Surgical stapling apparatus with twitch reduction

Abstract

A surgical stapling apparatus includes an elongated shaft assembly, a tool assembly, a pivot assembly, a plate, and a plunger assembly. The pivot assembly connects the the tool assembly to the elongated shaft assembly. The plate is supported by the pivot assembly. The plunger assembly is supported by the elongated shaft assembly. The plunger assembly is selectively engageable with the plate to prevent the tool assembly from twitching when the tool assembly is fired.

Description

SURGICAL STAPLING APPARATUS WITH TWITCH REDUCTIONCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 585,424, filed September 26, 2023, the entire content of each of which is incorporated herein by reference.BACKGROUND

[0002] Surgical stapling apparatus configured for endoscopic use are commonly used during surgical procedures to minimize patient trauma and reduce patient recovery times. Typically, endoscopic stapling apparatus include a tool assembly and a drive assembly that is movable in relation to the tool assembly to actuate the tool assembly. The drive assembly includes a knife bar having a cutting blade for cutting tissue. The tool assembly includes anvil and cartridge assemblies that are coupled to each other by a pivot member and movable in relation to each other between unclamped and clamped positions in response to movement of the drive assembly from a retracted position to an advanced position. The cartridge assembly includes a staple cartridge. The staple cartridge includes a cartridge body that supports staples and an actuation sled that is movable through the cartridge body in response to movement of the drive assembly from the retracted position to the advanced position to eject the staples from the cartridge body. The tool assembly is often configured to articulate relative to an elongated shaft of the endoscopic stapling apparatus to access remote locations in a surgical site.SUMMARY

[0003] According to one aspect, this disclosure is directed to a surgical stapling apparatus. The surgical stapling apparatus includes an elongated shaft assembly defining a longitudinal axis, a tool assembly coupled to the elongated shaft assembly, a drive beam assembly, and an articulation brake assembly. The tool assembly is pivotable relative to the longitudinal axis between an unarticulated position and an articulated position. The drive beam assembly is selectively advanceable through the tool assembly for firing the tool assembly when the tool assembly is disposed in the unarticulated position or the articulated position. The articulation brake assembly includes a plate that pivots with the tool assembly and a plunger assembly that is supported by theelongated shaft assembly. The plunger assembly is selectively engageable with the plate to prevent the tool assembly from twitching when the tool assembly is fired.

[0004] In aspects, the plate may include a first set of teeth and the plunger assembly may include a plunger. The plunger may include a second set of teeth that is configured to engage the first set of teeth when the plunger engages the plate. The plunger may be operably coupled to a spring. The spring may be disposed in contact with the plunger. The spring may be a leaf spring.

[0005] In aspects, the plunger assembly may be configured to disengage from the plate when the drive beam assembly is retracted to enable the tool assembly to pivot between the unarticulated position and the articulated position. The spring may be disposed in contact with a bushing and the bushing may be coupled to a plunger link. The plunger link may be connected to the plunger.

[0006] In aspects, the articulation brake assembly may further include a collet that is selectively engageable with a drive rod. The drive rod may be coupled to the drive beam assembly and actuatable to advance the drive beam assembly relative to the collet. The collet may be coupled to a bushing and the bushing may be coupled to a plunger link. The plunger link may be disposed in contact with the leaf spring to selectively flex the leaf spring for sliding the plunger relative to the plate.

[0007] In aspects, the plate may be integrally formed with a pivot assembly that connects the tool assembly to the elongated shaft assembly and facilitates articulating movement of the tool assembly relative to the elongated shaft assembly.

[0008] According to another aspect, this disclosure is directed to a surgical stapling apparatus including an elongated shaft assembly, a tool assembly, a pivot assembly, a plate, and a plunger. The pivot assembly connects the tool assembly to the elongated shaft assembly. The plate is supported by the pivot assembly. The plunger assembly is supported by the elongated shaft assembly. The plunger assembly is selectively engageable with the plate to prevent the tool assembly from twitching when the tool assembly is fired.

[0009] In aspects, a collet may be coupled to a bushing and the bushing may be coupled to a plunger link. The plunger link may be disposed in contact with a spring to selectively flex the spring for sliding the plunger relative to the plate.

[0010] In aspects, the plate may be integrally formed with the pivot assembly.

[0011] According to still another aspect, a surgical stapling apparatus includes an adapter assembly defining a longitudinal axis, a tool assembly coupled to the adapter assembly, and an articulation brake assembly. The tool assembly includes a first jaw member and a second jaw member movable relative to the first jaw member between an unclamped position and a clamped position. The articulation brake assembly includes a plate that pivots with the tool assembly relative to the longitudinal axis, and a plunger assembly that is supported by the adapter assembly. The plunger assembly is selectively engageable with the plate to prevent the tool assembly from twitching when the first and second jaw members are disposed in the clamped position.

