Five-bar articulation mechanism for surgical stapling device

Abstract

A surgical stapling device includes a reload assembly including a tool assembly and an articulation assembly. The articulation assembly includes a first link, a second link, a third link, and a fourth link. The first and second link are coupled, the third and second link are coupled at a side portion of the third link, and the fourth link is coupled at a center portion of the third link. The first link pushes and pulls on the second link, causing the third link to rotate about the coupling location of the fourth link, and additionally causing the fourth link to rotate about a grounded position. The tool assembly, which is coupled to the third link, articulates to the left and right when the first link is pushed and pulled. In some examples, mounting members have gear teeth which selectively interlock as the tool assembly articulates.

Description

PATENT APPLICATION Attorney Docket No,: A0013106WQ01 FIVE-BAR ARTICULATION MECHANISM FOR SURGICAL STAPLING DEVICE

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 778,569, filed March 27, 2025, which is incorporated herein by reference in its entirety.BACKGROUND

[0002] Various types of surgical devices used to endoscopically treat tissue are known in the art, and are commonly used, for example, for closure of tissue or organs in transection, resection, and anastomoses procedures, for occlusion of organs in thoracic and abdominal procedures, and for electrosurgically fusing or sealing tissue. One example of such a surgical device is a surgical stapling device. Surgical stapling devices include a tool assembly having an anvil assembly and a cartridge assembly, and a drive assembly that is movable through the tool assembly. Typically, the drive assembly includes a flexible drive beam and a clamp member that is supported on a distal end of the flexible drive beam. The drive assembly is movable to advance the clamp member through the tool assembly to approximate the cartridge and anvil assemblies and to advance an actuation sled through the cartridge assembly to eject staples from the cartridge assembly.

[0003] During laparoscopic or endoscopic surgical procedures, access to a surgical site is achieved through a small incision or through a narrow port inserted through a small entrance incision in a patient. Because of limited area available to access the surgical site, some endoscopic devices include mechanisms for articulating the tool assembly of the device about a pivot axis in relation to an elongate body and / or handle assembly of the device.SUMMARY

[0004] This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

[0005] In an aspect, the present application relates to a surgical reload for a surgical stapling device, comprising: an end-effector portion, of a tool assembly, comprising a first jaw and a second jaw; and an articulation assembly, comprising: a first link couplable at a proximal end to anAttorney Docket No,: A0013106WQ01articulation rod; a second linear link coupled to a distal portion of the first link at a proximal portion of the second link; a third link coupled to a distal portion of the second link at a side portion of the third link, wherein a distal end of the third link is coupled to the end-effector portion; and a fourth link coupled to a center portion of the third link at a distal portion of the fourth link, wherein a proximal portion of the fourth link is grounded at a stationary mounting component of the articulation assembly, wherein the fourth link is configured to rotate about the grounded proximal portion of the fourth link, wherein: the first link is configured to push distally or pull proximally on the second link; the second link is configured to push distally or pull proximally on the third link causing rotation of the third link, and the third link is configured to rotate about the center portion of the third link causing articulation of the tool assembly.

[0006] In another aspect, the present application relates to an articulation assembly for a surgical stapling device, the articulation assembly comprising: a first elongate, linear link; a second elongate, linear link coupled to a distal portion of the first link at a proximal portion of the second link; a third link coupled to a distal portion of the second link at a side portion of the third link; and a fourth elongate, linear link coupled to a center portion of the third link at a distal portion of the fourth link, wherein a proximal portion of the fourth link is grounded at a stationary mounting component of the articulation assembly, wherein the fourth link is configured to rotate about the grounded proximal portion of the fourth link, wherein: the first link is configured to push distally or pull proximally on the second link, the second link is configured to push distally or pull proximally on the third link causing rotation of the third link, and the third link is configured to rotate about the center portion of the third link.

[0007] In another aspect, the present application relates to a reload assembly for a surgical stapling device, comprising: an end-effector portion, of a tool assembly, comprising a first jaw and a second jaw; an articulation assembly, comprising: a first link; a second link coupled to a distal portion of the first link at a proximal portion of the second link; a third link coupled to a distal portion of the second link at a side portion of the third link, the third link coupled to the endeffector portion; and a fourth link coupled to a center portion of the third link at a distal portion of the fourth link, wherein a proximal portion of the fourth link is grounded at a stationary mounting component of the articulation assembly, wherein the fourth link is configured to rotate about the grounded proximal portion of the fourth link; a first mounting member comprising at least one gear tooth, wherein the first mounting member is coupled to the tool assembly; and a secondAttorney Docket No,: A0013106WQ01mounting member comprising at least one gear tooth configured to contact the at least one gear tooth of the first mounting member, wherein the second mounting member is coupled to a proximal reload body of the reload assembly, and wherein the first mounting member is configured to rotate about the second mounting member.

[0008] It is to be understood that both the foregoing general description and the following Detailed Description are explanatory and are intended to provide further aspects and examples of the disclosure as claimed.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The following drawing figures, which form a part of this application, are illustrative of aspects of systems and methods described below and are not meant to limit the scope of the disclosure in any manner, which scope shall be based on the claims.

[0010] FIG. 1 is a perspective view of a surgical stapling device with an indicated tool assembly of a reload assembly according to aspects of the disclosure.

[0011] FIG. 2 is a perspective view of the reload assembly of FIG. 1.

[0012] FIG. 3 is a top view of the reload assembly of FIG. 1, with the tool assembly articulated to the right.

[0013] FIG. 4 is a top view of the reload assembly of FIG. 1, with the tool assembly articulated to the left.

