End effector jaw closure features for surgical staplers

Abstract

A first jaw (318) for use with an end effector (313) of a surgical instrument. A proximal end of the first jaw (318) includes a ramp surface (352). The ramp surface includes a proximal engagement portion (A), an intermediate engagement portion (B), and a distal engagement portion (C). The intermediate engagement portion is distal to the proximal engagement portion, at least a portion of the proximal engagement portion being concavely curved. The distal engagement portion (C) is distal to the intermediate engagement portion. The ramp surface (352) is configured to be engaged by a translatable cam (333) of the surgical instrument to cause the first jaw (318) to pivot relative to a second jaw (316) of the end effector (313). The first jaw (318) and the second jaw (316) are configured to cooperate to clamp and staple tissue (T) positioned therebetween.

Description

Background Technology

[0001] In some settings, endoscopic surgical instruments may be preferred over traditional open surgical devices to minimize surgical incision size, postoperative recovery time, and complications. Therefore, some endoscopic surgical instruments are adapted to place distal end-effectors at desired surgical sites via cannulation of a trocar. These distal end-effectors (e.g., end-cutters, grippers, scalpels, suture devices, clamps, entry devices, drug / gene therapy delivery devices, and energy delivery devices using ultrasound, RF, lasers, etc.) can engage tissue in various ways to achieve diagnostic or therapeutic effects. Endoscopic surgical instruments may include an axis extending proximally from the end-effector to a handle portion manipulated by the clinician, or alternatively to a robotic arm. Such an axis allows for insertion to the desired depth and rotation about the longitudinal axis of the axis, facilitating the positioning of the end-effector within the patient. Positioning of the end-effector can be further facilitated by including one or more articulation joints or features, enabling the end-effector to selectively perform articulation or otherwise deflect relative to the longitudinal axis of the axis.

[0002] Examples of endoscopic surgical instruments include surgical sutures. Some of these sutures are operable to clamp a layer of tissue, cut through the clamped tissue, and drive a staple through the tissue to substantially seal the cut tissue layers together near the cut ends. Such endoscopic surgical sutures can also be used in open abdominal surgeries and / or other non-endoscopic procedures. By way of example only, in thoracic surgery, a surgical suture can be inserted via a thoracotomy and thereby positioned between the patient's ribs to reach one or more organs, in which a trocar is not used as the conduit for the suture. Such procedures may involve using a suture to cut and close blood vessels leading to organs such as the lungs. For example, blood vessels leading to an organ can be cut and closed using a suture before it is removed from the thoracic cavity. Of course, surgical sutures can be used in a variety of other situations and procedures.

[0003] Such surgical staplers may include an end effector having a fixed first jaw and a pivotable second jaw that engages to close onto and hold tissue, which is then sutured. However, in many such surgical staplers, the end effector is configured such that the pivotable second jaw advances rapidly in the initial portion of its closure stroke, where the mechanical advantage of the end effector closure component is less, and advances slowly in the final portion of the closure stroke, where the mechanical advantage of the end effector closure component is greater. Therefore, a relatively large user input force is required to move the end effector through the initial portion of the closure stroke, which can impose unnecessary stress on the end effector closure component. Furthermore, these larger forces may cause misalignment of the end effector closure component.

[0004] The features of this disclosure are intended to address the aforementioned deficiencies. In this regard, although various surgical instruments and associated components have been manufactured and used, it is believed that no one prior to the inventors had manufactured or used the invention described in the appended claims. Attached Figure Description

[0005] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate examples of the invention and, together with the general description of the invention given above and the detailed description of the examples given below, serve to explain the principles of the invention.

[0006] Figure 1 A perspective view depicting an example of a surgical suture device; Figure 2 It depicts the open state. Figure 1 A perspective view of the end effector of a surgical suture device; Figure 3 Depicting Figure 2 Exploded perspective view of the end effector; Figure 4A Depicting Figure 2 end effector along Figure 2 The side sectional view taken by line 4-4 shows the firing beam and slider in a near-side, undisplaced position; Figure 4B Depicting Figure 2 end effector along Figure 2 The side sectional view taken by line 4-4 shows the firing beam and slider in the far firing position; Figure 5 Depicting Figure 2 end effector along Figure 2 Line 5-5 cuts out and omits the end section view of the upper anvil jaws, showing further details of the distal blade portion of the firing beam and the slider. Figure 6 Depicting Figure 3 A perspective view of the end effector, which is shown as firing once on the first segment of the tissue and positioned to clamp and fire on the second segment of the tissue; Figure 7 Describes the construction used to interact with Figure 1 A perspective view of another example of an end effector used in conjunction with a surgical suture device; Figure 8 Depicting Figure 7 A side front view of the pivot anvil jaws of the end effector; Figure 9 Depicting Figure 8 Top view of the pivoting anvil jaws; Figure 10 Depicting Figure 7 A side front view of the closed loop of the end effector; Figure 11 Depicting Figure 10 Top view of the closed loop; Figure 12A Depicting Figure 7 A perspective view of the end effector at the first instant during the closing process; Figure 12B Depicting Figure 7 A perspective view of the end effector at the second instant during the closing process; Figure 12C Depicting a completely closed Figure 7 A perspective view of the end effector; Figure 13 Describes the construction used to interact with Figure 1 Another example of an illustrative end effector used in conjunction with a surgical stapler is shown in a side front view, illustrating the end effector during the transition from a closed configuration to an open configuration; Figure 14 Depicting along Figure 13 A perspective side view of the distal side of the closed loop of the end effector's jaw positioning. Figure 15 Depicting Figure 13 The end view of the closed loop and jaws of the end effector facing the distal side; Figure 16 Depicting Figure 13 A partial side sectional view of the end effector shows the upper jaw and the bin jaw in a closed configuration. The upper jaw includes a cam ramp surface with a proximal engagement portion, an intermediate engagement portion and a distal engagement portion. Figure 17A Depicting the edge of the closed loop Figure 16 During the translation of the proximal engagement portion of the cam ramp surface toward the distal side Figure 13 A partial side sectional view of the end effector; Figure 17B Depicting the edge of the closed loop Figure 16 During the translation of the middle joint portion of the cam ramp surface toward the distal side Figure 13 A partial side sectional view of the end effector; and Figure 17C Depicting the edge of the closed loop Figure 16 During the distal engagement portion of the cam ramp surface translates distally... Figure 13 A partial side sectional view of the end effector.

