Articulation mechanism for surgical stapling device

Abstract

A surgical device includes an elongate body defining a longitudinal axis and a tool assembly pivotally attached to the elongate body for articulation about an articulation axis transverse to the longitudinal axis. The surgical device includes an articulation mechanism and a drive assembly. The drive assembly is movable about the hinge axis to actuate the tool assembly. The articulation mechanism includes proximal and distal drive links and proximal and distal driven links. The linkage is configured to guide and support the drive assembly for greater articulation.

Description

Technical Field

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

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

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

[0004] During laparoscopic or endoscopic surgery, access to the surgical site is achieved through a small incision or through a narrow cannula inserted into a small entry wound of the patient. Due to the limited area available for access to the surgical site, many endoscopic devices include a mechanism for articulating the tool assembly of the device about a pivot axis to better access the tissue. Typically, mechanisms that allow for a greater degree of articulation increase the dead space of the tool assembly, i.e., the space between the pivot axis and the beginning of the staple line of the tool assembly. The increased dead space increases the length of the tool assembly, which is undesirable.

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

[0006] The present disclosure relates to a surgical device, the surgical device comprising an elongated body defining a longitudinal axis and a tool assembly, the tool assembly being pivotally attached to the elongated body for articulation about an articulation axis transverse to the longitudinal axis. The surgical device comprises an articulation mechanism and a drive assembly. The drive assembly is movable about the articulation axis to actuate the tool assembly. The articulation mechanism comprises proximal and distal drive links and proximal and distal driven links. The links are configured to guide and support the drive assembly to facilitate a greater degree of articulation.

[0007] Aspects of the present disclosure relate to a surgical device having an elongated body, a tool assembly, a drive assembly, and an articulation mechanism. The elongated body defines a first longitudinal axis and has a proximal portion and a distal portion. The tool assembly defines a second longitudinal axis and is supported on the distal portion of the elongated body for pivotal movement between a non-articulated position and an articulated position around an articulation axis. The articulation axis is transverse to the first longitudinal axis and the second longitudinal axis. The drive assembly includes a flexible drive beam and a clamp member. The flexible drive beam has a proximal portion and a distal portion. The clamp member is supported on the distal portion of the flexible drive beam and is received in the tool assembly. The drive assembly is movable between a retracted position and an advanced position to move the clamp member through the tool assembly. The articulation mechanism includes a proximal drive link, a distal drive link, a proximal driven link, and a distal driven link. The proximal drive link has a flat inner surface, a proximal portion, and a distal portion. The distal drive link has a proximal portion pivotally coupled to the distal portion of the proximal drive link and a distal portion pivotally coupled to the tool assembly. The proximal follower link has a flat inner surface, a proximal portion, and a distal portion. The distal follower link has a proximal portion pivotally coupled to the proximal portion of the proximal follower link and a distal portion pivotally coupled to the tool assembly. The proximal drive link is movable from an intermediate position to an advanced position so that the tool assembly is articulated around the articulation axis in a first direction, and is movable from an intermediate position to a retracted position so that the tool assembly is articulated around the articulation axis in a second direction. The flat inner surfaces of the proximal drive link and the proximal follower link define a channel through which the flexible drive beam moves when the drive assembly moves between the retracted position and the advanced position.

[0008] In aspects of the present disclosure, the proximal drive link and the proximal follower link are constrained for linear movement within the elongated body.

[0009] In some aspects of the present disclosure, when the tool assembly articulates in a first direction, the flat inner surface of the proximal drive link is positioned to engage the flexible drive beam adjacent the articulation axis.

[0010] In certain aspects of the present disclosure, when the tool assembly articulates in the second direction, the flat inner surface of the proximal follower link is positioned to engage the flexible drive beam adjacent the articulation axis.

[0011] In aspects of the present disclosure, the distal drive link and the distal follower link have internal guide surfaces, and when the tool assembly articulates in a first direction, the internal guide surface of the distal drive link is positioned to engage the flexible drive beam adjacent the articulation axis.

[0012] In some aspects of the present disclosure, when the tool assembly articulates in the second direction, the inner guide surface of the distal follower link is positioned to engage the flexible drive beam adjacent the articulation axis.

[0013] In certain aspects of the present disclosure, the distal drive link and the proximal drive link are formed of a rigid material.

[0014] In aspects of the present disclosure, a surgical device includes a flexible stabilization member positioned on each side of a flexible drive beam.

[0015] In some aspects of the present disclosure, each of the flexible stabilization members has a distal end coupled to the tool assembly and a proximal end received within the elongated body.

