Surgical stapler with locking articulated joint

Abstract

To provide a surgical stapler having a locking articulation joint.SOLUTION: A laparoscopic surgical stapler should include an articulation joint between an elongate shaft and a jaw assembly. The articulation joint should include a latch mechanism allowing a user to selectively allow the jaw assembly to be freely pivotable with respect to the elongate shaft in an unlatched configuration and positionable in an aligned position or one of several predetermined articulated positions in a latched configuration. The latch mechanism of the articulation joint is biased to the latched configuration and is operable in a 'push-to-release' manner.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] FIELD OF THE INVENTION This application relates generally to surgical closure instruments, and more particularly to surgical staplers.

[0002] Description of Related Applications This application claims the benefit of U.S. Provisional Patent Application No. 62 / 201,995, entitled "SURGICAL STAPLER HAVING LOCKING ARTICULATION JOINT," filed August 6, 2015, which is incorporated herein by reference in its entirety. [Background technology]

[0003] Surgical staplers are used to approximate or clamp tissue and staple the clamped tissue together. Laparoscopic surgical staplers may have a stapler jaw assembly located at the distal end of an elongated shaft. The stapler jaw assembly is introduceable to the surgical site through a trocar cannula or other surgical access port. It may be desirable to articulate the stapler jaw assembly relative to the elongated shaft to increase access to the surgical site. Laparoscopic surgical staplers have various mechanical and electromechanical articulation systems that allow a user to control the articulation position of the jaw assembly, located at the distal end of the stapler, from controls located at the proximal end of the stapler. However, these mechanisms may undesirably increase the complexity of the stapler's handle assembly and jaw assembly. Summary of the Invention [Problem to be solved by the invention]

[0004] These complex mechanisms can make surgical staplers burdensome to manufacture and can be a potential source of instrument failure and confusion for the user. Thus, it would be desirable to reliably staple clamped tissue without the use of complex mechanisms. [Means for solving the problem]

[0005] In one specific embodiment, a surgical stapler is described. The surgical stapler has an elongate shaft, a jaw assembly, an articulation joint, and a handle assembly. The elongate shaft has a proximal end and a distal end and defines a longitudinal axis therebetween. The jaw assembly is positioned at the distal end of the elongate shaft. The jaw assembly includes a first jaw and a second jaw. The jaw assembly has an elongate configuration defining a jaw axis. The articulation joint connects the elongate shaft to the jaw assembly. The articulation joint has an unlatching configuration in which the jaw assembly is rotatable relative to the elongate shaft when an external force is applied to the jaw assembly, and a latching configuration in which the jaw assembly is rotationally fixed relative to the elongate shaft. The handle assembly is positioned at the proximal end of the elongate shaft. The handle assembly includes an articulation latch lever. The articulation latch lever is movable between a proximal latched position in which the articulation joint is in a latched configuration and a distal unlatched position in which the articulation joint is in an unlatched configuration.

[0006] In one specific embodiment, a surgical stapler is described. The surgical stapler has an elongate shaft, a jaw assembly, an articulation joint, and a handle assembly. The elongate shaft has a proximal end and a distal end and defines a longitudinal axis therebetween. The jaw assembly is positioned at the distal end of the elongate shaft. The jaw assembly includes a first jaw and a second jaw. The jaw assembly has an elongate configuration defining a jaw axis. The articulation joint connects the elongate shaft to the jaw assembly. The articulation joint has an unlatching configuration in which the jaw assembly is pivotable relative to the elongate shaft when an external force is applied to the jaw assembly, and a latching configuration in which the jaw assembly is pivotally fixed relative to the elongate shaft. The articulation joint has a pivot pin and an alignment spring. The pivot pin pivotally connects the jaw assembly to the elongate shaft. The pivot pin has a wedge-shaped profile. The alignment spring straddles the wedge-shaped profile of the pivot pin. The alignment spring biases the jaw axis to align it with the longitudinal axis. A handle assembly is positioned at the proximal end of the elongate shaft.

