Linkage mechanism for a surgical stapling device

Abstract

The surgical device includes an elongated body defining a longitudinal axis and a tool assembly pivotally attached to the elongated body for articulation about an articulation axis that is transverse to the longitudinal axis. The surgical device includes an articulation mechanism and a drive assembly. The drive assembly is movable about the articulation axis to operate the tool assembly. The articulation mechanism includes proximal and distal drive links and proximal and distal driven links. The links are configured to guide and assist the drive assembly to encourage articulation to greater angles.

Description

Technical Field

[0001] The present disclosure generally relates to surgical devices for use with an endoscope, and more particularly to a surgical device including a connection mechanism for connecting tool assemblies of the surgical device.

Background Art

[0002] Various types of surgical devices used for treating tissue with an endoscope are known in the art and are commonly used, for example, to close tissue or organs in resection, excision, and anastomosis procedures, to occlude organs in thoracic and abdominal procedures, and to electro-surgically fuse or seal tissue.

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

[0004] During laparoscopic or endoscopic surgical procedures, access to the surgical site is achieved through a small incision or through a narrow cannula inserted through a small wound in the patient. Since the area available for accessing the surgical site is limited, many endoscopic devices include a mechanism for connecting the tool assembly of the device about a pivot to better access the tissue. Typically, a mechanism that can make the connection at a greater angle increases the dead space of the tool assembly, i.e., the space between the pivot and the tip of the staple line of the tool assembly. An increase in dead space increases the length of the tool assembly, which is undesirable.

Summary of the Invention

Problems to be Solved by the Invention

[0005] There is a continuing need in the art for an articulation mechanism for a surgical device that minimizes dead space within the tool assembly but allows the articulation of the tool assembly at a greater angle.

Means for Solving the Problem

[0006] The present disclosure is directed to a surgical device including an elongated body defining a longitudinal axis and a tool assembly pivotally attached to the elongated body for articulation about an articulation axis that is transverse to the longitudinal axis. The surgical device includes an articulation mechanism and a drive assembly. The drive assembly is movable about the articulation axis to operate the tool assembly. The articulation mechanism includes proximal and distal drive links and proximal and distal driven links. The links are configured to guide and assist the drive assembly to facilitate articulation at a greater angle.

[0007] Aspects of the present disclosure are directed to a surgical device having an elongated body, a tool assembly, a drive assembly, and a linkage mechanism. The elongated body defines a first longitudinal axis and has a proximal portion and a distal portion. The tool assembly defines a second longitudinal axis and is supported on the distal portion of the elongated body for pivotal movement about a connection axis between a non-connected position and a connected position. The connection axis is transverse to the first and second longitudinal axes. The drive assembly includes a flexible drive beam and a clamp member. The flexible drive beam has a proximal portion and a distal portion. The clamp member is supported on the distal portion of the flexible drive beam and is received within the tool assembly. The drive assembly is movable between a retracted position and a forward position to move the clamp member through the tool assembly. The linkage mechanism includes a proximal drive linkage, a distal drive linkage, a proximal driven linkage, and a distal driven linkage. The proximal drive linkage has a planar inner surface, a proximal portion, and a distal portion. The distal drive linkage has a proximal portion pivotally coupled to the distal portion of the proximal drive linkage and a distal portion pivotally coupled to the tool assembly. The proximal driven linkage has a planar inner surface, a proximal portion, and a distal portion. The distal driven linkage has a proximal portion pivotally coupled to the proximal portion of the proximal driven linkage and a distal portion pivotally coupled to the tool assembly. The proximal drive linkage is movable from an intermediate position to a forward position to connect the tool assembly in a first direction about the connection axis and is movable from the intermediate position to a retracted position to connect the tool assembly in a second direction about the connection axis. The planar inner surfaces of the proximal drive linkage and the proximal driven linkage define a channel, and when the drive assembly is moved between the retracted position and the forward position, the flexible drive beam moves through the channel.

[0008] In aspects of the present disclosure, the proximal drive linkage and the proximal driven linkage are restricted to linear movement within the elongated body.

[0009] In some aspects of the present disclosure, the planar inner surface of the proximal drive linkage is positioned to engage a flexible drive beam adjacent the connection axis when the tool assembly is connected in the first direction.

[0010] In certain aspects of the present disclosure, the inner planar surface of the proximal driven coupling is positioned to engage a flexible drive beam adjacent to the axis of articulation when the tool assembly is articulated in a second direction.

