Energy-based surgical instrument for grasping, treating and segmenting tissue with consistent closing force

Abstract

A surgical instrument includes a housing having an elongate shaft extending from a distal end thereof. An end effector assembly is operably coupled to a distal end of the elongate shaft. Comprising a drive assembly having a movable handle coupled to the housing, and having a movable handle coupled to the handle, the latter in turn coupled to an internal driver that translates through the shaft. A spring assembly operably couples the carriage and the internal driver such that initial actuation of the handle slides the carriage until a threshold jaw force is reached on the movable handle. Thereafter, subsequent actuation of the handle slides the carriage to compress the spring assembly to substantially maintain the position of the internal driver, thereby inhibiting excessive jaw forces on the movable handle that exceed a predetermined threshold.

Description

Cross-references to related applications

[0001] This application claims the benefit and priority of U.S. Provisional Patent Application No. 63 / 456,089, filed March 31, 2023, the entire contents of which are incorporated herein by reference. background Technical Field

[0002] This disclosure relates to surgical instruments, and more specifically to energy-based surgical instruments for grasping, manipulating and / or dividing tissue, the energy-based surgical instruments including a drive assembly configured to generate a substantially uniform closing force on the tissue over the length of the tail end of the actuation stroke. Background Technology

[0003] Some energy-based surgical instruments (such as energy-based surgical forceps) utilize mechanical clamping actions and the application of energy (e.g., radio frequency (RF) energy, ultrasonic energy, microwave energy, light energy, thermal energy, etc.) to coagulate, cauterize, and / or seal tissue by heating it, thereby affecting hemostasis. Coagulation may be sufficient to achieve hemostasis in some tissues (e.g., nonvascular tissue, small blood vessels less than about two millimeters in diameter, and tissues containing small blood vessels). However, for other tissues (e.g., large blood vessels greater than about two millimeters in diameter and tissues containing larger blood vessels), coagulation may not be sufficient to achieve hemostasis; instead, sealing these tissues may be necessary, a process that involves heating, denaturing, and reorganizing the collagen in the tissue into a fusion mass to permanently close the blood vessels. Once hemostasis is achieved, the processed tissue can be cut (mechanically, electrically, or electromechanically) to separate the tissue. Summary of the Invention

[0004] As used herein, the term "distal" refers to the portion described as being further away from the operator (e.g., a surgeon), while the term "proximal" refers to the portion described as being closer to the operator. As utilized herein, terms including "generally," "about," "substantially," etc., are intended to cover variations of up to and including plus or minus 10% (e.g., manufacturing tolerances, material tolerances, usage tolerances and environmental tolerances, measurement variations, and / or other variations). Furthermore, any or all aspects described herein may be used in conjunction with any or all other aspects described herein to a consistent degree.

[0005] A surgical instrument is provided according to various aspects of this disclosure, the surgical instrument comprising: a housing; an end effector assembly distally spaced from the housing; a movable handle operatively coupled to the housing and movable relative to the housing between an unactuated position, an actuated position, and an overactuated position; a drive assembly operatively coupled between the movable handle and the end effector assembly and configured such that movement of the movable handle from the unactuated position to the actuated position will actuate the end effector assembly; and a latching assembly operatively associated with the housing and the movable handle and configured to lock the movable handle in the actuated position. The latching assembly includes a latching arm and a latching track, the latching arm including a latching post extending therefrom, the latching track defining an entry path, a latching path, a saddle, an unlocking path, and a return path. The latching pin is configured to move through an entry path, a latching path, and into a saddle as the movable handle moves from an unacted position through an actuated position to an overacted position and back to the actuated position, thereby locking the movable handle in the actuated position. The latching pin is configured to move from the saddle through an unlocking path and a return path as the movable handle subsequently moves from the actuated position to the overacted position and back to the unacted position. The return path includes a ramp surface configured to prevent the latching pin from reversing into the return path.

[0006] In one aspect of this disclosure, the slope surface includes a slope end and a steep slope end, and wherein a latching post is permitted to enter the slope surface via the slope end, but is prevented from entering the slope surface via the steep slope end.

[0007] In another aspect of this disclosure, a latching rail extends between a central block, an upper guide rail, a lower guide rail, and a guide leg. The central block may define a saddle-shaped member.

[0008] In another aspect of this disclosure, the entry path is defined between the lower guide rail and the central block, and the return path is defined between the upper guide rail and the central block. Additionally or alternatively, the latching path is defined between the central block, the lower guide rail, and the guide leg, and the unlocking path is defined between the central block, the upper guide rail, and the guide leg.

[0009] In another aspect of this disclosure, the latch arm is configured to deflect about a first axis as the latch pin moves through the entry path. The latch arm may be further configured to deflect about a second axis as the latch pin moves along the ramp surface.

[0010] In another aspect of this disclosure, the latch arm engages with a movable handle, and a latch track is disposed within the housing. In this aspect, the latch arm may engage with the movable handle at a first end and include a latch pin at a second end. Further, the latch arm may include a latch hook defined at its first end, the latch hook being configured to engage a boss extending from the movable handle.

[0011] In another aspect of this disclosure, the end effector assembly includes a first gripper member and a second gripper member, at least one of which, in response to a movable handle moving from an unactuated position to an actuated position, can move relative to the other from a spaced-apart position to a proximal position to grasp tissue therebetween.

[0012] In another aspect of this disclosure, the drive assembly is configured to control the gripping force applied by the first gripper member and the second gripper member to the tissue held therebetween.

[0013] In another aspect of this disclosure, the drive assembly is configured such that, in response to the movable handle moving from the actuated position to the over-actuated position, no additional gripping force is applied to the tissue gripping between the first gripper member and the second gripper member.

[0014] A method for actuating a surgical instrument, provided according to various aspects of this disclosure, includes actuating a movable handle relative to a housing from an unactuated position to an actuated position and from an actuated position to an overactuated position. Actuating the movable handle from the unactuated position to the actuated position manipulates an end effector assembly, and actuating the movable handle from the unactuated position to the overactuated position causes a latching pin to move through an entry path of a latching track. Releasing the movable handle in the overactuated position allows the movable handle to return toward the actuated position, and the return of the movable handle causes the latching pin to move along a latching path to a saddle, thereby locking the movable handle in the actuated position. Actuating the movable handle from the actuated position to the overactuated position causes the latching pin to move from the saddle along an unlocking path, thereby unlocking the movable handle. Releasing the movable handle in the overactuated position allows the movable handle to return to the actuated position, thereby causing the latching pin to move upward along a return path along a ramp end of a ramp surface, along the ramp surface, and away from the steep end of the ramp surface. The steep end of the slope surface inhibits the latch from entering the slope surface from the steep end of the slope surface.

[0015] In one aspect of this disclosure, a latching post extends from a latching arm connected to a movable handle. When the movable handle is at least partially actuated from an unacted position to an actuated position, the latching arm deflects about a first axis.

[0016] In another aspect of this disclosure, as the latch arm moves along the ramp surface, the latch arm deflects about the second axis.

[0017] In another aspect of this disclosure, the completion of actuation of the movable handle from an unacted position to an overacted position is confirmed by at least one of tactile feedback or auditory feedback.

[0018] In another aspect of this disclosure, manipulating the end effector assembly includes moving at least one of a first gripper member or a second gripper member relative to the other from a spaced-apart position to a proximate position to grasp tissue therebetween. The first and second gripper members can remain in place during at least one actuation of the movable handle from an actuated position to an over-actuated position.

[0019] Another surgical instrument provided according to various aspects of this disclosure includes a housing and a trigger assembly operatively coupled to the housing. The trigger assembly is configured to selectively deploy a deployable component distally relative to the housing. The trigger assembly includes a trigger, a rocker arm, a linkage mechanism, and a slider. The trigger includes a drive portion and an actuation portion. The trigger is pivotally coupled to the housing at a position between the drive portion and the actuation portion, such that the drive portion and the actuation portion move in different directions in response to pivoting of the trigger relative to the housing. The drive portion of the trigger is pivotally coupled to the rocker arm. The linkage mechanism includes a first end pivotally coupled to the rocker arm and a second end pivotally coupled to the housing. The slider is pivotally coupled to the rocker arm and operatively coupled to the deployable component. Proximal actuation of the actuation portion of the trigger moves the drive portion of the trigger distally, thereby pushing the rocker arm distally, pivoting the linkage mechanism about its second end, and sliding the slider distally to deploy the deployable component distally.

[0020] In one aspect of this disclosure, the slider is a spindle housing configured to capture an associated pin within the deployable component, such that sliding the spindle housing distally deploys the deployable component distally.

[0021] In another aspect of this disclosure, the pin is received in an annular groove defined within the mandrel housing to allow the pin and the deployable component to rotate relative to the mandrel housing.

[0022] In another aspect of this disclosure, the spindle housing includes a first housing portion and a second housing portion, which are interconnected by a movable hinge and configured to engage with each other in a closed position to define the interior of the spindle housing.

[0023] In another aspect of this disclosure, each of the first housing portion and the second housing portion includes a pivot boss extending therefrom, and the rocker includes a pair of spaced-apart fork connectors configured to engage the pivot bosses, thereby pivotally connecting the rocker to the spindle housing on both sides thereon.

[0024] In another aspect of this disclosure, the deployable component is a blade configured to deploy between the gripper members of the end effector assembly to cut tissue held between these gripper members.

[0025] In another aspect of this disclosure, the rocker arm defines a "T"-shaped configuration comprising a column and a crossbar. The drive portion of the trigger and the first end of the linkage mechanism are pivotally connected to the opposite end of the crossbar, and the slider is pivotally connected to the free end of the column.

[0026] In another aspect of this disclosure, the trigger is pivotally connected to the rocker arm via a snap-fit ​​connector, the snap-fit ​​connector including a pair of snap-fit ​​legs engaging in a snap-fit ​​recess, and / or a linkage mechanism is pivotally connected to the rocker arm at a first end of the linkage mechanism via a snap-fit ​​connector, the snap-fit ​​connector including a pair of snap-fit ​​legs engaging in a snap-fit ​​recess.

[0027] In another aspect of this disclosure, the surgical instrument further includes a shaft comprising a proximal portion at least partially disposed within a housing. The shaft extends distally from the housing and supports the end effector assembly at its distal portion. An internal actuator is slidably disposed within the shaft and operatively coupled to the end effector assembly. A slider is slidably disposed about the shaft, and an deployable component is slidably disposed within the internal actuator.

[0028] In another aspect of this disclosure, the deployable component is operably coupled to a slider via a pin that extends through a slot defined within an internal drive and shaft.

[0029] Another surgical instrument provided according to various aspects of this disclosure includes: a housing; a shaft extending distally from the housing and defining a longitudinal axis; and a trigger assembly operatively coupled to the housing to selectively deploy a deployable component distally through the shaft. The trigger assembly includes a trigger, a rocker arm, a linkage mechanism, and a slider. The trigger includes a drive portion and an actuation portion. The trigger is pivotally coupled to the housing at a position located below the longitudinal axis and between the drive portion and the actuation portion, such that the drive portion and the actuation portion move in different directions in response to pivoting of the trigger relative to the housing. The drive portion of the trigger is pivotally coupled to the rocker arm above the longitudinal axis. The linkage mechanism includes a first end pivotally coupled to the rocker arm above the longitudinal axis and a second end pivotally coupled to the housing below the longitudinal axis. The slider is pivotally coupled to the rocker arm along the longitudinal axis and operatively coupled to the deployable component. Actuation of the trigger's operating part to the proximal side causes the trigger's driving part to move to the distal side, thereby pushing the rocker arm to the distal side, causing the linkage mechanism to pivot about its second end, and causing the slider to slide to the distal side along the longitudinal axis to unfold the deployable part to the distal side through the shaft.

[0030] In one aspect of this disclosure, the slider is a spindle housing configured to capture an associated pin within the deployable component, such that sliding the spindle housing distally along the longitudinal axis deploys the deployable component distally through the shaft.

[0031] In another aspect of this disclosure, the pin is received in an annular groove defined within the mandrel housing to allow the pin and the deployable component to rotate relative to the mandrel housing.

[0032] In another aspect of this disclosure, the spindle housing includes a first housing portion and a second housing portion, which are interconnected by a movable hinge and configured to engage with each other in a closed position to define the interior of the spindle housing. In this aspect, each of the first and second housing portions may include a pivot boss extending therefrom, wherein the rocker arm includes a pair of spaced-apart fork connectors configured to engage these pivot bosses, thereby pivotally connecting the rocker arm to the spindle housing on both sides thereon.

[0033] In another aspect of this disclosure, the rocker arm defines a "T"-shaped configuration comprising a column and a crossbar. The drive portion of the trigger and the first end of the linkage mechanism are pivotally connected to the opposite end of the crossbar, and the slider is pivotally connected to the free end of the column.

