Articulating surgical instrument

Abstract

An articulating surgical instrument is disclosed. The surgical instrument includes an end effector device and an articulation assembly. The instrument may be configured for use with a handheld laparoscopic device and a robotic surgical system, in examples. The end effector device has opposing jaws that are configured to open and close under force, and the jaws include rollers for grasping and driving needles. In an embodiment, the assembly includes a rotating articulation shaft that enables left and right articulation of the end effector device, and includes additional rotating shafts that independently control operation of the jaws and the rollers. In another embodiment, the instrument enables not only independent left and right articulation of the end effector device while also providing independent control of the jaws and the rollers, but also provides rotation of the end effector device around a central axis.

Description

TITLE OF THE INVENTIONArticulating Surgical InstrumentRELATED APPLICATIONS[ o o oi ] This application claims the benefit under 35 USC 119(e) of U.S. Provisional Application No. 63 / 607,038 filed on December 6, 2023, which is incorporated herein by reference for all purposes.BACKGROUND OF THE INVENTION

[0002] Handheld laparoscopic devices are surgical tools that typically include a handle and a cannula attached to the handle. The cannula is an elongated hollow tube that defines a channel for placement of various surgical instruments within and through the channel. A distal end of the cannula is placed in a body of a patient via an incision, while a proximal end attaches to the handle and accepts the surgical instruments into the channel under seal.

[0003] More detail for the surgical instruments that can be configured for use in a handheld laparoscopic device is as follows. The surgical instruments include an end effector device placed at a distal end of an instrument tube. The end effector device is the component of the surgical instrument that performs a surgical task, such as suturing, suction, lighting, cautering and / or cutting, in examples. The instrument tube has a length that exceeds that of the cannula and enables the end effector device to be placed into the channel of the cannula and into the patient. Both the end effector device and instrument tube have a width that is slightly less than that of the channel of the cannula. During a surgical procedure, surgeons insert the end effector devices of the surgical instruments into the proximal end of the cannula, and can manipulate actuators (e.g., levers and grips) of the handle to guide the surgical instruments into the cannula and into the patient, and to control the surgical instruments once inside the patient. Example surgical instruments include an endoscope, a trocar and a veress needle, in examples. Exemplary end effector devices are described in US Pat. App. No. 18,820,066 filed on August 29, 2024 (the ‘066 application) and in PCT App. No. PCT / US2024 / 55082 filed on Novemeber 08, 2024 (the ‘082 application).

[0004] The handheld laparoscopic devices are typically described in terms of the width of the channel of its cannula. In one example, a 5 millimeter (mm) handheld laparoscopic device has a cannula that is slightly larger than 5 mm and is designed to accept surgical instruments having a nominal width of 5 mm. In a similar vein, 8 mm, 10 mm and 12 mm handheld laparoscopic devices are also common.SUMMARY OF THE INVENTION

[0005] Existing surgical instruments used in handheld laparoscopy and / or in robotic surgical systems have limitations. Traditional needle driver surgical instruments and existing surgical instruments used in straight shaft robotic surgical systems, in examples, have a long learning curve and require multiple repetitive steps to grasp and drive needles and perform suturing tasks. Dexterity is limited to the surgeon's experience and proficiency in manipulating needles in tight spaces, in another example. This can increase surgical procedure time and surgeon / operator fatigue.

[0006] In the case of existing surgical instruments used in endoluminal robotic systems, in another example, there are additional challenges. In examples, the surgical instruments must be capable of flexible navigation through body cavities and lumens (e.g., colon) while also providing sufficient stiffness to apply a lateral force to drive a needle through tissue. In another example, there is limited space to rotate wristed tips.

[0007] An inventive articulating surgical instrument is disclosed. The surgical instrument includes an end effector device and an articulation assembly. In one embodiment, the surgical instrument is configured for use with a handheld laparoscopic device. In one example, the end effector device is a cam actuated end effector device as described in the ‘082 application. This device has opposing jaws that are configured to open and close under force via a cam / cam follower mechanism, and the jaws include rollers for grasping and driving needles. In another example, the end effector device is as described in the ‘066 application. In the ’066 application, the end effector device also has opposing jaws including rollers that grasp and drive needles, and a needle guard is incorporated into the jaws. The end effector device of the ‘066 application also includes a shifting feature distributed across the jaws that enables the rollers to grasp sutures. The inventive surgical instrument also provides an interface thatenables independent left and right articulation of the end effector device while also providing independent control of the jaws and the rollers.

[0008] In another embodiment, the inventive articulating surgical instrument is configured for use with a robotic surgical system. The surgical instrument provides an interface that enables not only independent left and right articulation of the end effector device while also providing independent control of the jaws and the rollers, but also provides rotation of the end effector device around a central axis.

[0009] The proposed articulating surgical instruments have advantages over the existing surgical instruments used in handheld laparoscopy and / or in robotic surgical systems. In examples, the proposed surgical instruments can drive needles with more control and with greater precision that conventional needle drivers / existing instruments, and are easier to use. One or more embodiments of the articulating surgical instrument configured for use in handheld laparoscopic devices can also provide at least three different and independent degrees of freedom of the end effector devices, namely, articulation, opening and closing of the jaws, and control of the rollers within the jaws. Moreover, rotating flexible shafts of the articulating surgical instrument that provide the independent control of the jaws, the rollers and the articulation could also be adapted to provide different capabilities for other end effector devices.

[0010] In a similar vein, one or more embodiments of the articulating surgical instrument configured for use in robotic surgical systems can also provide at least four different and independent degrees of freedom of the end effector devices, namely, articulation, opening and closing of the jaws, control of the rollers within the jaws, and controlling rotation of the entire end effector device around a central axis. Moreover, rotating flexible shafts of the articulating surgical instrument that provide the independent control of the jaws, the rollers, and the rotation of the end effector device could also be adapted to provide different capabilities for other end effector devices. The articulating surgical instrument can be used with animal or human patients, and can also be used with animate or inanimate objects.

[0011] In general, according to one aspect, the invention features an articulating surgical instrument. The instrument comprises an end effector device and an articulation assembly. Theend effector device includes a pair of jaws located at a first end of the end effector device, and a device end cap located at a second end of the device that opposes the first end. The end effector device is centered along a longitudinal axis, and the device end cap includes an outer surface and has a face that faces away from the second end of the device.