[0011] In aspects of the present disclosure, the distal drive coupling and the distal driven coupling have inner guiding surfaces, and the inner guiding surface of the distal drive coupling is positioned to engage a flexible drive beam adjacent to the axis of articulation when the tool assembly is articulated in a first direction.

[0012] In some aspects of the present disclosure, the inner guiding surface of the distal driven coupling is positioned to engage a flexible drive beam adjacent to the axis of articulation when the tool assembly is articulated in a second direction.

[0013] In certain aspects of the present disclosure, the distal drive coupling and the proximal drive coupling are formed from rigid members.

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

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

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

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

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

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

[0020] In an aspect of the present disclosure, the proximal drive coupling and the proximal driven coupling define a slot, and at least a portion of the distal drive coupling and the distal driven coupling is received within the slot.

[0021] Another aspect of the present disclosure is directed to a reload assembly that includes a proximal body portion, a tool assembly, a drive assembly, and a linkage mechanism. The proximal body portion defines a first longitudinal axis and has a proximal portion and a distal portion. The proximal body portion is configured to releasably engage a surgical device. The tool assembly defines a second longitudinal axis and is supported on the distal portion of the proximal body portion for pivotal movement about a connection axis between a disengaged position and an engaged position. The connection axis is transverse to the first and second longitudinal axes. The drive assembly includes a flexible drive beam and an I-beam. The flexible drive beam has a proximal portion and a distal portion. The I-beam is supported on the distal portion of the flexible drive beam and is received within the tool assembly. The drive assembly is movable between a retracted position and a forward position to move the I-beam through the tool assembly. The linkage mechanism includes a proximal drive coupling, a distal drive coupling, a proximal driven coupling, and a distal driven coupling. The proximal drive coupling has a planar inner surface, a proximal portion, and a distal portion. The distal drive coupling has a proximal portion pivotally coupled to the distal portion of the proximal drive coupling and a distal portion pivotally coupled to the tool assembly. The proximal driven coupling has a planar inner surface, a proximal portion, and a distal portion. The distal driven coupling has a proximal portion pivotally coupled to the proximal portion of the proximal driven coupling and a distal portion pivotally coupled to the tool assembly. The proximal drive coupling is movable from an intermediate position to a forward position to connect the tool assembly in a first direction about the connection axis and is movable from the intermediate position to a retracted position to connect the tool assembly in a second direction about the connection axis. The planar inner surfaces of the proximal drive coupling and the proximal driven coupling define a channel, and when the drive assembly is moved between the retracted position and the forward position, the flexible drive beam moves through the channel.

[0022] In other aspects of the present disclosure, a surgical device is contemplated that includes an elongate body, a tool assembly, a drive assembly, and a linkage mechanism. The elongate body defines a first longitudinal axis and has a proximal portion and a distal portion. The tool assembly defines a second longitudinal axis and is supported on the distal portion of the elongate body for pivotal movement about a connection axis between a non-connected position and a connected position. The connection axis is transverse to the first and second longitudinal axes. The drive assembly includes a flexible drive beam and a clamp member. The flexible drive beam has a proximal portion and a distal portion. The clamp member is supported on the distal portion of the flexible drive beam and is received within the tool assembly. The drive assembly is movable between a retracted position and a forward position to move the clamp member through the tool assembly. The linkage mechanism includes a driving connection portion and a driven connection portion. The driving connection portion has a distal portion, a proximal portion, and a planar inner surface extending between the proximal portion and the distal portion. The distal portion is pivotally coupled to the tool assembly. The driven connection portion has a proximal portion, a distal portion, and a planar inner surface extending between the proximal portion and the distal portion of the driven connection portion. The planar inner surfaces of the driving connection portion and the driven connection portion define a linear channel, and as the drive assembly is moved between the retracted position and the forward position, the flexible drive beam moves through the channel. The driving connection portion is movable from an intermediate position to a forward position to connect the tool assembly in a first direction about the connection axis and is movable from the intermediate position to a retracted position to connect the tool assembly in a second direction about the connection axis.

[0023] Other features of the present disclosure will be appreciated from the following description.

[0024] Various aspects of the present disclosure are described herein below with reference to the drawings.