[0034] In another aspect of this disclosure, the surgical instrument further includes: an end effector assembly supported at a distal portion of the shaft; a movable handle operatively coupled to the housing; and a drive assembly operatively coupled between the movable handle and the end effector assembly, such that actuation of the movable handle manipulates the end effector assembly. The movable handle is operatively coupled to the housing and the drive assembly at a location proximal to the trigger assembly.

[0035] In another aspect of this disclosure, the surgical instrument further includes a rotating assembly disposed between the trigger assembly and the movable handle operatively coupled to both the housing and the drive assembly.

[0036] In another aspect of this disclosure, the axial proximal extension passes through the housing to reach the rotating assembly, wherein the rotating wheel of the rotating assembly is fixedly engaged with the shaft.

[0037] In another aspect of this disclosure, the drive assembly includes an internal drive extending through the shaft, and a deployable component is slidably disposed within the internal drive.

[0038] Another surgical instrument provided according to various aspects of this disclosure includes: a housing; a shaft extending distally from the housing; an end effector assembly supported at the distal portion of the shaft and including a first gripper member and a second gripper member, at least one of the first or second gripper members being movable relative to the other between spaced-apart and proximal positions to grasp tissue therebetween; and a drive assembly. The drive assembly includes: a movable handle pivotally coupled to the housing; a carriage slidably disposed within the housing and operatively coupled to the movable handle; an internal actuator extending from the housing through the shaft and operatively coupled to the end effector assembly, such that translation of the internal actuator moves at least one of the first or second gripper members between spaced-apart and proximal positions; and a spring assembly operatively coupling the carriage and the internal actuator. The spring assembly includes an inner helical spring and an outer helical spring arranged in a nested configuration. Initial actuation of the movable handle causes the carriage to slide, causing the spring assembly to convert the slide into translation of the internal actuator until a threshold clamping force is reached by the first and second gripper members on the tissue held between them. Subsequent actuation of the movable handle causes the carriage to slide to compress the spring assembly to substantially maintain the position of the internal actuator, thereby inhibiting the first and second gripper members from exerting clamping forces exceeding the threshold clamping force.

[0039] In one aspect of this disclosure, the drive assembly further includes a linkage mechanism having a first end pivotally connected to a movable handle and a second end pivotally connected to a carriage.

[0040] In another aspect of this disclosure, the shaft defines a longitudinal axis, and actuation of the movable handle causes the linkage mechanism to pivot from an orientation at a greater angle relative to the longitudinal axis to an orientation more aligned with the longitudinal axis.

[0041] In another aspect of this disclosure, in the fully actuated position of the movable handle, the movable handle about its pivot point pivotally connected to the housing, the linkage mechanism about its pivot point pivotally connected to the movable handle, and the linkage mechanism about its pivot point pivotally connected to the carriage are substantially aligned with each other.

[0042] In another aspect of this disclosure, the internal actuator includes a proximal drive sleeve, and the drive assembly further includes: a first collar fixedly engaged with the distal side of the slider about the proximal drive sleeve; a second collar slidably disposed about the proximal drive sleeve and positioned between the spring assembly and the neck of the carriage, such that translation of the carriage in response to actuation of the movable handle pushes the second collar into the spring assembly; and a third collar fixedly engaged with the proximal side of the spring assembly about the proximal drive sleeve, such that the spring in response to initial actuation of the movable handle pushes the third collar to translate, and the spring assembly in response to subsequent actuation of the movable handle is compressed against the third collar.

[0043] In another aspect of this disclosure, the drive assembly further includes: a proximal stop collar fixed relative to the housing and positioned proximal to the third collar; and a return spring disposed between the proximal stop collar and the third collar and configured to bias the movable handle toward an unactuated position.

[0044] In another aspect of this disclosure, the internal drive includes a proximal drive sleeve and a distal frame that engages with the proximal drive sleeve at a distal portion of the proximal drive sleeve.

[0045] In another aspect of this disclosure, the distal frame includes a first frame plate and a second frame plate joined to each other in a side-by-side manner.

[0046] In another aspect of this disclosure, the shaft includes a distal tube guide defining a slot, and a distal frame is slidably received within the slot.

[0047] In another aspect of this disclosure, a latching assembly is operatively coupled between the movable handle and the housing such that when the movable handle moves from the unacted position through the actuated position to the overacted position and back to the actuated position, the latching assembly locks the movable handle in the actuated position, thereby locking the first gripper member and the second gripper member in adjacent positions.

[0048] In another aspect of this disclosure, the initial actuation of the movable handle corresponds to at least a portion of the movement of the movable handle from the unactuated position to the actuated position, and the subsequent actuation of the movable handle corresponds to the movement of the movable handle from the actuated position to the overactuated position.

[0049] In another aspect of this disclosure, an activation button is disposed on the housing in the actuation path of the movable handle, such that when the movable handle moves from the unacted position through the actuated position to the activated position, the movable handle activates the activation button, thereby supplying energy to at least one of the first gripper member or the second gripper member.

[0050] In another aspect of this disclosure, the initial actuation of the movable handle corresponds to at least a portion of the movement of the movable handle from an unactuated position to an actuated position, and wherein subsequent actuation of the movable handle corresponds to the movement of the movable handle from the actuated position to the activated position.

[0051] Another surgical instrument provided according to this disclosure includes: a housing; a shaft extending distally from the housing and defining a distal portion including a U-shaped clamp extending distally therefrom; a guide engaging within the U-shaped clamp with the distal portion of the shaft and defining a slot; an end effector assembly supported by the U-shaped clamp; and a drive assembly. The end effector assembly includes a first gripper member and a second gripper member, at least one of which is movable relative to the other between a spaced-apart position and a proximal position to grasp tissue therebetween. The drive assembly includes: a movable handle pivotally coupled to the housing; and an internal actuator including a proximal drive sleeve and a distal drive frame. The proximal drive sleeve is operatively coupled to the movable handle within the housing and extends distally from the housing through a portion of the shaft. The distal drive frame engages within the shaft with the distal portion of the proximal drive sleeve and extends distally through a slot to be operably coupled to at least one of the first gripper member or the second gripper member, such that translation of the internal drive causes at least one of the first gripper member or the second gripper member to move between spaced-apart and proximal positions.

[0052] In one aspect of this disclosure, the drive assembly further includes: a carriage slidably disposed within the housing and operatively coupled to a movable handle; and a spring assembly operatively coupling the carriage and the proximal drive sleeve. Initial actuation of the movable handle causes the carriage to slide, such that the spring assembly converts the sliding of the carriage into translation of the proximal drive sleeve until a threshold gripping force is reached by the first and second gripper members on the tissue gripped between them. Subsequent actuation of the movable handle causes the carriage to slide to compress the spring assembly to substantially maintain the position of the proximal drive sleeve, thereby suppressing the first and second gripper members from exerting gripping forces exceeding the threshold gripping force.

[0053] In another aspect of this disclosure, the spring assembly includes an inner spring and an outer spring arranged in a nested configuration.

[0054] In another aspect of this disclosure, each of the first and second gripper members includes a cam slot and a pivot orifice. A cam pin is slidably received in the cam slot, and a pivot pin is pivotally engaged within the pivot orifice. The cam pin and pivot pin can be captured within a U-shaped clamp.

[0055] In another aspect of this disclosure, the cam pin and pivot pin are positioned distal to the guide. In this aspect, the cam pin can engage with the distal drive frame such that translation of the distal drive frame causes the cam pin to translate through the cam slot, thereby moving at least one of the first or second gripper members between spaced-apart and proximal positions.

[0056] In another aspect of this disclosure, the surgical instrument further includes a blade that can slide from a retracted position through a distal drive frame to an extended position, in which the blade extends between a first gripper member and a second gripper member to cut tissue held between them.

[0057] Another surgical instrument provided according to this disclosure includes: a housing having an elongated shaft extending distally therefrom; and an end effector assembly operatively coupled to the distal end of the elongated shaft. It includes a drive assembly having: a movable handle pivotally coupled to the housing; a carriage slidably disposed within the housing and operatively coupled to the movable handle; an internal actuator extending from the housing through the shaft and operatively coupled to the end effector assembly such that translation of the internal actuator actuates the end effector assembly; and a spring assembly operatively coupling the carriage and the internal actuator. Initial actuation of the movable handle causes the carriage to slide, such that the spring assembly converts the slide of the carriage into translation of the internal actuator until a threshold gripping force is reached on the movable handle, and subsequent actuation of the movable handle causes the carriage to slide to compress the spring assembly to substantially maintain the position of the internal actuator, thereby suppressing excessive gripping force on the movable handle exceeding a predetermined threshold.

[0058] In all respects of this disclosure, the predetermined threshold on the handle is from about 8 lbf to about 10 lbf.

[0059] In accordance with various aspects of this disclosure, the surgical instrument further includes a first gripper member and a second gripper member, one or both of the first gripper member or the second gripper member being movable relative to the other between spaced-out and proximate positions to grasp tissue therebetween, and each of the first gripper member and the second gripper member including a cam slot and a pivot orifice, wherein a cam pin is slidably received in the cam slot, and wherein the pivot pin is pivotally engaged within the pivot orifice.

[0060] In other aspects of this disclosure, the cam pin and pivot pin are captured in a U-shaped clamp defined at the distal end of the elongated shaft. In yet another aspect of this disclosure, actuation of a movable handle of the drive assembly causes an internal drive to translate within the elongated shaft, causing the cam pin to cam-move within a cam slot, thereby moving one or both of the first or second gripper members between spaced-out and proximal positions.

[0061] In another aspect of this disclosure, the cam slot includes a radius configured such that when the angle between the first gripper member and the second gripper member decreases to about 10 degrees or less, the gripping force between the first gripper member and the second gripper member remains substantially uniform along the length of the first and second gripper members. In another aspect of this disclosure, the cam slot includes a radius of about 0.3 inches to about 0.4 inches. In yet another aspect of this disclosure, the cam slot includes a radius configured such that when the angle between the first gripper member and the second gripper member decreases to about 10 degrees or less, a gripping force of about 7 lbf to about 10 lbf is maintained between the first gripper member and the second gripper member and along the first and second gripper members.

[0062] In various aspects of this disclosure, the spring assembly includes a pair of nested springs having a spring free length of about 1.025 inches to about 1.075 inches. In other aspects of this disclosure, the nested spring assembly includes two or more springs, one of which is preloaded within the carriage during assembly. In still other aspects of this disclosure, the nested spring assembly includes a spring constant k of about 65 lb / in to about 75 lb / in.

[0063] In all respects of this disclosure, the spring assembly includes a nominal spring compression of approximately 0.050 inches throughout the movement of the handle from a first position to a second position, in which the first and second gripper members are positioned in a spaced-apart position, and in the second position, in which the first and second gripper members are positioned in a proximal position for gripping tissue.

[0064] Another surgical instrument provided according to this disclosure includes: a housing having an elongated shaft extending from its distal end; and an end effector assembly operatively coupled to the distal end of the elongated shaft, the end effector assembly including a first gripper member and a second gripper member. One or both of the first or second gripper members are movable relative to the other between spaced-apart and proximal positions to grasp tissue therebetween, wherein the movable gripper member includes a proximal gripper wing defining curved cam slots therethrough and pivot orifices therethrough, the curved cam slots being configured to slidably receive cam pins therein, and the pivot orifices being configured to pivotally engage the pivot pins therein.

[0065] The device includes a drive assembly comprising: a movable handle pivotally coupled to a housing; a carriage slidably disposed within the housing and operatively coupled to the movable handle; an internal actuator extending from the housing through a shaft and operatively coupled to a movable gripper member such that translation of the internal actuator actuates the movable gripper member; and a nested spring assembly operatively coupling the carriage and the internal actuator. Initial actuation of the movable handle causes the carriage to slide, such that the nested spring assembly converts the sliding of the carriage into translation of the internal actuator until a threshold gripper force is reached on the movable handle. Subsequent actuation of the movable handle causes the carriage to slide to compress the nested spring assembly to substantially maintain the position of the internal actuator, thereby suppressing excessive gripper force exceeding a predetermined threshold on the movable handle.

[0066] In various aspects of this disclosure, the cam slot includes a radius configured such that when the angle between the first gripper member and the second gripper member decreases to about 10 degrees or less, the gripping force between the first gripper member and the second gripper member remains substantially uniform along the length of the first and second gripper members. In other aspects of this disclosure, the cam slot includes a radius of about 0.3 inches to about 0.4 inches. In still other aspects of this disclosure, the cam slot includes a radius configured such that when the angle between the first gripper member and the second gripper member decreases to about 10 degrees or less, a gripping force of about 7 lbf to about 10 lbf is maintained between the first gripper member and the second gripper member and along the first and second gripper members.

