Articulation mechanism for a surgical stapling device - Patents.com

Abstract

To provide an articulation mechanism for a surgical stapling device.SOLUTION: A surgical device 10 includes an adapter assembly 14 and a tool assembly 16 that is coupled to the adapter assembly by a pivot member to facilitate articulation of the tool assembly in relation to the adapter assembly. The adapter assembly supports a drive assembly for actuating or firing the tool assembly. The adapter assembly includes an articulation mechanism that adjusts the position of the tool assembly in relation to the drive assembly to compensate for changes in stroke length of the drive assembly that result from articulation of the tool assembly.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present technology relates generally to surgical devices for use with an endoscope, and more particularly to surgical devices that include an articulation mechanism for articulating an instrument assembly. [Background technology]

[0002] Various types of surgical devices used to treat tissue endoscopically are well known in the art and are commonly used, for example, for cutting, resection, and closure of tissue or organs in anastomosis procedures, occlusion of organs in thoracic and abdominal procedures, and electrosurgical tissue fusion or sealing.

[0003] One example of such a surgical device is a surgical stapling device. Typically, a surgical stapling device includes an instrument assembly having an anvil assembly and a cartridge assembly, and a drive assembly. Typically, the drive assembly includes a flexible drive beam and a clamp member supported at a distal end of the drive beam. The drive assembly is movable to advance the clamp member through the instrument assembly to approximate the cartridge assembly and the anvil assembly, and to advance an actuation sled 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 in the patient or through a thin cannula inserted through a small wound. Because of the limited area available for accessing the surgical site, many endoscopic devices include a mechanism for articulating the instrument assembly of the device relative to a body portion of the device to improve access to the tissue being treated. When the instrument assembly is in an articulated position pivoted about the pivot axis, the drive beam bends relative to the pivot axis as the drive assembly advances to advance the clamping member through the instrument assembly. This bending of the drive beam relative to the pivot axis changes the stroke length of the drive beam required to fully actuate the instrument assembly. To compensate for this change in stroke length, the dead space of the instrument assembly must be increased.

[0005] There is a continuing need in the art for articulation mechanisms for surgical devices that minimize the need for dead space within the instrument assembly. Summary of the Invention [Means for solving the problem]

[0006] Some aspects of the present disclosure are directed to a surgical device including an adapter assembly and an instrument assembly coupled to the adapter assembly by a pivot member to facilitate articulation of the instrument assembly relative to the adapter assembly. The adapter assembly supports a drive assembly for actuating or firing the instrument assembly. The adapter assembly includes an articulation mechanism that adjusts the position of the instrument assembly relative to the drive assembly to compensate for changes in stroke length of the drive assembly due to articulation of the instrument assembly.

[0007] One aspect of the disclosure is directed to a surgical stapling device including an instrument assembly and an adapter assembly. The instrument assembly defines a first longitudinal axis and has an anvil and a cartridge assembly. The anvil is coupled to the cartridge assembly to facilitate movement of the instrument assembly between an open position and a clamped position. The adapter assembly defines a second longitudinal axis and includes an outer tube, a drive assembly, and an articulation mechanism. The outer tube has a proximal portion and a distal portion. The distal portion of the outer tube supports the instrument assembly such that the instrument assembly is movable from a non-articulated position in which the first longitudinal axis of the instrument assembly is aligned with the second longitudinal axis of the adapter assembly, and an articulated position in which the first longitudinal axis of the instrument assembly is not aligned with the second longitudinal axis of the adapter assembly. The drive assembly has a flexible beam and a clamping member. The flexible beam has a proximal portion and a distal portion. The clamping member is supported on the distal portion of the flexible beam. The drive assembly is movable between a retracted position and an advanced position to move the clamping member through the instrument assembly, move the instrument assembly from an open position to a clamping position, and eject staples from the cartridge assembly. The articulation mechanism includes an adapter cam and a first articulation link and a second articulation link. The adapter cam defines a first cam channel, a second cam channel, and a third cam channel. The first articulation link has a distal portion coupled to the instrument assembly and a proximal portion supporting a first cam member received in the first cam channel of the adapter cam. The second articulation link has a distal portion coupled to the instrument assembly and a proximal portion supporting a second cam member received in the second cam channel of the adapter cam. A proximal portion of the outer tube supports a third cam received in a third cam channel of the adapter cam, and movement of the adapter cam causes movement of the first articulation link and the second articulation link to move the instrument assembly between a non-articulated position and an articulated position, and causes movement of the outer tube relative to the drive assembly to change the position of the instrument assembly relative to the drive assembly.

[0008] Another aspect of the present disclosure is directed to a surgical device including an instrument assembly and an adapter assembly. The instrument assembly defines a first longitudinal axis and has a first jaw and a second jaw. The first jaw is coupled to the second jaw to facilitate movement of the instrument assembly between an open position and a clamped position. The adapter assembly defines a second longitudinal axis and includes an outer tube, a drive assembly, and an articulation mechanism. The outer tube has a proximal portion and a distal portion. The distal portion of the outer tube supports the instrument assembly such that the instrument assembly is movable from a non-articulated position in which the first longitudinal axis of the instrument assembly is aligned with the second longitudinal axis of the adapter assembly, and an articulated position in which the first longitudinal axis of the instrument assembly is not aligned with the second longitudinal axis of the adapter assembly. The drive assembly has a flexible beam and a clamping member. The flexible beam has a proximal portion and a distal portion. The clamping member is supported on a distal portion of the flexible beam. The drive assembly is movable between a retracted position and an advanced position to move the clamping member through the instrument assembly and move the instrument assembly from an open position to a clamped position. The articulation mechanism includes an adapter cam and an articulation link. The adapter cam defines a first cam channel and a second cam channel. The articulation link has a distal portion coupled to the instrument assembly and a proximal portion supporting a first cam member received in the first cam channel of the adapter cam. The proximal portion of the outer tube supports a second cam member received in the second cam channel of the adapter cam. Movement of the adapter cam causes movement of the articulation link to move the instrument assembly between a non-articulated position and an articulated position, and causes movement of the outer tube relative to the drive assembly to change the position of the instrument assembly relative to the drive assembly.

