Surgical instruments

Abstract

To provide a variety of improvements over conventional forceps and other medical devices having a handpiece including an actuation system for controlling an end effector.SOLUTION: Surgical forceps can include a drive pin, an outer tube, a first jaw, a second jaw, and an inner tube. The outer tube can define a longitudinal axis. The first jaw can be pivotably connected to the outer tube. The first jaw can include a pair of flanges located at a proximal portion of the first jaw, where each flange can include a track receiving the drive pin. The inner tube can be located within the outer tube and can extend along the longitudinal axis. The inner tube can include a pair of arms extending from a distal portion of the inner tube. The drive pin can be secured to the pair of arms. The inner tube can be translatable within the outer tube to drive the drive pin along the tracks to move the second jaw between open and closed positions.SELECTED DRAWING: Figure 1A

Description

Technical Field

[0006] ,

[0001] (Priority Claim) This application claims the priority of U.S. Patent Application No. 62 / 826,532, entitled "BLADE ASSEMBLY FOR FORCEPS", filed on March 29, 2019, the disclosure of which is incorporated herein by reference in its entirety.

[0002] This application also claims the priority of U.S. Patent Application No. 62 / 826,522, entitled "SLIDER ASSEMBLY FOR FORCEPS", filed on March 29, 2019, the disclosure of which is incorporated herein by reference in its entirety.

[0003] This application also claims the priority of U.S. Patent Application No. 62 / 841,476, entitled "FORCEPS WITH CAMMING JAWS", filed on May 1, 2019, the disclosure of which is incorporated herein by reference in its entirety.

[0004] This application also claims the priority of U.S. Patent Application No. 62 / 994,220, entitled "FORCEPS DEVICES AND METHODS", filed on March 24, 2020, the disclosure of which is incorporated herein by reference in its entirety.

[0005] This document generally relates to systems and methods for operating an end effector of a medical device, without limitation. In particular, the systems and methods can be used with forceps having operative jaws and / or blades.

Background Art

[0006] Medical devices for diagnosis and treatment, including but not limited to forceps, are used in medical procedures such as laparoscopy and open surgery. Forceps can be used to manipulate, engage, grasp, or otherwise affect anatomical features, such as blood vessels or other tissues. Such medical devices may include an end effector, which is one or more of the following: rotatable, openable, closeable, extendable, retractable, and capable of supplying input such as electromagnetic energy or ultrasound.

[0007] For example, jaws located at the distal end of forceps are typically actuated via elements of the forceps' handpiece to open and close the jaws, thereby engaging a blood vessel or other tissue. Forceps may also include extendable and retractable blades, such as a blade that can be extended distally between a pair of jaws.

[0008] An improved medical device, including forceps, is needed. Embodiments described herein provide various improvements over conventional forceps and other medical devices having a handpiece that controls an end effector, including an actuation system. [Prior art documents] [Patent Documents]

[0009] [Patent Document 1] U.S. Patent Application Publication No. 2014 / 276803 [Overview of the project] [Means for solving the problem]

[0010] In the drawings, they are not necessarily drawn to scale, and similar numbers may describe similar components in different drawings. Similar numbers with different letter suffixes may represent different examples of similar components. These drawings generally illustrate the various embodiments discussed in this document as examples, not limitations. [Brief explanation of the drawing]

[0011] [Figure 1A] This shows a side view of the forceps, representing the jaws in the open position. [Figure 1B] Figure 1A shows a side view of the forceps with the jaws in the closed position. [Figure 2] Figure 1A shows an exploded view of some of the components of the forceps. [Figure 3A] Figure 1A shows a first partial cross-sectional view of a portion of the forceps. [Figure 3B] Figure 1A shows a second partial cross-sectional view of a portion of the forceps. [Figure 3C] Figure 1A shows a magnified, exploded view of a portion of the forceps. [Figure 3D] Figure 3A shows a third partial cross-sectional view of the forceps, representing the drive shaft motion transmission element in a rotating position. [Figure 3E] Figure 3A shows a fourth partial cross-sectional view of the forceps, representing the drive shaft motion transmission element at the rotational position shown in Figure 3D. [Figure 4A] Figure 1A shows a partial cross-sectional view of the forceps, representing the lever in a distal position (e.g., a non-operating position). [Figure 4B] Figure 1A shows a partial cross-sectional view of the forceps, representing the lever moved in the proximal direction (for example, to the operating position). [Figure 4C] Figure 1A shows a partial cross-sectional view of the forceps, illustrating the lever's movement in a more proximal direction (e.g., force-limited state, overtravel position). [Figure 5A] Figure 1A shows an exploded view of a portion of the forceps, including the drive shaft motion transmission assembly, which includes the drive shaft motion transmission body, clip, drive shaft, and spring. [Figure 5B] Figure 5A shows an isometric view of the drive shaft motion transmission unit in its assembled state. [Figure 5C] Figure 5A shows an isometric view of the drive shaft motion transmission assembly in its assembled state (compressed and with the spring in the preloaded position). [Figure 6A]Figure 5A shows a partial exploded view of a drive shaft motion transmission assembly representing a drive shaft motion transmission body assembled on a drive shaft. [Figure 6B] Figure 5A shows an isometric view of the drive shaft motion transmission assembly in a partially assembled state, with the spring represented in cross-section. [Figure 6C] Figure 5A shows an isometric view of the drive shaft motion transmission assembly, with the spring represented in cross-section. [Figure 7A] Figure 9A shows an isometric view of a second example of a drive shaft motion transmission assembly that can be used with the pliers of Figure 1A. [Figure 7B] Figure 7A shows an exploded view of a second example of a drive shaft motion transmission assembly. [Figure 8A] Figure 15A shows an isometric view of a third example of a drive shaft motion transmission assembly that can be used with the pliers of Figure 1A. [Figure 8B] Figure 8A shows an exploded view of a third example of a drive shaft motion transmission assembly. [Figure 9A] Figure 21A shows an isometric view of a fourth example of a drive shaft motion transmission assembly that can be used with the pliers of Figure 1A. [Figure 9B] Figure 9A shows an exploded view of a fourth example of a drive shaft motion transmission assembly. [Figure 10A] Figure 27A shows a side view of a portion of the pliers of Figure 1A, with the rotary actuator represented in phantom. [Figure 10B] Figure 30A is a cross-sectional view of the rotary actuator and the outer hub shown in Figure 10A along line 10B - 10B', with the rotary actuator represented by a solid line. [Figure 11A] Figure 33A shows a side view of a portion of the pliers of Figure 1A, with the outer hub represented in phantom. [Figure 11B] Figure 36A is a cross-sectional view of the outer hub and the drive body shown in Figure 11A along line 11B - 11B', with the outer hub represented by a solid line. [Figure 12]A partial cross-sectional view of another example of a drive shaft motion transmission body, which includes an anchor portion with an anti-rotation key and an outer hub with a rotation keying slot, is shown. [Figure 13A] Figure 1A shows a side view of a portion of the forceps, with the lever in a non-operational position (e.g., retracted). [Figure 13B] Figure 1A shows a side view of the forceps, with the lever in the operating position. [Figure 13C] Figure 1A shows a side view of the forceps, with the lever in a force-limiting position (e.g., overtravel position). [Figure 14A] Figure 1A shows a side view of the drive link of the forceps. [Figure 14B] Figure 1A shows a proximal isometric view of the forceps drive link. [Figure 14C] Figure 1A shows a distal isometric view of the forceps drive link. [Figure 15A] Figure 1A shows a side view of a portion of the forceps, with the first lever in the operating position and the trigger in the non-operating position. [Figure 15B] Figure 1A shows a side view of a portion of the forceps, with the first lever in the operating position and the second actuator in the non-operating position. [Figure 16A] Figure 15A shows a cross-sectional view of a portion of the forceps in Figure 1A along the line 16A-16A', with the trigger in the non-operational position in Figure 15A. [Figure 16B] Figure 15B shows a cross-sectional view of the forceps portion of Figure 1A along the line 16B-16B', with the trigger in the operating position shown in Figure 15B. [Figure 17A] Figure 1A shows a side view of the forceps subassembly held by hand during assembly, with some parts shown as phantoms. [Figure 17B] Figure 17A shows a side view of the subassembly inserted into the first housing section, with some parts shown as phantoms. [Figure 17C] Figure 17B shows a side view of the subassembly and housing, represented by solid lines. [Figure 17D] Figure 17C shows a proximal isometric view of the subassembly and housing. [Figure 18] This shows how to assemble a medical device, such as the forceps shown in Figure 1A. [Figure 19A] Figure 1A shows the distal end of forceps 1000, including the wire harness routing. [Figure 19B] Figure 19A shows a portion of the forceps 1000 from Figure 1A, including the wire harness routing. [Figure 20A] This shows an isometric view of a portion of the forceps in the closed position. [Figure 20B] This shows an isometric view of a portion of the forceps in a partially open position. [Figure 20C] This shows an isometric view of a portion of the forceps in the open position. [Figure 21] This shows a side view of a portion of the forceps in the open position. [Figure 22] This shows a top view of a portion of the forceps in the open position. [Figure 23] An isometric view of a portion of the forceps is shown. [Figure 24] This shows a side view of a portion of the forceps in the open position. [Figure 25] A lateral isometric view of a portion of the forceps is shown. [Figure 26A] The inner and outer shafts are shown as phantoms, and a side view of a portion of the forceps is shown with the blades retracted. [Figure 26B] A side view of a portion of the forceps is shown, with the inner and outer shafts represented as phantoms and the blades extended. [Figure 27] The inner and outer shafts are shown as phantoms, and an isometric view of a portion of the forceps with the jaws removed is shown. [Figure 28] This image shows an isometric view of a portion of the forceps, with the inner and outer shafts indicated by phantoms. [Figure 29A] This image shows an isometric view of a portion of the forceps, with the inner and outer shafts indicated by phantoms. [Figure 29B] This image shows an isometric view of a portion of the forceps, with the inner and outer shafts indicated by phantoms. [Figure 29C]This image shows an isometric view of a portion of the forceps, with the inner and outer shafts indicated by phantoms. [Figure 30A] This shows an isometric view of a portion of forceps with the inner shaft in the extended position. [Figure 30B] This shows an isometric view of a portion of forceps with the inner shaft in the retracted position. [Figure 30C] This shows an end view of the guide plug for forceps. [Figure 31A] This shows an end view of the guide plug for forceps. [Figure 31B] This shows an end view of the guide plug for forceps. [Figure 31C] This shows an end view of the guide plug for forceps. [Figure 32A] A side view of a portion of the forceps is shown. [Figure 32B] A perspective view of a portion of the forceps is shown. [Figure 33A] A side view of a portion of the forceps is shown. [Figure 33B] A partial oblique view of the forceps is shown. [Figure 34A] A side view of a portion of the forceps is shown. [Figure 34B] A perspective view of a portion of the forceps is shown. [Figure 35A] A side view of a portion of the forceps is shown. [Figure 35B] A side view of a portion of the forceps is shown. [Figure 35C] A side view of a portion of the forceps is shown. [Figure 36A] A side view of a portion of the forceps is shown. [Figure 36B] A side view of a portion of the forceps is shown. [Figure 36C] A side view of a portion of the forceps is shown. [Figure 37A] A side view of the forceps is shown. [Figure 37B] A side view of the forceps is shown. [Figure 38] A side view of a portion of the forceps is shown. [Figure 39A] A side view of a portion of the forceps is shown. [Figure 39B] A side view of a portion of the forceps is shown. [Figure 39C] A side view of a portion of the forceps is shown. [Figure 40A] A side view of Joe is shown. [Figure 40B] A side view of Joe is shown. [Figure 40C] The end view of the jaw is shown. [Figure 40D] Joe's isometric projection is shown. [Figure 41A] Joe's isometric projection is shown. [Figure 41B] A side view of Joe is shown. [Figure 41C] A side view of Joe is shown. [Figure 41D] The end view of the jaw is shown. [Figure 42] A side view of a portion of the forceps is shown, with the inner and outer shafts indicated by phantoms. [Figure 43] A side view of a portion of the forceps is shown, with the inner and outer shafts indicated by phantoms. [Figure 44] A side view of a portion of the forceps is shown, with the inner and outer shafts indicated by phantoms. [Figure 45] Figure 42 shows a cross-sectional view of a portion of the forceps crossing section C1-C1. [Figure 46] Figure 42 shows a cross-sectional view of a portion of the forceps crossing section C2-C2. [Figure 47] A side view of a portion of the forceps is shown, with the inner and outer shafts indicated by phantoms. [Figure 48] Figure 42 shows a cross-sectional view of a portion of the forceps, spanning section 45-45. [Figure 49] Figure 42 shows a cross-sectional view of a portion of the forceps, spanning section 46-46. [Figure 50] A lateral isometric view of a portion of the forceps is shown. [Figure 51A] An isometric view of a portion of the end face of the forceps is shown. [Figure 51B] An isometric view of a portion of the end face of the forceps is shown. [Figure 52A] The end faces of the guide tube and blade shaft are shown in isometric views. [Figure 52B] The end view of the guide tube is shown. [Figure 53] Here is a diagram of Joe's disassembled body. [Modes for carrying out the invention]

[0012] A medical device including a handpiece for operating an end effector allows a surgeon to control the end effector of the device to activate one or more functions of the end effector. The operation of the end effector can be facilitated by one or more actuation systems of the handpiece, which can control the movement of the end effector by retracting, extending, or rotating one or more shafts.

[0013] The inventors have recognized that, in particular, they can improve upon conventional medical devices that include a handpiece for operating an end effector by reducing packaging space, simplifying design and manufacturing, improving user experience, increasing stability, and preventing damage to the forceps.

[0014] This disclosure relates generally to medical devices such as surgical instruments. While this application is described with reference to forceps, other end effectors may be used with and operated by the handpieces described herein. In addition, other handpieces may be connected to and controlled by the end effectors described herein. This disclosure includes examples of handpieces including one or more actuation systems, examples of end effectors, and examples in which the disclosed actuation systems and end effectors may be used together in medical devices.

[0015] The forceps may include medical forceps, cutting forceps, electrosurgical forceps, or any other type of forceps. The forceps may include an end effector that is controlled by a handpiece including an actuation system to be rotatable, openable, closeable, extendable, and capable of supplying electromagnetic energy or ultrasound. For example, jaws located at the distal end of the forceps may be actuated via one or more actuators on the forceps handpiece to open and close the jaws, rotate them to engage with blood vessels or other tissues. The forceps may also include an extendable and retractable blade, for example, a blade that extends distally between a pair of jaws to separate a first tissue from a second tissue.

[0016] Figure 1A shows a side view of the forceps 1000 with the jaws 1012 in the open position. Figure 1B shows a side view of the forceps 1000 with the jaws 1012 in the closed position. Figure 2 shows an exploded view of some components of the forceps 1000 in Figure 1A. Figures 1A, 1B, and 2 are shown together. Directional descriptors such as proximal and distal are used within the scope of their usual meanings in the art. The proximal direction P and distal direction D are shown on the axes supplied in Figures 1A and 2. Figure 2 also shows the transverse directions L and L' and the upward direction T and downward direction B, which are defined when the forceps 1000 is held horizontally in an upright orientation with respect to the ground G, as shown in Figure 1A. The opposite of the transverse directions L and L' is the central direction, in other words, the central direction is toward the centerline, or the longitudinal axis of the forceps 1000 (Figure 1B).

[0017] An exemplary forceps 1000 may include a handpiece 1001 at its proximal end and an end effector 1002 at its distal end. An intermediate section 1006 extends between the handpiece 1001 and the end effector 1002, operably coupling the handpiece 1001 to the end effector 1002. Various movements of the end effector 1002 may be controlled by one or more actuation systems of the handpiece 1001. In an exemplary example, the end effector 1002 may include jaws 1012 that can be opened and closed. The end effector 1002 may rotate along the longitudinal axis A1 of the forceps 1000 (Figure 1B). The end effector 1002 may include a cutting blade 1032A (Figure 2) and electrodes for applying electromagnetic energy. Not all actuation system functions and all end effector movements are required in all examples. The functions described herein may be provided in any combination.

[0018] An overview of the features of the forceps 1000 is provided in Figures 1A, 1B, 2, 3A-3E, and 4A-4C. Further detailed diagrams of an exemplary motion transmission assembly are provided in Figures 5A, 5B, 6A, 6B, 7A, 7B, 8A, and 8B. The shown motion transmission assembly transmits forces received from the user via clamp and rotation actuators (e.g., lever 1024 and rotation actuator 1030) to the jaws 1012 of the forceps 1000, thereby operating the clamping and rotation of the jaws 1012.

[0019] As broadly shown in Figures 1 and 1B, along with the support in Figure 2, the forceps 1000 may include jaws 1012, housing 1014, lever 1024, drive shaft 1026, outer shaft 1028, rotary actuator 1030, blade assembly (blade shaft 1032 and blade 1032A in Figure 2), trigger 1034, and actuation button 1036. In this example, the end effector 1002, or a portion of the end effector 1002, may be one or more of opening, closing, rotating, extending, retracting, and being electromagnetically energized (e.g., electrically energized). In some examples, the energy may be high-frequency energy.

[0020] To operate the end effector 1002, the user can displace the lever 1024 proximal by applying a force F1 (Figure 1B) to drive the jaws 1012 from the open position (Figure 1A) to the closed position (Figure 1B). In the example of the forceps 1000, by moving the jaws 1012 from the open position to the closed position, the user can clamp and compress tissue. The handpiece 1001 may also allow the user to rotate the end effector 1002. For example, rotating the rotary actuator 1030 rotates the end effector 1002 by rotating both the drive shaft 1026 and the outer shaft 1028 together.

[0021] In some cases, with tissue compressed between the jaws 1012, the user may press the activation button 1036 to generate electromagnetic energy, or in some cases ultrasound, to an end effector 1002 such as an electrode. The application of electromagnetic energy can be used to seal or otherwise affect the clamped tissue. In some cases, the electromagnetic energy may cause the tissue to coagulate, cauterize, seal, excise, dry, or cause controlled necrosis. While examples of electrodes are described herein, electromagnetic energy can be applied to any suitable electrode.

[0022] The handpiece 1001 allows the user to extend and retract a blade 1032A attached to the distal end of a blade shaft 1032 (Figure 2). The blade 1032A can be extended by displacing a trigger 1034 proximal. The blade 1032A can be retracted by allowing the trigger 1034 to return distally to its default position. The default position of the trigger 1034 is shown in Figure 1A. In some examples, as described herein, the handpiece 1001 may include a feature that prevents the blade 1032A from being extended until the jaws 1012 are at least partially closed or completely closed.

[0023] The forceps 1000 can be used to perform treatments on a patient, such as surgical procedures. In one example, the distal portion of the forceps 1000, including the jaws 1012, can be inserted into the patient's body, for example, through an incision or another anatomical feature of the patient's body. The proximal portion of the forceps 1000, including the housing 1014, remains outside the incision or another anatomical feature of the body. By operating the lever 1024, the jaws 1012 are clamped to the tissue. The rotary actuator 1030 is rotated via user input, and the jaws 1012 can be rotated and manipulated at any time during the procedure. By operating the actuation button 1036, electrical energy can be supplied to the jaws 1012 to coagulate, cauterize, or seal the tissue within the closed jaws 1012. By moving the trigger 1034, the blade 1032A can be translated distally to cut the tissue within the jaws 1012.

[0024] In some examples, the forceps 1000 or another medical device may not include all the features described, or may include additional features and functions, and the operation may be performed in any order. The handpiece 1001 may be used with various other end effectors to perform different methods.

[0025] As shown in the combination of Figures 1A, 1B, and 2, the forceps 1000 may include various components, for example, a first housing portion 1016 and a second housing portion 1018. As shown in Figure 2, the first housing portion 1016 and the second housing portion 1018 may be fitted together by a coupling joint 1017. The housing 1014 may include, or be coupled to, handle portions 1020A and 1020B, such as a fixed handle configured to be held in the user's hand during use.

[0026] The housing 1014 may be a frame that provides structural support between the components of the forceps 1000. The housing 1014 is shown as housing at least a portion of the actuation system that actsuates the end effector 1002 in relation to the handpiece 1001. However, some or all of the actuation components do not necessarily have to be housed within the housing 1014. The components described herein may be completely housed within the housing 1014 through all or part of the operating range of the components of the actuation system, or partially housed through all or part of the operating range of the components of the actuation system, or may be completely outside the housing 1014 during all or part of the operating range of the components of the actuation system related to the handpiece 1001. In some examples, the housing 1014 has a rigid structure for mounting the components, but the housing 1014 does not necessarily completely house the components, or houses only a portion of some of the components.

[0027] Referring again to Figures 1A, 1B, and 2, the drive shaft 1026 may extend distally through the housing 1014, from or beyond the distal end of the housing 1014. The jaws 1012 may be connected to the distal end of the drive shaft 1026. The outer shaft 1028 may be a hollow tube positioned around the drive shaft 1026. The distal end of the outer shaft 1028 may be positioned adjacent to the jaws 1012, and the jaws 1012 may be connected to the outer shaft 1028. The distal ends of the drive shaft 1026 and the outer shaft 1028 may be rotationally locked (e.g., constrained to rotation) to the jaws 1012. The rotary actuator 1030 may be positioned around the distal end of the housing 1014. In exemplary examples, the rotary actuator 1030 is indirectly connected to the proximal end of the outer shaft 1028 by the outer hub 1060, but in some examples, the rotary actuator 1030 may be directly connected to the proximal end of the outer shaft 1028 or may integrally include the features of the outer hub 1060. In some examples, the various rotational constraints described herein may be used independently. In other words, in some examples, a single rotational constraint may be used between the rotary actuator 1030 and the jaw 1012, while in other examples, the rotational constraint may include multiple rotational constraints at different positions along the longitudinal axis A1, for example, a first rotational constraint proximal to or within the handpiece 1001, and a second rotational constraint distal to the handpiece 1001 and proximal to the end effector 1002, which will be further described in various examples herein.

[0028] The outer shaft 1028 may extend distally beyond the rotary actuator 1030. The blade shaft 1032 may extend through the drive shaft 1026 and the outer shaft 1028. The distal end of the blade shaft 1032, including the blade 1032A, may be located adjacent to the jaw 1012. The proximal end of the blade shaft 1032 may be located within the housing 1014.

[0029] The proximal portion 1034A (Figure 2) of the trigger 1034 can be connected to the blade shaft 1032 within the housing 1014. The distal portion 1034B (Figure 2) of the trigger 1034 can extend adjacent to the outside of the housing 1014 and, in some examples, nest with the lever 1024 in the default or non-operating position shown in Figure 1A. An actuation button 1036 may be coupled to the housing 1014. The actuation button 1036 can actuate electronic circuits within the housing 1014, transmitting electromagnetic energy to the jaws 1012 via the forceps 1000. When the user presses the actuation button 1036, the actuation button 1036 may move relative to the housing 1014. For example, when the actuation button 1036 is pressed, an electrical switch on a flexible printed circuit board fixed to the housing 1014 may be closed. Wiring and electrical components such as dome switches can be actuated by the actuation button 1036, further shown in Figure 19. In some examples, the actuation button 1036 or electronic circuit may be located outside the housing 1014, but may be operably coupled to the housing 1014 and the end effector 1002. In some examples, the actuation of the forceps 1000 may be achieved by a switch operated by the foot or knee.

[0030] As shown in the exploded view of a portion of the forceps 1000 in Figure 2, the forceps 1000 comprises a handpiece 1001 having components for the operating system, an end effector 1002, an intermediate section 1006, jaws 1012, a housing 1014 (including a first housing section 1016, a second housing section 1018, handle sections 1020A and 1020B, a stabilizing flange 1021, and a recess or opening 1021A), a handle locking mechanism 1022, a lever 1024, a drive shaft 1026 (including a first horizontal slot 1069A and a second horizontal slot 1069B, an outer shaft 1028, a rotary actuator 1030, and a blade shaft 103 2. May include a blade 1032A, a trigger 1034, and an actuation button 1036), a first pin 1038, a lever return spring 1040, a coupling link 1042, a second pin 1044, a drive link 1046, a third pin 1048, a fourth pin 1050, a drive shaft motion transmitter 1052 (hereinafter, drive body 1052 or slider block), a force limiting spring 1054, a clip 1056, an O-ring 1058, an outer hub 1060, a nose 1062, a spool 1064 (e.g., a cutting block or a second drive shaft motion transmitter), a cross pin 1066 (e.g., a blade pin), and a trigger return spring 1068. The handle lock mechanism 1022 may be of the type described in U.S. Patent Application No. 15 / 941,205, filed March 30, 2018, entitled "Forceps Including a Pre-loaded Handle Latch," for example, and its disclosure is incorporated in its entirety by reference. Furthermore, the components constituting the actuation system may be of the type described in U.S. Patent Application No. 15 / 839,218, filed December 12, 2017, entitled "Laparoscopic Forceps Assembly with An Operable Mechanism," for example, and its disclosure is incorporated in its entirety by reference.

[0031] As a general overview of the component interactions of the handpiece 1001 of the forceps 1000, the forceps 1000 may include a drive body 1052 which is constrained to the drive shaft 1026 and transmits motion to the drive shaft 1026, thereby operating the jaws 1012. However, in a force-limited state (e.g., position), the drive body 1052 may be slidable relative to the drive shaft 1026. Thus, the forceps 1000 may be configured to limit the force acting on the jaws 1012 and protect the jaws 1012 from damage when the lever 1024 is closed with the jaws 1012 stuck in the open or partially open position. An example of jaws 1012 stuck in such a position is shown in Figure 13C.

[0032] As further shown and described elsewhere in this specification and this disclosure, the drive body 1052, together with the clip 1056, can lock the drive shaft 1026 to the rotary actuator 1030, so that the drive shaft 1026 and the outer shaft 1028 are rotationally locked together (e.g., rotationally constrained) at the proximal portions of the drive shaft 1026 and the outer shaft 1028 that are close to the rotary actuator 1030. Furthermore, the forceps 1000 may include a trigger 1034, a spool 1064 located proximal to the drive body 1052 and connected to the trigger 1034, and a trigger return spring 1068 positioned between the drive body 1052 and the spool 1064 to bias the blade shaft 1032, which has the blade 1032A, in the proximal direction, but allowing the blade 1032A to move distally to perform cutting, while simultaneously improving the design of the forceps.

[0033] Figures 3A, 3B, 3C, 3D, and 3E focus on the clamping and rotating modes of the forceps and are illustrated with the support of Figures 1A, 1B, and 2. Many of these components are introduced here but are shown and explained in more detail in other figures of this specification. Some components related to the cutting function of the forceps in Figure 1A are not present in Figures 3A, 3B, and 3C, providing visibility of other components. On the other hand, Figures 3A, 3B, 3C, 3D, and 3E show the components that constitute the operating system of the handpiece 1001, and the functions and interrelationships of these components are explained throughout this disclosure.

[0034] Figure 3A shows a first partial cross-sectional view of a portion of the forceps 1000 from Figures 1A, 1B, and 2, according to at least one example. The lever 1024, drive shaft 1026, drive body 1052, force limiting spring 1054, clip 1056, O-ring 1058, and outer shaft 1028 are not shown in the cross-section. Figure 3B shows a second partial cross-sectional view of a portion of the forceps 1000, according to at least one example. The drive shaft 1026 and outer shaft 1028 are not shown in the cross-section. Figure 3C shows an enlarged exploded view of a portion of the forceps 1000 from Figure 1A, according to at least one example. Figure 3D shows a third partial cross-sectional view of the forceps 1000 from Figure 3A, according to at least one example, where the drive body 1052 is shown in a rotated position. The drive body 1052, force limiting spring 1054, O-ring 1058, and outer shaft 1028 are not shown in cross-section. Figure 3E shows a fourth partial cross-sectional view of the forceps 1000 of Figure 3A, according to at least one example, where the drive body 1052 is shown in the rotational position of Figure 3D. The outer shaft 1028 is not shown in cross-section.

[0035] Figures 3A, 3B, 3C, 3D, and 3E describe the components, along with most of the components shown in the exploded view of Figure 3C, and include the housing 1014 (including the first housing portion 1016, the handle portion 1020A, and the stabilizing flange 1021), the lever 1024, the first pin 1038, the drive shaft 1026, the lever return spring 1040, the coupling link 1042 which may be located in the lever recess 1025, the second pin 1044, the drive link 1046, the third pin 1048, the fourth pin 1050, the drive motion transmission assembly 1051, the drive body 1052, the force limiting spring 1054, the clip 1056, the O-ring 1058, the outer shaft 1028, the outer hub 1060, the sleeve 1061, the rotary actuator 1030, and the nose 1062. The drive shaft 1026 includes a first horizontal slot 1069A, a second horizontal slot 1069B, a first vertical slot 1070A, and a second vertical slot 1070B, which may be openings extending through the drive shaft 1026, or recesses or deformations of the drive shaft 1026. The drive body 1052 (which is shown in more detail in other drawings of this specification) may include a body portion 1072, an anchor portion 1074 (including a distal spring seat 1076 and a rotary keying slot 1078), a cylindrical portion 1080, a window portion 1082 (including a first window 1084A and a second window 1084B, see Figure 3C), a neck portion 1086, a collar 1088 (such as a proximal collar 1088 including a drive surface 1090A and a second distal spring seat 1091, see Figures 3B and 3C, and Figure 5A for an enlarged view), and a passage 1092 (e.g., a channel, bore, recess, or opening extending through it). The sleeve 1061 may include a flange 1094. In some examples, such as when the sleeve 1061 is omitted, the outer shaft 1028 may include a flange 1094. The outer hub 1060 may include a groove 1096, an inner surface 1098, and an anti-rotation key 1100 (Figures 3D and 3E).