[0016] In certain aspects of the present disclosure, a surgical device includes a handle assembly coupled to a proximal portion of an elongated body.

[0017] In aspects of the present disclosure, a surgical device includes a mounting assembly fixedly coupled to a tool assembly and pivotally coupled to an elongated body.

[0018] In some aspects of the present disclosure, distal portions of the distal drive link and the distal follower link are pivotally coupled to the mounting assembly.

[0019] In certain aspects of the present disclosure, the mounting assembly defines a channel, and the flexible drive beam extends through the channel of the mounting assembly.

[0020] In aspects of the present disclosure, the proximal drive link and the proximal follower link define a slot, and the distal drive link and the distal follower link are at least partially received within the slot.

[0021] Other aspects of the present disclosure relate to a reloading assembly, which includes a proximal body portion, a tool assembly, a drive assembly, and an articulation mechanism. The proximal body portion defines a first longitudinal axis and has a proximal portion and a distal portion. The proximal body portion is configured to releasably engage a surgical device. The tool assembly defines a second longitudinal axis and is supported on a distal portion of the proximal body portion for pivotal movement between a non-articulated position and an articulated position around an articulation axis. The articulation axis is transverse to the first longitudinal axis and the second longitudinal axis. The drive assembly includes a flexible drive beam and an I-beam. The flexible drive beam has a proximal portion and a distal portion. The I-beam is supported on a distal portion of the flexible drive beam and is received in the tool assembly. The drive assembly is movable between a retracted position and an advanced position to move the I-beam through the tool assembly. The articulation mechanism includes a proximal drive link, a distal drive link, a proximal driven link, and a distal driven link. The proximal drive link has a flat inner surface, a proximal portion, and a distal portion. The distal drive link has a proximal portion pivotally coupled to the distal portion of the proximal drive link and a distal portion pivotally coupled to the tool assembly. The proximal follower link has a flat inner surface, a proximal portion, and a distal portion. The distal follower link has a proximal portion pivotally coupled to the proximal portion of the proximal follower link and a distal portion pivotally coupled to the tool assembly. The proximal drive link is movable from an intermediate position to an advanced position so that the tool assembly is articulated around the articulation axis in a first direction, and is movable from an intermediate position to a retracted position so that the tool assembly is articulated around the articulation axis in a second direction. The flat inner surfaces of the proximal drive link and the proximal follower link define a channel through which the flexible drive beam moves when the drive assembly moves between the retracted position and the advanced position.

[0022] Other aspects of the present disclosure relate to a surgical device comprising an elongated body, a tool assembly, a drive assembly and an articulation mechanism. The elongated body defines a first longitudinal axis and has a proximal portion and a distal portion. The tool assembly defines a second longitudinal axis and is supported on the distal portion of the elongated body for pivotal movement between a non-articulated position and an articulated position around an articulation axis. The articulation axis is transverse to the first longitudinal axis and the second longitudinal axis. The drive assembly comprises a flexible drive beam and a clamp member. The flexible drive beam has a proximal portion and a distal portion. The clamp member is supported on the distal portion of the flexible drive beam and is received in the tool assembly. The drive assembly is movable between a retracted position and an advanced position to move the clamp member through the tool assembly. The articulation mechanism comprises a drive link and a driven link. The drive link has a distal portion, a proximal portion and a flat inner surface extending between the proximal portion and the distal portion. The distal portion is pivotally connected to the tool assembly. The driven link has a proximal portion, a distal portion, and a flat inner surface extending between the proximal portion and the distal portion of the driven link. The flat inner surfaces of the drive link and the driven link define a linear channel through which the flexible drive beam moves when the drive assembly moves between the retracted position and the advanced position. The drive link is movable from an intermediate position to an advanced position to articulate the tool assembly about the articulation axis in a first direction, and is movable from the intermediate position to a retracted position to articulate the tool assembly about the articulation axis in a second direction.