[0014] FIG. 5 is a top view of the tool assembly and a mounting assembly for the tool assembly.

[0015] FIG. 6 is a zoomed in top view of the mounting assembly of FIG. 5.

[0016] FIG. 7 is a top view of a portion of the mounting assembly of FIG. 5.

[0017] FIG. 8 is a top view of another example of a mounting assembly with gear teeth, articulated to the left.

[0018] FIG. 9 is a top view of the other mounting assembly with gear teeth, unarticulated.

[0019] FIG. 10 is a top view of the other mounting assembly with gear teeth, articulated to the right.

[0020] While examples of the disclosure are amenable to various modifications and alternative forms, specific aspects have been shown by way of example in the drawings and are described in detail below. The intention is not to limit the scope of the disclosure to the particular aspectsAttorney Docket No,: A0013106WQ01described. On the contrary, the disclosure is intended to cover all modifications, equivalents, and alternatives falling within the scope of the disclosure and the appended claims.DETAILED DESCRIPTION

[0021] The disclosed surgical stapling device will now be described in detail with reference to the drawings in which like reference numerals designate identical or corresponding elements in each of the several views.

[0022] In this description, the term “proximal” is used generally to refer to that portion of the device that is closer to a clinician during use of the device in its customary fashion, while the term “distal” is used generally to refer to that portion of the device that is farther from the clinician during use of the device in its customary fashion. Additionally, the term left (or sinister) is used generally to refer to that portion of the device that is left of a clinician during use of the device in its upright position, while the term right (or dexter) is used generally to refer to that portion of the device that is right of the clinician during use of the device in its upright position. Additionally, the term “vertical” may refer to directions oriented along axis Y when jaws of the device are clamped shut. Reference to “up” may refer to a direction along axis Y that is upwards of a clinician during use of the device in its upright position, and “down” directions may refer to a direction along axis Y that is downwards of a clinician during use of the device in its upright position. The “pivot axis” about which articulation of the tool assembly occurs refers to axis Y.

[0023] In addition, directional terms such as front, rear, upper, lower, top, bottom, and similar terms are used to assist in understanding the description when the device in in an upright position and are not intended to limit the disclosure. For example, “upper” may refer to a more positive Y axis direction in the orientation shown in FIG. 1, and “lower” may refer to a more negative Y axis direction in the orientation shown in FIG. 1. Further, the term “clinician” is used generally to refer to medical personnel including doctors, nurses, surgeons, and support personnel. Additionally, the terms “inside”, “inner”, “internal”, and the like are used generally to refer to that portion of the device that is relatively closer to longitudinal axis X as illustrated in FIG. 1 (e.g., closer to a central or most internal point), while the terms “outside”, “outer”, “external”, and the like are used generally to refer to that portion of the device that is further away from longitudinal axis X (e.g., closer to an outermost point).Attorney Docket No,: A0013106WQ01

[0024] As discussed briefly above, during laparoscopic or endoscopic surgical procedures, access to a surgical site is achieved through a small incision or through a narrow cannula inserted through a small entrance incision in a patient. Because of limited area available to access the surgical site, many endoscopic devices include mechanisms for articulating the tool assembly of the device about a pivot axis in relation to an elongate body and / or handle assembly of the device. Many surgical devices presently have a limited articulation range, constraining the maneuverability of surgical staplers during surgery.

[0025] The technology disclosed herein addresses, among other things, a multi-link or bar (e.g., 5-bar) articulation assembly for a surgical device that enables increased articulation capability of a tool assembly of the surgical device (e.g., approximately up to 70 degrees of articulation to the right or left, or between approximately 45 and 70 degrees, where 70 degrees is defined from axis X). Additionally, examples of the technology disclosed herein may be backwards compatible with various surgical devices.

[0026] In some examples, the technology disclosed herein includes a handle assembly, an elongate body coupled to the handle assembly, and a reload assembly releasably coupled to the elongate body. The reload assembly includes a proximal reload body releasably coupled to the elongate body, an articulation assembly coupled to the proximal reload body, and a tool assembly coupled to the articulation assembly to facilitate articulation of the tool assembly. The articulation assembly includes links (e.g., bars) that work together to articulate the tool assembly. The articulation assembly provides for articulation of the tool assembly with two degrees of freedom as described further below.

[0027] In some examples, the articulation assembly may additionally include at least two mounting members with gear teeth that selectively interlock as the tool assembly articulates. One mounting member may rotate about the other mounting member, with the gear teeth further constraining the movement of the tool assembly from two degrees of freedom to one degree of freedom, as described later.

[0028] FIG. 1 illustrates a surgical stapling device shown generally as stapling device 10 that includes handle assembly 12, elongate body 14, and reload assembly 15. Reload assembly 15 is illustrated in FIGs. 2-4. FIGs. 1-4 are discussed concurrently below.

[0029] The handle assembly 12 may be powered and includes a stationary handgrip 18 and an actuation button or buttons 19. Although not shown, the stationary handgrip 18 supports a motorAttorney Docket No,: A0013106WQ01and control circuitry to drive the mechanisms of the stapling device 10. The actuation buttons 19 are operable to activate the motor to actuate various functions of the tool assembly 16 via the elongate body 14 (e.g. , approximation of the tool assembly 16, stapling and cutting of tissue, and / or articulation of tool assembly 16). In particular, actuation buttons 19 may be configured to cause tool assembly 16 to articulate. For example, pressing at least one actuation button 19 to the left may cause tool assembly 16 to articulate to the left (FIG. 4), and pressing the at least one actuation button 19 to the right may cause tool assembly 16 to articulate to the right (FIG. 3). In aspects of the disclosure, the handle assembly 12 supports batteries (not shown) that provide power to the handle assembly 12 to operate the stapling device 10. Although the stapling device 10 is illustrated as a powered stapling device, it is envisioned that the advantages of this disclosure are suitable for use with manually powered surgical stapling devices as well as robotically controlled stapling devices. For instance, the tool assembly 16 may be connected to a robotic arm of the robotic surgical system. U.S. Patent No. 5,865,361 describes a stapling device that includes example aspects of a manually powered stapling device.