[0012] The articulation assembly includes a flexible outer tube including a outer tube end cap, and includes a rotating articulation shaft housed by the outer tube. The outer tube has a first end that attaches to the outside surface of the device end cap and has a second end that opposes the first end, and the outer tube end cap is located at the second end of the outer tube.

[0013] The articulation shaft connects to the face of the device end cap via an actuating mechanism. The articulation assembly is centered along an articulation axis that moves with movement of the articulation assembly, and rotation of the articulation shaft causes the actuating mechanism to move the articulation assembly relative to the longitudinal axis, the result of which controls articulation of the end effector device relative to the articulation axis. Preferably, the articulation shaft passes through and is supported by the outer tube end cap.

[0014] In one implementation, the pair of jaws includes a first jaw and a second jaw that opposes the second jaw, and the articulation assembly includes a first rotating shaft that controls opening and closing of the first jaw relative to the second jaw under force.

[0015] Typically, the first jaw houses a first roller and the second jaw houses a second roller, and when the first jaw begins to close relative to the first jaw, the first rotating shaft is additionally configured to control shifting of the first roller relative to the second roller for grasping a suture therebetween. The articulation assembly also includes a second rotating shaft that is configured to control rotation of the first roller and the second roller for grasping and driving a needle therebetween.

[0016] In one example, the actuating mechanism is a threaded rod, and an articulation length of the articulation assembly is a sum of a length of the articulation shaft and a length of the threaded rod measured outward from the face of the device end cap. In this way, rotation of the articulation shaft correspondingly changes the articulation length to control articulation of the end effector device relative to the articulation axis. As a result, when rotation of the articulation shaft increases the articulation length, the articulation assembly provides rightwardmovement of the articulation assembly relative to the longitudinal axis, the result of which provides rightward articulation of the end effector device relative to the articulation axis. In a simiar vein, when rotation of the articulation shaft decreases the articulation length, the articulation assembly provides leftward articulation of the articulation assembly relative to the longitudinal axis, the result of which provides leftward articulation of the end effector device relative to the articulation axis.

[0017] In one example, articulation of the end effector device relative to the articulation axis has a degree of rotation in a range between (-) 53 degrees of leftward rotation to (+) 53 degrees of rightward rotation. In another example, articulation of the end effector device relative to the articulation axis has a degree of rotation in a range between (-) 90 degrees of leftward rotation to (+) 90 degrees of rightward rotation.

[0018] Preferably, the articulation shaft is flexible along its length. In an embodiment, the articulation shaft includes a first fixed portion that connects to the actuating mechanism, and a second fixed portion that connects to the first fixed portion via a universal joint.

[0019] The instrument is preferably configured to connect to and be operated by a manual laparoscopic device.

[0020] In general, according to another aspect, the invention features a surgical instrument. The surgical instrument comprises an end effector device and an articulation assembly. The end effector device includes a device end cap, and the end effector device is centered along a longitudinal axis. The articulation assembly includes an outer tube and an inner tube. The inner tube is configured to rotate within the outer tube, is captured within the outer tube, and connects to the device end cap of the end effector device. In this way, rotation of the inner tube causes the end effector device to rotate around the longitudinal axis.

[0021] In one implementation, the end effector device includes a first jaw and a second jaw that opposes the first jaw. The the first jaw and the second jaw are located at a first end of the end effector device, and the device end cap is located at a second end of the device that opposes the first end. Additionally, the articulation assembly includes a first rotating shaft that is housed within the inner tube and controls opening and closing of the first jaw relative to the second jaw under force. Typically, the first rotating shaft is flexible.

[0022] In another implementation, the first jaw houses a first roller and the second jaw houses a second roller. When the first jaw begins to close relative to the first jaw, the first rotating shaft is additionally configured to control shifting of the first roller relative to the second roller for grasping a suture therebetween.

[0023] The articulation assembly can additionally include a second rotating shaft that is housed within the inner tube and controls rotation of the first roller and the second roller for grasping and driving a needle therebetween. Typically, the second rotating shaft is flexible.

[0024] Preferably, the surgical instrument is configured to connect to and be operated by a robotic arm assembly of a robotic surgical system. Typically, the outer tube and the inner tube are flexible.

[0025] In an implementation, the outer tube has a first end that faces the end effector device and a second end that opposes its first end, and the outer tube includes a left angulation wire and a right angulation wire that each extend outward from the second end of the outer tube. In this way, adjustment of the left angulation wire controls leftward movement of the articulation assembly relative to the longitudinal axis, the result of which provides leftward articulation of the end effector device relative to the articulation axis; and adjustment of the right angulation wire controls rightward movement of the articulation assembly relative to the longitudinal axis, the result of which provides rightward articulation of the end effector device relative to the articulation axis.

[0026] In one example, articulation of the end effector device relative to the articulation axis has a degree of rotation in a range between (-) 53 degrees of leftward rotation to (+) 53 degrees of rightward rotation. In another example, articulation of the end effector device relative to the articulation axis has a degree of rotation in a range between (-) 90 degrees of leftward rotation to (+) 90 degrees of rightward rotation.

[0027] The above and other features of the invention including various novel details of construction and combinations of parts, and other advantages, will now be more particularly described with reference to the accompanying drawings and pointed out in the claims. It will be understood that the particular method and device embodying the invention are shown by way of illustration and not as a limitation of the invention. The principles and features of thisinvention may be employed in various and numerous embodiments without departing from the scope of the invention.BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In the accompanying drawings, reference characters refer to the same parts throughout the different views. The drawings are not necessarily to scale; emphasis has instead been placed upon illustrating the principles of the invention. Of the drawings:

[0029] Fig. 1 shows a perspective view of an embodiment of an articulating surgical instrument constructed in accordance with principles of the present invention, where the surgical instrument includes an end effector device and an articulation assembly, and where the articulation assembly includes three flexible rotating shafts and is configured for use with a handheld laparoscopic device;

[0030] Fig. 2 is a magnified perspective view of an outer tube end cap of the articulation assembly in Fig. 1 when the articulation assembly is viewed from a proximal end, where the view shows three through holes that each accept and support a separate flexible rotating shaft and each enable their shaft to pass therethrough;