[0023] Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Various aspects of the present disclosure are described below with reference to the accompanying drawings, in which:

[0025] Figure 1 is a side perspective view of a surgical stapling device according to aspects of the present disclosure, wherein a tool assembly of the stapling device is illustrated in a non-articulated open position;

[0026] Figure 2 yes Figure 1 A side perspective view of a distal portion of a surgical stapling apparatus is shown with the tool assembly shown articulated 70 degrees in a first direction;

[0027] Figure 3 yes Figure 1 A side perspective view of a distal portion of a surgical stapling apparatus is shown with the tool assembly shown articulated 70 degrees in a second direction;

[0028] Figure 4 yes Figure 1 A side perspective exploded view of a reloading assembly of a surgical stapling apparatus is shown;

[0029] Figure 5Partially assembled in a non-articulated position Figure 4 a side perspective view of a distal portion of the reload assembly shown with the outer tube, upper housing portion, arc quenching plate, and drive beam removed from the reload assembly;

[0030] Figure 6 yes Figure 5 a top view of the reload assembly shown in a non-articulated position with the anvil, outer tube, and upper housing portion removed;

[0031] Figure 7 yes Figure 6 An enlarged view of the indicated detail area is shown;

[0032] Figure 8 yes Figure 6 a top cross-sectional view of a central portion of the reloading assembly shown with the anvil, outer tube, and upper housing portion removed and the tool assembly articulated 70 degrees in a second direction; and

[0033] Fig. 9 yes Figure 6 A top cross-sectional view of a central portion of a reloading assembly is shown with the anvil, outer tube, and upper housing portion removed and the tool assembly articulated 70 degrees in a first direction. DETAILED DESCRIPTION

[0034] The disclosed surgical stapling device will now be described in detail with reference to the accompanying drawings, wherein the same reference numerals in each of the several views represent the same or corresponding elements. However, it should be understood that the various aspects of the present disclosure are merely illustrative of the present disclosure and may be embodied in various forms. Well-known functions or configurations are not described in detail to avoid obscuring the present disclosure with unnecessary details. Therefore, the specific structural and functional details disclosed herein should not be construed as restrictive, but merely as the basis for the claims and as a representative basis for teaching those skilled in the art to employ the present disclosure differently with almost any suitable specific structure.

[0035] In this specification, the term "proximal" is generally used to refer to that part of the device that is closer to the clinician during the device is used in its usual manner, and the term "distal" is generally used to refer to that part of the device that is farther from the clinician during the device is used in its usual manner. In addition, the term "endoscopy" is generally used to refer to any other operation performed by endoscopy, laparoscopy, arthroscopy and / or a small diameter incision or cannula, and the term "clinician" is generally used to refer to medical staff, including doctors, nurses and support staff. In addition, directional terms such as "front", "back", "upper", "lower", "top", "bottom" and similar terms are used to help understand this specification and are not intended to limit the present disclosure.

[0036] The disclosed surgical device includes an elongated body defining a longitudinal axis and a tool assembly pivotally attached to the elongated body for articulation about an articulation axis transverse to the longitudinal axis. The surgical device includes an articulation mechanism and a drive assembly that is movable about the articulation axis to actuate the tool assembly. The articulation mechanism includes proximal and distal drive links and proximal and distal driven links. The links are configured to guide and support the drive assembly to facilitate a greater degree of articulation.

[0037] Figures 1 to 3 A surgical device according to aspects of the present disclosure is shown generally as surgical device 10. Surgical device 10 includes a handle assembly 12, an elongated body 14, and a tool assembly 16. Elongated body 14 defines a longitudinal axis "X" ( Figure 1 ), and the tool assembly 16 defines a longitudinal axis "Y" ( Figure 2 The tool assembly 16 is pivotally coupled to the elongated body 14 and can be in a non-articulated position ( Figure 1 ) and an articulated position in which the longitudinal axes "X" and "Y" of the elongated body 14 and tool assembly 16 are coaxial ( Figure 1 ), in the articulated position, the longitudinal axes "X" and "Y" of the elongated body 14 and the tool assembly 16 are not aligned with each other ( Figure 2 and Figure 3 ) to define an acute angle "β".

[0038] The handle assembly 12 includes a body 12a that forms a fixed handle 18 and an actuation button 20 that is operable to initiate operation of the housing surgical device 10, i.e., the approximation of the tool assembly 16, the articulation of the tool assembly 16, and the firing of staples from the tool assembly 16. In various aspects of the present disclosure, the handle assembly 12 supports a knob 22 that is coupled to the proximal portion 14a of the elongated body 14 and is rotatable to rotate the elongated body 14 and the tool assembly 16 relative to the handle assembly 12 about the longitudinal axis "X". Although the surgical device 10 can be configured to fire staples, it is contemplated that the surgical device 10 can be adapted to fire any other suitable fasteners, such as fixed clips and two-piece fasteners. Although the surgical device 10 is described as a surgical stapling device 10, it is also contemplated that certain components described herein can be applicable to other types of articulating endoscopic surgical instruments, including endoscopes, forceps, graspers, dissectors, other types of surgical stapling instruments, powered vascular sealing devices, and / or cutting devices.

