Axisymmetric Clamping”; U.S. patent application Ser. No. 16 / 556,663, filed on Aug. 30, 2019, and entitled “Ultrasonic Surgical Instrument with Axisymmetric Clamping”; U.S. patent application Ser. No. 16 / 556,664, filed on Aug. 30, 2019, and entitled “Ultrasonic Surgical Instrument with Axisymmetric Clamping”; U.S. patent application Ser. No. 16 / 556 and / or U.S. Patent Application No. 62 / 930,638, filed on November 5, 2019, entitled “Articulation Joint with Helical Lumen.” The disclosure of each of these applications is incorporated herein by reference.

[0004] Some instruments are operable to seal tissue by applying radio frequency (RF) electrosurgical energy to the tissue. Examples of such devices and related concepts are disclosed in the following documents: U.S. Patent No. 7,354,440, entitled "Electrosurgical Instrument and Method of Use," issued on April 8, 2008, the disclosure of which is incorporated herein by reference; U.S. Patent No. 7,381,209, entitled "Electrosurgical Instrument," issued on June 3, 2008, the disclosure of which is incorporated herein by reference.

[0005] Some instruments are capable of applying both ultrasonic energy and RF electrosurgical energy to tissue. Examples of such instruments are described in the following documents: U.S. Patent No. 9,949,785, entitled "Ultrasonic Surgical Instrument with Electrosurgical Feature", issued on April 24, 2018, the disclosure of which is incorporated herein by reference; and U.S. Patent No. 8,663,220, entitled "Ultrasonic Surgical Instruments", issued on March 4, 2014, the disclosure of which is incorporated herein by reference.

[0006] While several surgical instruments and systems have been made and used, it is believed that no one prior to the inventors has made or used the invention described in the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] While this specification results in claims that particularly point out and distinctly claim such technology, it is believed that such technology will be better understood from certain examples described below in conjunction with the accompanying drawings, wherein like reference numerals indicate the same elements, and wherein:

[0008] Figure 1 depicts a front perspective view of a first example of an ultrasonic surgical instrument having a first end effector, a shaft assembly having a first distal shaft portion, and a base assembly configured to be coupled to a robotic drive interface;

[0009] Figure 2 Depicted Figure 1 A rear perspective view of an ultrasonic surgical instrument;

[0010] Figure 3A yes Figure 1 An enlarged perspective view of an ultrasonic surgical instrument with the end effector in a closed position and the shaft assembly in a straight configuration;

[0011] Figure 3B Describes something like Figure 3A An enlarged perspective view of an ultrasonic surgical instrument of , but showing the end effector in an open position;

[0012] Figure 4A Depicted Figure 1 An enlarged perspective view of an ultrasonic surgical instrument with the end effector in a closed position and the shaft assembly in a first articulation configuration;

[0013] Figure 4B Describes something like Figure 4A An enlarged perspective view of an ultrasonic surgical instrument of , but with the shaft assembly in a second articulation configuration;

[0014] Figure 5 Depicted Figure 1 a front perspective view of an ultrasonic surgical instrument including a clamp actuator having an exemplary force limiter for limiting the clamp closure force, with various features hidden for greater clarity;

[0015] Figure 6 Depicted Figure 5 An enlarged front perspective view of a force limiter;

[0016] Figure 7 Depicted Figure 5 an enlarged, partially exploded front perspective view of a force limiter of FIG. 1 , the force limiter comprising a resilient portion, a spacer, and a distal fixing member and a proximal fixing member relative to the resilient portion for connecting the spacer;

[0017] Figure 8 Depicted Figure 7 an enlarged, exploded front perspective view of a spacer;

[0018] Fig. 9 Depicted Figure 7 an enlarged, partially exploded perspective view of an elastic portion of the

[0019] Fig.10 Depicted Figure 7 an enlarged side elevation view of the elastic portion of;

[0020] Fig.11 Depicts the Figure 6 The section line 11-11 is taken Figure 6 A cross-sectional view of a force limiter showing an ultrasonic waveguide within a clamping actuator wherein the clamping arm is in a Figure 3B The open position;

[0021] Fig. 12A Describes something like Fig.11 A cross-sectional view of a force limiter of the type shown in FIG. 1 , but wherein the clamping actuator is pulled in the proximal direction with a force transmitted through the elastic portion and less than or equal to a predetermined force, thereby causing the clamping arm to move from Figure 3B The open position is towards Figure 3A The closed position moves;

[0022] Fig. 12B Describes something like Fig. 12A but wherein the clamp actuator is pulled in a proximal direction with a force exceeding a predetermined force while closing the clamp arms against the tissue for limiting the clamp closing force; and

[0023] Fig.13 Describes something like Fig.11A cross-sectional view of a force limiter of the type shown in FIG. 1 , but wherein the clamping actuator is pushed in the distal direction with a force transmitted through the spacer to thereby cause the clamping arm to move from Figure 3A The closed position is towards Figure 3B to the open position.

[0024] The drawings are not intended to be limiting in any way, and it is contemplated that various embodiments of the technology may be performed in a variety of other ways, including those not necessarily shown in the drawings. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate several aspects of the technology and, together with the description, serve to explain the principles of the technology; however, it should be understood that the technology is not limited to the precise arrangements shown. DETAILED DESCRIPTION

[0025] The following description of certain examples of the present technology should not be used 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 by way of example, 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 do not depart from the present technology. Therefore, the drawings and descriptions should be regarded as illustrative in nature and not restrictive.

[0026] It should also be understood that any one or more of the teachings, expressions, implementations, examples, etc. described herein may be combined with any one or more of the other teachings, expressions, implementations, examples, etc. described herein. Therefore, the following teachings, expressions, implementations, examples, etc. should not be considered isolated from each other. According to the teachings herein, various suitable ways in which the teachings herein can be combined will be apparent to those of ordinary skill in the art. Such modifications and variations are intended to be included within the scope of the claims.

[0027] For clarity of the disclosure, the terms "proximal" and "distal" are defined herein relative to a human or robotic operator of a surgical instrument. The term "proximal" refers to a position of an element that is closer to a human or robotic operator of a surgical instrument and further away from a surgical end effector of a surgical instrument. The term "distal" refers to a position of an element that is closer to a surgical end effector of a surgical instrument and further away from a human or robotic operator of a surgical instrument. It should also be understood that, for convenience and clarity, spatial terms such as "front", "rear", "clockwise", "counterclockwise", "longitudinal", "lateral", "upper", and "lower" are also used herein with reference to relative positions and directions. For clarity, such terms are used below with reference to the views and are not intended to limit the invention described herein.