[0009] Yet another aspect of the present disclosure is directed to a surgical stapling device including a handle assembly, an instrument assembly, and an adapter assembly. The instrument assembly defines a first longitudinal axis and has a first jaw and a second jaw. The first jaw is coupled to the second jaw to facilitate movement of the instrument assembly between an open position and a clamped position. The adapter assembly is supported on the handle assembly and defines a second longitudinal axis. The adapter assembly includes an outer tube and an articulation mechanism. The outer tube has a distal portion that supports the instrument assembly. The articulation mechanism includes an adapter cam and an articulation link. The adapter cam defines a first cam channel and a second cam channel. The articulation link has a distal portion coupled to the instrument assembly and a proximal portion that supports a first cam member that is received in the first cam channel of the adapter cam. The proximal portion of the outer tube supports a second cam that is received in the second cam channel of the adapter cam. Movement of the adapter cam causes movement of the articulation link to move the instrument assembly between a non-articulated position and an articulated position, and causes longitudinal movement of the outer tube relative to the adapter cam to change the position of the instrument assembly relative to the handle assembly.

[0010] In an aspect of the present disclosure, the adapter cam is cylindrical and defines a longitudinal bore therethrough.

[0011] In some aspects of the present disclosure, a proximal portion of the outer tube is received within a longitudinal throughbore of the adapter cam.

[0012] In certain embodiments of the present disclosure, the first cam channel and the second cam channel are configured to drive the first articulation link and the second articulation link in opposite directions to one another.

[0013] In an embodiment of the present disclosure, the adapter assembly includes an inner support tube that supports the first articulation link and the second articulation link within the outer tube.

[0014] In some embodiments of the present disclosure, the first articulation link and the second articulation link include a curved inner surface that engages an outer surface of the inner support tube.

[0015] In certain aspects of the present disclosure, the adapter assembly includes a pivot assembly for pivotally coupling the instrument assembly to the outer tube of the adapter assembly.

[0016] In an embodiment of the present disclosure, the pivot assembly includes a mounting portion, a first pivot link, and a second pivot link.

[0017] In some aspects of the present disclosure, the mounting portion is fixed to the instrument assembly and pivotally coupled to a distal portion of the outer tube.

[0018] In certain aspects of the present disclosure, the mounting portion defines a longitudinal slot to facilitate passage of the drive assembly.

[0019] In an embodiment of the disclosure, the first pivot link has a proximal portion coupled to the first articulation link and a distal portion coupled to a mounting portion of the pivot assembly, and the second pivot link has a proximal portion coupled to the second articulation link and a distal portion coupled to the mounting portion of the pivot assembly.

[0020] In some embodiments of the present disclosure, the first pivot link and the second pivot link are positioned on opposite sides of the flexible beam of the drive assembly and define a channel that is aligned with a longitudinal slot formed in the mounting portion.

[0021] In certain embodiments of the present disclosure, the first pivot link and the second pivot link each have an inner guide surface that engages a flexible beam of the drive assembly.

[0022] In an embodiment of the present disclosure, the inner guide surfaces of the first pivot link and the second pivot link are substantially linear.

[0023] In some aspects of the present disclosure, the stapling device includes a drive member engaged with the drive assembly to move the drive assembly between its retracted and advanced positions.

[0024] In a particular aspect of the present disclosure, the drive member is a drive screw.