Brief Description of the Drawings

[0025]

Figure 1

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DETAILED DESCRIPTION OF THE INVENTION

[0026] Next, the disclosed surgical stapling device will be described in detail with reference to the drawings in which the same reference numerals refer to the same or corresponding elements in each of several figures. However, it should be understood that the aspects of the present disclosure are merely examples of the present disclosure and may be embodied in various forms. Well - known functions or structures are not described in detail so as not to obscure the present disclosure with unnecessary detail. Accordingly, the specific structures and functional details disclosed herein are to be construed as illustrative of representative principles for the claims and not as limitations, teaching those skilled in the art to make various uses of the present disclosure in any appropriate detailed structure.

[0027] In this description, the term "proximal" generally refers to the part of the device that is closer to the clinician during use of the device in its customary manner, while the term "distal" generally refers to the part of the device that is farther from the clinician during use of the device in its customary manner. Additionally, the term "endoscope" is generally used to refer to an endoscope, laparoscope, arthroscope, and / or any other procedure performed through a small diameter incision or cannula, and the term "clinician" is generally used to refer to medical personnel including physicians, nurses, and support staff. Further, directional terms such as "front", "rear", "upper", "lower", "top", "bottom", and similar terms are used to assist in understanding the description and are not intended to limit the present disclosure.

[0028] The disclosed surgical device includes an elongate body defining a longitudinal axis and a tool assembly pivotally attached to the elongate body for connection about an articulation axis that is transverse to the longitudinal axis. The surgical device includes an articulation mechanism and a drive assembly movable about the articulation axis for actuating the tool assembly. The articulation mechanism includes proximal and distal drive links and proximal and distal driven links. The links are configured to assist in guiding the drive assembly to facilitate making the connection at a greater angle.

[0029] Figures 1 - 3 illustrate a surgical device according to an aspect of the present disclosure generally shown as surgical device 10. Surgical device 10 includes a handle assembly 12, an elongate body 14, and a tool assembly 16. The elongate body 14 defines a longitudinal axis "X" (Figure 1), and the tool assembly 16 defines a longitudinal axis "Y" (Figure 2). The tool assembly 16 is pivotally connected to the elongate body 14 and can pivot between a non-articulated position (Figure 1) where the longitudinal axes "X" and "Y" of the elongate body 14 and the tool assembly 16 are coaxial, and an articulated position (Figures 2 and 3) where the longitudinal axes "X" and "Y" of the elongate body 14 and the tool assembly 16 are not aligned with each other to define an acute angle "β".

[0030] The handle assembly 12 includes a body 12a that forms a fixed handle 18 and an actuating button 20 that is operable to initiate the operation of the surgical device 10, i.e., to approach the tool assembly 16, couple to the tool assembly 16, and fire staples from the tool assembly 16. In an aspect of the present disclosure, the handle assembly 12 is coupled to the proximal portion 14a of the elongate body 14 and supports a rotatable knob 22 that is rotatable about a longitudinal axis "X" to rotate the elongate body 14 and the tool assembly 16 relative to the handle assembly 12. While the surgical device 10 may be configured to fire staples, it is contemplated that the surgical device 10 may be adapted to fire any other suitable fasteners such as clips and two-piece fasteners. The surgical device 10 is illustrated as a surgical stapling device 10, but the specific components described herein may be adapted for use in other types of articulated endoscopic surgical instruments including endoscopic forceps, graspers, dissectors, other types of surgical stapling instruments, powered vessel sealing devices and / or cutting devices.

[0031] In an aspect of the present disclosure, the tool assembly 16 is releasably coupled to the elongate body 14 and forms part of a reload assembly 40 that is exchangeable to facilitate reuse of the stapling device 10. The reload assembly 40 includes a proximal body portion 42, the tool assembly 16, and a mounting assembly 44 that pivotally couples the tool assembly 16 to the distal portion of the proximal body portion 42. The proximal body portion 42 is coaxial with the longitudinal axis "X" of the elongate body 14 and has a proximal portion 42a that is releasably coupled to the distal portion 14b of the elongate body 14. The tool assembly 16 can be pivotally secured to the elongate body 14 via the mounting assembly 44 and need not form part of, i.e., form, the elongate body 14. It is also contemplated that the mounting assembly 44 can be integrally formed with the tool assembly 16.

