Patent Description:
This application also claims priority to <CIT>, entitled "SLIDER ASSEMBLY FOR FORCEPS".

This application also claims priority to <CIT>, entitled "FORCEPS WITH CAMMING JAWS".

This application also claims priority to <CIT>, entitled "FORCEPS DEVICES AND METHODS".

This document pertains generally, but not by way of limitation, to systems and methods for actuating end effectors of medical devices. In particular, the systems and methods can be used with a forceps having an actuatable jaw and/or a blade. The systems can include motion transfer assemblies of a handpiece that receive forces from a user and transmit the forces to an end effector to drive jaws from an open position to a closed position and to rotate the jaws.

Medical devices for diagnosis and treatment, including but not limited to forceps, are used for medical procedures such as laparoscopic and open surgeries. These devices can be used to manipulate, engage, grasp, or otherwise affect an anatomical feature, such as a vessel or other tissue. Some of these devices can include an end effector that is one or more of: rotatable, openable, closeable, extendable, retractable and capable of supplying an input such as electromagnetic energy or ultrasound. In some examples, the end effector can include jaws located at a distal end of a forceps. An actuator at a proximally located handpiece can be displaced relative to a housing of the handpiece to cause the jaws to open and close and thereby engage the vessel or other tissue.

There is a need for improved attachment methods in medical device assemblies, including but not limited to, forceps. Examples described herein improve the ability to manufacture such assemblies. While examples are described with respect to forceps, the features and methods can be applied to any medical devices that includes a handpiece that actuates an end effector. The <CIT> describes a cutting instrument having a handle and an elongate shaft with a cutting tip. The <CIT> describes a surgical forceps having an elongate shaft with an end effector, and a handle having an actuator for operating the end effector. The <CIT> describes a surgical clip applier having an elongate shaft with an end effector, and a handle having an actuator for operating the end effector.

In at least one aspect described herein, examples address various ways to improve the attachment of components to each other during manufacturing.

The invention provides a medical device according to claim Embodiments are defined in the dependent claims. Illustrative examples of forceps and other surgical devices including handpieces and end effectors, are described herein.

The features described herein can be used with other devices besides forceps, such as medical devices (e.g., instruments) for performing treatment, diagnosis and imaging. The devices and methods can be employed in a variety of medical areas, including, but not limited to, general surgery, gynecology, urology, respiratory, cardiovascular, or any other suitable area.

The drawings illustrate generally, by way of example, but not by way of limitation, various examples discussed in the present document.

A medical device including a handpiece that operates an end effector allows a surgeon to control the end effector of the device to actuate one or more functions of the end effector. Actuation of the end effector can be facilitated by one or more actuation systems of the handpiece that can retract, extend or rotate one or more shafts to control the actions of the end effector.

The present inventors have recognized, among other things, that conventional medical devices including a handpiece that actuates an end effector can be improved to reduce packaging space, simplify design and manufacturing, improve a user's experience, increase stability and prevent damage to the forceps.

This disclosure is generally related to medical devices, such as surgical instruments. Although the present application is described with reference to a forceps, other end effectors can be used with and operated by the handpiece described herein. In addition, other handpieces can be connected to and can control the end effectors described herein. This disclosure includes examples of handpieces including one or more actuation systems, examples of end effectors, and examples where the disclosed actuation systems and end effectors can be used together in a medical device.

The forceps can include a medical forceps, a cutting forceps, an electrosurgical forceps, or any other type of forceps. The forceps can include an end effector that is controlled by a handpiece including an actuation system to be one or more of: rotatable, openable, closeable, extendable, and capable of supplying electromagnetic energy or ultrasound. For example, jaws located at a distal end of the forceps can be actuated via one or more actuators at a handpiece of the forceps to cause the jaws to open, close and rotate to engage a vessel or other tissue. Forceps may also include an extendable and retractable blade, such as blades that can be extended distally in between a pair of jaws to separate a first tissue from a second tissue.