[0025] In an aspect of the present disclosure, the coupling member defines a clevis that is supported on the distal portion of the outer tube and pivotally coupled to the mounting portion. The present invention provides, for example: (Item 1) 1. A surgical stapling device comprising: an instrument assembly defining a first longitudinal axis and having an anvil and a cartridge assembly, the anvil coupled to the cartridge assembly to facilitate movement of the instrument assembly between an open position and a clamped position; an adapter assembly defining a second longitudinal axis, the adapter assembly comprising: an outer tube having a proximal portion and a distal portion, the distal portion of the outer tube supporting the instrument assembly such that the instrument assembly is movable from a non-articulated position in which the first longitudinal axis of the instrument assembly is aligned with the second longitudinal axis of the adapter assembly, and an articulated position in which the first longitudinal axis of the instrument assembly is not aligned with the second longitudinal axis of the adapter assembly; a drive assembly having a flexible beam and a clamp member, the flexible beam having a proximal portion and a distal portion, the clamp member being supported on the distal portion of the flexible beam, the drive assembly being movable between a retracted position and an advanced position to move the clamp member through the instrument assembly, move the instrument assembly from the open position to the clamping position, and eject staples from the cartridge assembly; 13. A surgical stapling device comprising: an articulation mechanism including an adapter cam and first and second articulation links, the adapter cam defining a first cam channel, a second cam channel, and a third cam channel, the first articulation link having a distal portion coupled to the instrument assembly and a proximal portion supporting a first cam member received in the first cam channel of the adapter cam, the second articulation link having a distal portion coupled to the instrument assembly and a proximal portion supporting a second cam member received in the second cam channel of the adapter cam, the proximal portion of the outer tube supports a third cam received in the third cam channel of the adapter cam, and movement of the adapter cam causes movement of the first and second articulation links to move the instrument assembly between the non-articulated position and the articulated position, and causes movement of the outer tube relative to the drive assembly to change a position of the instrument assembly relative to the drive assembly. (Item 2) The surgical stapling device of the preceding paragraph, wherein the adapter cam is cylindrical and defines a longitudinal bore therethrough. (Item 3) 20. The surgical stapling device of claim 19, wherein the proximal portion of the outer tube is received within the longitudinal throughbore of the adapter cam. (Item 4) The stapling device of any of the preceding items, wherein the first cam channel and the second cam channel are configured to drive the first articulation link and the second articulation link in opposite directions to each other. (Item 5) The stapling device of any of the preceding items, wherein the adapter assembly includes an inner support tube supporting the first articulation link and the second articulation link within the outer tube. (Item 6) The stapling device of any of the preceding items, wherein the first articulation link and the second articulation link include curved inner surfaces engaging an outer surface of the inner support tube. (Item 7) 11. The stapling device of claim 1, wherein the adapter assembly includes a pivot assembly for pivotally coupling the instrument assembly to the outer tube of the adapter assembly, the pivot assembly including a mounting portion and a first pivot link and a second pivot link. (Item 8) 13. The stapling device of any of the preceding items, wherein the mounting portion is fixed to the instrument assembly and pivotally coupled to the distal portion of the outer tube, the mounting portion defining a longitudinal slot to facilitate passage of the drive assembly. (Item 9) 11. The stapling device of claim 1, wherein the first pivot link has a proximal portion coupled to the first articulation link and a distal portion coupled to the mounting portion of the pivot assembly, and the second pivot link has a proximal portion coupled to the second articulation link and a distal portion coupled to the mounting portion of the pivot assembly. (Item 10) 11. The stapling device of claim 1, wherein the first pivot link and the second pivot link are positioned on opposite sides of the flexible beam of the drive assembly and define a channel aligned with the longitudinal slot formed in the mounting portion. (Item 11) The stapling device of any of the preceding items, wherein the first pivot link and the second pivot link each have an inner guide surface in engagement with the flexible beam of the drive assembly. (Item 12) Item 11. The stapling device of any of the preceding items, wherein the inner guide surface is substantially linear. (Item 13) The stapling device of any preceding item, further comprising a drive member engaged with the drive assembly to move the drive assembly between its retracted and advanced positions. (Item 14) The stapling device of any of the preceding items, wherein the drive member is a drive screw. (Item 15) The stapling device of any of the preceding items, further comprising a coupling member supported on the distal portion of the outer tube, the coupling member defining a clevis pivotally coupled to the mounting portion. (Item 16) 1. A surgical device comprising: a tool assembly defining a first longitudinal axis and having a first jaw and a second jaw, the first jaw coupled to the second jaw to facilitate movement of the tool assembly between an open position and a clamped position; an adapter assembly defining a second longitudinal axis, the adapter assembly comprising: an outer tube having a proximal portion and a distal portion, the distal portion of the outer tube supporting the instrument assembly such that the instrument assembly is movable from a non-articulated position in which the first longitudinal axis of the instrument assembly is aligned with the second longitudinal axis of the adapter assembly, and an articulated position in which the first longitudinal axis of the instrument assembly is not aligned with the second longitudinal axis of the adapter assembly; a drive assembly having a flexible beam and a clamp member, the flexible beam having a proximal portion and a distal portion, the clamp member being supported on the distal portion of the flexible beam, the drive assembly being movable between a retracted position and an advanced position to move the clamp member through the instrument assembly and move the instrument assembly from the open position to the clamped position; 1. A surgical device comprising: an articulation mechanism including an adapter cam and an articulation link, the adapter cam defining a first cam channel and a second cam channel, the articulation link having a distal portion coupled to the instrument assembly and a proximal portion supporting a first cam member received in the first cam channel of the adapter cam, the proximal portion of the outer tube supporting a second cam member received in the second cam channel of the adapter cam, movement of the adapter cam causing movement of the articulation link to move the instrument assembly between the non-articulated position and the articulated position, and causing movement of the outer tube relative to the drive assembly to change a position of the instrument assembly relative to the drive assembly. (Item 17) 2. The surgical device of claim 1, wherein the adapter cam is cylindrical and defines a longitudinal bore therethrough. (Item 18) 2. The surgical device of claim 1, wherein the proximal portion of the outer tube is received within the longitudinal throughbore of the adapter cam. (Item 19) 1. A surgical device comprising: A handle assembly; a tool assembly defining a first longitudinal axis and having a first jaw and a second jaw, the first jaw coupled to the second jaw to facilitate movement of the tool assembly between an open position and a clamped position; 11. A surgical device comprising: an adapter assembly supported on the handle assembly and defining a second longitudinal axis, the adapter assembly including an outer tube and an articulation mechanism, the outer tube having a distal portion supporting the instrument assembly, the articulation mechanism including an adapter cam and an articulation link, the adapter cam defining a first cam channel and a second cam channel, the articulation link having a distal portion coupled to the instrument assembly and a proximal portion supporting a first cam member received in the first cam channel of the adapter cam, the proximal portion of the outer tube supporting a second cam received in the second cam channel of the adapter cam, movement of the adapter cam causing movement of the articulation link to move the instrument assembly between a non-articulated position and an articulated position, and causing longitudinal movement of the outer tube relative to the adapter cam to change a position of the instrument assembly relative to the handle assembly. (Item 20) The surgical device of any of the preceding items, further comprising an anvil supported on the first jaw and a cartridge assembly supported on the second jaw. (Summary) The surgical device includes an adapter assembly and an instrument assembly coupled to the adapter assembly by a pivot member to facilitate articulation of the instrument assembly relative to the adapter assembly. The adapter assembly supports a drive assembly for actuating or firing the instrument assembly. The adapter assembly includes an articulation mechanism that adjusts the position of the instrument assembly relative to the drive assembly to compensate for changes in stroke length of the drive assembly due to articulation of the instrument assembly.