[0067] In various aspects of this disclosure, the nested spring assembly includes a pair of nested springs having a spring free length of about 1.025 inches to about 1.075 inches. In other aspects of this disclosure, the nested spring assembly includes two or more springs, one of which is preloaded within the carriage during assembly. In still other aspects of this disclosure, the nested spring assembly includes a spring constant k of about 65 lb / in to about 75 lb / in.

[0068] In all respects of this disclosure, the predetermined threshold on the handle is from about 8 lbf to about 10 lbf. Attached Figure Description

[0069] The above and other aspects and features of this disclosure will become clearer when considered in conjunction with the accompanying drawings, in which the same reference numerals identify similar or identical elements.

[0070] Figure 1 This is a three-dimensional view of an energy-based surgical instrument provided in this disclosure;

[0071] Figure 2 yes Figure 1 A first-side perspective view of the proximal portion of the device, wherein a portion of the housing has been removed to reveal its internal features;

[0072] Figure 3 yes Figure 2 A second, opposite perspective view of the proximal portion, in which a portion of the shell has been removed to reveal its internal features;

[0073] Figure 4 yes Figure 1 An exploded three-dimensional view of the instrument;

[0074] Figure 5 yes Figure 1 A magnified view of the detail area indicated by "5" shows... Figure 1 The distal part of the instrument;

[0075] Figure 6 yes Figure 5 A top view of the far side of the structure;

[0076] Figure 7 From such Figure 5 Looking at the opposite side as shown, Figure 5 A three-dimensional view of the distal part;

[0077] Figure 8 Is it like this? Figure 7 The perspective view of the distal portion is shown, in which the outer axis has been removed to reveal the internal features;

[0078] Figure 9 yes Figure 4 A magnified view of the detail area indicated by "9" in the center;

[0079] Figure 10 yes Figure 1 A three-dimensional view of the gripper structure frame, one of the gripper components of the instrument;

[0080] Figure 11 yes Figure 10 Side view of the gripper structure frame;

[0081] Figure 12 yes Figure 10 A top view of the proximal portion of the gripper structure frame in a partially manufactured state;

[0082] Figure 13 yes Figure 4 A magnified view of the detailed area indicated by "13" provides Figure 1 An exploded perspective view of the blade assembly of the instrument;

[0083] Figure 14 yes Figure 13 A 3D view of the blade assembly in its assembled state;

[0084] Figure 15 yes Figure 4 A magnified view of the detail area indicated by "15" provides Figure 1 An exploded perspective view of the trigger assembly of the device;

[0085] Figure 16 and Figure 17 They are Figure 15 A 3D view of the trigger assembly's spindle in the closed and open positions;

[0086] Figure 18 yes Figure 4 A magnified view of the detail area indicated by "18" provides Figure 1 A three-dimensional view of the rotating components of the instrument;

[0087] Figure 19 yes Figure 18 Another perspective view of the rotating component;

[0088] Figure 20 yes Figure 18 An exploded perspective view of the rotating component;

[0089] Figure 21 yes Figure 1 An exploded perspective view of the drive components of the device;

[0090] Figure 22 It is along Figure 3 The transverse cross-sectional view taken by section line 22-22;

[0091] Figure 23 yes Figure 22 A magnified view of the detail area indicated by "23" in the center;

[0092] Figure 24 It is along Figure 3 The transverse cross-sectional view taken by section line 24-24;

[0093] Figure 25 It is along Figure 3 A transverse cross-sectional view taken from section line 25-25;

[0094] Figure 26 yes Figure 4 A magnified view of the detailed area indicated by "26" provides Figure 1 A frontal stereoscopic view of the activation components of the device;

[0095] Figure 27 yes Figure 26 A rear-view stereoscopic view of the activated component;

[0096] Figure 28 It is along Figure 1 The longitudinal cross-sectional view taken by section line "28-28" shows the movable handle of the instrument's drive assembly in the unacted position.

[0097] Figure 29 yes Figure 28 A magnified view of the detail area indicated by "29" in the center;

[0098] Figure 30 yes Figure 28 A magnified view of the detail area indicated by "30";

[0099] Figure 31 yes Figure 1 The longitudinal cross-sectional view of the device shows the transition of the movable handle from the unacted position to the actuated position;

[0100] Figure 32 yes Figure 31 A magnified view of the detail area indicated by "32" in the center;

[0101] Figure 33 yes Figure 31 A magnified view of the detail area indicated by "33" in the center;

[0102] Figure 34 yes Figure 1 A longitudinal cross-sectional view of the proximal portion of the device, showing the movable handle in the activated position activating the activation component;

[0103] Figure 35 yes Figure 1 A longitudinal cross-sectional view of the proximal portion of the instrument, showing the trigger that actuates the trigger assembly to deploy the knife assembly;

[0104] Figure 36 yes Figure 1 A longitudinal cross-sectional view of the distal portion of the instrument, showing the unfolding of the knife assembly;

[0105] Figure 37 This is a rear-view stereoscopic view of the proximal portion of another energy-based surgical instrument provided in accordance with this disclosure;

[0106] Figure 38 yes Figure 37 A perspective view of the proximal portion of the device, in which a portion of the housing has been removed to reveal its internal features;

[0107] Figure 39 yes Figure 38 An enlarged 3D view of the detailed area indicated by "39" shows the latching mechanism;

[0108] Figure 40 yes Figure 39 An enlarged side view of the latching mechanism in the unlocked state;

[0109] Figure 41 yes Figure 38 An enlarged 3D view of the latching mechanism in the latched state;

[0110] Figure 42 It is an enlarged internal side view of the movable handle and drive assembly, wherein the movable handle is spaced apart from the housing;

[0111] Figure 43 It is an enlarged internal side view of the movable handle and drive assembly, with the movable handle in a closed position relative to the housing;

[0112] Figure 44 This is a greatly enlarged side view of the movable gripper component, showing the geometry of the curved cam slot;

[0113] Figure 45 This shows that for configurations with inline (e.g.) Figure 1 A graph depicting the relationship between the force (lbf) on the handle during the handle stroke ("displacement") of the surgical forceps;

[0114] Figure 46 This shows that for configurations with ratchet mechanisms (such as...) Figures 37 to 41 A graph depicting the relationship between the force (lbf) on the handle during the handle stroke ("displacement") of the surgical forceps;

[0115] Figure 47 This is a greatly enlarged side view of a movable gripper component with exemplary manufacturing dimensions; and

[0116] Figure 48 It is a graph showing the relationship between the jaw orifice (degrees) and jaw force (lbf) between the jaw components for inline and ratchet configurations obtained by the design of the cam slot geometry and drive components. Detailed Implementation

[0117] Overall reference Figures 1 to 5 The energy-based surgical instrument provided according to this disclosure and configured for grasping, manipulating, and / or slicing tissue is generally identified by reference numeral 10. Instrument 10 includes a shaft 100, a housing 200, a drive assembly 300, a rotation assembly 400, a trigger assembly 500, a blade assembly 600, an end effector assembly 700, an activation assembly 800, and a cable 900. The cable 900 may initially be wound in an elliptical configuration for packaging, may be wound into a defined figure-eight configuration, or may be defined in any other suitable configuration for packaging.

[0118] The shaft 100 extends distally from the housing 200 and supports the end effector assembly 700 at its distal portion 104. More specifically, the shaft 100 includes a proximal collar 110 engaging around its proximal portion 102, the proximal collar being rotatably secured within the housing 200 to rotatably support the proximal portion 102 within the housing 200. The proximal portion 102 of the shaft further defines a pair of opposing longitudinally extending slots 112 and a proximal cutout 114.

[0119] The distal portion 104 of shaft 100 defines a U-shaped clamp 120 within which a retaining jaw member 760 of the end effector assembly 700 is securely held. More specifically, the U-shaped clamp 120 defines weld access ports 122 passing through its spaced-apart flanges 124, 126, which facilitate laser welding of spaced-apart flanges 766, 768 of the proximal flange portion 764 of the retaining jaw member 760 to the flanges 124, 126 of the U-shaped clamp 120, respectively, to the corresponding inner sides of the flanges 124, 126 of the U-shaped clamp 120. Additionally or alternatively, other welding locations may be provided and / or the proximal flange portion 764 of the retaining jaw member 760 may be secured within the U-shaped clamp 120 in any other suitable manner. One of the flanges 124, 126 of the U-shaped clamp 120 (e.g., flange 124) further defines a notch 128. Figure 5 In this process, material extending proximally from a portion of the distal edge of the wing 124 and material extending downward from the upper edge of the wing 124 are removed. However, it should be noted that it is not necessary to cut the notch 128 from the material forming the wing 124 after manufacturing; rather, the notch 128 can be defined during the formation of the wing 124. Another wing 126 of the U-shaped clip 120 defines an inwardly angled distal edge 130, for example, wherein the outer surface of the wing 126 extends further distally than its inner surface, and wherein the angled distal edge 130 interconnects the outer and inner surfaces of the wing 126 (see...). Figure 6 ).

[0120] Except for the welded entry port 122, the outer surfaces of the flanges 124 and 126 of the U-shaped clamp 120 are smooth and continuous, without interruptions from sources such as cam slots or pivot ports. Therefore, the entry of fluids, debris, etc., can be suppressed, as well as the jamming or interference of cannulas, other instruments, tissues, debris, etc.

[0121] Continue to refer to Figures 1 to 5The housing 200 of the device 10 includes a first housing portion 210 and a second housing portion 220, which are formed, for example, by molding (e.g., by ultrasonic welding) to operatively support various components of the device 10 and / or enclose these components within the housing 200. More specifically, the housing portions 210, 220 may each be formed by a first injection molding, and thereafter, a second injection molding may be applied to either or both of the housing portions 210, 220 to, for example, define a non-slip grip surface 260. Additionally or alternatively, the second injection molding material may flow along a flow channel system defined within either or both of the housing portions 210, 220 to define internal features (e.g., wiring features 234). In some configurations, logos and / or other markings 270 may be defined via the first injection molding as cutouts through the housing portions 210 and / or 220, and may then be filled with material via the second injection molding to provide contrasting colors, textures, etc. Therefore, the second injection molding can define various features associated with the housing 200 in a single step, thereby facilitating manufacturing.

[0122] Either or both of housing portions 210 and 220 may define or jointly define: alignment features 230 (e.g., complementary pins and orifices, interlocking outer edges, etc.) configured to facilitate alignment of housing portions 210 and 220 to secure and maintain their alignment; cable orifice 232 configured to allow cable 900 to enter housing 200; wiring features 234 (e.g., guide slots, retaining caps, etc.) configured to guide leads 910 and 920 from activation assembly 800 to rotation assembly 400 while suppressing their interference with other operable components within housing 200; activation button orifice 236 through which activation button 810 of activation assembly 800 protrudes; plate support 238 for supporting circuit board 820 of activation assembly 800; and movable handle and trigger slot 240 for driving movable handle 310 and trigger assembly 5 of drive assembly 300. The trigger 510 of 00 extends from the housing 200 through the movable handle and trigger slot; opposing rotating wheel windows 242 are configured to receive opposite sides of the rotating wheel 410 of the rotating assembly 400; a distal aperture 244 through which the shaft 100 extends distally from the housing 200; a guide rail 246 for guiding the translation of the carriage 330 of the drive assembly 300; and movable handle pivot recesses 248, which are... The housing 200 is configured such that a movable handle 310 can be pivotally engaged within the housing 200; a first trigger assembly pivot recess 250 and a second trigger assembly pivot recess 252 are configured such that the trigger 510 of the trigger assembly 500 and the linkage mechanism 530 can be pivotally engaged within the housing 200; and a separator 254 defines a shaft aperture 256 configured to receive and rotatably support the proximal collar 110 and proximal portion 102 of the shaft 100. The housing 200 further includes a body portion 280 and a fixed handle portion 290 extending from the body portion 280.

[0123] refer to Figures 5 to 9 The end effector assembly 700 is located at the distal portion 104 of the shaft 100 and includes a movable gripper member 720 and a fixed gripper member 760. The gripper members 720 and 760 define a bending configuration (see...). Figure 5 and Figure 6However, other configurations are also conceivable. Each gripper member 720, 760 includes a gripper structure frame 722, 762, an insulating gripper body 740, 780, and a conductive plate 750, 790. Each gripper structure frame 722, 762 includes a proximal wing portion 724, 764 and a distal body portion 725 extending distally from the respective proximal wing portion 724, 764 (only the distal body portion 725 of gripper member 720 is shown; the distal body portion of gripper member 760 is similarly constructed). Each proximal wing portion 724, 764 includes a pair of spaced-apart wings 726, 728 and 766, 768. The wings 726, 728 of the proximal wing portion 724 of the gripper structure frame 722 of gripper member 720 include aligned arcuate cam slots 730 and aligned pivot orifices 732 defined therethrough. The proximal wing portion 764 of the structural frame 762 of the gripper member 760 includes wing plates 766, 768 with aligned longitudinal cam slots 770 and aligned pivot orifices 772. In the assembled state of the end effector assembly 700, the wing plates 726, 728 of the gripper member 720 are disposed within the proximal wing portion 764 of the gripper member 760, wherein each wing plate 726, 728 is disposed near and within the corresponding wing plate 766, 768 of the gripper member 760. In this way, the proximal wing portions 724, 764 define a nested configuration.