[0012] Other features of the disclosure will be appreciated from the following description.BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The above and other aspects, features, and advantages of this disclosure will be apparent considering the following detailed description when taken in conjunction with the accompanying drawings, which are incorporated in and constitute a part of this specification, wherein:

[0014] FIG. 1 is a perspective view of a surgical stapling apparatus, according to aspects of the disclosure, with a tool assembly of the surgical stapling apparatus in an unclamped, pre-fired position;

[0015] FIG. 2 is an enlarged view of the indicated area of detail shown in FIG. 1 ;

[0016] FIG. 3 is an enlarged, perspective view, with parts separated, of various components of the surgical stapling apparatus of FIG. 1;

[0017] FIG. 4 is a perspective view of a portion of the surgical stapling apparatus of FIG. 1, with portions of the surgical stapling apparatus hidden for clarity;

[0018] FIG. 5 is an enlarged, perspective view, with parts separated, of a channel-side pivot and a pivot plate of the surgical stapling apparatus of FIG. 1;

[0019] FIGS. 6 and 7 are perspective views illustrating the pivot plate secured to the channelside pivot;

[0020] FIG. 8 is an enlarged, perspective view of a plunger of the surgical stapling apparatus of FIG. 1;

[0021] FIG. 9 is a side, cross-sectional view, of a distal end portion the surgical stapling apparatus of FIG. 1 as taken along section lines 9-9 shown in FIG. 1 ;

[0022] FIGS. 10 and 11 are enlarged views of the respective indicated areas of detail shown in FIG. 9;

[0023] FIG. 12 is a top view of the distal end portion of the surgical stapling apparatus of FIG. 1 with a tool assembly of the surgical stapling apparatus shown articulating relative to an elongated shaft assembly of the surgical stapling apparatus;

[0024] FIG. 13 is an enlarged view of the indicated area of detail shown in FIG. 12 illustrating an articulation brake assembly in an unlocked position;

[0025] FIGS. 14 and 15 are enlarged, cross-sectional views of portions of the elongated shaft assembly of FIG. 12 illustrating a drive beam assembly of the elongated shaft assembly moving distally;

[0026] FIG. 16 is a view of FIG. 13 illustrating the articulation brake assembly in a locked position;

[0027] FIG. 17 is an enlarged view of the indicated area of detail shown in FIG. 16;

[0028] FIG. 18 is a perspective view of a portion of another surgical stapling apparatus according to aspects of this disclosure;

[0029] FIG. 19 is a perspective view, with parts separated, of another channel-side pivot and a tip assembly of an elongated shaft assembly of the surgical stapling apparatus of FIG. 18;

[0030] FIG. 20 is a perspective view of a portion of still another surgical stapling apparatus according to aspects of this disclosure;

[0031] FIG. 21 is a perspective view, with parts separated, of various components of the surgical stapling apparatus of FIG. 20;

[0032] FIG. 22 is an enlarged, cross-sectional view the surgical stapling apparatus of FIG. 20 as taken along section line 22-22 shown in FIG. 20, the view illustrating another articulation brake assembly in an unlocked position;

[0033] FIG. 23 is another view of FIG. 22 with the articulation brake assembly of FIG. 22 shown in a locked position;

[0034] FIG. 24 is a perspective view of a portion of another surgical stapling apparatus according to aspects of this disclosure;

[0035] FIG. 25 is a perspective view, with parts separated, of various components of the surgical stapling apparatus of FIG. 24;

[0036] FIG. 26 is an enlarged, perspective view of a spring of the surgical stapling apparatus of FIG. 24;

[0037] FIG. 27 is an enlarged, cross-sectional view of the surgical stapling apparatus of FIG. 24 as taken along section line 27-27 shown in FIG. 24, the view illustrating a proximal portion of an articulation brake assembly when the articulation brake assembly is disposed in an unlocked position;

[0038] FIG. 28 is a cross-sectional view illustrating a distal portion of the articulation brake assembly when the articulation brake assembly is disposed in the unlocked position; and

[0039] FIGS. 29 and 30 are cross-sectional views illustrating the proximal and distal portions of the articulation brake assembly when the articulation brake assembly is disposed in a locked position.DETAILED DESCRIPTION

[0040] Aspects of this disclosure will now be described in detail with reference to the drawing figures in which like reference numerals identify similar or identical elements. Throughout thisdescription, the term “proximal” refers to a portion of a structure, or component thereof, that is closer to a user, and the term “distal” refers to a portion of the structure, or component thereof, that is farther from the user. Directional reference terms, such as “top,” “bottom,” “side,” “upper,” “lower,” and the like, are used to ease description of the aspects and are not intended to have any limiting effect on the ultimate orientation of a structure or any part thereof. Further, the term “clinician” is used generally to refer to medical personnel including doctors, nurses, surgeons, and support personnel.