[0026] Other features of the present disclosure will become apparent from the following description. [Brief description of the drawings]

[0027] Various aspects of the disclosure are described herein below with reference to the drawings.

[0028] [Figure 1] 1A is a side perspective view of a surgical stapling device, including a disclosed embodiment of the stapling device, in a non-articulated position and in an articulated position shown in phantom; FIG. [Diagram 2] FIG. 2 is a side perspective view of the adapter assembly and the instrument assembly of the surgical stapling device shown in FIG. 1 in a non-articulated position with the rotation knob and the instrument assembly shown in phantom lines; [Diagram 3] FIG. 3 is a side perspective exploded view of the adapter assembly shown in FIG. 2. [Figure 4] FIG. 4 is an enlarged view of the instruction detail area shown in FIG. 3 showing the barrel cam of the adapter assembly. [Diagram 5] FIG. 5 is a side perspective view of the barrel cam shown in FIG. 4 rotated 180 degrees. [Figure 6] FIG. 4 is a side perspective view of the drive assembly of the adapter assembly shown in FIG. 3. [Figure 7] FIG. 2 is a side perspective view of the adapter assembly and tool assembly shown in FIG. 1, with the tool assembly in a non-articulated position. [Figure 8] FIG. 8 is an enlarged view of the instruction detail area shown in FIG. 7. [Figure 9] FIG. 8 is a side perspective view of the instrument assembly and distal portion of the adapter assembly shown in FIG. 7 with the anvil assembly removed from the instrument assembly. [Figure 10] 8 is a cross-sectional view taken along section line 10-10 of FIG. 7. [Figure 11] FIG. 11 is an enlarged view of the instruction detail area shown in FIG. [Figure 12] FIG. 11 is an enlarged view of the instruction detail area shown in FIG. [Figure 13] 8 is a cross-sectional view taken through the adapter assembly and tool assembly shown in FIG. 7, with the tool assembly in an articulated position. FIG. [Figure 14] FIG. 14 is an enlarged view of the instruction detail area shown in FIG. 13. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] The surgical stapling device of the present disclosure will now be described in detail with reference to the drawings, in which like reference numerals indicate the same or corresponding elements in each of the several views. However, it should be understood that the aspects of the present disclosure are merely exemplary of the present disclosure and may be embodied in various forms. Well-known functions or configurations are not described in detail to avoid obscuring the present disclosure in unnecessary detail. Therefore, specific structural and functional details disclosed herein should not be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching those skilled in the art to vary the present disclosure to substantially any suitable detailed structure. In addition, directional terms such as front, back, upper, lower, top, bottom, distal, proximal, and similar terms are used to aid in understanding the description and are not intended to limit the present disclosure.

[0030] In this description, the term "proximal" is generally used to refer to the portion of the device that is closer to the clinician, and the term "distal" is generally used to refer to the portion of the device that is further from the clinician. Additionally, the term "clinician" is generally used to refer to medical personnel, including doctors, nurses, and support personnel.

[0031] The disclosed surgical device includes an adapter assembly and an instrument assembly coupled to the adapter assembly by a pivot member to facilitate articulation of the instrument assembly relative to the adapter assembly. The adapter assembly includes a drive assembly having a resilient drive beam and a clamp member positioned within the instrument assembly. The drive assembly is movable between a retracted position and an advanced position over a stroke length to advance a clamp member within the instrument assembly to move the instrument assembly from an open position to a clamped position and eject staples from the instrument assembly. The stroke length required to fully actuate the instrument assembly changes as the instrument assembly is articulated. The adapter assembly includes an articulation mechanism that adjusts the position of the instrument assembly relative to the drive assembly to compensate for this change in stroke length.

[0032] FIG. 1 illustrates a surgical device according to an embodiment of the present disclosure, generally designated as surgical device 10. Surgical device 10 includes a handle assembly 12, an adapter assembly 14, and an instrument assembly 16. The adapter assembly 14 defines a longitudinal axis "X" (FIG. 1), and the instrument assembly defines a longitudinal axis "Y". The instrument assembly 16 is pivotally coupled to the adapter assembly 14 and can pivot from a non-articulated position (FIG. 1) in which the longitudinal axes "X" and "Y", respectively, of the adapter assembly 14 and the anvil assembly 16 are aligned with one another, to an articulated position (shown in phantom in FIG. 1) in which the longitudinal axes "X" and "Y", respectively, of the adapter assembly 14 and the instrument assembly 16 are not aligned with one another. The handle assembly 12 includes a body 12a defining a fixed handle 18 and an actuation button 20 operable to initiate operation of the surgical device 10, i.e., approximation of the instrument assembly 16, articulation of the instrument assembly 16, and firing of staples from the instrument assembly 16. The handle assembly 12 supports a rotation knob 22 coupled to a proximal portion 14a of the adapter assembly 14 and rotatable to rotate the adapter assembly 14 and the instrument assembly 16 relative to the handle assembly 12 about a longitudinal axis "X." Although the illustrated surgical device 10 may be configured to fire staples, it is contemplated that the surgical device 10 may be adapted to fire other suitable fasteners, such as clips and two-part fasteners. Although the figures depict a linear surgical device 10, it is envisioned that certain components described herein may be adapted for use with other types of endoscopic surgical instruments, including surgical stapling devices with non-linear tool assemblies, endoscopic forceps, graspers, dissectors, other types of surgical stapling instruments, powered vessel sealing and / or cutting devices, and the like.