[0030] The elongate body 14 of the stapling device 10 defines a longitudinal axis X. Elongate body 14 is coupled to the handle assembly 12, and proximal reload body 17 supports and is included in reload assembly 15, which includes tool assembly 16. The tool assembly 16 and the reload body 17, along with the articulation assembly 27, may collectively be referred to as the surgical reload or reload assembly. The tool assembly 16 is pivotably coupled to proximal reload body 17 via articulation assembly 27 and / or mounting assembly 23 to facilitate articulation of the tool assembly 16 in relation to elongate body 14 and / or proximal reload body 17. The proximal reload body 17 is coaxial with the longitudinal axis X of the elongate body 14 and couples with the distal end of elongate body 14 at the proximal end of proximal reload body 17. It is envisioned that the tool assembly 16 can be pivotably secured to the elongate body 14 via the articulation assembly 27 and need not necessarily form part of a reload assembly. The entire reload assembly can be replaced to facilitate reuse of the stapling device 10.

[0031] The elongate body 14 includes an articulation member 412 (also referred to as articulation rod 412) that extends through elongate body 14. Articulation member 412 is configured to couple with link 401 (FIGs. 5-7) of reload assembly 40, and is configured to push and pull link 401. For example, when actuation button 19 is pressed to the left, articulation member 412 may extend or move distally, pushing link 401 distally and causing tool assembly 16 toAttorney Docket No,: A0013106WQ01articulate to the left (FIG. 4). When actuation button 19 is pressed to the right, articulation member 412 may retract or move proximally, pulling link 401 proximally and causing tool assembly 16 to articulate to the right (FIG. 3). The elongate body 14 may include other shafts or the like configured to perform various functions at tool assembly 16. For example, elongate body 14 may additionally include a drive shaft or the like configured to fire the stapling device, as discussed later.

[0032] Reload assembly 40 is configured to be selectively coupled to elongate body 14 of stapling device 10. Reload assembly 40 includes the proximal body portion 42, the tool assembly 16, and the mounting assembly 23 / actuation assembly 19 (FIG. 1). The mounting assembly 23 includes a first mounting member 60 and a second mounting member 62 that are secured together with screws or rivets to define an enclosed channel between the first and second mounting members 60 and 62, respectively. The cartridge assembly 22 is pivotally coupled to the mounting assembly 23. Anvil 20 is fixedly couple to the mounting assembly 23. The proximal reload body 17 of the reload assembly 40 includes a housing 80, at least a portion of a drive assembly (e.g., a drive shaft), and at least a portion of link 401 (FIGs. 5-7), among other components. The housing 80 may be formed from first and second half-sections that are secured together to define internal channels that facilitate longitudinal movement of the drive assembly and the link 401 within the housing 80. When reload assembly 40 is coupled to elongate body 14, link 401 is coupled to articulation member 412 so articulation member 412 can selectively push and / or pull link 401 distally and / or proximally, as discussed further below.

[0033] Proximal reload body 17 includes a proximal portion 88 that is adapted to be releasably coupled to the distal portion of the elongate body 14 (FIGs. 2-4). U.S. Pat. No. 8,132,706 (hereinafter "the '706 Patent") discloses a reload assembly having a proximal body portion including a housing that is adapted to releasably engage a body portion of a surgical stapling device suitable for use with the disclosed surgical 10 device.

[0034] The tool assembly 16 includes an anvil assembly 20 and a cartridge assembly 22. The cartridge assembly 22 may be pivotably supported in relation to the anvil 20 to facilitate movement of the tool assembly 16 between an unclamped position and a clamped position. In some examples, the tool assembly 16 includes a mounting assembly 23 that supports the anvil assembly 20 and the cartridge assembly 22 for movement between the unclamped position and the clamped position and for coupling the tool assembly 16 to the elongate body 14 for articulation about the articulation axis Y. Mounting assembly 23 may include portions of articulation assembly 27. For example,Attorney Docket No,: A0013106WQ01mounting assembly 23 may include mounting members 60-63, and links 401, 402, 403, and 404. In some examples, the anvil assembly 20 and the cartridge assembly 22 are coupled to the mounting assembly 23 by screws or pins. The mounting assembly 23 includes mounting members 60-63 (FIG. 3) that are coupled together with rivets, screws, pins, adhesives, welding, or the like. In examples, the mounting assembly 23 is fixedly coupled to the anvil 20 and pivotably supports the cartridge assembly 22. The tool assembly includes a working member configured to, when tool assembly 16 is in the clamped position, push a sled distally, which is configured to push pushers upwards, pushing staples from cartridge assembly 22 up against anvil assembly 20. The working member is also configured to, in the clamped position, push a knife distally to cut tissue. This process is referred to as “firing” the stapling device, and the firing is achieved via a drive assembly. For example, a drive shaft, bar, laminates, or the like are configured to be pushed through reload assembly 40 (e.g., through proximal reload body 17) to advance the working member distally. This drive shaft, laminates, or related drive assembly components may be distinct from links 401-404 and articulation member 412.