[0007] In one specific embodiment, a surgical stapler is described. The surgical stapler has an elongate shaft, a jaw assembly, and an articulation joint. The elongate shaft extends along a longitudinal axis from a proximal end to a distal end. The jaw assembly is positioned at the distal end of the elongate shaft. The jaw assembly includes a first jaw and a second jaw. The jaw assembly has an elongate configuration defining a jaw axis. The articulation joint connects the elongate shaft to the jaw assembly. The articulation joint has an unlatching configuration in which the jaw assembly is rotatable relative to the elongate shaft when an external force is applied to the jaw assembly, and a latching configuration in which the jaw assembly is rotationally fixed relative to the elongate shaft. The articulation joint has a support member, a pivot member, and a latch member. The support member has a central pivot hole and a plurality of latch recesses. The pivot member is pivotally connected to the support member at the central pivot hole. The latch member is slidable between a proximal position in engagement with one of the latch recesses corresponding to the latching configuration of the articulating joint and a distal position in which the latch member is disengaged from a plurality of latch recesses corresponding to the unlatching configuration of the articulating joint. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view of an embodiment of a surgical stapling instrument with the jaws in an open configuration; [Figure 2] 1 is a perspective view of an embodiment of an articulating joint for a surgical stapler. [Figure 3] FIG. 3 is a perspective view of the articulation joint of FIG. 2 with the support member and pivot member shown as partially transparent to show the latch mechanism within the articulation joint. [Figure 4] FIG. 3 is a cutaway view of the articulation joint of FIG. 2 with the jaw assembly in an aligned orientation. [Figure 5] FIG. 3 is a cutaway view of the articulation joint of FIG. 2 with the jaw assembly in an articulated orientation. [Figure 6]FIG. 3 is a perspective view of the underside of the articulation joint of FIG. 2 with the lower housing shown as partially transparent to show the mechanism within the articulation joint. [Figure 7] FIG. 3 is a perspective view of a support member of the articulation joint of FIG. 2; [Figure 8] FIG. 1 is a partial cutaway view of the connection between the elongate shaft and the handle assembly of the surgical stapler. [Figure 9] FIG. 8 is a perspective view of the handle assembly of FIG. 7, with the handle housing shown as transparent to show the mechanisms within the handle assembly. [Figure 10] FIG. 8 is a cutaway view of the handle assembly of FIG. 7. DETAILED DESCRIPTION OF THE INVENTION

[0009] Referring to Figure 1, an embodiment of a surgical stapling instrument is shown. The illustrated embodiment of surgical stapler 10 has an elongated shaft 20, a jaw assembly 30, and a handle assembly 40. Figure 1 shows surgical stapler 10 with jaw assembly 30 in an open configuration.

[0010] With continued reference to FIG. 1 , the illustrated embodiment of the surgical stapler 10 can be sized and shaped for use in laparoscopic surgical procedures. For example, the elongate shaft 20 and jaw assembly 30 can be sized and shaped for introduction into a surgical field through an access port or trocar cannula. In some embodiments, the elongate shaft 20 and jaw assembly 30 can be sized and shaped for insertion into a trocar cannula having a relatively small working channel diameter, e.g., less than 8 mm. In other embodiments, the elongate shaft 20 and jaw assembly 30 can be sized and shaped for insertion into a trocar cannula having a larger working channel diameter, e.g., 10 mm, 11 mm, 12 mm, or 15 mm. In other embodiments, it is contemplated that certain aspects of the surgical stapler described herein may be incorporated into surgical stapling instruments used in open surgical procedures.

[0011] 1 , as shown, elongate shaft 20 comprises a generally tubular member. Elongate shaft 20 extends from a proximal end 22 to a distal end 24. Elongate shaft 20 defines a central longitudinal axis L of surgical stapler 10 extending between proximal end 22 and distal end 24.

[0012] Continuing to refer to FIG. 1 , in the illustrated embodiment, a jaw assembly 30 is coupled to the elongate shaft 20 at the distal end 24 of the elongate shaft 20. An articulation joint 26 can join the jaw assembly 30 to the elongate shaft 20. The jaw assembly 30 includes a first jaw 32 and a second jaw 34 pivotally coupled to the first jaw 32. In the illustrated embodiment, the first jaw 32 is fixed to the articulation joint 26 at the distal end 24 of the elongate shaft 20, and in the aligned orientation, the first jaw assembly extends distally along a central longitudinal axis L. The jaw assembly extends from a proximal end coupled to the articulation joint 26 to a distal end along the jaw axis. The articulation joint 26 allows the jaw assembly 30 to be positioned in an orientation in which the jaw axis is aligned with the central longitudinal axis (FIG. 1) or to be selectively positioned in one of a plurality of articulation positions in which the jaw axis is initially transverse to the central longitudinal axis, and the first jaw 32 has a plurality of staples 36 disposed therein, for example, in a reloading assembly or cartridge.