[0028] I. Exemplary Surgical Instruments

[0029] Figure 1 A first example of an exemplary surgical instrument, such as an ultrasonic surgical instrument (10) is shown. At least a portion of the ultrasonic surgical instrument (10) may be constructed and operated in accordance with at least some of 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., a blood vessel, etc.). Although the present example incorporates various ultrasonic features as the ultrasonic surgical instrument (10), the present invention is not intended to be unnecessarily limited to the ultrasonic features described herein.

[0030] The ultrasonic surgical instrument (10) of the present example includes a main body assembly, such as a base assembly (12), an axis 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. In addition, the housing (18) of the present example includes a front housing cover (26) and a rear housing cover (28), which are removably secured together via the latches (24). More specifically, the latches (24) removably secure the front housing cover (26) to the rear housing cover (28) so that the front housing cover (26) can be removed to access the interior space (30) within the base assembly (12) (see Figure 5 ). The shaft assembly (14) extends distally from the base assembly (12) to the end effector (16), thereby transmitting mechanical force and / or electrical power therebetween for use, as will be discussed in more detail below. As shown in the present example, the base assembly (12) is configured to be operably connected to a robotic drive (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) that is 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 present invention is not intended to be unnecessarily limited to use with a base assembly (12) and a robotic drive (not shown).

[0031] For this reason, Figure 2The base assembly (12) includes a robot drive interface (32) that extends through a base plate (34) of a rear housing cover (28) and is configured to be mechanically coupled to a robot drive (not shown). The robot drive interface (32) of this example includes a plurality of instrument actuators (36a, 36b, 36c, 36d, 36e, 36f), each of which has 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 connected to a robot drive (not shown) and is generally cylindrical and rotatable about an axis in this example. The input body (38a, 38b, 38c, 38d, 38e, 38f) has a plurality of slots (40) configured to receive portions of a robotic drive (not shown) for gripping and rotatably driving the input body (38a, 38b, 38c, 38d, 38e, 38f) to direct operation of the shaft assembly (14) and / or the end effector (16), as will be discussed in greater 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 desired, such as powering an electrical base power controller (not shown) and directing electrical energy to various features of the shaft assembly (14) or the end effector (16) associated with cutting, sealing or welding tissue.

[0032] A. Exemplary End Effector and Acoustic Drive Train

[0033] like Figure 3A and Figure 3B As best seen, the end effector (16) of the present example includes a clamp arm (44) and an ultrasonic blade (46). The clamp arm (44) has a clamp pad (48) fixed to the underside of the clamp arm (44) facing the blade (46). In one example, the clamp pad (48) may include polytetrafluoroethylene (PTFE) and / or any other suitable material. The clamp arm (44) is pivotally fixed to a distally protruding tongue (50) of the shaft assembly (14). The clamp arm (44) is operable to selectively pivot toward and away from the blade (46) to selectively clamp tissue between the clamp arm (44) and the blade (46). A pair of arms (51) extend laterally from the clamp arm (44) and are pivotally fixed to another portion of the shaft assembly (14), the other portion of which is configured to be able to slide longitudinally so that the clamp arm (44) can be moved as indicated by arrow (52). Figure 3A The closed position shown is Figure 3B Pivots between the open positions shown.

[0034] In addition to pivoting relative to the knife (46), the clamp arm (44) of the present example is further configured to be able to rotate around the knife (46) relative to the knife (46) and to rotate relative to the shaft assembly (14) as indicated by arrow (53). In one example, the clamp arm (44) rotates completely around the knife (46) in a clockwise or counterclockwise direction and can be selectively fixed at any angular position relative to the knife (46) for guiding the clamp arm (44) from an open position to a closed position to clamp tissue. In another example, the clamp arm (44) may have a rotation stop (not shown) that is configured to limit the rotational movement of the clamp arm (44) relative to the knife (46) at one or more predetermined positions.

[0035] The knife (46) of this example is operable to vibrate at ultrasonic frequencies so as to effectively cut through and seal tissue, particularly when the tissue is compressed between the clamping pad (48) and the knife (46). The knife (46) is positioned at the distal end of the acoustic drive train. The acoustic drive train includes a transducer assembly (not shown) and an ultrasonic waveguide (56), which includes a flexible portion (58) discussed in more detail below. It should be understood that the waveguide (56) can be configured to amplify mechanical vibrations transmitted through the waveguide (56). In addition, the waveguide (56) can include features that can be operated to control the gain of the longitudinal vibration along the waveguide (56) and / or features for tuning the waveguide (56) to the resonant frequency of the system. Various suitable ways in which the waveguide (56) can be mechanically and acoustically coupled to the transducer assembly (not shown) will be apparent to those of ordinary skill in the art in view of the teachings herein.

[0036] Those skilled in the art will appreciate that, as a matter of physics, the distal end of the blade (46) is located at a position corresponding to an antinode associated with the resonant ultrasonic vibrations transmitted through the flexible portion (58) of the waveguide (56). When a transducer assembly (not shown) is energized, the distal end of the blade (46) is configured to vibrate at a predetermined frequency f, e.g., 55.5 kHz, in a range of, e.g., about 10 microns to 500 microns peak to peak, and in some cases in a range of about 20 microns to about 200 microns. oMove longitudinally. When the transducer assembly (not shown) of this example is activated, these mechanical oscillations are transmitted to the knife (46) through the waveguide (56), thereby providing the knife (46) with an oscillation at a resonant ultrasonic frequency. Therefore, when the tissue is fixed between the knife (46) and the clamping pad (48), the ultrasonic oscillation of the knife (46) can simultaneously cut the tissue and denature the proteins in the adjacent tissue cells, thereby providing a pro-coagulant effect with relatively less heat diffusion. In some versions, in addition to applying ultrasonic energy to the tissue, the end effector (16) is also operable to apply radio frequency (RF) electrosurgical energy to the tissue. In any case, with reference to the teachings of this article, other suitable configurations of the acoustic transmission assembly and the transducer assembly (54) will be apparent to those of ordinary skill in the art. Similarly, with reference to the teachings of this article, other suitable configurations of the end effector (16) will be apparent to those of ordinary skill in the art.