[0041] In the following description, well-known functions or constructions are not described in detail to avoid obscuring this disclosure in unnecessary detail.

[0042] Surgical stapling apparatus of this disclosure can be utilized, for example, during laparoscopic surgical procedures that require stapling and / or transecting of tissues and / or organs of various tissue thicknesses. The disclosed surgical stapling apparatus can be configured for single or multi-use surgical stapling.

[0043] With reference to FIGS. 1-17, a surgical stapling apparatus, shown generally as stapling apparatus 10, includes a handle assembly 12, an adapter assembly 14, and a tool assembly 16.

[0044] As best seen in FIGS. 1-3, the handle assembly 12 of the surgical stapling apparatus 10 is powered and includes a stationary handgrip 18 and an actuation button or buttons 18a, 18b. The actuation buttons 18a, 18b are operable to actuate various functions of the tool assembly 16 via the adapter assembly 14, e.g., clamping of the tool assembly 16, and stapling and cutting of tissue. In certain aspects of the disclosure, the handle assembly 12 may couple to a power source via a cable (not shown) and / or support batteries (not shown) that provide power to the handle assembly 12 to operate the stapling apparatus 10. Although the stapling device 10 is illustrated as a powered stapling device, the advantages of this disclosure are suitable for use with other surgical stapling apparatus such as manually powered stapling apparatus and robotically controlled stapling apparatus.

[0045] The adapter assembly 14 of the surgical stapling apparatus 10 includes a proximal portion 14a and a distal portion 14b. The proximal portion 14a of the adapter assembly 14 iscoupled to the handle assembly 12, and the distal portion 14b of the adapter assembly 14 supports the tool assembly 16. The tool assembly 16 is pivotably coupled to the distal portion 14b of the adapter assembly 14, as indicated by arrows “A”, to facilitate articulation of the tool assembly 16 in relation to the adapter assembly 14 in clockwise and / or counterclockwise directions about an articulation axis “Y” defined through the distal portion 14b of the adapter assembly 14.

[0046] The tool assembly 16 of the surgical stapling apparatus 10 includes a first jaw member in the form of an anvil assembly 20, and a second jaw member in the form of a cartridge assembly 22. The anvil and cartridge assemblies 20, 22 are pivotably coupled together by fasteners 21. The cartridge assembly 22 supports a staple cartridge 24 (which supports a plurality of rows of staples not explicitly shown) and is pivotably supported in relation to the anvil assembly 20 about a pivot axis “P” defined through the fasteners 21, as indicated by arrows “B”, to facilitate movement of the tool assembly 16 between an unclamped position (FIG. 1) and a clamped position (not explicitly shown). Alternately and / or additionally, the anvil assembly 20 can pivot towards the cartridge assembly 22 to move the tool assembly 16 between the unclamped and clamped positions. The staple cartridge 24 may be removable received within a channel member 26 of the cartridge assembly 22 and is replaceable to facilitate reuse of the surgical stapling apparatus 10.

[0047] The adapter assembly 14 of the surgical stapling apparatus 10 includes an elongated shaft assembly 28 defining a longitudinal axis “X” and having a proximal end portion and a distal end portion. The elongated shaft assembly 28 has an outer shaft assembly 30 and an inner shaft assembly 32. The elongated shaft assembly 28 further supports a movable drive beam assembly 34 having an I-beam 36 supported on a distal end portion of a drive shaft 38. The I-beam 36 is positioned to move the tool assembly 16 from the unclamped position to the clamped position as the I-beam 36 translates distally along the tool assembly 16. The drive beam assembly 34 is also positioned to advance distally along the tool assembly 16 to distally advance an actuation sled (not explicitly shown) through the tool assembly 16 and enable staples (not explicitly shown) supported in staple-retaining slots (not explicitly shown) defined in the staple cartridge 24 to be fired from the staple cartridge 24 for forming the staples against a plurality of rows of staple pockets 20a defined in the anvil assembly 20. The I-beam 36 has a blade 40 for cutting tissue clamped by the tool assembly 16 as the drive beam assembly 34 is advanced distally through the tool assembly 16.