[0032] Figures 4 and 5 illustrate a reload assembly 40 that includes a tool assembly 16, a proximal body portion 42, and a mounting assembly 44. The tool assembly 16 includes an anvil assembly 50 and a cartridge assembly 52. The anvil assembly 50 is coupled to the cartridge assembly 52 by a pivot member 54 (FIG. 3) that facilitates movement of the cartridge assembly 52 relative to the anvil assembly 50 between an open position (FIG. 1) and a clamped position. The cartridge assembly 52 includes a channel member 56 and a staple cartridge 58. The channel member 56 defines a cavity for receiving the staple cartridge 58. In aspects of the present disclosure, the staple cartridge 58 is removably received within the channel member 56 and can be replaced to facilitate reuse of the stapling device 10 (FIGS. 1 and 2). Alternatively, the staple cartridge 58 can be held securely within the channel member 56, and it is contemplated that the entire reload assembly 40 can be replaced to facilitate reuse of the stapling device 10. The cartridge assembly 52 is shown as pivoting toward the anvil 50, but it is contemplated that the cartridge assembly 52 can be fixed and the anvil 50 can pivot toward the cartridge assembly 52.

[0033] The mounting assembly 44 includes a first mounting member 60 and a second mounting member 62, and the first mounting member 60 and the second mounting member 62 are fixed together with a post 64 to define an enclosed channel 66 between the first mounting member 60 and the second mounting member 62 respectively. In an aspect of the present disclosure, the post 64 is formed on the first mounting member 60 and received within an opening 62a formed within the second mounting member 62. The second mounting member 62 defines a hole 68 for receiving the pivot member 54 to fix the mounting assembly 44 to the proximal end of the tool assembly 16. More specifically, the channel member 56 of the cartridge assembly 52 includes a proximal portion that defines a hole 70 for receiving the pivot member 54. The pivot member 54 extends through the hole 70 in the proximal portion of the channel member 56 and into the hole 68 of the second mounting member 62 to pivotally fix the cartridge assembly 52 to the mounting assembly 44. The pivot member 54 also extends through an opening (not shown) in the proximal portion of the anvil assembly 50 to fix the anvil assembly 50 to the mounting assembly 44. The proximal portion of the anvil assembly 50 includes a bracket 72 that extends proximally, and the bracket 72 defines an opening 72a, and the function of the opening 72a will be described in more detail below.

[0034] The proximal body portion 42 of the reload assembly 40 includes a housing (80a, 80b), a drive assembly 82, a connection mechanism 84 (FIG. 7), and a cylindrical casing 85. The housing is formed from half body portions 80a and 80b, and the half body portions 80a and 80b are received within the casing 85 and fixed together to define an internal channel that facilitates the longitudinal movement of the drive assembly 82 and the connection mechanism 84 within the housing 80. Each of the housing half body portions 80a and 80b includes a distal portion that defines a stepped notch 86 (only one is shown). The first half body portion 80a includes a proximal portion 88 configured to be releasably coupled to the distal portion of the elongated body 14 (FIG. 2). For a more detailed description of a reload assembly having a proximal body portion that includes a housing configured to releasably engage the body portion of an exemplary surgical stapling device, see U.S. Patent No. 8,132,706 (hereinafter "Patent No. 706").

[0035] Each of the mounting members 60 and 62 includes a pivotal member 90 (only one is shown). The pivotal members 90 are coaxial and define a connecting axis "Z" (FIG. 1) about which the tool assembly 16 is connected. The mounting assembly 44 also includes first and second pivotal plates 92a and 92b. Each of the pivotal plates 92a and 92b includes a body having a stepped configuration corresponding to the configuration of the stepped notch 86 formed in the housing half portions 80a and 80b. Each of the pivotal plates 92a and 92b also includes a distal portion defining a hole 94 for receiving one of the pivotal members 90 of the mounting members 60 and 62. The pivotal plates 92a and 92b are received within the respective stepped notches 86 of the housing half portions 80a and 80b, and the pivotal members 90 of the first and second mounting members 60 and 62 are received within the respective holes 94 of the pivotal plates 92a and 92b so as to be pivotable about the connecting axis "Z" to fix the mounting assembly 44 and the tool assembly 16 to the proximal body portion 42 of the reload assembly 40. The pivotal member 90 on the mounting member 60 is also received within the opening 72a of the bracket 72 of the anvil assembly 50 to pivotably fix the tool assembly 16 to the proximal body portion 42 of the reload assembly 40.