[0037] B. Exemplary Shaft Assemblies and Articulation Segments

[0038] like Figure 3A and Figure 3B As shown, the shaft assembly (14) includes: a proximal shaft portion (60) extending along a longitudinal axis (61); a first distal shaft portion (62) protruding distally relative to the proximal shaft portion (60); and an articulation segment (64) extending between the proximal shaft portion (60) and the distal shaft portion (62). The shaft assembly (14) is configured to be rotatable around the longitudinal axis (61), as indicated by arrow (66). In one example, the shaft assembly (14) rotates completely around the longitudinal axis (61) in a clockwise or counterclockwise direction and can be selectively fixed in any rotational position around the longitudinal axis (61) to position the articulation segment (64) and / or the end effector (16) around the longitudinal axis (61). Although the end actuator (16) generally rotates with the shaft assembly (14) as indicated by arrow (66), the end actuator (16) can be rotated simultaneously and independently relative to the shaft assembly (14) as indicated by arrow (53) during use to reposition portions of the shaft assembly (14) and / or the end actuator (16) as desired.

[0039] The articulation segment (64) is configured to selectively position the end effector (16) at various lateral deflection angles relative to the longitudinal axis (61) defined by the proximal shaft portion (60). The articulation segment (64) can take a variety of 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) defined by the links (68, 70, 72). The links (68, 70, 72) are generally configured to pivot relative to each other when the articulation band (74) is actuated, thereby bending the articulation segment (64) having the flexible portion (58) of the waveguide (56) therein to achieve an articulation state. By way of example only, the articulation segment (64) may alternatively or additionally be constructed in accordance with one or more of the teachings of U.S. Patent No. 9,402,682, issued on August 2, 2016, entitled “Articulation Joint Features for Articulating Surgical Device,” the disclosure of which is incorporated herein by reference. As another merely illustrative example, the articulation segment (64) may alternatively or additionally be constructed in accordance with one or more of the teachings of U.S. Patent No. 9,393,037, issued on July 19, 2016, entitled “Surgical Instruments with Articulating Shafts,” the disclosure of which is incorporated herein by reference, and U.S. Patent No. 9,095,367, issued on August 4, 2015, entitled “Flexible Harmonic Waveguides / Blades for Surgical Instruments,” the disclosure of which is incorporated herein by reference. In addition to or in lieu of the foregoing, articulation segment (64) may be constructed and / or operated in accordance with at least some of the teachings of U.S. Patent No. 10,034,683, entitled “Ultrasonic Surgical Instrument with Rigidizing Articulation Drive Members,” issued on July 31, 2018. Alternatively, articulation segment (64) may be constructed and / or operated in any other suitable manner.

[0040] FIG. 3B to FIG. 4BThe links (68, 70, 72) shown are pivotally interlocked to fix 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) that are opposite to each other. The intermediate links (72) each have a pair of arcuate tongues (80) extending proximally therefrom and a pair of arcuate grooves (78) positioned distally relative to the respective tongues (80). Each intermediate link (72) has a tongue (80) that is pivotally received in an adjacent arcuate groove (78) of another intermediate link (72) or a proximal link (68), as applicable. The distal link (70) is rigidly connected to the distal shaft portion (62) and has another pair of arcuate tongues (80) that oppose each other and are pivotally received in adjacent arcuate grooves (78) of the intermediate link (72). The tongues (80) and grooves (78) are connected together to form a series of interlocking links (68, 70, 72).

[0041] The distal link (70) also includes a pair of opposing notches (82) in which a pin (84) is configured to receive the distal end portion of a corresponding articulation band (74). More specifically, the pin (84) extends through a hole in each corresponding articulation band (74), and the distal end portion of the corresponding articulation band (74) is coupled within the notch (82). The narrow slots (86) in each of the intermediate link (72) and the proximal link (68) are longitudinally aligned with each other and with the notch (82) to jointly define a channel (76) that is configured to receive the articulation band (74) while allowing the articulation band (74) to slide relative to the links (68, 70, 72). To this end, when the articulation band (74) is longitudinally translated in a relative manner, this will cause the articulation segment (64) to bend, thereby causing the end actuator (16) to move from such as Figure 3B The straight line configuration shown to Figure 4A The first joint motion configuration shown and as indicated by arrow (88) or as Figure 4B The second articulation configuration shown is shown and is deflected laterally away from the longitudinal axis (61) of the proximal shaft assembly (60) as indicated by arrow (90). Specifically, the end effector (16) will articulate toward the articulation band (74) being pulled proximally. During such articulation, the other articulation band (74) may be pulled distally. Alternatively, the other articulation band (74) may be driven distally by an articulation controller. Furthermore, even when the articulation segment (64) is in a position such as Figure 4A and Figure 4BIn the illustrated articulated configuration, the flexible ultrasonic waveguide (56) is configured to effectively transmit ultrasonic vibrations from the waveguide (56) to the blade (46).

[0042] II. Exemplary Shaft Assemblies Having Force Limiters for Limiting Clamping Compression Force

[0043] about Figure 5 Although the shaft assembly (14) is configured to be articulated relative to the longitudinal axis (61) to enhance positioning of the end effector (16), the proximal shaft portion (60) of the present example further includes an exemplary force limiter (110) operatively connected to the clamp arm (44) to limit the clamping force to a predetermined maximum clamping force between the blade (46) and the clamp arm (44) while closing the clamp arm (44) toward the blade (46). For example, applying energy (such as ultrasonic energy via the blade (46)) to tissue may be pressure sensitive, and if too much compressive force is applied to the tissue during the application of such energy, the results may vary greatly. Therefore, in some cases it is desirable to limit such compressive force to a predetermined maximum clamping force, which is preferably set and / or adjustable by an operator of the ultrasonic surgical instrument (10). By way of further example, it may also be desirable to use the same end effector (16) to pry apart various tissues by opening the clamp arm (44) from a closed position toward an open position without such force limitation. In this regard, shaft assembly (14) of the present example is configured to be able to bypass portions of force limiter (110) to allow for differential force to be applied between compression and prying of tissue, as discussed in greater detail below.

[0044] Figure 5 and Figure 6 A clamp actuator (112) is shown in the form of an inner tube of the shaft assembly (14) operatively connected to the clamp arm (44) for selective movement of the clamp arm (44). For clarity, the outer sheath (114) of the proximal shaft portion (60) (see Figure 4A and Figure 4B) has been disassembled. In the present example, selectively pulling the clamping actuator (112) in the proximal direction is configured to enable the clamping arm (44) to move from the open position toward the closed position, while selectively pushing the clamping actuator (112) in the distal direction is configured to enable the clamping arm (44) to move from the closed position toward the open position. The clamping actuator (112) more specifically includes a proximal actuator portion (116), a distal actuator portion (118), and a force limiter (110) longitudinally connected between the proximal actuator portion and the distal actuator portion. In this regard, when the clamping arm (44) is closed, the force limiter (110) is configured to enable motion to be transmitted from the proximal articulation portion (116) to the distal articulation portion (118) until a predetermined force is transmitted through the force limiter. When this predetermined force is exceeded while closing the clamp arm (44), at least a portion of the force limiter (110) is configured to deflect such that the proximal actuator portion (116) is configured to move longitudinally relative to the distal actuator portion (118) and thereby limit the clamping force between the knife (46) and the clamp arm (44) to a predetermined maximum clamping force.