[0035] FIGs. 5-7 illustrate reload assembly 40, and in particular, articulation assembly 27 / mounting assembly 23 of reload assembly 40. Articulation assembly 27 includes a first link 401, a second link 402, a third link 403, a fourth link 404, a stationary mounting component 413, a first mounting member 60, a second mounting member 61, a third mounting member 62, a fourth mounting member 63, and in some examples, a fifth articulation member 412. Mounting assembly 23 includes articulation assembly 27, and additionally includes any portions of reload assembly 40 that are not used for articulation (e.g., a drive bar or the like for firing the stapling device).

[0036] Links 401, 402, and 404 are substantially linear elongated members, each with two points of connections at the proximal and distal ends of each of links 401, 402, and 404. As such, links 401, 402, and 404 may be referred to as binary links. The first link 401 may be a singular link in some cases, where the first link 401 is connected to a second link 402 at the distal end of first link 401. The first link 401 is pushed distally / pulled proximally at the proximal end of the first link 401 by the articulation member 412, which couples to a flag or hook 411 of the first link 401. Links 401, 402, and 404 extend in substantially one direction or dimension. Link 404 may include link protrusions 415 that extend substantially vertically from link 404. Proximal protrusion 415-a is received in a corresponding aperture in stationary mounting component 413 and / or in a corresponding aperture in the second mounting member 61. Proximal protrusion 415-a and theAttorney Docket No,: A0013106WQ01corresponding aperture are co-axial with axis G (FI Gs. 1, 6-10). Distal protrusion 415-b is received in a corresponding aperture in mounting member 60 and / or a corresponding aperture in stationary mounting component 413. Proximal and distal protrusions 415 received in the corresponding apertures of mounting members 61 and 60, respectively, may be viewed in at least Figures 8-10. When the first link 401 is pushed or pulled distally or proximally by articulation member 412, the first link 401 moves in one direction (e.g., distally / proximally) and may not rotate. However, the second link 402 and the fourth 404 may rotate during articulation. For example, link 402 may be able to rotate about its distal and proximal connection points (e.g., protrusion 418 and translating protrusion 414 respectively), and the fourth link 404 may be able to rotate about axis G.

[0037] Referring primarily to FIG. 7, the third link 403 is a binary link or a ternary link that is coupled to the second link 402 and the fourth link 404. The third link 403 may be disposed in between and coupled to the first mounting member 60 and the third mounting member 62. Link 403 serves as an interface between articulation assembly 27 and tool assembly 16. For example, the third link 403 may be coupled to tool assembly 16, and / or the third link 403 may be coupled to mounting members 60 and 62, which are coupled to tool assembly 16. As such, the third link 403 includes additional surfaces to facilitate coupling to tool assembly 16 and / or mounting members 60 and 62. For example, the third link 403 may include two support structures 417-a and 417-b extending distally from lateral support structure 419 of the third link 403. In some examples, support structures 417-a and 417-b may be configured to couple to tool assembly 16 (e.g., to the end effector components holding the jaws, such as anvil and cartridge). Due to the difference in the third link 403 from the linear links of the first link 401, the second link 402, and the fourth link, the third 403 may also be referred to herein as linkage block 403.

[0038] Lateral support structure 419 forms a base onto which mounting members 60 and 62 are supported or coupled. Additionally, lateral support structure 419 includes apertures 416-a, 416-b, 416-b, 416-d, and 416-e. Distal protrusion 418 of the second link 402 is received in aperture 416-a of the third link 403. Distal protrusion 415-b of link 404 is received in aperture 416-b of link 403. Apertures 416-a and 416-c may be disposed on a side portion (e.g., a right side portion located proximal to link 402 relative to link 404) of link 403, aperture 416-b may be disposed on a center portion of link 403, and apertures 416-d and 416-e may be disposed on another side portion (e.g., a left side portion proximal to dummy link 409) of link 403. In some examples, apertures 416-cAttorney Docket No,: A0013106WQ01and 416-d may be configured to receive protrusions or fasteners to couple to mounting member 60 and 62.

[0039] In some cases, articulation member 412 pushes link 401 distally from the proximal end of the first link 401. The first link 401 may include a flag or a hook 411 (FIGs. 3, 4) disposed at the proximal end of the first link 401, and as the distal end of the first link 401 is coupled to the proximal end of the second link 402, the first link 401 in turn pushes the second link 402 distally. The distal end of second link 402 is coupled to the right side portion of the linkage block 403, and the distal end of the second link 402 in turn causes a moment about axis Y, causing the linkage block 403 to rotate to the left or counter-clockwise about axis Y, where a center portion of the linkage block 403 is coupled to the distal end of the fourth link 404. As such, the linkage 403 rotates about the distal end of the fourth link 404. The proximal end of the fourth link 404 is grounded to a stationary mounting component 413. As such, the fourth link 404 is able to rotate about axis G, or the proximal end of the fourth link 404. When the first link 401 pushes distally, the third link 403 is able to rotate about axis Y with a radius distance of 0, and rotate about axis G with a radius distance of the length of the fourth link 404 from axis G to axis Y, that is, from the proximal end of the fourth link 404 to the distal end of the fourth link 404.