[0031] Fig. 3 is a left side cross sectional view of the end effector device along cross section A-A in Fig. 1, depicting how a first and a second of the flexible rotating shafts connect to the end effector device;

[0032] Fig. 4 shows the surgical instrument in Fig. 1 with an outer tube of the articulation assembly removed, in order to show detail of the three rotating flexible shafts;

[0033] Fig. 5 shows the surgical instrument of Fig. 1 with its articulation assembly displaced at a right articulation angle;

[0034] Fig. 6 shows the surgical instrument of Fig. 5 with the outer tube of its articulation assembly removed in order to show detail for the flexible shafts;

[0035] Fig. 7 shows the surgical instrument of Fig. 1 with its articulation assembly displaced at a left articulation angle;

[0036] Fig. 8 shows the surgical instrument of Fig. 7 with the outer tube of its articulation assembly removed in order to show detail for the flexible shafts;

[0037] Fig. 9 shows a perspective view of another embodiment of an articulating surgical instrument for use with a handheld laparoscopic device, where the surgical instrument includes an end effector device as in Fig. 1 but with a different implementation of the articulation assembly and its shafts;

[0038] Fig. 10 shows a perspective view of yet another embodiment of an articulating surgical instrument, for use instead with a robotic surgical system, where the articulating surgical instrument includes an end effector device as in Figs. 1 and 9 but has a different implementation of the articulation assembly, and where the articulation assembly is shown displaced at a right articulation angle;

[0039] Fig. 11 shows the articulating surgical instrument in Fig. 10 with an outer tube of its articulation assembly removed, in order to show an inner tube of the surgical instrument that is configured to rotate within the outer tube;

[0040] Fig. 12 shows the articulation assembly in Fig. 11 with its inner tube removed, in order to show two flexible shafts housed within the inner tube; and

[0041] Fig. 13 is a block diagram of an exemplary robotic surgical system that includes the articulating surgical instrument of Fig. 10.DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0042] The invention now will be described more fully hereinafter with reference to the accompanying drawings, in which illustrative embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0043] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. Further, the singular forms and the articles "a", "an" and "the" are intended to include the plural forms as well, unless expressly stated otherwise. It will befurther understood that the terms: includes, comprises, including and / or comprising, when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. Further, it will be understood that when an element, including component or subsystem, is referred to and / or shown as being connected or coupled to another element, it can be directly connected or coupled to the other element or intervening elements may be present.

[0044] It will be understood that although terms such as “first” and “second” are used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. Thus, an element discussed below could be termed a second element, and similarly, a second element may be termed a first element without departing from the teachings of the present invention.

[0045] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0046] In the descriptions of the drawings provided herein below, different embodiments of an inventive articulating surgical instrument are disclosed. In each of the embodiments, the articulating surgical instrument includes an exemplary end effector device 20. The end effector device 20 includes all features of the end effector device described in the ‘066 application (e.g., the needle guard and the shifting features), and includes all features described in the ‘082 application (e.g., the cam / cam follower arrangement incorporated into the jaws, which enables a rotating shaft in connection with the jaws to open and close the jaws under force).

[0047] Fig. 1 shows an articulating surgical instrument 100, according to an embodiment. The surgical instrument 100 includes an articulation assembly 30 and an end effector device 20 connected to the articulation assembly 30. The surgical instrument 100 is configured foruse with a handheld laparoscopic device. The surgical instrument 100 is configured for use in a handheld laparoscopic device as small as 5 mm, and also for use in larger laparoscopic devices such as 8 mm, 10 mm and 12 mm devices, in examples.

[0048] The articulation assembly 30 includes an outer tube 42 with an outer tube end cap 50. The articulation assembly 30 also includes a flexible articulation shaft for controlling articulation of the end effector device 20. The articulation assembly is configured to move relative to an articulation axis 599, and has a distal end 23 and a proximal end 13 that opposes the distal end 23. The distal end 23 faces the end effector device 20, and the outer tube end cap 50 is located at and faces the proximal end 13. The outer tube 42 includes or otherwise houses three flexible shafts: a first shaft 502, a second shaft 504 and a third shaft 506. The shafts 502, 504 and 506 are elongated and substantially cylindrical in shape. Here, the third flexible shaft 506 is the flexible articulation shaft.

[0049] The outer tube 42 is typically made from a stainless steel or a semi-rigid material such as high density polyethylene (HDPE) and is cut, stamped or otherwise formed to be flexible. The outer tube 42 has a length 46 and a series of orifices 44 that aid in its flexibility. The articulation axis 599 runs longitudinally along the length 46 of the outer tube 42.

[0050] The outer tube end cap 50 supports and provides separation between the three flexible shafts 502, 504, 506 at the proximal end of the articulation assembly 30. A first shaft axis 32 passes through a center of the first shaft 502. In a similar vein, a second shaft axis 34 passes through a center of the second shaft 504, and a third shaft axis 36 passes through a center of the third shaft 506. Each of the shafts 502, 504, 506 are configured to rotate around their respective shaft axes 32, 34 and 36.

[0051] In the illustrated example, ends of the shafts 502, 504, 506 are located at the proximal end 13 and each have a recessed “hex” style socket for interfacing with an external driving mechanism for each of the shafts. In one example, the external driving mechanism can include a separate rotating external shaft (rigid or flexible) with a hex-style plug at its end that connects to / seats within the ends of each of the shafts 502, 504, 506. In another example, the ends of the shafts 502, 504, 506 might be configured as plugs in a spring-loaded “quick connect” system, where the ends of the external shafts might be configured as recessedadapters that accept the plugs under spring compression (or vice-versa). It can be appreciated that other interfacing of the ends of the shafts 502, 504, 506 for external connection to and control of the shafts can be provided.

[0052] The end effector device 20 is located at a distal end 40 of the surgical instrument100 and includes a cam with a cam body 70 and a pair of jaws 104, 102 that oppose one another. The end effector device 20 also includes a needle guard 80 distributed across the first jaw 104 and the second jaw 102. In the illustrated example, a first jaw 104 is located on top of and opposes a second jaw 102. The second jaw 102 is typically stationary, and the first jaw 104 opens and closes relative to the second jaw via a pivot 220. A center axis 99 of the device passes longitudinally through a center of the device 20.