[0036] The first and second horizontal slots 1069A and 1069B can extend longitudinally along the drive shaft 1026, in an axial direction parallel to the longitudinal axis A1 (Figure 1B). In other words, the first and second horizontal slots 1069A and 1069B can be described as extending horizontally when the drive shaft 1026 is held horizontally. In some examples, the first and second vertical slots 1070A may extend along or within a plane perpendicular to the longitudinal axis A1.

[0037] The drive shaft 1026 may include a first vertical slot 1070A on a first side and a second vertical slot 1070B on a second side (as shown and described in Figures 3B, 3C, and further in Figures 5A-5C and 6A-6C). The vertical slots 1070A and 1070B may be perpendicular to the longitudinal axis A1 of the drive shaft 1026 (Figure 1B). The first vertical slot 1070A and the second vertical slot 1070B may extend from the outer surface of the drive shaft 1026 into the drive shaft 1026. The first vertical slot 1070A and the second vertical slot 1070B may be sized to receive a clip 1056. In some examples, the clip 1056 may be raised so that it can be received by the drive shaft 1026 without distorting the shape of the clip 1056. In some examples, the drive shaft 1026 may have a single vertical slot 1070A or 1070B. The first and second vertical slots 1070A, 1070B may be provided as openings / openings or as variations with or without openings for the drive shaft 1026.

[0038] As shown in the combination of Figures 3A to 3E, and in the enlarged views of Figures 5A to 5C and Figures 6A to 6C, the drive body 1052 may include a body portion 1072 and an anchor portion 1074 connected to or integrally formed with the distal end of the body portion 1072. The anchor portion 1074 may extend outward from the outer surface of the body portion 1072. Therefore, the anchor portion 1074 may include a distal spring seat 1076 at its proximal end face. The distal spring seat 1076 may be connected to the distal end of the body portion 1072.

[0039] As shown in Figures 3C, 3D, and 3E, and further illustrated in detail in other figures herein, including several features enlarged in Figure 5A, the anchor portion 1074 may include a rotary keying slot 1078. The rotary keying slot 1078 is also shown enlarged in Figure 5A. The rotary keying slot 1078 may be a horizontal slot or a slot extending parallel to the longitudinal axis A1 of the drive shaft 1026 (A1 is shown in Figure 1B). The rotary keying slot 1078 may extend to the side of the body portion 1072. In alternative examples, the drive body 1052 may have any number of rotary keying slots 1078. In some examples, the rotary keying slot 1078 may be any other suitable keying interface known in the art, and not necessarily provided as a slot. The interaction between the rotary keying slot 1078 and the anti-rotation key 1100 of the outer hub 1060 is further described herein. The rotating keying slot 1078 and the anti-rotation key 1100 on the outer hub 1060 can be any type of interface that restricts relative rotation between the drive body 1052 and the outer hub 1060. For example, the rotating keying slot 1078 may be a projection instead of a slot, which is received by the anti-rotation key 1100, which is a slot, recess, or groove on the outer hub 1060, providing a relative anti-rotation function between the drive body 1052 and the outer hub 1060.

[0040] The cylindrical portion 1080 of the drive body 1052 may be connected to the distal end of the anchor portion 1074 or formed integrally with it. The cylindrical portion 1080 may be sized to accommodate the O-ring 1058.

[0041] As shown in the exploded view of Figure 3C and in further detail in other figures herein, the window portion 1082 may include a first window 1084A extending through a first side of the body portion 1072, and a second window 1084B located opposite the first window 1084A and extending through a second side of the body portion 1072. Although described as a window, in some examples the window portion 1082 may be provided as a track, and such a window or track does not necessarily have to be bounded on all sides, and the portion of the window or track does not have to pass through the body portion 1072 completely.

[0042] As shown in Figures 3A, 3B, and 3C, and with some features shown enlarged in Figure 5A, the neck portion 1086 of the drive body 1052 may be connected to the proximal end of the body portion 1072. The neck portion 1086 may have an outer diameter smaller than the outer diameter of the body portion 1072 (e.g., a small diameter face). A collar 1088 may be connected to the proximal end of the neck portion 1086. The collar 1088 may have an outer diameter larger than the outer diameter of the neck portion 1086 and smaller than the inner diameter of the force limiting spring 1054.

[0043] The collar 1088 may include a drive surface 1090A on its distal end face, and a second distal spring seat 1091 may include on the proximal end of the collar 1088 or on the proximal end of the drive body 1052. Thus, the drive surface 1090A may be fixedly connected to or integrally molded with the proximal end of the neck portion 1086. The neck portion 1086 and associated flanges, e.g., the drive surface 1090A and the second distal spring seat 1091, are shown and described as being located or connected to the proximal end of the body portion 1072, but they may be located elsewhere on the drive body 1052, e.g., along the central or distal portion of the drive body 1052, e.g., distal to the distal spring seat 1076.

[0044] The passage 1092 of the drive body 1052 (Figures 3B and 3C) may be molded to receive the drive shaft 1026. The passage 1092 may be a cylindrical or non-cylindrical opening and extends through the cylindrical portion 1080, the anchor portion 1074, the body portion 1072, the window portion 1082, the neck portion 1086, and the collar 1088.

[0045] The drive shaft 1026 can extend through the passage 1092 (Figure 3B) of the drive body 1052, and as a result, the drive body 1052 can be positioned around at least a portion of the drive shaft 1026. The force limiting spring 1054 can be positioned on the body portion 1072 and the window portion 1082 of the drive body 1052. The distal end of the force limiting spring 1054 can contact the distal spring seat 1076. The clip 1056 can be positioned on the window portion 1082 of the drive body 1052 and can be connected to the drive shaft 1026 in the first vertical slot 1070A and the second vertical slot 1070B. Examples of clips and windows are further described herein, for example, in Figures 4A, 4B, 4C, 5A, 5B, 5C, 6A, 6B, 6C, 7A, 7B, 8A, 8B, 9A, and 9B.

[0046] As shown in Figures 3A and 3B, along with the support of several features shown in enlargement in Figures 5A, 5B, 5C, 6A, 6B, and 6C, the proximal end of the force limiting spring 1054 can contact the distal end face of the clip 1056. Thus, the force limiting spring 1054 can be positioned on the drive body 1052 between the distal spring seat 1076 of the anchor portion 1074 and the clip 1056. In this arrangement, the clip 1056 is fixed to the drive shaft 1026, but can move longitudinally relative to the drive body 1052 in and along the window portion 1082 (Figures 4A, 4B, and 4C) when the preload on the force limiting spring 1054 is exceeded by the force applied to the lever 1024. As shown in an enlarged view in Figure 5A, the clip support surface 1081 of the main body portion 1072 can be adjacent to the proximal end of the window portion 1082, and the distal support surface 1083 of the main body portion 1072 can be adjacent to the distal end of the window portion 1082. In some examples, the clip support surface 1081 and the distal support surface 1083 can function as longitudinal stoppers of the clip 1056, allowing preload to be applied to the force limiting spring 1054. In one example, the preload may be in the range of 50 to 150 Newtons. Where possible, and more preferably in examples, to improve the user experience, the preload can be in the range of 70 to 90 Newtons or 135 to 155 Newtons, depending on the design. Unlike conventional clips, the clip 1056 may be configured to support such high preloads in combination with the features of the clip 1056 that connect the clip 1056 to the drive body 1052 and the drive shaft 1026. One of the advantages of such a range, combined with the forceps 1000 design including the design of clip 1056, is that such preload can provide the appropriate sealing pressure of the jaws 1012 to the tissue and does not require an excessive input force F1 to actuate the lever 1024. Furthermore, a single acting jaw can supply approximately twice the sealing pressure to the jaws 1012 compared to a double acting jaw when the same preload is applied to the force limiting spring 1054.

[0047] To drive the jaw 1012 between the open and closed positions shown in Figures 1A and 1B, the lever 1024 is moved proximal or distally, which moves the drive body 1052 proximal or distally. The drive link 1046 may be operably coupled to the housing 1014 and the drive body 1052, and as a result, the drive link 1046 is configured to transmit the force received by the lever 1024 to the linear motion of the drive body 1052 and the drive shaft 1026 relative to the housing 1014. For example, the drive link 1046 may be connected to the drive body 1052 at the neck portion 1086. As shown in Figure 3C, the legs 1046B of the drive link 1046 can be fitted around the neck portion 1086. When the lever 1024 is moved proximal, the drive link 1046 can contact and press against the drive surface 1090A of the collar 1088. The position of the drive surface 1090A is generally shown in the cross-sectional views of Figures 3B and 3C and the enlarged view of Figure 5A. In contrast, when the lever 1024 is moved distally, the drive link 1046 moves distally and can contact and press against the proximal end face 1090B of the body portion 1072 of the drive body 1052, which is also shown in the enlarged view of Figure 5A.

[0048] During surgical procedures, carbon dioxide or other gases may be used for air supply to introduce a pressure difference between the body cavity and the external environment. As shown in Figures 3A–3E, to prevent leakage, an O-ring 1058 can create a seal between the drive shaft 1026 and the outer hub 1060, thereby maintaining a pressure difference between the body cavity where the distal portion of the forceps 1000 is located and the external environment where the proximal portion of the forceps 1000 is placed (e.g., airtight, substantially airtight). In some examples, the O-ring 1058 may be located distally adjacent to the cylindrical portion 1080. Similarly, a sealing function within the drive shaft 1026, which may be a hollow tube, can provide a similar sealing function to prevent air leakage from the body cavity to the external environment where the proximal portion of the forceps 1000 is placed. Such a sealing function may include a guide plug 2530 as shown in Figure 31A.

[0049] The sleeve 1061 or outer shaft 1028 may include a flange 1094 at its proximal end. In the example shown, the sleeve 1061 includes the flange 1094. In some examples, the flange 1094 may be welded to or formed within the sleeve 1061 or outer shaft 1028. The flange 1094 can be fitted into a groove 1096 of the outer hub 1060. The flange 1094 may improve the ability to mount the sleeve 1061 or outer shaft 1028 to the outer hub 1060. For example, the flange 1094 can be fitted into a groove 1096 of the outer hub 1060. The groove 1096 may form a ring on the inner surface 1098 of the outer hub 1060. In some examples, the outer hub 1060 may be molded onto the outer shaft 1028. In other examples, the outer hub 1060 may be overmolded onto the sleeve 1061. In such cases, the groove 1096 is not necessarily required, but the shape of the outer hub 1060 that receives the flange 1094 can be formed by overmolding the outer hub 1060 onto the flange 1094.

[0050] As shown in 3D and Figure 3E, in order to secure the outer hub 1060 to the drive body 1052 in the rotational direction, the anti-rotation key 1100 may include a protrusion extending from the inner surface 1098 of the outer hub 1060 into a channel of the outer hub 1060. For example, the anti-rotation key 1100 may be sized to fit into a rotary keying slot 1078 of the anchor portion 1074. The rotary keying slot 1078 can receive the anti-rotation key 1100, and the anti-rotation key 1100 may be positioned within the rotary keying slot 1078, so that the rotary keying slot 1078 can move linearly or longitudinally along the anti-rotation key 1100. These features are shown in more detail in Figures 11A and 11B.

[0051] Flange 1094 and groove 1096 or other structures can connect and lock the outer shaft 1028 to the outer hub 1060. Rotation prevention key 1100 and rotation keying slot 1078 can connect the outer hub 1060 and the drive body 1052 and lock them in the rotational direction. The drive shaft 1026 can also be locked in the rotational direction to the drive body 1052 by clip 1056. Thus, rotating the rotary actuator 1030 rotates the outer hub 1060, which in turn rotates both the outer shaft 1028 and the drive shaft 1026. The connections between the outer hub 1060, the drive body 1052, and the rotary actuator 1030 are shown and described in more detail with reference to Figures 10A, 10B, 11A, and 11B. Alternative examples of the connections between the outer hub 1060, the drive body 1052, and the rotary actuator 1030 are described with reference to Figure 12.

[0052] As shown in Figure 3C, in order to improve the stabilization of the drive shaft 1026 and to allow either or both rotational and longitudinal motion, the first housing portion 1016 may include a stabilizing flange 1021 having a recess or opening 1021A through which the proximal end of the drive shaft 1026 can extend or pass.

[0053] To provide articulation of the lever 1024, the lever 1024 may be operably coupled to the housing 1014 via a first pin 1038. The lever 1024 may be movable by pivoting motion around the first pin 1038. In this example, the first pin 1038 may be held within the housing 1014. In another example, the first pin 1038 may be held by the lever 1024 or may be part of the lever 1024. As shown in Figure 3A, the lever 1024 may be biased to a default position (Figure 1A) by a lever return spring 1040. In this example, the lever return spring 1040 may be constrained between the housing 1014 and the lever 1024. In some examples, the lever return spring 1040 may be provided as any suitable type of biasing element, for example, a helical spring, elastomer component, elastomer band, or elastomer block arranged to bias the lever to the default position. Such biasing elements can be stretched, for example, by compression, extension, twisting, or bending, and elastically return to their original form, or substantially their original form.

[0054] In general terms, to transmit the input motion (e.g., input force F1) received by lever 1024, the first end of coupling link 1042 may be connected to lever 1024 via a second pin 1044. The second end of coupling link 1042 may be connected to the first end of drive link 1046 via a third pin 1048. Thus, coupling link 1042 can connect lever 1024 to drive link 1046. The second end of drive link 1046 may be connected to housing 1014 via a fourth pin 1050. Drive link 1046 can be formed as a yoke. For example, as shown in Figure 3C, drive link 1046 may include a base 1046A between the first and second ends of drive link 1046. A pair of spaced-apart legs 1046B can extend from the base 1046A of the drive link 1046, so that the ends of the legs 1046B form a second end of the drive link 1046 (see also Figure 14B).

[0055] An exemplary forceps 1000 includes a drive shaft motion transmission assembly 1051 coupled to a housing 1014. The drive shaft motion transmission assembly 1051 may include a drive body 1052 which transmits an input force F1 from the lever 1024 to the drive shaft 1026 to retract or extend the drive shaft 1026 (for example, to open and close the jaws 1012).

[0056] In addition to transmitting the input force F1 from the lever 1024 to the drive shaft 1026, in some examples, and as shown in the exemplary forceps 1000, the drive shaft motion transmission assembly 1051, including the drive body 1052, may also transmit rotational motion from the rotary actuator 1030 through the outer hub 1060 to both the drive shaft 1026 and the outer shaft 1028. However, not all examples of the drive body 1052 require that the drive body 1052 transmit both longitudinal and rotational motion to the drive shaft 1026. In some examples, the drive body 1052 may be configured to transmit either longitudinal or rotational motion to the drive shaft 1026 via the drive body 1052 only. For example, some medical devices may use the extension or retraction feature of the forceps 1000 but not rotation, while conversely, another medical device may use the rotation feature without the extension or retraction feature.

[0057] In an exemplary drive shaft motion transmission assembly 1051, the drive body 1052 may be positioned around the drive shaft 1026. The drive shaft 1026 may extend through a passage 1092 in the drive body 1052 (Figures 3B and 3C). In some examples, the passage 1092 may be formed as a central bore, but in some examples, the passage 1092 does not need to be central and / or provided as a circular bore. In other examples, the passage 1092 may be square, polygonal, irregular, or include notches. In some examples, the passage 1092 may include channels. In some examples, the passage 1092 may not surround the drive shaft 1026.

[0058] The drive body 1052 may be positioned distal to the lever 1024 and coupled to the lever 1024. In this example, the drive body 1052 is indirectly coupled to the lever 1024 via a series of linkages. The drive body 1052 is connected to the lever 1024 via a drive link 1046 and receives an input force F1 from the lever 1024, allowing the drive shaft 1026 to retract or extend relative to the housing 1014 and the outer shaft 1028 (thereby opening and closing the jaw 1012). The drive body 1052 may be positioned within a yoke formed by the drive link 1046 and receive input from the drive link 1046.

[0059] The drive shaft motion transmission assembly 1051 may include a force limiting spring 1054 and a clip 1056. The force limiting spring 1054 may be positioned around the drive body 1052. The clip 1056 may be positioned on the drive body 1052 adjacent to the end of the force limiting spring 1054. The clip 1056 may be fixed to the drive shaft 1026. In some examples, the force limiting spring 1054 may be any suitable type of biasing element, such as an elastomer component, elastomer band, or elastomer block, which can elastically deform and return to its original or substantially original state. In some examples, the clip 1056 may be inserted into the drive shaft 1026 through one or more slots (such as vertical slots 1070A and 1070B). In some examples, the clip may be flat, but in other examples, the clip may be non-planar or have an irregular and non-planar surface.

[0060] In some examples, the drive shaft motion transmission assembly 1051 may include an outer hub 1060 that can be connected to the drive body 1052. The outer hub 1060 may include an inner surface 1098 in which the drive body 1052, the force limiting spring 1054, and the clip 1056 (Figures 3A and 3C) can be translated together in the longitudinal direction.

[0061] The rotary actuator 1030 may be positioned around and connected to the outer hub 1060. The rotary actuator 1030 may be constrained to the outer hub 1060 in the rotational direction and to the outer hub 1060 in the axial direction. The rotary actuator 1030 may also be constrained to the housing 1014 in the axial direction. The nose 1062 may be connected to the distal end of the outer hub 1060, for example, by a snap fit, adhesive, or screw connection. The drive shaft 1026 and outer shaft 1028 may pass through and extend from the nose 1062. In some examples, the rotary actuator 1030 and / or the nose 1062 may be omitted, and the outer hub 1060 functions as the rotary actuator 1030 and / or the nose 1062, receiving rotational input directly from the user. In some examples, instead of the nose 1062 being connected to the distal end of the outer hub 1060, the nose 1062 may be directly connected to the rotary actuator 1030, for example, by a snap-fit, adhesive, or screw connection.

[0062] In the example of Figure 3A, axial retention of the rotary actuator 1030 relative to the housing 1014 may be provided by axially constraining the rotary actuator 1030 between the housing 1014 and the nose 1062. The connection between the first snap-fit ​​connector 1060C on the outer hub 1060 and the second snap-fit ​​connector 1062C on the nose 1062 may constrain the rotary actuator 1030 from moving distally. The first and second snap-fit ​​connectors are shown as examples only, and any type of snap-fit ​​connector or another method may be supplied. In this arrangement, the outer hub 1060 may be axially constrained relative to the housing 1014 by the proximal housing flange 1060A and distal flange 1060B of the outer hub 1060, which may be captured by the surface of the housing 1014 interfaced with the proximal housing flange 1060A and distal flange 1060B. Furthermore, since the nose 1062 is axially constrained with respect to the outer hub 1060, the rotary actuator 1030 can also be axially constrained with respect to the outer hub 1060, the nose 1062, and the housing 1014 by being trapped between the nose 1062 and the housing 1014. In other words, the nose 1062 engages axially with the outer hub 1060 to provide axial retention for both the nose 1062 and the rotary actuator 1030.

[0063] Figure 4A shows a partial cross-sectional view of the forceps 1000 of Figure 1A, with the lever 1024 in a distal position (e.g., non-operating position), according to at least one example. Figure 4B shows a partial cross-sectional view of the forceps 1000 of Figure 1A, with the lever 1024 moved proximal (e.g., operating position, one of several operating positions, or user positions), according to at least one example. Figure 4C shows a partial cross-sectional view of the forceps 1000 of Figure 1A, with the lever 1024 moved further proximal (e.g., further operating position, which in some cases may be the fully operating position, in which case force-limiting or overtravel state), according to at least one example. Note that the force-limiting state is the position of the drive body 1052 and occurs when the force applied to the lever 1024 and transmitted to the drive body 1052 exceeds a predetermined force based on the preload of the force-limiting spring 1054. Force limiting may occur at other operating positions once the predetermined force is exceeded.

[0064] Figures 4A, 4B, and 4C are described together and provide a general illustration of how the drive body 1052, force limiting spring 1054, and clip 1056 can function on the drive shaft 1026 in response to the lever 1024 giving input to the linkage between the lever 1024 and the drive body 1052. The components of the forceps 1000 shown in Figures 4A, 4B, and 4C include a housing 1014 with a stabilizing flange 1021, a lever 1024, a drive shaft 1026, a trigger 1034, a coupling link 1042, a drive link 1046, a drive body 1052, a force limiting spring 1054, a clip 1056, an outer hub 1060, a spool 1064, a cross pin 1066, and a trigger return spring 1068. The drive shaft 1026 may include a first horizontal slot 1069A, a second horizontal slot 1069B, a first vertical slot 1070A, and a second vertical slot 1070B (hidden here but visible in Figure 3C). The drive body 1052 includes a body portion 1072, an anchor portion 1074 (including a distal spring seat 1076), a window portion 1082 (including a first window 1084A and a second window 1084B), a neck portion 1086, and a collar 1088 (including a drive surface 1090A and a second distal spring seat 1091, also shown in Figure 3C and enlarged in Figure 5A). The outer hub 1060 includes an inner surface 1098. The spool 1064 may include a proximal trigger return spring seat 1101. Spool 1064 is shown as an example of a motion transmitter designed to transmit motion received from an actuator to a shaft (e.g., received from trigger 1034 and transmitted to blade shaft 1032). In another example, the motion transmitter in this disclosure does not need to be spool-shaped, for example, spool 1064 does not need to be rotatable.

[0065] As shown in Figure 4A, when the lever 1024 is in the distal position (e.g., the default position, the open position of the jaws 1012), the drive body 1052 is positioned within the channel formed by the inner surface 1098 of the outer hub 1060. The majority of the body portion 1072 of the drive body 1052 is within the channel of the outer hub 1060. The drive shaft 1026 is in the first position relative to the housing 1014 and is not pulled proximal (e.g., the non-operating position, the non-retracted position) by the clip 1056 and is within the opening of the stabilizing flange 1021. As a result, the jaws 1012 are in the open position, as shown in Figure 1A.

[0066] As shown in Figure 4B, when the lever 1024 is moved proximal, the lever 1024 pulls the lower end of the drive link 1046 proximal to the housing 1014 via the coupling link 1042. The drive link 1046 is connected to the drive body 1052 at the neck portion 1086, which pushes the drive surface 1090A of the collar 1088, causing the drive body 1052 to move longitudinally proximal to the housing 1014 (see Figure 5A for an enlarged view of the drive body 1052). As a result, most of the body portion 1072 of the drive body 1052, including the window portion 1082, moves out of the channel of the outer hub 1060. When the drive body 1052 is pulled proximal, the force limiting spring 1054 and clip 1056 move with the drive body 1052 at the same position relative to the drive body 1052.

[0067] In other words, the distal spring seat 1076 drives the force limiting spring 1054, which drives the clip 1056 together with the drive body 1052. If the driving force supplied by the drive link 1046 is less than the preload of the force limiting spring 1054, the force limiting spring 1054 behaves like a rigid body, and its ends move together. Thus, the drive body 1052 moves proximal to the housing 1014, and the clip 1056 moves proximal to the housing 1014. Since the clip 1056 is longitudinally locked to the drive shaft 1026 in the first vertical slot 1070A and the second vertical slot 1070B, the drive shaft 1026 also moves proximal to the housing 1014. When the drive shaft 1026 moves proximal (e.g., backward), the end effector 1002 becomes actuated. In this example, activating the end effector 1002 includes the jaws 1012 beginning to close.

[0068] In other words, in the situation shown in Figure 4B, the lever 1024 may be closed by user input, closing the jaw 1012. The movement of the lever 1024 causes the drive body 1052 to move. Closing the lever 1024 causes the coupling link 1042 to pull the drive link 1046 proximal to the housing 1014, thereby translating the drive body 1052 longitudinally in the proximal direction. As the drive body 1052 moves proximal, the drive shaft 1026 is translated longitudinally in the proximal direction, since the drive body 1052 and the drive shaft 1026 are connected via the clip 1056. As a result of the movement of the drive shaft 1026, the mechanism on the jaw 1012 is activated, closing the jaw 1012. As shown in the illustrative examples, the drive link 1046 drives the drive body 1052 longitudinally, but the drive body 1052 can still rotate freely inside the yoke of the drive link 1046 and rotate relative to the drive link 1046. However, in some examples, the mode of rotation may be omitted.

[0069] In exemplary cases, the jaws 1012 can be rotated at any time during use, whether they are open or closed. For example, the rotation of the rotary actuator 1030 rotates the outer hub 1060, which advantageously transmits rotational motion to rotate the outer shaft 1028 and the drive body 1052. Since the drive body 1052 is locked (e.g., constrained) to the drive shaft 1026 via a clip 1056, the drive shaft 1026 can also rotate together with the outer shaft 1028. Thus, the outer shaft 1028 and the drive shaft 1026 can be locked (e.g., constrained in the rotational direction) together at the proximal end of the forceps 1000, and as further described herein, the outer shaft 1028 and the drive shaft 1026 can also be locked or constrained in the rotational direction together at the distal end of the forceps 1000 (e.g., by guide 2014 shown on forceps 2000 in Figure 20A).

[0070] Furthermore, the first horizontal slot 1069A and the second horizontal slot 1069B of the drive shaft 1026 engage with the cross pin 1066 and rotate as the drive shaft 1026 rotates, causing the blade shaft 1032 and spool 1064 to rotate. Thus, the drive shaft 1026 and the blade assemblies (1032, 1032A) can be rotationally constrained (e.g., fixed together, locked together) at the proximal end of the forceps 1000 via the cross pin 1066 (Figures 2 and 4A). In other words, the blade assemblies (1032, 1032A) can be rotationally constrained to the drive shaft 1026 at a longitudinal position along the longitudinal axis A1 (Figure 1B), which is proximal to the drive body 1052 and proximal to the jaws 1012.

[0071] When operation is complete, the lever return spring 1040 acts on the lever 1024 to return the jaw 1012 to the deactivated state shown in Figure 4A, thereby returning (e.g., biasing) the lever 1024 to its default position (e.g., distal position). Since the lever 1024 is coupled to the drive shaft 1026 by a series of linkages described herein with reference to at least Figures 15A and 15B, the lever return spring 1040 also returns the drive shaft 1026, thereby returning the jaw 1012 to its default position (Figure 15A), which in this example is the open position. As shown in the state in Figure 4C, the jaw 1012 may catch on or become trapped by the patient's anatomical features or another medical device when the lever 1024 is moving proximal. In such a situation, the jaw 1012 may not be able to close completely. However, the drive motion transmission assembly 1051 of the forceps 1000 includes a force-limiting feature that prevents the drive shaft 1026 from retracting to the point where an additional input force F1 from the user is transmitted to the jaws 1012, damaging the jaws 1012. The forceps 1000 may be able to achieve a force-limiting state (e.g., an overtravel state) when the lever 1024 is moved proximal, the jaws 1012 are locked in the open or partially open position, and the user continues to apply force to the lever 1024.

[0072] To prevent damage to the jaws 1012, the force limiting spring 1054 may be configured to absorb the excess force applied to the lever 1024 instead of transmitting the excess force to the jaws. For example, the force limiting spring 1054 may extend from a first end portion to a second end portion and be pre-pressurized between the distal spring seat 1076 and the distal end face 1105 of the clip 1056. The force limiting spring 1054 can push the clip 1056 proximal, so that the clip 1056 contacts and is supported by the clip support surface (e.g., clip support surface 1081, Figure 5A) of the body portion 1072 adjacent to the proximal end of the window portion 1082. The clip support surface (1081, Figure 5A) may function as a proximal stop for the clip 1056. With the force limiting spring 1054 compressed, the distal spring seat 1076 may be configured to receive a first spring force from the distal end portion of the force limiting spring 1054, and the clip 1056 may be configured to receive a second spring force from the proximal end portion of the force limiting spring 1054. The drive body 1052 may include a clip support surface 1081 which is configured to transmit a first force to a second surface of the clip 1056 (e.g., the proximal end surface 1103) when the force limiting spring 1054 drives the clip 1056 against the clip support surface 1081 under a load such as preload.

[0073] Continuing to refer to Figure 4C, in the force limiting example, the lever 1024 is moved by the user to its proximal position, applying force to the drive link 1046 and pulling the lower end of the drive link 1046 further proximal, but the jaws 1012 are prevented from closing further. As a result, the drive link 1046 exerts a greater force on the drive surface 1090A of the collar 1088, causing the drive body 1052 to move further proximal relative to the housing 1014, and the drive body 1052 moves further proximal away from the inner surface 1098 that forms the passage 1098A (Figure 3C) of the outer hub 1060. The outer hub 1060 may be constrained from axial movement relative to the housing 1014 by the proximal housing flange 1060a and distal flange 1060B of the outer hub 1060 being captured by a portion of the housing 1014. As the drive body 1052 moves proximal, the distal spring seat 1076 of the anchor portion 1074 of the drive body 1052 pushes the distal end of the force limiting spring 1054. However, since the jaws 1012 cannot close any further, the drive shaft 1026 cannot move proximal with the drive body 1052. Furthermore, since the clip 1056 is locked to the drive shaft 1026, the clip 1056 cannot move proximal relative to the housing 1014 either. Therefore, the drive body 1052 moves proximal relative to the clip 1056 and the drive shaft 1026 by sliding proximal to the clip 1056 (e.g., linear motion, longitudinal motion, or translational motion).