[0040] Articulation member 412 may pull the first link 401 proximally from the proximal end of first link 401. As the distal end of the first link 401 is coupled to the proximal end of second link 402, the first link 401 in turn pulls the second link 402 proximally. The distal end of the second link 402 is coupled to the right side portion of the linkage block 403, and the distal end of thesecond link 402 in turn causes a moment about axis Y, causing the linkage block 403 to rotate to the right or clockwise about axis Y, where a center portion of the linkage 403 is coupled to the distal end of the fourth link 404. As such, the linkage block 403 rotates about the distal end of the fourth link 404. Proximal end of link 404 is grounded to stationary mounting component 413. As such, link 404 is able to rotate about axis G, or the proximal end of link 404. When link 401 pulls proximally, link 403 is able to rotate about axis Y with a radius distance of 0, and rotate about axis G with a radius distance of the length of link 404 from axis G to axis Y, that is, from the proximal end of link 404 to the distal end of link 404.

[0041] Stationary mounting component 413 is a component that is stationary compared to links 401-404. For example, stationary mounting component 413 is not configured to substantially move when links 401-404 move or when tool assembly 16 is articulated. Stationary mountingAttorney Docket No,: A0013106WQ01component 413 serves as a mounting platform or support structure on which the first link 401, the second link 402, the third link 403, and / or the fourth link 404, are mounted or supported and may rotate relative to. For example, the fourth link 404 may be grounded (e.g., coupled) to stationary mounting component 413 at a proximal portion of the fourth link 404. For example, movement of the fourth link 404 may be horizontally and vertically constrained at its proximal portion, with all but one degree of freedom (e.g., rotation about axis G) constrained. In some examples, the first link 401 and / or the second link 402 may be coupled to stationary mounting component 413. For example, the distal portion of the first link 401 and the proximal portion of the second link 402 may be coupled to stationary mounting component 413. Stationary mounting component 413 may include a translating protrusion 414 (FIG. 7) that extends vertically from stationary mounting component 413 and is able to translate distally and proximally. For example, the protrusion 414 may extend through apertures in the first link 401 and the second link 402, disposed in the distal and proximal portions of the first link 401 and the second link 402, respectively. In this way, when the first link 401 moves distally, the first link 401 does not bend, rotate, or move other than distally. However, the second link 402 is configured to rotate about protrusion 414 and translate distally and / or proximally, as the distal portion of the second link 402 is coupled to the side portion of third link 403, which rotates left and right causing articulation of end-effector portion of tool assembly 16.

[0042] Mounting members 60 and 62 are coupled to the end-effector portion of tool assembly 16 and facilitate the coupling of tool assembly 16 with proximal reload body 17 as well as facilitate opening and closing of the jaws of tool assembly 16 (jaws referring to the cartridge and anvil), and articulation of tool assembly 16. Mounting member 60 is disposed on top of mounting member 62, that is, proximal to anvil 50 compared to cartridge assembly 22. Mounting members 60 and 62 are coupled to the linkage block 403, which is disposed between mounting members 60 and 62. Mounting members 60 and 62 are fixedly coupled to the end-effector portion of tool assembly 16, and move with the articulation of tool assembly 16. Mounting members 60 and / or 62 may include an aperture that receives distal protrusion 415-b of the fourth link 404. The aperture may be disposed substantially in the center of mounting member 60 and / or 62.

[0043] Mounting members 61 and 63 are coupled to proximal reload body 17 and facilitate the coupling of tool assembly 16 with proximal reload body 17. Mounting member 61 is disposed on top of mounting member 63, that is, proximal to anvil 50 compared to cartridge assembly 22.Attorney Docket No,: A0013106WQ01Mounting members 61 and 63 are fixedly coupled to proximal reload body 17. Mounting members 61 and / or 63 may include an aperture that receives proximal protrusion 415-a of link 404. The aperture may be disposed substantially in the center of mounting member 61 and / or 63.

[0044] Referring concurrently to FIGs. 8-10, in some examples, mounting members 60 and 61 include one or more gear teeth to facilitate articulation and stability when articulated. For example, mounting member 60 may include one or more gear teeth 405, and mounting member 61 may include one or more (e.g., two) gear teeth 406-a and 406-b, where the one or more gear teeth 405 fits in between the one or more gear teeth 406-a and 406-b. When mounting member 60 articulates with respect to mounting member 61, the one or more gear teeth 405 pivots and a single circular path is able to be taken by the articulating tool assembly, constraining the articulation to one degree of freedom. In some examples, mounting member 60 may include side protrusions 410 disposed to the right and left sides of the one or more gear teeth 405. These side protrusions 410 are configured to contact outside surfaces 407 of the one or more gear teeth 406 during articulation. In some examples, the gear ratio between the one or more gear teeth 405 and 406 is approximately 1.7:1 (e.g., 1.72:1).

[0045] In some examples, one or more gear teeth 405 and 406 may be separate from mounting members 60-63. In some examples, mounting members 60 and 61 may have gear teeth and mounting members 62 and 63 may not. In some other examples, mounting members 60-63 may all have gear teeth. For example, mounting member 62 may have a configuration of gear teeth that is similar to mounting member 60, and mounting member 63 may have a configuration of gear teeth that is similar to mounting member 61. For example, mounting member 62 may have one or more (e.g., one) gear teeth and protrusions 410 and in a similar configuration as mounting member 60, and mounting member 63 may have one or more (e.g., two) gear teeth and in a similar configuration as mounting member 61. In some examples, when the one or more gear teeth 405 is one gear tooth, the gear tooth protrudes substantially parallel to axis X and proximally when tool assembly 16 is in a nonarticulated position. Gear teeth 406 protrude substantially distally, however, gear teeth 406 protrude at a substantially acute angle relative to axis X.