[0013] With continued reference to FIG. 1 , in the illustrated embodiment, the jaw assembly 30 can be actuated from an open configuration ( FIG. 1 ) to a closed configuration and then to a stapling configuration by an actuation member or beam that is longitudinally slidable within the elongate shaft. In an initial position, the beam can be positioned at the distal end 24 of the elongate shaft 20. With the beam in the initial position, the second jaw 34 is rotated away from the first jaw 32, causing the jaw assembly 30 to be in the open configuration. The actuation beam engages the second jaw 34 upon distal translation of the actuation member or beam along the longitudinal axis L. The jaw assembly can be actuated from the open configuration to the closed configuration by translating the actuation beam distally a first distance from the initial position. With the jaw assembly 30 in the closed configuration, the actuation beam can be moved proximally back a first distance to return the jaw assembly 30 to the open configuration. The distal end of the actuation beam can advance a staple slider configured to deploy staples from the first jaw 32, such that further translation of the actuation beam distally beyond the first distance causes a plurality of staples 36 to be deployed from the first jaw 32.

[0014] Continuing with reference to FIG. 1 , in the illustrated embodiment, a handle assembly 40 is coupled to the elongate shaft 20 at the proximal end 22 thereof. As shown, the handle assembly 40 has a pistol-grip configuration with a housing comprising a stationary handle 42 and a movable handle 44 or trigger pivotally coupled to the stationary handle 42. In other embodiments, it is contemplated that surgical stapler instruments incorporating aspects described herein may have handle assemblies with other configurations, such as a scissors-grip configuration or an in-line configuration. The handle assembly 40 may include a mechanical or electromechanical actuation assembly that moves an actuation beam in response to movement of the stationary handle 42 or the trigger.

[0015] In some embodiments, the surgical stapler 10 can have a plurality of staples 36 disposed within a disposable cartridge, while the handle assembly 40 is configured to be reused with multiple staple cartridges. In the illustrated embodiment, the elongate shaft 20 and jaw assembly 30 form a disposable cartridge that is removably connectable to the handle assembly 40. Accordingly, in the illustrated embodiment, the handle assembly 40 includes a coupler 46 at its distal end. The coupler 46 is adapted to engage the elongate shaft 20 of the surgical stapler 10. The coupler 46 can be a bayonet coupling having an outer connector that is removably connectable to the handle assembly 40 or the elongate shaft 20 and an inner connector that can removably connect the movable shaft of the handle assembly 40 to an actuation member of the elongate shaft 20. Thus, the surgical stapler 10 can be configured to allow the handle assembly 40 to be reused with multiple disposable cartridges during a surgical procedure. It is envisioned that in other embodiments, the handle assembly and portions of the elongate shaft can be reusable, with the remainder of the elongate shaft within the jaw assembly comprising a disposable cartridge. In certain other embodiments, the handle assembly and elongate shaft can be reusable, while the jaw assembly comprises a disposable cartridge. In yet other embodiments, a jaw insert containing a plurality of staples can comprise a disposable cartridge, while the remainder of the surgical stapler is reusable.

[0016] 2 and 3, perspective views of the articulation joint 26 are shown. The articulation joint may include a support member 110 pivotally coupled to a pivot member 120. The articulation joint may further include a latch member 130 for selectively latching and unlatching the articulation joint 26. The support member 110 may be coupled to the proximal end of the jaw assembly 30, and the pivot member 120 may be coupled to the distal end of an elongate shaft (not shown to enhance visualization of the articulation joint). In the illustrated embodiment, the support member 110 is coupled to the jaw assembly at a riveted or pinned connection 115, as described further below. In some embodiments, the pivot member 120 may include a portion of a coupling sleeve 122 that can be slid into the distal end of the elongate shaft.

[0017] Referring to FIG. 3 , the articulation joint 26 is illustrated with the support member 110 and pivot member 120 shown as transparent to facilitate visualization of the articulation joint latching mechanism within the articulation joint. The support member may have a pivot 114. In the illustrated embodiment, the support member pivot has a hole formed therein within which a pin-like protrusion 124 extending radially inward from the pivot member 120 is positioned to permit relative pivotal movement of the support member 110 and pivot member 120 at the pivot 114. In other embodiments, the support member may have a pin-like protrusion formed therein and the pivot member may have a pivot hole that receives the protrusion. In yet another embodiment, the support member and pivot member may each have a pivot hole that is pivotally coupled to one another by a separate pin or rivet.