[0007] The accompanying drawings are not intended to be limiting in any way, and various embodiments of the invention can be conceived to be implemented in many other ways, including those not necessarily shown in the drawings. The drawings, which are incorporated in and constitute a part of this specification, illustrate several aspects of the invention and, together with the description, serve to explain the principles of the invention; however, it should be understood that the invention is not limited to the explicit arrangements shown. Detailed Implementation

[0008] The following description of certain examples of the present technology should not be used to limit the scope of the present technology. Other examples, features, aspects, embodiments, and advantages of the present technology will become apparent to those skilled in the art from the following description, which is done in an illustrative manner, representing one of the best ways contemplated for implementing the present technology. As will be appreciated, the technology described herein can have other different and obvious aspects, all of which do not depart from the present technology. Therefore, the accompanying drawings and descriptions should be considered substantially illustrative and not restrictive.

[0009] For clarity of disclosure, the terms "proximal" and "distal" are defined herein with respect to a human or robotic operator of the surgical instrument. The term "proximal" refers to the element location of the surgical end effector that is closer to the human or robotic operator of the surgical instrument and further away from the surgical instrument. The term "distal" refers to the element location of the surgical end effector that is closer to the surgical instrument and further away from the human or robotic operator of the surgical instrument. Furthermore, the terms "upper," "lower," "lateral," "transverse," "bottom," and "top" are relative terms to provide additional clarity to the figures provided below. Therefore, the terms "upper," "lower," "lateral," "transverse," "bottom," and "top" are not intended to unnecessarily limit the invention described herein.

[0010] Furthermore, the terms “about,” “approximately,” “substantially,” etc., used herein in connection with any numerical value, range of values, and / or geometric / positional quantification are intended to cover the exact value or quantification referenced, and the appropriate tolerance that enables the referenced feature or combination of features to be used for the intended purpose described herein. For example, “substantially parallel” covers structures that are nominally parallel, and “substantially equal” covers values ​​that are nominally equal.

[0011] I. Exemplary surgical suture device A. Overview of the characteristics of surgical staplers Figures 1 to 6 An illustrative surgical stapler (10) is depicted, its dimensions being configured to be inserted into a patient's surgical site via a cannula or surgical incision (e.g., thoracotomy, etc.) to perform surgical procedures. The surgical stapler (10) may also be referred to as a surgical instrument or simply an instrument. The surgical stapler (10) includes a body, exemplified as a handle assembly (20), a shaft (30) extending distally from the handle assembly (20) along a longitudinal axis (LA) and terminating distally at a joint motion joint (32), and an end effector (40) operatively connected to the shaft (30) via the joint motion joint (32).

[0012] Once the end effector (40) and the articulation connector (32) are inserted distally through the cannula channel, the articulation connector (32) can perform remote joint movements via the articulation control, such as... Figure 1 As shown by the dashed line, the joint motion control is exemplified as a rotatable knob (22) of the handle assembly (20) that allows the end effector (40) to deviate from the longitudinal axis (LA) at a desired angle (α). The joint motion connector (32) and related features for manipulating the joint motion connector (32) may be further configured according to the teachings of U.S. Patent No. 9,186,142, entitled “Surgical Instrument End Effector Articulation Drive with Pinion and Opposing Racks,” published November 17, 2015, the disclosure of which is incorporated herein by reference in its entirety.

[0013] The end effector (40) includes a cartridge jaw (42) configured to removably receive a staple cartridge (70) (also referred to as a “reloading element”); and an upper jaw, exemplified as an anvil jaw (44) (also referred to as an “anvil”), which pivots relative to the cartridge jaw (42) to hold tissue between them. In other configurations, the end effector (40) may alternatively be configured to pivot the cartridge jaw (42) relative to the anvil jaw (44). Unless otherwise described, the term “pivot” (and its variations) as used herein in connection with the relative movement between the jaws (42, 44) encompasses, but is not necessarily limited to, pivoting movement about a fixed axis. For example, in some configurations, the anvil jaw (44) may pivot about an axis defined by a pin (or similar feature) that slidably translates along an elongated slot or channel as the anvil jaw (44) moves toward the cartridge jaw (42). Such translations can occur before, during, or after the pivoting motion. Therefore, it should be understood that the term “pivoting” and its variations, as used herein with reference to the relative motion between jaws (42, 44), encompasses a combination of such pivoting and translational movements.

[0014] like Figure 1 As shown, the handle assembly (20) includes a pistol grip (24) and a closing trigger (26). The closing trigger (26) is pivotable toward the pistol grip (24) such that the anvil jaws (44) clamp or close toward the jaws (42) of the end effector (40). Such closure of the anvil jaws (44) is provided by a closing tube (34) and a closing ring (36) of the shaft (30), both of which are longitudinally translated relative to the handle assembly (20) in response to the pivoting of the closing trigger (26) relative to the pistol grip (24). The closing tube (34) extends along the length of the shaft (30); and the closing ring (36) is positioned distal to the articulated joint (32). The articulated joint (32) is operable to transmit longitudinal movement from the closing tube (34) to the closing ring (36), thereby actuating the anvil jaws (44) relative to the jaws (42).

[0015] The shank assembly (20) also includes a firing trigger (28). An elongated actuator (not shown) extends longitudinally through the shaft (30) and, in response to actuation of the firing trigger (28), transmits longitudinal firing motion from the shank assembly (20) to the firing member (also referred to as the firing driver), exemplified as the firing beam (46). Thus, the firing beam (46) translates distally during the firing stroke to induce suturing and cutting of tissue held by the end effector (40), as will be described in more detail below. Although not shown, the handle assembly (20) may also include a motor capable of operating to actuate such a firing assembly component of the surgical stapler (10) in response to actuation of the firing trigger (28) by a user, for example, as disclosed in U.S. Patent No. 8,453,914 entitled “Motor-Driven Surgical Cutting Instrument with Electric Actuator Directional Control Assembly”, published June 4, 2013, the disclosure of which is incorporated herein by reference in its entirety.