[0046] In some examples, articulation assembly 27 may include dummy links 408 and 409 (FIGs. 6, 8-10) that are disposed on the opposite side as compared to links 401 and 402. Dummy links 408 and 409 may not be primarily force-bearing, and may be present for stability purposes (e.g., mechanically independent or isolated from any articulation member such as articulationAttorney Docket No,: A0013106WQ01member 412, or from any component from elongate body 14). Similar to links 402 and 401, dummy links 408 and 409 are substantially linear elongated members, each with two points of connections at the proximal and distal ends of links 401 and 402. As such, links 408 and 409 may be referred to as binary links. Link 408 may be a singular link in some cases, where link 409 is connected to link 402 at the distal end of link 401. Dummy links 408 and 409 extend in substantially one direction or dimension. In some examples, a distal end of dummy link 409 may be coupled to link 403, for example, a distal protrusion at the distal end of dummy link 409 may be received by aperture 416-e of link 403. A distal portion of link 408 and the proximal portion of link 409 may be coupled to stationary mounting component 413 via translating protrusion 420 (FIG. 6) of stationary mounting component 413. Translating protrusion 420 functions similarly to translating protrusion 414.

[0047] As will be appreciated from the foregoing, the technology disclosed herein provides for at least the following examples In an aspect, the present application relates to a surgical reload for a surgical stapling device, comprising: an end-effector portion, of a tool assembly, comprising a first jaw and a second jaw; and an articulation assembly, comprising: a first link couplable at a proximal end to an articulation rod; a second linear link coupled to a distal portion of the first link at a proximal portion of the second link; a third link coupled to a distal portion of the second link at a side portion of the third link, wherein a distal end of the third link is coupled to the end-effector portion; and a fourth link coupled to a center portion of the third link at a distal portion of the fourth link, wherein a proximal portion of the fourth link is grounded at a stationary mounting component of the articulation assembly, wherein the fourth link is configured to rotate about the grounded proximal portion of the fourth link, wherein: the first link is configured to push distally or pull proximally on the second link; the second link is configured to push distally or pull proximally on the third link causing rotation of the third link, and the third link is configured to rotate about the center portion of the third link causing articulation of the tool assembly.

[0048] In some examples, the first link, the second link, and the fourth link are substantially linear, elongated members. In some examples, the surgical reload is releasably couplable to an elongate body of the surgical stapling device. In some examples, the surgical reload further comprises a proximal reload body that releasably couples to the elongate body, and wherein the second link, third link, and fourth link are disposed between the proximal reload body and the tool assembly. In some examples, the first link extends at least partially through the proximal reloadAttomev Docket No,: A0013106WQ01body. In some examples, when the first link is pushed distally, the tool assembly articulates to the left, and when the first link is pulled proximally, the tool assembly articulates to the right. In some examples, the tool assembly is configured to articulate up to 70 degrees to the right from a longitudinal axis, and is configured to articulate up to 70 degrees to the left from the longitudinal axis. In some examples, the surgical reload further comprises: a first dummy link opposite the first link; and a second dummy link opposite the second link, wherein the first and second dummy links are mechanically isolated from an articulation member disposed in an elongate body that is separate from the reload assembly.

[0049] In another aspect, the present application relates to an articulation assembly for a surgical stapling device, the articulation assembly comprising: a first elongate, linear link; a second elongate, linear link coupled to a distal portion of the first link at a proximal portion of the second link; a third link coupled to a distal portion of the second link at a side portion of the third link; and a fourth elongate, linear link coupled to a center portion of the third link at a distal portion of the fourth link, wherein a proximal portion of the fourth link is grounded at a stationary mounting component of the articulation assembly, wherein the fourth link is configured to rotate about the grounded proximal portion of the fourth link, wherein: the first link is configured to push distally or pull proximally on the second link, the second link is configured to push distally or pull proximally on the third link causing rotation of the third link, and the third link is configured to rotate about the center portion of the third link.

[0050] In some examples, the third link is coupled to an end-effector portion of the surgical stapling device. In some examples, the articulation assembly is included in a reload assembly that releasably couples to an elongate body of the surgical stapling device, which is coupled to a handle assembly of the surgical stapling device. In some examples, the reload assembly further comprises a proximal reload body that releasably couples to the elongate body, and wherein the second link, third link, and fourth link are disposed between the proximal reload body and the tool assembly. In some examples, the first link extends at least partially through the proximal reload body.

[0051] In another aspect, the present application relates to a reload assembly for a surgical stapling device, comprising: an end-effector portion, of a tool assembly, comprising a first jaw and a second jaw; an articulation assembly, comprising: a first link; a second link coupled to a distal portion of the first link at a proximal portion of the second link; a third link coupled to a distal portion of the second link at a side portion of the third link, the third link coupled to the end-Attorney Docket No,: A0013106WQ01effector portion; and a fourth link coupled to a center portion of the third link at a distal portion of the fourth link, wherein a proximal portion of the fourth link is grounded at a stationary mounting component of the articulation assembly, wherein the fourth link is configured to rotate about the grounded proximal portion of the fourth link; a first mounting member comprising at least one gear tooth, wherein the first mounting member is coupled to the tool assembly; and a second mounting member comprising at least one gear tooth configured to contact the at least one gear tooth of the first mounting member, wherein the second mounting member is coupled to a proximal reload body of the reload assembly, and wherein the first mounting member is configured to rotate about the second mounting member.

[0052] In some examples, the reload assembly releasably couples to an elongate body of the surgical stapling device, which is coupled to a handle assembly of the surgical stapling device. In some examples, the second link, third link, and fourth link are disposed between the proximal reload body and the tool assembly. In some examples, the first link extends at least partially through the proximal reload body. In some examples, when the first link is pushed distally, the tool assembly articulates to the left, and when the first link is pulled proximally, the tool assembly articulates to the right. In some examples, the gear ratio between the at least one gear tooth of the first mounting member and the at least one gear tooth of the second mounting member is about 1.72:1. In some examples, the first mounting member further comprises side protrusions that are configured to contact the at least one gear tooth of the second mounting.