[0048] With reference to FIGS. 2-6, the elongated shaft assembly 28 of the adapter assembly 14 further includes a pivot assembly 42 that pivotably couples the tool assembly 16 to the inner shaft assembly 32. The pivot assembly 42 includes a channel-side pivot 44 and an anvil-side pivot 46. The channel-side pivot 44 includes a protuberance 44a which includes a non-circular base 44b (e.g., D-shaped) and a circular nub 44c that extends from the non-circular base 44b.

[0049] As seen in FIG. 2, the elongated shaft assembly 28 of the adapter assembly 14 also includes an articulation rod 48, which has a proximal end portion that is driven by the handle assembly 12 and is axially translatable to facilitate pivoting movement of the pivot assembly 42 (e.g., articulating movement relative to the longitudinal axis “X”) as the articulation rod 48 translates between proximal and distal positions, as indicated by arrows “C”.

[0050] Referring to FIGS. 2-13, the surgical stapling apparatus 10 further includes an articulation brake assembly 50 that includes a plate 52 secured to the channel-side pivot 44 and a plunger assembly 54 that is selectively moveable relative to the plate 52 and selectively engageable with the plate 52 to selectively prevent articulating movement and twitching movement (e.g., undesired jerking motion of the tool assembly 16 in clockwise and / or counterclockwise directions relative to the longitudinal axis “X” of the tool assembly 16 and relative to the elongated shaft assembly 28). The plate 52 defines a non-circular opening 52a (e.g., D-shaped or any other suitable shape) therethrough that receives the protuberance 44a of the channel-side pivot 44. The non- circular opening 52a of the plate 52 complements the non-circular base 44b of the protuberance 44a to enable the plate 52 to be non-rotatably coupled to the channel-side pivot 44. The plate 52 further includes a plurality of spaced-apart teeth 52b disposed along an outer proximal surface of the plate 52.

[0051] The plunger assembly 54 of the articulation brake assembly 50 includes a plunger 56, a plunger link 57 coupled to proximal end portion of the plunger 56, and a spring assembly 58 coupled to a proximal end portion of the plunger link 57. The spring assembly 58 includes a distal bushing 58a, a proximal bushing 58b, and a spring 58c supported between the distal and proximal bushings 58a, 58b. The spring assembly 58 is supported on a proximal drive rod 39 that is pinned to a proximal end portion of the drive shaft 38 of the drive beam assembly 34 by a pin 39a. The distal bushing 58a includes a tab 58d that is received in a proximal slot 57a defined through aproximal portion of the plunger link 57 to couple the spring assembly 58 to the plunger link 57 by the distal bushing 58a. A distal end portion of the plunger link 57 defines a distal slot 57b that receives a proximal tab 56a of the plunger 56 to couple the distal end portion of the plunger link 57 to the proximal end portion of the plunger 56. The plunger 56 further includes a plurality of teeth 56b that extends distally from the distal end portion of the plunger 56.

[0052] With reference now to FIGS. 11-17, the tool assembly 16, when in an unclamped position (see FIG. 1), can be moved between an unarticulated position (FIG. 1) and an articulated position (FIG. 12) relative to the longitudinal axis “X” as desired. Once the tool assembly 16 is disposed in a desired articulated or unarticulated position relative to the longitudinal axis “X”, the drive beam assembly 34 can be advanced distally along the tool assembly 16, as indicated by arrow “E” shown in FIG. 14. However, before the drive beam assembly 34 is advanced, the proximal end portion of the drive shaft 38 of the drive beam assembly 34 engages a distal end face 58e of the distal bushing 58a of the spring assembly 58 to bias the spring assembly 58 in a proximal direction as seen in FIG. 11. The distal advancement of the drive beam assembly 34 causes the cartridge assembly 22 to pivot toward the anvil assembly 20, as indicated by arrow “B” in FIG. 1 , for clamping the tool assembly 16. Such distal advancement, driven by axial advancement of the proximal drive rod 39, as indicated by arrow “E” in FIG. 14, enables the spring assembly 58 to move in a distal direction, as indicated by arrow “F”, as the spring 58c of the spring assembly 58 expands distally in response to the proximal end of the drive shaft 38 separating from the distal end face 58e of the distal bushing 58a of the spring assembly 58, as seen in FIG. 14. As the distal bushing 58a moves distally, the distal bushing 58a urges the plunger link 57 and the plunger 56 distally, as indicated by arrows “G” and “H”, respectively, shown in FIG. 16. Such distal movement of the plunger 56 urges the teeth 56b of the plunger 56 into engagement of the teeth 52c of the plate 52, as seen in FIG. 17, to prevent articulating and twitching movement of the tool assembly 16 relative to the longitudinal axis “X” when the drive beam assembly 34 fires the tool assembly 16.