[0016] like Figures 2 to 5 As shown, the firing beam (46) includes a proximal beam portion (48) and a distal blade portion (50), wherein the distal blade portion (50) may be integrally formed with the distal end of the proximal beam portion (48), or formed separately and subsequently firmly attached to the distal end of the proximal beam portion (48). The distal blade portion (50) includes a laterally oriented upper protrusion exemplified as an upper pin (52), a laterally oriented lower protrusion exemplified as a cap (54), a laterally oriented intermediate protrusion exemplified as a middle pin (56), and a cutting edge (58) extending distally. The upper pin (52) is slidable within a longitudinal anvil jaw slot (62) of the anvil jaw (44), and the cap (54) is slidable along the lower surface of the jaw (42) defined by the longitudinal jaw slot (64). The intermediate pin (56) is slidable along the top surface of the jaws (42) and engages with the cap (54) to stabilize and guide the distal blade portion (50) along the longitudinal firing stroke. The firing beam (46) may be further constructed and operated in accordance with the teachings of U.S. Patent No. 9,717,497, entitled “Lockout Feature for Movable Cutting Member of Surgical Instrument,” published August 1, 2017, the disclosure of which is incorporated herein by reference in its entirety.

[0017] Figure 2The anvil jaws (44) are shown pivoted in the open position, with the firing beam (46) positioned proximally, which allows an unused (i.e., unfired) staple cartridge (70) to be removably placed in the passage of the cartridge jaws (42). Figures 2 to 3 Ideally visible, the staple cartridge (70) comprises a cartridge body (72) that presents an upper platform (74) defining a first suture surface and a lower plate (76) (also referred to as a "tray") connected to the bottom surface of the cartridge body (72). A vertical blade slot (78) extends longitudinally through the cartridge body (72) and is configured to slidably receive the distal blade portion (50) of the firing beam (46). In this configuration, three rows of cartridge recesses 80 (also referred to as "staple openings," "staple holes," or "staple cavities") are formed along each side of the blade slot (78) through the upper platform (74).

[0018] like Figures 3 to 5 As shown, the staple cartridge (70) also includes a slider (82) (also referred to as a “wedge slider”) and a plurality of staple actuators (84) movably engaged between the cartridge body (72) and the disc (76). Each staple actuator (43) is aligned with a corresponding cartridge recess and is capable of vertical movement within that recess. The staple (86) is positioned within the corresponding cartridge recess (80), above the corresponding staple actuator (84). During the firing stroke, the slider (82) is propelled within the staple cartridge (70) by the distal blade portion (50). Figure 4A The longitudinal actuation at the proximal position shown is to Figure 4B The distal position is shown. The angled cam surface of the slider (82) causes the nail driver (84) to make a vertical upward cam motion within the bin recess (80) to drive the nail (86) upward above the platform (74), thereby ejecting the nail (86) from the bin recess (80) and toward the anvil jaws (44).

[0019] More specifically, in the end effector (40) such as Figures 4A to 4B In the closed configuration shown, by guiding the upper pin (52) into the longitudinal anvil slot (62), the firing beam (46) is actuated distally to engage with the anvil jaws (44). The distal end protrusion (60) of the distal blade portion (50) of the firing beam (46) (see...) Figure 5 The sliding member (82) engages at its proximal end and is driven distally when the distal blade portion (50) advances distally through the staple cartridge (70) in response to the actuation of the firing trigger (28). During such firing, the distal blade portion (50) advances distally along the blade slot (78) of the staple cartridge (70), such that the cutting edge (58) severs the tissue held between the staple cartridge (70) and the anvil jaws (44).

[0020] like Figures 4A to 4BAs shown, the intermediate pin (56) and the distal end protrusion (60) together actuate the staple cartridge (70) by entering the blade slot (78), thereby driving the slider (82) to contact the cam of the staple driver (84), thereby actuating the staple driver (84) upward, which in turn drives the staple (86) outward through the cartridge recess (80), through the clamped tissue, and into the staple forming recess (66) on the second suture surface defined by the anvil jaws (44) (see See Figure 2 Forming contact. Such suturing of the tissue, facilitated by the cam action interaction between the slider (82) and the nail driver (84), is performed simultaneously with tissue cutting performed by the cutting blade (58). However, it should be understood that for each longitudinal segment of tissue held by the end actuator (40), the nail (86) may be slightly ejected into the tissue before the cutting blade (58) cuts the tissue, to ensure that the tissue is sutured and thus sealed before being cut. Figure 4B The firing beam (46) is depicted as being completely translated distally at the end of the firing stroke after the tissue held by the end actuator (40) has been sutured and cut.

[0021] The staple cartridge (70) and the anvil jaws (44) may be further constructed and operated in accordance with the teachings of the following patents: U.S. Patent No. 9,808,A248, entitled “Installation Features for Surgical Instrument EndEffector Cartridge”, published November 7, 2017; U.S. Patent No. 9,839,421, entitled “JawClosure Feature for End Effector of Surgical Instrument”, published December 12, 2017; U.S. Patent No. 10,092,292, entitled “Staple Forming Features for Surgical Stapling Instrument”, published October 9, 2018; and / or U.S. Patent No. 10,130,359, entitled “Method for Forming a Staple”, published November 20, 2018, the entire disclosure of each of which is incorporated herein by reference.

[0022] Figure 6 The end effector (40) is shown to have been actuated in a single-shot stroke on tissue (T) having a first layer and a second layer (T1, T2). Cutting blade (58) (see...) Figures 2 to 5The tissue (T) has been cut through, and the staple driver (84) has driven three rows of alternating staples (86) across the tissue (T) on each side of the cutting line created by the cutting blade (58). After the first firing stroke is completed, the end effector (40) is removed from the patient, the used staple cartridge (70) is replaced with a new unused staple cartridge (70), and then the end effector (40) is reinserted into the patient to reach the suture site for further cutting and suturing. This process can be repeated until the desired number and pattern of firing strokes across the tissue (T) have been completed.

[0023] The surgical suture device (10) described above and any of the exemplary surgical suture features described below may also be constructed or otherwise combined with any of the teachings of the following patent documents: U.S. Patent Application No. 18 / 588,684, filed February 27, 2024, entitled “Method of Surgical Stapling,” the entire disclosure of which is incorporated herein by reference.