[0053] Persons skilled in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary aspects of the disclosure. It is envisioned that the elements and features illustrated or described in connection with one exemplary embodiment may be combined with the elements and features of another without departing from the scope of the disclosure. Also, one skilled in the art will appreciate further features and advantages of the disclosure based on the above-described aspects of the disclosure. Accordingly, the disclosure is not to be limited by what has been particularly shown and described, except as indicated by the appended claims.

[0054] Further, as used herein and in the claims, the phrase “at least one of element A, element B, or element C” is intended to convey any of: element A, element B, element C, elements A and B, elements A and C, elements B and C, and elements A, B, and C. In addition, one having skill in the art will understand the degree to which terms such as “about” or “substantially” convey inAttorney Docket No,: A0013106WQ01light of the measurements techniques utilized herein. To the extent such terms may not be clearly defined or understood by one having skill in the art, the terms “about” and “substantially” shall mean plus or minus ten percent or, if in relation to an angle, plus or minus ten degrees.

[0055] Numerous other changes may be made which will readily suggest themselves to those skilled in the art and which are encompassed in the spirit of the disclosure and as defined in the appended claims. While various aspects have been described for purposes of this disclosure, various changes and modifications may be made which are well within the scope of the disclosure. Numerous other changes may be made which will readily suggest themselves to those skilled in the art and which are encompassed in the spirit of the disclosure and as defined in the claims.

[0056] The following examples are illustrative of the techniques described herein.

[0057] Example 1. A surgical reload for a surgical stapling device, comprising: an end-effector portion, of a tool assembly, comprising a first jaw and a second jaw; and an articulation assembly, comprising: a first link couplable at a proximal end to an articulation rod; a second linear link coupled to a distal portion of the first link at a proximal portion of the second link; a third link coupled to a distal portion of the second link at a side portion of the third link, wherein a distal end of the third link is coupled to the end-effector portion; and a fourth link coupled to a center portion of the third link at a distal portion of the fourth link, wherein a proximal portion of the fourth link is grounded at a stationary mounting component of the articulation assembly, wherein the fourth link is configured to rotate about the grounded proximal portion of the fourth link, wherein: the first link is configured to push distally or pull proximally on the second link; the second link is configured to push distally or pull proximally on the third link causing rotation of the third link, and the third link is configured to rotate about the center portion of the third link causing articulation of the tool assembly.

[0058] Example 2. The surgical reload of example 1, wherein the first link, the second link, and the fourth link are substantially linear, elongated members.

[0059] Example 3. The surgical reload of example 1, wherein the surgical reload is releasably couplable to an elongate body of the surgical stapling device.

[0060] Example 4. The surgical reload of example 3, wherein further comprising a proximal reload body that releasably couples to the elongate body, and wherein the second link, third link, and fourth link are disposed between the proximal reload body and the tool assembly.Attorney Docket No,: A0013106WQ01

[0061] Example 5. The surgical reload of example 3, wherein the first link extends at least partially through the proximal reload body.

[0062] Example 6. The surgical reload of example 1, wherein when the first link is pushed distally, the tool assembly articulates to the left, and when the first link is pulled proximally, the tool assembly articulates to the right.

[0063] Example 7. The surgical reload of example 1, wherein the tool assembly is configured to articulate up to 70 degrees to the right from a longitudinal axis, and is configured to articulate up to 70 degrees to the left from the longitudinal axis.

[0064] Example 8. The surgical reload of claim 1, further comprising: a first dummy link opposite the first link; and a second dummy link opposite the second link, wherein the first and second dummy links are mechanically isolated from an articulation member disposed in an elongate body that is separate from the reload assembly.

[0065] Example 9. An articulation assembly for a surgical stapling device, the articulation assembly comprising: a first elongate, linear link; a second elongate, linear link coupled to a distal portion of the first link at a proximal portion of the second link; a third link coupled to a distal portion of the second link at a side portion of the third link; and a fourth elongate, linear link coupled to a center portion of the third link at a distal portion of the fourth link, wherein a proximal portion of the fourth link is grounded at a stationary mounting component of the articulation assembly, wherein the fourth link is configured to rotate about the grounded proximal portion of the fourth link, wherein: the first link is configured to push distally or pull proximally on the second link, the second link is configured to push distally or pull proximally on the third link causing rotation of the third link, and the third link is configured to rotate about the center portion of the third link.

[0066] Example 10. The articulation assembly of example 9, the third link is coupled to an end-effector portion of the surgical stapling device.

[0067] Example 11. The articulation assembly of example 9, wherein the articulation assembly is included in a reload assembly that releasably couples to an elongate body of the surgical stapling device, which is coupled to a handle assembly of the surgical stapling device.

[0068] Example 12. The articulation assembly of example 11, wherein the reload assembly further comprises a proximal reload body that releasably couples to the elongate body,Attorney Docket No,: A0013106WQ01and wherein the second link, third link, and fourth link are disposed between the proximal reload body and the tool assembly.

[0069] Example 13. The articulation assembly of example 11, wherein the first link extends at least partially through the proximal reload body.