[0018] Continuing to refer to FIG. 3 , the support member 110 further includes a latch 112 at its proximal end. A latch member 130 can extend distally beyond the proximal end of the support member 110 to selectively engage the latch 112 to pivotally secure the articulating joint 26 in the latched configuration. The latch member 130 extends longitudinally through the elongated shaft of the stapler from the proximal end to the distal end. The latch member 130 can include an elongated strip 134 extending through the elongated shaft 20. The latch member 130 also includes a protrusion or latching tooth 132 extending from the distal end of the latch member 130.

[0019] The latch member 130 is slidable longitudinally relative to the central longitudinal axis of the elongate shaft between a distal position and a proximal position. With the latch member 130 slid longitudinally distally to the distal position, the latching tooth 132 can be positioned distal to the latch 112 such that the articulation joint 26 is in the unlatched configuration. In the unlatched configuration, the jaw assembly can be rotated relative to the elongate shaft about the pivot 114 in response to an external force applied to the jaw assembly 30. The external force can be applied, for example, by a surface at a surgical site or by interaction with another surgical instrument, such as a surgical access port or a laparoscopic tool. With the latch member 130 in the proximal position, the latching tooth 132 engages the latch 112 of the support member 130 to pivotally secure the jaw assembly relative to the elongate shaft. The latch member can desirably be biased to the proximal position, thereby biasing the articulation joint to the latched configuration. For example, in some embodiments, a biasing member or spring positioned within the elongate shaft can engage the elongate strip 134 to bias the latch member 130 to the proximal position.

[0020] 4 and 5, the latch mechanism of the articulation joint is shown in an aligned position (FIG. 4) and an articulated position (FIG. 5). In the illustrated embodiment, the latch 112 has a plurality of latch recesses 118 at the proximal end of the support member 110, which are arranged in a generally arcuate or bow-shaped array proximal to the pivot 114. Each of the latch recesses 118 has an open end at its distal end. With the articulation joint in the unlatched configuration, pivoting the jaw assembly and coupled support member 110 relative to the elongate shaft and pivot member 120 about the pivot 114 aligns one of the plurality of latch recesses 118 with a tooth 132 on the latch member to define a corresponding latched position of the articulation joint. In the illustrated embodiment, the latch 112 has five latch recesses 118, such that the articulation joint is pivotable between an aligned position and four articulated positions in which the jaw axes are transverse to the central longitudinal axis. In other embodiments, the latch 112 may have more than six or fewer latch recesses to define a corresponding number of latch positions. Each of the latch recesses 118 may have a radiused or tapered "lead in" to facilitate engagement of one of the latch recesses 118 with a tooth 132 of the latch member 130 even in the event of slight misalignment between the latch recess 118 and the latch member 130.

[0021] 4 and 5, the articulation joint can be configured to allow a flexible staple actuating or drive member to pass through the articulation joint when the articulation joint is in the articulated position, minimizing buckling or buckling of the flexible actuation member. For example, the support member can have a pair of support link pivots 116 laterally offset from the pivot 114 and a corresponding pair of support links 140 coupled to the support link pivots 116. Each support link in the pair of support links 140 can be pivotally coupled to a corresponding one of the support link pivots and extend proximally into the pivot member 120 toward the overall elongate shaft. A channel can be defined between the support links 140, and the flexible actuation member can extend within the channel. When the articulation joint 26 is positioned in the articulated position (FIG. 5), the support links 140 pivot relative to the support member 110 to maintain a channel for the flexible actuation member. Thus, the support link 140 can provide a substantially continuous channel wall to prevent the flexible actuation member from buckling or bowing at the articulation joint as the actuation member passes through the articulation joint.

[0022] Each of the support links 140 may be dimensioned to extend between the support member 110 and the pivot member through the full range of articulation of the articulation joint. In the illustrated embodiment, each of the support links 140 has a curved first end pivotally coupled to one of the support link pivots 116, a curved second end opposite the first end, and a central span extending between the first and second ends. The curved second end may extend in sliding contact with the pivot member 120 and further support a flexible actuation member positioned in a channel between the central spans of the support links.

[0023] Referring to Figure 7, a perspective view of the support member 110 is shown. The latch 112 is shown with a latch recess 118 at its proximal end. The pivot 114 is shown with a pivot hole at a central location of the support member. A pair of support link pivots 116 are positioned laterally offset from the pivot 114. In the illustrated embodiment, the support link pivots each reside on a radiused sidewall surface 106 that facilitates a radiused bend for the flexible actuation member extending through the support link when the articulation joint is in the articulated position.

