# Patent

## Title
Articulating surgical apparatus

## Abstract

An endoscopic forceps is provided. The endoscopic forceps includes a housing having a shaft that extends therefrom that defines a longitudinal axis therethrough. The shaft has a first tube with a bent portion having a contour. A second tube is disposed within the first tube. An end effector assembly operatively connected to a distal end of the first tube has a pair of first and second jaw members. The first and second jaw members including respective cam slots defined therein with a cam pin movable therein. The shaft is translatable along the longitudinal axis to straighten the bent portion of the first tube to move the bent portion of the first tube from an articulated configuration to a non-articulated configuration. The second tube is translatable along the longitudinal axis to move the first and second jaw members from the open configuration to the clamping configuration.

## Background
CROSS-REFERENCE TO RELATED APPLICATIONS
This application is a continuation application of U.S. patent application Ser. No. 13/412,879, filed on Mar. 6, 2012, the entire contents of which are incorporated herein by reference.


BACKGROUND
1. Technical Field
The present disclosure relates to an articulating surgical apparatus. More particularly, the present disclosure relates to an articulating surgical apparatus including a shaft in coaxial relation with a first tube having a pre-formed bent configuration.
2. Description of Related Art
Surgical instruments that are configured to articulate or bend are well known in the medical arts. Surgical instruments of this nature are utilized in many surgical procedures. For example, laparoscopic, endoscopic, or other minimally invasive surgical procedures are just a few of the many surgical procedures where articulating surgical instruments may find use. When utilized in such procedures, the surgical instruments may include a housing, a handle assembly, an articulating shaft, a device for articulating the shaft, and an end effector including a pair of jaw members.
As can be appreciated, the relatively small operable working space that is created within a cavity of a patient during an endoscopic surgical procedure often makes it difficult for the surgeon to position the jaw members adjacent or close to target tissue. An articulating shaft allows a surgeon to position the jaw members adjacent target tissue.
Various articulating devices or mechanisms may be utilized to articulate the shaft. For example, some surgical instruments utilize one or more articulating cables or tendons that couple to one or more articulation links on the shaft. Typically, the cables or tendons provide a mechanical interface from the one or more articulation links to an actuation device, e.g., rotatable dials, disposed on the housing and/or handle assembly of the surgical instrument such that actuation of the actuation device moves or articulates the shaft about the articulation links. In particular, the cables or tendons are “pulled” or otherwise manipulated via one or more mechanisms in the handle assembly or the housing to articulate the shaft about the articulating links. As can be appreciated, having to add articulating links and/or tendons to the surgical instrument may further increase manufacturing costs of the surgical instrument and/or increase production time of the electrosurgical endoscopic instrument.
SUMMARY
In view of the foregoing, there may be a need for an articulating surgical apparatus including a shaft in coaxial relation with a first tube having a pre-formed bent configuration.
An aspect of the present disclosure provides an endoscopic forceps. The endoscopic forceps includes a housing having a shaft that extends therefrom that defines a longitudinal axis therethrough. The shaft has a first tube coaxially disposed therein having a bent portion at a distal end thereof having a contour. The shaft has a second tube disposed therein having a bent portion that follows the contour of the bent portion of the first tube. An end effector assembly is operatively connected to a distal end of the first tube and has a pair of first and second jaw members. The first and second jaw members are moveable from an open position for positioning tissue to a clamping position for clamping tissue therebetween. The first and second jaw members include respective cam slots defined therein with a cam pin movable therein. The cam pin operably coupling the second tube to the first and second jaw members. The shaft is translatable along the longitudinal axis to straighten the bent portion of the first tube to move the bent portion of the first tube from an articulated configuration to a non-articulated configuration and the second tube is translatable along the longitudinal axis to move the first and second jaw members from the open configuration to the clamping configuration.