[0124] Pivot pin 702 is configured to extend through aligned pivot orifices 732, 772 to pivotally connect gripper members 720, 760 to each other, while cam pin 704 is configured to be received within cam slots 730, 770 to operatively connect gripper members 720, 760 to each other, for example, such that translation of cam pin 704 through cam slots 730, 770 pivots gripper member 720 relative to gripper member 760. The arcuate cam slot 730 facilitates smooth and consistent pivoting of gripper member 720 (e.g., preventing jamming), while the longitudinal cam slot 770 helps guide translation of cam pin 704.

[0125] For further reference Figures 10 to 12The distal body portion 725 of the gripper structure frames 722, 762 extends distally from the corresponding proximal wing portion 724, 764. As described above, only the distal body portion 725 of the gripper member 720 is shown; the distal body portion of the gripper member 760 is similarly constructed, and therefore, references to the distal body portion 725 herein also apply to the distal body portion of the gripper member 760, unless the contrary is explicitly stated herein. More specifically, the distal body portion 725 defines a U-shaped base 734 along most of its length; however, the distal body portion 725 also includes a pair of spaced-apart fingers 736 that extend distally from the distal end of the post of the U-shaped base 734. Unlike the U-shaped base 734, the spaced-apart fingers 736 are not interconnected by a rear span. The post of the U-shaped base 734 may include an aperture 738 to facilitate the encapsulation and molding retention of the insulating gripper body 740 and / or to facilitate the manufacture of the gripper structure frame 722.

[0126] Typically, the gripper frame is formed via progressive die stamping (or other suitable stamping process), where the gripper frame is stamped from raw material and bent to achieve the desired configuration. Progressive die stamping is advantageous because it facilitates mass production. However, the gripper frame 722 includes features that make the use of progressive die stamping difficult (if its use is not inhibited). In particular, the cam slot 730 extends close to the edge of the flanges 726, 728, thus forming thin sections that are not wide enough for the die stamping tool, and similarly, the spacing between the flanges 726, 728 (before bending) is too narrow for the die stamping tool relative to the height of the flanges 726, 728. Therefore, as an alternative to progressive die stamping (in which features are stamped into the blank), the gripper structure frame 722 can be formed by laser cutting of the blank, wherein the gripper structure frame 722 is first cut from the sheet material and / or roll material using, for example, a modulated fiber laser system to form the cam slot 730 and pivot orifice 732, etc., and then the gripper structure frame is sent to tooling to create its additional features (e.g., bends, wedges, etc.).

[0127] The laser cutting and forming process used to manufacture the gripper structure frame 722 can be performed in a variety of ways, such as: the laser-cut parts can be divided into individual pieces and sent to a stage form tooling or transfer tool (manually or automatically); the laser-cut parts can be kept as strips cut to a specific length and sent to a stage form tooling, transfer tooling or progressive tooling (manually or automatically); or the laser-cut parts can be kept as continuous strips and sent to a stage form tooling, transfer tooling or progressive tooling.

[0128] The gripper structure frame 762 of the gripper component 760 Figure 9 It can be formed in a manner similar to the gripper structure frame 722, or it can be formed via progressive die stamping (or other suitable stamping process).

[0129] Refer again Figures 5 to 9 Each gripper component 720, 760's insulating gripper body 740, 780 can be formed from one or more overmolded parts. For example, a first overmolded part can be provided with insulating material surrounding the gripper structure frame 722, 762 to define an insulating insert, and after the conductive plates 750, 790 are positioned thereon, a second overmolded part can be provided to secure the conductive plates 750, 790 to the gripper structure frame 722, 762 and form an outer housing. Alternatively, single overmolding can be used, or separate inserts can be used instead of overmolded inserts, etc. Figure 6 As shown, the insulating gripper body 740 of the gripper member 720 defines an angled proximal edge 742 on one side, which is positioned opposite and complementary in shape to the angled distal edge 130 of the wing plate 126 of the U-shaped clamp 120. In this way, the wing plate 126 of the U-shaped clamp 120 extends distally beyond at least a portion of the angled proximal edge 742 (extending outward from that portion), thereby protecting the angled proximal edge 742 and preventing it from getting stuck and potentially breaking (e.g., during the removal of the instrument 10 from the cannula needle (not shown)). Figure 1 (When, when performing other longitudinal operations on it, etc.).

[0130] Continue to refer to Figures 5 to 9 Conductive plates 750 and 790 are positioned opposite each other and electrically isolated from gripper structure frames 722 and 762 via insulating gripper bodies 740 and 780, respectively. One or both of the conductive plates 750 and 790 may include a series of stop members 792 configured to maintain the gap between the conductive plates 750 and 790 and to prevent electrical short circuits between them (e.g., by being formed of an insulating material or by being electrically isolated from one or both of the conductive plates 750 and 790). The stop members 792 may have the same or different heights and / or the same or different diameters. Furthermore, not all stop members 792 need to contact the opposing conductive plates 750 and 790 to maintain the gap; rather, some stop members 792 may be configured to facilitate gripping of tissue. The stop members 792 may be arranged in an asymmetrical pattern as shown, but a symmetrical configuration is also conceivable.

[0131] Each conductive plate 750, 790 includes leads 754, 794 attached to and extending proximally through the shaft 100. More specifically, leads 754, 794 are attached (e.g., soldered) to the underside of conductive plates 750, 790, and extend proximally through, from, and into the insulating gripper bodies 740, 780, and into the shaft 100. Leads 754, 794 are disposed on opposite sides of the end effector assembly 700 and are positioned outside the proximity flange portions 724, 764 of gripper members 720, 760, respectively. Leads 754 of the gripper member 720 (movable gripper member) extend across the cutout 128 (on its inner side) of the wing plate 124 of the U-clamp 120, thus allowing lead 754 to move without getting stuck on the U-clamp 120 when the gripper member 720 pivots relative to the gripper member 760 and the U-clamp 120, which would otherwise restrict the movement of lead 754 in response to the pivoting of the gripper member 720. Leads 754, 794 are adapted to be connected to an electrosurgical energy source (e.g., an electrosurgical generator (not shown)) such that, upon activation, conductive plates 750, 790 are energized to different potentials, enabling energy to be conducted between them and through the gripped tissue to treat (e.g., seal) the gripped tissue.

[0132] The insulating gripper bodies 740 and 780 of the gripper members 720 and 760 and the conductive plates 750 and 790 cooperate to define longitudinally extending blade channel portions 758 and 798 therethrough. The blade channel portions 758 and 798 define open proximal ends to allow insertion of the blade 626 therein, and closed distal ends terminating proximally to the distal ends of the conductive plates 750 and 790. The blade channel portions 758 and 798 define a curved configuration that generally conforms to the curvature of the gripper members 720 and 760. Where the gripper members 720 and 760 are close together, the blade channel portions 758 and 798 align with each other to define a complete blade channel, facilitating and guiding the reciprocating motion of the blade 626 through the gripper members 720 and 760 to cut tissue (e.g., processed tissue) held between these gripper members.

[0133] As detailed above, the U-clamp 120 defines weld access ports 122 passing through its spaced-apart wings 124, 126. These weld access ports facilitate the laser welding of the spaced-apart wings 766, 768 of the proximal wing portion 764 of the clamping claw member 760 to the wings 124, 126 of the U-clamp 120, and to the corresponding inner sides of the wings 124, 126 of the U-clamp 120. The welding of the proximal wing portion 764 of the fixed gripper member 760 to the wings 124, 126 of the U-clamp 120 captures the pivot pin 702 and the cam pin 704 between the wings 124, 126 of the U-clamp 120, thereby securing the pivot pin 702 within the aligned pivot orifices 732, 772 of the gripper members 720, 760 and securing the cam pin 704 within the cam slots 730, 770 of the gripper members 720, 760. The proximal wing portions 724, 764 of the gripper members 720, 760 cooperate with the U-clamp 120 to define the lockbox configuration, thereby increasing lateral stability and support for the end effector assembly 700.

[0134] The gripper member 720 is pivotable relative to the gripper member 760 and the U-clamp 120 about the pivot pin 702 in response to translation of the cam pin 704 through the cam slots 730, 770, between a spaced-out position and a close-to-close position, in which the conductive plates 750, 790 are further apart and in the close-to-close position are closer together. More specifically, proximal translation of the cam pin 704 through the cam slots 730, 770 pivots the gripper member 720 toward the close-to-close position, while distal translation of the cam pin 704 through the cam slots 730, 770 pivots the gripper member 710 toward the spaced-out position. In the close-to-close position, the gripper members 720, 760 are able to hold tissue between their conductive plates 750, 790. The curvature geometry of the cam slot 730 is shown in Tables A and B below (see Table B). Figure 9 , Figure 11 and Figure 47 The linear relationship between the cam pin 704 to the pivot pin 702 relative to the gripper angles between the gripper members 110, 120 and / or the angle between the movable handle 310 and the housing 200 during the approach of the gripper member 720 to grasp tissue serves as an illustrative example of the typical travel of the handle 310 (i.e., showing the use of...). Figure 47 (Result of the bending geometry and dimensions of the cam slot 730). handle gripper angle Sales to Sales 28.0 26.2 0.098 24.8 16.9 0.128 21.6 10.4 0.156 18.4 6.0 0.179 15.2 2.6 0.200 12.0 0.0 0.215 Table A Table B

[0135] Utilizing the curved cam slot 730, especially Figure 47The curved geometry and dimensions of the cam slot 730 minimize force variation on the handle 310 during its movement through the range of motion, even when thick tissue is placed between the gripper members 720 and 760. In fact, as... Figure 45 and Figure 46 As shown, whether it is an inline configuration ( Figure 45 ) or ratchet configuration ( Figure 46 After the handle has initially shifted approximately 0.6 inches and the actuation force on handle 310 has increased to approximately 8–10 lbf, the continuous actuation force on handle 310 remains substantially consistent for the remainder of the handle stroke, even in the presence of thicker tissue, thus reducing the burden on the surgeon to increase force (the inherent mechanical differences between the different configurations, i.e., inline and ratchet, are visually illustrated in the comparison of these two figures in the later stages of the handle stroke). Limiting the amount of additional force required to grasp and / or manipulate tissue during any given surgical procedure in which the surgeon will repeatedly grasp tissue can significantly reduce surgical fatigue.

[0136] In addition, the curved cam slot 730, especially Figure 47 The curved geometry and dimensions of the cam slot 730, during the movement of the handle 310 through the range of motion, even when thick tissue is placed between the gripper members 720, 760 (see [reference]). Figure 48 The sealing force is also delivered substantially uniformly along the length of the gripper members 720 and 760. Furthermore, the curved geometry of the cam slot 730 (especially...) Figure 47 The curvature geometry and dimensions of the cam slot 730, as well as the relationship between the cam slot 730 and the pivot pin 702, also contribute to achieving a substantially consistent sealing force along the longer-than-average gripper members 720, 760 of the instrument 10. Figure 44 ).

[0137] For example, it is conceivable that manufacturing a cam slot 730 with a radius of about 0.3 inches to about 0.4 inches would reduce the angle between the first gripper member 720 and the second gripper member 760 to about 10 degrees or less, such that the gripping force between the first gripper member 720 and the second gripper member 760 remains substantially consistent along the length of the first gripper member 720 and the second gripper member 760. In an embodiment, the cam slot 730 may be configured to include a radius such that when the angle between the first gripper member 720 and the second gripper member 760 is reduced to about 10 degrees or less, a gripping force of about 7 lbf to about 10 lbf is consistently maintained between the first gripper member 720 and the second gripper member 760 and along the length of the first and second gripper members. As can be understood, due to the unique geometry of the cam slot 730, the relationship between the cam slot 730 and the pivot orifice 732, and the unique properties of the drive assembly 300 described herein, tissue is gripped between the first gripper member 720 and the second gripper member 760 with a consistent closing pressure anywhere along the length of the gripper surface 750.

[0138] refer to Figure 13 and Figure 14 and combined Figure 4 and Figures 7 to 9 The cutter assembly 600 includes a cutter 610 formed by a distal cutter shank 620 and a proximal cutter shank 630. The cutter assembly 600 further includes a spindle pin 640 and a tube plug 650 associated with the proximal cutter shank 630. In response to the trigger assembly 500 ( Figure 4 The actuation of the blade 610 allows it to be selectively in the retracted position (see...). Figure 32 ) and the position of the extension (see Figure 36 The blades 626 of the knife 610 are positioned near the conductive plates 750 and 790 of the gripper members 720 and 760, respectively, in the retracted position. In the extended position, the blades 626 of the knife 610 extend distally through the knife channel portions 758 and 798 of the gripper members 720 and 760 to cut, for example, the processed tissue held between these knife channel portions.