[0024] B. Second example of an end effector As described above, the closing tube (34) actuates the closing ring (36) relative to the jaws (42) and the anvil jaws (44). Therefore, the geometry of each of the closing ring (36), the jaws (42), and the anvil jaws (44) can affect the closing rate and mechanical advantage of the end effector when gripping tissue (T).

[0025] Figure 7 An end effector (212) that can be readily incorporated into an instrument (10) is shown. The end effector (212) may be substantially similar in form and function to the end effector (40). The end effector (212) includes a jaw (216) (also called a jaw), a pivotable anvil (218) (also called anvil jaw), and a translational cam in the form of a closing ring (233). The jaw (216) may be similar to the jaw (42) of the end effector (40). The pivotable anvil (218) is similar to the anvil jaw (44). The closing ring (233) of the end effector (212) is similar to the closing ring (36), except that the closing ring (233) includes an extension (230).

[0026] Figures 8 to 9 A pivotable anvil (218) is shown in more detail. The pivotable anvil (218) includes a central ramp (224), an upper ramp (226), and an extension (220). The central ramp (224) is centrally positioned on the top surface of the proximal portion of the anvil (218). The central ramp (224) slopes downward in the proximal direction. A vertical surface (228) extends upward from the distal end of the central ramp (224). Figure 9As shown, the vertical surface (228) may have a curved profile. Side ramps (226) are positioned on either side of the central ramp (224). A tab (225) extends upward from the proximal end of the central ramp (224). A pin (227) extends outward from the proximal end of the anvil (218) to engage the jaws (216), allowing the anvil (218) to pivot relative to the jaws (216). Although the pin (227) in this example pivots, it does not pivot about a fixed axis. Instead, the pin (227) slides relative to the jaws (216) in addition to pivoting, causing the pivot axis of the anvil (218) to slide relative to the jaws (216).

[0027] like Figures 10 to 11 As shown, the closed ring (233) includes an extension (230), a vertical surface (235), and a tab (232). The tab (232) is positioned within a lateral hole or opening (234) formed through the sidewall of the closed ring (233). The vertical surface (235) is positioned proximal to the extension (230) and is configured to engage the vertical surface (228) of the anvil (218). The vertical surface (235) extends around the closed ring (233) and then extends proximal to form a lower surface (231). The opening (234) is configured to receive the tab (225) of the anvil (218). The tab (232) of the closed ring (233) extends proximal and slopes downward within the opening (234).

[0028] In illustrative use, the instrument (10) can be inserted into the surgical site in a non-articular state, with the jaws (216, 218) closed (also known as the closed configuration). Once the articulation joint (32) and end effector (212) are inserted into the desired site in the patient's body, the anvil (218) can pivot away from the jaws (216) to form open jaws (216, 218), as described below, reaching... Figure 7 The position shown (open configuration) allows the jaws (216, 218) to be positioned around the tissue. The articulation joint (32) can remotely articulate the articulation control, allowing the end effector (212) to deflect to a desired angle (α). Alternatively, the end effector (212) can articulate at the articulation joint (32) before opening the jaws (216, 218). The closing trigger (26) can then be actuated toward the pistol grip (24) to close the anvil (218) toward the jaws (216), as... Figures 12A to 12CAs shown. This closure of the anvil (218) is provided by a closing tube (34) and a closing ring (233), both of which translate longitudinally relative to the handle assembly (20) and the jaws (216) in response to the pivoting of the closing trigger (26) relative to the pistol grip (24). A joint motion connector (32) is operable to transmit longitudinal motion from the closing tube (34) to the closing ring (233).

[0029] When the closing ring (233) translates distally in response to the advancement of the closing tube (34), the closing ring (233) translates relative to the anvil (218) to engage the anvil (218). Figures 12A to 12B As shown, in the open configuration, the vertical surface (235) of the closing ring (233) engages the central ramp (224) of the anvil (218). As the closing ring (233) translates distally, it cams along the central ramp (224) of the anvil (218) to pivot the anvil (218) toward the jaws (216). Figure 12C The anvil (218) is shown to be fully closed relative to the jaws (216) (closed configuration). When fully closed, the vertical surface (235) of the closing ring (233) contacts the vertical surface (228) of the anvil (218).

[0030] II. Improved end effector closing feature As described above, the closing tube (34) translateably actuates the closing ring (233) relative to the jaws (216) and the anvil jaws (218), which in turn pivotally drives the anvil jaws (218) relative to the jaws (216). Also as described above, such a configuration may undesirably require a relatively high user input force to advance the anvil jaws through the initial portion of their closing stroke when the end effector closing component is mechanically relatively disadvantageous due to the relatively large angle between the anvil jaws and the jaws. To minimize these required input forces and the resulting internal stresses experienced by the end effector closing component, it may be desirable to alternatively construct the end effector closing component such that the anvil jaws initially close at a slower closing rate when the end effector closing component has a relatively small mechanical advantage, and subsequently close at a faster closing rate when the end effector closing component has a relatively large mechanical advantage.

[0031] Figure 13An exemplary end effector (312) is shown that can be readily incorporated into the instrument (10) and is advantageously constructed in the manner described above. The end effector (312) may be substantially similar in form and function to the end effectors (40, 213), with the differences described separately below. The end effector (312) comprises a jaw (316) (also referred to as a jaw), a pivotable anvil (318) (also referred to as anvil jaw), and a translational cam in the form of a closing ring (333). The jaw (316) is similar to the jaw (42, 216) of the end effectors (40, 313). The pivotable anvil (318) is similar to the anvil jaws (44, 218), except that the pivotable anvil (318) includes a channel (350) and a uniquely contoured inclined surface (352) that engages a closing loop (333) to optimize the closure of the end effector (312) in the manner described above and to reduce some relative rotation between the closing loop (333) and the end effector jaws (316, 318). The closing loop (333) of the end effector (312) is similar to the closing loop (36, 233), except as further described below.