<FIG> illustrates a side view of a forceps <NUM> with jaws <NUM> in an open position. <FIG> illustrates a side view of the forceps <NUM> with the jaws <NUM> in a closed position. <FIG> illustrates an exploded view of some components of the forceps <NUM> of <FIG>, <FIG> and <FIG> are described together. Directional descriptors such as proximal and distal are used within their ordinary meaning in the art. The proximal direction P and distal direction D are indicated on the axes provided in <FIG> and <FIG> also shows the lateral directions L and L', as well as top T and bottom B directions, which are defined when the forceps <NUM> is held level with respect to a ground G in an upright orientation as shown in <FIG>. Opposite to the lateral directions L and L', is the medial direction, in other words, the medial direction is towards the centerline, or a longitudinal axis of the forceps <NUM> (<FIG>).

The illustrative forceps <NUM> can include a handpiece <NUM> at a proximal end, and an end effector <NUM> at a distal end. An intermediate portion <NUM> can extend between the handpiece <NUM> and the end effector <NUM> to operably couple the handpiece <NUM> to the end effector <NUM>. Various movements of the end effector <NUM> can be controlled by one or more actuation systems of the handpiece <NUM>. In the illustrative example, the end effector <NUM> can include the jaws <NUM> that are capable of opening and closing. The end effector <NUM> can be rotated along a longitudinal axis A1 (<FIG>) of the forceps <NUM>. The end effector <NUM> can include a cutting blade 1032A (<FIG>) and an electrode for applying electromagnetic energy. All actuation system functions and all end effector actions are not required in all examples. The functions described herein can be provided in any combination.

An overview of features of the forceps <NUM> is provided in <FIG>, <FIG>, <FIG>, <FIG> and <FIG>. Further detailed illustration of example motion transfer assemblies is provided in <FIG>, <FIG>, <FIG>, <FIG>, <FIG>, <FIG>. The illustrated motion transfer assemblies provide transmission of forces received from a user via clamping and rotational actuators (e.g., a lever <NUM> and a rotational actuator <NUM>), to the jaws <NUM> of the forceps <NUM> to actuate clamping and rotation of the jaws <NUM>.

As shown broadly in <FIG> and <FIG>, with support from <FIG>, the forceps <NUM> can include the jaws <NUM>, a housing <NUM>, a lever <NUM>, a drive shaft <NUM>, an outer shaft <NUM>, a rotational actuator <NUM>, a blade assembly (a blade shaft <NUM> and a blade 1032A of <FIG>), a trigger <NUM> and an activation button <NUM>. In this example, the end effector <NUM>, or a portion of the end effector <NUM> can be one or more of: opened, closed, rotated, extended, retracted, and electromagnetically energized (e.g., electrically energized). In some examples, the energy can be radio-frequency energy.

To operate the end effector <NUM>, the user can displace the lever <NUM> proximally by applying Force F1 (<FIG>) to drive the jaws <NUM> from the open position (<FIG>) to the closed position (<FIG>). In the example of forceps <NUM>, moving the jaws <NUM> from the open position to the closed position allows a user to clamp down on and compress a tissue. The handpiece <NUM> can also allow a user to rotate the end effector <NUM>. For example, rotating rotational actuator <NUM> causes the end effector <NUM> to rotate by rotating both the drive shaft <NUM> and the outer shaft <NUM> together.

In some examples, with the tissue compressed between the jaws <NUM>, a user can depress the activation button <NUM> to cause an electromagnetic energy, or in some examples, ultrasound, to be delivered to the end effector <NUM>, such as to an electrode. Application of electromagnetic energy can be used to seal or otherwise affect the tissue being clamped. In some examples, the electromagnetic energy can cause tissue to be coagulated, cauterized, sealed, ablated, desiccated or can cause controlled necrosis. Example electrodes are described herein, but electromagnetic energy can be applied to any suitable electrode.

The handpiece <NUM> can enable a user to extend and retract a blade 1032A attached to a distal end of a blade shaft <NUM> (<FIG>). The blade 1032A can be extended by displacing the trigger <NUM> proximally. The blade 1032A can be retracted by allowing the trigger <NUM> to return distally to a default position. The default position of the trigger <NUM> is shown in <FIG>. In some examples, as described herein, the handpiece <NUM> can include features that inhibit the blade 1032A from being extended until the jaws <NUM> are at least partially closed, or fully closed.