The second tube may be configured to house a cutter shaft therein. The cutter shaft may include a knife assembly having a knife blade configured to reciprocate through knife channels operably disposed on the first and second jaw members upon activation of a trigger assembly associated with the endoscopic forceps. An elongated slot may be defined in at least a portion of the knife assembly and is configured to house a pivot pin and the cam pin therein such that the first and second jaw members are movable independent of the knife assembly.
The endoscopic forceps may be configured to electrosurgically treat tissue and is adapted to connect to a source of electrosurgical energy via a cable.
The second tube may be configured to house a pair of leads of the cable to electrically couple respective seal plates of the first and second jaw members to the source of electrosurgical energy.
A degree of curvature of the bent portion of first tube and a degree of curvature of the bent portion of the second tube may range from about 10 degrees to about 120 degrees.
In certain instance, the endoscopic forceps may include a handle assembly having a movable handle movable relative to a fixed handle. In this instance, the movable handle may be operatively connected to a drive assembly that together mechanically cooperate to impart movement of the second tube.
An aspect of the present disclosure provides an endoscopic forceps. The endoscopic forceps includes a housing having a shaft that extends therefrom that defines a longitudinal axis therethrough. The shaft is translatable along the longitudinal axis and has a plurality of tubes including a first tube coaxially disposed therein and a second tube coaxially disposed within the first tube. The first and second tubes each have a respective bent portion at a distal end thereof. The shaft and second tube are each translatable along the longitudinal axis with respect to the first tube. An end effector assembly is operatively connected to a distal end of the first tube and has a pair of first and second jaw members moveable from an open position for positioning tissue to a clamping position for clamping tissue therebetween. The first and second jaw members include respective cam slots defined therein with a cam pin movable therein, the cam pin operably coupling the second tube to the first and second jaw members. The shaft is translatable along the longitudinal axis to straighten the bent portion of the first and second tubes to move the bent portion of the first and second tubes from the articulated configuration to a non-articulated configuration and the second tube is translatable along the longitudinal axis to move the first and second jaw members from the open configuration to the clamping configuration.
The second tube may be configured to house a cutter shaft therein. The cutter shaft may include a knife assembly having a knife blade configured to reciprocate through knife channels operably disposed on the first and second jaw members upon activation of a trigger assembly associated with the endoscopic forceps. An elongated slot may be defined in at least a portion of the knife assembly and is configured to house a pivot pin and the cam pin therein such that the first and second jaw members are movable independent of the knife assembly.
The endoscopic forceps may be configured to electrosurgically treat tissue and is adapted to connect to a source of electrosurgical energy via a cable.
The second tube may be configured to house a pair of leads of the cable to electrically couple respective seal plates of the first and second jaw members to the source of electrosurgical energy.
A degree of curvature of the bent portion of first tube and a degree of curvature of the bent portion of the second tube may range from about 10 degrees to about 120 degrees.
In certain instance, the endoscopic forceps may include a handle assembly having a movable handle movable relative to a fixed handle. In this instance, the movable handle may be operatively connected to a drive assembly that together mechanically cooperate to impart movement of the second tube.