[0053] A device end cap (not visible in the figure) of the end effector device 20 connects the end effector device 20 to the outer tube 42 of the articulation assembly 30 at its distal end 23. A cross section A-A of the end effector device 20 is also defined.

[0054] The firstjaw 104 includes or otherwise houses a first roller 112 and the secondjaw 102 includes or otherwise houses a second roller 114. The rollers 112, 114 can be used to grasp and drive a needle into tissue of a patient, in one example. The rollers 112, 114 are configured to connect to a second roller shaft (not shown) included within the end effector device 20, and the second roller shaft is configured to engage with the second shaft 504. In this way, the second shaft 504 controls rotation of the rollers 112, 114.

[0055] The cam body 70 has a cam translation member 72 that is configured to engage with a recess of the first jaw 104 such that when the cam rotates, the cam and the first jaw 104 are configured in a cam / cam follower arrangement, respectively, as described in the ‘082 application. In this way, when the cam rotates, the first jaw 104 can open and close under force. In the illustrated example, the cam translation member 72 is shown engaged with a first movement translation member 210 of the first jaw 104 for closing the first jaw 104 relative to the secondjaw 102 under force. The cam also has a cam shaft (not visible) for enabling rotation of the cam body 70.

[0056] The first and second flexible shafts 502, 504 generally operate as follows. The first shaft 502 connects to the cam shaft (not shown) of the cam, and is configured to providerotation of the cam for opening and closing the jaws 112, 102 under force. For this purpose, the first shaft 502 connects to one end of the cam shaft within the end effector device 20, and the opposing end of the cam shaft connects to the cam body 70. The second flexible shaft 504 connects to a second roller shaft (not shown) that is in turn connected to the second roller 114 and is configured to control rotation of the rollers 112, 114 within the jaws 112, 114. More detail for operation of the upper and lower jaws 104, 102 and their connection to the first shaft 502 via the cam, and more detail for operation of the upper and lower rollers 112, 114 and their connection to the second shaft 504, are provided in the description for Fig. 3, included herein below.

[0057] The third shaft 506 is configured to provide articulation of the end effector device 20 (and thus to provide articulation of the surgical instrument 100). For this purpose, the third shaft 506 connects to an actuating mechanism (not shown) that, in turn, connects to the end cap of the end effector device 20. More detail for the third shaft 506 and its ability to provide articulation of the end effector device 20 is provided in the description of Figs. 5 through 8 herein below.

[0058] Fig. 2 shows more detail for the outer tube end cap 50 of the articulation assembly 30. The outer tube end cap 50 has three openings or through holes 52, through which the shafts 502, 504, 506 pass. The outer tube end cap 50 provides separation between and structural support for the shafts. Also shown is a rotation direction 122 of the first shaft 502 around the first shaft axis 32, a rotation direction 124 of the second shaft 504 around the second shaft axis 34, and a rotation direction 126 of the third shaft 506 around the third shaft axis 36.

[0059] Fig. 3 is a left side cross-sectional view of the end effector device 20 along cross section A-A in Fig. 1. In the illustrated example, the outer tube 42 and its outer tube end cap 50 of the articulation assembly 30 are removed. This view provides detail for components of the end effector device 20 that could not be shown in Fig. 1, and shows how the first shaft 502 and the second shaft 504 connect to the end effector device 20.

[0060] More detail for the components of the end effector device 20 are as follows. The end effector device 20 includes a first roller shaft 106 that connects to the first roller 112 and a second roller shaft 110 that connects to the second roller 114. The end effector device 20 alsoincludes a first circular gear 140 with teeth and a second circular gear 120 with teeth. These gears 140, 120 oppose one another and are hereinafter known as first and second teeth, respectively. The first teeth 140 are housed within the first jaw 104 and the second teeth 120 are housed within the second jaw 102.

[0061] The end effector device 20 also includes a cam 10. The cam 10 includes a cam body 70 with a cam movement translation member 72 and includes a cam shaft 302. The cam movement translation member 72 extends outward from the cam body 70 in a direction towards the distal end 40 of the articulation surgical instrument 100.

[0062] The components of the end effector device 20 are arranged as follows. One end of the cam shaft 302 connects to the cam body 70, and the other end of the cam shaft 302 connects to the first flexible shaft 502. The cam movement translation member 72 is configured to engage with the first translation member 210 of the first jaw 104 (e.g., an upper inside surface of a recess formed within the first jaw 104) for closing the first jaw 104 relative to the second jaw 102 under force. The cam movement translation member 72 is also configured to engage with a second movement translation member 212 of the first jaw 104 (e.g., a lower inside surface of the recess formed within the first jaw 104, or a boss that extends outwards from the recess towards the cam body 70) for opening the first jaw 104 relative to the second jaw 102 under force.

[0063] The second roller shaft 110 connects to and passes through a center of the second teeth 120, and the first roller shaft 106 connects to and passes through a center of the first teeth 140. When the jaws 104, 102 of the end effector device 20 are closed, the teeth 140, 120 engage with one another, and rotation of the second roller shaft 110 causes the first roller shaft 106 to rotate for driving a needle between the rollers 112, 114, in one application.

[0064] The first shaft 502 controls operation of the upper and lower jaws 104, 102. Because the first shaft 502 connects to the cam shaft 302, rotation of the first shaft 502 causes the cam shaft 302 (and thus the cam 10) to rotate. At one extreme range of rotation of the first shaft 502, the cam movement translation member 72 is placed in its uppermost position (as shown in the figure) and is fully engaged with the first movement translation member 210 of the first jaw 104. As a result, the first jaw 104 closes against the second jaw 104 under force.At another extreme range of rotation of the first shaft 502, the cam movement translation member 72 is placed in its lowest position and is fully engaged with the second movement translation member of the first jaw 104. As a result, the first jaw 104 opens against the second jaw 102 under force.

[0065] The second flexible shaft 504 controls operation of the upper and lower rollers 112, 114. When the first jaw 104 begins to close against the second jaw 102, the first teeth 140 of the first roller shaft 106 begin to engage with the second teeth 120 of the second roller shaft 110. Because the second flexible shaft 504 connects to the second roller shaft 110, rotation of the second flexible shaft 504 causes the second roller shaft 106 to rotate, and in turn, causes the first roller shaft 106 to rotate. As a result, both the upper and lower rollers 112, 114 rotate in response to rotation of the second flexible shaft 504.