[0036] The connection mechanism 84 (FIG. 7) of the reload assembly 40 includes a proximal drive connection portion 96, a distal drive connection portion 98, a proximal driven connection portion 100, and a distal driven connection portion 102. The proximal drive connection portion 96 is elongated and includes a proximal portion 104 configured to engage a connection drive member (not shown) within the elongated body 14 of the staple device 10 (FIG. 1). In an aspect of the present disclosure, the proximal portion 104 of the proximal drive connection portion 96 includes a hook portion 106 configured to engage a connection drive member (not shown) within the elongated body 14 of the staple device 10. Alternatively, other engagement configurations or devices are contemplated. The proximal drive connection portion 96 also includes a distal guiding portion 108 with an increased width including a planar inner surface 108a, which is positioned adjacent to the drive assembly 82 to limit the movement of the drive assembly as described below. In an aspect of the present disclosure, the distal guiding portion 108 of the proximal drive connection portion 96 is rigidly fixed to the proximal portion of the proximal drive connection portion 96, such as by welding. The proximal drive connection portion 96 including the proximal portion 104 and the distal guiding portion 108 can be integrally formed as a monolithic structure. In an aspect of the present disclosure, the proximal and distal drive connection portions 96 and 98 including the distal guiding portion 108 are formed from a rigid member that resists deformation outside of the drive assembly 82.

[0037] The distal drive coupling 98 is shorter than the proximal drive coupling 96 and includes a distal portion having an internal guide surface 98a that is positioned to guide the movement of the drive assembly 82 as the drive assembly 82 bends about the articulation axis "Z", as described in further detail below. The internal guide surface may be curved. The distal drive coupling 98 has a proximal portion that is coupled by a pivot member 110 to the distal guide portion 108 of the proximal drive coupling 96. In an aspect of the present disclosure, the distal guide portion 108 defines a slot 112 that receives the proximal portion of the distal drive coupling 98, and the pivot member 110 extends through the slot 112 and into an opening 114 within the distal drive coupling 98 to pivotally couple the proximal drive coupling 96 to the distal drive coupling 98. The distal portion of the distal drive coupling 98 is coupled to one side of the first and second mounting members 60 and 62 at a position spaced outwardly from the pivot axis "Z". In an aspect of the present disclosure, the distal portion of the distal drive coupling 98 defines an opening 99 that receives one of the posts 64 of the first mounting member 60 such that the distal portion of the distal drive coupling 98 is positioned between the first mounting member 60 and the second mounting member 62 and is pivotable about the post 64.

[0038] The proximal driven coupling portion 100 has a configuration such as that of the distal guiding portion 100 of the proximal driving coupling portion 96 and includes a planar inner surface 100a positioned adjacent to the drive assembly 82 for restricting the movement of the drive assembly 82 as described below. The proximal driven coupling portion 100 has a distal portion that is coupled to the proximal portion of the distal driven coupling portion 102 by a pivotal member 118. In an aspect of the present disclosure, the proximal driven coupling portion 100 defines a slot 116 for receiving the proximal portion of the distal driven coupling portion 102, and the pivotal member 118 extends through the slot 116 and into an opening 120 within the distal driven coupling portion 102 to pivotally couple the proximal driven coupling portion 100 to the distal driven coupling portion 102. The distal portion of the distal driven coupling portion 102 is coupled to the other side surface of the first and second mounting members 60 and 62 at a position spaced outwardly from the pivot axis "Z". In an aspect of the present disclosure, the distal portion of the distal driven coupling portion 102 defines an opening 120 for receiving the other post 64 of the first mounting member 60 such that the distal portion of the distal driven coupling portion 102 is positioned between the first mounting member 60 and the second mounting member 62 and is pivotable about the post 64. The distal driven coupling portion 102 includes a distal portion having an inner guiding surface 102a positioned to guide the movement of the drive assembly 82 as the drive assembly 82 bends about the connecting axis "Z" as described in further detail below. The inner guiding surface 102a may be curved. In an aspect of the present disclosure, the proximal and distal driven coupling portions 100, 102 are formed from rigid members that withstand deformation outside of the drive assembly 82.