BRIEF DESCRIPTION OF THE DRAWING
Various embodiments of the present disclosure are described hereinbelow with references to the drawings, wherein:
FIG. 1A is a perspective view of an endoscopic bipolar forceps including a shaft with a first tube disposed therein having a bent configuration for positioning an end effector in an articulated configuration according to an embodiment of the present disclosure;
FIG. 1B is a perspective view of an endoscopic bipolar forceps showing the shaft covering the bent configuration and the end effector in a non-articulated configuration;
FIG. 2A is a side, cutaway view of a distal end of the endoscopic bipolar forceps depicted in FIG. 1;
FIG. 2B is a cross-sectional view taken along line-segment 2B-2B in FIG. 2A;
FIGS. 3A and 3B are respective top and side cross-sectional views of the endoscopic bipolar forceps depicted in FIG. 1A; and
FIG. 4 is a side, cutaway view of the distal end of an endoscopic bipolar forceps according to an embodiment of the present disclosure.



DETAILED DESCRIPTION
Detailed embodiments of the present disclosure are disclosed herein; however, the disclosed embodiments are merely examples of the disclosure, which may be embodied in various forms. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present disclosure in virtually any appropriately detailed structure
Turning now to FIGS. 1A and 1B, an electrosurgical endoscopic forceps 10 (forceps 10) is provided and includes a housing 20, a handle assembly 30, a rotating assembly 80, a trigger assembly 70 and an end effector assembly 100. Forceps 10 further includes a shaft 12 having a first tube 13 with a distal end 14 configured to operably couple to end effector assembly 100 and a proximal end 16 (shown in phantom in FIG. 1A) that extends into housing 20. Forceps 10 also includes cable 310 that connects forceps 10 to a generator 200 or other suitable power source, although forceps 10 may alternatively be configured as a battery powered instrument. Cable 310 includes wires 310a, 310b (see FIG. 2B) extending therethrough that have sufficient length to extend through shaft 12 in order to provide energy to respective jaw members 110 and 120.
Rotating assembly 80 is rotatable in either direction about a longitudinal axis “A-A” that is defined through the shaft 12 to correspondingly rotate end effector 100 about longitudinal axis “A-A.” Housing 20 houses the internal working components of forceps 10, such as a drive assembly (not shown), working components of the handle assembly, electrical raceway set-up associated with the cable 310, and other working components therein.
With continued reference to FIGS. 1A and 1B, handle assembly 30 includes fixed handle 50 and a moveable handle 40. Fixed handle 50 is integrally associated with housing 20 and handle 40 is moveable relative to fixed handle 50. Moveable handle 40 of handle assembly 30 is ultimately connected to a suitable drive assembly that, together, mechanically cooperate to impart movement of jaw members 110 and 120 between a spaced-apart or open position (FIGS. 1A and 2A) and an approximated or clamping position (FIGS. 1B and 2B) to grasp tissue disposed between jaw members 110, 120, respectively. As shown in FIG. 1A, moveable handle 40 is initially spaced-apart from fixed handle 50 and, correspondingly, jaw members 110, 120 are in the spaced-apart position. Moveable handle 40 is depressible from this initial position to a depressed position corresponding to the approximated position of jaw members 110, 120 (see FIG. 1B). Depression of the movable handle 40 imparts distal movement of a second tube 15 that is operably coupled to drive rod (not shown) of the drive assembly, which, in turn, moves the jaw members 110 and 120 from the open configuration to the clamping configuration, described in greater detail below.
Shaft 12 may be made from any suitable material including, but not limited to surgical steel, plastic, etc. In the embodiment illustrated in FIGS. 1A and 2, shaft 12 is made from surgical steel and includes a generally rigid configuration to move, e.g., “straighten,” a bent portion 60 of the first tube 13 to move the jaw members 110 and 120 from an articulated configuration (FIG. 1A) to a non-articulated configuration (FIG. 1B).