[0033] 1-3 show the tool assembly 16, including anvil 24 and cartridge assembly 26. Anvil 24 is coupled to cartridge assembly 26 by a pivot member 28 (FIG. 9) that facilitates movement of anvil 24 relative to cartridge assembly 26 between an open position and a clamped position. Although cartridge assembly 26 is shown pivoting relative to anvil 24, it is envisioned that cartridge assembly 26 can be fixed and anvil 24 can be pivoted relative to cartridge assembly 26. Anvil 24 includes a proximal portion that supports or includes bracket 30. Bracket 30 (FIG. 3) supports a pivot pin 32 that extends radially outward from bracket 30 in a direction away from cartridge assembly 26.

[0034] 2 and 3 show the adapter assembly 14 including an outer tube 40, a coupling member 42, a pivot assembly 44, an articulation mechanism 46, and a drive assembly 48 (FIG. 6). The outer tube 40 has a proximal portion 40a and a distal portion 40b. The proximal portion 40a of the outer tube 40 is coupled to the articulation mechanism 46, which will be described in further detail below. The distal portion 40b of the outer tube 40 supports the coupling member 42. The coupling member 42 includes a proximal portion that is received within the distal portion 40b of the outer tube 40 and a distal portion that supports the tool assembly 16. In an embodiment of the present disclosure, the proximal portion of the coupling member 42 is secured within the distal portion 40b of the outer tube 40 by a pin 49. The distal portion of the coupling member 42 defines a clevis 50 that pivotally supports the pivot assembly 44 and the tool assembly 16, as described below. Clevis 50 includes spaced fingers 52 that define an opening 52a.

[0035] The pivot assembly 44 includes a mounting portion 58 and first and second pivot links 60a and 60b. The mounting portion 58 includes a proximally extending bracket 66 that defines a longitudinal slot 62 and supports a pivot member 68. The longitudinal slot 62 of the mounting portion 58 has an inwardly curved proximal end 64 that has a width that decreases in a distal direction. The longitudinal slot 62 receives the drive assembly 48 (FIG. 6). The curved proximal end 64 of the longitudinal slot 62 provides a support surface for the drive assembly 48 when the instrument assembly 16 is articulated. The pivot member 68 is received within an opening 52a of one of the fingers 52 of the clevis 50 of the coupling member 42. The coupling member 44 has a distal portion that is received within a proximal portion of the anvil 24 and secured thereto by a pin (not shown). The pivot pin 32 of the bracket 30 on the proximal portion of the anvil 24 is received within another opening 52a in another spaced finger portion 52 of the clevis 50 of the coupling member 42 so as to pivotally secure the tool assembly 16 to the clevis 50 of the coupling member 42.

[0036] Each of the first and second pivot links 60a, 60b includes an inner guide surface 70, a distal portion 72, and a proximal portion 74. The inner guide surface 70 is substantially linear, and the distal and proximal portions 72, 74 curve outwardly away from the guide surface 70 such that the first and second pivot links have a flattened C-shaped configuration. The distal portion 72 of the first pivot link 60a is pivotally coupled to the mounting portion 58 on a first side of the longitudinal slot 62 by a pivot member 75a, and the distal portion of the second pivot link 60a is pivotally coupled to the mounting portion 58 on a second side of the longitudinal slot 62 by a pivot member 75b. The proximal portions 74 of the first and second pivot links 60a, 60b are coupled to the articulation mechanism 46, as described below. It should be noted that pivot links 60a and 60b are secured to mounting portion 58 such that inner guide surfaces 70 of pivot links 60a and 60b face each other and are positioned proximal to longitudinal slot 62 so as to define a channel 70a that leads into longitudinal slot 62 of mounting portion 58 (FIG. 12).

[0037] The articulation mechanism 46 includes an adapter cam 80, a first articulation link 82 and a second articulation link 84, and an inner support tube 86. The first articulation link 82 includes a first link portion 82a and a second link portion 82b that are rigidly coupled to each other by a pin or rivet (not shown). Similarly, the second articulation link 84 includes a first link portion 84a and a second link portion 84b that are rigidly coupled to each other by a pin or rivet (not shown). It is envisioned that the first articulation link 82 and the second articulation link 84 may be integrally formed as a single piece. The first articulation link 82 has a distal portion coupled to the proximal portion 74 of the first pivot link 60a by a pivot pin 86, and the second articulation link 84 has a distal portion coupled to the proximal portion 74 of the second pivot link 60b by a pivot pin 88. Each of the first articulation link 82 and the second articulation link 84 includes a curved inner surface 90 that engages with the outer surface of the inner support tube 86 such that the first articulation link 82 and the second articulation link 84 are movably supported along the outer surface of the inner support tube 86 within the outer tube 40 ( FIG. 11 ).

[0038] A proximal portion of each of the articulation links 82 and 84 supports an inwardly extending cam member 92 and 94, respectively. The cam members 92 and 94 engage the adapter cam 80, as described below, such that movement of the adapter cam 80 causes longitudinal movement of the first articulation link 82 and the second articulation link 84 within the outer tube 40.