[0045] As shown in this example, the proximal actuator portion (116) extends from the base assembly (12), wherein the robot drive interface (32) is used to selectively guide the proximal and distal movement of the clamping actuator (112). Alternatively, the proximal actuator portion (16) may extend from a handle assembly (not shown) of a handheld surgical instrument (not shown). In this regard, the proximal actuator portion (16) may extend from any body for robotic and / or handheld operation, and the present invention is not intended to be unnecessarily limited to robotic applications. The body, and more specifically the base assembly (12) in this example, does not include a resilient biasing element, such as a wave spring, contained therein to limit the clamping force closure. Instead, the force limiter (110) includes an elastic portion associated with the shaft assembly (14) and longitudinally positioned between the base assembly (12) and the end effector (16). In this example, the force limiter (110) is more specifically shown as being positioned proximally relative to the joint motion segment (64). In another example, force limiter (110) may be positioned within articulation section 64. In another example, force limiter (110) may be positioned distally relative to articulation section 64.

[0046] Figure 6 and Figure 7The force limiter (110) of the present example is shown in more detail and includes a resilient portion, more specifically shown as a spring (120) radially surrounded by a spacer (122). While the spring (120) typically provides a resilient bias for limiting the clamping closing force, the spacer (122) is configured to enable a preload tension, such as a 20 lb preload, to be set in the spring (120), as discussed in more detail below. One or more collars (124) of the spacer (122) may be added to the distal end or proximal end of the spacer body (126) as desired to further extend the length of the entire spacer (122) for obtaining additional preload tension in the spring (120). In the present example, the collar (124) is attached to the spacer body (126), but may be removable in another example. In yet another example, at least one of the collars (124) can be threadably connected to the spacer body (126) to shorten or lengthen the length of the entire spacer (122) for greater adjustability of the preset load of the spring (120).

[0047] To this end, the force limiter (110) also includes a distal fixture (128) and a proximal fixture (130) to keep the spacer (122) compressed around the spring (120) so that the spacer (122) in turn holds the spring (120) in a tensioned state. In this example, the distal fixture (128) includes a pair of upper and lower pins (132) that extend through upper and lower holes (134) in the spacer (122) and the distal actuator portion (118). The pins (132) thus attach the spacer (122) relative to the distal actuator portion (118) so that no distal or proximal movement occurs between the spacer (122) and the distal actuator portion (118) during translation of the clamp actuator (112) while moving the clamp arm (44), regardless of the force applied by the force limiter (110) during use. In contrast, the proximal fixture (130) of the present example includes a retaining ring (136) received in an annular channel (138) around the proximal actuator portion (116). Thus, when the spacer (122) is seated against the retaining ring (126), the retaining ring (126) provides a proximal stop to compress the spacer (122) between the retaining ring (126) and the pin (132).

[0048] Unlike the pin (132), the retaining ring (126) allows the spacer (122) to disengage from the retaining ring (126) when the spring (120) extends in response to a force applied during use that exceeds a predetermined force for limiting clamping compression. While the present example shows a distal fixture (128) that attaches the spacer (122) to the distal actuator portion (118) and a proximal fixture (128) that allows some movement of the spacer (122) relative to the proximal actuator portion (116), it should be understood that such fixtures (128, 138) can be reversed so that the proximal fixture (130) attaches the spacer (122) to the proximal actuator portion (116) and the distal fixture (128) allows some movement of the spacer (122) relative to the distal actuator portion (118). Additionally, alternative fasteners such as welds, threads and turnbuckles may similarly be used to provide spacing of the springs (120) and associated adjustment of such spacing as described above. Accordingly, the present invention is not intended to be unnecessarily limited to the particular fasteners of this example.

[0049] Fig. 9 and Fig.10 One example of a proximal actuator portion (116), a spring (120), and a distal actuator portion (118) is shown in greater detail, the proximal actuator portion, the spring, and the distal actuator portion being individually and integrally formed together and generally incorporated into an inner tube of the shaft assembly (14). To this end, the spring (120) is formed by laser cutting a pattern to remove material from the clamp actuator (12) and increase the elastic bias between the proximal actuator portion (116) and the distal actuator portion (118) to form the elastic portion. It should be understood that any desired pattern may be used to remove material, such that the present invention is not intended to be unnecessarily limited to the pattern of material removed to form the spring (120). Furthermore, while the present example shows the proximal actuator portion (116), spring (120), and distal actuator portion (118) as being separately and integrally formed together, alternative resilient portions may be attached between the proximal actuator portion (116) and the distal actuator portion (118) and thus assembled together rather than being separately and integrally formed together. Thus, the present invention is not intended to be unnecessarily limited to the laser cut spring (120) as shown and described herein.

[0050] In use, about Fig.11, the spacer (122) is typically held in tension by the spring (120), and then the pin (132) pushes the spacer (122) in the proximal direction to seat the spacer (122) in compression against the retaining ring (136) so that the spacer (122) is in the seated position. Thus, the proximal actuator portion (116) and the distal actuator portion (118) are effectively coupled together from the seated position and move the same distance simultaneously during use. In other words, the proximal actuator portion (116) and the distal actuator portion (118) move in a 1:1 ratio, wherein the spacer (122) is in the seated position and the force transmitted by the spring (120) is less than the predetermined force. Thus, in this example, Fig.11 The position of the clamping actuator (112) relative to the waveguide (56) and the placement of the spacer (122) are shown to represent the clamping arm (44) in the open position, and as shown in FIG. Figure 3A The absence of any compressive clamping force between the clamp arm (44) and the knife (46) is shown.