[0066] Fig. 4 shows the articulating surgical instrument 100 of Fig. 1 with the outer tube 42 and its outer tube end cap 50 of the articulation assembly 30 removed. This shows more detail of the flexible shafts 502, 504, and 506 and how the articulation assembly 30 connects to the end effector device 20.

[0067] Each of the shafts 502, 504, 506 is formed from either a flexible or rigid material and has orifices 544 that aid in their flexibility. As with the outer tube 42, a manner in which the shafts are cut, stamped or otherwise formed generally define their level of flexiblity .

[0068] A device end cap 60 of the end effector device 20 that faces the distal end 23 of the articulation assembly 30 is visible in the figure. The device end cap 60 has an outside surface 62 with a cylindrical shape and has a substantially flat face 63. The face 63 faces away from the distal end 40 of the surgical instrument 100 and towards the articulation assembly 30. The shafts 502, 504, 506 are of approximately a same length 516 and connect to the end effector device 20 at the face 63 of the device end cap 60.

[0069] The device end cap 60 also connects to the outer tube 42 of the articulation assembly 30. In one implementation, the outside surface 62 of the device end cap 60 seats within an inside surface of the outer tube 42 of the assembly 30 at its distal end 23 and has a press fit / interference fit. With reference to Fig. 1, the device end cap 60 is seated within the outer tube 42 such that the outer tube 42 encloses the device end cap 60 in its entirety, and anedge of the outer tube 42 at the distal end 23 of the assembly 30 is located adjacent to the cam 10. Additionally or alternatively, the outer tube 42 might be secured to the outside surface 62 of the device end cap 60 with screws, rivets, epoxy / glue, or other attachment mechanism.

[0070] An actuating mechanism 512 of the articulating assembly 30 is also shown. In the illustrated example, the actuating mechanism 512 is a screw or threaded rod. The actuating mechanism 512 engages with the end effector device 20 via a threaded hole in its device end cap 60, and engages with an end of the third shaft 506 that faces the device end cap 60.

[0071] During operation / rotation of the third shaft 506, the actuating mechanism 512 can be deployed to provide a maximum left articulation, zero articulation, and a maximum right articulation of the end effector device 20 relative to the articulation axis 599. In the illustrated example, the actuating mechanism 512 provides zero articulation / zero degrees of articulation of the device 20. Here, the actuating mechanism 512 is deployed at approximately half of its range / half of its actuator length 517, measured from the device end cap 60to the end of the third shaft 506 that faces the device end cap 60. Moreover, an articulation length 518 of the articulation assembly 30 is defined as:

[0072] articulation length 518 = actuator length 517 + length of third shaft 506

[0073] In this way, as the articulation length 518 decreases, the articulation provided by the articulation assembly 30 increases leftward. In a similar vein, as the articulation length 518 increases, the articulation provided by the articulation assembly 30 increases rightward.

[0074] As a result, the articulating surgical instrument 100 includes the end effector device 20 and the articulation assembly 30. The end effector device 20 includes a pair of jaws 104, 102 located at a first end of the end effector device 20, and a device end cap 60 located at a second end of the device 20 that opposes the first end. The end effector device 20 is centered along a longitudinal axis 99, and the device end cap 60 includes an outer surface 62 and has a face 63 that faces away from the second end of the device 20.

[0075] The articulation assembly 30 includes the flexible outer tube 42 and the rotating articulation shaft (here, the third rotating shaft 506). The outer tube 42 includes an outer tube end cap 50. The outer tube 42 has a first end that attaches to the outside surface 62 of thedevice end cap 20, and has a second end that opposes the first end, and the outer tube end cap 50 is located at the second end of the outer tube 42.

[0076] The rotating articulation shaft 506 is housed by the outer tube 42, where the articulation shaft 506 connects to the face 63 of the device end cap 60 via the actuating mechanism 512. The articulation assembly 30 is centered along an articulation axis 599 that moves with movement of the articulation assembly 30, and rotatation of the articulation shaft 506 causes the acutating mechanism 512 to move the articulation assembly 30 relative to the longitudinal axis 99, the result of which controls articulation of the end effector device 20 relative to the articulation axis 599.In one implementation, as disclosed herein above, the actuating mechanism 512 is a threaded rod, and an articulation length 518 of the articulation assembly is a sum of a length of the articulation shaft 506 and a length 17 of the threaded rod measured outward from the face 63 of the device end cap 60. In this way, rotation of the articulation shaft 506 correspondingly changes the articulation length 518 to control articulation of the end effector device 20 relative to the articulation axis 599.

[0077] Fig. 5 shows the articulating surgical instrument of Fig. 1 at a rightward degree of rotation / right articulation angle. In more detail, the articulation axis 599 of the articulation assembly 30 is at a degree of rotation 48 measured from the center axis 99 of the end effector device 20. The degree of rotation 48 of the articulation assembly 30 is in a rightward direction relative to the center axis 99, and the end effector device 20 stays aligned with the center axis 99 during the articulation. As a result, the end effector device 20 moves rightward at the degree of rotation 48 with respect to the articulation axis 599, when viewed from the articulation axis 599 at the proximal end of the articulation assembly 30 (i.e., when viewed at its outer tube end cap 50).

[0078] It is also important to note that the length 46 of the outer tube 42 does not change during articulation of the articulation assembly 30. This enables the outer tube 42 and the flexible shafts 502, 504, 506 to articulate.

[0079] Fig. 6 shows the articulating surgical instrument 100 of Fig. 5 with the outer cover 42 and the outer tube end cap 50 of the articulation assembly 30 removed. As compared to Fig.4, the actuator length 517 has increased, and thus the articulation length 518 has increased. At the same time, because the length 46 of the outer tube 42 does not change, the end effector device 20 has effectively moved rightward at an amount indicated by the degree of rotation 48, with respect to the articulation axis 599 when viewed at a point on the articulation axis 599 that coincides with the proximal end 13 of the articulation assembly 30.