[0039] The proximal drive link 96 and the proximal driven link 100 are received within a channel defined between the first half 80a and the second half 80b of the housing, and the links 96 and 100 are enclosed by a casing 85 so as to be restricted to linear movement between the first half 80a and the second half 80b of the housing proximal body portion 42. The proximal drive link 96 is linearly driven by a connecting drive member (not shown) of the elongated body 14 (FIG. 1) to advance (retreat) the distal drive link 98 and pivot the distal drive link 98 within the slot 112 in the distal guide portion 108. When the distal drive link 98 advances, the tool assembly 16 is pivoted about the connecting axis "Z". When the tool assembly 16 pivots, the distal driven link 102 vertically pivots and moves within the slot 116 of the proximal driven link 100, and the proximal driven link 100 moves within a channel defined between the first half 80a and the second half 80b of the housing of the proximal body portion 42.

[0040] FIG. 4 illustrates a drive assembly 82 of the surgical device 10 that includes a flexible drive beam 140 and a clamp member 142. The flexible drive beam 140 has a proximal portion and a distal portion. The proximal portion of the drive beam 140 is coupled to a control rod (not shown) within the elongated body 14 (FIG. 1) of the stapler device 10, so the drive assembly 82 is movable in response to movement of the control rod between a retracted position and a forward position. In aspects of the present disclosure, the flexible drive beam 140 is formed from a laminated sheet or laminate and bends about the connecting axis "Z" (FIG. 2) when the tool assembly 16 is in the connected position and the surgical device 10 is fired.

[0041] The clamp member 142 of the drive assembly 82 is fixed to the distal portion of the drive beam 140, and the drive assembly 82 is movable between a retracted position and a forward position within the tool assembly 16 when the drive assembly 82 moves between its retracted position and its forward position in order to operate the tool assembly 16. In an aspect of the present disclosure, the clamp member 142 of the drive assembly 82 has an I-beam configuration and supports the blade 142a of the knife. In the retracted position, the clamp member is positioned proximal to the tool assembly 16, and the flexible drive beam 140 extends through a channel 66 within the mounting assembly 44. For a detailed description of the structure and operation of the drive assembly 82, see Patent No. 706.

[0042] The reload assembly 40 includes flexible fixing members 150, 152 positioned on each side surface of the flexible drive beam 140. Each of the flexible fixing members 150 and 152 extends through a channel 66 defined by the mounting assembly 44 from the proximal body portion 42. Each of the flexible fixing members 150, 152 has a distal end coupled to the mounting assembly 44 and a proximal end received within the housing 44 of the reload assembly 40 for sliding movement. In an aspect of the present disclosure, the distal ends of the fixing members 150 and 152 have inverted ends that are received within a notch 154 (FIG. 7) formed within the mounting assembly 44.

[0043] FIGS. 6 and 7 illustrate the reload assembly 40 with the tool assembly 16 in a disconnected position. In the disconnected position, the proximal drive coupling 96 is in an intermediate position, and the distal drive coupling 98 and the distal driven coupling 102 are positioned in an intermediate position such that the tool assembly 16 is maintained in the disconnected position. In this position, the planar inner surfaces 108a and 100a of the proximal drive coupling 96 and the proximal driven coupling 100 are aligned with each other to define a guide channel 170 (FIG. 7) between the couplings 96 and 100. The flexible drive beam 140 of the drive assembly 82 extends through the channel 170, through the channel 66 within the mounting assembly 44, and towards the tool assembly 16.

[0044] FIG. 8 illustrates the tool assembly 16 pivoted by an angle “β” in a first direction indicated by arrow “A”. When the proximal drive link 96 is retracted in the direction of arrow “B”, the distal drive link 98 is pulled proximally to pivot the tool assembly 16 in the direction of arrow “A”. As the tool assembly 16 pivots in the direction of arrow “A”, the distal driven link 102 is pulled distally and pivots inwardly towards the connection axis “Z” to support the flexible drive beam 140 as it bends about the connection axis “Z”. As illustrated, the proximal driven link 100 moves distally in the direction of arrow “C” such that the planar inner surface 100a moves distally to further support the flexible drive beam 140 at a position adjacent to the pivot axis “Z”. This provides additional support to the flexible drive beam 140 as it can minimize the tendency to distort and facilitate a larger connection angle.