[0039] 3-5, 7, and 8 show the adapter cam 80. In an embodiment of the present disclosure, the adapter or barrel cam 80 includes a cylindrical body 100 defining a longitudinal through hole 80a and three cam channels. It is envisioned that the adapter or barrel cam can have a variety of different configurations other than a cylindrical or barrel shape. The three cam channels include a first cam channel 102, a second cam channel 104, and a third cam channel 106. The barrel cam 80 is axially fixed and rotatably supported at a proximal portion of the adapter assembly 14. Although not shown, the barrel cam 80 is coupled to the handle assembly 12 (FIG. 1) via gears or the like such that the barrel cam 80 can selectively rotate in a clockwise or counterclockwise direction.

[0040] The longitudinal bore 80a of the barrel cam 80 receives the inner support tube 86, the first and second articulation links 82 and 84, and the outer tube 40. The first cam channel 102 receives the cam member 92 of the first articulation link 82, and the second cam channel 104 of the barrel cam 80 receives the cam member 94 of the second articulation link 84. The first cam channel 102 and the second cam channel 104 are angled in different directions along the longitudinal axis "X" of the adapter assembly 14 such that rotation of the barrel cam 80 moves the first and second articulation links 82 and 84 longitudinally in opposite directions within the outer tube 40 along the inner support tube 86. As described above, distal portions of the first and second articulation links 82 and 84 are coupled to opposite sides of the mounting portion 58 of the adapter assembly 14. As articulation links 82 and 84 move in opposite directions, mounting portion 58 pivots about a transverse axis "Z" (FIG. 1) defined by pivot member 68 of mounting portion 58. Tool assembly 16 is supported on mounting portion 58. Thus, pivoting movement of mounting portion 58 causes pivoting movement of tool assembly 16.

[0041] The proximal portion 40a of the outer tube 40 supports a cam member 110 that extends radially outward from the outer tube 40 within the longitudinal bore 80a of the barrel cam 80 and into the third cam channel 106 of the cam barrel 80. In an embodiment of the present disclosure, the cam member 110 is fixed within a bore 112 formed in the outer tube 40. Alternatively, the cam member 110 can be formed integrally with the outer tube 40. In some embodiments of the present disclosure, a reinforcing member 114 is supported within the outer tube 40 and defines a bore 116 that receives the cam member 110 to provide additional support to the outer tube 40. The outer tube 40 can also include a cover 120 that is received around the proximal portion of the barrel cam 80 to surround the third cam channel 106. The third cam channel 106 is configured to advance or retract the outer tube 40 relative to the handle assembly 12 and the barrel cam 80 upon rotation of the barrel cam 80 within the adapter assembly 14 .

[0042] The inner support tube 86 supports a ring 124 secured to the inner support tube 86 and disposed distally of the barrel cam 80 to prevent distal movement of the barrel cam 80 within the adapter assembly 14. A shim 126 is positioned between the barrel cam 80 and the ring 124 to minimize friction between the barrel cam 80 and the ring 124. In an embodiment of the present disclosure, the ring 124 and barrel cam 80 may be formed of a metal, such as stainless steel, and the shim may be formed of a plastic or other material having a low coefficient of friction.

[0043] FIG. 6 illustrates the drive assembly 48, including a clamp member 130, a flexible beam 132, a rigid beam 134, and a coupling member 136. The drive assembly 48 extends through the inner support tube 86 of the articulation mechanism 46. The clamp member 130 is configured to move through the tool assembly 16 to actuate the tool assembly 16, as known in the art. In an embodiment of the present disclosure, the clamp member 130 includes a first beam 138, a second beam 140, and a vertical post 142. The vertical post 142 includes a knife blade 144. As the clamp member 130 advances through the tool assembly 16, the first beam 138 of the clamp member 130 engages the anvil 24 and the second beam 140 of the clamp member 130 engages the cartridge assembly 26 to move the tool assembly 16 to a clamped position (FIG. 1). As clamp member 130 moves through instrument assembly 16, vertical post 142 engages an actuation sled (not shown) to eject staples from cartridge assembly 26 (FIG. 1). For a detailed description of exemplary aspects of the structure and operation of clamp member 130, see U.S. Patent No. 6,241,139.

[0044] Flexible beam 132 includes a distal end secured to clamp member 130 and a proximal end secured to rigid beam 134. Flexible beam 132 is formed of a material, e.g., spring steel, that allows beam 132 to bend when tool assembly 16 is moved to an articulated position (FIG. 13) to allow clamp member 130 to move along a longitudinal axis "Y" (FIG. 1) of tool assembly 16 upon actuation of tool assembly 16. Rigid beam 134 defines a blind hole 140 (FIG. 13) and is secured to coupling member 136. Coupling member 136 defines a threaded channel 142 that is aligned with blind hole 140.

[0045] The adapter assembly 14 includes a drive screw 144 that is received within the threaded channel 142 of the coupling member 136 and includes a distal threaded portion 146 that extends into the blind hole 140 of the rigid beam 134. The drive screw 144 includes a proximal portion 148 that extends into the handle assembly 12 (FIG. 1). Although not shown, the handle assembly 12 includes a mechanism for rotating the drive screw 144 within the coupling member 136 of the drive assembly 48 to move the adapter assembly 14 and the drive assembly 48 within the instrument assembly 16 to actuate the instrument assembly 16.