[0032] As shown in the figure, the closed loop (333) can translate relative to the jaws (316) along the x-axis, thereby allowing the pivotable anvil (318) to switch between an open and closed configuration. Figure 14 As shown, the side of the closure ring (333) includes a protrusion (360) (also referred to as a ridge) that translates longitudinally within a corresponding channel (350) on the side of the jaws (316). The protrusions (360) extend longitudinally along at least a portion of the closure ring body (364) such that they can travel a certain length within the channel (350). As those skilled in the art will understand, the protrusions (360) residing within the channel (350) will prevent or inhibit rotation of the closure ring (333) about the x-axis and relative to the jaws (316) and the anvil jaws (318). Since the protrusions (360) are held within the corresponding channel (350) over the entire translational length, the prevention or inhibition of rotation of the closure ring (333) by the protrusions (360) can occur at any translational position of the closure ring (333).

[0033] like Figure 15 As best shown, the closed loop (333) includes two protrusions (360) positioned within corresponding channels (350) of the jaws (316). Importantly, although two protrusions (360) and channels (350) are shown, one or more of each are still operable to prevent or inhibit rotation. As shown, each channel (350) and protrusion (360) is laterally opposite to each other. As described above, the channels (350) and protrusions (360) are operable to prevent or inhibit rotation (ϴ) about the X-axis (see Figure 1). Figure 15 ), and they can also operate to prevent or suppress around the Z-axis (see Figure 15 ) rotation ( (See also) Figure 13 As those skilled in the art will understand, the longitudinally elongated protrusion (360) will allow for rotation (ϴ) and ( ) becomes smaller. When rotating (ϴ) and ( When the tolerance between the closed ring (333) and the anvil jaws (318) is minimized, the tolerance between them is also minimized, thereby ensuring the precise closure of the anvil jaws (318). Although the protrusions (360) are shown as being located on the closed ring (333) and the channels (350) are shown as being located on the jaws (316), these positions may be fully or partially interchanged, such that some or all of the channels (350) are located on the closed ring (333) and some or all of the protrusions (360) are located on the jaws (316).

[0034] therefore, Figures 16 to 17C An example is illustrated of the interaction between the closed loop (333) and the anvil jaws (318) during distal translation of the closed loop (333). The proximal end of the anvil jaws (318) includes a central ramp (324) having an inclined surface (352) on the upper side of the anvil jaws (318). The inclined surface (352) is configured to engage the closed loop (333) in a cam-like manner and can be defined as having a proximal engagement portion (A) proximal to an intermediate engagement portion (B) proximal to a distal engagement portion (C). The contact surface (362) of the closed loop (333) contacts each portion of the inclined surface (352), thereby causing the end effector (313) to change from an open configuration to a closed configuration. The engagement portions (A, B, C) are longitudinally positioned continuously relative to each other and smoothly merged, so that there are no adjacent planes that are angled to each other. As will be described below, the intermediate joint portion (B) defines a concave curve, and the distal joint portion (C) defines a convex curve and includes a radius that may be the same as the radius of the contact surface (352).

[0035] The proximal engagement portion (A) is closest to the pivot point of the anvil jaws (318), making this the region with the lowest mechanical advantage. When the closed loop (333) is translated a certain distance distally, it causes the anvil jaws (318) to produce the maximum angular movement. As indicated by the geometry of the engagement portions (A, B, C), the initial angular movement of the anvil jaws (318) is smaller than that of previously known anvil jaws, thus waiting until the contact surface (362) is further away from the pivot point of the anvil jaws (318) before significant movement of the anvil jaws (318) occurs. Thus, once the mechanical advantage increases, the angular rotation will increase accordingly.

[0036] The slope of the inclined surface (352) gradually increases from the proximal engagement portion (A) to the intermediate engagement portion (B), resulting in a slower closing rate of the anvil jaws (318). Then, the slope increases rapidly from the distal portion of the intermediate engagement portion (B) towards the distal engagement portion (C), resulting in a faster closing rate of the anvil jaws (318). The slope can then approach and reach zero at the distal portion of the distal engagement portion (C), causing the closing rate of the anvil jaws (318) to become zero. The slope of the inclined surface (352) can be defined relative to the pivot jaw axis (PJA), as described in more detail below.

[0037] like Figure 17A As shown, with the end effector (313) in the open configuration, the contact surface (362) begins to translate distally along the proximal engagement portion (A) toward the intermediate engagement portion (B). The pivot jaw (318) can define the pivot jaw axis (PJA) along its longitudinal length, as... Figure 16 As shown. The proximal engagement portion (A) may be tilted at an angle of less than or equal to 10 degrees relative to the pivot jaw axis (PJA). Therefore, when the contact surface (362) is translated distally along the proximal engagement portion (A), a minimal closure of the anvil jaws (318) may occur compared to the closure achieved along the intermediate engagement portion (B) and the distal engagement portion (C).

[0038] like Figure 17BAs shown, the proximal engagement portion (B) defines a concave curve such that the slope of the inclined surface (352) and the resulting rotational angular velocity of the anvil jaws (318) toward the bin jaws (316) gradually increase as the contact surface (362) translates from the proximal portion of the intermediate engagement portion (B) to the distal portion. In other words, the angle relative to the pivot jaw axis (PJA) of the intermediate engagement portion (B) increases in the proximal to distal direction. Therefore, when the contact surface (362) is located at the proximal portion of the intermediate engagement portion (B), the mechanical advantage for closing the end effector (313) is greater than when it is located at the distal portion of the intermediate engagement portion (B). The inflection point (354) exists at the intersection of the intermediate engagement portion (B) and the distal engagement portion (C). The inflection point (354) is generated when the distal end of the concave curve of the intermediate engagement portion (B) meets the proximal end of the convex curve of the distal engagement portion (C). The inflection point (354) defines the location of the maximum angle of the inclined surface (352) relative to the pivot jaw axis (PJA), and may be located at approximately 80% to approximately 85% of the total travel distance of the closed loop (333) along the inclined surface (352) measured from the proximal end of the inclined surface (352). This total translational length can be interpreted as the straight-line travel distance parallel to the pivot jaw axis (PJA), or the total travel length along the inclined surface (352). Although the inflection point (354) has been depicted as a single point, it may also be a plane with a constant slope.

[0039] Figure 17C An end effector (313) in a closed configuration is shown, in which the closing ring (333) is positioned distally such that the contact surface (362) rests against the vertical surface (328) of the anvil jaw (318), and wherein the contact surface (362) is nested within a radius defined by the distal engagement portion (C). The vertical surface (328) may serve as and is referred to as a stop.