[0074] The clip 1056, while remaining fixed to the drive shaft 1026, effectively moves distally relative to the drive body 1052 within the first window 1084A and the second window 1084B of the window portion 1082. Thus, the force limiting spring 1054 becomes more compressed between the distal spring seat 1076 and the distal end face of the clip 1056 when the force applied to the drive link 1046 is greater than the preload of the force limiting spring 1054. The user may perceive this force limiting feature as an increase in the force of the lever 1024 due to the additional compression of the force limiting spring 1054 in the preloaded state, although the lever 1024 is still movable but no longer transmits motion to the drive shaft.

[0075] In other words, the lever 1024 can be moved completely to its proximal position, causing the drive body 1052 to move proximal within the housing 1014 until the drive shaft 1026 moves. At the same time, the jaws 1012 can be locked in the open position (e.g., caught on something), preventing the drive shaft 1026 from moving even when the lever 1024 is moved proximal. Since the drive shaft 1026 cannot move proximal within the housing 1014, the clip 1056 cannot move proximal relative to the housing 1014. However, since the clip 1056 can slide within the window portion 1082, the drive body 1052 can move proximal relative to the clip 1056 (e.g., slide, translate), changing the position of the clip 1056 within the window portion 1082. When the drive body 1052 moves relative to the clip 1056, the force limiting spring 1054 compresses and absorbs the force applied to the lever 1024. The ability to prevent the drive shaft 1026 from moving when the jaw 1012 is stuck in an open position prevents damage to the jaw 1012 if the user continues to pull the lever 1024 proximally to close the jaw 1012 without realizing that the jaw 1012 is stuck open.

[0076] In addition to the clamping systems shown and described in Figures 4A, 4B, and 4C, Figures 4A, 4B, and 4C also show components that can be used to operate other systems, such as, but not limited to, cutting systems for operating blade assemblies (e.g., blade shaft 1032, Figure 3C). Additional embodiments of cutting systems are described further throughout this disclosure, in particular in Figures 15A, 15B, 16A, and 16B.

[0077] As illustrated in the exemplary examples of Figures 4A, 4B, and 4C, the spool 1064 may be positioned around the proximal end of the drive shaft 1026, which is located near the drive body 1052, and may be connected to the proximal end of the blade shaft 1032 via a cross pin 1066. Thus, the blade assemblies (1032, 1032A) are mounted to the proximal end of the drive shaft 1026 via a cross pin 1066 extending through a first horizontal slot 1069A and a second horizontal slot 1069B. The spool 1064 may be located within the distal housing 1014 of the stabilizing flange 1021. The spool 1064 may be axially symmetric and longitudinally movable relative to the drive shaft 1026. An alternative example is that, if the drive shaft 1026 and blade shaft 1032 do not need to rotate, the spool 1064 may be a non-spool-shaped body.

[0078] The trigger 1034 may be connected to the spool 1064. The proximal end of the trigger 1034 may include one or more legs, in this example two legs forming a yoke, which may be fitted and connected around the spool 1064. The spool 1064 may rotate relative to the trigger 1034 to rotate the drive shaft 1026. The trigger return spring 1068 may be a helical compression spring positioned on the drive shaft 1026 between the distal end of the spool 1064 and the proximal end of the drive body 1052. The trigger return spring 1068 can be assembled by loading the trigger return spring 1068 onto the drive shaft 1026, then positioning the spool 1064 on the drive shaft 1026 and connecting the trigger 1034 to the blade shaft 1032. In some examples, the trigger return spring 1068 can be any suitable biasing element, such as an elastomer component, elastomer band, or elastomer block that can be stretched and elastically return to its original shape, or substantially to its original shape.

[0079] To facilitate the extension and retraction of the blade shaft 1032, the cross pin 1066 may move within a first horizontal slot 1069A and a second horizontal slot 1069B of the drive shaft 1026. In some examples, the dimensions of the first horizontal slot 1069A and the second horizontal slot 1069B may be such that they act as guide rails for the cross pin 1066 to control the longitudinal reciprocating motion of the spool 1064. In such examples, the spool 1064 may be guided by the drive shaft 1026. The first horizontal slot 1069A may extend to a first side of the drive shaft 1026, and the second horizontal slot 1069B may extend to a second side of the drive shaft 1026 opposite or opposite to the first horizontal slot 1069A. The first horizontal slot 1069A and the second horizontal slot 1069B are located near the proximal end of the drive shaft 1026. Therefore, the cross pin 1066 may extend through the spool 1064, the first horizontal slot 1069A of the drive shaft 1026, the blade shaft 1032, and the second horizontal slot 1069B of the drive shaft 1026. The second arm 1034D is hidden in Figures 4A, 4B, and 4C. The spool 1064 may include a proximal trigger return spring seat 1101 at its distal end. Thus, the trigger return spring 1068 may be located on the drive shaft 1026 between the proximal end of the drive body 1052, or a second distal spring seat 1091, and the distal end of the spool 1064, or the proximal trigger return spring seat 1101. In an alternative example, the second passage 1064A (Figure 2) within the spool 1064 may ride on the drive shaft 1026 and be guided to move longitudinally along the drive shaft 1026.

[0080] The cutting system is further shown and described in Figures 15A, 15B, 16A, and 16B, but in general terms, the cutting system can be operated as follows: By compressing the distal end of the trigger 1034, the proximal end of the trigger 1034 can be moved distally relative to the housing 1014, thereby allowing the spool 1064 to be moved distally. The spool 1064 can press against the proximal end of the trigger return spring 1068. The preload of the trigger return spring 1068 can be overcome, and as a result the trigger return spring 1068 is compressed. The spool 1064, connected to the blade shaft 1032 by a cross pin 1066, can move the blade shaft 1032 distally and longitudinally via the cross pin 1066, which moves along or inside the first horizontal slot 1069A and the second horizontal slot 1069B of the drive shaft 1026, causing the blade 1032A (Figure 2) to protrude from the distal end of the drive shaft 1026. If the trigger 1034 is not compressed, the trigger return spring 1068 can expand, pushing the spool 1064 and the blade shaft 1032 proximally to a position where the blade 1032A (Figure 2) does not protrude from the drive shaft 1026.

[0081] Figure 5A is an isometric view of an exemplary drive shaft motion transmission assembly 1051 that may be used in the forceps 1000 of Figure 1A, and includes a drive body 1052, a force limiting spring 1054, a clip 1056, and a drive shaft 1026. Figure 5B is an isometric view of the drive body 1052 and clip 1056 on the drive shaft 1026, with the force limiting spring 1054 in cross-section. Figure 5C is an exploded view of the drive body 1052, clip 1056, and drive shaft 1026. Figures 5A, 5B, and 5C are discussed together. The motion transmission assembly 1051 functions to transmit a force input F1 (Figure 1B) applied by the user at the lever 1024 and / or a rotational input R1 applied by the user at the rotary actuator 1030 to the end effector 1002 (Figure 1B).

[0082] The motion transmission assembly 1051 in the example shown in Figures 5A and 5B is described as follows: The drive shaft 1026 may include a first vertical slot 1070A and a second vertical slot 1070B. The drive body 1052 may include a body portion 1072, an anchor portion 1074 (including a distal spring seat 1076), and a window portion 1082 (including a first window 1084A and a second window 1084B), a surface that interfaces with the drive link 1046 and includes a collar 1088, a neck portion 1086, and a distal collar 1089 (distal surface, distal surface facing proximal direction, etc.). Clip 1056 may include a clip body 1102 having a proximal end face 1103 and a distal end face 1105 (e.g., a proximal spring seat 1104), a clip slot 1106, and clip notches 1108A and 1108B (including a first clip notch 1108A and a second clip notch 1108B). Window portion 1082 may further include retaining ribs 1110A and 1110B (including a first retaining rib 1110A and a second retaining rib 1110B) and window notches 1112A and 1112B (including a first window notch 1112A and a second window notch 1112B). The drive shaft 1026, drive body 1052, force limiting spring 1054, and clip 1056 may have the same structure and function as described with respect to Figures 1A to 4C.

[0083] The clip 1056 may have a clip body 1102 having a proximal end face 1103 opposite to the distal end face 1105. The distal end face 1105 of the clip body 1102 may have a proximal spring seat 1104 for supporting a force limiting spring 1054. The clip slot 1106 may be a slot extending from the bottom of the clip body 1102 into the clip body 1102. The clip slot 1106 may have a width approximately equal to, or slightly wider than, the length from the first vertical slot 1070A to the second vertical slot 1070B of the drive shaft 1026. In another example where the clip 1056 is flexible, the clip slot 1106 may have a width slightly narrower than the length from the first vertical slot 1070A to the second vertical slot 1070B of the drive shaft 1026. Clip notches 1108A and 1108B may extend from the clip slot 1106 into the clip body 1102. The first clip notch 1108A may extend from the first side of the clip slot 1106, which is located at the top of the clip slot 1106, into the clip body 1102, and the second clip notch 1108B may extend from the second side of the clip slot 1106, which is located at the top of the clip slot 1106, into the clip body 1102. Thus, the second clip notch 1108B may extend from the clip slot 1106 opposite to the first clip notch 1108A into the clip body 1102.

[0084] The window portion 1082 may include a first window 1084A extending through a first side of the body portion 1072 and a second window 1084B extending through a second side of the body portion 1072 opposite to the first window 1084A. A first retaining rib 1110A may extend from the top of the body portion 1072 into the first window 1084A. The first retaining rib 1110A may extend from the upper portion of the top of the body portion 1072 so that the first retaining rib 1110A forms a first lip on the top of the body portion 1072. A second retaining rib 1110B may extend from the top of the body portion 1072 into the second window 1084B. The second retaining rib 1110B may extend from the upper portion of the upper part of the main body portion 1072, thereby forming a second lip on the upper part of the main body portion 1072. The first window notch 1112A may be included as part of the first window 1084A at the distal end of the first retaining rib 1110A. The second window notch 1112B is included as part of the second window 1084B at the distal end of the second retaining rib 1110B. In an alternative example, the first window notch 1112A and the second window notch 1112B may be located at any location along the first retaining rib 1110A and the second retaining rib 1110B, respectively. In a potentially beneficial example, the placement of the first and second window notches 1112A and 1112B may be sufficiently distal to each other, resulting in the clip 1056 never aligning with the window notches 1112A and 1112B when assembled, even when the force limiting spring 1054 is compressed. By preventing the clip 1056 from aligning with the window notches 1112A and 1112B, the clip 1056 is prevented from moving out of the window notches 1112A and 1112B.

[0085] When the drive body 1052 is on the drive shaft 1026, the clip 1056 may be positioned on the window portion 1082 of the drive body 1052. The clip slot 1106 may fit around the drive body 1052 in the window portion 1082 and around the drive shaft 1026 in the first vertical slot 1070A and the second vertical slot 1070B, so that the clip 1056 is received by the first vertical slot 1070A and the second vertical slot 1070B of the drive shaft 1026. The proximal end of the force limiting spring 1054 may contact the proximal spring seat 1104 of the clip 1056. The distal end of the force limiting spring 1054 may contact the distal spring seat 1076. The distance between the proximal spring seat 1104 and the distal spring seat 1076 is shorter than the length of the force limiting spring 1054, compressing the force limiting spring 1054 and preloading it. The first clip notch 1108A can be fitted around the first retaining rib 1110A. The second clip notch 1108B can be fitted around the second retaining rib 1110B. The clip 1056 can move longitudinally within the first window 1084A and the second window 1084B in the window portion 1082, along the first retaining rib 1110A and the second retaining rib 1110B.

[0086] The first vertical slot 1070A and the second vertical slot 1070B on the drive shaft 1026 lock the clip 1056 to the drive shaft 1026 longitudinally and rotationally. The clip notches 1108A and 1108B and the retaining ribs 1110A and 1110B engage together to hold the clip 1056 to both the drive body 1052 and the drive shaft 1026, preventing the clip 1056 from retracting from the first vertical slot 1070A, the second vertical slot 1070B, and the window portion 1082, and rotationally locking the clip 1056 to the drive body 1052. However, as described herein, in some cases (e.g., force-limited conditions), the drive body 1052 can still move longitudinally relative to the clip 1056, and as a result, the clip 1056 moves longitudinally relative to the drive body 1052 along the retaining ribs 1110A and 1110B within the first window 1084A and the second window 1084B. Consequently, the drive body 1052 can move longitudinally relative to the drive shaft 1026. The clip 1056 prevents the drive body 1052 and drive shaft 1026 from retracting or popping out, while the drive body 1052 moves longitudinally relative to the clip 1056 and drive shaft 1026. In the assembled state, the clip 1056 may be misaligned with the window notches 1112A and 1112B, but can be aligned with the first and second vertical slots 1070A and 1070B (Figure 5C).

[0087] In this configuration, the clip 1056 can be fixed to the drive shaft 1026 and slidably coupled to the drive body 1052. Rotational motion can be transmitted from the drive body 1052 to the drive shaft 1026 via the clip 1056, and linear motion can be transmitted indirectly from the drive body 1052 to the clip 1056 via the force limiting spring 1054, and from the clip 1056 to the drive shaft 1026, causing the drive shaft 1026 to translate.

[0088] In other words, the clip 1056 can be coupled to the drive body 1052 and the drive shaft 1026 to rotatably fix the drive body 1052 to the drive shaft 1026. The drive body 1052 may be configured to transmit the rotational input received from the rotary actuator 1030 to the rotational motion of the clip 1056, and the clip 1056 may be configured to transmit the rotational motion of the clip 1056 to the rotational motion of the drive shaft 1026.

[0089] As shown in Figure 5A, the input surface for receiving input from the drive link 1046 (Figures 3A, 3B, and 3C) may include a collar 1088 (e.g., the first surface), a neck portion 1086 (e.g., the small diameter surface), and a distal collar 1089 (e.g., the distal surface). The collar 1088, the neck portion 1086, and the distal collar 1089 may form the spool portion of the drive body 1052. In some examples, the spool portion (e.g., 1088, 1086, and 1089) may be axially symmetric. In some examples, the distal surface 1088B of the proximal collar 1088 and the proximal surface 1089A of the distal collar 1089 are flat. In some examples, the distal surface 1088B of the proximal collar 1088 and the proximal surface 1089A of the distal collar 1089 are parallel. In some examples, the spool portion allows for the rotational displacement of the drive body 1052 relative to the drive link 1046.

[0090] Figure 6A is an exploded view of the motion transmission assembly 1051, including a first example of the drive body 1052 and a first example of the clip 1056, with the drive body 1052 shown on the drive shaft 1026. Figure 6B is an isometric view of the first example of the drive body 1052 and the first example of the clip 1056, showing the compressed force limiting spring 1054 and the clip 1056 assembled on the drive shaft 1026 along the insertion direction I1. Figure 6C is a diagram of the first example of the drive body 1052 and the first example of the clip 1056 in a force limiting state (e.g., overtravel position). Figures 6A, 6B, and 6C are discussed together to illustrate how the drive body 1052, force limiting spring 1054, and clip 1056 are assembled on the drive shaft 1026.

[0091] The drive shaft 1026 may include a first vertical slot 1070A and a second vertical slot 1070B. The drive body 1052 may include a body portion 1072, an anchor portion 1074, and a window portion 1082 (including a first window 1084A and a second window 1084B). The clip 1056 may include a clip body 1102, a proximal spring seat 1104, a clip slot 1106, and clip notches 1108A and 1108B (including a first clip notch 1108A and a second clip notch 1108B). The window portion 1082 may further include retaining ribs 1110A and 1110B (including the first retaining rib 1110A and the second retaining rib 1110B) and window notches 1112A and 1112B (including the first window notch 1112A and the second window notch 1112B). The drive shaft 1026, drive body 1052, force limiting spring 1054, and clip 1056 may have the same structure and function as described with respect to Figures 1A to 5C.

[0092] To assemble the drive body 1052, the force limiting spring 1054, and the clip 1056 onto the drive shaft 1026, first, the drive body 1052 can be positioned on the drive shaft 1026. Second, the force limiting spring 1054 can be positioned on the drive body 1052 around the body portion 1072 and the window portion 1082 of the drive body 1052. Third, the force limiting spring 1054 can be slid onto the drive body 1052 from the proximal end of the drive shaft 1026 and the drive body 1052. Fourth, the force limiting spring 1054 can be compressed against the anchor portion 1074 so that the force limiting spring 1054 is not positioned around the window notches 1112A and 1112B, as shown in Figure 5C. The drive body 1052 may be positioned on the drive shaft 1026 so that the first vertical slot 1070A and the second vertical slot 1070B of the drive shaft 1026 are aligned with the window notches 1112A and 1112B of the window portion 1082 of the drive body 1052. The first vertical slot 1070A and the second vertical slot 1070B are visible through the first window 1084A and the second window 1084B when the first vertical slot 1070A and the second vertical slot 1070B are aligned with the window portion 1082. Next, the clip 1056 may be positioned on the window portion 1082 of the drive body 1052 at the window notches 1112A and 1112B so that, as shown in Figure 6B, the clip 1056 also extends through the first vertical slot 1070A and the second vertical slot 1070B of the drive shaft 1026. In this assembly method, the clip 1056 does not need to be bent, stressed, or deformed during assembly in order to be attached.

[0093] As shown in Figure 6C, the compressive force is then removed from the force limiting spring 1054, and the force limiting spring 1054 expands toward a preloaded state between the anchor portion 1074 and the clip 1056, pushing the clip 1056 longitudinally within the window portion 1082, until the clip 1056 contacts the clip support surface 1081 of the main body portion 1072 adjacent to the proximal end of the window portion 1082, or the proximal ends of the first window 1084A and the second window 1084B.

[0094] The clip notches 1108A and 1108B can engage with retaining ribs 1110A and 1110B (for example, or other retaining elements) when the clip 1056 moves proximal to the window notches 1112A and 1112B. Figure 6C also shows the position of the clip 1056 relative to the drive body 1052 in a force-limited or overtravel state, where the drive body 1052 moves proximal to the clip 1056. Thus, the clip 1056 can move longitudinally within the first window 1084A and the second window 1084B in the window portion 1082. The clip 1056 can move within the window portion 1082. The clip 1056 cannot move longitudinally outside the window portion 1082 because the body portion 1072 can stop the clip 1056 on either side of the window portion 1082.

[0095] The window notches 1112A and 1112B can function as slots, allowing the clip 1056 to be assembled onto the retaining ribs 1110A and 1110B. Maintaining the clip 1056 within the length of the retaining ribs 1110A and 1110B is desirable because the fit between the clip notches 1108A and 1108B and the retaining ribs 1110A and 1110B holds the clip 1056 onto the drive body 1052 and the drive shaft 1026. Placing the clip 1056 on the window portion 1082 within the first vertical slot 1070A and the second vertical slot 1070B locks the clip 1056 to the drive body 1052 in the rotational direction and locks the clip 1056 to the drive shaft 1026 in the rotational and longitudinal directions. The engagement between the retaining ribs 1110A and 1110B and the clip notches 1108A and 1108B can assist in transmitting rotational torque between the drive body 1052 and the clip 1056. Compressing the force limiting spring 1054 to position the clip 1056 in the drive body 1052 imparts preload to the force limiting spring 1054, which affects the amount of force required to initiate a force limiting state (e.g., an overtravel state). The higher the preload on the force limiting spring 1054, the more force the user needs to apply before the force limiting state is initiated.

[0096] Figure 7A is an isometric view of a second example of the motion transmission assembly 1251, showing a cross-section of the drive body 1252, the clip 1256, and the spring 1254 on the drive shaft 1226. Figure 7B is an exploded view of the drive body 1252 and clip 1256, the spring 1254, and the drive shaft 1226. The drive body 1252 may include a body portion 1272, a window portion 1282, and an anchor portion 1274. Figures 7A and 7B are described together and include features for improving the retention of the clip 1256 to prevent the clip 1256 from retracting and for torque transmission from the drive body 1252 to the clip 1256. One advantage of the examples in Figures 7A and 7B is that the doubling of the slot and retaining rib increases the surface area, facilitating torque transmission and preventing the clip 1256 from retracting.

[0097] The window portion may include a first window 1284A, a second window 1284B, a first retaining rib 1210A, a second retaining rib 1210B, a third retaining rib 1210C, a fourth retaining rib 1210D, a first window notch 1212A, a second window notch 1212B, a third window notch 1212C, and a fourth window notch 1212D.

[0098] The clip 1256 may include a clip body 1202, a proximal spring seat 1204, a clip slot 1206, a first clip notch 1208A, a second clip notch 1208B, a third clip notch 1208C, and a fourth clip notch 1208D. The drive shaft 1226 includes a first vertical slot 1270A and a second vertical slot 1270B.

[0099] The drive body 1252 has a clip 1256 which is positioned on the drive body 1252 and connected to a drive shaft 1226 extending through the drive body 1252. A spring 1254 is positioned around the drive body 1252. The drive body 1252 generally has the same structure and function as the drive body 1252 described with respect to Figures 1A to 6C, and includes a body portion 1272 and a window portion 1282 having a first window 1284A and a second window 1284B. However, the drive body 1252 has a third retaining rib 1210C, a fourth retaining rib 1210D, a third window notch 1212C, and a fourth window notch 1212D at the bottom of the drive body 1252, and the anchor portion 1274 may be cylindrical.

[0100] The first retaining rib 1210A may extend from the upper part of the main body portion 1272 into the first window 1284A. The first retaining rib 1210A extends from the upper part of the upper part of the main body portion 1272, and as a result, the first retaining rib 1210A forms a first lip on the upper part of the main body portion 1272. The second retaining rib 1210B may extend from the upper part of the main body portion 1272 into the second window 1284B. The second retaining rib 1210B may extend from the upper part of the upper part of the main body portion 1272, and as a result, the second retaining rib 1210B forms a second lip on the upper part of the main body portion 1272. The first retaining rib 1210A and the second retaining rib 1210B may form a pair of retaining ribs. The third retaining rib 1210C may extend from the bottom of the main body portion 1272 into the first window 1284A. The third retaining rib 1210C may extend from the lower part of the bottom of the main body portion 1272, and as a result, the third retaining rib 1210C forms a third lip at the bottom of the main body portion 1272. The fourth retaining rib 1210D may extend from the bottom of the main body portion 1272 into the second window 1284B. The fourth retaining rib 1210D may extend from the lower part of the bottom of the main body portion 1272, and as a result, the fourth retaining rib 1210D forms a fourth lip at the bottom of the main body portion 1272. The third retaining rib 1210C and the fourth retaining rib 1210D may form a pair of retaining ribs. The first window notch 1212A may be part of the first window 1284A at the distal end of the first retaining rib 1210A. The second window notch 1212B may be part of the second window 1284B at the distal end of the second retaining rib 1210B. The third window notch 1212C may be part of the first window 1284A at the distal end of the third retaining rib 1210C. The fourth window notch 1212D may be part of the second window 1284B at the distal end of the fourth retaining rib 1210D.

[0101] Clip 1256 can have substantially the same structure and function as clip 1056 described with respect to Figures 1A to 6C, and includes a clip body 1202, a proximal spring seat 1204, and a clip slot 1206. However, in some examples, clip 1256 may further include a third clip notch 1208C and a fourth clip notch 1208D. The first clip notch 1208A may extend into the clip body 1202 from a first side of the upper clip slot 1206, and the second clip notch 1208B may extend into the clip body 1202 from a second side of the upper clip slot 1206. Thus, the second clip notch 1208B may extend into the clip body 1202 from the clip slot 1206 opposite to the first clip notch 1208A. A third clip notch 1208C may extend into the clip body 1202 from a first side of the clip slot 1206 near the bottom of the clip slot 1206, and a fourth clip notch 1208D may extend into the clip body 1202 from a second side of the clip slot 1206 near the bottom of the clip slot 1206. Thus, the third clip notch 1208C is spaced apart from the first clip notch 1208A, and the fourth clip notch 1208D may extend into the clip body 1202 from the clip slot 1206 opposite the third clip notch 1208C, and is spaced apart from the second clip notch 1208B. The drive shaft 1226 that receives the clip may be the same as or similar to the drive shaft 1226 described with respect to Figures 1A to 6C, and includes a first vertical slot 1270A and a second vertical slot 1270B.

[0102] When the drive body 1252 is on the drive shaft 1226, the clip 1256 may be positioned on the window portion 1282 of the drive body 1252. The clip slot 1206 may fit around the drive body 1252 in the window portion 1282 and around the drive shaft 1226 in the first vertical slot 1270A and the second vertical slot 1270B, so that the clip 1256 fits and is received in the first vertical slot 1270A and the second vertical slot 1270B of the drive shaft 1226. The proximal end of the spring 1254 may contact the proximal spring seat 1204 of the clip 1256. The first clip notch 1208A may fit around the first retaining rib 1210A, so that the first retaining rib 1210A fits into the first clip notch 1208A. The second clip notch 1208B can be fitted around the second retaining rib 1210B, and the second retaining rib 1210B fits into the second clip notch 1208B. The third clip notch 1208C can be fitted around the third retaining rib 1210C, and the third retaining rib 1210C fits into the third clip notch 1208C. The fourth clip notch 1208D can be fitted around the fourth retaining rib 1210D, and the fourth retaining rib 1210D fits into the fourth clip notch 1208D. The clip 1256 can move longitudinally within the first window 1284A and the second window 1284B of the window portion 1282 along the first retaining rib 1210A, the second retaining rib 1210B, the third retaining rib 1210C, and the fourth retaining rib 1210D.

[0103] The clip notches 1208A, 1208B, 1208C, and 1208D can be fitted together with the retaining ribs 1210A, 1210B, 1210C, and 1210D, holding the clip 1256 to the drive body 1252 and drive shaft 1226, locking the clip 1256 to the drive body 1252 in the rotational direction, and simultaneously allowing the clip 1256 to move longitudinally along the retaining ribs 1210A, 1210B, 1210C, and 1210D within the first window 1284A and the second window 1284B. As a result, the clip 1256 is prevented from popping out of the drive body 1252 and drive shaft 1226, while being able to move longitudinally along axis A1 (Figure 1B) relative to the drive body 1252.

[0104] The drive body 1252 has a third retaining rib 1210C and a fourth retaining rib 1210D that can be fitted into the third clip notch 1208C and the fourth clip notch 1208D of the clip 1256, so that the clip 1256 can be held more uniformly and securely on the drive body 1252 and the drive shaft 1226.

[0105] Figure 8A is an isometric view of a third example of the motion transmission assembly 1351, showing a cross-section of the drive body 1352, the clip 1356, and the spring 1354 on the drive shaft 1326. Figure 8B is an exploded view of the drive body 1352, the clip 1356, the spring 1354, and the drive shaft 1326. The drive body 1352 may include a body portion 1372, a first retaining rib 1310A, a second retaining rib 1310B, a third retaining rib 1310C, and a fourth retaining rib 1310D. The clip 1356 may include a first clip notch 1308A, a second clip notch 1308B, a third clip notch 1308C, and a fourth clip notch 1308D. Figures 8A and 8B are illustrated together and include features for improving the retention of clip 1356, preventing clip 1356 from retracting, and for torque transmission from drive body 1352 to clip 1356. One advantage of the examples in Figures 8A and 8B is that they include doubling of slots and retaining ribs, increasing the surface area to facilitate torque transmission and prevent clip 1356 from retracting.

[0106] The drive body 1352 may have a clip 1356 positioned on the drive body 1352 and coupled to the drive shaft 1326. A spring 1354 may be positioned around the drive body 1352. The drive body 1352 may have substantially the same structure and function as the drive body 1252 described with respect to Figures 7A and 7B, and includes a body portion 1372. However, the first retaining rib 1310A, the second retaining rib 1310B, the third retaining rib 1310C, and the fourth retaining rib 1310D may be thicker and longer. The first retaining rib 1310A and the second retaining rib 1310B may extend from all or most of the upper part of the body portion 1372. The third retaining rib 1310C and the fourth retaining rib 1310D may extend from all or most of the bottom part of the body portion 1372.

[0107] Clip 1356 generally has the same structure and function as clip 1256 described with respect to Figures 7A and 7B. However, the first clip notch 1308A, the second clip notch 1308B, the third clip notch 1308C, and the fourth clip notch 1308D correspond to retaining ribs 1310A, 1310B, 1310C, and 1310D, which can be larger, deeper, thicker, and longer. Drive shaft 1326 may be the same as drive shaft 1026 described with respect to Figures 1A to 6C.

[0108] The clip notches 1308A, 1308B, 1308C, and 1308D and the retaining ribs 1310A, 1310B, 1310C, and 1310D engage together to hold the clip 1356 to the drive body 1352 and drive shaft 1326, allowing the clip 1356 to be rotatably locked to the drive body 1352, while simultaneously allowing the drive body 1352 to move longitudinally relative to the clip 1356 along the retaining ribs 1310A, 1310B, 1310C, and 1310D. As a result, the clip 1356 can be prevented from flying out of the drive body 1352 and drive shaft 1326, while simultaneously allowing it to move longitudinally relative to the drive body 1352.

[0109] Figure 9A is an isometric view of a fourth example of the motion transmission assembly 1451, showing a cross-section of the drive body 1452, the clip 1456, and the spring 1454 on the drive shaft 1426. Figure 9B is an exploded view of the drive body 1452, the clip 1456, the spring 1454, and the drive shaft 1426. The drive body 1452 may include a body portion 1472, a window portion 1482, and a strut 1418. The window portion 1482 may include a first window 1484A, a second window 1484B, a first retaining rib 1410A, a second retaining rib 1410B, a third retaining rib 1410C, a fourth retaining rib 1410D, a first window notch 1412A, a second window notch 1412B, a third window notch 1412C, and a fourth window notch 1412D. The strut 1418 may include a first strut 1418A and a second strut 1418B. The clip 1456 may include a clip body 1402, a clip slot 1406, a first clip notch 1408A, a second clip notch 1408B, a third clip notch 1408C, and a fourth clip notch 1408D. Figures 9A and 9B are illustrated together and include features for improving the retention of the clip 1456, preventing the clip 1456 from retracting, and for torque transmission from the drive body 1452 to the clip 1456. One advantage of the examples in Figures 9A and 9B is that they include doubling the slot and retaining ribs, increasing the surface area to facilitate torque transmission and prevent the clip 1456 from retracting.