Shaft 12 extends a predetermined distance from the housing 20 and defines longitudinal axis “A-A” therethrough (FIGS. 1A and 1B). In particular, shaft 12 extends a predetermined distance from the housing 20 such that in a retracted configuration (e.g., a partially extended configuration) a distal end 17 of the shaft 12 is positioned adjacent the bent portion 60 of the first tube 13 (as best seen in FIG. 1A) and in an extended configuration (e.g., a fully extended configuration) the distal end 17 of the shaft 12 is positioned adjacent the end effector 100 (as best seen in FIG. 1B). Proximal end 16 of the shaft 12 extends within the housing 20 and couples via one or more suitable coupling methods to an actuation mechanism 21 for moving the shaft 12 along the longitudinal axis “A-A.” In accordance with the instant disclosure, the distance from the end effector 100 to the distal end 17 of the shaft 12 when the shaft 12 is in the retracted configuration is approximately equal to the distance that the proximal end 16 of the shaft 12 extends into the housing 20. Thus, the proximal most portion of the shaft 12 will be positioned adjacent the distal end of the housing 20 when the shaft 12 is in the extended configuration, see FIG. 1B for example. In certain instances, it may prove advantageous to provide a proximal end 16 of the shaft 12 that is configured for telescopic movement.
Actuation mechanism 21 (FIGS. 1A and 1B), e.g., a button, lever or the like, is operably disposed on the housing 20 to move the shaft 12 along the longitudinal axis “A-A,” which, in turn, straightens the bent portion 60 of the first tube 13 (see FIG. 1A and 1B). In the illustrated embodiment, actuation mechanism 21 is in the form of a slide 21 that is operable to effect movement of the shaft 12 along the longitudinal axis “A-A.” Slide 21 is movable from a first configuration wherein shaft 12 is in the partially extended configuration adjacent the bent portion 60 (FIG. 1A) to a second configuration wherein shaft 12 is in the fully extended configuration adjacent the end effector 100 (FIG. 1B). Moving the slide 21 from the first configuration to the second configuration allows a user to move the end effector 100 from an articulated configuration (FIG. 1A) to a non-articulated configuration (FIG. 1B).
With reference to FIGS. 1A, 3A and 3B, first tube 13 is coaxially disposed within the shaft 12. First tube 13 may be made from any suitable resilient material including, but not limited to, plastic, metal, shape memory alloy, e.g., Nitinol, etc., to provide a suitable combination of stiffness and flexibility; that is, a suitable combination of stiffness and flexibility that allows the bent portion 60 to maintain a normally bent configuration when not under a load, i.e., a load provided by the shaft 12. In the embodiment illustrated in FIGS. 1A, 3A and 3B, first tube 13 is made from a substantially resilient plastic to facilitate moving the first tube 13 from the bent configuration to the “straightened” configuration and vice versa. Bent portion 60 of the first tube 13 includes a degree of curvature that ranges from about 10 degrees to about 120 degrees relative to the longitudinal axis “A-A.”
In certain embodiments, the first tube 13 may be configured to function similar to the shaft 12. That is, in this embodiment, the shaft 12 includes a bent portion 62 (FIG. 4) and the first tube 13 is translatable along the longitudinal axis “A-A” to straighten a bent portion 62 of the shaft 12 to move the jaw members 110 and 120 from the articulated configuration to a non-articulated configuration; this embodiment is discussed in greater detail below.
Continuing with reference to FIGS. 2A, 3A and 3B, a second tube 15 is operably disposed within the first tube 13. Second tube 15 includes a bent portion 61 that follows a contour of the bent portion 60 of the first tube 13 (as best seen in FIG. 2A). As with bent portion 60, bent portion 61 is moveable from the bent configuration to a straightened configuration. To this end, second tube 15 may be made from a relatively resilient material similar to first tube 13. As can be appreciated, a degree of curvature of the bent portion 61 is substantially equal to that of the degree of curvature of the bent portion 60 of the first tube 13.
Second tube 15 operably couples to a pair of cam slots 113 (one cam slot is shown in FIG. 2A) via a cam pin 114 on jaw members 110 and 120 to move the jaw members 110 and 120 from the open configuration to the clamping configuration (see FIGS. 1A and 1B). Alternately, or in combination therewith, one or more other types of actuation features such as, for example, linkages, lever arms and the like may be utilized to move the jaw members 110 and 120 from the open configuration to the clamping configuration. Cam pin 114 is positioned through the second tube 15 and housed in an elongated slot 74 on a knife assembly 71 (FIGS. 3A and 3B).
In certain embodiments, second tube 15 is configured to house the pair of leads 310a and 310b of the electrosurgical cable 310 to electrically couple respective seal plates 118 and 128 of the jaw members 110 and 120 to generator 200.
In the illustrated embodiment, second tube 15 is configured to house a cutter shaft 73 therein (FIGS. 3A and 3B). In this instance, knife assembly 71 is operably coupled to the distal end of the cutter shaft 73 and includes a knife blade 72. Knife assembly 71 including knife blade 72 is configured for reciprocation through corresponding knife channels (not shown) on the jaw members 110 and 120. Elongated slot 74 is configured to house the cam pin 114 therein so that the jaw members 110 and 120 may move independent of the knife assembly 71. Elongated slot 74 is also configured to house a pivot pin 103 that extends through the first tube 13 to provide a pivot for the jaw members 110 and 120.