[0039] In various aspects of the present disclosure, the tool assembly 16 forms part of a reloading assembly 40 that is releasably coupled to the elongated body 14 and can be replaced to facilitate repeated use of the suturing device 10. The reloading assembly 40 includes a proximal body portion 42, the tool assembly 16, and a mounting assembly 44 that pivotally couples the tool assembly 16 to a distal portion of the proximal body portion 42. The proximal body portion 42 is coaxial with the longitudinal axis "X" of the elongated body 14 and has a proximal portion 42a that is releasably coupled to the distal portion 14b of the elongated body 14. It is contemplated that the tool assembly 16 can be pivotally secured to the elongated body 14 via the mounting assembly 44 and need not form part of the reloading assembly 40, i.e., the elongated body 14. It is also contemplated that the mounting assembly 44 can be integrally formed with the tool assembly 16.

[0040] Figure 4 and Figure 5 A reloading assembly 40 is shown, which includes a tool assembly 16, a proximal body portion 42, and a mounting assembly 44. The tool assembly 16 includes an anvil assembly 50 and a cartridge assembly 52. ​​The anvil assembly 50 is provided by a pivot member 54 ( Figure 3 ) is connected to the cartridge assembly 52, and the pivot member facilitates the cartridge assembly 52 to be in the open position ( Figure 1 ) and the movement between the clamping position. The cartridge assembly 52 includes a channel member 56 and a staple cartridge 58. The channel member 56 defines a cavity for receiving the staple cartridge 58. In various aspects of the present disclosure, the staple cartridge 58 can be releasably received in the channel member 56 and can be replaced to facilitate the suturing device 10 ( Figure 1 and Figure 2 Alternatively, it is contemplated that staple cartridge 58 may be fixedly retained within channel member 56 and the entire reloading assembly 40 may be replaced to facilitate reuse of stapling device 10. Although cartridge assembly 52 is shown as pivoting toward anvil 50, it is contemplated that cartridge assembly 52 may be stationary and anvil 50 may be pivoted toward cartridge assembly 52.

[0041] The mounting assembly 44 includes a first mounting member 60 and a second mounting member 62 that are secured together with a post 64 to define a closed channel 66 between the first mounting member 60 and the second mounting member 62, respectively. In various aspects of the present disclosure, the post 64 is formed on the first mounting member 60 and is received in an opening 62a formed in the second mounting member 62. The second mounting member 62 defines holes 68 that receive the pivot member 54 to secure the mounting assembly 44 to the proximal end of the tool assembly 16. More specifically, the channel member 56 of the cartridge assembly 52 includes a proximal portion that defines a hole 70 that accommodates the pivot member 54. The pivot member 54 extends through the hole 70 in the proximal portion of the channel member 56 and into the hole 68 of the second mounting member 62 to pivotally secure the cartridge assembly 52 to the mounting assembly 44. Pivot member 54 also extends through an opening (not shown) in the proximal portion of anvil assembly 50 to secure anvil assembly 50 to mounting assembly 44. The proximal portion of anvil assembly 50 includes a proximally extending bracket 72 defining an opening 72a, the function of which will be described in further detail below.

[0042] The proximal body portion 42 of the reloading assembly 40 includes a housing (80a, 80b), a drive assembly 82, an articulation mechanism 84 ( Figure 7 ) and a cylindrical housing 85. The housing is formed of half-segments 80a and 80b, which are received within the housing 85 and fixed together to define an internal passage that facilitates longitudinal movement of the drive assembly 82 and the hinge mechanism 84 within the housing 80. Each of the housing half-segments 80a and 80b includes a distal portion that defines a stepped cutout 86 (only one is shown). The first half-segment 80a includes a proximal portion 88 that is configured to be releasably coupled to the distal portion ( Figure 2 ). See US Pat. No. 8,132,706 (hereinafter "the '706 patent") for a more detailed description of a reloading assembly having a proximal body portion that includes a housing configured to releasably engage a body portion of an exemplary surgical stapling device.