[0051] Combination Figure 3A and Figure 3B , Fig. 12A and Fig. 12B The closing stroke of the clamp actuator (112) is shown as the clamp actuator (112) is pulled proximally to simultaneously direct the clamp arm (44) from the open position toward the closed position. Fig. 12A As shown, with the spacer (122) seated against the retaining ring (36), the proximal actuator portion (116) pulls the distal actuator portion (118) simultaneously and over the same distance via the spring (120) as long as the force via the spring (120) remains below a predetermined force. As the clamping arms (44) begin to compress against the tissue while closing, the force transmitted via the spring (120) may continue to increase. In the event that the applied force exceeds the predetermined force, the applied force effectively overcomes the preload in the spring (120) and disengages the spacer (122), causing the proximal actuator portion (116) to pull away from the distal actuator portion (118) and no longer move together in a 1:1 ratio. In other words, the proximal actuator portion (116) and the distal actuator portion (118) are effectively decoupled from each other to generate relative motion between the proximal actuator portion (116) and the distal actuator portion (118). For example, as Fig. 12B As shown, when the clamp arm (44) moving toward the closed position encounters a hard stop, both the clamp arm (44) and the distal actuator portion (118) will stop moving despite the proximal actuator portion (116) continuing to be pulled proximally. The relative movement between the proximal actuator portion (116) and the distal actuator portion (118) when the spring (120) is deflected thereby limits the compressive force applied between the clamp arm (44) and the knife (46).

[0052] As briefly discussed above, Figure 3A and Figure 3B , Fig.13 The clamping actuator (112) is shown being pushed distally to open the clamping arm (44) from the closed position toward the open position. Given such distal movement of the proximal actuator portion (116), the spacer (122) will seat against the retaining ring (136) if it is not already in place. Once seated, continued distal movement of the clamping actuator (112) moves the retaining ring (136) to push the spacer (122) in the distal direction using the pin (132) and the distal actuator portion (118) to open the clamping arm (44). Notably, in the distal direction, the force transmitted from the proximal actuator portion (116) bypasses the spring (120) and travels through the spacer (122) to the distal actuator portion (118). Therefore, when moving the clamping arm toward the open position, the spring (120) is not subjected to a load greater or less than the set preload from the spacer (122). The distal movement of the proximal actuator portion (116) and the distal actuator portion (118) is therefore always coupled through the spacer to apply a force greater than a predetermined force so that the same end effector (16) can be used to pry apart various tissues by opening the clamping arms (44).

[0053] While the present example of the end effector (16) illustrates the clamp arm (44) and blade (46) as respective jaws for compressing tissue while closing the clamp arm (44) relative to the blade (46) and prying tissue apart while opening the clamp arm (44) relative to the blade (46), it should be understood that such a force limiter (110) may be used in other surgical instruments including alternative jaw arrangements with or without ultrasonic features. Accordingly, the present invention is not intended to be unnecessarily limited to ultrasonic surgical instruments, whether robotic or handheld, as described herein.

[0054] IV. Exemplary Combinations

[0055] The following examples relate to various non-exhaustive ways in which the teachings herein may be combined or applied. It should be understood that the following examples are not intended to limit the coverage of any claims that may be provided at any time in this patent application or in the subsequent submissions of this patent application. It is not intended to make a disclaimer. The following examples are provided only for illustrative purposes. It is envisioned that the various teachings herein may be arranged and applied in a variety of other ways. It is also envisioned that some variations may omit certain features mentioned in the following examples. Therefore, any of the aspects or features mentioned below should not be considered decisive unless otherwise explicitly indicated by the inventor or the successor with an interest in the inventor at a later date. If any claim proposed in this patent application or in the subsequent submissions related to this patent application includes additional features other than those mentioned below, these additional features should not be assumed to be added for any reason related to patentability.

[0056] Example 1

[0057] A surgical instrument comprising: (a) an end effector comprising: (i) a jaw, and (ii) a clamp arm, the clamp arm being configured to move relative to the jaw between an open position and a closed position; and (b) a shaft assembly, the shaft assembly extending proximally and longitudinally from the end effector and comprising: (i) a clamp actuator, the clamp actuator being operatively connected to the clamp arm and being configured to selectively move longitudinally to selectively guide the clamp arm between the open position and the closed position, wherein the clamp actuator The device includes: (A) a proximal actuator portion, (B) a distal actuator portion, and (C) a force limiter, wherein the force limiter is longitudinally connected between the proximal actuator portion and the distal actuator portion, and the force limiter is configured to transmit movement from the proximal actuator portion to the distal actuator portion until a predetermined force is transmitted through the force limiter, wherein at least a portion of the force limiter is configured to deflect when the predetermined force is exceeded, so that the proximal actuator portion is configured to be able to move longitudinally relative to the distal actuator portion and thereby limit the clamping force between the jaws and the clamping arm.

[0058] Example 2

[0059] A surgical instrument according to Example 1, wherein the force limiter is configured to fix the proximal actuator portion relative to the distal actuator portion while transmitting movement from the proximal actuator portion to the distal actuator portion until the predetermined force is transmitted through the force limiter.

[0060] Example 3

[0061] A surgical instrument according to any one or more of embodiments 1 to 2, wherein the force limiter includes an elastic portion, and wherein the elastic portion, the proximal actuator portion and the distal actuator portion are individually and integrally formed together.

[0062] Example 4

[0063] A surgical instrument according to Example 3, wherein the elastic portion is set to be in a tensioned state.

[0064] Example 5

[0065] A surgical instrument according to any one or more of embodiments 1 to 4, wherein the clamping actuator is configured to be able to selectively move along a first longitudinal direction to selectively guide the clamping arm toward the closed position, wherein the clamping actuator is configured to be able to selectively move along a second longitudinal direction to selectively guide the clamping arm toward the open position, wherein the second longitudinal direction is opposite to the first longitudinal direction.

[0066] Example 6

[0067] A surgical instrument according to Example 5, wherein the force limiter is configured to transmit movement in the first longitudinal direction from the proximal actuator portion to the distal actuator portion until the predetermined force is transmitted through the force limiter, so that at least a portion of the force limiter deflects when the predetermined force is exceeded.

[0068] Example 7

[0069] A surgical instrument according to any one or more of Examples 5 to 6, wherein the force limiter is configured to transmit movement in the second longitudinal direction from the proximal actuator portion to the distal actuator portion such that at least a portion of the force limiter does not deflect when the predetermined force is exceeded.

[0070] Example 8

[0071] A surgical instrument according to any one or more of embodiments 5 to 7, wherein the first longitudinal direction is a proximal direction, and wherein the second longitudinal direction is a distal direction.

[0072] Example 9

[0073] A surgical instrument according to any one or more of embodiments 5 to 8, wherein the force limiter further comprises an elastic portion and a spacer, wherein the spacer is fixed relative to the elastic portion to keep the elastic portion in a tensioned state.

[0074] Example 10

[0075] A surgical instrument according to any one or more of Example 9, wherein the force limiter further comprises a first fixing member and a second fixing member, wherein the elastic portion has a first end portion and a second end portion relative to each other, wherein the first fixing member is attached to the first end portion of the elastic portion and the first fixing member is configured to inhibit movement of the first end portion of the elastic portion relative to the spacer toward one of the first longitudinal direction or the second longitudinal direction, and wherein the second fixing member is attached to the second end portion of the elastic portion and the second fixing member is configured to inhibit movement of the second end portion of the elastic portion relative to the spacer toward each of the first longitudinal direction and the second longitudinal direction.