[0053] The continued advancement of the drive beam assembly 34 fires the tool assembly 16 for stapling and cutting tissue grasped by the tool assembly 16. The drive beam assembly 34 can then be retracted to unclamp the tool assembly 16 and unlock the articulation brake assembly 50so that the tool assembly 16 can be articulated as desired to facilitate removal the surgical stapling apparatus 10 from the surgical site.

[0054] Turning now to FIGS. 18 and 19, according to aspects of this disclosure, one surgical stapling apparatus 100 is similar to surgical stapling apparatus 10, but includes a channel-side pivot 144 that includes a plate 152 integrally and / or monolithically formed with the channel-side pivot 144. The surgical stapling apparatus 100 further includes an inner shaft assembly 132 having a tip assembly 132a with a tongue 132b that covers the plate 152 of the channel-side pivot 144. The tongue 132b includes a nub 132c that depends from the tongue 132b for receipt within an opening 152a defined in the plate 152 to couple the plate 152 to the tongue 132b.

[0055] Referring now to FIGS. 20-23, according to aspects of this disclosure, another surgical stapling apparatus 200 is similar to the surgical stapling apparatus 10, but includes a drive beam assembly 234 advanceable through the tool assembly 16 and a plunger assembly 254 movably supported by an inner shaft assembly 232. The drive beam assembly 234 includes a drive beam 236 supported on a distal end portion of a drive shaft 238. The drive shaft 238 includes an elongated rib 238a projecting from a channel-side edge 238b of the drive shaft 238 and which extends along a distal portion of the channel-side edge 238a of the drive shaft 238. The elongated rib 238a includes a distal end face 238c and a proximal end face 238d. The inner shaft assembly 232 includes a channel-side housing 232a that is pivotably coupled to the channel-side pivot 44, and an anvil-side housing 232b that is pivotably coupled to the anvil-side pivot 46. The plunger assembly 254 includes a plunger 256 that has an elongated rod 256a which extends from a proximal end portion thereof, and teeth 256b that extend from a distal end portion thereof. The plunger 256 further includes a keel 256c depending therefrom that is selectively engageable with the proximal end face 238d of the elongated rib 238a of the drive shaft 238 to urge the plunger 256 in a proximal direction when the drive beam assembly 234 is disposed in a proximal position. The elongated rod 256a supports a spring 258, and the teeth 256b are configured to selectively engage (e.g., interdigitate with) the teeth 52b of the plate 52 when the plunger 256 is advanced from a proximal position (FIG. 22) to a distal position (FIG. 23), as indicated by arrow “I”. Such movement is in response to distal advancement of the drive beam assembly 234 and the extension of the spring 258, as indicated by arrow “J”, as the drive beam assembly 234 moves distally toward the plate 52. When the teeth 256b of the plunger 256 and the teeth 52b of the plate are engaged (e.g.,interdigitated), the tool assembly 16 is prevented from articulating and twitching relative to the longitudinal axis “X” when the drive beam assembly 234 fires the tool assembly 16. Similar to that described above, retraction of the drive beam assembly 234 unclamps the tool assembly 16 and drives the plunger 256 proximally so that the plunger 256 separates from the plate 52 for enabling the tool assembly 16 to articulate as desired.