[0024] Referring to FIG. 6 , a bottom view of the articulation mechanism is shown. The pivot member 120 is shown as transparent, thereby providing a cutaway view to facilitate visualization of one embodiment of the alignment mechanism of the articulation mechanism. The alignment mechanism can be configured to bias the jaw axis into alignment with the central longitudinal axis of the elongate shaft. In the illustrated embodiment, the articulation mechanism includes a lower support member 150 that can be coupled to the support member 110 and the jaw assembly. The lower support member 150 is pivotally coupled to the pivot member 120. In the illustrated embodiment, the pivot member 120 has a protruding pivot pin 126 with a wedge-shaped profile. The wedge-shaped profile is defined by a portion of the pivot pin 126 that has a first substantially flat face 128 on its lateral edge and a second substantially flat face 129 opposite the first substantially flat face. In the illustrated embodiment, the first and second substantially flat faces 128, 129 are oriented transverse to one another. A spring 156 may straddle the pivot pin 126. The spring 156 may have a first leg 152 engageable with the first substantially flat surface 128 and a second leg 154 engageable with the second substantially flat surface 129. When the jaw assembly is misaligned with the elongated shaft, one leg of the spring engages a corresponding surface of the pivot pin 126 to bias the jaw assembly toward an aligned orientation.

[0025] Thus, to articulate the jaw assembly, a user first releases the latch mechanism to configure the articulation mechanism into the unlatched configuration. The user then applies a force to the jaw assembly in the desired articulation direction. The applied force can be generated by abutting the jaw assembly against an anatomical feature in the surgical field or against another surgical instrument. To articulate the jaw assembly, the applied force is greater than the biasing force exerted by the spring 156 of the alignment mechanism. With the stapler in the desired articulated position, the user can engage the latch mechanism to configure the articulation joint into the latched configuration. When it is desired to return the jaw assembly to the aligned configuration, for example, to remove the stapler from a surgical port, the user can release the latch mechanism and allow the biasing action of the alignment mechanism to return the jaw assembly to the aligned orientation.

[0026] 8-10, an embodiment of the latch release mechanism within the handle assembly 40 is shown. The latch release mechanism includes an articulation latch lever 162 disposed within the handle assembly 40 to selectively control the articulation joint. FIG. 9 illustrates the thumb-controlled articulation latch lever 162 positioned on the side of the handle assembly 40 to allow for one-handed actuation of the articulation joint. The handle assembly 40 is removably coupled to the elongated shaft 20. FIG. 8 is a detailed cutaway view of the connection of the handle assembly 40 to the elongated shaft 20. As shown, the elongated strip 134 of the latch member 130 extends through the elongated shaft 20 to the proximal end thereof. Advantageously, because the latch member 130 is proximally biased and has a "push-to-release" action, the proximal end 136 of the elongate strip 134 need only abut a longitudinally advanceable release member, thereby simplifying connection of the articulation joint to a lever mechanism provided on the handle assembly. Alternatively, a "pull-to-release" latch member may require mating engagement with a lever mechanism provided on the handle assembly, such as a bayonet-type connection.

[0027] 8 and 10, the operation of the articulating latch lever to depress the latch member 130 is shown. As shown in FIG. 10, the articulating latch lever 162 extends from one end of an axle 164 such that movement of the latch lever 162 causes the axle to rotate about its axis of rotation. A link couples the axle to a groove in the articulating sleeve 160. In the illustrated embodiment, the articulating sleeve 160 is a generally tubular member that extends distally to the distal end of the handle 40 (FIG. 8). When the elongate shaft 20 is coupled to the handle, the latch member 130 of the articulating joint abuts the articulating sleeve 160. In operation, when a user advances one end of the articulating latch lever 162 distally, the articulating sleeve 160 is correspondingly advanced distally, and the abutting latch member 130 is forced distally. The distal end of the latch member 130 is thus disengaged from the latch recess of the articulating joint, thereby allowing the jaw assembly to pivot in response to forces external to the jaw assembly.