[0043] Each of the mounting members 60 and 62 includes a pivot member 90 (only one shown). The pivot members 90 are coaxial and define an articulation axis "Z" ( Figure 1). The mounting assembly 44 also includes a first pivot plate 92a and a second pivot plate 92b. Each of the pivot plates 92a and 92b includes a body having a stepped configuration that corresponds to the configuration of the stepped cutouts 86 formed in the housing half-segments 80a and 80b. Each of the pivot plates 92a and 92b also includes a distal portion that defines a hole 94 that receives one of the pivot members 90 of the mounting members 60 and 62. The pivot plates 92a and 92b are received in the corresponding stepped cutouts 86 of the housing half-segments 80a and 80b, and the pivot members 90 of the first mounting member 60 and the second mounting member 62 are received in the corresponding holes 94 of the pivot plates 92a and 92b to secure the mounting assembly 44 and the tool assembly 16 to the proximal body portion 42 of the reload assembly 40 for pivotal movement about the hinge axis "Z". Pivot member 90 on mounting member 60 is also received in opening 72 a of bracket 72 of anvil assembly 50 to pivotally secure tool assembly 16 to proximal body portion 42 of reload assembly 40 .

[0044] The hinge mechanism 84 of the reloading assembly 40 ( Figure 7 ) includes a proximal drive link 96, a distal drive link 98, a proximal follower link 100, and a distal follower link 102. The proximal drive link 96 is elongated and includes a proximal portion 104 that is configured to engage the suturing device 10 ( Figure 1 ) in the elongated body 14 of the suturing device 10. In various aspects of the present disclosure, the proximal portion 104 of the proximal drive link 96 includes a hook portion 106 configured to engage an articulated drive member (not shown) in the elongated body 14 of the suturing device 10. Alternatively, other engagement configurations or devices can be envisioned. The proximal drive link 96 also includes a distal guide portion 108 of increased width, which includes a flat inner surface 108a that is positioned adjacent to the articulation axis 82 to limit movement of the drive assembly, as described below. In various aspects of the present disclosure, the distal guide portion 108 of the proximal drive link 96 is securely fixed to the proximal portion of the proximal drive link 96, for example by welding. It is also conceivable that the proximal drive link 96, including the proximal portion 104 and the distal guide portion 108, can be integrally formed as a single-piece structure. In aspects of the present disclosure, proximal drive link 96 and distal drive link 98 , including distal guide portion 108 , are formed from a rigid material that resists outward deformation of drive assembly 82 .

[0045] The distal drive link 98 is shorter than the proximal drive link 96 and includes a distal portion having an inner guide surface 98a that is positioned to guide the movement of the drive assembly 82 when the drive assembly 82 is bent about the hinge axis "Z", as described in further detail below. The inner guide surface can be curved. The distal drive link 98 has a proximal portion that is coupled to a distal guide portion 108 of the proximal drive link 96 by a pivot member 110. In various aspects of the present disclosure, the distal guide portion 108 defines a slot 112 that receives the proximal portion of the distal drive link 98, and the pivot member 110 extends through the slot 112 and into an opening 114 in the distal drive link 98 to pivotally couple the proximal drive link 96 to the distal drive link 98. The distal portion of the distal drive link 98 is coupled to one side of the first mounting member 60 and the second mounting member 62 at a position spaced outward from the pivot axis "Z". In aspects of the present disclosure, the distal portion of the distal drive link 98 defines an opening 99 that receives one of the posts 64 of the first mounting member 60 such that the distal portion of the distal drive link 98 is positioned between the first mounting member 60 and the second mounting member 62 and can pivot about the post 64 .

[0046] The proximal follower link 100 has a configuration similar to the distal guide portion 100 of the proximal drive link 96 and includes a flat inner surface 100a that is positioned adjacent to the articulation axis 82 to limit movement of the drive assembly 82, as described below. The proximal follower link 100 has a distal portion that is coupled to a proximal portion of a distal follower link 102 by a pivot member 118. In various aspects of the present disclosure, the proximal follower link 100 defines a slot 116 that receives the proximal portion of the distal follower link 102, and the pivot member 118 extends through the slot 116 and into an opening 120 in the distal follower link 102 to pivotally couple the proximal follower link 100 to the distal follower link 102. The distal portion of the distal follower link 102 is coupled to the other side of the first mounting member 60 and the second mounting member 62 at a position spaced outwardly from the pivot axis "Z". In various aspects of the present disclosure, the distal portion of the distal follower link 102 defines an opening 120 that receives another of the posts 64 of the first mounting member 60, such that the distal portion of the distal follower link 102 is positioned between the first mounting member 60 and the second mounting member 62 and can pivot about the posts 64. The distal follower link 102 includes a distal portion having an internal guide surface 102a that is positioned to guide movement of the drive assembly 82 when the drive assembly 82 is bent about the hinge axis "Z", as described in further detail below. The internal guide surface 102a can be curved. In various aspects of the present disclosure, the proximal follower link 100 and the distal follower link 102 are formed of a rigid material that resists outward deformation of the drive assembly 82.