[0080] Fig. 7 shows the articulating surgical instrument of Fig. 1 at a leftward degree of rotation / left articulation angle. The degree of rotation 48 of the articulation assembly 30 is in a leftward direction relative to the center axis 99, and the end effector device 20 stays aligned with the center axis 99 during the articulation. As a result, the end effector device 20 moves leftward at the degree of rotation 48 with respect to the articulation axis 599, when viewed from the articulation axis 599 at the proximal end of the articulation assembly 30 (i.e., when viewed at its outer tube end cap 50).

[0081] Fig. 8 shows the articulating surgical instrument of Fig. 7 with the outer tube 42 and its outer tube end cap 50 of the articulation assembly 30 removed. As compared to Fig. 4, the actuator length 517 has decreased to nearly zero, and thus the articulation length 518 has decreased and is now roughly equal to the length of the third shaft 506. At the same time, because the length 46 of the outer tube 42 does not change, the end effector device 20 has effectively moved leftward at an amount indicated by the degree of rotation 48, with respect to the articulation axis 599 when viewed at a point on the articulation axis 599 that coincides with the proximal end 13 of the articulation assembly 30.

[0082] In one example, the articulating surgical instrument 100 has a degree of rotation 48 in a range between (-) 53 degrees (leftward rotation) to (+) 53 degrees. In another example, the articulating surgical instrument 100 has a degree of rotation 48 in a range between (-) 90 degrees (leftward rotation) to (+) 90 degrees.

[0083] Fig. 9 shows another embodiment of an articulating surgical instrument 200. Here, the end effector device 20 is the same as in Fig. 1, but the articulation assembly 30 is implemented differently. The articulating surgical instrument 200 is preferably used in 8 mm handheld laparoscopic devices or larger, but might also be designed for use in smallerlaparoscopic devices such as 5 mm laparoscopic devices. The outer tube 42 of the articulation assembly 30 is also removed in the figure.

[0084] The articulation assembly 30 includes a first shaft 802, a second shaft 804 and a third shaft 806. The first shaft 802 includes a proximal portion 810 nearest the proximal end 13, a universal joint (“U-joint”) 820 and a distal portion 812. The first shaft 802 controls rotation of the cam 10 for enabling opening and closing of the jaws 104, 102 under force. The second shaft 804 includes a proximal portion 810 nearest the proximal end 13, a U-joint 820 and a distal portion 812. The proximal portions 810 and the distal portions 812 are substantially cylindrical in shape.

[0085] The second shaft 804 controls rotation of the rollers 112, 114 within thejaws 104, 102. The third shaft 806 includes a proximal portion 810 nearest the proximal end 13, a first U-joint 820-1, a distal portion 812 and a second U-joint 820-2.

[0086] The shafts 802, 804, 806 are arranged as follows. As to the first shaft 802 and the second shaft 804, the proximal portion 810 connects to the U-joint 820, which in turn connects to the distal portion 812. The distal portion 812 of the first shaft 802 connects to the cam shaft 302 of the cam 10, while the distal portion 812 of the second shaft 804 connects to the roller shaft (not shown) of the end effector device 20. In the illustrated example, lengths and diameters of the proximal portions 810 are substantially the same for the shafts 802, 804, as are lengths and diameters of the distal portions 812.

[0087] As for the third shaft 806, the proximal portion 810 connects to the first U-joint 820-1, which in turn connects to the distal portion 812. The distal portion 812, in turn, connects to the second U-joint 820-2. The second U-joint 820-2, in turn, connects to a actuating mechanism 512 (partially shown in phantom) that engages with the end effector device 20 via a threaded hole in its device end cap 60.

[0088] In the illustrated example, the articulating surgical instrument 200 has a leftward degree of rotation / left articulation angle 48. In one example, the articulating surgical instrument 200 has a degree of rotation 48 in a range between (-) 53 degrees (leftward rotation) to (+) 53 degrees (rightward rotation). In another example, the articulating surgicalinstrument 200 has a degree of rotation 48 in a range between (-) 90 degrees (leftward rotation) to (+) 90 degrees.

[0089] The shafts 802, 804, and 806 otherwise function in a substantially similar way as their respective counterpart shafts 502, 504 and 506 in the articulating surgical instrument 100 of Fig. 1. The shafts 802, 804, and 806 similarly interface to corresponding external shafts of an external drive mechanism for operating and controlling the shafts 802, 804, and 806.

[0090] Fig. 10 shows yet another embodiment of an articulating surgical instrument 300. In the illustrated example, the surgical instrument 300 is configured for use with a robotic surgical system. Additionally and / or alternatively, the surgical instrument 300 might be configured for use with any of multiple device configurations or surgical systems including handheld laparoscopic, endoscopic or endoluminal (through any natural body orifice or otherwise any opening), transcatheter and robotic systems (either rigid, articulated, multiarticulated and / or flexible). For this purpose, the articulating surgical instrument 300 includes an end effector device 20 as in the articulating surgical instruments 100, 200 respectively shown in Figs. 1 and 9 but has a different implementation of its articulation assembly 30 as compared to the articulating surgical instruments 100, 200.

[0091] The articulation assembly 30 includes an outer tube 942 with flexible orifices 944, has a distal end 23 that faces a device end cap (not visible) of the end effector device 20, and has a proximal end 13 that opposes the distal end 23. Unlike the outer tube 42 of the surgical instruments 100, 200 in Figs. 1 and 9, the distal end 23 of the outer tube 942 is not fixedly attached to the device end cap of the end effector device 20. The articulation assembly 30 has an articulation axis 599 that runs centrally through the outer tube 942 along its length and has a distal end 23 and a proximal end 13 that opposes the distal end 23.

[0092] Moreover, unlike the outer tube 42 of the surgical instruments 100, 200, the outer tube 942 of the surgical instrument 300 is typically configured in accordance with “bending sections” of the endoscope described in US Pat. No. 6641528 to provide articulation of the surgical instrument 300. For this purpose, the outer tube 942 includes a left angulation wire 910L and a right angulation wire 91 OR that controls left and right articulation of the end effector device 20. The articulation assembly 30 is also shown displaced at a right articulationangle 48 with respect to the center axis 99 of the end effector device 20. In one example, the articulating surgical instrument 300 has a degree of rotation 48 in a range between (-) 53 degrees (leftward rotation) to (+) 53 degrees (rightward rotation). In another example, the articulating surgical instrument 300 has a degree of rotation 48 in a range between (-) 90 degrees (leftward rotation) to (+) 90 degrees.