[0056] Turning now to FIGS. 24-30, according to aspects of this disclose, another surgical stapling apparatus 300 is similar to the surgical stapling apparatus 10 and 200. The surgical stapling apparatus 300 includes the pivot assembly 42 coupled to the tool assembly 16, an inner shaft assembly 332, a drive beam assembly 334 advanceable through the tool assembly 16, a plunger assembly 356 coupled to the inner shaft assembly 332, and a collet assembly 358 coupled to the inner shaft assembly 332 and the plunger assembly 356. The inner shaft assembly 332 includes a channel-side housing 332a and an anvil-side housing 332b. The channel-side housing 332a supports a channel-side tip assembly 332c and the anvil-side housing 332b supports an anvil-side tip assembly 332d. The channel-side housing 332a defines an elongated slot 332e in a proximal end portion thereof that extends through the channel-side housing 332a. The channel-side housing 332a defines a cutout 332f along an inner surface of the channel-side housing 332a. Similarly, the anvil-side housing 332b also defines a cutout 332g that mirrors the cutout 332f of the channel-side housing 332a. The drive beam assembly 334 includes a drive beam 336 supporting a knife 340, and a drive shaft 338 that extends proximal from the drive beam 336. A drive rod 339 is pinned to a proximal end portion of the drive shaft 338 and supports the collet assembly 358. The drive rod 339 defines an annular recess 339a along an intermediate portion thereof. The annular recess 339a is defined by a proximal engagement surface 339b and a distal engagement surface 339c. The plunger assembly 356 includes a plunger 356a, a spring 356b (e.g., a leaf spring), and a plunger link 356c defining a tab slot 356f in a proximal end portion thereof. The spring 356b includes a distal end wall 360, a proximal end wall 362, and a ramp 364 disposed between the proximal and distal end walls 362, 360. The collet assembly 358 includes a distal bushing 358a and a collet 358b received within the distal bushing 358a. The drive rod 358 is positioned to slide through the distal bushing 358a and the collet 358b. The distal bushing 358a includes a tab 359 projecting therefrom that extends through the channel-side housing 332a and into the tab slot 356f of the plunger link 356c of the plunger assembly 356. The collet 358b includes a collet base 368 and a plurality of movable fingers 366 that flex relative to the collet base 368 between an uncompressed position(FIG. 29) and a compressed position (FIG. 27). The fingers 366 are radially closer to one another in the compressed position as compared to the uncompressed position. Each finger extends proximally to a lip 370 that extends radially inward for selectively engaging the annular recess 339a of the drive rod 339.

[0057] As best seen in FIGS. 27-30, distal advancement of the drive beam assembly 334 causes the proximal engagement surface 339b of the drive rod 339 to contact proximal surfaces of the lips 370 of the fingers 366 for urging the collet 358b distally, as indicated by arrow “K”. Continued distal advancement of the collet 358b with the drive rod 339 causes the fingers 336 to flex radially outward of the annular channel 339a of the drive rod 339 toward the uncompressed position thereof as the lips 370 of the fingers 366 longitudinally align with the cutouts 332f, 332g of the channelside and anvil-side housings 332a, 332b, as indicated by arrows “M” to limit proximal movement of the collet 358b. In this position, the drive rod 339 is configured to distally slide through the collet 358b for facilitating advancement of the drive beam assembly 334 through the tool assembly 16. For a more detailed description of the structure and movement of the collet 358b, reference can be made to U.S. Provisional Patent Application Serial No. 63 / 462,302, filed April 27, 2023, the entire contents of which are incorporated by reference herein.

[0058] With the collet base 368 of the collet 358b secured within the distal bushing 358a of the collet assembly 358, distal movement of the collet 358b causes the tab 359 of the distal bushing 358a to drive the plunger link 356c distally, as indicated by arrows “N”. The distal movement of the plunger link 356 drives the distal end face of the plunger link 356c into the ramp 364 of the spring 356b so that the spring 356b flexes from an uncompressed position (FIG. 28) to a compressed position (FIG. 30), as indicated by arrow “P”. Such compressive movement of the spring 356b causes the spring 356b to elongate and urge the plunger 356a distally, as indicated by arrow “Q”, so that the teeth of the plunger 356a engage (e.g., interdigitate) with the teeth of the plate 52, as indicated by arrow “R”. When the plunger 356a and the plate 52 are engaged, the tool assembly 16 is prevented from articulating and twitching when the tool assembly 16 is fired as detailed above. Continued distal advancement of the drive beam assembly 334, as indicated by arrows “T”, causes the tool assembly 16 to be fired. The drive beam assembly 334 can then be retracted as desired to unclamp the tool assembly 16 and cause the plunger 356a to separate from the plate 52, and the collet 358b to move proximally to the proximal position of the collet 358b sothat the fingers 366 of the collet 358b compress radially inward for interlocking the lips 370 of the fingers 366 with the annular recess 339a of the drive rod 339.