[0045] FIG. 9 illustrates the tool assembly 16 pivoted by an angle “β” in a second direction indicated by arrow “D”. When the proximal drive link 96 is advanced in the direction of arrow “E”, the distal drive link 98 is pushed distally to pivot the tool assembly 16 in the direction of arrow “D”, and the planar inner surface 108a of the proximal drive link 96 moves distally to support the flexible drive beam 140 adjacent to the connection axis “Z”. When the tool assembly 16 pivots in the direction of arrow “D”, the distal driven link 102 is pushed proximally and pivots inwardly towards the flexible drive beam 140. As illustrated, the proximal driven link 100 moves proximally in the direction of arrow “F” such that the planar inner surface 100a moves proximally to further support the flexible drive beam 140 at a proximal position relative to the planar inner surface 108a of the proximal drive link 96. This provides additional support to the flexible drive beam 140 as it can minimize the tendency to distort and facilitate a larger connection angle.

[0046] When the tool assembly 16 is in the articulated position and the drive assembly 82 is advanced to fire the surgical device 10 (FIG. 1), the proximal and distal drive couplings 96 and 98, and the proximal and distal driven couplings 100 and 102 move along the outer surface of the flexible drive beam 140 of the drive assembly 82 to secure the flexible drive beam 140 about the articulation axis "Z". In the articulation mechanism 84 described above, the tool assembly 16 can articulate at an angle "β" of 70 degrees or more in each direction.

[0047] It will be understood by those skilled in the art that the apparatus and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary aspects of the present disclosure. Elements and features illustrated or described in connection with one exemplary embodiment may be combined with other elements and features without departing from the scope of the present disclosure. Moreover, further features and advantages of the present disclosure will be recognized by those skilled in the art based on the foregoing aspects of the present disclosure. Accordingly, the present disclosure is not limited by what has been specifically shown and described except as indicated by the appended claims.

Claims

1. An elongated body defining a first longitudinal axis and having a proximal portion and a distal portion, A tool assembly defining a second longitudinal axis, the tool assembly being supported on the distal portion of the elongated body for pivotal movement about a connection axis between a non-connected position and a connected position, the connection axis being transverse to the first and second longitudinal axes, a tool assembly; A drive assembly including a flexible drive beam and a clamp member, the flexible drive beam having a proximal portion and a distal portion, the clamp member being supported on the distal portion of the flexible drive beam and received within the tool assembly, the drive assembly being movable between a retracted position and a forward position to move the clamp member through the tool assembly, a drive assembly; A connection mechanism including a proximal drive connection, a distal drive connection, a proximal driven connection, and a distal driven connection, the proximal drive connection having a planar inner surface, a proximal portion, and a distal portion, the distal drive connection having a proximal portion pivotally coupled to the distal portion of the proximal drive connection and a distal portion pivotally coupled to the tool assembly, the proximal driven connection having a planar inner surface, a proximal portion, and a distal portion, the distal driven connection having a proximal portion pivotally coupled to the proximal portion of the proximal driven connection and a distal portion pivotally coupled to the tool assembly, the proximal drive connection being movable from an intermediate position to a forward position to connect the tool assembly in a first direction about the connection axis and movable from the intermediate position to a retracted position to connect the tool assembly in a second direction about the connection axis, the planar inner surfaces of the proximal drive connection and the proximal driven connection defining a channel, and when the drive assembly is moved between the retracted position and the forward position, the flexible drive beam moves through the channel, a connection mechanism, a surgical device.

2. The surgical device according to claim 1, wherein the proximal drive connection and the proximal driven connection are restricted to linear movement within the elongated body.

3. The surgical device according to claim 2, wherein the planar inner surface of the proximal drive connection is positioned to engage the flexible drive beam adjacent to the connection axis when the tool assembly is connected in the first direction.

4. The inner surface of the proximal driven coupling portion within the plane is positioned to engage the flexible drive beam adjacent to the connection axis when the tool assembly is articulated in the second direction, the surgical device according to claim 3.

5. The distal drive coupling portion and the distal driven coupling portion have inner guiding surfaces, and the inner guiding surface of the distal drive coupling portion is positioned to engage the flexible drive beam adjacent to the connection axis when the tool assembly is articulated in the first direction, the surgical device according to claim 4.

6. The inner guiding surface of the distal driven coupling portion is positioned to engage the flexible drive beam adjacent to the connection axis when the tool assembly is articulated in the second direction, the surgical device according to claim 5.

7. The distal drive coupling portion and the proximal drive coupling portion are formed from rigid members, the surgical device according to claim 1.

8. The surgical device according to claim 1, further comprising flexible fixing members positioned on each side surface of the flexible drive beam.