[0076] Embodiment 11

[0077] A surgical instrument according to embodiment 10, wherein when a force transmitted through the elastic portion is less than a predetermined force, the spacer is compressed between the first fixture and the second fixture so that the spacer abuts against the first fixture.

[0078] Example 12

[0079] A surgical instrument according to any one or more of embodiments 10 to 11, wherein when the force transmitted through the elastic portion is greater than the predetermined force, the spacer is offset from the first fixture and remains attached to the second fixture to accommodate deflection of the elastic portion.

[0080] Embodiment 13

[0081] A surgical instrument according to any one or more of embodiments 10 to 12, wherein the spacer is adjustable relative to the elastic portion to select a predetermined load tension in the elastic portion for adjusting the limitation of the clamping force between the jaw and the clamping arm.

[0082] Embodiment 14

[0083] A surgical instrument according to any one or more of embodiments 1 to 13, wherein the jaw includes an ultrasonic blade and the shaft assembly includes an ultrasonic waveguide, and wherein the ultrasonic waveguide is operatively connected to the ultrasonic blade.

[0084] Embodiment 15

[0085] According to the surgical instrument described in any one or more of embodiments 1 to 14, the surgical instrument also includes a body, wherein the axis assembly extends distally from the body to the end actuator, and wherein the force limiter is positioned between the body and the end actuator.

[0086] Example 16

[0087] A surgical instrument according to any one or more of embodiments 1 to 15, wherein the shaft assembly further comprises an outer sheath and an inner tube, and wherein the clamping actuator is incorporated into the inner tube.

[0088] Embodiment 17

[0089] A surgical instrument, the surgical instrument comprising: (a) an end effector, the end effector comprising: (i) an ultrasonic blade, and (ii) a clamping arm, the clamping arm being configured to be movable relative to the ultrasonic blade between an open position and a closed position; and (b) an axis assembly, the axis assembly extending proximally and longitudinally from the end effector, and the axis assembly comprising: (i) a clamping actuator, the clamping actuator being operatively connected to the clamping arm, and the clamping actuator being configured to be selectively movable longitudinally to selectively guide the clamping arm between the open position and the closed position, wherein the clamping actuator comprises: (A) a proximal actuator portion, and (B) a distal actuator portion , and (C) a force limiter, the force limiter having an elastic portion, the elastic portion being longitudinally connected between the proximal actuator portion and the distal actuator portion, and the force limiter being configured to transmit movement from the proximal actuator portion to the distal actuator portion until the predetermined force is transmitted through the force limiter, wherein the elastic portion is configured to deflect when a predetermined force is exceeded, so that the proximal actuator portion is configured to be able to move longitudinally relative to the distal actuator portion and thereby limit the clamping force between the ultrasonic blade and the clamping arm, wherein the elastic portion, the proximal actuator portion and the distal actuator portion are formed together individually and integrally.

[0090] Embodiment 18

[0091] A surgical instrument according to Example 17, wherein the force limiter is configured to fix the proximal actuator portion relative to the distal actuator portion while transmitting movement from the proximal actuator portion to the distal actuator portion until the predetermined force is transmitted through the force limiter.

[0092] Embodiment 19

[0093] A surgical instrument according to any one or more of Examples 17 to 18, wherein the clamping actuator is configured to be able to selectively move along a first longitudinal direction to selectively guide the clamping arm toward the closed position, wherein the clamping actuator is configured to be able to selectively move along a second longitudinal direction to selectively guide the clamping arm toward the open position, wherein the second longitudinal direction is opposite to the first longitudinal direction.

[0094] Embodiment 20

[0095] According to the surgical instrument described in any one or more of embodiments 17 to 19, the surgical instrument also includes a body, wherein the axis assembly extends distally from the body to the end actuator, and wherein the force limiter is positioned between the body and the end actuator.

[0096] Embodiment 21

[0097] A surgical instrument comprising: (a) an end effector comprising: (i) a jaw, and (ii) a clamp arm, the clamp arm being configured to be movable relative to the jaw between an open position and a closed position; and (b) a shaft assembly, the shaft assembly extending proximally and longitudinally from the end effector and comprising: (i) a clamp actuator, the clamp actuator being operatively connected to the clamp arm and being configured to be selectively movable longitudinally to selectively open the jaw between the open position and the closed position. Guide the clamp arm, wherein the clamp actuator includes: (A) a proximal actuator portion, (B) a distal actuator portion, and (C) a force limiter, wherein the force limiter is longitudinally connected between the proximal actuator portion and the distal actuator portion, and the force limiter is configured to transmit motion from the proximal actuator portion to the distal actuator portion until a predetermined force is transmitted through the force limiter, wherein the force limiter includes an elastic portion and a spacer, wherein the spacer is fixed relative to the elastic portion to maintain the elastic portion in a tensioned state.

[0098] Embodiment 22

[0099] A method for limiting the clamping force between the jaws and a clamping arm of a surgical instrument, the surgical instrument comprising: (a) an end effector having: (i) a jaw, and (ii) a clamping arm, the clamping arm being configured to be movable relative to the jaw between an open position and a closed position; and (b) an axis assembly extending proximally and longitudinally from the end effector and comprising: (i) a clamping actuator operatively connected to the clamping arm and configured to be selectively movable longitudinally to selectively guide the clamping arm between the open position and the closed position, wherein the clamping actuator comprises: (A) a proximal actuator portion, (B) a distal actuator portion, and (C) a force limiter , the force limiter is longitudinally connected between the proximal actuator portion and the distal actuator portion, and the force limiter is configured to transmit movement from the proximal actuator portion to the distal actuator portion until the predetermined force is transmitted through the force limiter, wherein at least a portion of the force limiter is configured to deflect when the predetermined force is exceeded, so that the proximal actuator portion is configured to move longitudinally relative to the distal actuator portion and thereby limit the clamping force between the jaws and the clamping arm, the method comprising: (a) using the clamping force to close the clamping arm against tissue between the clamping arm and the tissue; and (b) deflecting at least a portion of the force limiter to limit the clamping force to no greater than a predetermined maximum clamping force.