[0047] The proximal drive link 96 and the proximal follower link 100 are received in the channel defined between the first half section 80a and the second half section 80b of the housing and are enclosed by the housing 85 so that the links 96 and 100 are restricted to linear movement between the first half section 80a and the second half section 80b of the proximal body portion 42 of the housing. The proximal drive link 96 is formed by the elongated body 14 ( Figure 1 ) is linearly driven by an articulated drive member (not shown) of the proximal body portion 42 to advance (or retract) the distal drive link 98 and pivot the distal drive link 98 within the slot 112 of the distal guide portion 108. As the distal drive link 98 advances, the tool assembly 16 pivots about the articulation axis "Z". As the tool assembly 16 pivots, the distal follower link 102 pivots and moves longitudinally within the slot 116 of the proximal follower link 100, and the proximal follower link 100 moves within the channel defined between the first half-section 80a and the second half-section 80b of the housing of the proximal body portion 42.

[0048] Figure 4 The drive assembly 82 of the surgical device 10 is shown, which includes a flexible drive beam 140 and a clamp member 142. The flexible drive beam 140 has a proximal portion and a distal portion. The proximal portion of the drive beam 140 is coupled to the elongated body 14 ( Figure 1 ) within the tool assembly 16 so that the drive assembly 82 can move in response to the movement of the control rod between the retracted position and the advanced position. In various aspects of the present disclosure, the flexible drive beam 140 is formed of stacked sheets or laminates and is flexible about the articulation axis "Z" ( Figure 2 )bending.

[0049] The clamp member 142 of the drive assembly 82 is fixed to the distal portion of the drive beam 140 and is movable between the retracted position and the advanced position within the tool assembly 16 when the drive assembly 82 moves between its retracted position and the advanced position to actuate the tool assembly 16. In various aspects of the present disclosure, the clamp member 142 of the drive assembly 82 has an I-beam configuration and supports a blade 142a. In the retracted position, the clamp member is positioned in the proximal portion of the tool assembly 16 and the flexible drive beam 140 extends through the channel 66 in the mounting assembly 44. For a detailed description of the construction and operation of the drive assembly 82, see the '706 patent.

[0050] The reloading assembly 40 includes flexible stabilizing members 150, 152 positioned on each side of the flexible drive beam 140. Each of the flexible stabilizing members 150 and 152 extends from the proximal body portion 42 through the channel 66 defined by the mounting assembly 44. Each of the flexible stabilizing members 150, 152 has a distal end coupled to the mounting assembly 44 and a proximal end received within the housing 44 of the reloading assembly 40 for sliding movement. In various aspects of the present disclosure, the distal ends of the stabilizing members 150 and 152 have outward-turned ends that are received in the cutouts 154 ( Figure 7 )Inside.

[0051] Figure 6 and Figure 7 The reloading assembly 40 is shown with the tool assembly 16 in a non-articulated position. In the non-articulated position, the proximal drive link 96 is in a neutral position, and the distal drive link 98 and the distal follower link 102 are positioned in a neutral position so that the tool assembly 16 remains in the non-articulated position. In this position, the flat inner surfaces 108a and 100a of the proximal drive link 96 and the proximal follower link 100 are aligned with each other to define a guide channel 170 ( Figure 7 ). The flexible drive beam 140 of the drive assembly 82 extends through the passage 170 and through the passage 66 in the mounting assembly 44 toward the tool assembly 16.

[0052] Figure 8 The tool assembly 16 is shown pivoted to an angle "β" in a first direction indicated by arrow "A". As the proximal drive link 96 retracts in the direction of arrow "B", the distal drive link 98 is pulled proximally to pivot the tool assembly 16 in the direction of arrow "A". As the tool assembly 16 pivots in the direction of arrow "A", the distal follower link 102 is pulled distally and pivots inwardly toward the articulation axis "Z" to support the flexible drive beam 140 as it bends about the articulation axis "Z". As shown, the proximal follower link 100 moves distally in the direction of arrow "C" such that the flat inner surface 100a moves distally to further support the flexible drive beam 140 in a position adjacent to the pivot axis "Z". This provides additional support for the flexible drive beam 140 to minimize the possibility of bending and allows for a greater degree of articulation to be facilitated.