[0139] The distal tool holder 620 is formed by an etching process (or any other suitable method) and includes a body 622 defining a longitudinally extending notch 624 and a blade 626 located distal to the longitudinally extending notch 624 at the distal end of the body. The proximal portion of the body 622 of the distal tool holder 620 overlaps with the distal portion of the proximal tool holder 630 in a side-by-side arrangement to achieve fixation between them, for example, via laser welding. A laser welding orifice 623 may be defined through the body 622 to facilitate this fixation. Alternatively or additionally, a welding orifice may be defined through the proximal tool holder 630 for a similar purpose.

[0140] The distal tool holder 620 has a reduced height due to the longitudinally extending cut 624 and the extent of this longitudinally extending cut. This reduced height of the distal tool holder 620 allows it to extend below the pivot pin 702 and the cam pin 704 (see...). Figure 29 and Figure 32 And a suitable length is defined such that, regardless of the relative positioning between the pivot pin 702, the cam pin 704 and the distal tool holder 620, the larger height portion of the distal tool holder 620 does not interfere with the pivot pin 702 and the cam pin 704, nor is it interfered with by the latter.

[0141] The blade 626 defines an etched distal cutting edge 628, which may define a generally arrowhead-shaped configuration, wherein a first angled cutting edge and a second angled cutting edge 629a are angled from the distal apex 629b toward the proximal side. The distal cutting edge 628 may be formed by etching on one or both sides of the blade 626 and is sharp to facilitate cutting through tissue when the blade 626 is translated to the extended position.

[0142] The proximal tool shank 630 is formed by a stamping process (or any other suitable method similar to or different from the formation of the distal tool shank 620) and defines a distal portion as described above, which overlaps with the proximal portion of the body 622 of the distal tool shank 620 in a side-by-side arrangement to achieve fixation between them, for example, via laser welding. The proximal tool shank 630 is configured to be slidably received within a plug 650 and includes a proximal orifice 632 configured to receive a mandrel pin 640 passing laterally therethrough. The spring pin 640 extends laterally through both sides of a longitudinal slot 652 defined within the plug 650 and extends outward from the longitudinal slot. The longitudinal slot 652 defines a suitable length to accommodate translation of the mandrel pin 640 relative to the plug 650, thereby actuating the blade 626 between a retracted position and an extended position.

[0143] The plug 650 is configured to be slidably received within the proximal drive sleeve 360 ​​of the drive assembly 300 and to maintain the position and orientation of the cutter 610 therein (see [link]). Figure 30 and Figure 33 The plug 650 further includes one or more wire guide channels 654 on each side thereon to guide leads 754, 794 through the proximal drive sleeve 360 ​​to the end effector assembly 700. The plug 650 also serves to substantially inhibit fluid within the proximal drive sleeve 360 ​​from passing proximally through the plug 650 and into the housing 200.

[0144] refer to Figures 2 to 4 , Figures 7 to 9 , Figure 21 and Figure 22 The drive assembly 300 includes a movable handle 310, a linkage mechanism 320, a carriage 330, a nested spring assembly 340, a return spring 350, a proximal drive sleeve 360, a distal drive frame 370, a sliding collar 380, a first (relative to the drive sleeve 360) retaining collar 392 and a second retaining collar 394, and a proximal stop collar 396. The movable handle 310 includes a body 312 disposed within the housing 200 and having pivot bosses 314 extending laterally outward from both sides thereof. The body 312 is pivotally coupled within the housing 200 via a movable handle pivot recess 248 of the housing portions 210, 220, receiving the pivot bosses 314 within the movable handle pivot recess 248 of the housing portions 210, 220. The movable handle 310 further includes a gripping portion 318 extending from the body 312 and extending from the housing 200 through the movable handle and trigger slot 240, enabling manual operation by a user. The movable handle 310 can be in an unacted position relative to the housing 200. Figure 28 ), Actuation position ( Figure 31 ) and activation location ( Figure 34 The movable handle 310 pivots between the main body 312 and the fixed handle portion 290 of the housing 200 in the unacted position. In the actuated position, the gripping portion 318 is further apart from the fixed handle portion 290 of the housing 200. In the activated position, the gripping portion 318 is closer to the fixed handle portion 290 of the housing 200. In the activated position, the gripping portion 318 is even further closer to the fixed handle portion 290 of the housing 200 to activate the activation button 810 of the activation component 800. The movable handle 310 also includes a spaced-apart first locking protrusion 316 and a second locking protrusion 317 that project distally from the main body 312 and the gripping portion 318, respectively.

[0145] The linkage mechanism 320 is disposed within the housing 200, pivotally connected at the distal end 321a to the body 312 of the movable handle 310, and pivotally connected at the proximal end 321b to the carriage 330 (see [reference]). Figure 42 In this way, the pivoting of the movable handle 310 from the unacted position to the actuated position pushes the linkage mechanism 320 proximally, and also pivots the linkage mechanism 320 from a more angular orientation to a more longitudinal orientation.

[0146] The carriage 330 is slidably received within the body portion 280 of the housing 200, and more specifically, includes outwardly extending bosses 332 on both sides thereof, which are received within guide rails 246 of the housing 200 to guide the carriage 330 to translate through and relative to the body portion 280 of the housing 200. The carriage 330 includes: a body 334 defining a seat 336; and a bifurcated neck 338 extending upward from the body 334 at a proximal portion on both sides of a proximal drive sleeve 360 ​​extending through the carriage 330. A first retaining collar 392 is secured around the proximal drive sleeve 360, for example via a key engagement, and positioned distal to the bifurcated neck 338 of the carriage 330 to define a distal stop for sliding of the carriage 330 around the drive sleeve 360. A sliding collar 380 is slidably disposed around the proximal drive sleeve 360 ​​and positioned within the seat 336, proximal to the bifurcation neck 338. A nested spring assembly 340 (including an outer compression spring 342 and an inner compression spring 344 nested within the outer compression spring 342) is also seated within the seat 336 and positioned proximal to the sliding collar 380. The inner compression spring 342 and the outer compression spring 344 are slidably disposed around the proximal drive sleeve 360. A second retaining collar 394 is secured around the proximal drive sleeve 360, for example via a key engagement, and positioned proximal to the nested spring assembly 340. A proximal stop collar 396 is secured within the housing 200 and slidable around the proximal portion of the proximal drive sleeve 360. The proximal stop collar 396 may be slidably engaged within a keyway defined within the proximal drive sleeve 360, or may be coupled to the proximal drive sleeve in any other suitable manner. The return spring 350 may be a conical spring and is disposed around the proximal drive sleeve 360 ​​between the second fixed collar 394 and the proximal stop collar 396.

[0147] The nested inner spring 342 and outer spring 344 can be paired in parallel or in series for a specific purpose. The free length of the nested spring assembly 340 is envisioned to be from approximately 1.025 inches to approximately 1.075 inches. The free lengths of each spring 342, 344 can be equal or offset. The nested spring assembly 340 can be loaded by one or both springs 342, 344 in an equal or unequal manner, and the preload of the nested spring assembly 340 at assembly can be from approximately 0.01 inches to approximately 0.02 inches. The outer diameter OD of spring 342 can be from approximately 0.50 inches, and the OD of spring 344 can be from approximately 0.70 inches. The mating spring constant k of the spring assembly 340 can be from approximately 65 lb / in to approximately 75 lb / in.

[0148] The proximal drive sleeve 360 ​​defines opposing longitudinally extending slots 364 through which it is defined, allowing the mandrel pin 640 to extend through the proximal drive sleeve 360 ​​and outward from both sides of the proximal drive sleeve, while still allowing the proximal drive sleeve 360 ​​and the mandrel pin 640 to slide relative to each other. The mandrel pin 640 also extends through opposing longitudinally extending slots 112 of the shaft 100 and outward from both sides of the shaft. Regardless of the relative position between the proximal drive sleeve 360 ​​and the shaft 100, slots 112 and 364 at least partially overlap, ensuring that the mandrel pin 640 is not disturbed. Slots 112 and 364 also provide channels for leads 754 and 794 to extend through them, allowing leads 754 and 794 to extend from the rotating assembly 400 (outside the shaft 100 and the proximal drive sleeve 360) through slots 112 and 364 and into the proximal drive sleeve 360 ​​(located within the shaft 100). Since slots 112 and 364 at least partially overlap regardless of the relative position of the proximal drive sleeve 360 ​​to the shaft 100, leads 754 and 794 are also not disturbed.

[0149] Special Reference Figure 8 and Figure 9 The proximal drive sleeve 360 ​​extends distally from the housing 200 through the shaft 100 to the distal drive frame 370. The distal drive frame 370 includes a first frame plate 372 and a second frame plate 374 fixed to and extending distally from the distal portion of the proximal drive sleeve 360. More specifically, the first frame plate 372 and the second frame plate 374, as well as the distal portion of the proximal drive sleeve 360, include complementary engagement features 362 that capture the first frame plate 372 and the second frame plate 374 within the distal portion of the proximal drive sleeve 360. The first frame plate 372 and the second frame plate 374 are vertically oriented and configured to slidably receive and guide the distal shank 620 of the tool 610 between them. The first frame plate 372 and the second frame plate 374 further include aligned longitudinal slots 376 and aligned transverse orifices 378, which are configured to receive pivot pin 702 and cam pin 704, respectively. Thus, when the proximal drive sleeve 360 ​​translates, the distal drive frame 370 translates, thereby translating cam pin 704 relative to the gripper members 720, 760, so that the gripper member 720 pivots between spaced-out and proximal positions.

[0150] The distal tube guide 150 is disposed between the flanges 124, 126 of the U-shaped clamp 120 at the fixed proximal end and extends proximally into the distal portion 104 of the shaft 100. The distal tube guide 150 defines a vertical slot 152 configured to slidably receive and guide the translation of the distal drive frame 370. The distal tube guide 150 further includes wire guide channels 154 located on both sides thereof. The wire guide channels 154 are configured to guide leads 754, 794 from the clamp members 720, 760 around the distal drive frame 370 into the distal portion 104 of the shaft 100, and from there into the proximal drive sleeve 360.

[0151] Refer again Figures 2 to 4 , Figures 7 to 9 , Figure 21 and Figure 22 And refer to other sources. Figures 28 to 33 Due to the configuration detailed above, when the movable handle 310 is actuated from the unacted position toward the actuated position (and / or passes the actuated position to the activated position), the movable handle 310 pushes the linkage mechanism 320 proximally, which in turn causes the carriage 330 to slide proximally. The proximal sliding of the carriage 330 pushes the forked neck 338 into the sliding collar 380, thereby pushing the sliding collar 380 proximally. As the sliding collar 380 is pushed proximally, it is pushed into the nested spring assembly 340. Initially, the sliding collar 380 pushes the springs 342, 344 of the nested spring assembly 340 proximally without further compressing the springs 342, 344 (springs 342, 344 are pre-compressed during assembly). Springs 342 and 344 then push the second retaining collar 394 proximally, thereby pushing the proximal drive sleeve 360 ​​proximally and pressing it against the proximal stop collar 396 to compress the return spring 350. The proximal movement of the proximal drive sleeve 360 ​​pulls the distal drive frame 370 proximally, causing the cam pin 704 to be pulled proximally relative to the end effector assembly 700, thereby causing the gripper member 720 to pivot relative to the gripper member 760 from a spaced-apart position toward a closer position.

[0152] When the force resisting further approach of the gripper member 720 toward the gripper member 760 (e.g., the force resisting tissue compression) is sufficiently large (e.g., large enough to overcome the spring forces of springs 342, 344), the sliding collar 380 no longer pushes the springs 342, 344 of the nested spring assembly 340 proximally to allow the gripper member 720 to approach the gripper member 760 further. Instead, in this case, the sliding collar 380 is pushed into the nested spring assembly 340 and abuts against the second retaining collar 394 to compress the springs 342, 344, while the second retaining collar 394 moves distally within the housing 200. Thus, the springs 342, 344 are compressed, absorbing further movement of the movable handle 310, the linkage mechanism 320, and the carriage 330, thereby allowing the proximal drive sleeve 360 ​​and the movable gripper member 720 to remain substantially stationary, thereby suppressing the application of additional gripping forces to the tissue held between the gripper members 720, 760. The mechanical advantages of the curved cam slot 730 change with the compression of springs 342 and 344. In this way, the drive assembly 300 (especially its springs 342 and 344) and the curved cam slot 730 control the application of gripping force to the tissue held between the gripper members 720 and 760. Instrument 10 ( Figure 1 It can be configured to deliver approximately 3 kg / cm² to the tissue. 2 Approximately 16 kg / cm 2 The gripper force (measured at the midpoint / center of mass along the length of the conductive plates 750, 790 of the gripper members 720, 760 that are in close proximity and grip the tissue between them).