[0100] V. Miscellaneous

[0101] 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 No. 17 / 128,275, filed on December 21, 2020, entitled “Ultrasonic Surgical Instrument with a Clamp Arm Clocking Assembly”; U.S. patent application No. 16 / 556,661, filed on August 30, 2019, entitled “Ultrasonic Surgical Instrument with a Multi-Planar Articulating Shaft Assembly”; U.S. patent application No. 16 / 556,667, filed on the same day as the present application, entitled “Ultrasonic Transducer Alignment of an Articulating Ultrasonic Surgical Instrument”; U.S. patent application No. 16 / 556,668, filed on August 30, 2019, entitled “Ultrasonic Transducer Alignment of an Articulating Ultrasonic Surgical Instrument”; U.S. patent application No. 16 / 556,669, filed on August 30, 2019, entitled “Ultrasonic Surgical Instrument with Axisymmetric U.S. Patent Application No. 16 / 556,625, entitled “Ultrasonic Blade and Clamp Arm Alignment Features,” filed on August 30, 2019; U.S. Patent Application No. 16 / 556,635, entitled “Ultrasonic Blade and Clamp Arm Alignment Features,” filed on August 30, 2019; U.S. Patent Application No. 16 / 556,727, entitled “Rotatable Linear Actuation Mechanism,” filed on August 30, 2019; U.S. Patent Application No. 17 / 077,067, entitled “Surgical Instrument and CarrierKART Supporting Ultrasonic Transducer,” filed on October 22, 2020; U.S. Patent Application No. 17 / 077,086, entitled “Carrier KART and Jaw Closure of an Ultrasonic SurgicalInstrument,” filed on October 22, 2020; U.S. Patent Application No. 17 / 077,086, entitled “Carrier KART and Jaw Closure of an Ultrasonic SurgicalInstrument,” filed on October 22, 2020; U.S. Patent Application No. 17 / 077,086, entitled “SurgicalInstrument with Clamping Sensor Feedback and Related Methods”;U.S. Patent Application No. 17 / 077,136, filed on October 22, 2020, entitled “Surgical Instrument with Non-clamping Sensor Feedback and Related Methods”; U.S. Patent Application No. 17 / 077,250, filed on October 22, 2020, entitled “Ultrasonic Surgical Instrument with a Carrier KART and Reusable Stage”; U.S. Patent Application No. 17 / 077,373, filed on October 22, 2020, entitled “Surgical Instrument with a Carrier KART and Various Communication Cable Arrangements”; U.S. Patent Application No. 17 / 077,139, filed on October 22, 2020, entitled “Ultrasonic Surgical Instrument with a Fixed Transducer Grounding”; U.S. Patent Application No. 17 / 077,140, ​​filed on October 22, 2020, entitled “Ultrasonic Surgical Instrument with a Shaft Assemblyand Elongated Waveguide Support Arrangement”; U.S. Patent Application No. 17 / 077,146, filed on October 22, 2020, entitled “Damping Rings for an Ultrasonic Surgical Instrument”; U.S. Patent Application No. 17 / 077,152, filed on October 22, 2020, entitled “Ultrasonic Surgical Instrument with a Mid-Shaft Closure System and Related Methods”; U.S. Patent Application No. 17 / 077,110, filed on October 22, 2020, entitled “Ultrasonic Surgical Instrument with a Mid-Shaft Closure System and Related Methods”; U.S. Patent Application No. 17 / 076,956, filed on October 22, 2020, entitled “Surgical Instrument with an Articulatable Shaft Assembly and Dual End Effector Roll”;U.S. Patent Application No. 17 / 076,959, filed on October 22, 2020, entitled “Ultrasonic Surgical Instrument with a Distally Grounded Acoustic Waveguide”; and / or U.S. Patent Application No. 17 / 077,098, filed on October 22, 2020, entitled “Ultrasonic Surgical Instrument with a Multiplanar Articulation Joint”. The disclosure of each of these applications is hereby incorporated by reference. ;

[0102] It should be understood that any patent, patent publication, or other public material, whether in whole or in part, allegedly incorporated herein by reference is incorporated herein only to the extent that the incorporated material does not conflict with existing definitions, statements, or other public materials listed in the present disclosure. Therefore, and to the extent necessary, the disclosure explicitly listed herein supersedes any conflicting material incorporated herein by reference. Any material or portion thereof allegedly incorporated herein by reference but conflicting with existing definitions, statements, or other public materials listed herein will be incorporated only to the extent that there is no conflict between the incorporated material and the existing public materials.

[0103] The patterns described above can be designed to be discarded after a single use, or they can be designed to be used multiple times. In either case or both, these patterns can be repaired to be reused after at least one use. Repair can include any combination of the following steps: disassembling the device, then cleaning or replacing specific parts and subsequently reassembling. Specifically, some patterns of the device can be disassembled, and any number of specific parts or parts of the device can be selectively replaced or removed in any combination. When cleaning and / or replacing specific parts, some patterns of the device can be reassembled at a repair facility or reassembled by the operator before surgery is about to be performed for subsequent use. Those skilled in the art will appreciate that the repair of the device can be disassembled, cleaned / replaced, and reassembled using a variety of techniques. The use of such technology and the resulting repair device are all within the scope of the present application.

[0104] By way of example only, the types described herein may be sterilized before and / or after a procedure. 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 may then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons. The radiation may kill bacteria on the device and in the container. The sterilized device may then be stored in a sterile container for later use. The device may also be sterilized using any other technique known in the art, including but not limited to beta or gamma radiation, ethylene oxide, or steam.

[0105] Various embodiments of the present invention have been shown and described, and further improvements of the methods and systems described herein may be achieved by appropriate modifications by those of ordinary skill in the art without departing from the scope of the present invention. Several such possible modifications have been mentioned, and other modifications will be apparent to those of skill in the art. For example, the embodiments, embodiments, geometries, materials, dimensions, ratios, steps, etc. discussed above are illustrative and not required. Therefore, the scope of the present invention should be considered in light of the following claims, and should be understood not to be limited to the details of the structure and operation shown and described in the specification and drawings.

Claims

1. A surgical instrument, the surgical instrument include: (a) an end effector, the end effector comprising: (i) jaws, and (ii) a clamping arm configured to move relative to the jaws between an open position and a closed position; and (b) a shaft assembly extending proximally and longitudinally from the end effector and comprising: (i) a clamp actuator operatively connected to the clamp arm and configured to be selectively longitudinally movable to selectively guide the clamp arm between the open position and the closed position, wherein the clamp actuator comprises: (A) Proximal actuator portion, (B) a distal actuator portion, and (C) a force limiter connected longitudinally between the proximal actuator portion and the distal actuator portion and configured to transmit movement from the proximal actuator portion to the distal actuator portion until a predetermined force is transmitted through the force limiter, wherein at least a portion of the force limiter is configured to deflect when the predetermined force is exceeded so that the proximal actuator portion is configured to move longitudinally relative to the distal actuator portion and thereby limit the clamping force between the jaws and the clamping arm.