[0040] like Figures 17A to 17C As shown, the contact surface (362) of the closed loop (333) is arc-shaped, such that when the contact surface (362) translates on the inclined surface (352), different portions of the contact surface (362) will contact the inclined surface (352). Therefore, the contact surface (362) may include a constant radius, an increasing radius, or a decreasing radius. An increasing radius may increase in the direction toward the upper portion of the closed loop (333), while a decreasing radius conversely decreases in the direction toward the lower portion of the closed loop.

[0041] III. Examples of Combinations The following examples illustrate various non-exhaustive ways in which the teachings herein can be combined or applied. It should be understood that the following examples are not intended to limit the scope of any claims that may be provided at any time in this patent application or a subsequent filing thereof. No disclaimer is intended. The following examples are provided merely for illustrative purposes. It is contemplated that the various teachings herein may be arranged and applied in a variety of other ways. It is also contemplated that some variations may omit certain features mentioned in the following examples. Therefore, none of the aspects or features mentioned below should be considered definitive unless otherwise expressly indicated by the inventor or a successor with an interest in the inventor at a later date. If any claim set forth in this patent application or a subsequent filing related to this patent application includes additional features beyond those mentioned below, such additional features should not be presumed to have been added for any reason related to patentability.

[0042] Example 1 A first jaw (318) for use with an end effector (313) of a surgical instrument, the proximal end of the first jaw (318) including a ramp surface (352) comprising: a proximal engagement portion (A); an intermediate engagement portion (B) located distal to the proximal engagement portion, at least a portion of the proximal engagement portion being concavely curved; and a distal engagement portion (C) located distal to the intermediate engagement portion; wherein the ramp surface (352) is configured to be engaged by a translational cam (333) of the surgical instrument, thereby pivoting the first jaw (318) relative to a second jaw (316) of the end effector (313), the first jaw (318) and the second jaw (316) being configured to cooperate to clamp and suture tissue (T) positioned between the first jaw and the second jaw.

[0043] Example 2 According to the first jaws of Embodiment 1, the proximal engagement portion and the intermediate engagement portion are smoothly fused together, and the intermediate engagement portion and the distal engagement portion are smoothly fused together.

[0044] Example 3 According to any one of Embodiments 1 and 2, in the first jaw, the proximal engagement portion defines a first slope, and the intermediate engagement portion defines a second slope, the second slope being greater than the first slope.

[0045] Example 4 According to any one of Embodiments 1 to 3, in the first jaw, the distal engagement portion defines a third slope, the intermediate engagement portion defines a second slope, and the second slope is less than the third slope.

[0046] Example 5 According to any one of Embodiments 1 to 4, at least a portion of the ramp surface is convexly curved to define an inflection point (354) between the intermediate joint portion and the distal joint portion, the inflection point being located distal to the nearest side point of the ramp surface at a distance of at least 80% of the total length of the ramp surface.

[0047] Example 6 A surgical instrument includes: an end effector comprising a first jaw according to any one of embodiments 1 to 5 and a second jaw (316) coupled to the first jaw; and a translational cam (333) capable of translating distally to engage the ramp surface of the first jaw in a cam-action manner, thereby driving the first jaw from an open position toward a closed position.

[0048] Example 7 According to the surgical instrument of Embodiment 6, the translational cam is configured to sequentially contact each of the proximal engagement portion, the intermediate engagement portion, and the distal engagement portion, thereby pivoting the first jaw relative to the second jaw.

[0049] Example 8 The surgical instrument according to any one of Embodiments 6 to 7 further includes a shaft located proximal to the end effector and defining a longitudinal axis, the translatable cam being configured to translate parallel to the longitudinal axis, and the distal portion of the distal engagement portion including a stop (328) configured to engage the translatable cam.

[0050] Example 9 According to the surgical instrument of Embodiment 8, when the translatable cam engages with the stop, the stop is substantially perpendicular to the longitudinal axis.

[0051] Example 10 According to any one of embodiments 6 to 9, the surgical instrument has a translational cam defining a contact surface (362) configured to contact each of the proximal engagement portion, the intermediate engagement portion, and the distal engagement portion, the contact surface being defined by a radius such that the contact surface is nested within the distal engagement portion.

[0052] Example 11 According to any one of embodiments 6 to 10, the surgical instrument has a first length and a second length, the first length and the second length being equal in distance, the first length being located proximal to the second length, the translatable cam being configured to slide along the first length, thereby pivoting the first jaw relative to the second jaw by a first angle, the translatable cam being further configured to slide along the second length, thereby pivoting the first jaw relative to the second jaw by a second angle, the first angle being smaller than the second angle.

[0053] Example 12 According to any one of embodiments 6 to 11, the second jaw includes a channel (350) on its side, and the translational cam includes a protrusion (360) on its side, the protrusion being slidable within the channel.

[0054] Example 13 According to the surgical instrument of Embodiment 12, the second jaw defines a longitudinal axis, and the protrusion and the channel are configured to cooperate to suppress the oscillation of the translational cam relative to the second jaw about an axis perpendicular to the longitudinal axis.

[0055] Example 14 According to any one of Embodiments 12 to 13, in the surgical instrument, the second jaw defines a longitudinal axis, and the protrusion and the channel are configured to cooperate to suppress rotation of the translational cam relative to the second jaw about the longitudinal axis.

[0056] Example 15 According to any one of Embodiments 12 to 14, the surgical instrument has a channel that extends longitudinally beyond the protrusion.

[0057] The following clauses also cover the various non-exhaustive ways in which the teachings of this article can be combined or applied.

[0058] Clause 1 A first jaw for use with an end effector of a surgical instrument, the proximal end of the first jaw including a ramp surface, the ramp surface including: a proximal engagement portion; an intermediate engagement portion located distal to the proximal engagement portion, at least a portion of the proximal engagement portion being concavely curved; and a distal engagement portion located distal to the intermediate engagement portion; wherein the ramp surface is configured to be engaged by a translational cam of the surgical instrument, thereby pivoting the first jaw relative to a second jaw of the end effector, the first jaw and the second jaw being configured to cooperate to clamp and suture tissue positioned between the first jaw and the second jaw.