[0153] The springs 342 and 344 of the nested spring assembly 340 are configured to control the gripper force within a desired range (e.g., 3 kg / cm²). 2 Approximately 16 kg / cm 2 This involves limiting the gripper force to a threshold or below. Based on the design considerations of device 10, it is difficult to design a single compression spring capable of handling the required load conditions without generating excessive stress. To provide a more compact design that can generate the necessary force for controlling the gripper force, a nested spring arrangement is utilized, comprising nested springs 342 and 344 with a free length of approximately 1.042 inches and a preload length of approximately 0.312 inches. Springs 342 and 344 may have the same or different rest lengths, spring constants, wire diameters, etc. The total diameters of springs 342 and 344 are different so that spring 344 can be nested within spring 342.

[0154] In some configurations, the distal surface of the sliding collar 380 and the proximal surface of the forked neck 338 define cooperative rotational support surfaces (e.g., via the application of lubricant between them, defined surface features (waves, protrusions, etc.) on either or both surfaces) to facilitate relative rotation between these two surfaces when the movable handle 310 is positioned in an actuated position corresponding to the proximity of the gripper members 720, 760. Alternatively or additionally, for similar purposes (with or without lubricant and / or defined surface features), a support disc (not explicitly shown) may be provided between the sliding collar 380 and the forked neck 338. In the actuated position of the movable handle 310, the forked neck 338 is pushed distally (directly or indirectly) into the sliding collar 380, thereby increasing friction between them and thus significantly increasing the difficulty of rotating the shaft 100 (because the sliding collar 380 is rotatably fixed about the shaft 100, while the forked neck 338 cannot rotate with the shaft 100). The aforementioned support features reduce this friction, thereby facilitating the rotation of the shaft 100 when the movable handle 310 is placed in an actuated position corresponding to the position of the gripper members 720, 760.

[0155] Still referencing Figures 2 to 4 , Figures 7 to 9 , Figure 21 , Figure 22 and Figures 28 to 33 When the movable handle 310 is released, the return spring 350 helps the movable handle 310 return to the unacted position, and thus helps the gripper member 720 return to the spaced-out position. Specifically, the bias of the return spring 350 toward the elongated configuration pushes the second retaining collar 394 distally, thereby pushing the proximal drive sleeve 360 ​​distally to return the gripper member 720 to the spaced-out position. Pushing the second retaining collar 394 distally also pushes the nested spring assembly 340 distally, which in turn pushes the carriage 330 distally, and thereby pushes the linkage mechanism 320 distally, so that the movable handle 310 is pushed toward the unacted position.

[0156] The drive assembly 300, detailed above, also provides an eccentric or near-eccentric mechanism relative to the pivot boss 314 and a pivot point around which the linkage mechanism 320 is pivotally connected to the movable handle 310 and the carriage 330. That is, pivoting the movable handle 310 from its unacted position toward its actuated position pushes the linkage mechanism 320 proximally and pivots the linkage mechanism 320 from a larger angular orientation to a more longitudinal orientation, thereby moving the linkage mechanism 320 about its pivot point pivotally connected to the movable handle 310 toward the pivot boss 314 and about its pivot point pivotally connected to the carriage 330, or in some configurations, to its longitudinal alignment. This eccentric or near-eccentric configuration provides the mechanical advantage of reducing the force required to push the movable handle 310 to the actuated position.

[0157] refer to Figures 2 to 4 , Figures 15 to 17 and Figure 23 The trigger assembly 500 includes a trigger 510, a rocker arm 520, a linkage mechanism 530, a spindle housing 540, and a bias spring 550. The trigger 510 includes a drive portion 512 disposed within the housing 200; and a finger-like protrusion 514 extending through a movable handle and a trigger slot 240 and extending from the housing 200 to enable manual operation of the trigger. A pair of outwardly extending pivot bosses 516 extend outwardly from the trigger 210 between the drive portion 512 and the finger-like protrusions 514. The pivot bosses 516 are received within a first trigger assembly pivot recess 250 of the housing 200, thereby pivotally connecting the trigger 210 to the housing 200. The free end of the drive portion 512 of the trigger 510 includes a pair of snap-fit ​​legs 518 extending laterally therefrom.

[0158] The rocker arm 520 defines a "T"-shaped configuration including a post 522 and a crossbar 524. The crossbar 524 defines a first snap-fit ​​recess 525 and a second snap-fit ​​recess 526 on either side of the post 522. The first snap-fit ​​recess 525 is configured to receive a snap-fit ​​leg 518 of the trigger 510 in a snap-fit ​​engagement manner to pivotally connect the drive portion 512 of the trigger 510 to the rocker arm 520. The post 522 defines a forked configuration including a spaced-apart first body and a second body 527 extending from the crossbar 524 to their free ends. A fork-shaped connector 528 is defined at the free ends of the spaced-apart first body and second body 527.

[0159] The linkage mechanism 530 includes a first end 532 having a pair of snap-fit ​​legs 534 extending laterally from the first end. The snap-fit ​​legs 534 are configured to be received in a snap-fit ​​engagement within a second snap-fit ​​recess 526 of a crossbar 524 to pivotally connect the linkage mechanism 530 to a rocker arm 520. The linkage mechanism 530 further includes a second end 536 defining a pair of pivot bosses 538 extending outwardly from the second end. The pivot bosses 538 are pivotally received within a second trigger assembly pivot recess 252 of the housing 200 to pivotally connect the second end 536 of the linkage mechanism 530 to the housing 200. The configuration of trigger 510, rocker arm 520, linkage mechanism 530, and housing 200, as detailed above, cooperates to define a four-bar linkage mechanism. The drive portion 512 of trigger 510, the crossbar 524 of rocker arm 520, and linkage mechanism 530 serve as three movable linkages in the four-bar linkage mechanism, while the portion of housing 200 extending between the first trigger assembly recess 250 and the second trigger assembly recess 252 defines a fixed linkage in the four-bar linkage mechanism. The pivotable connections, as detailed above, between trigger 510 and housing 200, between trigger 510 and rocker arm 520, between linkage mechanism 530 and rocker arm 520, and between linkage mechanism 530 and housing 200 define four pivot points in the four-bar linkage mechanism. The four-bar linkage mechanism offers increased mechanical advantages and a compact configuration that allows trigger 510 to have a relatively short actuation stroke length to extend the blade 610 a relatively long distance.

[0160] Continue to refer to Figures 2 to 4 , Figures 15 to 17 and Figure 23The spindle housing 540 is formed of a first housing portion 542 and a second housing portion 544, which are integrally formed as a single component, for example, by molding and are connected to each other via a movable hinge 546. In this way, housing portions 542, 544 are pivotable about the movable hinge 546 and relative to each other between an open position and a closed position, the open position providing access to the interior of the spindle housing 540 and the closed position sealing the interior of the spindle housing 540. Housing portions 542, 544 may include corresponding snap-fit ​​connectors such that the snap-fit ​​connection between them maintains the closed position, but other configurations are also contemplated. In the closed position, the spindle housing 540 is configured to slidably and rotatably engage with slots 112, 364 of the shaft 100 and, more specifically, the shaft 100 and the proximal drive sleeve 360. Furthermore, each housing portion 542, 544 defines a semi-annular groove on its inner surface, such that in the closed position of the spindle housing 540, an annular groove 548 is defined on the inner surface of the spindle housing 540. The annular groove 548 is configured to receive and longitudinally secure the end of the spindle pin 640 therein, such that translation of the spindle housing 540 about the shaft 100 (and the proximal drive sleeve 364) causes the spindle pin 640 to translate through slots 112, 364 and relative to the shaft 100 and the proximal drive sleeve 360, while allowing the spindle pin 640 (and the rest of the tool assembly 600) to rotate relative to the spindle housing 540. Each housing portion 542, 544 also includes a pivot boss 549 extending outwardly therefrom. The pivot boss 549 is configured to receive, in a snap-fit ​​engagement, the spaced-out body 527 of the rocker arm 520's post 522, thereby pivotally connecting the rocker arm 520 to the spindle housing 540. A bias spring 550 is disposed around the shaft 100 and longitudinally positioned between the rocker arm 520 and the proximal collar 110 of the shaft 100 to bias the spindle housing 540 proximally.

[0161] For further reference Figure 28 , Figure 29 and Figures 34 to 36 In use, and initially when the movable handle 310 is in an unactuated position corresponding to the spaced-apart positions of the gripper members 720, 760, the trigger 510 is placed in an unactuated position corresponding to the retracted position of the tool 610 (see [link]). Figure 28 and Figure 29In this position, the knife-locking protrusions 316, 317 of the movable handle 310 are positioned adjacent to and / or in contact with the trigger 510 at spaced-apart locations along the height of the trigger 510. When the movable handle 310 is in the unacted position, and therefore when the gripper members 720, 760 are in the spaced-apart positions, the knife-locking protrusions 316, 317 serve to inhibit the actuation of the trigger 510. As an alternative to or supplement to these two protrusions 316, 317 that serve as locking features, one of these protrusions (e.g., protrusion 317) may facilitate a bounce-back, i.e., the trigger 510 returns to its unacted position as the movable handle 310 returns toward its unacted position.

[0162] When the movable handle 310 is in the actuated position ( Figure 31 (or activation location) Figure 34 Therefore, the gripper components 720 and 760 are placed in close proximity. Figure 32 In the case of [condition], trigger 510 is permitted to be actuated. To actuate trigger 510, refer to [reference]. Figures 34 to 36 This causes the finger-like protrusions 514 of the trigger 510 to pivot proximally toward the movable handle 310. The proximal pivoting of the finger-like protrusions 514 causes the body 512 of the trigger 510 to pivot distally, since the body 512 and the finger-like protrusions 514 are located on opposite sides of the trigger 510, which is pivotally connected to the housing 200.

[0163] The distal pivoting of the body 512 of trigger 510 pushes the crossbar 524 of rocker arm 520 distally. To allow this distal movement of the crossbar 524 of rocker arm 520, linkage 530 pivots distally about its second end 536. The distal movement of the crossbar 524 of rocker arm 520 pulls the column 522 of rocker arm 520 distally and pivots the column 522 relative to the spindle housing 540. Pulling the column 522 distally pulls the spindle housing 540 distally along axis 100, causing the spindle pin 640 to translate distally through slots 112, 364, thereby advancing the cutter 610 distally from the retracted position to the extended position, where, as... Figure 36 As shown, the blade 626 extends through the blade channel portions 758 and 798 of the gripper members 720 and 760 and extends between the conductive plates 750 and 790 of the gripper members 720 and 760 to cut the tissue held between them. As described above, the tube plug 650, the distal drive frame 370, and the distal tube guide 150 guide the blade 610 to translate between a retracted position and an extended position.

[0164] The spindle housing 540 translates distally along the axis 100 to unfold the blade 610, which compresses the spring 550. When the trigger 510 is released, the return force of the spring 550 pushes the spindle housing 540 proximally, thereby pushing the rocker arm 520 proximally, pushing the linkage mechanism 530 to pivot proximally about its second end 536, and pushing the finger protrusion 514 of the trigger 510 distally back to its unacted position.

[0165] Turning Figures 2 to 4 , Figures 18 to 20 , Figure 24 , Figure 25 , Figure 30 and Figure 33 The rotating assembly 400 includes a rotating wheel 410 and a continuous rotating assembly 420. The rotating wheel 410 includes a body 412 and a keyway-type central aperture 414 extending through the body 412. The keyway-type central aperture 414 is configured to receive a shaft 100 passing through it and engage a proximal cutout 114 of the shaft 110, thereby securing the rotating wheel 410 around the shaft 100. The rotating wheel 410 also includes a plurality of grooves 416 arranged circumferentially around its annular periphery. The rotating wheel 410 projects outwardly through a rotating wheel window 242 defined within the housing 200, such that the grooves 416 can be manually operated by a user to rotate the rotating wheel 410 relative to the housing 200 from either side of the housing 200. The rotating wheel 410 can rotate continuously and unrestricted in either direction, for example, rotating infinitely in either direction. The rotation of the rotating wheel 410 causes the shaft 100 to rotate relative to the housing 200, and via the interconnection therebetween, the rotation of the distal tube guide 150, proximal drive sleeve 360, distal drive frame 370, end effector assembly 700, and blade assembly 600 relative to the housing 200 is also achieved. In this way, the end effector assembly 700 can be positioned in a desired orientation to facilitate gripping, processing, and / or dicing tissue.