2. The surgical instrument according to claim 1, in, The force limiter is configured to fix the proximal actuator portion relative to the distal actuator portion while transmitting motion from the proximal actuator portion to the distal actuator portion until the predetermined force is transmitted through the force limiter.

3. The surgical instrument according to claim 1 or claim 2, in, The force limiter comprises a resilient portion, and wherein the resilient portion, the proximal actuator portion and the distal actuator portion are individually and integrally formed together.

4. The surgical instrument according to claim 3, in, The elastic portion is set in a tensioned state.

5. A surgical instrument according to any preceding claim, in, The clamp actuator is configured to be selectively movable in a first longitudinal direction to selectively guide the clamp arm toward the closed position, wherein the clamp actuator is configured to be selectively movable in a second longitudinal direction to selectively guide the clamp arm toward the open position, wherein the second longitudinal direction is opposite to the first longitudinal direction.

6. The surgical instrument according to claim 5, in, The force limiter is configured to transmit movement in the first longitudinal direction from the proximal actuator portion to the distal actuator portion until the predetermined force is transmitted through the force limiter such that the at least a portion of the force limiter deflects when the predetermined force is exceeded.

7. A surgical instrument according to claim 5 or claim 6, in, The force limiter is configured to transfer movement in the second longitudinal direction from the proximal actuator portion to the distal actuator portion such that the at least a portion of the force limiter does not deflect when the predetermined force is exceeded.

8. The surgical instrument according to any one of claims 5 to 7, in, The first longitudinal direction is a proximal direction, and wherein the second longitudinal direction is a distal direction.

9. The surgical instrument according to any one of claims 5 to 8, in, The force limiter further includes a resilient portion and a spacer, wherein the spacer is fixed relative to the resilient portion to maintain the resilient portion in a tensioned state.

10. The surgical instrument according to claim 9, in, The force limiter also includes a first fixing member and a second fixing member, wherein the elastic portion has a first end portion and a second end portion opposite to each other, wherein the first fixing member is attached to the first end portion of the elastic portion and the first fixing member is configured to inhibit movement of the first end portion of the elastic portion relative to the spacer toward one of the first longitudinal direction or the second longitudinal direction, and wherein the second fixing member is attached to the second end portion of the elastic portion and the second fixing member is configured to inhibit movement of the second end portion of the elastic portion relative to the spacer toward each of the first longitudinal direction and the second longitudinal direction.

11. The surgical instrument according to claim 10, in, When the force transmitted through the elastic portion is less than a predetermined force, the spacer is compressed between the first fixing member and the second fixing member so that the spacer abuts against the first fixing member.

12. A surgical instrument according to claim 10 or claim 11, in, When the force transmitted through the elastic portion is greater than the predetermined force, the spacer is deflected from the first fixture and remains attached to the second fixture to accommodate deflection of the elastic portion.

13. The surgical instrument according to any one of claims 9 to 12, in, The spacer is adjustable relative to the resilient portion to select a predetermined load tension in the resilient portion for adjusting the limitation of the clamping force between the jaws and the clamping arm.

14. A surgical instrument according to any preceding claim, in, The jaws include an ultrasonic blade, and the shaft assembly includes an ultrasonic waveguide, and wherein the ultrasonic waveguide is operatively connected to the ultrasonic blade.

15. The surgical instrument of any preceding claim, further comprising a body, wherein the shaft assembly extends distally from the body to the end effector, and in, The force limiter is positioned between the body and the end effector.

16. A surgical instrument according to any preceding claim, in, The shaft assembly further includes an outer sheath and an inner tube, and wherein the clamp actuator is incorporated into the inner tube.

17. A surgical instrument, the surgical instrument include: (a) an end effector, the end effector comprising: (i) ultrasonic scalpel, and (ii) a clamp arm configured to move relative to the ultrasonic blade between an open position and a closed position; and (b) a shaft assembly extending proximally and longitudinally from the end effector and comprising: (i) a clamp actuator operatively connected to the clamp arm and configured to be selectively longitudinally movable to selectively guide the clamp arm between the open position and the closed position, wherein the clamp actuator comprises: (A) Proximal actuator portion, (B) a distal actuator portion, and (C) a force limiter having a resilient portion longitudinally connected between the proximal actuator portion and the distal actuator portion and configured to transmit motion from the proximal actuator portion to the distal actuator portion until a predetermined force is transmitted through the force limiter, wherein the resilient portion is configured to deflect when the predetermined force is exceeded so that the proximal actuator portion is configured to move longitudinally relative to the distal actuator portion and thereby limit the clamping force between the ultrasonic blade and the clamping arm, Wherein, the elastic portion, the proximal actuator portion and the distal actuator portion are individually and integrally formed together.

18. The surgical instrument according to claim 17, in, The force limiter is configured to fix the proximal actuator portion relative to the distal actuator portion while transmitting motion from the proximal actuator portion to the distal actuator portion until the predetermined force is transmitted through the force limiter.

19. A surgical instrument according to claim 17 or claim 18, in, The clamp actuator is configured to be selectively movable in a first longitudinal direction to selectively guide the clamp arm toward the closed position, wherein the clamp actuator is configured to be selectively movable in a second longitudinal direction to selectively guide the clamp arm toward the open position, wherein the second longitudinal direction is opposite to the first longitudinal direction.

20. The surgical instrument of any one of claims 17 to 19, further comprising a body, wherein the shaft assembly extends distally from the body to the end effector, and in, The force limiter is positioned between the body and the end effector.

21. A surgical instrument, the surgical instrument include: (a) an end effector, the end effector comprising: (i) jaws, and (ii) a clamping arm configured to move relative to the jaws between an open position and a closed position; and (b) a shaft assembly extending proximally and longitudinally from the end effector and comprising: (i) a clamp actuator operatively connected to the clamp arm and configured to be selectively longitudinally movable to selectively guide the clamp arm between the open position and the closed position, wherein the clamp actuator comprises: (A) Proximal actuator portion, (B) a distal actuator portion, and (C) a force limiter longitudinally connected between the proximal actuator portion and the distal actuator portion, and the force limiter is configured to transmit movement from the proximal actuator portion to the distal actuator portion until a predetermined force is transmitted through the force limiter, wherein the force limiter includes an elastic portion and a spacer, wherein the spacer is fixed relative to the elastic portion to maintain the elastic portion in a tensioned state.

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