[0093] The articulation assembly 30 also includes an inner tube that is configured to rotate within the outer tube 942. Only an inner tube end cap 90 of the inner tube is visible in the figure at the proximal end 13. In the figure, the inner tube end cap 90 faces outward towards the proximal end 13 and is shown adjacent to an inside surface of the outer tube 942. While the inner tube can rotate within the outer tube 942, the inner tube is otherwise captured within the outer tube 942 such that the inner tube cannot move backward or forward along the articulation axis 599. The inner tube end cap 90 includes or otherwise houses two flexible shafts: a first shaft 902 and a second shaft 904. The inner tube end cap 90 provides separation between and structural support for the shafts 902, 904.

[0094] The shafts 902, 904 are substantially similar in materials, shape and design as compared to the shafts 502 / 504 of the articulating surgical instrument 100. The first shaft 902 is configured to connect and control operation of the jaws 104, 102 of the end effector device 20 in a substantially similar way as the first shafts 502, 802 of the articulating surgical instruments 100, 200. In a similar vein, the second shaft 904 is configured to connect and control operation of the rollers 112, 114 of the jaws 104, 102 of the end effector device 20 in a substantially similar way as the second shafts 504, 804 of the articulating surgical instruments 100, 200.

[0095] The surgical instrument 300 has an additional feature as compared to the surgical instruments 100, 200. Because the inner tube of the articulation assembly 30 is fixedly attached to the end effector device 20, rotation of the inner tube within the outer tube 942 also causes the entirety of the end effector device 20 to rotate with respect to the center axis 99. The rotation of the end effector device 20 with respect to the center axis 99 is indicated by reference 92.

[0096] In another implementation, the outer tube 942 of the surgical instrument 300 does not include the left angulation wire 910L and the right angulation wire 91 OR. Here, the outer tube 942 and the inner tube can be formed from either a flexible or a rigid material, and the rotation of the inner tube within the outer tube 942 causes the entirety of the end effector device 20 to rotate with respect to the center axis 99. The inner tube also may or may not include or otherwise house the shafts 902, 904.

[0097] Fig. 11 shows detail of an inner tube 952 in the articulating assembly 30 of Fig. 10. The figure also shows a device end cap 960 of the end effector device 20 that could not be shown in Fig. 10. The inner tube end cap 90 has a center point 909 through which the articulation axis 599 passes, and has a profile with flat edges 93. The inner tube 952 also has at least one flange 948 that provides a secure, fixed connection of the inner tube 952 to the device end cap 960 of the end effector device 20.

[0098] Because the inner tube 952 is designed to rotate within the outer tube 942 and attaches to the device end cap 960 of the end effector device 20, the inner tube 952 and the end effector device 20 are configured to rotate as a unit relative to the outer tube 942 and around the longitudinal axis 99. Because the inner tube 952 is also captured within the outer tube 942, the end effector device 20 can also be described as being rotatably attached to the outer tube 942 and thus rotatably attached to the articulation assembly 30.

[0099] As a result, the surgical instrument 300 includes the end effector device 20 and the articulation assembly 30. The end effector device 20 includes the device end cap 960, and the end effector device 20 is centered along the longitudinal axis 99.[ o o io o ] The articulation assembly 30 includes the outer tube 942 and the inner tube 952. The inner tube 952 is configured to rotate within the outer tube 942, is captured within the outer tube 942, and connects to the device end cap 960 of the end effector device 20. Rotation of the inner tube 952 causes the end effector device 20 to rotate around the longitudinal axis 99.[ o o io i ] In the illustrated example, ends of the shafts 902, 904 each have a recessed “hex:style socket for interfacing with an external driving mechanism for each of the shafts. The external driving mechanism is also configured to engage with the flat edges 93 of the innertube end cap 90. In this way, the external driving mechanism configured to interface with the surgical instrument 300 can provide independent rotation of the inner tube 952 within the outer tube 942 (and thus provide rotation of the end effector device 20 in the rotation direction 92), independent rotation of the first shaft 902 within the inner tube 952 for controlling opening and closing of the jaws 104, 102 under force, and independent rotation of the second shaft 904 within the inner tube 952 for controlling rotation of the rollers 112, 114 within the jaws 104, 102.

[0102] It can also be appreciated that other interfacing mechanisms between the shafts 902, 904 and the external driving mechanism other than the displayed “hex” interfaces can be employed. For this purpose, any of the shaft interfacing mechanisms described hereinabove in accordance with the surgical instruments 100, 200 are also applicable to the shafts 902, 904 of the surgical instrument 300.

[0103] Fig. 12 shows the articulation assembly 30 in Fig. 11 with its inner tube 952 and inner tube end cap 90 removed, in order to show more detail for the flexible shafts 902, 904 housed within the inner tube 952. Each of the shafts 902, 904 have flexible orifices 964 and are constructed using similar materials as in the shafts 502 / 802 and 504 / 804 of the surgical instruments 100, 200.

[0104] The figure also shows a recess 968 with the end cap 906 of the end effector device 20. The recess 968 is configured to receive the flange 948 of the inner tube 952, the result of which provides a more secure connection of the inner tube 952 to the end effector device 20.

[0105] While Figs. 10-12 illustrate articulation of the end effector device 20 in a rightward direction, it can also be appreciated that the articulation system 300 can also be configured to provide leftwards articulation. For this purpose, the level of articulation / ranges of articulation provided by the articulation system 300 are the same as disclosed in association with the articulation systems 100, 200 described hereinabove.

[0106] Fig. 13 shows an exemplary robotic surgical system 1300 that can incorporate the articulating surgical instrument 300 of Fig. 10. The robotic surgical system 1300 includes a computer system 1310, a display module 1306, control devices 1308, and a robotic arm assembly 1302. The robotic arm assembly 1302 includes a driving mechanism interface 1304.An exemplary surgical instrument 300 is attached to the driving mechanism interface 1304 via a straight or a flexible shaft 1204. In examples, the system 1300 might be a straight shaft robotic surgical system or an endoluminal robotic surgical system.

[0107] The control devices 1308 enable an operator such as a surgeon of the system 1300 to operate the robotic arm assembly 1302 and to operate any surgical instruments 300 that attach to the system 1300 via the driving mechanism interface 1304. During surgery, the operator can view a targeted area of a patient undergoing surgery on the display module 1306.