Cutter shaft 73 is translatable within the second tube 15 from a retracted position wherein the knife assembly 71 is positioned at a proximal end of the jaw members 110 and 120 (FIGS. 3A and 3B) to an extended position wherein the knife assembly 71 is positioned at a distal end of the jaw members 110 and 120 (not shown). Movement of the knife assembly 71 from the retracted position to the extended position allows a user to sever tissue clamped between the jaw members 110 and 120, e.g., post electrosurgical treatment of tissue, e.g., tissue that has been sealed.
Referring again to FIGS. 1A and 1B, end effector assembly 100 is shown attached at a distal end 14 of the tube 13 (as best seen in FIG. 3A) and includes opposing jaw members 110 and 120. Each of jaw members 110 and 120 includes an electrically conductive tissue sealing surface 118, 128, respectively. End effector assembly 100 is designed as a bilateral assembly, i.e., where both jaw member 110 and jaw member 120 are moveable about pivot pin 103 relative to one another and to shaft 12, see FIGS. 1A and 1B. However, end effector assembly 100 may alternatively be configured as a unilateral assembly, i.e., jaw member 120 is fixed relative to jaw member 110 which is moveable about pivot 103 and relative to fixed jaw member 120. As noted above, knife assembly 71 is disposed within the second tube 15 and knife channels (not shown) may be defined within one or both jaw members 110, 120 to permit reciprocation of knife blade 72 therethrough, e.g., via activation of trigger 70 of trigger assembly 80.
In use, jaw members 110 and 120 are, initially, in an open configuration and in an articulated configuration as a result of the bent portion 60 of the first tube 13. To move the end effector 100 including the jaw members 110 and 120 from the articulated configuration to a non-articulated configuration, slide 21 is moved distally, which, in turn, moves shaft 12 distally and over bent portion 60 of the first tube 13. As the shaft 12 moves over the bent portion 60, the bent portion 60 and, thus, the end effector 100 including the jaw members 110 and 120 moves toward a non-articulated configuration. The unique configuration of the movable shaft 12 and first tube 15 allows a user to move the end effector 100 including the jaw members 110 and 120 from an articulated configuration to a non-articulated configuration without the use of the aforementioned tendons, links, etc. that are typically associated with conventional forceps, which, as can be appreciated, reduces manufacturing costs of the forceps 10.
To move the jaw members 110 and 120 from the open configuration to the clamping configuration, movable handle 40 is moved through an approximation stroke, i.e., moved proximally toward the fixed handle 50. Movement of the movable handle 40 moves the second tube 15, which, in turn, moves the jaw members 110 and 120 toward one another to clamp tissue therebetween. Subsequently, the clamped tissue may be treated.
In certain instance, it may prove advantageous to sever the sealed tissue. In this instance, trigger assembly 70 may be pressed, which, in turn, advances the cutter shaft 73 including the knife assembly 71 distally and through the knife channels on the jaw members 110 and 120, which, in turn, results in the treated tissue being severed.
From the foregoing and with reference to the various figure drawings, those skilled in the art will appreciate that certain modifications can also be made to the present disclosure without departing from the scope of the same. For example, and as noted above, in embodiments, the shaft 12 may be configured to move from a bent configuration to a straightened configuration to move the end effector 100 including jaw members 110 and 120 from an articulated configuration to a non-articulated configuration. In this instance, shaft 12 includes bent portion 62 (FIG. 4) and is configured to function similar to the first tube 13. As can be appreciated, certain modifications to the forceps 10 may be needed to accommodate this type of configuration. For example, the slide 21 (or other suitable device) may be configured to effect movement of the first tube 13 instead of the shaft 12. Moreover, other types of actuators may be employed to articulate the shaft and position the end effectors relative to tissue, e.g., rotating wheels, knobs, levers, etc.
While several embodiments of the disclosure have been shown in the drawings, it is not intended that the disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Therefore, the above description should not be construed as limiting, but merely as exemplifications of particular embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.