[0053] Fig. 9The tool assembly 16 is shown pivoted to an angle "β" in a second direction indicated by arrow "D". As the proximal drive link 96 advances in the direction of arrow "E", the distal drive link 98 is pushed distally to pivot the tool assembly 16 in the direction of arrow "D", and the flat inner surface 108a of the proximal drive link 96 moves distally to support the flexible drive beam 140 adjacent to the articulation axis "Z". As the tool assembly 16 pivots in the direction of arrow "D", the distal follower link 102 is pushed proximally and pivots inwardly toward the flexible drive beam 140. As shown, the proximal follower link 100 moves proximally in the direction of arrow "F", causing the flat inner surface 100a to move proximally to further support the flexible drive beam 140 at a position proximal to the flat inner surface 108a of the proximal drive link 96. This provides additional support for the flexible drive beam 140 to minimize the possibility of bending and allow for a greater degree of articulation to be facilitated.

[0054] When the drive assembly 82 advances to fire the surgical device 10 ( Figure 1 ), the tool assembly 16 is in an articulated position, and the proximal drive link 96 and the distal drive link 98 and the proximal follower link 100 and the distal follower link 102 move along the outer surface of the flexible drive beam 140 of the drive assembly 82 to stabilize the flexible drive beam 140 about the articulation axis "Z". Using the above-described articulation mechanism 84, the tool assembly 16 can be articulated in each direction by an angle "β" of 70 degrees or more.

[0055] Those skilled in the art will appreciate that the devices and methods specifically described herein and shown in the accompanying drawings are non-limiting exemplary aspects of the present disclosure. It is conceivable that, without departing from the scope of the present disclosure, the elements and features shown and described in conjunction with an exemplary embodiment may be combined with the elements and features shown and described in conjunction with another exemplary embodiment. Similarly, those skilled in the art will understand the additional features and advantages of the present disclosure based on the above-mentioned aspects of the present disclosure. Therefore, unless indicated by the attached claims, the present disclosure is not limited by the content that has been specifically shown and described.

Claims

1. A surgical device, comprising: an elongated body defining a first longitudinal axis and having a proximal portion and a distal portion; a tool assembly defining a second longitudinal axis, the tool assembly being supported on the distal portion of the elongated body for pivotal movement between a non-articulated position and an articulated position about an articulation axis, the articulation axis being transverse to the first longitudinal axis and the second longitudinal axis; a drive assembly including a flexible drive beam having a proximal portion and a distal portion, the clamp member supported on the distal portion of the flexible drive beam and received within the tool assembly, the drive assembly being movable between a retracted position and an advanced position to move the clamp member through the tool assembly; and An articulated mechanism, the articulated mechanism comprising a proximal drive link, a distal drive link, a proximal follower link and a distal follower link, the proximal drive link having a flat inner surface, a proximal portion and a distal portion, the distal drive link having a proximal portion pivotally connected to the distal portion of the proximal drive link and a distal portion pivotally connected to the tool assembly, the proximal follower link having a flat inner surface, a proximal portion and a distal portion, the distal follower link having a proximal portion pivotally connected to the proximal portion of the proximal follower link and a distal portion A distal portion pivotally connected to the tool assembly, wherein the proximal drive link is capable of moving from an intermediate position to an advanced position to allow the tool assembly to articulate about the articulation axis in a first direction, and is capable of moving from the intermediate position to a retracted position to allow the tool assembly to articulate about the articulation axis in a second direction, wherein the flat inner surfaces of the proximal drive link and the proximal follower link define a channel through which the flexible drive beam moves when the drive assembly moves between the retracted position and the advanced position.

2. The surgical device according to claim 1, wherein: The proximal drive link and the proximal follower link are constrained for linear movement within the elongated body.

3. The surgical device according to claim 2, wherein: When the tool assembly articulates in the first direction, the flat inner surface of the proximal drive link is positioned to engage the flexible drive beam adjacent the articulation axis.

4. The surgical device according to claim 3, wherein: When the tool assembly articulates in the second direction, the flat inner surface of the proximal follower link is positioned to engage the flexible drive beam adjacent the articulation axis.

5. The surgical device according to claim 4, wherein: The distal drive link and the distal follower link have inner guide surfaces, the inner guide surfaces of the distal drive link being positioned to engage the flexible drive beam adjacent the articulation axis when the tool assembly articulates in the first direction.

6. The surgical device according to claim 5, wherein: When the tool assembly articulates in the second direction, the inner guide surface of the distal follower link is positioned to engage the flexible drive beam adjacent the articulation axis.

7. The surgical device according to claim 1, wherein: The distal drive link and the proximal drive link are made of a rigid material.

8. The surgical device of claim 1, further comprising a flexible stabilization member positioned on each side of the flexible drive beam.

9. The surgical device according to claim 8, wherein: Each of the flexible stabilization members has a distal end coupled to the tool assembly and a proximal end received within the elongated body.