[0110] The drive body 1452 has a clip 1456 positioned on the drive body 1452 and connected to the drive shaft 1426, the drive shaft 1426 may extend through the drive body 1452. A spring 1454 may be positioned around the drive body 1452.

[0111] The drive body 1452 may have substantially the same structure and function as the drive body 1352 described with respect to Figures 8A and 8B, and includes a body portion 1472 and a window portion 1482, the window portion 1482 having a first window 1484A, a second window 1484B, retaining ribs 1410A, 1410B, 1410C, and 1410D, and window notches 1412A, 1412B, 1412C, and 1412D. However, the window portion 1482 may include a strut 1418. The upper part of the body portion 1472 in the window portion 1482 may be flat. If the upper part of the body portion 1472 at the window portion 1482 is flat, a close connection can be achieved between the profiles of the retaining ribs 1410A, 1410B, 1410C, and 1410D and the profiles of the respective window notches 1412A, 1412B, 1412C, and 1412D. In this way, the first retaining rib 1410A, the upper part of the body portion 1472, and the second retaining rib 1410B form the first strut 1418A. Similarly, the bottom of the body portion 1472 can be flat. In this way, the third retaining rib 1410C, the bottom of the body portion 1472, and the fourth retaining rib 1410D can form the second strut 1418B. Therefore, the first window 1484A may be located on the first side of the main body portion 1472 between the first strut 1418A and the second strut 1418B, and the second window 1484B may be located on the second side of the main body portion 1472 between the first strut 1418A and the second strut 1418B.

[0112] In some examples, it may be beneficial for the upper part of the body portion 1472 at the window portion 1482 to be flat, but in other embodiments, the upper part of the body portion 1472 at the window portion 1482 may not be flat, or substantially flat. Another shape may be provided to provide a close connection between the retaining ribs 1410A, 1410B, 1410C, 1410D and the respective window notches 1412A, 1412B, 1412C, and 1412D.

[0113] Clip 1456 may have substantially the same structure and function as clip 1356 described with respect to Figures 8A and 8B, and includes a clip body 1402, a clip slot 1406, a first clip notch 1408A, a second clip notch 1408B, a third clip notch 1408C, and a fourth clip notch 1408D. However, the clip slot 1406, the first clip notch 1408A, and the second clip notch 1408B may have a flat top, while the third clip notch 1408C and the fourth clip notch 1408D may have a flat bottom to accommodate the strut 1418. Clip slot 1406 may extend less within clip body 1402, and the top of clip slot 1406 between the first clip notch 1408A and the second clip notch 1408B may be flat.

[0114] The drive shaft 1426 may be the same as the drive shaft 1026 described with respect to Figures 1A to 6C. The clip notches 1408A, 1408B, 1408C, and 1408D and the retaining ribs 1410A, 1410B, 1410C, and 1410D may fit together to hold the clip 1456 to the drive body 1452 and drive shaft 1426, locking the clip 1456 to the drive body 1452 in the rotational direction, while allowing the drive body 1452 to move longitudinally relative to the clip 1456 along the retaining ribs 1410A, 1410B, 1410C, and 1410D. As a result, the clip 1456 is prevented from popping out of the drive body 1452 and drive shaft 1426, while at the same time being able to move longitudinally relative to the drive body 1452. Furthermore, since the clip slot 1406 can extend into the clip body 1402 to a lesser extent, the clip body 1402 has a larger surface area to distribute the load from the spring 1454.

[0115] Figures 10A, 10B, 11A, and 11B illustrate examples of how the drive shaft 1026 and the outer shaft 1028 may be constrained to each other, and to the outer hub 1060 and the rotary actuator 1030. Figure 10A shows a side view of a portion of the forceps in Figure 1A, according to at least one example. Figure 10A includes the outer shaft 1028, the outer hub 1060, the housing 1014, and the rotary actuator 1030 (shown as a phantom). Figure 10B shows a cross-sectional view of the rotary actuator 1030 and the outer hub 1060 in Figure 10A, along line 10B-10B', according to at least one example, where the rotary actuator 1030 is represented by a solid line.

[0116] The outer hub 1060 may be positioned around the drive body 1052 and at least a portion of the drive shaft 1026. To transmit rotational motion from the outer hub 1060 to the drive shaft 1026, the rotational motion received from the rotary actuator 1030 may be transmitted to the outer hub 1060, from the outer hub 1060 to the drive body 1052, from the drive body 1052 to the clip 1056, and from the clip 1056 to the drive shaft 1026. The rotational input received from the rotary actuator 1030 may also be transmitted from the outer hub 1060 to the outer shaft 1028 to rotate the outer shaft 1028. In another example, the clip 1056 may be omitted, and / or the rotational input may be transmitted by keying a passage 1092 (e.g., a bore) in the drive body 1052 to the drive shaft 1026 in the rotational direction.

[0117] As shown in the combination of Figures 10A and 10B, in the proximal portion of the forceps 1000, the rotary actuator 1030 can be constrained to the outer hub 1060 via a keyed interface. For example, the rotary actuator 1030 may include an actuator hub keyed interface 1033, which is configured to be rotationally constrained to the outer hub 1060 having a complementary actuator hub keyed interface 1063. The keyed interfaces 1033, 1063 can constrain, couple, fix, lock, or limit the rotation between the rotary actuator 1030 and the outer hub 1060.

[0118] In this configuration, the outer hub 1060 may be configured to receive rotational input from the rotary actuator 1030, so that the rotary actuator 1030 and the outer hub 1060 can rotate relative to the housing 1014. In an alternative example, the rotary actuator 1030 may be attached to the outer hub 1060 in a different way, for example, by integral molding, adhesive, welding, snap-fit, or any other suitable method. In some examples, the rotary actuator 1030 may be omitted, and the outer hub 1060 can function as an actuator and directly receive rotational input from the user. The rotary actuator 1030 is shown merely as an example of a component for receiving rotational input from the user, and any suitable rotational input device may be provided.

[0119] Figure 11A shows a side view of a portion of the forceps of Figure 1A, by at least one example, and includes a housing 1014, a drive shaft 1026, an outer shaft 1028, a drive body 1052 (having a first part 1052A and a second part 1052B), a force limiting spring 1054, a drive link 1046, an outer hub 1060 (shown as a phantom), a sleeve 1061, and a jaw 1012. Figure 11B shows a cross-sectional view of the outer hub 1060 and drive body 1052 of Figure 11A along line 11B-11B', by at least one example, where the outer hub 1060 is shown as a solid line.

[0120] To secure the outer hub 1060 to the drive body 1052 in the rotational direction, the outer hub 1060 and the drive body 1052 may include a hub body keyed interface. For example, the outer hub 1060 may include an anti-rotation key 1100, and the drive body 1052 may have a complementary hub body keyed interface, such as a rotary keying slot 1078. The rotary keying slot 1078 may be located in a second portion 1052B of the drive body 1052 (e.g., the distal portion). In this configuration, the drive body 1052 may be configured to receive rotational input from the outer hub 1060, which is supplied to the outer hub 1060 by a rotary actuator 1030 (Figures 10A and 10B).

[0121] The anti-rotation key 1100 may include a ridge extending from the inner surface 1098 of the outer hub 1060 into a channel formed by the inner surface 1098. The anti-rotation key 1100 may be sized to fit into the rotary keying slot 1078 of the outer hub 1060. The rotary keying slot 1078 may receive the anti-rotation key 1100, and as a result, the rotary keying slot 1078 may be linearly translated along the anti-rotation key 1100 or otherwise moved longitudinally, allowing the drive body 1052 to retract and extend relative to the outer hub 1060 and housing 1014.

[0122] In other words, the anti-rotation key 1100 and the rotation keying slot 1078 restrain the outer hub 1060 and the drive body 1052 in the rotational direction, but the drive body 1052 can still move (e.g., slide, translate) relative to the outer hub 1060 along the longitudinal axis A1 when the lever 1024 is actuated by the user (Figure 1B). The longitudinal movement of the outer hub 1060 relative to the drive body 1052 allows the drive body 1052 to retract relative to the outer hub 1060 when the lever 1024 is actuated to close the jaws 1012. Such retraction of the drive body 1052 results in the retraction of the drive shaft 1026 until a certain input force F1 is applied to the lever 1024 (Figure 13B) that exceeds the preload of the force limiting spring 1054. When the input force F1 exceeds a certain input force, the drive body 1052 can continue to move proximally relative to the drive shaft 1026 without retracting the drive shaft 1026. This protects the end effector 1002 from being damaged by excessive force.

[0123] Conventional forceps may include an outer and inner shaft that are locked together only in the rotational direction at their distal ends near the end effector. In such a configuration, the rotational input received by the rotary actuator rotates only the proximal end of the outer shaft to rotate the jaws, while the inner shaft does not. In conventional forceps, only when the jaws rotate does the distal end of the inner shaft receive rotational motion from the connection point of the outer shaft to the inner shaft closer to the end effector, ultimately causing rotation of the inner shaft at its proximal end. The limitation of such a design is that the inner and outer shafts can "wrap around" each other, potentially resulting in damage.

[0124] In contrast, the exemplary forceps 1000 may have an inner drive shaft 1026 rotationally constrained to the outer shaft 1028 at a first longitudinal position and a second longitudinal position. In some examples, the first and second longitudinal positions may include first and second longitudinal regions. In the exemplary example of Figure 11A, the drive shaft 1026 and the outer shaft 1028 may be rotationally constrained at both the proximal portion 1003 and the distal portion 1005 of the forceps 1000. In this arrangement, the outer shaft 1028 and the drive shaft 1026 rotate more uniformly together, thereby reducing the likelihood of damage to the jaws 1012 as they rotate. An example of connection at the proximal portion 1003 of the forceps 1000 is shown and described with continued reference to Figures 11A and 11B. An example of connection at the distal portion 1005 of the forceps 1000 is shown and explained with reference to Figures 20A to 25.

[0125] To provide rotational constraint between the drive shaft 1026 and the outer shaft 1028 in the proximal portion of the forceps 1000, the drive shaft 1026 and the outer shaft 1028 can be rotationally constrained to each other via the drive body 1052 and the outer hub 1060.

[0126] To transmit rotational motion from the outer hub 1060 to the outer shaft 1028, the outer hub 1060 can be fixedly coupled to the outer shaft 1028. In one example, a sleeve 1061 may be attached to the outer hub 1060 and also to the outer shaft 1028. The sleeve 1061 may be attached to the inner surface 1098 of the outer hub 1060, or it may be attached to another part of the outer hub 1060. In some examples, the sleeve 1061 may be omitted, and the outer hub 1060 may be attached directly to the outer shaft 1028 or in another way.

[0127] The outer hub 1060 may remain rotatable relative to the housing 1014 while being longitudinally constrained to it. This can be achieved, for example, by the outer hub 1060 including a proximal housing flange 1060A and a distal flange 1060B, which longitudinally constrain a portion of the housing 1014 between them.

[0128] In an exemplary example, the interface between the proximal housing flange 1060A and the housing 1014 may restrict the outer hub 1060 from moving distally relative to the housing 1014. Correspondingly, the interface between the distal housing flange 1060B and the housing 1014 may restrict the outer hub 1060 from moving proximal relative to the housing 1014. One advantage of this arrangement is that it prevents the outer hub 1060 from moving longitudinally relative to the housing 1014, but does not affect the outer hub 1060's ability to rotate relative to the housing 1014, thereby rotating the end effector 1002. In another example, the housing 1014 may further, or alternatively, include a flange to interface with the outer hub 1060, thereby providing similar longitudinal constraint. In some examples, a single flange, with one or more interfaces with the housing 1014, can longitudinally constrain the outer hub 1060 relative to the housing. In some examples, instead of the proximal housing flange 1060A and the distal housing flange 1060B, a single flange can provide the interface, which longitudinally constrains the outer hub 1060 with respect to the housing 1014. For example, by interface such that a single flange on the outer hub 1060, or a single flange on the housing 1014, is bounded proximal and distally by the other of the outer hub 1060 and the housing 1014. Such alternative geometric shapes are within the scope of this disclosure.

[0129] To transmit rotational motion from the outer hub 1060 to the drive shaft 1026, the transmission can occur from the outer hub 1060 through the clip 1056 to the drive body 1052 and the drive shaft 1026. To transmit rotational motion from the outer hub 1060 to the outer shaft 1028, the outer hub 1060 can be fixedly coupled to the outer shaft 1028. Examples of mounting the outer hub to the outer shaft are shown and explained in Figures 9 and 10.

[0130] By rotatably constraining the drive shaft 1026 and the outer shaft 1028 to the outer hub 1060 at their proximal ends, and rotatably constraining the drive shaft 1026 to the outer shaft 1028 at its distal end adjacent to the end effector (e.g., jaw 1012), the forceps 1000 can be made less susceptible to the effects of torsion of the drive shaft 1026 relative to the outer shaft 1028 along the intermediate section 1006 (Figure 1B) between the handpiece 1001 and the end effector 1002. Reducing the torsion of the drive shaft 1026 and the outer shaft 1028 reduces the "wind-up" of the drive shaft 1026 relative to the outer shaft 1028. Limiting the "wind-up" improves the user's ability to control the end effector 1002, thereby limiting undesirable movements of the end effector 1002 (e.g., unwinding, springback). Examples of restricting rotation at the distal end of the forceps (e.g., distal to the outer hub 1060, proximal to the end effector 1002) are further illustrated herein with reference to Figures 20A to 25.

[0131] In some examples, the first longitudinal position (e.g., 1003) may be closer to the handpiece 1001 than to the end effector 1002, and the second longitudinal position (e.g., 1005) may be closer to the end effector 1002 than to the handpiece 1001. The second longitudinal position (e.g., 1005) may be distal to the first longitudinal position (e.g., 1003). The second longitudinal position (e.g., 1005) may be proximal to the end effector 1002. The second longitudinal position (e.g., 1005) may be proximal to the end effector 1002 coupled to the drive shaft 1026 or the outer shaft 1028.

[0132] The outer shaft 1028 may extend from a proximal end adjacent to the handpiece 1001 to a distal end adjacent to the end effector 1002. In some examples, a second longitudinal position (e.g., 1005) may be located in a range between 75% and 95% of the distance D1 from the proximal end to the distal end of the outer shaft 1028.

[0133] Figure 12 is a partial cross-sectional view of an exemplary forceps 1700, showing another example of a hub body interface. Figure 12 shows a drive body 1752 comprising an anchor portion 1774 including another example of an anti-rotation key 1706 and a hub 1760 including a rotary keying slot 1710. The drive body 1752, outer shaft 1728, and drive shaft 1726 are not shown in cross-section. The forceps 1700 may include a drive body 1752 (including an anchor portion 1774 with an anti-rotation key 1706), a hub 1760 (including a rotary keying slot 1710 and an inner surface 1712), a rotary knob 1730 (e.g., a rotary actuator), an outer shaft 1728, and a drive shaft 1726.

[0134] The forceps 1700 may have substantially the same structure and function as the forceps 1000 described with reference to Figures 1A to 6C and Figures 10A to 11B, except that the drive body 1752 may include an anchor portion 1774 (e.g., a distal portion) having an anti-rotation key 1706, and the hub 1760 has a rotating keying slot 1710. The anti-rotation key 1706 may be a projection or protrusion extending from the side of the anchor portion 1774. The anti-rotation key 1706 may be sized to fit into the rotating keying slot 1710 of the hub 1760. The hub 1760 may have a rotating keying slot 1710 extending from an inner surface 1712 into the hub 1760.

[0135] The rotary keying slot 1710 can accommodate an anti-rotation key 1706, which is located within the rotary keying slot 1710. The anti-rotation key 1706 may be shorter than the length of the rotary keying slot 1710, so that the anti-rotation key 1706 and the drive body 1752 can be linearly translated along the rotary keying slot 1710 and the hub 1760. In other words, while the anti-rotation key 1706 and the rotary keying slot 1710 prevent relative rotation between the hub 1760 and the drive body 1752, the anti-rotation key 1706 can, at least in part, act as a guide for the longitudinal movement of the drive body 1752 relative to the hub 1760.

[0136] The anti-rotation key 1706 and the rotation keying slot 1710 connect the hub 1760 and the drive body 1752 and can be locked in the rotational direction. Therefore, when the rotation knob 1730 is rotated, the hub 1760 rotates, which in turn rotates the drive body 1752. As a result, when the rotation knob 1730 is rotated, both the outer shaft 1728 and the drive shaft 1726 rotate together.

[0137] In some examples, any anti-rotation interface described herein may have a different geometric shape than the keyed interface, or the keyed interface may include a different interface geometric shape.

[0138] Figure 13A shows a partial side view of the forceps 1000 of Figure 1A, according to at least one example, with the lever 1024 in the non-operating position (e.g., the drive shaft 1026 is not retracted and the jaws 1012 are open). Figure 13B shows a partial side view of the forceps 1000 of Figure 1A, according to at least one example, with the lever 1024 in the operating position (e.g., the drive shaft is retracted and the jaws are closed). Figure 13C shows a partial side view of the forceps 1000 of Figure 1A, according to at least one example, with the lever 1024 in a force-limited state (e.g., the jaws are locked open and in the overtravel position). Figures 13A, 13B, and 13C show the lever 1024 in various operating positions in all of Figures 13A, 13B, and 13C, with the trigger 1034 in the non-operating position. Figures 13A, 13B, and 13C show enlarged views of portions of the handpiece 1001 shown and described with respect to Figures 4A, 4B, and 4C. The outer hub 1060, lever 1024, and trigger 1034 are shown as phantoms, allowing us to see some hidden parts within the handpiece 1001.

[0139] Figure 13A shows the lever 1024 and trigger 1034 in their non-operating positions. As shown in Figure 13B, when the lever 1024 is moved proximally (by force F1), the linkage is activated, which in this example is a four-bar type mechanism and can indirectly retract the drive shaft 1026. The four links may include a first link L1 (e.g., a grounding link), a second link L2, a third link L3, and a fourth link L4. The first link L1 may be a housing 1014 that supplies grounding to the linkage. The second link L2 may be supplied by a portion of the lever 1024. The third link L3 may be a coupling link 1042 connected between the second link L2 and the fourth link L4, and the fourth link L4 may be a drive link 1046. The grounding link L1 is supplied by the housing 1014, but it should be noted that the grounding link L1 may also be a separate link fixed to the frame, or to the housing 1014 or the frame.

[0140] A second link L2 (e.g., lever 1024) may be pivotably coupled to a grounding link L1 (e.g., a first link, housing 1014, frame). A first movable element, such as a drive body 1052, may be operably coupled to the second link L2 (e.g., lever 1024) by a linkage including a third link L3 (e.g., coupling link 1042) and a fourth link L4 (e.g., drive link 1046). Actuating the second link L2 (e.g., lever 1024, movable handle, or another actuator) provides input to the linkage (L1, L2, L3, L4) to move the drive body 1052 relative to the grounding link L1 (e.g., housing 1014).

[0141] In other words, by moving the lever 1024 proximal, the drive link 1046 of the 4-bar mechanism is pivoted around the drive link pivot A2, or another articular movement mechanism, supplying input to the drive body 1052 and retracting the drive shaft 1026. In the example of forceps 1000, this action closes the jaws 1012, as shown in Figure 13B. In some examples, the retraction of the drive shaft 1026 may produce different effects in addition to closing the jaws 1012, when used with different end effectors. In some examples, there may be fewer or more links in the mechanism than four, for example, a 5-bar, 6-bar, or more than 6-bar mechanism. By applying the linkages (L1, L2, L3, L4) to the non-limiting examples in Figures 13A, 13B, and 13C, the lever 1024 is pivotably connected to the housing 1014, and the drive link 1046 is pivotably connected to the housing 1014.

[0142] As described in yet another way and labeled in Figure 13B, when the actuated end of lever 1024 is moved proximal, lever 1024 rotates relative to housing 1014 around the first pin 1038, thereby moving the first portion 1042B of coupling link 1042 proximal. This movement also moves the second portion 1042C of coupling link 1042 proximal. As a result, drive link 1046 pivots relative to housing 1014, and consequently, the portion of drive link 1046 that is coupled to coupling link 1042 at the third pin 1048 and the portion of drive link 1046 that engages with drive body 1052 at the distal surface 1088B (Figure 13B) move proximal. As a result, when the lever 1024 is reversed and becomes capable of moving distally, all these movements are reversed by the lever return spring 1040, which may cause the drive link 1046 to engage with the drive body 1052 at its proximal surface 1089A (Figure 13B).

[0143] When the lever 1024 is pulled proximal and the jaws 1012 encounter some resistance, the drive shaft is subjected to a tensile load. This can occur if there is an obstruction between the jaws 1012, for example, if tissue or another medical device is positioned between the jaws 1012, or if the jaws 1012 are fully closed and the lever 1024 continues to operate. In this tensile state, the drive link 1046 may also be under a tensile load, as may the coupling link 1042. The advantage of such a tensile state is that relatively thin components can be used in the mechanism, and such thin components are more stable under tension than under compression, which allows the lever 1024 to operate more smoothly than a device that relies on creating a compressive state in its components.

[0144] As shown in the inset of Figure 13A, the coupling link 1042 may have a body 1042A extending from a first portion 1042B pivotally coupled to the lever 1024 to a second portion 1042C pivotally coupled to the drive link 1046. The coupling link 1042 may include a tab 1043 (or more tabs) extending away from the body 1042A. The coupling link 1042 may reside within the lever recess 1025 of the lever 1024 (see the cross-sectional view of the lever 1024 in Figure 3B).

[0145] Tab 1043 may have one or more functions, including functioning as a shut-off tab to prevent the trigger 1034 from being activated prematurely or inadvertently until the lever 1024 is at least partially actuated. Tab 1043 may include one or more shut-off tab portions. Tab 1043 may extend away from the central portion of the body 1042A located between the first portion and the second portion. Tab 1043 may include a first shut-off tab portion 1043A, which extends away from the body 1042A at an acute angle α with respect to the axis A4 of the body in the direction toward the trigger 1034. The first shut-off tab portion 1043A may include a shelf that extends in the proximal-distal direction to receive the trigger 1034.

[0146] The trigger 1034 may be operably coupled to the housing 1014 by a pivotable coupling 1041 or the like. The trigger 1034 may function as a second lever or second actuator for activating the function of the end effector 1002. The trigger 1034 may be operably coupled to a second movable element, for example, a spool 1064 (e.g., a second motion transmitter or cutting block), but not limited to this. When activated, the trigger 1034 may move the spool 1064 relative to the housing 1014. The trigger 1034 may include a cutting surface 1035 having one or more cutting surface portions, an example of which is labeled in Figure 13B.

[0147] As shown in Figure 13A, the tab 1043 on the coupling link 1042 is positioned to engage with at least a portion of the shut-off surface 1035 of the trigger 1034, thereby restricting the movement of the trigger 1034 until the lever 1024 is at least partially actuated. In an example where the trigger 1034 extends the blade shaft 1032 to operate the cutting operation of the blade 1032A (Figure 2), this prevents the blade 1032A from operating until the jaws 1012 are at least partially closed or completely closed.

[0148] As shown in Figure 13B, when the lever 1024 is at least partially actuated, the tab 1043 moves so that a clearance is created between the tab 1043 and the shut-off surface 1035, which may allow the trigger 1034 to be at least partially actuated. The shut-off surface 1035 may include a plurality of shut-off surfaces, for example, a first shut-off surface portion 1035A and a second shut-off surface portion 1035B.

[0149] In an exemplary example, as shown in the combination of Figures 13A and 13B, starting in the non-operating position of Figure 13A, the first shut-off tab portion 1043A may engage with the first shut-off surface portion 1035A, and / or the second shut-off tab portion 1043B may engage with the second shut-off surface portion 1035B.

[0150] In the transition between the disconnected position in Figure 13A (e.g., the engaged position, the non-operating lever 1024) and the undisconnected position in Figure 13B (e.g., the engaged / disengaged position, the operating position of the lever 1024), different portions of the tab 1043 may engage with and support different portions of the disconnected surface 1035 throughout the kinematics of linkages L1, L2, L3, and L4. This is because the orientation of the tab 1043 relative to the trigger 1034 may also change as the orientation of the coupling link 1042 changes relative to the lever 1024 and the drive link 1046. The kinematics may influence which portion(s) of the tab 1043 engages with and supports which portion(s) of the disconnected surface 1035.

[0151] For example, when the lever 1024 is pulled and the tab 1043 moves from the closed position in Figure 13A to the unclosed position in Figure 13B, the first closed tab portion 1043A may have less engagement with the first closed surface portion 1035A, while the second closed tab portion 1043B may play a greater role in preventing or limiting the operation of the trigger 1034. In some examples, before engaging and disengaging, the second closed tab portion 1043B may move and engage with the first closed surface portion 1035A or the third closed surface portion 1035C, and then be completely released from the trigger 1034, thereby activating the trigger 1034, or at least partially activating it.

[0152] Figures 13B and 13C show two different non-blocking positions, where Figure 13B shows the lever 1024 in the operating position, and Figure 13C shows the lever 1024 in the second operating position, in which case the force F1 applied to the lever 1024 is large enough to activate the force limiting mode of the motion transmission assembly 1051. As shown in Figure 13B, when the lever 1024 moves through its range of motion by the force F1 applied by the user, the tab 1043 moves so as not to interfere with the trigger 1034, and as a result the tab 1043 no longer engages with the blocking surface 1035, and the trigger 1034 can be activated. In the non-disconnecting position, the first disconnecting tab portion 1043A does not need to engage with the first disconnecting surface portion 1035A, the second disconnecting surface portion 1035B, or the third disconnecting surface portion 1035C, and the second disconnecting tab portion 1043B does not need to engage with any of the first disconnecting surface portion 1035A, the second disconnecting surface portion 1035B, or the third disconnecting surface portion 1035C.

[0153] The exemplary forceps 1000 presents only one example of the operating system components coupled to the housing 1014. In various examples, the components may be located inside or outside the housing 1014. For example, at least a portion of the second link L2 (e.g., lever 1024) may be located inside or outside the housing 1014. At least a portion of the fourth link L4 (e.g., drive link 1046) may be located inside or outside the housing 1014. At least a portion of the trigger 1034 may be located inside or outside the housing 1014. At least a portion of the third link L3 (e.g., coupling link 1042) may be located inside or outside the housing 1014. In some examples, at least a portion of the third link L3 (e.g., coupling link 1042) may be outside the housing 1014 for the entire range of motion of the third link L3.

[0154] Figure 14A shows a side view of an exemplary drive link 1046 of the forceps in Figure 1A, according to at least one example. Figure 14B shows a proximal isometric view of the drive link 1046 of the forceps in Figure 1A, according to at least one example. Figure 14C shows a distal isometric view of the drive link 1046 of the forceps in Figure 1A, according to at least one example.

[0155] Figures 14A, 14B, and 14C show exemplary surfaces of the drive link 1046 and are described together. As previously stated with respect to Figures 4A, 4B, 4C, 13A, 13B, and 13C, the drive link 1046 is operably coupled to the housing 1014. The drive link 1046 may be configured to transmit an input force F1 received from an actuator such as a lever 1024 to the linear motion of the drive body 1052 and the drive shaft 1026. The drive link 1046 may transmit the force to the drive body 1052 via one or more cam surfaces of the drive link 1046. As shown in the combination of Figures 14A, 14B, and 14C, the drive link 1046 may include one or more proximal cam surfaces 1045A, 1045B formed on the proximal side of the drive link 1046, and one or more distal cam surfaces 1047A, 1047B formed on the distal side of the drive link 1046. The proximal cam surfaces 1045A and 1045B may be positioned opposite the distal cam surfaces 1047A, 1047B in the longitudinal direction of the forceps 1000, so that the proximal cam surface 1045A faces away from the distal cam surface 1047A, and the proximal cam surface 1045B faces away from the distal cam surface 1047B. To drive the drive body 1052 (Figure 5A) in the proximal direction (for example, to retract the drive shaft 1026 and close the jaws 1012), the proximal cam surfaces 1045A, 1045B may be configured to interface with the collar 1088 shown in Figure 5A. To drive the drive body 1052 (Figure 5A) in the distal direction (for example, to extend the drive shaft 1026 and open the jaws 1012), the distal cam surfaces 1047A, 1047B may be configured to interface with the distal surface or collar 1089 shown in Figure 5A.

[0156] To improve the user's ergonomic experience in the handpiece 1001, maximize space efficiency, and minimize the overall length of the forceps 1000, particularly in the longitudinal direction (L1, Figure 1B), the cam surfaces 1045A, 1045B, 1047A, and 1047B may be formed as parts of a concentric cylinder. For example, in Figure 14A, the parts of the concentric cylinder 1049 are shown as parts of a cylinder of equal diameter (e.g., D1), but this is not mandatory. The proximal cam surfaces 1045A and 1045B may have different diameters from the distal cam surfaces 1047A and 1047B, but still remain concentric with each other around a common axis A3. For example, at least one of the proximal cam surfaces 1045A, 1045B may be formed as at least a portion of a first cylindrical surface 1049A having a diameter D1, while at least one of the distal cam surfaces 1047A, 1047B may be formed as at least a portion of a second cylindrical surface 1049B having a diameter D2, and as a result, at least a portion of the first cylindrical surface 1049A and at least a portion of the second cylindrical surface 1049B are concentric around a common axis A3.