[0108] While this invention has been particularly shown and described with references to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention encompassed by the appended claims.

Claims

CLAIMSWhat is claimed is:

1. An articulating surgical instrument, comprising: an end effector device including: a pair of jaws located at a first end of the end effector device; and a device end cap located at a second end of the device that opposes the first end, wherein the end effector device is centered along a longitudinal axis, and wherein the device end cap includes an outer surface and has a face that faces away from the second end of the device; and an articulation assembly including: a flexible outer tube including a outer tube end cap, wherein the outer tube has a first end that attaches to the outside surface of the device end cap and has a second end that opposes the first end, and wherein the outer tube end cap is located at the second end of the outer tube; and a rotating articulation shaft housed by the outer tube, wherein the articulation shaft connects to the face of the device end cap via an actuating mechanism; wherein the articulation assembly is centered along an articulation axis that moves with movement of the articulation assembly, and wherein rotation of the articulation shaft causes the actuating mechanism to move the articulation assembly relative to the longitudinal axis, the result of which controls articulation of the end effector device relative to the articulation axis.

2. The instrument of claim 1, wherein the articulation shaft passes through and is supported by the outer tube end cap.

3. The instrument of claim 1, wherein the pair of jaws includes a first jaw and a second jaw that opposes the second jaw, and wherein the articulation assembly includes a first rotating shaft that controls opening and closing of the first jaw relative to the second jaw under force.

4. The instrument of claim 3, wherein the first jaw houses a first roller and the second jaw houses a second roller, and wherein when the first jaw begins to close relative to the first jaw,the first rotating shaft is additionally configured to control shifting of the first roller relative to the second roller for grasping a suture therebetween.

5. The instrument of claim 1, wherein the first jaw houses a first roller and the second jaw houses a second roller, and wherein the articulation assembly includes a second rotating shaft that is configured to control rotation of the first roller and the second roller for grasping and driving a needle therebetween.

6. The instrument of claim 1, wherein the actuating mechanism is a threaded rod, and wherein an articulation length of the articulation assembly is a sum of a length of the articulation shaft and a length of the threaded rod measured outward from the face of the device end cap, and wherein rotation of the articulation shaft correspondingly changes the articulation length to control articulation of the end effector device relative to the articulation axis.

7. The instrument of claim 6, wherein when rotation of the articulation shaft increases the articulation length, the articulation assembly provides rightward movement of the articulation assembly relative to the longitudinal axis, the result of which provides rightward articulation of the end effector device relative to the articulation axis.

8. The instrument of claim 6, wherein when rotation of the articulation shaft decreases the articulation length, the articulation assembly provides leftward articulation of the articulation assembly relative to the longitudinal axis, the result of which provides leftward articulation of the end effector device relative to the articulation axis.

9. The instrument of claim 1, wherein the articulation of the end effector device relative to the articulation axis has a degree of rotation in a range between (-) 53 degrees of leftward rotation to (+) 53 degrees of rightward rotation.

10. The instrument of claim 1, wherein the articulation of the end effector device relative to the articulation axis has a degree of rotation in a range between (-) 90 degrees of leftward rotation to (+) 90 degrees of rightward rotation.

11. The instrument of claim 1, wherein the articulation shaft is flexible along its length.

12. The instrument of claim 1, wherein the articulation shaft includes a first fixed portion that connects to the actuating mechanism, and a second fixed portion that connects to the first fixed portion via a universal j oint.

13. The instrument of claim 1, wherein the instrument is configured to connect to and be operated by a manual laparoscopic device.

14. A surgical instrument, comprising: an end effector device including a device end cap, wherein the end effector device is centered along a longitudinal axis; and an articulation assembly including: an outer tube; and an inner tube that is configured to rotate within the outer tube, is captured within the outer tube, and connects to the device end cap of the end effector device; wherein rotation of the inner tube causes the end effector device to rotate around the longitudinal axis.

15. The surgical instrument of claim 14, wherein the end effector device includes a first jaw and a second jaw that opposes the first jaw, and wherein the first jaw and the second jaw are located at a first end of the end effector device, and wherein the device end cap is located at a second end of the device that opposes the first end; and wherein the articulation assembly includes a first rotating shaft that is housed within the inner tube and controls opening and closing of the first jaw relative to the second jaw under force.

16. The surgical instrument of claim 15, wherein the first rotating shaft is flexible.

17. The surgical instrument of claim 15, wherein the first jaw houses a first roller and the second jaw houses a second roller, and wherein when the first jaw begins to close relative to the first jaw, the first rotating shaft is additionally configured to control shifting of the first roller relative to the second roller for grasping a suture therebetween.

18. The surgical instrument of claim 15, wherein the first jaw houses a first roller and the second jaw houses a second roller, and wherein the articulation assembly includes a secondrotating shaft that is housed within the inner tube and controls rotation of the first roller and the second roller for grasping and driving a needle therebetween.

19. The surgical instrument of claim 18, wherein the second rotating shaft is flexible.

20. The surgical instrument of claim 14, wherein the instrument is configured to connect to and be operated by a robotic arm assembly of a robotic surgical system.

21. The surgical instrument of claim 14, wherein the outer tube and the inner tube are flexible.

22. The surgical instrument of claim 19, wherein the outer tube has a first end that faces the end effector device and a second end that opposes its first end, and wherein the outer tube includes a left angulation wire and a right angulation wire that each extend outward from the second end of the outer tube; and wherein adjustment of the left angulation wire controls leftward movement of the articulation assembly relative to the longitudinal axis, the result of which provides leftward articulation of the end effector device relative to the articulation axis; and wherein adjustment of the right angulation wire controls rightward movement of the articulation assembly relative to the longitudinal axis, the result of which provides rightward articulation of the end effector device relative to the articulation axis.

23. The instrument of claim 22, wherein the articulation of the end effector device relative to the articulation axis has a degree of rotation in a range between (-) 53 degrees of leftward rotation to (+) 53 degrees of rightward rotation.

24. The instrument of claim 22, wherein the articulation of the end effector device relative to the articulation axis has a degree of rotation in a range between (-) 90 degrees of leftward rotation to (+) 90 degrees of rightward rotation.

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