The forceps <NUM> can be used to perform a treatment on a patient, such as a surgical procedure. In an example, a distal portion of the forceps <NUM>, including the jaws <NUM>, can be inserted into a body of a patient, such as through an incision or another anatomical feature of the patient's body. While a proximal portion of the forceps <NUM>, including housing <NUM> remains outside the incision or another anatomical feature of the body. Actuation of the lever <NUM> causes the jaws <NUM> to clamp onto a tissue. The rotational actuator <NUM> can be rotated via a user input to rotate the jaws <NUM> for maneuvering the jaws <NUM> at any time during the procedure. Activation button <NUM> can be actuated to provide electrical energy to jaws <NUM> to coagulate, cauterize or seal the tissue within the closed jaws <NUM>. Trigger <NUM> can be moved to translate the blade 1032A distally to cut the tissue within the jaws <NUM>.

In some examples, the forceps <NUM>, or other medical device, may not include all the features described or may include additional features and functions, and the operations may be performed in any order. The handpiece <NUM> can be used with a variety of other end effectors to perform other methods.

As shown in the combination of <FIG>, <FIG> and <FIG>, the forceps <NUM> can include various components. For example, a first housing portion <NUM> and a second housing portion <NUM>. As shown in <FIG>, the first housing portion <NUM> and the second housing portion <NUM> can mate at a coupling joint <NUM>. The housing <NUM> can include, or be coupled to, a handle portion 1020A and 1020B, such as a fixed handle that is configured to be held in the hand of a user during use.

The housing <NUM> can be a frame that provides structural support between components of the forceps <NUM>. The housing <NUM> is shown as housing at least a portion of the actuation systems associated with the handpiece <NUM> for actuating the end effector <NUM>. However, some or all of the actuation components need not necessarily be housed within the housing <NUM>. Components described herein may be completely housed within the housing <NUM> through all or a portion of the range of motion of the components of the actuation system; partially housed through all or a portion of the range of motion of the components of the actuation system; or completely external to the housing <NUM> during all or a portion of the range of motion of the components of the actuation system associated with the handpiece <NUM>. In some examples, the housing <NUM> provides a rigid structure for attachment of components, but the housing <NUM> does not necessarily house the components completely, or only houses a portion of some of the components.

With continued reference to <FIG>, <FIG> and <FIG>, the drive shaft <NUM> can extend through the housing <NUM> and out of a distal end of the housing <NUM>, or distally beyond housing <NUM>. The jaws <NUM> can be connected to a distal end of the drive shaft <NUM>. The outer shaft <NUM> can be a hollow tube positioned around the drive shaft <NUM>. A distal end of the outer shaft <NUM> can be located adjacent the jaws <NUM> and the jaws <NUM> can be connected to the outer shaft <NUM>. The distal ends of the drive shaft <NUM> and the outer shaft <NUM> can be rotationally locked (e.g., rotationally constrained) to the jaws <NUM>. The rotational actuator <NUM> can be positioned around the distal end of the housing <NUM>. In the illustrative example, the rotational actuator <NUM> is indirectly connected to a proximal end of the outer shaft <NUM> by an outer hub <NUM>, however, in some examples the rotational actuator <NUM> can be directly connected to the proximal end of the outer shaft <NUM> or can integrally include the features of the outer hub <NUM>. In some examples, various rotational constraints described herein can be employed independently. In other words, some examples can employ a single rotational constraint between the rotational actuator <NUM> and the jaws <NUM>, while in other examples, the rotational constraint can include multiple rotational constraints at different locations along the longitudinal axis A1, such as a first rotational constraint proximate or within the handpiece <NUM>, and a second rotational constraint proximate the end effector <NUM> and distal of the handpiece <NUM>, as described further in various examples herein.

The outer shaft <NUM> can extend distally beyond the rotational actuator <NUM>. The blade shaft <NUM> can extend through the drive shaft <NUM> and the outer shaft <NUM>. A distal end of the blade shaft <NUM> including the blade 1032A can be located adjacent to the jaws <NUM>. A proximal end of the blade shaft <NUM> can be within the housing <NUM>.