[0157] In some examples, during the operating range of the drive link 1046, the common axis A3 of the proximal cam surfaces 1045A, 1045B and the distal cam surfaces 1047A, 1047B is configured to pass under the drive link pivot A2. In some examples, the common axis A3 is configured to pass through a surface perpendicular to the translation axis A4 of the drive body 1052, and the plane passes through the drive link pivot A2. In some examples, during the operating range of the drive link 1046, the common axis A3 is configured to pass through the translation axis A4 of the drive body 1052 twice. The translation axis A4 may be an axis that coincides with or is parallel to the longitudinal axis A1 shown in Figure 1B.

[0158] In some examples, the proximal and distal cam surfaces 1045A, 1045B, 1047A, 1047B may be formed by portions of cylindrical surfaces (e.g., 1049A and / or 1049B), so the surface of the drive body 1052 that drives the cam surfaces 1045A, 1045B, 1047A, 1047B is positioned to be in contact with the relevant cam surfaces throughout the entire range of motion. For example, as shown in the combination of Figures 5A and 14A, the proximal cam surfaces 1045A, 1045B include a circular shape, so the distal surface 1088B of the proximal collar 1088 may be in contact with the proximal cam surfaces 1045A, 1045B in a position that is in contact with the proximal cam surfaces 1045A, 1045B throughout the operating range of the drive link 1046. The range of motion of the drive link 1046 can correspond to the displacement of the jaw 1012 from the open position to the closed position (the position of the jaw 1012 shown in Figures 1A and 1B). One advantage of this arrangement is that the distance from the proximal cam surface 1045A to the distal cam surface 1047A remains the same throughout the entire rotation of the drive link 1046. Due to this constant distance between the proximal cam surface 1045A and the distal cam surface 1047A (and similarly between the cam surfaces 1045B and 1047B), the distance between the distal surface 1088B of the proximal collar 1088 and the proximal surface 1089A of the distal collar 1089 can be reduced to a set distance. This provides greater space efficiency and smoother movement compared to conventional forceps.

[0159] The cam surfaces 1045A, 1045B, 1047A, and 1047B are shown and described with reference to a drive link 1046 having a yoke and two proximal cam surfaces 1045A, 1045B and two distal cam surfaces 1047A, 1047B, but any number of cam surfaces may be provided. In some examples, the drive link 1046 does not have to be yoke-shaped and may include two or more cam surfaces. For example, the drive link may have only one leg and may include a single proximal cam surface 1045A and a single distal cam surface 1047A. In another example, the drive link may have a non-uniform number of cam surfaces, for example, a single proximal cam surface 1045A and two distal cam surfaces 1047A, 1047B, or vice versa. In some examples, there can be any combination of two or more cam surfaces (e.g., 1045A, 1045B, 1047A, 1047B) such that at least two opposing cam surfaces each include a portion of a cylindrical surface, and the portions of the cylindrical surface are concentric with respect to a common axis A3.

[0160] In some examples, the drive link 1046 may include one or more cam surfaces. In such examples, the drive body 1052 may include a surface (e.g., the distal surface 1088B of the collar 1088, Figure 5A) for receiving the drive surface of the drive link 1046 (e.g., cam surface 1045A). In such examples, the drive surface may include a portion of a cylinder having an axis (e.g., A3), the axis configured to pass under the drive link pivot A2 as the drive link 1046 moves through its range of motion, and / or through the translational longitudinal axis A1 of the drive body 1052 as the drive link 1046 moves through its range of motion. One advantage of such kinematics is that the distance over which the proximal collar 1088 or distal collar 1089 must be driven for the minimum amount of lever force F1 is optimized.

[0161] The common axis A3 may be perpendicular to the plane passing through the longitudinal axis A1 (Figure 1B), and the drive body 1052 translates along axis A1 and intersects with the drive link 1046. The common axis A2 may be parallel to the drive link pivot A2 of the drive link 1046 to the housing 1014.

[0162] Figure 15A shows a cross-sectional view of a portion of the forceps 1000 of Figure 1A, according to at least one example, with the lever 1024 in the actuated position and the trigger 1034 in the deactuated position. Figure 15A is similar to Figure 13C, showing the clamping function actuated by the lever 1024, resulting in the jaws 1012 being closed by the action of the first motion transmission assembly 1051, which causes the drive body 1052 and drive shaft 1026 to retract, but the blades 1032A are still in a deactuated position.

[0163] Figure 15B shows a cross-sectional view of a portion of the forceps 1000 of Figure 1A, according to at least one example, with the lever 1024 in the operating position and the trigger 1034 in the operating position (e.g., the blade 1032A is extended). In some examples, the trigger 1034 does not necessarily have to be a trigger and may be a second lever or another type of second actuator.

[0164] As shown in Figure 15A, the trigger return spring 1068 biases the trigger 1034 to a first position (e.g., default position, deactivated position, retracted position), and as a result, the blade shaft 1032 remains retracted until the trigger 1034 is compressed and moved proximally, acting on the blade 1032A (Figure 2). In the first deactivated position, the spool 1064 is in a proximal position on the drive shaft 1026. The cross pin 1066 is in a proximal position in the first horizontal slot 1069A and the second horizontal slot 1069B. Thus, the trigger return spring 1068 is in a relaxed state, floating between the drive body 1052 and the spool 1064, or between the second distal spring seat 1091 and the proximal trigger return spring seat 1101. The blade shaft 1032 is in a proximal position and is retracted.

[0165] To facilitate the extension and retraction of the blade shaft 1032 and the blade 1032A (Figure 2), the cross pin 1066 may move within one or more openings (e.g., elongated openings) in the drive shaft 1026, such as a first horizontal slot 1069A and a second horizontal slot 1069B (hidden). The first and second horizontal slots 1069A and 1069B may act as guide rails for the longitudinal reciprocating motion of the spool 1064. Thus, the spool 1064 may be guided along and by the drive shaft 1026. The first horizontal slot 1069A may extend to a first side of the drive shaft 1026, and the second horizontal slot 1069B may extend to a second side of the drive shaft 1026 opposite or opposite to the first horizontal slot 1069A. The first horizontal slot 1069A and the second horizontal slot 1069B may be near the proximal portion or proximal end of the drive shaft 1026 and may extend along the longitudinal axis A1 (Figure 1B) of the drive shaft 1026. Thus, the cross pin 1066 may extend from the first arm 1034C of the trigger 1034 to the second arm 1034D (hidden) of the trigger 1034 via the spool 1064, the first horizontal slot 1069A of the drive shaft 1026, the blade shaft 1032, and the second horizontal slot 1069B of the drive shaft 1026. The spool 1064 may include a proximal trigger return spring seat 1101 at its distal end. Therefore, the trigger return spring 1068 may be positioned on the drive shaft 1026 between the proximal end of the drive body 1052, or the second distal spring seat 1091, and the distal end of the spool 1064, or the proximal trigger return spring seat 1101.

[0166] As shown in Figure 15B, to extend the blade 1032A, the user can apply an actuation force input F2 to the trigger 1034. The trigger 1034 may be configured to receive the force input F2 from the user and transmit the force input to the spool 1064 via at least one arm 1034C of the trigger 1034. When the trigger 1034 is compressed to a second actuation position (and the distal portion of the trigger 1034 is moved proximal), the trigger 1034 moves the spool 1064 distally relative to the housing 1014, and the cross pin 1066 moves distally within the first horizontal slot 1069A and the second horizontal slot 1069B. The spool 1064, for example, the proximal trigger return spring seat 1101 of the spool 1064, may push the trigger return spring 1068 against the second distal spring seat 1091 until the preload of the trigger return spring 1068 is overcome and the trigger return spring 1068 is compressed, allowing the spool 1064 to continue moving distally. The cross pin 1066 may be constrained to the blade shaft 1032, for example, by extending through the bore 1032B (Figure 2) of the blade shaft 1032, thereby constraining the cross pin 1066 to the blade shaft 1032. As a result, the blade shaft 1032 can move distally to an extended position, so that the blade 1032A (Figure 2) can be seen at the distal end of the forceps 1000, or can be extended distally between the closed jaws 1012, and may not be seen. When the trigger 1034 is disengaged from the second position, the trigger return spring 1068 expands, pushing the proximal trigger return spring seat 1101, which can drive the spool 1064 proximal to the housing 1014. In this way, the cross pin 1066 can move proximal to the first horizontal slot 1069A and the second horizontal slot 1069B, moving the blade shaft 1032 proximal to the retracted position so that the blade 1032A (Figure 2) is no longer visible at the distal end of the forceps 1000. When no force is applied to the trigger 1034, the trigger 1034 returns to the first position (Figure 15A).

[0167] The proximal portion 1034A of the trigger 1034 may include one or more arms 1034C, 1034D (better visible in Figure 17D). In this example, the first arm 1034C is laterally separated from the second arm 1034D to form a yoke that receives the spool 1064, while the spool 1064 may be connected to the drive shaft 1026 by a cross pin 1066 extending through it. Thus, due to the cylindrical shape of the spool 1064, and because the spool 1064 is not fixedly coupled to the arms 1034C, 1034D, the spool 1064 can rotate relative to the arms 1034C, 1034D of the trigger 1034, thereby rotating the drive shaft 1026. In other words, the spool 1064 is rotatable with the drive shaft 1026 and is not obstructed by the arms 1034C, 1034D of the trigger 1034. The interface between the trigger 1034 and the spool 1064 can be described as a cam connection between the yoke and the spool (similar to the connection between the drive link 1046 and the drive body 1052). The cam connection between the yoke and the spool allows the internal drive shaft 1026 and blade shaft 1032 to rotate, while simultaneously the trigger 1034 engages with the spool 1064, giving the spool 1064 movement along the longitudinal axis A1 (Figure 1B).

[0168] The spool 1064 has a beneficial shape that allows the trigger 1034 to extend the blade shaft 1032, while the drive shaft 1026 extends through the spool 1064 and rotates under the input of the rotary actuator 1030. As shown in the combination of the retracted position of the blade 1032A in Figure 15A and the extended position of the blade 1032A in Figure 15B, the body, for example, the spool 1064 (exemplary, but not limited to) may be configured to be guided by the drive shaft 1026 to displace the blade shaft 1032, and thus the blade 1032A, between the retracted and extended positions.

[0169] The spool 1064 does not necessarily have to be provided as an axisymmetric spool or as having a cylindrical body that allows rotation of the spool 1064 relative to the trigger 1034. Alternatively, the spool 1064 may include a non-cylindrical body, which may be a rectangular parallelepiped or irregular shape, for example, in examples that do not include a rotatable drive shaft. For example, this may be the case when the drive shaft is rotatably fixed to the housing and can be translated relative to the housing. In some examples, the spool 1064 may be described as a body, a second body, a second motion transmission body, a cutting body, or a second drive body.

[0170] As shown in Figures 15A and 15B, the drive shaft 1026 may extend from a proximal position of the drive body 1052 through the spool 1064 toward the proximal end of the housing 1014. The advantage of the drive shaft 1026 extending through a second passage 1064A (Figure 2) within the spool 1064, beyond the spool 1064 in the proximal direction to the proximal end of the housing 1014, where it is supported by the stabilizing flange 1021, is that, in addition to supplying actuation function to the jaws 1012, the drive shaft 1026 can also function as a guide or rail for the spool 1064 to ride along. In some examples, the drive shaft 1026 may extend through the stabilizing flange 1021.

[0171] When the spool 1064 is positioned on or around the drive shaft 1026, the spool can move longitudinally along the drive shaft 1026, and while an axially symmetric spool 1064 is shown, another example of the second motion transmitter may comprise something other than a spool. In some such examples, such a second motion transmitter may be guided by the drive shaft 1026, but the second motion transmitter does not necessarily have to surround the drive shaft 1026 and does not have to be spool-shaped or rotatable. The spool 1064 is shown as one example of a motion transmitter and is designed to transmit motion received from an actuator to the shaft (e.g., received from a trigger 1034 and transmitted to the blade shaft 1032). In another example, the motion transmitter of this disclosure does not have to be spool-shaped, such as in examples where the spool 1064 does not need to be rotatable.

[0172] The trigger return spring 1068 may be a helical compression spring positioned on the drive shaft 1026 between the distal end of the spool 1064 and the proximal end of the drive body 1052. Conventional trigger return springs generally have the disadvantage of being backed up relative to the fixed flange of the housing. The exemplary trigger return spring 1068 is a floating spring positioned between the spool 1064 and the drive body 1052, and has the advantage of not requiring the design of a flange in the housing 1014 that must interface with the trigger return spring 1068. This reduces axial stacking along the longitudinal axis A1 of the forceps (Figure 1B), shortening the length of the forceps 1000 and improving ergonomics. In addition, the trigger return spring 1068 can be easily assembled by loading it onto the drive shaft 1026, and therefore, in contrast to conventional forceps, there is no additional assembly step of fixing the spring end to a flange in the housing.

[0173] Figure 16A is a cross-sectional view of a portion of the forceps 1000 along line 16A–16A' in Figure 15A, according to at least one example, with the trigger 1034 in the non-operating position as in Figure 15A. Figure 16B is a cross-sectional view of a portion of the forceps 1000 along line 16B–16B' in Figure 15A, according to at least one example, with the trigger 1034 in the operating position as in Figure 15B. Figures 16A and 16B are described together.

[0174] As shown in Figure 16A, the spool 1064 may extend from a proximal end portion to a distal end portion and may include one or more peripheral flanges (e.g., 1067A, 1067B) extending outward from a small diameter D3 toward the housing 1014. In this example, the spool 1064 includes a proximal flange 1067A, a distal flange 1067B, and a small diameter D3 extending between them along the longitudinal axis A1.

[0175] When the distal portion 1034B of the trigger 1034 is moved in the proximal direction, the arms 1034C and 1034D of the trigger 1034 slide along the small diameter D3 of the spool 1064 until the arms 1034C and 1034D contact the distal flange 1067B of the spool 1064. When the arms 1034C and 1034D contact the distal flange 1067B, the arms 1034C and 1034D may press against the distal flange 1067B of the spool 1064. As the distal portion 1034B of the trigger 1034 continues to actuate proximal, the arms 1034C and 1034D press against the distal flange 1067B, causing the spool 1064 to slide distally along the drive shaft 1026 relative to the housing 1014, thereby extending the blade assembly, including the blade shaft 1032, relative to the housing 1014.

[0176] When the user terminates the operation of blade 1032A and releases the actuation force input F2 on trigger 1034, the distal portion of trigger 1034 may be moved distally by the unloading force of the compressed trigger return spring 1068. As the arms 1034C and 1034D of trigger 1034 slide along the small diameter D3 of spool 1064, the arms 1034C and 1034D may eventually come into contact with the proximal flange 1067A of spool 1064. When arms 1034C and 1034D make contact with the proximal flange 1067A, the compressed trigger return spring 1068 pushes the spool 1064 against the proximal flange 1067A, causing the spool 1064 to slide proximal along the drive shaft 1026, returning it to the default proximal position in Figure 15A, thereby retracting the blade shaft 1032 relative to the housing 1014.

[0177] Continuing to refer to Figures 16A and 16B, one or both of the proximal flange 1067A and the distal flange 1067B may be tapered flanges, such as double-tapered flanges. This allows for better angles between the components of the handpiece 1001, improving kinematics and ease of use. However, if excessive force is applied by the user to move the trigger 1034 proximal, the arms 1034C and 1034D of the trigger 1034 will spread laterally outward from the longitudinal axis A1, deflect or bend, disengaging the arms 1034C and 1034D of the trigger 1034 from the spool 1064. In other words, the magnitude of the operating input force F2 (Figure 16B) is such that at least one of the arms 1034C and 1034D is deformed laterally outward in direction L or L'.

[0178] To control the spreading of one or more of the arms 1034C, 1034D, the housing 1014 may include one or more control surfaces 1013C, 1015D configured to prevent spreading of one or more arms. Spreading is most likely to occur when the arms 1034C, 1034D apply force to the distal flange 1067B at the distal end of the movement of the arms 1034C, 1034D. Spreading may also occur, though less likely, when the arms 1034C, 1034D apply force to the proximal flange 1067A at the proximal end of the movement of the arms 1034C, 1034D. For example, a first control surface 1013C may extend toward the first arm 1034C so that the lateral spreading of the first arm 1034C is controlled by the first control surface 1013C. Similarly, the second control surface 1015D may extend toward the second arm 1034D, and the lateral extension of the second arm 1034D is controlled by the second control surface 1015D.

[0179] In some examples, the control surfaces 1013C, 1015D may be coupled to or integrally formed with the first housing portion 1016 or the second housing portion 1018. As shown in the examples in Figures 16A and 16B, one or more control surfaces 1013C, 1015D may be provided as ribs 1017C, 1017D, which are formed inside the first housing portion 1016 and the second housing portion 1018, extending inward toward the arms 1034C, 1034D. The first rib 1017C may be located opposite or opposite to the second rib 1017D. The first rib 1017C may extend inward along the proximal-distal direction from the first inner surface 1016A of the first housing portion 1016. The second rib 1017D may extend inward along the proximal-distal direction from the second inner surface 1018A of the second housing portion 1018. Arms 1034C, 1034D, which form a yoke arranged around the spool 1064, can be constrained between the first rib 1017C and the second rib 1017D. In this arrangement, if one of the arms 1034C, 1034D attempts to push the other of the ribs 1017C, 1017D outward, the arm 1034C or 1034D is constrained by the rib 1017C or 1017D and kept inward, and as a result, the arm 1034C or 1034D maintains contact with the spool 1064 and transmits force from the yoke of the trigger 1034 to the spool 1064. In some examples, the trigger 1034 may include only one arm, and the housing may include only one rib or another control surface.

[0180] In another example, control surfaces 1013C, 1015D that prevent (e.g., restrain, limit, or constrain) the spreading of arms 1034C, 1034D do not necessarily have to be provided as ribs 1017C, 1017D, but rather may include inner surfaces 1016A, 1018A of housing 1014 formed into a particular shape, which are arranged in a certain manner or positioned relative to at least one of the arms 1034C, 1034D to constrain the lateral spreading of arms 1034C, 1034D, thereby preventing arms 1034C, 1034D from engaging or disengaging from the proximal or distal flanges 1067A, 1067B of spool 1064. In some examples, each of the arms 1034C, 1034D and the control surfaces 1013C, 1015D may contact each other along at least a portion of the entire range of motion of arms 1034C, 1034D. For example, this involves the movement of arms 1034C and 1034D between the non-operating position in Figure 16A and the operating position in Figure 16B.

[0181] To control the lateral spread of arms 1034C and 1034D, gaps 1019C, 1019D, or no gaps may be provided between the first arm 1034C and the first control surface 1013C, and between the second arm 1034D and the second control surface 1015D. For example, as shown in Figure 16A, gap 1019C may be positioned between the first control surface 1013C and the first arm 1034C, along at least a portion of the first control surface 1013C. To prevent the first arm 1034C from spreading outward when the trigger 1034 is actuated to the extent that the first arm 1034C engages with and disengages from the distal flange 1067B, the first gap 1019C may have a distance smaller than the arm thickness 1034E of the first arm 1034C. In some examples, the second gap 1019D may have a distance smaller than the second arm thickness 1034F of the second arm 1034D.

[0182] In some examples, the arm thickness 1034E or 1034F may range from approximately 0.5 mm to 4 mm, and the distance of each gap 1019C or 1019D may range from approximately 10 to 90% of the arm thickness 1034E or 1034F. In other examples, the arm thickness 1034E or 1034F may range from approximately 0.5 to 3.0 mm, and the distance of each gap 1019C or 1019D may range from 10 to 60% of the arm thickness 1034E or 1034F. In perhaps more preferred examples, the arm thickness 1034E or 1034F may range from approximately 1 to 2 mm, and the distance of each gap 1019C or 1019D may range from approximately 10 to 50% of the arm thickness 1034E or 1034F. Perhaps in an even more preferable example, the arm thickness 1034E or 1034F may be in the range of 1.4 mm to 1.7 mm, and the distance of the gap 1019C or 1019D may be in the range of 0.1 mm to 0.75 mm.

[0183] The arrangement of arm thicknesses 1034E or 1034F relative to the distance of each gap 1019C or 1019D can also be defined by the ratio of the distance of gap 1019C or 1019D relative to the distance of each arm thickness 1034E or 1034F (e.g., gap-arm ratio). For example, the gap-arm ratio may be between 1 / 10 and 9 / 10 (e.g., the gap is 10-90% of the arm thickness). However, depending on the specifications of the apparatus, in perhaps more preferred examples, the gap-arm ratio may be about 30% ± 25%, or the gap-arm ratio may be in the range of about 1 / 5 to 3 / 5 (e.g., the gap distance is 20-60% of the arm thickness). In some perhaps preferred examples, to prevent arms 1034C and 1034D from spreading, the ratio may be less than 1 / 2, or in the range of 10-50%.

[0184] When trigger 1034 is activated, the first arm 1034C and the first rib 1017C may come into contact with each other along at least a portion of the range of motion of the first arm 1034C. Similarly, the second arm 1034D and the second rib 1017D may come into contact with each other along at least a portion of the range of motion of the second arm 1034D.

[0185] Figure 17A is a side view of the subassembly 1500 of the forceps 1000 of Figure 1A. The subassembly 1500 is held by hand during assembly, as shown in at least one example, with some components shown as phantoms. Figure 17B is a side view of the subassembly 1500 of Figure 17A inserted into a housing (e.g., a second housing portion 1018), as shown in at least one example, with some components shown as phantoms. Figure 17C is a side view of the subassembly 1500 of Figure 17B and the second housing portion 1018, as shown in at least one example, with solid lines. Figure 17D is a proximal isometric view of the subassembly 1500 of Figure 17C and the second housing portion 1018, as shown in at least one example. Figures 17A, 17B, 17C, and 17D are described together.

[0186] When assembling medical devices such as forceps 1000, it can be difficult to assemble a set of links into multiple pivot attachments within the housing. The parts tend to move around, making it difficult to align the multiple pivots into their corresponding attachments within the housing. To improve ease of assembly, the inventors discovered that a nested subassembly 1500 can be inserted and aligned with the housing 1014.

[0187] The subassembly 1500 in Figure 17A can be formed and held as a temporary subassembly 1500 by the assembler. For example, the subassembly 1500 can be held together with the nested arrangement of the lever 1024, coupling link 1042, and trigger 1034 by the support of the user's hand. Assembly is improved because by creating the subassembly 1500, both the lever pivot 1027 on the lever 1024 and the trigger pivot 1037 on the trigger 1034 can be aligned and coupled with the pivot attachment on the second housing portion 1018 in one step (e.g., in one simultaneous operation).

[0188] As shown in the combination of Figures 17A to 17D, the boss 1027A may extend around at least a portion of the lever pivot 1027. The lever pivot 1027 may interface with the housing 1014, allowing the lever 1024 to rotate around the lever pivot P1 (Figure 17C).

[0189] The trigger 1034 may include an arm 1034C having a recess 1039 configured to receive a boss 1027A. A coupling link 1042 pivotally coupled to the lever 1024 may include a body 1042A and a tab 1043 extending away from the body 1042A. As shown and described in Figures 13A, 13B, and 13C, the tab 1043 on the coupling link 1042 may be positioned to provide support to the inner surface of the trigger 1034 (e.g., the shut-off surface 1035 shown and described in Figures 13A, 13B, and 13C) when the boss 1027A is seated in the recess 1039. The tab 1043 may extend at an acute angle from the body 1042A toward the inner surface of the trigger 1034 (e.g., 1035). In the example shown, the tab 1043 may extend away from the central portion of the body 1042A. In another example, the tab 1043 may extend away from any part of the body 1042A, including the end of the body 1042A.

[0190] Figure 18 shows a method 1800 for assembling a medical device, for example, a forceps 1000 including the subassemblies 1500 shown in Figures 17A–17D. In operation 1802, method 1800 may include pivotally connecting a coupling link 1042 to a first lever, such as a lever 1024. The coupling link 1042 may include a body 1042A and a tab 1043 extending away from the body 1042A, and the lever 1024 may include a lever pivot 1027 and a boss 1027A.

[0191] Operation 1804 may include nesting the lever 1024 and coupling link 1042 with a second lever, for example, a trigger 1034 having a trigger pivot 1037. In the nested position, the recess 1039 of the trigger 1034 may be supported by the boss 1027A. In some examples, the nesting step of operation 1804 may include inserting the coupling link 1042 and lever 1024 between the two spaced arms 1034C, 1034D of the trigger 1034. Operation 1806 may include supporting the inner surface (e.g., 1035) of the trigger 1034 with the coupling link 1042 to provide a subassembly 1500 held in a subassembly state.

[0192] With the subassembly 1500 held in the assembler's hand, operation 1808 may include pivotally coupling the lever pivot 1027 to the housing 1014 (e.g., or frame) and pivotally coupling the trigger pivot 1037 to the housing 1014. The coupling of the lever pivot 1027 and the trigger pivot 1037 in operation 1808 may be performed, for example, simultaneously, substantially simultaneously, or in a single operation or step. Pivotically coupling the lever 1024 to the housing 1014 may include aligning the lever pivot 1027 and boss 1027A with the lever pivot attachment 1017A on the housing 1014. Pivotically coupling the trigger 1034 to the housing 1014 may include aligning the trigger pivot 1037 with the trigger pivot attachment 1017B on the housing 1014.

[0193] In some examples, the recess 1039 is supported by the boss 1027A, and the inner surface (e.g., 1035) of the trigger 1034 is supported by the tab 1043, so that the lever pivot 1027 can be connected to the lever pivot attachment 1017A of the housing 1014, and the trigger pivot 1037 can be connected to the trigger pivot attachment 1017B of the housing 1014 without disengaging the recess 1039 from the boss 1027A.

[0194] In the sub-assembly state, the lever pivot 1027 and trigger pivot 1037 may have a similar distance D2 with respect to the distance between the lever pivot attachment 1017A and the trigger pivot attachment 1017B on the housing 1014. Similar distances may include, but are not limited to, the same distance, the same distance within reasonable manufacturing and assembly tolerances, and a distance that facilitates the assembly of the lever 1024 and trigger 1034 onto the housing 1014 in one step. In some examples, the distance D2 may be measured between the lever pivot P1 and the trigger pivot P2 when assembled.

[0195] Method 1800 will be described with reference to forceps 1000 in Figure 1A, but Method 1800 may be performed to assemble another medical device on the frame, having a frame, a first lever having a first pivot, a second lever having a second pivot (e.g., a trigger, but not limited to), a coupling link, and first and second pivot attachments.

[0196] Figure 19A shows the distal end of the forceps 1000 of Figure 1A, including the wiring harness 1900, in at least one example. Figure 19B shows a portion of the forceps 1000 of Figure 1A, including the wiring harness 1900 of Figure 19A, in at least one example.

[0197] The wire harness 1900 can supply electromagnetic energy to activate, for example, one or more electrodes of the end effector 1002 in Figure 1A. The wire harness 1900 can enter the housing 1014, for example, with handle portions 1020A and 1020B. The wire harness 1900 may include one or more low-voltage wires and one or more high-voltage wires. For example, as shown in Figure 21, the wire harness 1900 may include a pair of low-voltage wires 1902 and a pair of high-voltage wires 1904 grouped together within a polymer cover 1906.

[0198] As multiple high-voltage and low-voltage wires move within the housing 1014, the wires may be separated into a pair of low-voltage wires 1902 and a pair of high-voltage wires 1904. The pair of low-voltage wires 1902 may be routed to one or more switches 1914 via a connector 1912 that can form part of a flexible printed circuit board. The one or more switches 1914 may be, for example, dome switches that can be actuated by an actuation button 1036. The pair of high-voltage wires 1904 may be routed to one or more electrical couplings 1908A, 1908B that are in electrical communication with the end effector 1002. In one example, the wires 1902 of the low-voltage pair can carry a 12-volt DC current to the actuation button 1036 (Figure 1A). The actuation button 1036 may include or be coupled to one or more switches, such as two dome switches with the actuation button 1036 floating above a flexible circuit board with switches. When the activation button 1036 is pressed, the post or hook of the activation button 1036 can press down the dome switch 1914 to close the circuit.

[0199] The actuation button 1036 may be a wrap-around multi-directional button. The actuation button 1036 can activate the switch 1914 by pressing it at any point and in any direction. Features on the actuation button 1036, such as a post or hook formed on the inner surface facing the switch 1914, along with two dome switches 1914 that are laterally spaced apart on both sides of the handpiece 1001, allow the actuation button 1036 to be activated from multiple directions. This arrangement makes it easy for the user to operate. In this example, the two switches 1914 are arranged substantially symmetrically with respect to the longitudinal axis of the forceps 1000.

[0200] The low-voltage pair wires 1902 may include a ground wire and a reference wire that form a closed circuit. In one example, the high-voltage pair wires 1904 may carry a current of 2265 volts, 450,000 Hz, and 505 amperes, with waveforms that are out of phase with each other. The high-voltage pair wires 1904 may carry power to the end effector 1002.