[0059] Clause 2 According to Clause 1, the first jaws, the proximal engagement portion and the intermediate engagement portion are smoothly fused together, and the intermediate engagement portion and the distal engagement portion are smoothly fused together.

[0060] Clause 3 According to Clause 1, the first jaw has a proximal engagement portion defining a first slope and an intermediate engagement portion defining a second slope, the second slope being greater than the first slope.

[0061] Clause 4 According to Clause 1, the distal engagement portion defines a third slope, and the intermediate engagement portion defines a second slope, the second slope being less than the third slope.

[0062] Clause 5 According to the first jaw as described in Clause 1, at least a portion of the ramp surface is convexly curved to define an inflection point between the intermediate joint portion and the distal joint portion, the inflection point being located distal to the nearest side point of the ramp surface at a distance of at least 80% of the total length of the ramp surface.

[0063] Clause 6 A surgical instrument includes: an end effector including a first jaw as described in Clause 1 and a second jaw coupled to the first jaw; and a translational cam capable of translating distally to engage the ramp surface of the first jaw in a cam-action manner, thereby driving the first jaw from an open position toward a closed position.

[0064] Clause 7 According to the surgical instrument described in Clause 6, the translational cam is configured to sequentially contact each of the proximal engagement portion, the intermediate engagement portion, and the distal engagement portion, thereby pivoting the first jaw relative to the second jaw.

[0065] Clause 8 The surgical instrument according to Clause 7 further includes a shaft located proximal to the end effector and defining a longitudinal axis, the translatable cam being configured to translate parallel to the longitudinal axis, and the distal portion of the distal engagement portion including a stop configured to engage the translatable cam.

[0066] Clause 9 According to Clause 8, when the translational cam engages with the stop, the stop is substantially perpendicular to the longitudinal axis.

[0067] Clause 10 According to the surgical instrument of Clause 6, the translational cam defines a contact surface configured to contact each of the proximal engagement portion, the intermediate engagement portion, and the distal engagement portion, the contact surface being defined by a radius such that the contact surface is configured to nest within the distal end of the distal engagement portion.

[0068] Clause 11 According to Clause 6, the surgical instrument has a first length and a second length, the first length and the second length being equal in distance, the first length being proximal to the second length, the translational cam being configured to slide along the first length to pivot the first jaw relative to the second jaw by a first angle, the translational cam being further configured to slide along the second length to pivot the first jaw relative to the second jaw by a second angle, the first angle being smaller than the second angle.

[0069] Clause 12 According to Clause 6, the second jaw includes a channel on its side, and the translational cam includes a protrusion on its side that is slidable within the channel.

[0070] Clause 13 According to the surgical instrument of Clause 12, the second jaw defines a longitudinal axis, and the protrusion and the channel are configured to cooperate to suppress the oscillation of the translational cam relative to the second jaw about an axis perpendicular to the longitudinal axis.

[0071] Clause 14 According to the surgical instrument of Clause 12, the second jaw defines a longitudinal axis, and the protrusion and the channel are configured to cooperate to inhibit rotation of the translational cam relative to the second jaw about the longitudinal axis.

[0072] Clause 15 According to Clause 12, the surgical instrument has a channel that extends longitudinally beyond the protrusion.

[0073] Clause 16 A surgical instrument includes: an end effector, the end effector including a first jaw as described in Clause 1 and a second jaw coupled to the first jaw, wherein one of the first jaw or the second jaw includes an anvil having a plurality of recesses configured to form a nail ejected by the other of the first jaw or the second jaw.

[0074] Clause 17 An end effector for use with surgical instruments, the end effector comprising: a first jaw including a first jaw body and at least one channel or at least one protrusion disposed on a side of the first jaw body; a second jaw pivotable relative to the first jaw; and a translational cam operatively coupled to the first jaw and the second jaw and including the other of at least one channel or at least one protrusion, the translational cam being translatable relative to the first jaw such that the at least one protrusion is translatable within the at least one channel, the translational cam being configured to engage the second jaw in a cam-like manner as the translational cam is translated distally relative to the first jaw, thereby pivoting the second jaw relative to the first jaw, the at least one channel and the at least one protrusion being configured to cooperate to inhibit rotation of the translational cam relative to the first jaw and the second jaw about a longitudinal axis of the end effector.

[0075] Clause 18 According to the end effector of Clause 17, the first jaw defines the longitudinal axis, the translatable cam is capable of translating parallel to the longitudinal axis, and the at least one protrusion is configured to inhibit rotation of the translatable cam about a first axis perpendicular to the longitudinal axis.

[0076] Clause 19 According to the end effector of Clause 18, the second jaw defines a pivot axis, the second jaw is pivotable about the pivot axis relative to the first jaw, the first axis being parallel to the pivot axis.

[0077] Clause 20 A method of using a surgical instrument including an end effector having a first jaw, a second jaw, and a translational ring, the method comprising: advancing the translational ring along the first jaw and the second jaw by a first distance, thereby pivoting a distal end of the first jaw toward a distal end of the second jaw at a first rate; and advancing the translational ring along the first jaw and the second jaw by a second distance, thereby pivoting the distal end of the first jaw toward the distal end of the second jaw at a second rate; the first distance being proximal to the second distance, and the first rate being slower than the second rate.

[0078] IV. Miscellaneous It should be understood that any or more of the teachings, expressions, embodiments, examples, etc., described herein can be combined with any or more of the other teachings, expressions, embodiments, examples, etc., described herein. Therefore, the aforementioned teachings, expressions, embodiments, examples, etc., should not be considered in isolation from each other. Various suitable ways in which the teachings herein can be combined will be apparent to those skilled in the art. Such modifications and variations are intended to be included within the scope of the claims.

[0079] It should be understood that any patent, patent publication, or other public material allegedly incorporated herein by reference, whether in whole or in part, is incorporated only to the extent that the incorporated material does not conflict with the existing definitions, statements, or other public materials listed in this disclosure. Therefore, and to the extent necessary, the disclosures expressly listed herein replace any conflicting material incorporated herein by reference. Any material, or part thereof, allegedly incorporated herein by reference but conflicting with the existing definitions, statements, or other public materials listed herein, will be incorporated only to the extent that the incorporated material does not conflict with the existing public materials.