[0166] The rotating wheel 410 further defines the recess 418 facing the proximal side (see...). Figure 30 and Figure 33 The system includes a pair of through connector slots 419. The through connector slots 419 are configured to receive lead connectors 755 and 795, which are respectively fixed at the proximal ends of leads 754 and 794 and electrically connected to these leads. Leads 754 and 794 extend from lead connectors 755 and 795 into shaft 100 and proximal drive sleeve 360, distally through proximal drive sleeve 360, around distal drive frame 370, and to gripper members 720 and 760 for electrical connection to conductive plates 750 and 790, respectively, as detailed above. Leads 754 and 794 are rotatable as the rotating wheel 410 rotates.

[0167] The continuously rotating assembly 420 includes: a body 422; an inner contact ring 424 including an electrical connector 425 extending therefrom; an outer contact ring 426 including an electrical connector 427 extending therefrom; and a first spring contact 432 and a second spring contact 434, each including corresponding electrical connectors 433 and 435 extending therefrom. The body 422 is configured for rotatably engaging with a rotating wheel 410, for example, such that the rotating wheel 410 can rotate about the body 422 and relative to the housing 200, and includes a disk 436 and a frame 438 integrally formed as a single piece, although other configurations are also contemplated. The disk 436 includes an outer edge 440 and a distally recessed surface 442 opposite to the outer edge 440. The outer edge 440 of the disc 436 is configured to be rotatably received within a proximal recess 418 of the rotating wheel 410 (e.g., in a snap-fit ​​rotational engagement), such that a cavity is defined between the distal surface 442 of the disc 436 and the recessed surface of the proximal recess 418 of the rotating wheel 410. The frame 438 is configured to be securely held within the housing 200 (see...). Figure 25 This secures the body 422 within and relative to the housing 200. Therefore, the rotating wheel 410 is rotatable relative to the body 422 and the housing 200. The body 422 further defines a central aperture 446 and a pair of through connector slots 448, the central aperture being configured to rotatably receive the shaft 100. Therefore, the rotating wheel 410 is rotatable relative to the body 422 and the housing 200.

[0168] The inner contact ring 424 and the outer contact ring 426 are disposed within the cavity defined between the disc 436 and the rotating wheel 410, and more specifically, are fixed to and relative to the recessed surface of the proximal recess 418 of the rotating wheel 410, wherein the electrical connectors 425, 426 of these contact rings extend into the through connector slot 419 to engage and electrically connect with the lead connectors 755, 795 of the leads 754, 794, respectively. Connectors 425, 426 and connectors 755, 795 can be convex-concave sliding connectors, configured to slide and lock into engagement and electrical connection without tools, soldering, etc. The connection between connectors 425, 426 and connectors 755, 795 electrically connects leads 754, 795 to the inner contact ring 424 and the outer contact ring 426, respectively.

[0169] The first spring contact 432 and the second spring contact 434 are fixedly attached to the body 422, and thus fixedly attached to the housing 200, at least respectively, via electrical connectors 433 and 435 that receive the spring contacts 432 and 434 within a through connector slot 448. The electrical connectors 433 and 435 are configured to slide and lock into contact with corresponding lead connectors 912 and 922 (e.g., convex-concave connectors as detailed above) of the leads 910 and 920, and electrically connected. The leads 910 and 920 are wired through the housing 200 to an activation assembly 800, which is then electrically connected to wires associated with the cable 900 via a plug 940 of the cable 900 (see...). Figure 1 It is connected to an energy source (e.g., an electrosurgical generator (not shown)). Regardless of the rotation of the rotating wheel 410, the portions of the leads 910, 920 extending within the housing 200 are completely stationary.

[0170] The first spring contact 432 and the second spring contact 434 are biased to contact the inner contact ring 424 and the outer contact ring 426, respectively. More specifically, regardless of the rotational orientation of the rotating wheel 410 relative to the body 422, the first spring contact 432 and the second spring contact 434 maintain contact with the inner contact ring 424 and the outer contact ring 426, respectively, thereby maintaining electrical connection and allowing the rotating wheel 410 to rotate continuously (e.g., infinitely) relative to the body 422 and the housing 200 in either direction. The electrical connection between the first spring contact 432 and the second spring contact 434 and the inner contact ring 424 and the outer contact ring 426, respectively, electrically connects leads 910, 920 to leads 754, 794, thereby enabling energy (e.g., electrosurgical energy) to be conducted from the generator to the conductive plates 750, 790 of the gripper members 720, 760, respectively, for processing tissue held therein (see...). Figures 7 to 9 ).

[0171] refer to Figure 1 , Figure 4 , Figure 26 , Figure 27 , Figure 31 and Figure 34 The activation component 800 is disposed within the fixed handle portion 290 of the housing 200 and includes an activation button 810 and a circuit board 820. The activation button 810 protrudes distally through an activation button aperture 236 of the housing 200, while the circuit board 820 is held within a plate support 238 of the housing 200. The activation button 810 includes an internal electrical switch and is mounted on the circuit board 820 such that its electrical switch is selectively electrically connected to an electrical trace 822 of the circuit board 820. As detailed above, the movable handle 310 is in an unactuated position relative to the housing 200. Figure 28 ), Actuation position ( Figure 34) and activation location ( Figure 34 Pivot between. In the active position, the gripping portion 318 of the movable handle 310 is pushed to contact the exposed portion of the activation button 810 to activate the activation button 810 of the activation assembly 800, for example, to establish or disconnect an electrical connection via a switch of the activation button 810.

[0172] Electrical trace 822 extends along circuit board 820 from activation button 810 to connector 832 disposed on circuit board 820. Another electrical trace 824 connects to connector 834 on circuit board 820. Connectors 832 and 834 can be convex or concave sliding connectors (similar to those detailed above), and these connectors are configured to connect to leads 910 and 920 respectively. Figure 19 Electrical connection. Circuit board 820 further includes a plurality of contacts to which the wires of cable 900 are attached (e.g., soldered) to, thereby connecting via plug 940 of cable 900 (see...). Figure 1 The circuit board 820 is electrically connected to a power source (e.g., an electrosurgical generator (not shown)), and thereby selectively connects leads 910, 920 ( Figure 19 It is electrically connected to the energy source.

[0173] The establishment or discontinuation of electrical connection via the switch of activation button 910 can be detected at the generator by monitoring at least one of the wires connected (e.g., soldered) to circuit board 820 (e.g., the switch of activation button 810 is activated because the movable handle 310 is pressed). Therefore, the generator can easily determine when activation button 810 has been activated and, in response, begin to transmit power through the wires of cable 900 to circuit board 820, and thus to leads 910, 920 (…). Figure 19 Energy is supplied to energize the conductive plates 750 and 790 of the gripper components 720 and 760 respectively, thereby processing the tissue gripped between them.

[0174] refer to Figures 37 to 41 Generally, reference numeral 1010 identifies another energy-based surgical instrument provided according to this disclosure and configured for grasping, manipulating, and / or dividing tissue. Instrument 1010 is similar to instrument 10 ( Figure 1 ) and may include any of its features unless a contradiction is explicitly stated below. Therefore, only device 1010 and device 10( Figure 1 The difference between ).

[0175] The device 1010 includes a latching mechanism 1020 configured to lock the movable handle 1310 in an actuated position, thereby locking its gripper member (not shown, associated with the device 1010) in an actuated position. Figure 1The gripper components 720 and 760 are identical and are latched in close proximity. Furthermore, the activation component 1800 of the device 1010 is repositioned to the rear of the body portion 1280 of the housing 1200 to enable selective activation via the user's finger rather than via the movable handle 1310, although other locations and / or configurations of the activation component 1800 are also conceivable.

[0176] The latching mechanism 1020 of the device 1010 includes a latching arm 1030 and a latching track 1050. The latching arm is coupled to a movable handle 1310, and the latching track is disposed (e.g., defined within) one (or both) of housing portions 1210 and 1220 of the housing 1200, although a reverse configuration is also conceivable. The latching arm 1030 is formed as a single piece, for example by molding, and includes an engaging hook 1032 defined at its first end and a transverse latching post 1034 at its opposite second end, which protrudes from one (or both) side of the latching arm 1030. The latching arm 1030 is flexible, allowing the transverse latching post 1034 to deflect relative to the engaging hook 1032 about at least two axes.

[0177] The engaging hook 1032 of the latch arm 1030 defines a recess 1036 and an opening 1038, the opening providing passage to the recess 1036. The recess 1036 is circumferentially surrounded by the engaging hook 1032 around a minimum 270-degree radius. The engaging hook 1032 is configured for snap-fit ​​engagement around a latch boss 1319 of the movable handle 1310, wherein the latch boss 1319 passes through the opening 1038 and engages within the recess 1036, and wherein the engaging hook 1032 provides at least 270 degrees of retention around the latch boss 1319. Thus, the engaging hook 1032 can easily engage and maintain engagement around the latch boss 1319. The latch boss 1319 can be integrally formed with the movable handle 1310.

[0178] The latching track 1050 of the latching mechanism 1020 defines a tortuous path around the central block 1052, the upper guide rail 1054, the lower guide rail 1056 and the rear guide leg 1058. More specifically, the latching track 1050 includes: an entry path 1062 defined between a central block 1052 and a lower guide rail 1056; a latching path 1064 defined around the central block 1052 between the lower guide rail 1056 and a rear guide leg 1058 and interconnecting the entry path 1062 with a saddle-shaped member 1066 defined within the central block 1052; an unlocking path 1068 defined around the central block 1052 between the rear guide leg 1058 and an upper guide rail 1054 and interconnecting the saddle-shaped member 1066 with a return path 1070; and a return path 1070 defined between the central block 1052 and the upper guide rail 1054. The return path 1070 includes a lateral ramp 1080, as detailed below, which includes a proximal ramp end 1082 and a distal steep ramp end 1084.

[0179] Still referencing Figures 37 to 41 In use, when the movable handle 1310 pivots from the unacted position toward the actuated position, the lateral latch 1034 moves proximally toward the latch track 1050. As the movable handle 1310 pivots further toward the actuated position, the lateral latch 1034 enters the entry path 1062 and travels distally through this entry path between the central block 1052 and the lower guide rail 1056. The latch arm 1030 deflects downward, for example, about a first axis, to allow the lateral latch 1034 to travel through the entry path 1062. Further, the lateral latch 1034 is inhibited from traveling into the return path 1070 by the distal ramp end 1084; that is, the lateral latch 1034 is inhibited from climbing the distal ramp end 1084 and thus from entering the return path 1070, thereby ensuring that the lateral latch 1034 correctly follows the entry path 1062.

[0180] The movable handle 1310 is further pivoted proximally to the actuated position and beyond the actuated position to the over-actuated position, allowing the lateral latch 1034 to pass over the central block 1052. Once the lateral latch 1034 has passed over the central block 1052 and therefore the latch arm 1030 is no longer held in the deflected position, the latch arm 1030 elastically returns upward, causing the lateral latch 1034 to be pushed toward or into contact with the rear guide leg 1058. This can be confirmed by auditory and / or tactile feedback.

[0181] Once the movable handle 1310 reaches the over-actuated position, it can be released (or returned), thereby allowing the movable handle 1310 to return to the return spring (not shown, in conjunction with the return spring 350). Figure 2 and Figure 3 Under the same bias, the movable handle 1310 returns distally toward the actuated position. Upon release (or return) of the movable handle 1310, the lateral latch 1034 moves distally through the latch path 1064 and into the saddle-shaped member 1066 defined within the central block 1052, thereby latching the movable handle 1310 in the actuated position. With the movable handle 1310 latched in the actuated position, the gripper members of the instrument 1010 are correspondingly locked in adjacent positions, thereby applying appropriate gripping force to the tissue held therein, such that the gripper members can be energized to process (e.g., seal) the tissue held therein.

[0182] To release the movable handle 1310 from the latched state and allow the gripper members to return to a spaced-out position, for example after tissue processing and / or cutting, or to re-grip the tissue, the movable handle 1310 is again pivoted proximally from the actuated position to the over-actuated position. When the movable handle 1310 is pivoted to the over-actuated position, the lateral latch post 1034 moves proximally from the saddle member 1066 through the unlocking path 1068 over the central block 1052, thereby allowing the latch arm 1030 to return further elastically upward, such that the lateral latch post 1034 is pushed toward or is pushed into contact with the upper guide rail 1054.

[0183] Once the movable handle 1310 reaches the over-actuated position, it can be released (or returned), allowing it to return to its distal position. This distal return of the movable handle 1310 pulls the lateral latch 1034 distally through the return path 1070 between the upper guide rail 1054 and the central block 1052. As the lateral latch 1034 moves distally through the return path 1070, it climbs onto the proximal ramp end 1082 of the lateral ramp 1080 and ascends along the lateral ramp 1080, thereby causing the latch arm 1030 to deflect laterally (e.g., about a second axis) further until the lateral latch 1034 falls from the distal steep ramp end 1084 of the lateral ramp 1080, allowing the latch arm 1030 to return laterally elastically. After the lateral latch 1034 falls from the distal steep end 1084 of the lateral ramp 1080, the lateral latch 1034's proximal return via return path 1070 is inhibited, and therefore, subsequent re-application of the movable handle 1310 causes the lateral latch 1034 to move along the entry path 1062. If the movable handle 1310 is not re-application, it continues to return distally toward the unapplication position, thereby allowing the lateral latch 1034 to cross the latch track 1050 and allowing the latch arm 1030 to return to its initial position corresponding to the unapplication position of the movable handle 1310.