[0028] Advantageously, in the illustrated embodiment, which provides a "push-to-release" interaction between the articulating sleeve 160 and the latch member 130, the proximal end of the latch member 130 and the distal end of the articulating sleeve 160 can be positioned to contact or engage one another when the elongate shaft is coupled to the handle assembly. The proximal end of the latch member 130 can have a generally flat abutment surface that interfaces with a corresponding generally flat release surface on the articulating sleeve 160. As illustrated, the articulating sleeve has an annular member that allows the elongate shaft to rotate about its longitudinal axis while the abutment surface of the latch member 130 and the release surface of the articulating sleeve are in continuous contact. Thus, the elongate shaft can be rotatable about its longitudinal axis relative to the handle assembly to facilitate desired positioning of the jaw assembly at the surgical site while maintaining the abutting coupling of the latch release mechanism. Such a configuration can therefore provide a reliable unlatching function for the handle assembly and removable elongate shaft without requiring relatively complex mating, interfacing, or interlocking geometries for the articulation mechanism.

[0029] While the present application discloses certain preferred embodiments and examples, those skilled in the art will recognize that the present invention extends beyond the specifically disclosed embodiments to other variations and / or uses of the invention, including obvious modifications and equivalents thereof. Moreover, various features of the present invention may be utilized alone or in combination with other features of the invention other than those explicitly described above. For example, it is contemplated that certain aspects of the articulation latch mechanism and release mechanism may be incorporated into a stapling system including a manual or powered staple deployment means. Furthermore, it is contemplated that certain aspects of the articulation latch mechanism and release mechanism may be incorporated into a stapling system including a manually selectable articulation mechanism. Thus, the scope of the invention disclosed herein is not to be limited by the specifically disclosed embodiments described above, but should be determined only by a fair reading of the following claims.

Claims

1. A surgical instrument comprising: an elongate shaft having a proximal end and a distal end and defining a longitudinal axis between said proximal end and said distal end; a jaw assembly positioned at the distal end of the elongate shaft, the jaw assembly defining a jaw axis; an articulation joint connecting the elongate shaft to the jaw assembly, the articulation joint having an unlatched configuration in which the jaw assembly is pivotable relative to the elongate shaft when an external force is applied to the jaw assembly, and a latched configuration in which the jaw assembly is rotationally fixed relative to the elongate shaft, the articulation joint comprising: a pivot pin pivotally coupling the jaw assembly to the elongated shaft, the pivot pin having a wedge-shaped profile defined by a first substantially flat face on a lateral edge of the wedge-shaped profile and a second substantially flat face opposite the first substantially flat face; an alignment spring straddling the wedge-shaped profile of the pivot pin, the alignment spring biasing the jaw assembly to align the jaw axis with the longitudinal axis, the alignment spring having a first leg abutting the first substantially flat face and a second leg abutting the second substantially flat face. Surgical instruments.

2. The articulated joint comprises: a support member having a plurality of latch recesses; 2. The surgical instrument of claim 1, further comprising: a latch member slidable longitudinally relative to the longitudinal axis, the latch member slidable between a distal position in which the articulating joint is in the unlatched configuration and a proximal position in which the latch member engages one of the plurality of latch recesses to cause the articulating joint to be in the latched configuration.

3. The surgical instrument of claim 2 , wherein the plurality of latch recesses comprises five latch recesses.

4. 4. The surgical instrument of claim 3, wherein said five latch recesses define one aligned position in which said jaw axes are aligned with said longitudinal axis and four articulated positions in which said jaw axes are transverse to said longitudinal axis.

5. The surgical instrument of claim 2 , wherein each latch recess of the plurality of latch recesses has a tapered lead-in portion.

6. The support member is a central pivot hole; a first support link pivot laterally offset from the central pivot hole; 3. The surgical instrument of claim 2, further comprising a second support link pivot opposite said first support link pivot and offset laterally from said central pivot hole.

7. The articulated joint comprises: a first support link extending proximally into the elongate shaft from the first support link pivot; The surgical instrument of claim 6, further comprising a second support link extending proximally into the elongate shaft from the second support link pivot.

8. The surgical instrument of claim 7 , wherein the first support link and the second support link define a channel therebetween.

9. The surgical instrument of claim 7 , wherein the first support link and the second support link rotate relative to the support member when the jaw assembly rotates relative to the elongate shaft.

10. 8. The surgical instrument of claim 7, wherein the first support link and the second support link each have a curved first end pivotally coupled to a corresponding one of the first support link pivot and the second support link pivot.

11. 7. The surgical instrument of claim 6, wherein the support member further includes a first radiused sidewall surface and a second radiused sidewall surface, and the first and second support link pivots are each located on the radiused sidewall surfaces.

12. 2. The surgical instrument of claim 1, wherein when the jaw assembly is misaligned with the elongated shaft, one leg of the spring engages the corresponding substantially flat face of the pivot pin to bias the jaw assembly toward an aligned configuration.

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