[0201] A pair of high-voltage wires 1904 can be terminated with an electrical coupling 1908, which can be electrically coupled to a pair of wires 1910 (hereinafter referred to as "drive shaft wires") that travel through the drive shaft 1026. The electrical coupling 1908 and the drive shaft wires 1910 facilitate the adaptation of a single wire harness 1900 to accommodate forceps having drive shafts 1026 of different lengths. A pair of drive shaft wires 1910 can enter the proximal end of the drive shaft 1026, travel through the drive shaft 1026 along the blade shaft 1032, and exit from the distal end of the drive shaft 1026. A pair of drive shaft wires 1910 can be coupled to an end effector 1002 at the distal end of the drive shaft 1026. In some examples, a pair of high-voltage wires 1904 can supply power to one or more electrodes of the jaws 1012. The routing of the drive shaft wire 1910 adjacent to the end effector 1002 will be described further herein.

[0202] Figure 20A shows an isometric view of a portion of the forceps 2000 in the closed position, according to at least one example of this disclosure. Figure 20B shows an isometric view of a portion of the forceps 2000 in the partially open position. Figure 20C shows an isometric view of a portion of the forceps 2000 in the open position. Figures 20A to 20C also show axis A1 and the proximal and distal ends of the directional indicator. Figures 20A to 20C are described together below.

[0203] The forceps 2000 may be a surgical forceps consistent with the above description, and as a result, the forceps 2000 may be manipulated to open and close the jaws to grasp tissue, to apply electrical energy to tissue, and / or to cut tissue for use during surgical, biopsy, or therapeutic procedures. Any feature of the forceps 2000, or any forceps or end effectors described below, may be included in the forceps described above. Further details of the forceps 2000 are discussed below.

[0204] The forceps 2000 may include an upper jaw 2010, a lower jaw 2012, a guide (or proximal pin) 2014, a drive pin 2016, and a pivot pin 2018. The upper jaw 2010 may include flanges 2020a and 2020b (collectively referred to as flange 2020) and an upper grip plate 2023, and the lower jaw 2012 may include flanges 2022a and 2022b (collectively referred to as flange 2022) and a lower grip plate 2024 (flanges 2020 and 2022 may also be referred to as struts herein). The forceps 2000 may also include an inner shaft 2026 (or inner tube or drive shaft), an outer shaft 2028 (or outer tube), and a distal plug 2030. The inner shaft 2026 may include inner arms 2034a and 2034b (collectively referred to as inner arms 2034). The outer shaft 2028 may include outer arms 2038a and 2038b (collectively referred to as outer arm 2038). The flanges 2020a and 2020b may each include tracks 2040a and 2040b (collectively referred to as track 2040). The flanges 2022a and 2022b may each include tracks 2042a and 2042b (collectively referred to as track 2042). A portion of the forceps 2000 shown in Figures 20A to 20C may be referred to as end effector 2002.

[0205] Each component of the forceps 2000 can consist of one or more materials, such as metal, plastic, foam, elastomer, ceramic, composite material, or a combination thereof. The materials of some of the forceps components will be discussed in more detail below.

[0206] Jaws 2010 and 2012 may be rigid members configured to engage with the tissue. Jaws 2010 and 2012 may be coupled to the outer shaft 2028 and pivotally coupled, for example, via a pivot pin 2018. The pivot pin 2018 may extend through portions of jaws 2010 and 2012 (such as the respective bores of jaws 2010 and 2012), and as a result, the pivot pin 2018 may be received by the outer arm 2038 of the outer shaft 2028. In another example, jaws 2010 and 2012 may be pivotally coupled to the outer shaft 2028 via one boss (or more bosses) of the outer shaft 2028. In yet another example, jaws 2010 and 2012 may include one boss (or more bosses) receivable within the bore of the outer shaft 2028, and jaws 2010 and 2012 may be pivotally coupled to the outer shaft 2028. In another example, the outer shaft 2028 may include one (or more) bosses receptacleable within the bores of the jaws 2010 and 2012, and the jaws 2010 and 2012 may be pivotably coupled to the outer shaft 2028.

[0207] Flanges 2020a and 2020b (which may be a set of flanges, i.e., two flanges) may be rigid or semi-rigid members positioned on the proximal portion of jaw 2010. Similarly, flanges 2022a and 2022b may be rigid or semi-rigid members positioned on the proximal portion of jaw 2012. In some examples, flange 2020 may be positioned laterally outward of inner flange 2022. In other examples, flanges 2020 and 2022 may be interlaced.

[0208] The grip plates 2023 and 2024 of jaws 2010 and 2012 may be rigid or semi-rigid members configured to engage with and / or grip tissue to the opposite jaw during electrosurgery or other procedures. One or more of the grip plates 2023 and 2024 may include one or more serrations, projections, or protrusions configured to increase engagement pressure and friction between the grip plates 2023 and 2024 and the tissue. The flange 2020 of the upper jaw 2010 may extend proximal away from the grip plates 2023 and 2034, and in some examples may extend substantially downward when the upper jaw 2010 is in the open and partially open positions (as shown in Figures 20B and 20C, respectively). Similarly, the flange 2022 of the lower jaw 2012 may extend proximal away from the grip plate, and in some examples may extend substantially upward when the upper jaw 2010 is in the open and partially open positions (as shown in Figures 20B and 20C, respectively), as a result the jaws 2010 and 2012 and flanges 2020 and 2022 operate to open and close in a scissor-like manner. The jaws 2010 and 2012 may each include electrodes configured to deliver electricity to the tissue (via grip plates 2023 and 2024, if applicable), a frame supporting the electrodes, and a blade slot configured to receive a blade between the jaws 2010 and 2012, which are described in detail below.

[0209] Track 2040 on flange 2020 and track 2042 on flange 2022 may be tracks, channels, paths, or slots on flanges 2020 and 2022, respectively. In some examples, tracks 2040 and 2042 may be positioned proximal to pivot pin 2018, where pivot pin 2018 is coupled to jaws 2010 and 2012 (and optionally outer shaft 2028). Tracks 2040 and 2042 may be molded to receive drive pin 2016 therein. In some examples, tracks 2040 and 2042 may be slots or channels configured to receive drive pin 2016 through which drive shaft 2026 (such as inner arms 2034a and / or inner arms 2034b) connect to flanges 2020 and 2022 (and thus jaws 2010 and 2012).

[0210] Tracks 2040 and 2042 may be straight in some examples and curved in some examples. In any example, tracks 2040 and 2042 may be configured so that the drive pin 2016 moves simultaneously along tracks 2040 and 2042 to open and close the jaws.

[0211] Each of the inner shaft 2026 and the outer shaft 2028 may be a rigid or semi-rigid elongated body having the geometric shape of a cylinder, where the shape of the inner shaft 2026 matches the shape of the outer shaft 2028. In some examples, the inner shaft 2026 and the outer shaft 2028 may have different shapes, such as an elliptical prism, a rectangular prism, a hexagonal prism, or an octagonal prism. In some examples, the inner shaft 2026 and the outer shaft 2028 may be shaped such that the inner shaft 2026 is not rotatable relative to the outer shaft 2028, but the inner shaft 2026 can still translate relative to the outer shaft. For example, the inner shaft 2026 and the outer shaft 2028 may be concentric elliptical prisms. In another example, the inner shaft 2026 and the outer shaft 2028 may be rectangular tubes of a size that restricts the relative rotation of the inner shaft 2026 with respect to the outer shaft 2028. In some examples, the shape of the inner shaft 2026 may differ from the shape of the outer shaft 2028.

[0212] The inner shaft 2026 may extend substantially proximal to distal along axis A1, which may be the longitudinal axis. Similarly, the outer shaft 2028 may extend substantially proximal to distal along axis A1. In some examples, axis A1 may be the central axis of one or more inner shafts 2026 and outer shafts 2028. The inner shaft 2026 may include an axial bore extending along axis A1. The outer shaft 2028 may also include an axial bore extending along axis A1. The inner shaft 2026 may have an external dimension (such as an outer diameter) smaller than the internal diameter of the outer shaft 2028, so that the inner shaft 2026 is located within the outer shaft 2028 and can translate within it along axis A1. The inner shaft 2026 may be called a drive shaft 2026, a camshaft 2026, or an inner tube 2026. The outer shaft 2028 may also be called an outer tube 2028.

[0213] The inner arms 2034a and 2034b (distal arms) of the inner shaft 2026 may extend distally from the distal portion of the inner shaft 2026, and the inner arms 2034a and 2034b may be positioned laterally outward of the flanges 2020 and 2022. In some examples, the inner arms 2034a and 2034b may together form a fork or clevis. The outer arms 2038a and 2038b may extend distally from the distal portion of the outer shaft 2028 to form a fork or clevis. In some examples, the outer arms 2038a and 2038b may extend distally beyond the inner arms 2034a and 2034b to receive a pivot pin 2018 and secure the flanges 2020 and 2022 (and thus the jaws 2010 and 2012) to the outer shaft 2028.

[0214] Jaw 2010 may include flanges 2020a and 2020b, and jaw 2012 may include flanges 2022a and 2022b. Jaws 2010 and 2012 each include two flanges, which can help distribute the force applied to the jaws by the drive pin 2016. For example, using two flanges per jaw may help reduce the force applied to tracks 2040 and 2042 by the drive pin 2016 during opening and closing of jaws 2010 and 2012. Using two flanges per jaw may also help stabilize the operation of the jaws because the pin 2016 has multiple contact points with each jaw. That is, the drive pin 2016 contacts flanges 2020a and 2020b, and flanges 2022a and 2022b, respectively.

[0215] The distal plug 2030 may be a plug that can be positioned within the outer shaft 2028 between the outer arms 2038, and the inner arm 2034 may translate around the distal plug. The distal plug 2030 may include a blade channel extending through it, allowing a blade 2032 to extend through (and translate with respect to) the distal plug 2030. The distal plug 2030 may include one or more conduit bores through which conduits (connected to the electrodes of jaws 2010 and 2012) may be received. The distal plug 2030 is described in more detail below.

[0216] The blade 2032 may be an elongated cutting member containing one or more sharp edges configured to cut or excise tissue or another item. The blade 2032 may be located within the outer shaft 2028 (and within the inner shaft 2026) and may extend along (and optionally parallel to) axis A1. The blade 2032 may be translationally translatable with respect to the inner shaft 2026 and the outer shaft 2028 and may extend between (or within) the first jaw 2010 and the second jaw 2012. In some examples, the blade 2032 may extend axially through the inner shaft 2026 and may be laterally offset from axis A1. In some examples, the blade 2032 may extend axially through flanges 2020 and 2022, resulting in the blade 2032 being located laterally inward of the first set of flanges 2020 and the second set of flanges 2022.

[0217] The guide 2014, drive pin 2016, and pivot pin 2018 may each be rigid or semi-rigid pins, such as cylindrical pins. In other examples, the guide 2014, drive pin 2016, and pivot pin 2018 may have different shapes, such as rectangular, square, or elliptical. In some examples, each pin may be the same size (e.g., diameter and length), which can simplify manufacturing and reduce costs. Each pin may have a smooth surface, which can help reduce surface friction between the pin and the components of the forceps 2000, for example, between the pivot pin 2018 and the outer shaft 2028, or between the drive pin 2016 and the flanges 2020 and 2022. In some examples, each of the guide 2014, drive pin 2016, and pivot pin 2018 may be another component, such as one or more protrusions, bosses, or arms.

[0218] The operation of forceps 2000 is described below in the explanation of Figure 21, referring to Figures 20A to 20C.

[0219] Figure 21 shows a side view of a portion of the forceps 2000 in the open position, according to at least one example of the present disclosure. Figure 21 also shows axis A1 and the proximal and distal portions of the directional indicator. The forceps 2000 in Figure 21 may correspond to the forceps described with respect to Figures 20A–20C, and Figure 21 shows the forceps 2000 together with the outer shaft 2028 of the phantom.

[0220] Figure 21 also shows outer slots 2044a and 2044b (only slot 2044b is visible in Figure 21). The outer slots 2044a and 2044b (collectively referred to as outer slot 2044) may be axial slots extending through opposing portions of the outer shaft 2028. In some examples, outer slot 2044a may be on arm 2038a of the outer tube 2028, opposite to outer slot 2044b on arm 2038b. The outer slot 2044 may be sized to accommodate a drive pin 2016, and as a result, the drive pin 2016 may translate along the outer slot 2044 in examples where the drive pin 2016 extends laterally outward from the outer surface of the inner shaft 2026 (when the inner shaft 2026 translates relative to the outer shaft 2028). In some examples, the outer slot 2044 may be a track that extends to a portion of the outer shaft 2028 (but does not completely penetrate the outer shaft 2028).

[0221] In some example operations, a handle (such as those discussed above) can be operated to translate the inner shaft 2026 within (and with respect to) the outer shaft 2028. For example, distal translation of the inner shaft 2026 relative to the outer shaft 2028 translates the drive pin 2016 distally, moving the jaws 2010 and 2012 from the closed position (as shown in Figure 20A) to the intermediate position (as shown in Figure 20B) and the open position (as shown in Figures 20C and 21). Conversely, proximal translation of the inner shaft 2026 can translate the drive pin 2016 proximal, moving the jaws 2010 and 2012 to the closed position, and as a result the drive pin 2016 can translate to open and close the jaws 2010 and 2012 in a scissor-like manner. In another example, the operation can be reversed, where distal movement of the inner shaft 2026 moves the jaws 2010 and 2012 toward the closed position, and proximal movement of the inner shaft 2026 moves the jaws 2010 and 2012 toward the open position.

[0222] In particular, in one example, the distal translation of the inner shaft 2026 can cause the drive pin 2016 to translate distally within the outer slot 2044, and by assisting in restricting rotation of the inner shaft 2026 relative to the outer shaft 2028, and also by assisting in restricting non-axial movement of the inner shaft 2026 relative to the outer shaft 2028, it helps to guide the axial translation of the drive pin 2016. When the drive pin 2016 translates distally within the outer slot 2044, the drive pin 2016 can translate distally along the track 2040 of the flange 2020 of the upper jaw 2010 (such as within the track 2040) and along the track 2042 of the flange 2022 of the lower jaw 2012. Since the tracks 2040 and 2042 can be angled and / or curved along the flanges 2020 and 2022 respectively, and since the tracks 2040 and 2042 can be oriented in opposite directions relative to each other, the distal translation of the drive pin 2016 can cause the jaws 2010 and 2012 to open in a scissor-type movement. That is, the upper jaw 2010 moves upward, its flange 2020 moves downward, the lower jaw 2012 moves downward, its flange 2022 moves upward, and the upper jaw 2010 and the lower jaw 2012 are moved towards the open position (and ultimately to the open position).

[0223] The distal translation of the inner shaft 2026 can be restricted by contact between the drive pin 2016 and the distal end of each outer slot 2044 (as shown in FIG. 21). In some examples, the distal translation of the inner shaft 2026 can be restricted by contact between the drive pin 2016 and the distal ends of the tracks 2040 and 2042 respectively. In another example, the distal translation of the inner shaft 2026 can be restricted by contact between the guide 2014 and a portion of the inner shaft 2026.

[0224] To close the jaws, the inner shaft 2026 is translated in the proximal direction, which can translate the drive pin 2016 in the proximal direction, which translates the drive pin 2016 proximally within the outer slot 2044. As the drive pin 2016 translates proximally within the outer slot 2044, the drive pin 2016 can translate proximally along the track 2040 of the flange 2020 of the upper jaw 2010 (such as within the track 2040) and also along the track 2042 of the flange 2022 of the lower jaw 2012. The proximal translation of the drive pin 2016 can close the jaws 2010 and 2012 in a scissor-like movement. That is, the upper jaw 2010 moves downward, its flange 2020 moves upward, the lower jaw 2012 moves upward, its flange 2022 moves downward, and the upper jaw 2010 and the lower jaw 2012 move toward (and ultimately to) the closed position.

[0225] The proximal translation of the inner shaft 2026 can be limited by contact between the drive pin 2016 and the proximal end of each outer slot 2044. In some examples, the proximal translation of the inner shaft 2026 can be limited by contact between the drive pin 2016 and the proximal end of each of the tracks 2040 and 2042. In another example, the proximal translation of the inner shaft 2026 can be limited by contact between a guide 2014 and a portion of the inner shaft 2026. In another example, the proximal translation of the inner shaft 2026 can be limited by contact between the jaws 2010 and 2012 (or by the restriction of the pivoting movement of the clamp lever relative to the housing as shown in FIG. 4C).

[0226] When jaw 2010 is in a partially closed position (as shown in Figure 20B) or when the jaw is not in a fully open position, blade 2032 can partially extend into jaws 2010 and 2012 and cut tissue between jaws 2010 and 2012. Blade 2032 can be extended by operating the trigger of the handle (or another actuator) as described above. When jaw 2010 is in the closed position (as shown in Figure 20A), blade 2032 can be fully extended into jaws 2010 and 2012 and cut tissue between jaws 2010 and 2012. Using these operations, a physician can use forceps 2000 to grasp tissue using jaws 2010 and 2012, excise the tissue using blade 2032, and remove the patient's tissue. Details of the forceps are described below.

[0227] Figure 22 shows a top view of a portion of the forceps 2000 in the open position with the outer shaft 2028 removed, according to at least one example of the present disclosure. Figure 22 shows the proximal and distal directional indicators and axis A1.

[0228] The forceps 2000 in Figure 22 can correspond to the forceps 2000 described above, and further details will be explained with respect to Figure 22. For example, Figure 22 shows that the arms 2034a and 2034b of the inner shaft 2026 may include bores 2046a and 2046b, respectively, which may be sized and shaped to receive the drive pin 2016 in (and through) it in some examples.

[0229] Figure 22 also shows that flange 2020 may be positioned laterally outward of flange 2022. Figure 22 also shows that flange 2020 may be positioned laterally inward of arm 2034, with a gap between flanges 2022a and 2022b, allowing arm 2034 to control the outward lateral position of flange 2020 (and therefore flange 2022). Blade 2032 may be positioned between flanges 2022, thereby allowing blade 2032 to translate parallel to axis A1 without contacting flange 2022 or 2020. Blade 2032 positioned between flanges 2022 also allows blade 2032 to be positioned centered or near the center of the inner shaft 2026 and jaws 2010 and 2012, which may help improve cutting operations using blade 2032 by extending along or near the central portion of jaws 2010 and 2012. In some examples, flange 2022 also allows blade 2032 to be located laterally inward of flange 2022 while still being offset from axis A1.

[0230] Figure 22 also shows that the pivot pin 2018 and the drive pin 2016 may extend through the blade 2032. Figure 22 further shows that the drive pin 2016 may extend through the flanges 2020 and 2022 and the arm 2034. Figure 22 further shows that the guide 2014 may define length PL1, the drive pin 2016 may define length PL2, and the pivot pin 2018 may define length PL3. In some examples, lengths PL1, PL2, and PL3 may all be the same to help simplify the bill of materials and structure of the forceps 2000. However, lengths PL1, PL2, and PL3 may be different in other examples.

[0231] Figure 23 shows an isometric view of the inner shaft 2026 of forceps 2000 according to at least one example of the present disclosure. Figure 23 also shows the proximal, distal, upper, and lower directional indicators.

[0232] The inner shaft 2026 can be consistent with the description of the inner shaft 2026 above, and Figure 23 shows additional details of the inner shaft 2026, for example, flats 2048a and 2048b of arms 2034a and 2034b, respectively (only 2048a is visible in Figure 23). Flat 2048 may be of a size and shape that allows flanges 2020 and 2022 to be positioned within arm 2034, and may be substantially parallel surfaces configured to reduce contact and friction between flanges 2020 and 2022 and arm 2034 during opening and closing of jaws 2010 and 2012.

[0233] Figure 23 also shows axial tracks 2050a and 2050b (collectively referred to as axial tracks 2050). The axial tracks 2050 may also be referred to as axial slots, channels, or proximal slots of the inner shaft 2026. Each axial track 2050 may be an axial slot extending laterally through the wall of the inner shaft 2026. In another example, the axial track 2050 may be a channel, groove, recess, or other guide configured to receive a guide member. In some examples, the axial tracks 2050 do not extend over the entire length of the inner shaft 2026.

[0234] The axial track 2050a (not fully visible in Figure 23) may include the distal edge 2052a, the proximal edge 2054a, the lower edge 2056a, and the upper edge 2058a. The axial track 2050b may include the distal edge 2052b, the proximal edge 2054b, the lower edge 2056b, and the upper edge 2058b. One or more of the axial tracks 2050 may be sized and shaped to accommodate the guide 2014 within (and through in some examples) it, and so that the guide 2014 translates within the axial track 2050 between edges 2054 and 2056. The interaction between the guide 2014 and the axial tracks 2050 is described in more detail below.

[0235] Figure 24 shows a side view of a portion of forceps 2000 in the open position according to at least one example of the present disclosure, with the outer shaft 2028 represented by a phantom. Figure 25 shows a side isometric view of a portion of forceps 2000 according to at least one example of the present disclosure. Figures 24 and 25 are described below together. Figures 24 and 25 show the proximal, distal, upper, and lower parts of the directional indicator, with Figure 24 showing axis A1.

[0236] Figure 25 shows that the guide 2014 can be fixed to the outer shaft 2028, for example, by insertion into bores 2060a and 2060b (only bore 2060b is visible in Figure 25). The bore 2060 and the guide 2014 may be positioned distal to the forceps 2000 on the outer shaft 2028. In some examples, the bore 2060 may be substantially coaxial and substantially perpendicular to axis A1. In such cases, the guide 2014 may be positioned within the bore 2060 and may lie on an axis defined by the bore 2060 that is substantially perpendicular to axis A1. The bore 2060 is also substantially centered around the outer shaft 2028 and centered on the guide 2014. In some examples, the bore 2060 may be offset from axis A1 (either upward or downward) and substantially perpendicular to axis A1. In another example, bore 2060 can traverse a transverse plane partially defined by axis A1, so that one bore is above axis A1 and the other is below, and the axis defined by bore 2060 can pass through axis A1 or be offset from it in such a configuration. The axial track 2050 may be configured to coincide with the orientation of guide 2014, so that the inner shaft 2026 can translate relative to guide 2014.

[0237] Figure 25 also shows that the pivot pin 2018 may be positioned in and fixed within bores 2062a and 2062b (only bore 2062b is visible in Figure 25). The orientation of bores 2062a and 2062b may be similar to any of those described above with respect to guide 2014 (e.g., aligned with axis A1, offset from axis A1, intersecting axis A1).

[0238] Guide 2014 may be attached to bore 2060, and pivot pin 2018 may be attached to bore 2062, helping to prevent pins 2014 and 2018 from moving away from bore 2060 and 2062, respectively. Pins 2014 and 2018 may be secured to bore 2060 and 2062, respectively, using one or more methods such as welding (e.g., laser welding), screws, fasteners, adhesives, etc.

[0239] In some example operations, when the inner shaft 2026 translates distally relative to the outer shaft 2028, moving the drive pin 2016 distally, moving the flanges 2020 and 2022, and fully opening the jaws 2010 and 2012, the distal translation of the inner shaft 2026 relative to the outer shaft 2028 may be limited by contact between the guide 2014 and the proximal edge 2054 of the axial track 2050 (shown in Figure 24) of the inner shaft 2026, so that the guide 2014 may function as a distal stop (or distal movement stop) for the inner shaft 2026.

[0240] In some example operations, when the inner shaft 2026 translates proximal to the outer shaft 2028, moving the drive pin 2016 proximal and the flanges 2020 and 2022 to fully close the jaws 2010 and 2012, the proximal translation of the inner shaft 2026 may be limited by contact between the guide 2014 and the distal edge 2052 of the axial track 2050 of the inner shaft 2026, so that the guide 2014 can act as a proximal stop for the inner shaft 2026. In another example, the proximal translation of the inner shaft 2026 may be limited by contact between the jaws 2010 and 2012 (including their grip plates).

[0241] Furthermore, contact between guide 2014 and one or more upper edges 2052 may help restrict the downward movement of the inner shaft 2026. Similarly, contact between guide 2014 and one or more lower edges 2054 may help restrict the upward movement of the inner shaft 2026. Contact between guide 2014 and the upper and lower edges 2052 and 2054, respectively, may also help restrict the rotation of the inner shaft 2026 around axis A1 relative to the outer shaft 2028, for example, when the end effector is rotated by the handle (as described above). This may help restrict the winding of shafts 2028 and 2026, improving the performance of the forceps 2000 and preventing its breakage.

[0242] Guide 2014 can also function as one or more of the following for the inner shaft 2026: a proximal translation stop, a distal translation stop, a vertical movement limiter, and a rotation limiter, which function in an example where the proximal translation of the inner shaft 2026 opens the jaws 2010 and 2012, and the distal translation of the inner shaft 2026 closes the jaws 2010 and 2012. Guide 2014 can be any variation of those described above with respect to shape, size, and position. In some examples, guide 2014 may be engageable with the inner shaft 2026 to restrict the movement of the drive shaft 2026 relative to the outer shaft 2028 in a direction not parallel to guide 2014. In some examples, guide 2014 may be engageable with the inner shaft 2026 to restrict the movement of the drive shaft 2026 in a direction perpendicular to guide 2014. Such vertical movement restrictions by Guide 2014 may restrict the proximal and / or distal and / or vertically upward and / or vertically downward movement of the shaft 2026.

[0243] FIG. 26A shows a side view of a portion of the forceps 2000, according to at least one example of the present disclosure, with the inner shaft 2026 and the outer shaft 2028 represented in phantom and the retracted blade 2032. FIG. 26B shows a side view of a portion of the forceps 2000 with the inner shaft 2026 and the outer shaft 2028 represented in phantom and the advanced blade 2032. FIGS. 26A and 26B also show the proximal, distal, upper, and lower direction indicators and axis A1. FIGS. 26A and 26B are described below.

[0244] The forceps 2000 of FIGS. 26A and 26B may correspond to the forceps 2000 discussed above, and FIGS. 26A and 26B show additional details of the blade 2032. For example, FIGS. 26A and 26B show that the blade 2032 may include an edge 2064, where the edge 2064 may be retracted from the jaws 2010 and 2012 when the blade 2032 is retracted, and the edge 2064 may extend into the jaws 2010 and 2012 (along the tracks of the jaws 2010 and 2012) when the blade 2032 is extended.

[0245] In some example operations, the blade 2032 may be translated distally along the tracks of the jaws 2010 and 2012 when the jaws are between the open and closed positions or when the jaws 2010 and 2012 are in the closed position. The blade 2032 may be used to cut tissue or other items between the jaws 2010 and 2012.

[0246] FIG. 26B also shows that the blade 2032 may include a blade track 2066 (or blade channel 2066), which may include a proximal edge 2068, an upper edge 2070T, and a lower edge 2070B. The track 2066 may extend along axis A1 for most of the length of the blade 2032 and may have a height slightly larger than the diameter of the pins (2014, 2016, and 2018) to allow the blade 2032 to translate past the pins along axis A1.

[0247] Track 2066 may be configured to contact guide 2014 and restrict the axial translation of blade 2032 relative to guide 2014 and outer shaft 2028. For example, the proximal edge 2068 (which may be rounded complementary to guide 2014) may be configured to contact guide 2014 and restrict the distal translation of blade 2032 relative to inner shaft 2026, outer shaft 2028, and jaws 2010 and 2012. In some examples, blade track 2066 may be longer than the length of outer slots 2044a and 2044b, so that outer slots 2044a and 2044b do not restrict the translation of blade 2032 relative to inner shaft 2026, outer shaft 2028, and / or jaws 2010 and 2012.

[0248] Furthermore, contact between one or more of the guide 2014, drive pin 2016, and pivot pin 2018 and the upper edge 2070T helps to restrict the downward and / or upward movement of the blade 2032 relative to the inner shaft 2026, outer shaft 2028, and jaws 2010 and 2012. Such contact may also help to restrict rotation of the blade 2032, such as around axis A1. Similarly, contact between one or more of the guide 2014, drive pin 2016, and pivot pin 2018 and the lower edge 2070B may help to restrict the upward movement of the blade 2032 relative to the inner shaft 2026, outer shaft 2028, and jaws 2010 and 2012. Such contact may also help to restrict the rotation of the blade 2032. In some examples, the guide 2014 may be diametrically centered around the outer shaft 2028. In another example, guide 2014 may be offset (upward, downward, and / or laterally) from axis A1.

[0249] Figure 27 shows an isometric view of a portion of the forceps 2000, in at least one example of the present disclosure, with the inner shaft 2026 and outer shaft 2028 represented by phantoms, and the detached jaws 2010 and 2012. Figure 27 also shows the proximal, distal, upper, and lower directional indicators.

[0250] The forceps 2000 in Figure 27 can correspond to the forceps 2000 described above, and additional details of the forceps are described with respect to Figure 27. For example, Figure 27 shows how the proximal edge 2068 of the blade track 2066 engages with the guide (shaft pin) 2014 to restrict the distal translation of the blade 2032. Figure 27 also shows the blade shaft 2072, which may be connected to the proximal portion of the blade 2032 at the proximal position of the guide 2014. The blade shaft 2072 may extend proximal from its connection to the blade 2032 through the outer shaft 2028 and the inner shaft 2026, where the shaft 2072 may be connected to the handle components as described above.

[0251] Figure 28 shows an isometric view of a portion of the forceps 2000, in accordance with at least one example of the present disclosure, along with the inner shaft 2026 and outer shaft 2028 represented by phantoms. Figure 28 also shows the proximal, distal, upper, and lower directional indicators, and axis A1.