A proximal portion 1034A (<FIG>) of the trigger <NUM> can be connected to the blade shaft <NUM> within the housing <NUM>. A distal portion 1034B (<FIG>) of the trigger <NUM> can extend outside of the housing <NUM> adjacent, and in some examples, nested with the lever <NUM> in the default or unactuated positions shown in <FIG>. Activation button <NUM> can be coupled to the housing <NUM>. Activation button <NUM> can actuate electronic circuitry within housing <NUM> that can send electromagnetic energy through forceps <NUM> to the jaws <NUM>. When the user presses on the activation button <NUM>, the activation button <NUM> can move relative to the housing <NUM>. For example, when the activation button <NUM> is pressed, an electrical switch on a flexible printed circuit board that is secured to the housing <NUM> can be closed. Wiring and electrical components such as a dome switch that can be actuated by the activation button <NUM>. In some examples, the activation button <NUM> or the electronic circuitry may reside outside the housing <NUM> but may be operably coupled to the housing <NUM> and the end effector <NUM>. In some examples, activation of the forceps <NUM> can be accomplished by a foot or knee actuated switch.

As shown in the exploded view of a portion of the forceps <NUM> in <FIG>, the forceps <NUM> can include the handpiece <NUM> having components for an actuation system, the end effector <NUM>, the intermediate portion <NUM>, the jaws <NUM>, the housing <NUM> (including the first housing portion <NUM>, the second housing portion <NUM>, the handle portion 1020A and 1020B, the stabilizing flange <NUM>, and a recess or opening 1021A), the handle locking mechanism <NUM>, the lever <NUM>, the drive shaft <NUM> (including the first horizontal slot 1069A and the second horizontal slot 1069B, the outer shaft <NUM>, the rotational actuator <NUM>, the blade shaft <NUM>, the blade 1032A the trigger <NUM>, and the activation button <NUM>, a first pin <NUM>, a lever return spring <NUM>, a coupling link <NUM>, a second pin <NUM>, a drive link <NUM>, a third pin <NUM>, a fourth pin <NUM>, a drive shaft motion transfer body <NUM> (hereinafter, drive body <NUM>), a force-limiting spring <NUM>, a clip <NUM>, an O-ring <NUM>, an outer hub <NUM>, a nose <NUM>, a spool <NUM>, a cross pin <NUM> (e.g., a blade pin), and a trigger return spring <NUM>. The handle locking mechanism <NUM> can be, for example, of the type described in <CIT>.

Furthermore, the components which make up the actuation system can be, for example, of the type described in <CIT>.

As a general overview of the component interaction of the handpiece <NUM> of the forceps <NUM>, the forceps <NUM> can include the drive body <NUM> being constrained to the drive shaft <NUM> to transfer motion to the drive shaft <NUM>, thereby operating the jaws <NUM>. However, in a force limiting state (e.g., position), the drive body <NUM> can be slidable with respect to the drive shaft <NUM>. Thus, the forceps <NUM> can be configured to limit a force on the jaws <NUM> to protect the jaws <NUM> from damage when the lever <NUM> is being closed with the jaws <NUM> stuck in an open or partially open position.

As further shown and described here and elsewhere in the disclosure, the drive body <NUM> along with the clip <NUM> can lock the drive shaft <NUM> to the rotational actuator <NUM> such that the drive shaft <NUM> and the outer shaft <NUM> are rotationally locked (e.g., rotationally constrained) together at a proximal portion of the drive shaft <NUM> and the outer shaft <NUM> proximate the rotational actuator <NUM>. Further, the forceps <NUM> can include the trigger <NUM>, the spool <NUM> proximal to the drive body <NUM> and connected to the trigger <NUM>, and a trigger return spring <NUM> positioned between the drive body <NUM> and the spool <NUM> to bias the blade shaft <NUM> with blade 1032A proximally but allow movement of the blade 1032A distally to perform a cut, while improving the design of the forceps.

<FIG>, <FIG>, <FIG>, <FIG> and <FIG> focus on the clamping and rotational aspects of the forceps and will be described together with support from <FIG>, <FIG> and <FIG>. Many of these components are introduced here, but also shown and described in further detail in other figures herein. Some components related to the cutting functions of the forceps of <FIG> are absent in <FIG>, <FIG> and <FIG> to provide better visibility of other components. While <FIG>, <FIG>, <FIG>, <FIG> and <FIG> illustrate components that make up the actuation system of the handpiece <NUM>, the function and interrelationship of the components are described throughout this disclosure.