[0070] Example 14. A reload assembly for a surgical stapling device, comprising: an end-effector portion, of a tool assembly, comprising a first jaw and a second jaw; an articulation assembly, comprising: a first link; a second link coupled to a distal portion of the first link at a proximal portion of the second link; a third link coupled to a distal portion of the second link at a side portion of the third link, the third link coupled to the end-effector portion; and a fourth link coupled to a center portion of the third link at a distal portion of the fourth link, wherein a proximal portion of the fourth link is grounded at a stationary mounting component of the articulation assembly, wherein the fourth link is configured to rotate about the grounded proximal portion of the fourth link; a first mounting member comprising at least one gear tooth, wherein the first mounting member is coupled to the tool assembly; and a second mounting member comprising at least one gear tooth configured to contact the at least one gear tooth of the first mounting member, wherein the second mounting member is coupled to a proximal reload body of the reload assembly, and wherein the first mounting member is configured to rotate about the second mounting member.

[0071] Example 15. The surgical stapling device of example 14, wherein the reload assembly releasably couples to an elongate body of the surgical stapling device, which is coupled to a handle assembly of the surgical stapling device.

[0072] Example 16. The surgical stapling device of example 15, wherein the second link, third link, and fourth link are disposed between the proximal reload body and the tool assembly.

[0073] Example 17. The surgical stapling device of example 15, wherein the first link extends at least partially through the proximal reload body.

[0074] Example 18. The surgical stapling device of example 14, wherein when the first link is pushed distally, the tool assembly articulates to the left, and when the first link is pulled proximally, the tool assembly articulates to the right.Attorney Docket No,: A0013106WQ01

[0075] Example 19. The surgical stapling device of example 14, wherein the gear ratio between the at least one gear tooth of the first mounting member and the at least one gear tooth of the second mounting member is about 1.72:1.

[0076] Example 20. The surgical stapling device of example 14, wherein the first mounting member further comprises side protrusions that are configured to contact the at least one gear tooth of the second mounting member during rotation of the first mounting member about the second mounting member.

Claims

1. Attorney Docket No,: A0013106WQ01What is claimed is:

1. A surgical reload for a surgical stapling device, comprising:an end-effector portion, of a tool assembly, comprising a first jaw and a second jaw; andan articulation assembly, comprising:a first link couplable at a proximal end to an articulation rod;a second linear link coupled to a distal portion of the first link at a proximal portion of the second link;a third link coupled to a distal portion of the second link at a side portion of the third link, wherein a distal end of the third link is coupled to the end-effector portion; and a fourth link coupled to a center portion of the third link at a distal portion of the fourth link, wherein a proximal portion of the fourth link is grounded at a stationary mounting component of the articulation assembly, wherein the fourth link is configured to rotate about the grounded proximal portion of the fourth link,wherein:the first link is configured to push distally or pull proximally on the second link; the second link is configured to push distally or pull proximally on the third link causing rotation of the third link, andthe third link is configured to rotate about the center portion of the third link causing articulation of the tool assembly.

2. The surgical reload of claim 1, wherein the first link, the second link, and the fourth link are substantially linear, elongated members.

3. The surgical reload of one of claims 1-2, wherein the surgical reload is releasably couplable to an elongate body of the surgical stapling device.Attorney Docket No,: A0013106WQ014. The surgical reload of claim 3, wherein further comprising a proximal reload body that releasably couples to the elongate body, and wherein the second link, third link, and fourth link are disposed between the proximal reload body and the tool assembly.

5. The surgical reload of claim 3, wherein the first link extends at least partially through the proximal reload body.

6. The surgical reload of any one of claims 1-5, wherein when the first link is pushed distally, the tool assembly articulates to the left, and when the first link is pulled proximally, the tool assembly articulates to the right.

7. The surgical reload of any one of claims 1-6, wherein the tool assembly is configured to articulate up to 70 degrees to the right from a longitudinal axis, and is configured to articulate up to 70 degrees to the left from the longitudinal axis.

8. The surgical reload of any one of claims 1-7, further comprising:a first dummy link opposite the first link; anda second dummy link opposite the second link, wherein the first and second dummy links are mechanically isolated from an articulation member disposed in an elongate body that is separate from the reload assembly.

9. An articulation assembly for a surgical stapling device, the articulation assembly comprising:a first elongate, linear link;a second elongate, linear link coupled to a distal portion of the first link at a proximal portion of the second link;a third link coupled to a distal portion of the second link at a side portion of the third link; anda fourth elongate, linear link coupled to a center portion of the third link at a distal portion of the fourth link, wherein a proximal portion of the fourth link is grounded at aAttorney Docket No,: A0013106WQ01stationary mounting component of the articulation assembly, wherein the fourth link is configured to rotate about the grounded proximal portion of the fourth link,wherein:the first link is configured to push distally or pull proximally on the second link, the second link is configured to push distally or pull proximally on the third link causing rotation of the third link, andthe third link is configured to rotate about the center portion of the third link.

10. The articulation assembly of claim 9, the third link is coupled to an end-effector portion of the surgical stapling device.

11. The articulation assembly of any one of claims 9-10, wherein the articulation assembly is included in a reload assembly that releasably couples to an elongate body of the surgical stapling device, which is coupled to a handle assembly of the surgical stapling device.

12. The articulation assembly of claim 11, wherein the reload assembly further comprises a proximal reload body that releasably couples to the elongate body, and wherein the second link, third link, and fourth link are disposed between the proximal reload body and the tool assembly.

13. The articulation assembly of claim 11, wherein the first link extends at least partially through the proximal reload body.

14. The articulation assembly of any one of claims 9-13, wherein the fourth elongate, linear link may include link protrusions that extend vertically from the fourth elongate, linear link.

15. The articulation assembly of any one of claims 9-14, wherein the stationary mounting component may include a translating protrusion that extends vertically from stationary mounting component and is able to translate distally and proximally.

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