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

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

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

12. The distal portions of the distal drive coupling portion and the distal driven coupling portion are pivotally coupled to the mounting assembly, the surgical device according to claim 11.

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

14. The proximal drive coupling portion and the proximal driven coupling portion define slots, and the distal drive coupling portion and the distal driven coupling portion have at least a portion received within the slots, the surgical device according to claim 1.

15. A proximal body portion having a first longitudinal axis and having a proximal portion and a distal portion, the proximal body portion being configured to releasably engage a surgical device, a proximal body portion, A tool assembly that defines a second longitudinal axis, the tool assembly being supported on the distal portion of the proximal body portion for pivotal movement about a connection axis between a non-connected position and a connected position, the connection axis being transverse to the first and second longitudinal axes, a tool assembly; A drive assembly including a flexible drive beam and an I-beam, the flexible drive beam having a proximal portion and a distal portion, the I-beam being supported on the distal portion of the flexible drive beam and received within the tool assembly, the drive assembly being movable between a retracted position and a forward position for moving the I-beam through the tool assembly, a drive assembly; A connection mechanism including a proximal drive connection portion, a distal drive connection portion, a proximal driven connection portion, and a distal driven connection portion, the proximal drive connection portion having a planar inner surface, a proximal portion, and a distal portion, the distal drive connection portion having a proximal portion pivotally coupled to the distal portion of the proximal drive connection portion and a distal portion pivotally coupled to the tool assembly, the proximal driven connection portion having a planar inner surface, a proximal portion, and a distal portion, the distal driven connection portion having a proximal portion pivotally coupled to the proximal portion of the proximal driven connection portion and a distal portion pivotally coupled to the tool assembly, the proximal drive connection portion being movable from an intermediate position to a forward position for connecting the tool assembly in a first direction about the connection axis and movable from the intermediate position to a retracted position for connecting the tool assembly in a second direction about the connection axis, the planar inner surfaces of the proximal drive connection portion and the proximal driven connection portion defining a channel, and the flexible drive beam moving through the channel when the drive assembly is moved between the retracted position and the forward position, a connection mechanism, a reload assembly.

16. The reload assembly according to claim 15, wherein the planar inner surface of the proximal drive connection portion is positioned to engage the flexible drive beam adjacent to the connection axis when the tool assembly is connected in the first direction.

17. The reload assembly according to claim 16, wherein the planar inner surface of the proximal driven connection portion is positioned to engage the flexible drive beam adjacent to the connection axis when the tool assembly is connected in the second direction.

18. The distal drive coupling and the distal driven coupling have internal guide surfaces, and the internal guide surface of the distal drive coupling is positioned to engage the flexible drive beam adjacent the connection axis when the tool assembly is coupled in the first direction. The reload assembly according to claim 17.

19. The internal guide surface of the distal driven coupling is positioned to engage the flexible drive beam adjacent the connection axis when the tool assembly is coupled in the second direction. The reload assembly according to claim 18.

20. An elongated body defining a first longitudinal axis and having a proximal portion and a distal portion, A tool assembly defining a second longitudinal axis, the tool assembly being supported on the distal portion of the elongated body for pivotal movement about a connection axis between a non-coupled position and a coupled position, the connection axis being transverse to the first and second longitudinal axes. A tool assembly, A drive assembly including a flexible drive beam and a clamp member, the flexible drive beam having a proximal portion and a distal portion, the clamp member being supported on the distal portion of the flexible drive beam and received within the tool assembly, the drive assembly being movable between a retracted position and a forward position to move the clamp member through the tool assembly. A drive assembly, A connection mechanism including a drive coupling and a driven coupling, the drive coupling having a distal portion, a proximal portion, and a planar internal surface extending between the proximal portion and the distal portion, the distal portion being pivotally coupled to the tool assembly, the driven coupling having a proximal portion, a distal portion, and extending between the proximal portion and the distal portion of the driven coupling, the planar internal surfaces of the drive coupling and the driven coupling defining a linear channel, and when the drive assembly is moved between the retracted position and the forward position, the flexible drive beam moves through the channel, and the drive coupling is movable from an intermediate position to a forward position to couple the tool assembly in a first direction about the connection axis, and movable from the intermediate position to a retracted position to couple the tool assembly in a second direction about the connection axis. A surgical device including a connection mechanism.

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