[0252] The forceps 2000 in Figure 28 may correspond to the forceps 2000 discussed above, and further details of the forceps will be explained with respect to Figure 28. For example, Figure 28 shows that the distal plug 2030 may be a distal plug that can be fixed to the outer tube 2028 between a pair of outer arms 2034 at a position proximal to the jaws 2010 and 2012.

[0253] In particular, the distal guide plug 2030 may include a body 2074, a sleeve 2076, and upper and lower projections 2078T and 2078B. The body 2074 may be sized to be inserted into the outer shaft 2028, and the sleeve 2076 extends proximal into the outer shaft 2028. The projections 2078T and 2078B may extend laterally outward from the body (upward and downward in some examples), and the projections 2078T and 2078B do not extend beyond (or extend minimally beyond) the outer surface of the outer tube 2028. Further details of the distal guide plug 2030 are described below.

[0254] Figure 28 also shows that the guide 2014, drive pin 2016, and pivot pin 2018 may have diameters P1, P2, and P3, respectively. In some examples, diameters P1, P2, and P3 may all be the same to help simplify the bill of materials and structure of the forceps 2000. However, in other examples, diameters P1, P2, and P3 may be different.

[0255] Figure 29A shows an isometric view of a portion of the forceps 2000 according to at least one example of this disclosure, along with the inner shaft 2026 and outer shaft 2028 represented by phantoms. Figure 29B shows an isometric view of a portion of the forceps 2000, along with the inner shaft 2026 and outer shaft 2028 represented by phantoms. Figure 29C shows an isometric view of a portion of the forceps 2000, along with the inner shaft 2026 and outer shaft 2028 represented by phantoms. Figures 29A to 29C also show the proximal, distal, upper, and lower directional indicators, blade height BH, blade width BW, slot height SH, and slot width SW. Figures 29A to 29C are described together below.

[0256] The forceps 2000 in Figures 29A to 29C may correspond to the forceps 2000 described above, and additional details of the forceps 2000 are described with respect to Figures 29A to 29C. For example, Figures 29A to 29C show that projections 2078T and 2078B may extend upward and downward, respectively, from the body 2074 of the distal plug 2030. Projections 2078T and 2078B may be sized and shaped to nest into recesses 2037 between the arms 2034, so that projections 2078T and 2078B form an interlocking fit with the outer shaft 2028, which can help restrict the movement of the distal guide plug 2030 relative to the outer shaft 2028. This interlocking fit between the guide plug 2030 and the outer shaft 2028 can help fix the guide plug 2030 to the outer shaft 2028. The distal plug 2030 may be additionally (or alternatively) secured to the outer shaft 2028 using fasteners, threads, and / or adhesives.

[0257] Figures 29A to 29C also show that the guide plug 2030 may include a blade channel 2080, a distal surface 2082, and wire routing bores 2084 and 2086. Figures 29A to 29C also show that the blade channel 2080 may extend axially through the body 2074, with the blade channel 2080 extending from the lower portion of the body 2074, and the blade 2032 being insertable into the blade channel 2080.

[0258] The slot height SH of blade channel 2080 can be slightly larger than the blade height BH of blade 2032, allowing movement of blade 2032 through blade channel 2080 while helping to limit upward and downward movement of blade 2032 relative to the distal guide plug 2030, and therefore the outer tube 2028. Similarly, the slot width SW of blade channel 2080 can be slightly wider than the blade width BW of blade 2032, assisting movement of blade 2032 through blade channel 2080 while helping to limit lateral movement of blade 2032 relative to the distal guide plug 2030, and therefore the outer tube 2028.

[0259] Figures 29A to 29C also show that the distal surface 2082 of the guide plug 2030 can be curved to allow clearance for the rotation of flanges 2020 and 2022 during the opening and closing of jaws 2010 and 2012. Furthermore, wire routing bores 2084 and 2086 can pass through the distal surface 2082 and through the body 2074 and sleeve 2076 of the guide plug 2030, respectively. Each of the wire routing bores 2084 and 2086 can be sized and shaped to accept a wire (or conduit) in and through it. Each of the wire routing bores 2084 and 2086 can be isolated from the blade channel 2080 to help limit (or prevent or eliminate) interaction between the wire and the blade 2032.

[0260] Figure 29C also shows that the body 2074 of the guide plug 2030 may include channels 2088a and 2088b on the opposing lateral outer surfaces of the distal plug 2030. Each channel 2088 may be a slot, track, channel, or flat configured to interface with an arm 2034 of the inner shaft 2026, and the arm 2034 may translate through (or around) the distal plug 2030. The channels 2088 and other features of the guide plug 2030 are described in further detail below with respect to Figures 30A–30C.

[0261] Figure 30A shows an isometric view of a portion of the forceps 2000 with the inner shaft 2026 in the extended position, according to at least one example of this disclosure. Figure 30B shows an isometric view of a portion of the forceps 2000 with the inner shaft 2026 in the retracted position. Figure 30C shows an end view of the guide plug 2030 of the forceps 2000. Figures 30A to 30B also show the proximal, distal, upper, and lower parts of the directional indicator. Figure 30C also shows the upper and lower parts of the directional indicator and axis A1. Figures 30A to 30C will be described together below.

[0262] The forceps 2000 in Figures 30A to 30C can correspond to the forceps 2000 discussed above, and further details of the forceps are described with respect to Figures 29A to 29C. For example, Figure 30B shows how the arms 2034a and 2034b of the inner shaft 2026 may extend through channels 2088a and 2088b, respectively, around and beyond the guide plug 2030, making the inner shaft 2026 movable between a distal position (in one example, with closed jaws 2010 and 2012) as shown in Figure 30B and a proximal position as shown in Figure 30A, at which point the inner shaft 2026 translates within the outer shaft 2028 to manipulate the end effectors (such as jaws 2010 and 2012). Specifically, Figures 30A and 30B show how arms 2034a and 2034b can be moved proximal around the guide plug 2030 through (or around) channels 2088a and 2088b (for example, when arm 2034 is positioned laterally inward of outer arm 2038) to move the inner shaft 2026 to a proximal position.

[0263] Figure 30C shows that each channel 2088 can be flat, but the channels 2088 can be slots or other features that allow extension of the arm 2034 beyond the guide plug 2030. In some examples, the channels 2088 can be on the opposing lateral outer surfaces of the guide plug 2030.

[0264] Figure 30C also shows that the blade channel 2080 may be offset laterally from the longitudinal axis A1 of the shafts (2026 and 2028), and that the wire routing bores 2084 and 2086 may be offset laterally from axis A1 on the opposite side from the blade channel 2080. In some examples, the distal plug 2030 may be oriented so that the blade channel 2080 is offset from axis A1 in a different direction, for example, upward or downward. Figure 30C also shows that the wire routing bores 2084 and 2086 may be offset from axis A1 (upward and downward). However, in some examples, the wire routing bores 2084 and 2086 may be offset from axis A1 in a different direction, such as laterally.

[0265] Figure 30C also clearly shows how, during the assembly of the forceps 2000, the blade channel 2080 extends from (or through) the end of the lower portion of the body 2074, allowing the blade 2032 to be inserted into the blade channel 2080.

[0266] Figure 31A shows an end view of a guide plug 2530 of a forceps according to at least one example of the present disclosure. The guide plug 2530 may be similar to the guide plug 2030 described above, except that the blade channel 2580 of the guide plug 2530 may merge with the wire routing bores 2584 and 2486, so that the wire routing bores 2584 and 2486 are still configured to hold wire within them. Such a design may help simplify the manufacture of the guide plug 2530, as it may be a small component with tight tolerances. Any of the forceps described above or below may be modified to include the guide plug 2530.

[0267] Figure 31B shows an end view of a guide plug 2630 of a forceps according to at least one example of the present disclosure. The guide plug 2630 may be similar to the guide plug 2030 described above, but differs in that the blade channel 2680 of the guide plug 2630 can terminate within the body 2674. That is, the blade channel 2680 does not extend from the lateral, upper, or lower side of the guide plug 2630. Such a blade channel may help restrict the downward movement of the blade within the guide plug 2030. Any of the forceps described above or below can be modified to include the guide plug 2630.

[0268] Figure 31C shows an end view of a forceps guide plug 2730 according to at least one example of the present disclosure. Figure 31C also shows the upper and lower parts of the directional indicator. The guide plug 2730 may be similar to the guide plug 2030 described above, but differs in that the blade channel 2780 of the guide plug 2730 includes a projection 2784 that extends inward across a portion of the blade channel 2780 (such as the lower or lateral outer portion), and may provide a reduced-size opening 2782 of the blade channel 2780 to the outer portion of the blade channel 2780. Such a blade channel may allow a blade to be inserted into the blade channel 2780 through the lower portion of the guide plug 2730. The projection 2784 may help restrict the lower portion of the blade channel 2780 from moving laterally inward or folding during forceps manipulation, which may help improve the use of the forceps 2000 during surgery, for example. Either of the forceps described above or below may be modified to include a guide plug 2730.

[0269] Figure 32A shows a side view of a portion of the forceps 2700 according to at least one example of this disclosure. Figure 32B shows a perspective view of a portion of the forceps 2700. Figures 32A to 32B will be described together below.

[0270] The forceps 2700 may include an upper jaw 2710 (including flange 2720), a lower jaw 2712, a guide 2714, a drive pin 2716, a pivot pin 2718, an inner shaft 2726, and an outer shaft 2728. The outer shaft 2728 may include outer arms 2736a and 2736b.

[0271] The forceps 2700 in Figures 32A and 32B may be similar to the forceps 2000 described above, except that only the upper jaw 2710 is movable relative to the lower jaw 2712, where the lower jaw 2712 may be fixed relative to the inner shaft 2726 and the outer shaft 2728. In some examples, the upper jaw 2710 may be fixed and the lower jaw 2712 may be movable.

[0272] The forceps 2700 may include any of the features described above with respect to any of the other forceps, except that only the flange 2720 of the upper jaw 2010 is driven by the drive pin 2716, which moves the jaw 2710 between the open and closed positions as the jaw pivots around the pivot pin 2718. Similarly, any of the forceps described above or below may be modified to include the components of the forceps 2700.

[0273] Figure 33A shows a side view of a portion of the forceps 2800 according to at least one example of this disclosure. Figure 33B shows a perspective view of a portion of the forceps 2800. Figures 33A to 33B are described together below.

[0274] The forceps 2800 may include an upper jaw 2810 (including flanges 2820a and 2820b), a lower jaw 2812 (including flanges 2822a and 2822b), a guide 2814, a drive pin 2816, a pivot pin 2818, an inner shaft 2826, and an outer shaft 2828. The outer shaft 2828 may include outer arms 2836a and 2836b.

[0275] The forceps 2800 in Figures 33A and 33B may be similar to the forceps described above, except that the flange 2822 may be interlaced with the flange 2820, thereby allowing the jaw assemblies (2010 and 2012) to be made of the same components and reducing costs. In such an example, the blade 2832 may be positioned between one of the flanges 2822 and one of the flanges 2820. The forceps 2800 may include any of the features described above with respect to any of the other forceps. Similarly, any of the forceps described above or below may be modified to include the components of the forceps 2800.

[0276] Figure 34A shows a side view of a portion of the forceps 2900 according to at least one example of the present disclosure. Figure 34B shows a perspective view of a portion of the forceps 2900. The forceps 2900 may include any of the features described above with respect to another forceps.

[0277] Figure 35A shows a side view of the forceps flange 3022A according to at least one example of the present disclosure. Figure 35B shows a side view of the forceps flange 3022B. Figure 35C shows a side view of the forceps flange 3022C. Figures 35A to 35C also show the proximal, distal, upper, and lower parts of the directional indicator. Figures 35A to 35C are described together below.

[0278] Figures 35A to 35C show flanges 3022A, 3022B, and 3022C, respectively, which may each include a pivot bore 3090 extending within or through the flange 3022. The pivot bore 3090 is configured to receive a pivot pin (e.g., pivot pin 2018) through it to secure the flange 3022 to the outer shaft, thereby allowing the flange 3022 to pivot around the outer shaft.

[0279] Figures 35A to 35C also show curved proximal portions 3092 adjacent to the upper edges 3094 of flanges 3022A, 3022B, and 3022C. The curved proximal portions 3092 are rounded or curved (or otherwise shaped or contoured) and can reduce lateral elongation of flange 3022 when the jaws are in the open position. The curved proximal portion 3092 of flange 3022A may have a relatively small radius, while the curved proximal portion 3092 of flange 3022C may have a relatively large radius and is not concentric with the curvature of the proximal end 3093 of track 3042 of flange 3022C. That is, the center of curvature C1 of the proximal end 3093 may be concentric with the center of curvature C2 of the curved proximal portion 3092. The relatively large radius of the curved proximal portion of flange 3022C may further help reduce lateral elongation of flange 3022C when the jaws are in the open position.

[0280] Figures 35A–35C also show that the upper portion of the flange can be removed to further restrict the lateral extension of the flange 3022 when the jaws are in the open position. For example, the edge 3094 in Figures 35B and 35C can be moved about 0.5 millimeters laterally (or downward), as shown in Figure 35A. In another example, the edge 3094 can be moved more or less downward, depending on the material, size, and shape of the flange 3022, for example, based on the stress applied to the flange from its operation. The forceps in Figures 35A–35C may include any of the features described above in relation to any other forceps. Similarly, any of the forceps described above or below may be modified to include the components of the forceps in Figures 35A–35C.

[0281] Figure 36A shows a side view of a portion of forceps 3000A according to at least one example of this disclosure. Figure 36B shows a side view of a portion of forceps 3000C. Figure 36C shows a side view of a portion of forceps 3000C. Figures 36A to 36C also show the proximal, distal, upper, and lower parts of the directional indicators. Figures 36A to 36C are described together below.

[0282] The forceps 3000A may include the flange 3022A shown in Figure 35A and various components similar to those of the forceps described above, such as the upper jaw 3010, the lower jaw 3012, the drive pin 3016, the pivot pin 3018, the inner shaft 3026, the outer shaft 3028, and the outer arm 3036. Figure 36A shows how the proximal rounded portion 3092A of the flange 3022A extends laterally outward (or upward) beyond the outer shaft 3028 when the jaws 3010 and 3012 are in the open position.

[0283] The forceps 3000C, as shown in Figures 36B and 36C, demonstrate how the lateral extension of the flange 3022C beyond the outer shaft 3028 can be reduced by the curved proximal portion 3092 of the flange 3022C. Such reduction in lateral extension may help reduce contact between the flanges 3020 and 3022 and the tissue in the body lumen, and thus help reduce interference between the flanges 3020 and 3022 and the tissue.

[0284] The proximal rounded portion of the flange will be described in more detail below with respect to forceps 2000. Forceps 3000 may include any of the features described above with respect to any other forceps. Similarly, any of the forceps described above or below may be modified to include the components of forceps 3000.

[0285] Figure 37A shows a partial side view of forceps 3200 according to at least one example of the present disclosure. Figure 38 shows a partial side view of forceps 3300 according to at least one example of the present disclosure. Figures 37A to 38 will be described together below.

[0286] The forceps 3200 may include an upper jaw 3210, a lower jaw 3212, and an outer shaft 3228. The lower jaw may include a flange 3222. Similarly, the forceps 3300 may include an upper jaw 3310, a lower jaw 3312, and an outer shaft 3328. Figures 37A and 37B show how the rounded proximal portion 3292 of the flange 3222 of the lower jaw 3212 can reduce the lateral elongation of the flange over the outer surface of the outer shaft 3228 on the less rounded proximal portion 3392 of the flange 3322.

[0287] Figure 39A shows a partial side view of forceps 3400 according to at least one example of this disclosure. Figure 39B shows a partial side view of forceps 3500 according to at least one example of this disclosure. Figure 39C shows a partial side view of forceps 3600 according to at least one example of this disclosure. Figures 39A to 39C will be described together below.

[0288] Figure 39A shows forceps 3400 including upper jaws 3410 at two positions indicated by 3410a and 3410b, and the jaws 3410 include flanges 3420 at two positions indicated by 3420a and 3420b. The forceps may also include fixed lower jaws 31484 and an outer shaft 3428. Figure 39A further shows distances E1, E2, O1, and O2.

[0289] Figure 39A shows that when the upper jaw 3410 is in the first open position at 3410a, the distance between the jaws can be O1, which in one example can be 14.5 millimeters. In the second open position at 3410b, the distance between the jaws can be O2, which in one example can be 16.5 millimeters, a difference of approximately 2 millimeters. When the jaw 3410 is in the first open position at 3410a, the flange 3420 can be 3420a in the first position, which in one example has a distance E1 of approximately 2.3 millimeters from the outer shaft 3428. When the jaw 3410 is in the second open position at 3410b, the flange 3420 can be 3420b in the second position, which in one example has a distance E2 of approximately 3 millimeters from the outer shaft 3428, a difference of approximately 0.7 millimeters between the positions.

[0290] This means that a 0.7 mm difference in flange extension corresponds to a 2.0 mm difference in opening, and the larger opening between jaws 2010 and 2012 may provide a better operating range for forceps 3400. However, having a flange that extends beyond the outer surface of the outer shaft 3428 more than necessary is undesirable because flange 3420 may engage with surrounding tissue. Therefore, as shown in Figure 39C, flange 3620 may have a proximal rounded portion 3692, which is configured to reduce the amount that flange 3620 extends beyond the outer surface of the outer shaft 3628 compared to flange 3520 of forceps 3500 in Figure 39B, where flange 3520 may extend even further outward relative to flange 3620 of forceps 3600 in Figure 39C.

[0291] Figure 40A shows a side view of jaw 3710 according to at least one example of the present disclosure. Figure 40B shows a side view of jaw 3710. Figure 40C shows an end view of jaw 3710. Figure 40D shows an isometric view of jaw 3710. Figures 40B and 40C show axis A1, and Figure 40C shows vertical plane P1. Figures 40A to 40D will be described together below.

[0292] Jaw 3710 may be similar to the other jaws described above, and may include flanges 3720a and 3720b, including tracks 3740a and 3740b and a pivot pin bore 3790. Figures 40A to 40D also show that jaw 3710 may have an outer shell 3795, which is relatively round and smooth and may help limit catching or trapping on tissue. Figure 40B also shows that jaw 3710 may be curved relative to axis A1. Figures 40B and 40D also show an upper wire 3738, which may be connected to an electrode of jaw 3710 to power it. Jaw 3710 may include any of the features described above with respect to any of the forceps. Similarly, any of the forceps described above or below may be modified to include the components of jaw 3710.

[0293] Figure 41A shows an isometric view of jaw 3712 according to at least one example of the present disclosure. Figure 41B shows a side view of jaw 3712. Figure 41C shows a side view of jaw 3712. Figure 41D shows an end view of jaw 3712. Figures 41C and 41D show axis A1. Figures 41A to 41D will be described together below.

[0294] Jaw 3712 may be similar to the other jaws described above, and jaw 3712 may include flanges 3722a and 3722b having tracks 3742a and 3742b and a pivot pin bore 3790. Figures 40A–40D show that jaw 3710 may have an outer shell 3797 which is relatively round and smooth and may help limit (or prevent or eliminate) snagging or capture of jaw 3712 on tissue. Figure 41C also shows that jaw 3710 may be curved relative to axis A1. Figure 41C further shows a lower wire 3799 which may be connected to an electrode of jaw 3712 to power it.

[0295] Figure 41A also shows that the plate 3724 of jaw 3712 may include a blade slot 3725, which may extend along the plate 3724 of jaw 3712 and be configured to receive a blade (such as blade 2032) therein. In some examples, the blade slot 3725 may be curved in accordance with the profile of jaw 3712. Each jaw described above or below may include such a blade slot. In some examples, jaw 3710 may include a blade slot 3723, which may be complementary to the blade slot 3725. That is, the blade slots 3725 and 3723 may be parallel, so that when jaws 3710 and 3712 are in the closed or partially closed position, each of jaws 3710 and 3712 (when operating together) can receive a blade therein.

[0296] Jaw 3712 may include any of the features described above in relation to any other forceps. Similarly, any of the forceps described above or below may be modified to include the components of jaw 3712.

[0297] Figure 42 shows a side view of a portion of the forceps 2000 in the closed position according to at least one example of the present disclosure, with the inner shaft 2026 and outer shaft 2028 represented as phantoms. Figure 43 shows a side view of a portion of the forceps 2000 in the open position, with the inner shaft 2026 and outer shaft 2028 represented as phantoms. Figure 44 shows a side view focused on a portion of the forceps 2000. Figure 42 shows partial indices C1-C1 and C2-C2. Figures 42-44 show the proximal and distal aspects of the directional indices. Figure 44 also shows the angle θ. Figures 42-44 are described together below.

[0298] The forceps 2000 in Figures 42-44 may correspond to the forceps 2000 described above, and further details are described below with respect to Figures 42-44. For example, Figures 43 and 44 show that the flange 2020b may include a track 2040b, a rounded proximal portion 2092, an outer (or lower) edge 2094, an upper (or inner or superior) edge 2100, and a proximal inner portion 2102. The track 2040b may include a proximal end 2104.

[0299] The rounded proximal portion 2092 may be connected to the lower edge 2094 and to the proximal inner portion 2012, for example, the proximal end of a jaw pivot, which may be defined by a pivot pin 2018. The proximal inner portion 2102 may be connected to the upper (or inner) edge 2100. The proximal end 2104 may be a portion of slot 2040b that can include the end of slot 2040b. The proximal end 2104 may be located near the rounded proximal portion 2092.

[0300] The rounded proximal portion 2092, like the proximal medial portion 2102, may be shaped to be rounded or curved. The rounded proximal portion 2092 may be curved or (as shown in Figure 44) may have a curved edge from a lateral angle to help limit the rounded proximal portion 2092 to extend beyond the outer shaft 2028 when the jaws 2010 and 2012 are in the open position (or between the open and closed positions). That is, one or more of the proximal portions 2092 of the flanges 2020 and 2022 may be shaped to limit the proximal portion 2092 to extend laterally beyond the arm 2038 of the outer shaft 2028, which may help limit engagement between the flanges 2020 and 2022 and the surrounding tissue during treatment. In some examples, such a rounded proximal portion 2092 may be used on only one flange 2020 and one flange 2022.

[0301] In some examples, the rounded proximal portion 2092 can be curved or have a curved edge from the lateral direction, which is greater than the radius of the proximal inner portion 2102 from the lateral direction. In other words, the inner proximal portion 2102 can be rounded with a radius smaller than the radius of the rounded proximal portion 2092. In some examples, the rounded proximal portion 2092 can be positioned near the track 2040. The rounded proximal portion 2092 can be profiled to limit stress within the flange 2020, where stress may be generated by the interaction between the track 2040 (flange 2020) and the inner shaft 2026, for example, via the drive pin 2016.

[0302] The proximal end 2104 of track 2040 may be the end of track 2040 and may be curved or have a rounded shape. In some examples, the rounded proximal portion 2092 may have a curvature that is not concentric with the curvature of the proximal end 2104 of track 2040. In some examples, the rounded proximal portion 2092 may have the largest possible radius and may reduce the elongation of flange 2020 beyond the outer shaft 2028 (such as reduced radial elongation) and may not reduce the strength of flange 2020 adjacent to track 2040 below the strength required for the normal operation of flange 2020 (e.g., to withstand the force applied by drive pin 2016). Figure 42 also shows that when jaws 2010 and 2012 are in the closed position, flanges 2020 and 2022 do not elongate laterally beyond the outer shaft 2028.

[0303] In some examples, the profile of the proximal portion 2092 may be configured to maintain a minimum thickness between track 2040 and the proximal portion 2092. In some examples, the minimum thickness may be between 0.1 mm and 1.5 mm. In other examples, the minimum thickness may be between 0.3 mm and 1 mm. In yet another example, the minimum thickness may be 0.7 mm.

[0304] In some examples, the profile of the proximal portion 2092 of flange 2020 may include an edge 2103 having an arc tangent to the outer edge 2094. In some examples, the arc of edge 2103 may be eccentric with the arc of the proximal end 2104 of track 2040b. In some examples, when flange 2020 and / or 2022 are in an open position (or not in a closed position), the arc of edge 2103 may have a larger radius of curvature toward the lateral inner portion (towards the inner rounded portion 2102) than toward the lateral outer portion (towards the rounded proximal portion 2092). In any of the examples discussed herein, flange 2020 may be symmetric with respect to one or more axes.

[0305] Figure 44 also shows the angle θ, which may be the angle formed between the upper surface of the outer arm 2034 and the flange 2022b. (The flange 2020 may form a similar angle with the lower surface of the outer arm 2034.) The rounded proximal portion 2092 of the flange 2022 may define the angle θ, at least partially. In some examples, the rounded proximal portion 2092 may have a curvature that limits (or prevents or eliminates) the angle θ becoming acute, for example, when the flange 2022 (or flange 2020) is in the open position. Minimizing the angle θ may help limit the pinching or scissoring of tissue between the flange 2022 and the outer arm 2034 during the opening and closing of the jaws 2010 and 2012. Furthermore, the proximal medial portion 2102 can be prevented from extending laterally (as described above) beyond the upper surface of the outer arm 2034 (for example, by the arrangement of the track 2042), which can further help limit undesirable pinching or scissoring of tissue during opening and closing of the jaws 2010 and 2012. In some examples, the transition between the proximal medial portions 2102 and 2102 can be curved or rounded to further prevent scissoring.

[0306] Figure 45 shows a cross-sectional view of a portion of forceps 2000 crossing section C1-C1 in Figure 42. Figure 46 shows a cross-sectional view of a portion of forceps 2000 crossing section C2-C2 in Figure 42. Figure 47 shows a side view of a portion of forceps 2000, along with the inner shaft 2026 and outer shaft 2028, represented by phantoms. Figures 45 to 47 will be explained together below.

[0307] The forceps 2000 in Figures 45 and 46 may be consistent with the description of forceps 2000 discussed above. Figures 45 and 46 show details of the chamfering of the flange 2020 of the jaw 2010. In particular, Figures 45 and 46 show flanges 2020a, 2020b, 2022a, and 2022b. Also shown are the inner shaft 2026, which includes arms 2034a and 2034b, and the outer shaft 2028, which includes arms 2034a and 2034b and the outer surface 2106.

[0308] Furthermore, the blade 2032 is shown within the blade channel 2080 of the guide plug 2030, offset from axis A1, and the wire routing bores 2084 and 2086 of the guide plug 2030 are shown offset from axis A1 on the opposite side of the blade 2032. Figure 45 also shows the drive pin 2016, and Figure 46 shows the shaft pin 2014. Figures 45 and 46 also show further details of the flanges 2020a and 2020b, for example, the upper edges 2102a and 2102b, the outer surfaces 2108a and 2108b, and the chamfers 2110a and 2110b, respectively.

[0309] Figure 45 also shows a diameter D1 that may be the inner diameter of the outer shaft 2028, and a diameter D2 that may be the outer diameter of the inner shaft 2026. Figure 45 shows how, when diameter D2 is smaller than diameter D1, the inner shaft 2026 and its arm 2034 fit into the outer shaft 2028, allowing the inner shaft 2026 to translate relative to the outer shaft 2028.

[0310] As shown in Figures 45 and 46, the chamfer 2110a may extend between the outer surface 2108a and the upper edge 2102a. Similarly, the chamfer 2110b may extend between the outer surface 2108b and the upper edge 2102b. The chamfer 2110 may be sized and shaped to limit the flange 2020 of jaw 2010 to laterally extend beyond the outer surface of the outer shaft 2028 when jaws 2010 and 2012 are in the closed position, thereby helping to reduce the overall profile of the end effector 2002, which helps to facilitate easier insertion of the end effector 2202 into the cannula and / or opening.

[0311] In some examples, one or more chamfers 2110 may be bevels extending between the upper edge 2102 and the outer surface 2108. In other examples, the chamfer 2110 may be a curved or notched surface of the flange 2020, configured to limit the extension of the flange 2020 beyond the outer surface 2106 of the outer shaft 2028. In some examples, one or more chamfers 2110 may be rounded.

[0312] As shown in Figure 47, the chamfer 2110 can be positioned relative to the track 2040 to extend the thickness of the flange 2020 adjacent to the distal end of the track, which may help increase the strength of the flange 2020 from which the drive pin 2016 can apply force to the track 2040. In another example, if the track 2040 is reversed, the chamfer 2110 can be positioned relative to the track 2040 to extend the thickness of the flange 2020 adjacent to the distal end 2104 of the track 2040.

[0313] In some examples, one or more of the flanges 2022a and 2022b may include a chamfered outer edge configured to limit the extension of flange 2022 beyond the outer surface 2106 of the outer shaft 2028. In examples where flanges 2020 and 2022 are arranged alternately, either flange 2020 or 2022 may include a chamfered edge configured to limit the extension of flange 2022 beyond the outer surface 2106 of the outer shaft 2028.

[0314] As shown in Figure 46, chamfers 2110a and 2110b may be further separated from the outer surface at more proximal positions on flanges 2020a and 2020b, respectively. That is, chamfers 2110a and 2110b may define edges that extend substantially axially along flange 2020 when jaws 2010 and 2012 are in the closed position. The edges (chamfers 2110) may be positioned laterally inward (or radially inward in some examples) of the outer surface 2106 of the outer tube 2028.