[0046] 10 and 13 show the distance or stroke length that the drive assembly 46 must travel to fully actuate the tool assembly 16, i.e., eject all of the staples from the cartridge assembly. When the tool assembly 16 is in the unarticulated position, the stroke length "X1" (FIG. 10) is different from the stroke length "X2". The reason for this difference is that when the tool assembly 16 is in the unarticulated position, the drive assembly 46 follows a straight line along the longitudinal axis "X" of the adapter assembly 14, through the lateral pivot axis "Z" of the tool assembly 16 to a distal portion of the tool assembly 16. When the tool assembly 16 is articulated (FIG. 13), the first pivot link 60a and the second pivot link 60b direct the flexible beam 132 along a path that is inward of the lateral pivot axis "Z", thus shortening the distance that the drive assembly 46 must travel to fully actuate the tool assembly 16. Because this difference increases along a parabola, the difference increases at a greater rate as the degree of articulation increases. In known devices, to compensate for this distance, it was necessary to increase the length of the instrument assembly 16 to include dead space to accommodate the clamping member 130 of the drive assembly 46. As used herein, "dead space" is the portion of the instrument assembly that does not contain staples for suturing tissue. The present disclosure addresses this problem by providing an articulation mechanism that can change the position of the instrument assembly relative to the drive assembly during articulation to compensate for changes in the stroke length of the drive assembly.

[0047] 9-12 show the adapter assembly 14 and the instrument assembly 16 in a non-articulated position with the drive assembly 48 in a fully advanced position. In the fully advanced position, the clamp member 130 is positioned at a distal end of the knife slot 200 (FIG. 9) in the staple cartridge 202 of the cartridge assembly 26. In the non-articulated position, the cam member 92 of the first articulation link 82 is received in the first cam channel 102 of the barrel cam 80 (FIG. 11), the cam member 94 of the second articulation link 84 is received in the cam channel 104 of the barrel cam 80 and the cam member 110 is received in the cam channel 106 of the barrel cam 80.

[0048] 13 and 14 show the adapter assembly 14 and the tool assembly 16 when the tool assembly 16 is articulated in the direction of arrow "B" in FIG. 13 about the lateral pivot axis "Z". When the barrel cam 80 is rotated in the direction of arrow "C" in FIG. 13 and 14 by manipulation of the handle assembly 12 (FIG. 1), the cam members 92 and 94 are moved in different directions within the cam channels 102 and 104, respectively, to move the first articulation link 82 in the direction of arrow "D" in FIG. 14 and the second cam link 84 in the direction of arrow "E" in FIG. 14. As described above, distal portions of the first cam link 82 and the second cam link 84 are coupled to the pivot links 60a and 60b. As the first and second articulation links 82, 84 are moved in directions D and E (FIG. 13), the first pivot link 60a is pulled in the direction of arrow "F" in FIG. 14 and the second pivot link 60b is pushed in the direction of arrow "G" in FIG. 14. This movement of the first and second pivot links 60a, 60b causes the tool assembly 16 to pivot in the direction of arrow "H" about a transverse axis "Z". As seen in FIG. 14, the guide surfaces 70 of the first and second pivot links 60a, 60b define a channel 70a through which the flexible beam 132 extends. The channel 70a is offset inwardly from the pivot axis "Z" of the tool assembly 16. As described above, this reduces the required stroke length of the drive assembly 48 to actuate the tool assembly 16.

[0049] To compensate for the change in stroke length of the drive assembly from "X1" (FIG. 10) to "X2," cam member 110, positioned within cam channel 106 in barrel cam 80, is moved distally along cam channel 106 in the direction of arrow "I" in FIG. 14 to advance outer tube 40 relative to drive assembly 48. As outer tube 40 moves distally about drive assembly 48 relative to barrel cam 80, the length of adapter assembly 14 is adjusted to compensate for the change in stroke length. Note that due to the configuration of cam channel 106 in barrel cam 80, adjustment of the length of the adapter assembly occurs to a greater extent as the degree of articulation increases.

[0050] Those skilled in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary aspects of the present disclosure. It is envisioned that 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. Similarly, those skilled in the art will understand additional features and advantages of the present disclosure based on the above-mentioned disclosed aspects of the present disclosure. Thus, the present disclosure should not be limited by what has been specifically shown and described, except as indicated by the appended claims.

Claims

1. 1. A surgical stapling device comprising: an instrument assembly defining a first longitudinal axis and having an anvil and a cartridge assembly, the anvil coupled to the cartridge assembly to facilitate movement of the instrument assembly between an open position and a clamped position; an adapter assembly defining a second longitudinal axis, said adapter assembly comprising: an outer tube having a proximal portion and a distal portion, the distal portion of the outer tube supporting the instrument assembly such that the instrument assembly is movable from a non-articulated position in which the first longitudinal axis of the instrument assembly is aligned with the second longitudinal axis of the adapter assembly, and an articulated position in which the first longitudinal axis of the instrument assembly is not aligned with the second longitudinal axis of the adapter assembly; a drive assembly having a flexible beam and a clamp member, the flexible beam having a proximal portion and a distal portion, the clamp member being supported on the distal portion of the flexible beam, the drive assembly being movable between a retracted position and an advanced position to move the clamp member through the instrument assembly, move the instrument assembly from the open position to the clamping position, and eject staples from the cartridge assembly; 13. A surgical stapling device comprising: an articulation mechanism including an adapter cam and first and second articulation links, the adapter cam defining a first cam channel, a second cam channel and a third cam channel, the first articulation link having a distal portion coupled to the instrument assembly and a proximal portion supporting a first cam member received in the first cam channel of the adapter cam, the second articulation link having a distal portion coupled to the instrument assembly and a proximal portion supporting a second cam member received in the second cam channel of the adapter cam, the proximal portion of the outer tube supporting a third cam received in the third cam channel of the adapter cam, movement of the adapter cam causes movement of the first and second articulation links to move the instrument assembly between the non-articulated position and the articulated position, and causes movement of the outer tube relative to the drive assembly to change a position of the instrument assembly relative to the drive assembly.