[0184] Figures 42 to 43 The handle 310 is shown in the open position and in the closed position relative to the housing 200. The relative movement of the drive assembly 300 (including all associated internal components, i.e., the movable handle 310, the linkage mechanism 320, the carriage 330, the nested spring assembly 340, the return spring 350, the drive sleeve and frame 360, 370, and the collars 380, 392, 394, 396) is related to the geometry of the cam slot 730 (especially...). Figure 47 The bending geometry and dimensions of the cam slot 730 cooperate to maintain a sustained maximum force threshold during the tail of the handle 310's stroke. It is conceivable that maintaining the dimensions of these components within tight tolerances plays a significant role in facilitating the maintenance of the maximum force threshold during the handle's stroke. For example, it is conceivable that the tolerances of the following components may play a significant role in maintaining the maximum force threshold during the handle's stroke: the offset "O" between the drive sleeve 360 ​​and the pivot boss 314 (approximately 0.538 ± 0.010); the length "L2" from the pivot boss 314 to the lever pivot link 321a (approximately 0.0806 ± 0.010); the length "L3" of the linkage 320 (pivot links 321a to 321b) (approximately 1.427 ± 0.020); and the starting position "SP" of the lever pivot link 321a (approximately 1.059 ± 0.020).

[0185] Not only does the geometry of the cam slot 730 help maintain the maximum force threshold during the handle stroke to reduce surgical fatigue, but additional aspects of the drive assembly 300 also help reduce stress from repetitive movements of the handle 310. For example, although the handle 310 is fixed at its distal end about and pivots relative to a pivot boss 314, the proximal end of the handle 310 is connected to the link 320 via a pivot link 321a and is not fixed, but is configured to move about the link 321b.

[0186] During the movement of handle 310 from the spaced-out position toward the closed position ( Figure 43 The arrow "C" in L "), pivot link 321a in direction "R L The upper part moves toward the carriage 330 and into the carriage. The combined movement of the linkage 320 (i.e., moving about the pivot link 321b and longitudinally moving together with the movement of the carriage 330) and the nested spring assembly 340 separating the collar 392 from the distal end of the carriage 330 (as explained above, camping the gripper member 120 onto the tissue) also help maintain the maximum force threshold throughout the entire handle stroke. It is conceivable that the nominal spring compression "SC" (which is the distance the collar 392 is separated from the distal end of the carriage 330) is approximately 0.050 inches ± 0.20.

[0187] While several configurations of this disclosure have been shown in the accompanying drawings, they are not intended to limit the disclosure thereto, as the aim is to make the scope of the disclosure as broad as permitted by the art, and this specification should be read in the same manner. Therefore, the above description should not be construed as restrictive, but merely as illustrative of particular configurations. Other modifications within the scope and spirit of the appended claims will be contemplated by those skilled in the art.

[0188] The following numbered paragraphs can be used to further describe various aspects of this disclosure:

[0189] 1. A surgical instrument comprising: a housing including an elongated shaft extending distally therefrom; an end effector assembly operably coupled to the distal end of the elongated shaft; and a drive assembly including: a movable handle pivotally coupled to the housing; a carriage slidably disposed within the housing and operably coupled to the movable handle; and an internal actuator extending from the housing through the shaft and operably coupled to the end effector assembly such that translation of the internal actuator will cause... The actuator assembly is actuated; and a spring assembly operatively connecting the carriage and the internal actuator, wherein initial actuation of the movable handle causes the carriage to slide, such that the spring assembly converts the sliding of the carriage into translation of the internal actuator until a threshold gripping force is reached on the movable handle, and wherein subsequent actuation of the movable handle causes the carriage to slide to compress the spring assembly to substantially maintain the position of the internal actuator, thereby suppressing excessive gripping force on the movable handle exceeding a predetermined threshold.

[0190] 2. The surgical instrument of claim 1, wherein the predetermined threshold on the handle is from about 8 lbf to about 10 lbf.

[0191] 3. The surgical instrument of claim 1, further comprising: a first gripper member and a second gripper member, at least one of the first gripper member or the second gripper member being movable relative to the other between a spaced-apart position and a proximal position to grip tissue therebetween, wherein each of the first gripper member and the second gripper member includes a cam slot and a pivot orifice, wherein a cam pin is slidably received in the cam slot, and wherein the pivot pin is pivotally engaged within the pivot orifice.

[0192] 4. The surgical instrument of claim 3, wherein the cam pin and the pivot pin are captured in a U-shaped clamp defined at the distal end of the elongated shaft.

[0193] 5. The surgical instrument of claim 4, wherein actuation of the movable handle of the drive assembly causes the internal actuator to translate within the elongated shaft, thereby causing the cam pin to cam-move within the cam slot, thus moving at least one of the first gripper member or the second gripper member between the spaced-out position and the adjacent position.

[0194] 6. The surgical instrument of claim 5, wherein the cam slot includes a radius configured such that when the angle between the first gripper member and the second gripper member decreases to about 10 degrees or less, the gripping force between the first gripper member and the second gripper member remains substantially uniform along the length of the first gripper member and the second gripper member.

[0195] 7. The surgical instrument of claim 6, wherein the radius of each cam slot ranges from about 0.3 inches to about 0.4 inches.

[0196] 8. The surgical instrument of claim 5, wherein the cam slot includes a radius configured to maintain a gripping force of about 7 lbf to about 10 lbf between the first gripper member and the second gripper member and along the length of the first gripper member and the second gripper member when the angle between the first gripper member and the second gripper member decreases to about 10 degrees or less.

[0197] 9. The surgical instrument of claim 1, wherein the spring assembly comprises a pair of nested springs having a spring free length of about 1.025 inches to about 1.075 inches.

[0198] 10. The surgical instrument of claim 9, wherein the spring assembly comprises at least two nested springs, at least one of the at least two nested springs being preloaded within the carriage during assembly.

[0199] 11. The surgical instrument of claim 9, wherein the spring assembly comprises a spring constant k of about 65 lb / in to about 75 lb / in.

[0200] 12. The surgical instrument of claim 3, wherein the spring assembly comprises a nominal spring compression of approximately 0.050 inches during the entire movement of the handle from a first position to a second position, wherein in the first position the first gripper member and the second gripper member are positioned in the spaced-apart position, and in the second position the first gripper member and the second gripper member are positioned in the proximate position for gripping tissue.

[0201] 13. A surgical instrument comprising: a housing including an elongated shaft extending distally therefrom; an end effector assembly operably coupled to the distal end of the elongated shaft, the end effector including a first gripper member and a second gripper member, at least one of the first gripper member or the second gripper member being movable relative to the other between a spaced-apart position and a proximal position to grasp tissue therebetween, wherein the movable gripper member includes a proximal gripper wing plate defining a curved cam slot therethrough and a pivot orifice therethrough, the curved cam slot being configured to slidably receive a cam pin therein, and the pivot orifice being configured to pivotally engage a pivot pin therein; and a drive assembly including: a movable handle pivotally coupled to the housing. The device comprises: a carriage slidably disposed within a housing and operably coupled to a movable handle; an internal actuator extending from the housing through the shaft and operably coupled to the at least one gripper member such that translation of the internal actuator actuates the at least one gripper member; and a nested spring assembly operably coupling the carriage and the internal actuator, wherein initial actuation of the movable handle causes the carriage to slide, such that the nested spring assembly converts the sliding of the carriage into translation of the internal actuator until a threshold gripper force is reached on the movable handle, and subsequent actuation of the movable handle causes the carriage to slide to compress the nested spring assembly to substantially maintain the position of the internal actuator, thereby suppressing excessive gripper force exceeding a predetermined threshold on the movable handle.

[0202] 14. The surgical instrument of claim 13, wherein the cam slot includes a radius configured such that when the angle between the first gripper member and the second gripper member decreases to about 10 degrees or less, the gripping force between the first gripper member and the second gripper member remains substantially uniform along the length of the first gripper member and the second gripper member.

[0203] 15. The surgical instrument of claim 13, wherein the radius of each cam slot ranges from about 0.3 inches to about 0.4 inches.

[0204] 16. The surgical instrument of claim 13, wherein the cam slot includes a radius configured to maintain a gripping force of about 7 lbf to about 10 lbf between the first gripper member and the second gripper member and along the length of the first gripper member and the second gripper member when the angle between the first gripper member and the second gripper member decreases to about 10 degrees or less.

[0205] 17. The surgical instrument of claim 13, wherein the spring assembly comprises a pair of nested springs having a spring free length of about 1.025 inches to about 1.075 inches.

[0206] 18. The surgical instrument of claim 13, wherein the spring assembly comprises at least two nested springs, at least one of the at least two nested springs being preloaded within the carriage during assembly.

[0207] 19. The surgical instrument of claim 13, wherein the spring assembly comprises a spring constant k of about 65 lb / in to about 75 lb / in.

[0208] 20. The surgical instrument of claim 13, wherein the predetermined threshold on the handle is from about 8 lbf to about 10 lbf.

Claims

1. A surgical instrument, comprising: A housing, the housing including an elongated shaft extending from its distal end; An end effector assembly operatively coupled to the distal end of the elongated shaft; The driver component includes: A movable handle, which is pivotally connected to the housing; A carriage, which is slidably disposed within a housing and operably coupled to a movable handle; An internal drive extending from the housing through the shaft and operably coupled to the end effector assembly, such that translation of the internal drive actuates the end effector assembly; and A spring assembly that operatively connects the carriage and the internal actuator. The initial actuation of the movable handle causes the carriage to slide, which in turn causes the spring assembly to convert the sliding of the carriage into translation of the internal actuator until a threshold gripping force is reached on the movable handle. Subsequent actuation of the movable handle causes the carriage to slide to compress the spring assembly to substantially maintain the position of the internal actuator, thereby suppressing excessive gripping force on the movable handle exceeding a predetermined threshold.

2. The surgical instrument according to claim 1, wherein, The predetermined threshold on the handle is approximately 8 lbf to approximately 10 lbf.

3. The surgical instrument according to claim 1 or 2, further comprising: A first gripper member and a second gripper member, at least one of which is movable relative to the other between spaced-out and proximate positions to grasp tissue therebetween. Each of the first gripper member and the second gripper member includes a cam slot and a pivot orifice, wherein a cam pin is slidably received in the cam slot, and wherein a pivot pin is pivotally engaged in the pivot orifice.

4. The surgical instrument according to claim 3, wherein, The cam pin and the pivot pin are captured in a U-shaped clamp defined at the distal end of the elongated shaft.

5. The surgical instrument according to claim 3 or 4, wherein, Actuation of the movable handle of the drive assembly causes the internal driver to translate within the elongated shaft, thereby causing the cam pin to cam within the cam slot, which in turn moves at least one of the first gripper member or the second gripper member between the spaced-out position and the adjacent position.

6. The surgical instrument according to claim 3, 4 or 5, wherein, The cam slot includes a radius configured such that when the angle between the first gripper member and the second gripper member decreases to about 10 degrees or less, the gripping force between the first gripper member and the second gripper member remains substantially consistent along the length of the first gripper member and the second gripper member.

7. The surgical instrument according to claim 6, wherein, The radius of each cam slot is approximately 0.3 inches to approximately 0.4 inches.

8. The surgical instrument according to claim 5 or 6, wherein, The cam slot includes a radius configured to maintain a gripping force of about 7 lbf to about 10 lbf between the first gripper member and the second gripper member and along the length of the first gripper member and the second gripper member when the angle between the first gripper member and the second gripper member decreases to about 10 degrees or less.

9. The surgical instrument according to any of the preceding claims, wherein, The spring assembly includes a pair of nested springs having a spring free length of approximately 1.025 inches to approximately 1.075 inches.

10. The surgical instrument according to claim 9, wherein, The spring assembly includes at least two nested springs, at least one of which is preloaded within the carriage during assembly.

11. The surgical instrument according to claim 9 or 10, wherein, The spring assembly includes a spring constant k of approximately 65 lb / in to approximately 75 lb / in.

12. The surgical instrument according to any of the preceding claims, wherein, The surgical instrument further includes: A first gripper member and a second gripper member, at least one of the first gripper member or the second gripper member being movable relative to the other between spaced-out positions and proximate positions to grasp tissue therebetween, and The spring assembly includes a nominal spring compression of approximately 0.050 inches throughout the movement of the handle from the first position to the second position, wherein in the first position, the first and second gripper members are positioned at the spaced-apart locations, and in the second position, the first and second gripper members are positioned at the proximal locations for gripping tissue.

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