[0315] In some cases, the chamfer 2110 (or chamfered edge) can be angled laterally inward (or radially inward) from the axially distal position to the axially proximal position. When a large force is applied to compress the jaws 2010 and 2012 during the operation of the forceps 2000, the proximal portions of the flanges 2020 and 2022 may extend radially outward beyond the outer surface of the outer shaft 2028. As a result, the flanges may engage with the trocar while the forceps are being removed from the trocar with tissue grasped, which can complicate the removal procedure. The chamfer 2110 (or chamfer edge), which is angled laterally inward (or radially inward) from the axial distal position to the axial proximal position (or the chamfer edge 2110 with a posterior incline (rake)), may help reduce the lateral elongation of flanges 2020 and 2022 beyond the outer shaft 2028 caused by applying a large force to the actuator, which may help avoid engagement with the trocar (or tissue or other components) when removing the forceps 2000 from the body lumen.

[0316] Figure 48 shows a cross-sectional view of a portion of a forceps 4000 across portion 45-45 of Figure 42, according to at least one example of the present disclosure. The forceps 4000 may be similar to those described above and may include jaws 4010 and 4012, each including flanges 4020 and 4022. The forceps 4000 may also include an inner shaft 4026, including inner arms 4034a and 4034b, and the forceps 4000 may include an outer shaft 4028, including outer arms 4036a and 4036b.

[0317] Figure 48 also shows that flanges 4020 and 4022 can form a channel between them, and the channel can be configured (e.g., sized and shaped) to receive the blade 4032 and the wires 4098 and 4099 passing through it. In some examples, the wires 4098 and 4099 may extend axially through the first set of flanges 4020 and the second set of flanges 4022 at a position laterally inward of the first set of flanges 4020 and the second set of flanges 4022.

[0318] One wire, such as wire 4098, may be above the axis A1 of the shaft, and another wire, such as wire 4099, may be below the axis A1. In some examples, wire 4098 may be above the drive pin (routed to the upper jaw 4010), and wire 4099 may be below the drive pin (routed to the lower jaw 4012). In some examples, blade 4032 may be offset (e.g., lateral offset) from axis A1, and wires 4098 and 4099 may be offset (e.g., lateral offset) from axis A1 on the opposite side of blade 4032. In some examples, axis A1 may be the central axis of the inner shaft 4026, in which case blade 4032 may extend along axis A1 through the inner shaft 4026.

[0319] Figure 49 shows a cross-sectional view of a portion of the forceps 4100 across portions 46-46 of Figure 42, according to at least one example of the present disclosure.

[0320] The forceps 4100 may be similar to the other forceps described above, and the forceps may include jaws 4110 and 4112, each including flanges 4120 and 4122. The forceps 4100 may also include an inner shaft 4126, which includes inner arms 4134a and 4134b, and the forceps 4100 may include an outer shaft 4128, which includes outer arms 4136a and 4136b.

[0321] Figure 49 also shows that flanges 4120 and 4122 can form a channel between them that can receive the blade 4132. Flanges 4120 and 4122 can also form lateral outward channels for wires 4198 and 4199, respectively, so that wire 4198 can be positioned laterally outward of flanges 4120 and 4122 and laterally inward of arms 4134 and 4136. One wire, such as wire 4198, may be above the axis A1 of the shaft routed to the upper jaw 4110, and another wire, such as wire 4199, may be below the axis A1 routed to the lower jaw 4112. In some examples, wire 4198 may be above the drive pin 4116, and wire 4199 may be below the drive pin 4116. In some examples of this configuration, flanges 4120 and 4122 can be interlaced.

[0322] Figure 50 shows a lateral isometric view of a portion of the forceps 2000 according to at least one example of the present disclosure. The forceps 2000 can be made to match the forceps 2000 described above. Figure 50 shows that the guide tube 2112 (or lumen 2112) can be positioned within the inner shaft 2026 and the outer shaft 2028 and can extend through the outer shaft 2028 and the inner shaft 2026 between the end effector 2002 and the handle 2001. In particular, the guide tube 2112 can extend from a distal position just outside the proximal edge of the blade 2032 when the blade is in the retracted position, and can extend proximal to the position of a clip (e.g., clip 1056) or a distal location to hold the slider block (e.g., drive body 1052) on the drive shaft or inner shaft 2026.

[0323] Figure 51A shows an isometric end view of a portion of the forceps 2000 according to at least one example of the present disclosure. Figure 51B shows an isometric end view of a portion of the forceps 2000. Figures 51A and 51B are described together below.

[0324] The forceps 2000 may be consistent with the above description, and Figures 51A and 51B show additional details. For example, Figures 51A and 51B show the guide tube 2112 and may include the body 2114 defining the blade bore 2116 and the wire routing bore 2118. Furthermore, Figures 51A and 51B show the proximal and distal directional indicators and axis A1.

[0325] The body 2114 can extend along axis A1 and may be substantially cylindrical in some examples, but may be of a different shape in other examples, such as an elliptical prism, a rectangular prism, a hexagonal prism, or an octagonal prism. The body 2114 may be configured, for example, to be sized and molded to be complementary to the internal bore of the inner shaft 2026, thereby forming a pneumatic seal with the inner shaft 2026.

[0326] The blade bore 2116 and the wire routing bore 2118 may each be bores that extend axially through the body 2114 along axis A1. The blade bore 2116 may be sized and shaped to receive the shaft 2072 of the blade 2032 through it, and may also be configured to allow the shaft 2072 to translate within the guide tube 2112, thereby enabling the blade 2032 to be operated from the handle 2001, and as a result, the blade 2032 may be configured to translate within the blade channels of jaws 2010 and 2012. The blade bore 2116 may also be sized relative to the blade shaft 2072, so that a pneumatic seal, or seal, may be formed between the blade bore 2116 and the blade shaft 2072, which may help reduce the movement of pressurized air or gas through the body 2114.

[0327] The wire routing bore 2118 can be sized and shaped to accommodate one or more wires or conduits through which the conduits may extend from the handle 2001 to the electrodes of the jaws 2010 and 2012. In some examples, the guide tube 2112 may be formed of a non-conductive material. In some examples, the guide tube 2112 may be formed by extrusion. The wire routing bore 2118 may also be sized for the conduit(s) so that a pneumatic seal or seal may be formed between the wire routing bore 2118 and the conduit(s) to help reduce the movement of pressurized air or gas through the body 2114.

[0328] Figure 52A shows an isometric view of the end of the guide tube 2112 and the blade shaft 2072 according to at least one example of the present disclosure. Figure 52B shows an end view of the guide tube 2112e. Furthermore, Figures 52A and 52B show the proximal and distal ends of the directional indicators and axis A1. Figures 52A and 52B will be described together below.

[0329] Guide tube 2112 may be consistent with the above description, and Figures 52A and 52B show additional details of guide tube 2112. For example, Figures 52A and 52B show that the blade bore 2116 and / or wire routing bore 2118 of guide tube 2112 may extend axially through the body 2114 of guide tube 2112. In some examples, one or more of the blade bore 2116 and wire routing bore 2118 may extend axially through guide tube 2112 parallel to axis A1. In some examples, the blade bore 2116 may be offset from axis A1. In some examples, the wire routing bore 2118 may be offset from axis A1 on the opposite side of the blade channel, as shown in Figure 52B.

[0330] In one example, the guide tube 2112 may include a second wire routing bore extending through it, the second wire routing bore configured to receive a second conduit through it. The second wire routing bore may be offset from axis A1 on the opposite side of the blade channel 2116. The second wire routing bore may be offset along the longitudinal axis, and the second wire routing bore may be offset from the wire routing bore on the opposite side of the longitudinal axis.

[0331] Figure 53 shows an exploded view of jaw 2012. Jaw 2012 may include a grip plate 2024 (including blade slot 2025), wire 2099, frame 2120 (including flanges 2022a and 2022b), overmolding 2122 (including blade slot 2125), and support 2124.

[0332] Jaw 2012 may be consistent with the above description, and Figure 53 shows additional details of Jaw 2012. For example, Figure 53 shows that the overmolding 2122 may include a blade slot 2125, and when the overmolding 2122 is fixed to the grip plate 2024 (for example, when the overmolding 2122 is overmolded onto the frame 2120 and the grip plate 2024), the blade slot 2125 may be aligned with the blade slot 2025 of the grip plate 2024. Figure 53 also shows that the frame 2120 may include a slot 2126 in which a support 2124 can be received. The support 2124 helps to support the grip plate 2024 on the frame 2120.

[0333] Figure 53 also shows that the grip plate 2024 may include teeth 2128 that can define a recess 2130. The recess 2130 may be located on the side edge of the grip plate 2024. The recess 2130 may be configured such that the material of the overmolding 2122 penetrates (or fills) the recess (or space or gap) 2130, thereby fixing the grip plate 2024 to the overmolding 2122. The grip plate 2024 may also be (or include) an electrode that can be electrically connected to the wire (or conduit) 2099. Notes and Examples

[0334] Embodiment 1 is a surgical forceps comprising: a drive pin; an outer tube defining a longitudinal axis; a first jaw pivotably connected to the outer tube, the first jaw including a pair of flanges positioned at the proximal portion of the first jaw, each flange including a track for receiving the drive pin; a second jaw connected to the outer tube; and an inner tube positioned within the outer tube and extending along the longitudinal axis, including a pair of arms extending from the distal portion of the inner tube, the pair of arms to which the drive pin can be fixed; the inner tube being translatable within the outer tube, driving the drive pin along the track and moving the second jaw between an open position and a closed position.

[0335] In Example 2, the subject of Example 1 is optionally extended to include the pivotal connection of a second jaw to the outer tube.

[0336] In Example 3, the subject of Example 2 optionally includes a second jaw comprising a second pair of flanges positioned proximal to the second jaw, each of which comprises a second track for receiving a drive pin.

[0337] In Embodiment 4, the subject of Embodiment 3 is optionally such that the inner tube is translatable within the outer tube, and a drive pin is driven along the track and the second track to move the second jaw between an open position and a closed position.

[0338] In Example 5, one or more of the themes from Examples 1 to 4 optionally include a pair of arms positioned laterally outward of a pair of flanges.

[0339] In Example 6, one or more of the subjects from Examples 1 to 5 optionally include a blade positioned inside the inner tube and extending parallel to the longitudinal axis, which is translatable to extend between a pair of flanges.

[0340] Embodiment 7 is a forceps comprising: a drive pin; an outer shaft extending along a longitudinal axis; a first jaw pivotably connected to an outer tube including a first set of flanges, each of which includes a first track into which the drive pin is received; and a camshaft disposed within the outer shaft and extending along a longitudinal axis, including a distal arm positioned laterally outward from the first set of flanges, the drive pin being connected to the distal arm to connect the camshaft to the first flanges, the camshaft being translatable in a first direction along the outer shaft, driving a pin along the first set of tracks to open the first jaws toward the second jaws, and the camshaft being translatable in a second direction opposite to the first direction along the outer shaft, driving a pin along the first set of tracks to close the first jaws toward the second jaws.

[0341] In Embodiment 8, the subject of Embodiment 7 optionally includes a second jaw pivotably connected to an outer tube including a second set of flanges, each second flange including a second track therein for receiving a drive pin, and the second jaw is movable between an open position and a closed position relative to the first jaw.

[0342] In Example 9, the subject of Example 8 is optionally configured such that the distal arm is positioned laterally outward on one or both of the flanges of the second set.

[0343] In Example 10, one or more themes from Examples 7 to 9 optionally include the first set of tracks being proximal to the pivot connection between the first jaw and the outer shaft.

[0344] Embodiment 11 is a surgical forceps comprising: a drive pin; an outer tube defining a longitudinal axis; a first jaw pivotably connected to the outer tube, comprising a first set of flanges located at the proximal portion of the first jaw, each flange of the first set of flanges comprising a first track for receiving the drive pin; a second jaw pivotably connected to the outer tube, comprising a second set of flanges located at the proximal portion of the second jaw, each flange of the second set of flanges comprising a second track for receiving the drive pin; and an inner tube located within the outer tube and extending along the longitudinal axis, comprising a pair of arms extending from the distal portion of the inner tube, the drive pin being fixable to the pair of arms, the inner tube being translatable within the outer tube and driving the drive pin along the first set of tracks and the second set of tracks, moving the first jaw and the second jaw between an open position and a closed position.

[0345] In Example 12, the subject of Example 11 optionally includes interlacing a first set of flanges with a second set of flanges.

[0346] In Example 13, one or more of the themes from Examples 11 to 12 optionally include the arrangement of the first set of flanges laterally inside the second set of flanges.

[0347] In Example 14, the subject of Example 13 optionally includes a blade positioned inside the inner tube and extending parallel to the longitudinal axis, which is translationally translatable to extend between the first jaw and the second jaw.

[0348] In Example 15, the subject of Example 14 optionally includes the first jaw being curved with respect to the longitudinal axis.

[0349] In Example 16, one or more of the themes from Examples 14-15 optionally include a blade extending axially through an inner tube offset from the longitudinal axis.

[0350] In Example 17, one or more of the themes from Examples 14 to 16 optionally include a blade extending axially through the flanges at a position laterally inward of the first flange and the second set of flanges.

[0351] In Example 18, the subject of Example 17 optionally includes a pair of wires extending axially through the flanges of the first set and the second set at a position laterally inward of the flanges of the first set and the second set of flanges.

[0352] In Example 19, one or more of the themes from Examples 11 to 18 optionally include an inner tube comprising a pair of axial tracks located on the opposite side of the inner tube, which are arranged to receive guides, and the guides are fixed to the outer tube.

[0353] In Example 20, one or more themes from Examples 11 to 19 optionally include the fact that when the inner tube translates relative to the outer tube, the inner tube is movable relative to the guide, the proximal portion of each axial track is engageable with the guide, and the distal translation of the inner tube relative to the outer tube is restricted.

[0354] In Example 21, one or more of the themes from Examples 11 to 20 optionally include the drive pin extending laterally outward from the outer surface of the inner tube.

[0355] In Example 22, the subject of Example 21 optionally includes an outer tube comprising a pair of outer axial tracks located on the opposite side of the outer tube, the outer axial tracks being configured to receive a drive pin, the drive pin being movable within the pair of outer axial tracks as the inner tube translates relative to the outer tube.

[0356] In Example 23, the subject of Example 22 is optionally configured such that the drive pin engages with the respective distal ends of the outer axial track to restrict the distal translation of the drive pin and the inner tube relative to the outer tube, and to restrict the rotation of the jaws relative to each other.

[0357] In Example 24, one or more of the themes from Examples 11 to 23 optionally include a first jaw and a second jaw comprising a pair of parallel slots, the slots configured to receive a blade when the first jaw and the second jaw are in the closed position.

[0358] In Example 25, one or more themes from Examples 11 to 24 optionally include the outer tube defining the inner tube diameter and the arm having a diameter smaller than the inner tube diameter of the outer tube.

[0359] Embodiment 26 is a surgical forceps comprising: a drive pin; an outer shaft extending along a longitudinal axis; a first jaw and a second jaw, each pivotable relative to the outer shaft, wherein the first jaw includes a first set of flanges, each first flange including a first track in which the drive pin is received; the second jaw includes a second set of flanges, each second flange including a second track in which the drive pin is received; and a camshaft disposed within the outer shaft and extending along a longitudinal axis, comprising first and second struts, the drive pin being connected to the first and second struts, the camshaft being translatable within the outer shaft, translating the drive pin along the first set of tracks and the second set of tracks, thereby moving the first jaw and the second jaw between an open position and a closed position.

[0360] In Example 27, the subject of Example 26 is optionally configured such that the flange is driven by a pin to move the jaws in a scissor-like motion.

[0361] Embodiment 28 is a surgical forceps comprising a drive pin, an outer shaft extending along a longitudinal axis, first and second jaws including a first set of flanges and a second set of flanges, each first flange including a first track therein for receiving a drive pin, and each second flange including a second track therein for receiving a drive pin, and a camshaft disposed within the outer shaft and extending along a longitudinal axis, including a distal arm positioned laterally outward of the first set of flanges and the second set of flanges, the drive pin being connected to the distal arm and connecting the camshaft to the first and second flanges.

[0362] In Example 29, the subject of Example 28 is optionally translated distally along the outer shaft, and a pin is driven along a first set of tracks and a second set of tracks to open the first and second jaws, and the camshaft is also translated proximal along the outer shaft, and a pin is driven along a first set of tracks and a second set of tracks to close the first and second jaws.

[0363] In Example 30, one or more of the themes from Examples 28 to 29 optionally include the arrangement of the first set of flanges laterally and medially between the distal arm and the second set of flanges.

[0364] In Example 31, the subject of Example 30 optionally includes an axial track located on the camshaft, which is arranged to receive a guide fixed to the outer shaft.

[0365] In Example 32, the subject of Example 31 optionally includes the fact that when the camshaft is translated relative to the outer shaft, the camshaft is movable relative to the guide, the proximal portion of the axial track is engageable with the guide, and the distal translation of the camshaft relative to the outer shaft is restricted.

[0366] In Example 33, one or more subjects from Examples 30-32 optionally include an outer shaft comprising a pair of outer axial tracks located on the opposite side of the outer shaft, the pair of outer axial tracks receiving a drive pin therein, the drive pin being movable along the pair of outer axial tracks as the camshaft translates relative to the outer shaft.

[0367] In Example 34, the subject of Example 33 is optionally configured such that the drive pins engage with the respective distal ends of the outer axial tracks to restrict the distal translation of the drive pins and camshaft relative to the outer shaft and to restrict the rotation of the jaws relative to each other.

[0368] In Example 35, one or more of the themes from Examples 29 to 34 optionally include a slot in which a first jaw and a second jaw are aligned together, and which accepts a blade when the first jaw and the second jaw are in the closed position.

[0369] Embodiment 36 is a surgical forceps comprising a drive pin, an outer shaft extending along a longitudinal axis, first and second jaws comprising a first jaw comprising a first set of flanges and a second jaw comprising a second set of flanges, each first flange comprising a first track therein for receiving a drive pin, and each second flange comprising a second track therein for receiving a drive pin, and a camshaft disposed within the outer shaft and extending along a longitudinal axis, comprising a distal arm disposed laterally to the first set of flanges and the second set of flanges, the drive pin being connected to the distal arm and connecting the camshaft to the first and second flanges, the camshaft being translatable in a first direction along the outer shaft to drive a pin along the first set of tracks and the second set of tracks to open the first and second jaws, and the camshaft being translatable in a second direction along the outer shaft to drive a pin along the first set of tracks and the second set of tracks to close the first and second jaws.

[0370] Embodiment 37 is a surgical forceps comprising: an outer tube defining a longitudinal axis; a first jaw pivotably connected to the outer tube, with a first set of flanges positioned at its proximal portion; a second jaw pivotably connected to the outer tube, with a second set of flanges positioned at its proximal portion; an inner tube located within the outer tube and extending along the longitudinal axis, comprising a pair of arms extending from the distal portion of the inner tube, the distal arms positioned laterally to the first set of flanges and the second set of flanges, and connected to the first set of flanges and the second set of flanges; and a blade located within the inner tube and extending parallel to the longitudinal axis, positioned laterally to the first set of flanges and the second set of flanges, and translationally translatable to extend between the first jaws and the second jaws.

[0371] In Example 38, the subject matter of Example 37 optionally includes the blade extending axially through an inner tube offset from the longitudinal axis.

[0372] In Example 39, the subject of Example 38 optionally includes a pair of wires extending axially through the first set of flanges and the second set of flanges at a laterally inward position of the first set of flanges and the second set of flanges.

[0373] In Example 40, one or more themes from Examples 37 to 39 optionally include the longitudinal axis defining the central axis and the blade extending axially through an inner tube along the longitudinal axis.

[0374] In Example 41, the subject of Example 40 optionally includes a pair of wires extending axially through the inner tube at positions laterally outward of the flanges of the first set and the flanges of the second set.

[0375] Embodiment 42 is a forceps comprising a drive pin, an outer shaft extending along a longitudinal axis, first and second jaws comprising a first jaw comprising a first set of flanges and a second jaw comprising a second set of flanges, each first flange comprising a first track therein for receiving a drive pin, and each second flange comprising a second track therein for receiving a drive pin, and a camshaft disposed within the outer shaft and extending along a longitudinal axis, comprising a distal arm disposed laterally outward of one of the first set of flanges and one of the second set of flanges, the drive pin being connected to the distal arm and connecting the camshaft to the first and second flanges, the camshaft being translatable in one direction along the outer shaft, driving a pin along the first set of tracks and the second set of tracks to open the first and second jaws, and the camshaft being translatable in a second direction opposite to the first direction along the outer shaft, driving a pin along the first set of tracks and the second set of tracks to close the first and second jaws.

[0376] In Example 43, any one or any combination of the apparatus or method in Examples 1 to 42 may be optionally configured such that all enumerated elements or options are available or selectable.

[0377] While examples of medical devices are shown and described in this disclosure with respect to forceps, features may be used in other medical devices other than forceps for controlling end-effectors used in diagnosis, treatment, or surgery. The representation or description of forceps is provided primarily for illustrative purposes to disclose features of various examples.

[0378] The forceps shown in the example may be an electrosurgical device, but the forceps may be any type of medical device that facilitates the mechanical and / or electrical operation of one or more end effectors or other elements located distal to a handpiece having one or more actuation systems. The actuation systems described may produce this result by extending, retracting, or rotating one or more shafts and may be used to produce an action in another medical device (e.g., a medical instrument).

[0379] The directional descriptors described herein are used in conjunction with their usual and customary use in the art. For example, proximal, distal, transverse, upward, downward, upper and lower may be used to describe an apparatus with its longitudinal axis parallel to the ground when the apparatus is in an upright position. The proximal direction refers to the direction toward the user-side end of the apparatus, and the distal direction refers to the direction toward the patient-side end of the apparatus.

[0380] Relative terms used herein, such as "about" or "substantially," may be used to indicate a possible variation of ±10% of the stated figures, or a variation due to manufacturing.

[0381] As described throughout this disclosure, components and assemblies can be operably connected and interact with one another in a manner that provides improved operation, a more compact and simpler design, lower costs, and better user satisfaction than conventional medical devices.

[0382] The above detailed description includes references to the accompanying drawings, which form part of the detailed description. The drawings illustrate, for illustrative purposes, specific embodiments in which the present invention can be carried out. These embodiments are also referred to herein as “Examples.” Such examples may include elements in addition to those shown or described. However, the inventors also envision examples in which only the shown or described elements are provided. Furthermore, the inventors also envision examples in which any combination or permutation of the shown or described elements (or one or more embodiments thereof) is used in relation to a particular example (or one or more embodiments thereof) or in relation to another example (or one or more embodiments thereof) shown or described herein.

[0383] In this text, the terms “a” or “an” are used as is common in patent documents and include one or more, regardless of other examples or uses of “at least one” or “one or more.” In this text, the term “or” is used to indicate non-exclusiveness, or unless otherwise specified, “A or B” includes “A but not B,” “B but not A,” and “A and B.” In this text, the terms “including” and “in which” are used as plain English equivalents of the terms “comprising” and “wherein,” respectively. Furthermore, in the attached claims, the terms “including” and “comprising” are open-ended, meaning that a system, apparatus, article, composition, formula or process that includes additional elements in addition to the elements described in the claims after such terms are deemed to be within the scope of the claims. Furthermore, in the attached claims, the terms “first,” “second,” and “third” are used merely as labels and are not intended to impose numerical requirements on the subject matter.

[0384] In the event of any inconsistent usage between this document and any document incorporated by reference, the usage of this document shall prevail. In this document, the terms “including” and “in which” are used as equivalent plain English terms for “comprising” and “wherein,” respectively. Furthermore, in the attached claims, the terms “including” and “comprising” are open-ended, meaning that a system, apparatus, article, composition, formula or process containing additional elements beyond those described in the claims is considered to be within the scope of the claims.

[0385] The above descriptions are illustrative and not limiting. For example, the above examples (or one or more of them) may be used in combination with each other. Other embodiments may be used by those skilled in the art by rethinking the above. The abstract is provided in accordance with 37 C. FR § 1.72(b) to enable the reader to quickly review the characteristics of the technical disclosure. The abstract is submitted with the understanding that it is not to be used to interpret or limit the claims or their meaning. Furthermore, in the above detailed description, various features may be grouped together to streamline the disclosure. This should not be interpreted as meaning that any disclosed features not claimed are essential to any claim. Rather, the subject matter of the invention may reside in fewer features than all of the particular embodiments disclosed. Accordingly, the appended claims are incorporated into forms for carrying out the invention, and each claim is considered to be based on itself as an individual embodiment, and such embodiments may be combined with each other in various combinations or substitutions. The scope of the invention should be determined by reference to the appended claims, along with the entire scope of equivalents to which such claims are granted.

Claims

1. Surgical instruments An outer tube extending along the longitudinal axis, including a pair of outer arms, The end effector connected to the outer arm, An inner tube disposed within the outer tube and extending along the longitudinal axis, connected to the end effector and translatable along the outer tube for operating the end effector, A distal plug fixed to the outer tube between the pair of outer arms and positioned proximal to the end effector, the distal plug including a wire routing bore extending through it, Surgical instruments including [specific components].

2. The inner tube includes a pair of inner arms that are positioned laterally inward of the outer tube and extend from the distal portion of the inner tube, When the inner tube translates within the outer tube to operate the end effector, the distal plug is configured to allow the inner tube to translate beyond the distal plug. The surgical instrument according to claim 1.

3. The distal plug includes channels disposed on opposing lateral outer surfaces of the distal plug, The channel is configured to allow translation of the inner arm beyond the distal plug. The surgical instrument according to claim 2.

4. The inner arm is positioned laterally inward of the outer arm. The surgical instrument according to claim 2.

5. The pair of inner arms are arranged substantially symmetrically with respect to the longitudinal axis, The pair of outer arms are arranged substantially symmetrically with respect to the longitudinal axis, The outer arm is located radially outward of the inner arm, The surgical instrument according to claim 4.

6. The distal plug includes a blade channel that extends axially along the distal plug, The blade channel is configured such that the blade can translate within the blade channel relative to the distal plug. The surgical instrument according to claim 1.

7. The blade channel extends through the lower edge of the distal plug. The surgical instrument according to claim 6.

8. The inner tube includes a pair of inner arms that are positioned laterally inward of the outer tube and extend from the distal portion of the inner tube, When the inner tube translates within the outer tube to operate the end effector, the distal plug is configured to allow the inner tube to translate beyond the distal plug. The distal plug includes channels disposed on opposing lateral outer surfaces of the distal plug, The channel is configured to allow translation of the inner arm beyond the distal plug. The surgical instrument according to claim 7.

9. The project further includes a projection that extends inward across a portion of the blade channel and provides an opening of a reduced size in the outer portion of the blade channel. The surgical instrument according to claim 8.

10. The width of the blade channel is such that it supports the width of the blade. The height of the blade channel is such that it supports the height of the blade. The surgical instrument according to claim 9.

11. The invention further includes a blade disposed within the inner tube and extending axially parallel to the longitudinal axis, The blade is translationally translatable so as to extend at least partially within the end effector. The surgical instrument according to claim 6.

12. The blade channel is offset from the longitudinal axis. The surgical instrument according to claim 6.

13. The invention further includes a blade disposed within the inner tube and extending axially parallel to the longitudinal axis, The blade is translationally translatable so as to extend at least partially into the end effector. The surgical instrument according to claim 12.

14. The wire routing bore is offset from the longitudinal axis on the opposite side of the blade channel. The surgical instrument according to claim 12.

15. The end effector has a first jaw and a second jaw that function as the tip of a forceps, Furthermore, it further includes a pair of wires that extend axially through the inner tube and are connected to the electrodes of the first jaw and the second jaw respectively to supply power. The surgical instrument according to claim 14.

16. The inner tube and the outer tube are equipped with guide tubes arranged inside the inner tube and the outer tube, The guide tube includes a second wire routing bore extending through it and a blade bore extending through it, The second wire routing bore is offset from the longitudinal axis on the opposite side from the blade bore, The wire routing bore is offset from the longitudinal axis. The surgical instrument according to claim 6.

17. The distal plug includes a projection extending outward from the body of the distal plug, The outer tube has a recess located between the pair of outer arms, The projection engages with the wall of the recess of the outer tube in an interlocking fit, thereby fixing the distal plug to the outer tube. The surgical instrument according to claim 2.

18. The distal plug includes a sleeve extending proximal from the body of the distal plug, The sleeve is insertable into the outer tube. The surgical instrument according to claim 1.

19. Surgical instruments An outer tube extending along the longitudinal axis and including a pair of outer arms and a recess located between the pair of outer arms, The end effector connected to the outer tube, An inner tube disposed within the outer tube and extending along the longitudinal axis, connected to the end effector and translatable along the outer tube for operating the end effector, A distal plug that can be fixed to the outer tube between the pair of outer arms and is positioned proximal to the end effector, The main unit and A pair of projections extending laterally outward from the main body of the distal plug and engaging in a crimping fit with the wall of the recess of the outer tube to fix the distal plug to the outer tube, A sleeve extending proximal to the body of the distal plug and insertable into the outer tube, A distal plug including, Surgical instruments including [specific components].

20. Surgical instruments An outer tube extending along the longitudinal axis, including a pair of outer arms, The end effector connected to the outer arm, An inner tube disposed within the outer tube and extending along the longitudinal axis, connected to the end effector and translatable along the outer tube for operating the end effector, and including a pair of inner arms extending from the distal portion of the inner tube, A distal plug attached to the outer tube, wherein at least a portion of the distal plug is positioned in the distal portion of the outer tube between the outer arms, the distal plug is positioned proximal to the end effector, and the distal plug is configured to allow the inner arm to translate beyond the distal plug when the inner tube translates within the outer tube to operate the end effector, and the distal plug includes a wire routing bore extending through it, Surgical instruments including [specific components].

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