2. The surgical stapling device of claim 1 , wherein the adapter cam is cylindrical and defines a longitudinal bore therethrough.

3. The surgical stapling device of claim 2 , wherein the proximal portion of the outer tube is received within the longitudinal throughbore of the adapter cam.

4. The stapling device of claim 3, wherein the first cam channel and the second cam channel are configured to drive the first articulation link and the second articulation link in opposite directions to one another.

5. The stapling device of claim 4, wherein the adapter assembly includes an inner support tube supporting the first articulation link and the second articulation link within the outer tube.

6. The stapling device of claim 5 , wherein the first articulation link and the second articulation link include curved inner surfaces engaging an outer surface of the inner support tube.

7. The stapling device of claim 1, wherein the adapter assembly includes a pivot assembly for pivotally coupling the instrument assembly to the outer tube of the adapter assembly, the pivot assembly including a mounting portion and first and second pivot links.

8. The stapling device of claim 7, wherein the mounting portion is fixed to the instrument assembly and pivotally coupled to the distal portion of the outer tube, the mounting portion defining a longitudinal slot to facilitate passage of the drive assembly.

9. 9. The stapling device of claim 8, wherein the first pivot link has a proximal portion coupled to the first articulation link and a distal portion coupled to the mounting portion of the pivot assembly, and the second pivot link has a proximal portion coupled to the second articulation link and a distal portion coupled to the mounting portion of the pivot assembly.

10. The stapling device of claim 9, wherein the first pivot link and the second pivot link are positioned on opposite sides of the flexible beam of the drive assembly and define a channel aligned with the longitudinal slot formed in the mounting portion.

11. The stapling device of claim 10, wherein the first pivot link and the second pivot link each have an inner guide surface in engagement with the flexible beam of the drive assembly.

12. The stapling device of claim 11, wherein the inner guide surface is substantially linear.

13. The stapling device of claim 1, further comprising a drive member engaged with the drive assembly to move the drive assembly between its retracted and advanced positions.

14. The stapling device of claim 13, wherein the drive member is a drive screw.

15. The stapling device of claim 8, further comprising a coupling member supported on the distal portion of the outer tube, the coupling member defining a clevis pivotally coupled to the mounting portion.

16. 1. A surgical device comprising: an instrument assembly defining a first longitudinal axis and having a first jaw and a second jaw, the first jaw coupled to the second jaw to facilitate movement of the instrument assembly between an open position and a clamped position; an adapter assembly defining a second longitudinal axis, said adapter assembly comprising: an outer tube having a proximal portion and a distal portion, the distal portion of the outer tube supporting the instrument assembly such that the instrument assembly is movable from a non-articulated position in which the first longitudinal axis of the instrument assembly is aligned with the second longitudinal axis of the adapter assembly, and an articulated position in which the first longitudinal axis of the instrument assembly is not aligned with the second longitudinal axis of the adapter assembly; a drive assembly having a flexible beam and a clamp member, the flexible beam having a proximal portion and a distal portion, the clamp member being supported on the distal portion of the flexible beam, the drive assembly being movable between a retracted position and an advanced position to move the clamp member through the instrument assembly and move the instrument assembly from the open position to the clamped position; 11. A surgical device comprising: an articulation mechanism including an adapter cam and an articulation link, the adapter cam defining a first cam channel and a second cam channel, the articulation link having a distal portion coupled to the instrument assembly and a proximal portion supporting a first cam member received in the first cam channel of the adapter cam, the proximal portion of the outer tube supporting a second cam member received in the second cam channel of the adapter cam, movement of the adapter cam causing movement of the articulation link to move the instrument assembly between the non-articulated position and the articulated position, and causing movement of the outer tube relative to the drive assembly to change a position of the instrument assembly relative to the drive assembly.

17. The surgical device of claim 16 , wherein the adapter cam is cylindrical and defines a longitudinal bore therethrough.

18. The surgical device of claim 17 , wherein the proximal portion of the outer tube is received within the longitudinal throughbore of the adapter cam.

19. 1. A surgical device comprising: A handle assembly; an instrument assembly defining a first longitudinal axis and having a first jaw and a second jaw, the first jaw coupled to the second jaw to facilitate movement of the instrument assembly between an open position and a clamped position; 11. A surgical device comprising: an adapter assembly supported on the handle assembly and defining a second longitudinal axis, the adapter assembly including an outer tube and an articulation mechanism, the outer tube having a distal portion supporting the instrument assembly, the articulation mechanism including an adapter cam and an articulation link, the adapter cam defining a first cam channel and a second cam channel, the articulation link having a distal portion coupled to the instrument assembly and a proximal portion supporting a first cam member received in the first cam channel of the adapter cam, the proximal portion of the outer tube supporting a second cam received in the second cam channel of the adapter cam, movement of the adapter cam causing movement of the articulation link to move the instrument assembly between a non-articulated position and an articulated position, and causing longitudinal movement of the outer tube relative to the adapter cam to change a position of the instrument assembly relative to the handle assembly.

20. The surgical device of claim 19, further comprising an anvil supported on the first jaw and a cartridge assembly supported on the second jaw.

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