## Claims

1. A forceps, comprising:
a housing;
a shaft extending from the housing and defining a longitudinal axis therethrough;
at least one tube coaxially disposed within the shaft, the at least one tube having a bent portion at a distal end thereof, the bent portion having a contour and defining an articulated configuration in an at-rest condition of the at least one tube; and
an end effector assembly operatively connected to a distal end of the at least one tube,
wherein the shaft is translatable along the longitudinal axis to straighten the bent portion of the at least one tube to move the bent portion of the at least one tube from the articulated configuration to a non-articulated configuration, and
wherein the at least one tube is translatable along the longitudinal axis to actuate the end effector from a first configuration to a second configuration.

2. The forceps according to claim 1, wherein the at least one tube includes a first tube and a second tube, the first and second tubes each having a bent portion at a distal end thereof, the bent portions of the first and second tubes each having a contour.

3. The forceps according to claim 2, wherein the end effector assembly includes first and second jaw members moveable from an first configuration for positioning about tissue to a second configuration for clamping tissue therebetween, the first and second jaw members including respective cam slots defined therein with a cam pin movable therein, the cam pin operably coupling the second tube to the first and second jaw members.

4. The forceps according to claim 3, wherein the second tube is translatable along the longitudinal axis to move the first and second jaw members from the first configuration to the second configuration.

5. The forceps according to claim 4, wherein the second tube is configured to house a cutter shaft therein.

6. The forceps according to claim 5, wherein the cutter shaft includes a knife assembly having a knife blade configured to reciprocate through a knife channel operably defined within at least one of the first and second jaw members upon activation of a trigger assembly associated with the housing.

7. The forceps according to claim 6, wherein an elongated slot is defined in at least a portion of the knife assembly and is configured to house a pivot pin and the cam pin therein such that the first and second jaw members are movable independent of the knife assembly.

8. The forceps according to claim 3, wherein the first and second jaw members are configured to electrosurgically treat tissue and are adapted to connect to a source of electrosurgical energy via a cable.

9. The forceps according to claim 8, wherein the second tube is configured to house a pair of leads of the cable to electrically couple respective seal plates of the first and second jaw members to the source of electrosurgical energy.

10. The forceps according to claim 2, wherein a degree of curvature of the bent portion of the first tube and a degree of curvature of the bent portion of the second tube ranges from about 10 degrees to about 120 degrees.

11. The forceps according to claim 2, further including a handle assembly including a movable handle movable relative to a fixed handle, the movable handle operatively connected to a drive assembly that together mechanically cooperate to impart movement of the second tube.

12. A forceps, comprising:
a housing;
a shaft that extends from the housing, the shaft having a bent portion at a distal end thereof, the bent portion having a contour and defining an articulated configuration in an at-rest condition of the shaft;
first and second tubes coaxially disposed within the shaft and defining a longitudinal axis therethrough; and
an end effector assembly operatively connected to a distal end of the shaft, the end effector assembly being actuatable by the second tube,
wherein the first tube is translatable along the longitudinal axis with respect to the shaft to straighten the bent portion of the shaft to move the bent portion of the shaft from the articulated configuration to a non-articulated configuration.

13. The forceps according to claim 12, wherein the end effector assembly includes first and second jaw members, the first and second jaw members moveable from a first configuration for positioning about tissue to a second configuration for clamping tissue therebetween, the first and second jaw members including respective cam slots defined therein with a cam pin movable therein, the cam pin operably coupling the second tube to the first and second jaw members.

14. The forceps according to claim 13, wherein the second tube is translatable along the longitudinal axis to move the first and second jaw members from the first configuration to the second configuration.

15. The forceps according to claim 13, wherein the second tube is configured to house a cutter shaft therein.

16. The forceps according to claim 15, wherein the cutter shaft includes a knife assembly having a knife blade configured to reciprocate through knife channels operably defined within at least one of the first and second jaw members upon activation of a trigger assembly associated with the housing.

17. The forceps according to claim 16, wherein an elongated slot is defined in at least a portion of the knife assembly and is configured to house a pivot pin and the cam pin therein such that the first and second jaw members are movable independent of the knife assembly.

18. The forceps according to claim 13, wherein the first and second jaw members are configured to electrosurgically treat tissue and are adapted to connect to a source of electrosurgical energy via an electrosurgical cable.

19. The forceps according to claim 13, wherein the second tube is configured to house a pair of leads of the electrosurgical cable to electrically couple respective seal plates of the first and second jaw members to the source of electrosurgical energy.