10. The surgical device of claim 1, further comprising a handle assembly coupled to the proximal portion of the elongated body.

11. The surgical device of claim 1 , further comprising a mounting assembly fixedly coupled to the tool assembly and pivotally coupled to the elongated body.

12. The surgical device according to claim 11, wherein: The distal portions of the distal drive link and the distal follower link are pivotally coupled to the mounting assembly.

13. The surgical device according to claim 12, wherein: The mounting assembly defines a channel, and the flexible drive beam extends through the channel of the mounting assembly.

14. The surgical device of claim 1, wherein: The proximal drive link and the proximal follower link define a slot, and the distal drive link and the distal follower link are at least partially received within the slot.

15. A reloading assembly, comprising: a proximal body portion defining a first longitudinal axis and having a proximal portion and a distal portion, the proximal body portion being configured to releasably engage a surgical device; a tool assembly defining a second longitudinal axis, the tool assembly being supported on the distal portion of the proximal body portion for pivotal movement between a non-articulated position and an articulated position about an articulation axis, the articulation axis being transverse to the first longitudinal axis and the second longitudinal axis; a drive assembly including a flexible drive beam and an I-beam, the flexible drive beam having a proximal portion and a distal portion, the I-beam supported on the distal portion of the flexible drive beam and received within the tool assembly, the drive assembly being movable between a retracted position and an advanced position to move the I-beam through the tool assembly; and An articulated mechanism, the articulated mechanism comprising a proximal drive link, a distal drive link, a proximal follower link and a distal follower link, the proximal drive link having a flat inner surface, a proximal portion and a distal portion, the distal drive link having a proximal portion pivotally connected to the distal portion of the proximal drive link and a distal portion pivotally connected to the tool assembly, the proximal follower link having a flat inner surface, a proximal portion and a distal portion, the distal follower link having a proximal portion pivotally connected to the proximal portion of the proximal follower link and a distal portion A distal portion pivotally connected to the tool assembly, wherein the proximal drive link is capable of moving from an intermediate position to an advanced position to allow the tool assembly to articulate about the articulation axis in a first direction, and is capable of moving from the intermediate position to a retracted position to allow the tool assembly to articulate about the articulation axis in a second direction, wherein the flat inner surfaces of the proximal drive link and the proximal follower link define a channel through which the flexible drive beam moves when the drive assembly moves between the retracted position and the advanced position.

16. The reloading assembly of claim 15, wherein: When the tool assembly articulates in the first direction, the flat inner surface of the proximal drive link is positioned to engage the flexible drive beam adjacent the articulation axis.

17. The reloading assembly of claim 16, wherein: When the tool assembly articulates in the second direction, the flat inner surface of the proximal follower link is positioned to engage the flexible drive beam adjacent the articulation axis.

18. The reloading assembly of claim 17, wherein: The distal drive link and the distal follower link have inner guide surfaces, the inner guide surfaces of the distal drive link being positioned to engage the flexible drive beam adjacent the articulation axis when the tool assembly articulates in the first direction.

19. The reloading assembly of claim 18, wherein: When the tool assembly articulates in the second direction, the inner guide surface of the distal follower link is positioned to engage the flexible drive beam adjacent the articulation axis.

20. A surgical device, comprising: an elongated body defining a first longitudinal axis and having a proximal portion and a distal portion; a tool assembly defining a second longitudinal axis, the tool assembly being supported on the distal portion of the elongated body for pivotal movement between a non-articulated position and an articulated position about an articulation axis, the articulation axis being transverse to the first longitudinal axis and the second longitudinal axis; a drive assembly including a flexible drive beam having a proximal portion and a distal portion, the clamp member supported on the distal portion of the flexible drive beam and received within the tool assembly, the drive assembly being movable between a retracted position and an advanced position to move the clamp member through the tool assembly; and The hinge mechanism comprises a driving link and a driven link, the driving link having a distal portion, a proximal portion and a flat inner surface extending between the proximal portion and the distal portion, the distal portion being pivotally connected to the tool assembly, the driven link having a proximal portion, a distal portion and a flat inner surface extending between the proximal portion and the distal portion of the driven link, the flat inner surfaces of the driving link and the driven link defining a linear channel, the flexible driving beam moving through the linear channel when the driving assembly moves between the retracted position and the advanced position, wherein the driving link is capable of moving from an intermediate position to an advanced position so that the tool assembly is articulated around the articulation axis in a first direction, and is capable of moving from the intermediate position to a retracted position so that the tool assembly is articulated around the articulation axis in a second direction.

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