[0059] The disclosed subject matter may be further described by reference to the following numbered aspects:1. A surgical stapling apparatus comprising: an elongated shaft assembly defining a longitudinal axis; a tool assembly coupled to the elongated shaft assembly and pivotable relative to the longitudinal axis between an unarticulated position and an articulated position; a drive beam assembly selectively advanceable through the tool assembly for firing the tool assembly when the tool assembly is disposed in the unarticulated position or the articulated position; and an articulation brake assembly including a plate that pivots with the tool assembly and a plunger assembly that is supported by the elongated shaft assembly, the plunger assembly is selectively engageable with the plate to prevent the tool assembly from twitching when the tool assembly is fired.2. The surgical stapling apparatus according to aspect 1, wherein the plate includes a first set of teeth and the plunger assembly includes a plunger, the plunger including a second set of teeth that is configured to engage the first set of teeth when the plunger engages the plate.3. The surgical stapling apparatus according to aspect 2, wherein the plunger is operably coupled to a spring.4. The surgical stapling apparatus according to aspect 3, wherein the spring is disposed in contact with the plunger.5. The surgical stapling apparatus according to aspect 4, wherein the spring is a leaf spring.6. The surgical stapling apparatus according to aspect 3, wherein the plunger assembly is configured to disengage from the plate when the drive beam assembly is retracted to enable the tool assembly to pivot between the unarticulated position and the articulated position.7. The surgical stapling apparatus according to aspect 6, wherein the spring is disposed in contact with a bushing and the bushing is coupled to a plunger link, the plunger link being connected to the plunger.8. The surgical stapling apparatus according to aspect 5, wherein the articulation brake assembly further includes a collet that is selectively engageable with a drive rod, the drive rod being coupled to the drive beam assembly and actuatable to advance the drive beam assembly relative to the collet.9. The surgical stapling apparatus according to aspect 8, wherein the collet is coupled to a bushing and the bushing is coupled to a plunger link, the plunger link disposed in contact with the leaf spring to selectively flex the leaf spring for sliding the plunger relative to the plate.10. The surgical stapling apparatus according to aspect 1, wherein the plate is integrally formed with a pivot assembly that connects the tool assembly to the elongated shaft assembly and facilitates articulating movement of the tool assembly relative to the elongated shaft assembly.11. A surgical stapling apparatus comprising: an elongated shaft assembly; a tool assembly; a pivot assembly that connects the tool assembly to the elongated shaft assembly; a plate supported by the pivot assembly; and a plunger assembly that is supported by the elongated shaft assembly, the plunger assembly selectively engageable with the plate to prevent the tool assembly from twitching when the tool assembly is fired.12. The surgical stapling apparatus according to aspect 11, wherein the plate includes a first set of teeth and the plunger assembly includes a plunger, the plunger including a second set of teeth that is configured to engage the first set of teeth when the plunger engages the plate.13. The surgical stapling apparatus according to aspect 12, wherein the plunger is operably coupled to a spring.14. The surgical stapling apparatus according to aspect 13, wherein the spring is disposed in contact with the plunger.15. The surgical stapling apparatus according to aspect 13, wherein the spring is indirectly coupled to the plunger.16. The surgical stapling apparatus according to aspect 15, wherein the spring is disposed in contact with a bushing and the bushing is coupled to a plunger link, the plunger link being connected to the plunger.17. The surgical stapling apparatus according to aspect 14, further including a collet that is selectively engageable with a drive rod that is actuatable to fire the tool assembly.18. The surgical stapling apparatus according to aspect 17, wherein the collet is coupled to a bushing and the bushing is coupled to a plunger link, the plunger link disposed in contact with the spring to selectively flex the spring for sliding the plunger relative to the plate.19. The surgical stapling apparatus according to aspect 11, wherein the plate is integrally formed with the pivot assembly.20. A surgical stapling apparatus comprising: an adapter assembly defining a longitudinal axis;a tool assembly coupled to the adapter assembly and including a first jaw member and a second jaw member movable relative to the first jaw member between an unclamped position and a clamped position; and an articulation brake assembly including a plate that pivots with the tool assembly relative to the longitudinal axis, and a plunger assembly that is supported by the adapter assembly, the plunger assembly being selectively engageable with the plate to prevent the tool assembly from twitching when the first and second jaw members are disposed in the clamped position.

[0060] As can be appreciated, securement of any of the components of the presently disclosed apparatus can be effectuated using known securement techniques such welding, crimping, gluing, fastening, etc.

[0061] The various aspects disclosed herein may also be configured to work with robotic surgical systems and what is commonly referred to as “Telesurgery.” Such systems employ various robotic elements to assist the clinician and allow remote operation (or partial remote operation) of surgical instrumentation. Various robotic arms, gears, cams, pulleys, electric and mechanical motors, etc. may be employed for this purpose and may be designed with a robotic surgical system to assist the clinician during an operation or treatment. Such robotic systems may include remotely steerable systems, automatically flexible surgical systems, remotely flexible surgical systems, remotely articulating surgical systems, wireless surgical systems, modular or selectively configurable remotely operated surgical systems, etc.