[0080] The aforementioned devices can be applied to both traditional medical treatments and surgeries performed by medical professionals and robot-assisted medical treatments and surgeries. By way of example only, the various teachings herein can be readily incorporated into robotic surgical systems, such as those provided by Auris Health, Inc. (Redwood City, CA) or Intuitive Surgical, Inc. (Sunnyvale, California).

[0081] Devices of the types described above may be designed for single-use and disposal, or they may be designed for multiple uses. In either or both cases, these types may be repaired for reuse after at least one use. Repair may include any combination of the following steps: disassembling the device, then cleaning or replacing specific parts, and subsequently reassembling. Specifically, some types of devices may be disassembled, and any combination may be used to selectively replace or remove any number of specific parts or portions of the device. While cleaning and / or replacing specific components, some types of devices may be reassembled at a repair facility or by the user prior to surgery for subsequent use. Those skilled in the art will appreciate that device repair can utilize a variety of techniques for disassembly, cleaning / replacement, and reassembly. The use of such techniques and the resulting repaired devices are within the scope of this application.

[0082] By way of example only, the types described herein can be sterilized before and / or after surgery. In one sterilization technique, the device is placed in a closed and sealed container such as a plastic bag or a TYVEK bag. The container and device can then be placed in a radiation field capable of penetrating the container, such as gamma radiation, X-rays, or high-energy electrons. The radiation kills bacteria on the device and in the container. The sterilized device can then be stored in a sterile container for later use. Any other techniques known in the art can also be used to sterilize the device, including but not limited to beta or gamma radiation, ethylene oxide, or vapor.

[0083] Various embodiments of the invention have been shown and described, and further improvements to the methods and systems described herein can be achieved by suitable modifications made by those skilled in the art without departing from the scope of the invention. Several such possible modifications have been mentioned, and other modifications will be apparent to those skilled in the art. For example, the embodiments, implementations, geometries, materials, dimensions, ratios, steps, etc., discussed above are illustrative and not essential. Therefore, the scope of the invention should be considered in accordance with the following claims and should be understood as not being limited to the details of the structures and operations shown and described in the specification and drawings.

Claims

1. A first jaw (318) for use with an end effector (313) of a surgical instrument, the proximal end of the first jaw (318) including a ramp surface (352), the ramp surface comprising: (a) Proximal juncture (A); (b) An intermediate joint portion (B), said intermediate joint portion being located distal to said proximal joint portion, said proximal joint portion being concavely curved; and (c) The distal joint portion (C) is located distal to the intermediate joint portion; The ramp surface (352) is configured to engage with a translational cam (333) of the surgical instrument, thereby pivoting the first jaw (318) relative to the second jaw (316) of the end effector (313), the first jaw (318) and the second jaw (316) being configured to cooperate to clamp and suture tissue (T) positioned between the first jaw and the second jaw.

2. The first jaw according to claim 1, wherein, The proximal joint portion and the intermediate joint portion are smoothly fused together, and the intermediate joint portion and the distal joint portion are smoothly fused together.

3. The first jaws according to any one of claims 1 and 2, wherein, The proximal joint portion defines a first slope, and the intermediate joint portion defines a second slope, the second slope being greater than the first slope.

4. The first jaws according to any one of claims 1 to 3, wherein, The distal joint portion defines a third slope, and the intermediate joint portion defines a second slope, the second slope being less than the third slope.

5. The first jaws according to any one of claims 1 to 4, wherein, At least a portion of the ramp surface is convexly curved, thereby defining an inflection point (354) between the intermediate joint portion and the distal joint portion, the inflection point being located distal to the nearest side point of the ramp surface at a distance of at least 80% of the total length of the ramp surface.

6. A surgical instrument, comprising: (a) An end effector comprising a first jaw according to any one of claims 1 to 5 and a second jaw (316) coupled to the first jaw; and (b) A translational cam (333) capable of translating distally to engage the ramp surface of the first jaw in a cam-like manner, thereby driving the first jaw from an open position toward a closed position.

7. The surgical instrument according to claim 6, wherein, The translational cam is configured to sequentially contact each of the proximal engagement portion, the intermediate engagement portion, and the distal engagement portion, thereby pivoting the first jaw relative to the second jaw.

8. The surgical instrument according to any one of claims 6 to 7, wherein, The surgical instrument also includes a shaft located proximal to the end effector and defining a longitudinal axis, the translatable cam being configured to translate parallel to the longitudinal axis, and the distal portion of the distal engagement portion including a stop (328) configured to engage the translatable cam.

9. The surgical instrument according to claim 8, wherein, When the translatable cam engages with the stop, the stop is substantially perpendicular to the longitudinal axis.

10. The surgical instrument according to any one of claims 6 to 9, wherein, The translational cam defines a contact surface (362) configured to contact each of the proximal engagement portion, the intermediate engagement portion, and the distal engagement portion, the contact surface being defined by a radius such that the contact surface is nested within the distal engagement portion.

11. The surgical instrument according to any one of claims 6 to 10, wherein, The intermediate engagement portion has a first length and a second length, the first length and the second length being equal in distance, the first length being located near the second length, the translatable cam being configured to slide along the first length, thereby pivoting the first jaw relative to the second jaw by a first angle, the translatable cam being further configured to slide along the second length, thereby pivoting the first jaw relative to the second jaw by a second angle, the first angle being smaller than the second angle.

12. The surgical instrument according to any one of claims 6 to 11, wherein, The second jaw includes a channel (350) on its side, and the translational cam includes a protrusion (360) on its side that is slidable within the channel.

13. The surgical instrument according to claim 12, wherein, The second jaw defines a longitudinal axis, and the protrusion and the channel are configured to cooperate to suppress the oscillation of the translational cam relative to the second jaw about an axis perpendicular to the longitudinal axis.

14. The surgical instrument according to any one of claims 12 to 13, wherein, The second jaw defines a longitudinal axis, and the protrusion and the channel are configured to cooperate to suppress rotation of the translational cam relative to the second jaw about the longitudinal axis.

15. The surgical instrument according to any one of claims 12 to 14, wherein, The channel extends longitudinally beyond the protrusion.

Images