[0062] The robotic surgical systems may be employed with one or more consoles that are next to the operating theater or located in a remote location. In this instance, one team of clinicians may prep the patient for surgery and configure the robotic surgical system with one or more of the instruments disclosed herein while another clinician (or group of clinicians) remotely controls the instruments via the robotic surgical system. As can be appreciated, a highly skilled clinician may perform multiple operations in multiple locations without leaving his / her remote console which can be both economically advantageous and a benefit to the patient or a series of patients. For a detailed description of exemplary medical workstations and / or components thereof, reference maybe made to U.S. Patent No. 8,828,023, and PCT Application Publication No. WO2016 / 025132, the entire contents of each of which are incorporated by reference herein.

[0063] Persons skilled in the art will understand that the structures and methods specifically described herein and illustrated in the accompanying figures are non-limiting exemplary aspects, and that the description, disclosure, and figures should be construed merely as exemplary of aspects. It is to be understood, therefore, that the present disclosure is not limited to the precise aspects described, and that various other changes and modifications may be affected by one skilled in the art without departing from the scope or spirit of the disclosure. Additionally, it is envisioned that the elements and features illustrated or described in connection with one exemplary aspect may be combined with the elements and features of another without departing from the scope of the present disclosure, and that such modifications and variations are also intended to be included within the scope of the present disclosure. Indeed, any combination of any of the presently disclosed elements and features is within the scope of the present disclosure. Accordingly, the subject matter of the present disclosure is not to be limited by what has been particularly shown and described.

Claims

WHAT IS CLAIMED IS:

1. A surgical stapling apparatus comprising: an elongated shaft assembly (28) defining a longitudinal axis; a tool assembly (16) coupled to the elongated shaft assembly and pivotable relative to the longitudinal axis between an unarticulated position and an articulated position; and a drive beam assembly (34, 234, 334) selectively advanceable through the tool assembly for firing the tool assembly when the tool assembly is disposed in the unarticulated position or the articulated position; characterized in that the surgical stapling apparatus includes: an articulation brake assembly (50) including a plate (52) that pivots with the tool assembly and a plunger assembly (54, 254, 356) that is supported by the elongated shaft assembly, the plunger assembly is selectively engageable with the plate to prevent the tool assembly from twitching when the tool assembly is fired.

2. The surgical stapling apparatus according to claim 1, wherein the plate includes a first set of teeth (52b) and the plunger assembly includes a plunger (56, 256, 356a), the plunger including a second set of teeth (56b, 256b) that is configured to engage the first set of teeth when the plunger engages the plate.

3. The surgical stapling apparatus according to claim 2, wherein the plunger is operably coupled to a spring (58c, 258, 356b).

4. The surgical stapling apparatus according to claim 3, wherein the spring is disposed in contact with the plunger.

5. The surgical stapling apparatus according to claims 3 or 4, wherein the spring is a leaf spring.

6. The surgical stapling apparatus according to claim 3, wherein the plunger assembly is configured to disengage from the plate when the drive beam assembly is retracted to enable the tool assembly to pivot between the unarticulated position and the articulated position.

7. The surgical stapling apparatus according to claim 6, wherein the spring is disposed in contact with a bushing (58a, 358a) and the bushing is coupled to a plunger link (57, 356c), the plunger link being connected to the plunger.

8. The surgical stapling apparatus according to claim 5, wherein the articulation brake assembly further includes a collet (358b) that is selectively engageable with a drive rod (339), the drive rod being coupled to the drive beam assembly and actuatable to advance the drive beam assembly relative to the collet.

9. The surgical stapling apparatus according to claim 8, wherein the collet is coupled to a bushing (358a) and the bushing is coupled to a plunger link (356c), the plunger link disposed in contact with the leaf spring to selectively flex the leaf spring for sliding the plunger relative to the plate.

10. The surgical stapling apparatus according to any of the preceding claims, wherein the plate is integrally formed with a pivot assembly (42, 144) that connects the tool assembly to the elongated shaft assembly and facilitates articulating movement of the tool assembly relative to the elongated shaft assembly.

11. The surgical stapling apparatus according to any of the preceding claims, wherein the tool assembly includes an anvil assembly (20) and a cartridge assembly (22) that are pivotably coupled together.

12. The surgical stapling apparatus according to claim 11 , wherein the cartridge assembly includes a channel (26) that supports a staple cartridge (24).

13. The surgical stapling apparatus according to any of the preceding claims, wherein the surgical stapling apparatus is robotically controlled.

14. The surgical stapling apparatus according to any of the preceding claims, wherein the elongated shaft assembly is selectively attached to a handle assembly (12).

15. The surgical stapling apparatus according to claim 14, wherein the handle assembly is powered.

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