<FIG> illustrates a first partial cross-section view of a portion of the forceps <NUM> of <FIG>, <FIG> and <FIG>, in accordance with at least one example. The lever <NUM>, the drive shaft <NUM>, the drive body <NUM>, the force-limiting spring <NUM>, the clip <NUM>, the O-ring <NUM> and the outer shaft <NUM> are not shown in cross section. <FIG> illustrates a second partial cross-section view of a portion of the forceps <NUM>, in accordance with at least one example. The drive shaft <NUM> and the outer shaft <NUM> are not shown in cross-section. <FIG> illustrates a close-up exploded view of a portion of the forceps <NUM> of <FIG>, in accordance with at least one example. <FIG> illustrates a third partial cross-section view of the forceps <NUM> of <FIG> showing the drive body <NUM> in a rotated position, in accordance with at least one example. The drive body <NUM>, the force-limiting spring <NUM>, the O-ring <NUM>, and the outer shaft <NUM> are not shown in cross-section. <FIG> illustrates a fourth partial cross-section view of the forceps <NUM> of <FIG> showing the drive body <NUM> in the rotated position of <FIG>, in accordance with at least one example. The outer shaft <NUM> is not shown in cross section.

<FIG>, <FIG>, <FIG>, <FIG> and <FIG>, described together with most components shown in the exploded view of <FIG>, include the housing <NUM> (including the first housing portion <NUM>, the handle portion 1020A, and stabilizing flange <NUM>), the lever <NUM>, the first pin <NUM>, the drive shaft <NUM>, the lever return spring <NUM>, the coupling link <NUM> can reside within a lever recess <NUM>, the second pin <NUM>, the drive link <NUM>, the third pin <NUM>, the fourth pin <NUM>, a drive motion transfer assembly <NUM>, the drive body <NUM>, the force-limiting spring <NUM>, the clip <NUM>, the O-ring <NUM>, the outer shaft <NUM>, the outer hub <NUM>, a sleeve <NUM>, the rotational actuator <NUM>, and the nose <NUM>. The drive shaft <NUM> includes the first horizontal slot 1069A, the second horizontal slot 1069B, a first vertical slot 1070A, and a second vertical slot 1070B, which can be an opening extending through the drive shaft <NUM>, or a recess or deformation in the drive shaft <NUM>. The drive body <NUM> (shown in further detail in other drawings herein as well) can include a body portion <NUM>, an anchor portion <NUM> (including a distal spring seat <NUM> and a rotational keying slot <NUM>), a cylindrical portion <NUM>, a window portion <NUM> (including a first window 1084A and a second window 1084B, see <FIG>), a neck portion <NUM>, a collar <NUM> (such as proximal collar <NUM> including a drive surface 1090A and a second distal spring seat <NUM>, see <FIG> and <FIG>, as well as <FIG> for a close-up view), and a passageway <NUM> (e.g. a channel, a bore, a recess, or an aperture extending therethrough). The sleeve <NUM> can include a flange <NUM>. In some examples, such as an example where the sleeve <NUM> is omitted, the outer shaft <NUM> can include the flange <NUM>. The outer hub <NUM> can include groove <NUM>, inner surface <NUM>, and the anti-rotation key <NUM> (<FIG> and <FIG>).

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

The drive shaft <NUM> can include the first vertical slot 1070A on a first side and the second vertical slot 1070B on a second side (<FIG>, <FIG>, further shown and described in <FIG> and <FIG>). The vertical slots 1070A and 1070B can be perpendicular to the longitudinal axis A1 (<FIG>) of drive shaft <NUM>. The first vertical slot 1070A and second vertical slot 1070B can extend into the drive shaft <NUM> from an exterior surface of the drive shaft <NUM>. The first vertical slot 1070A and the second vertical slot 1070B can be sized to accept the clip <NUM>. In some examples, the clip <NUM> can be ridged and can be accepted onto the drive shaft <NUM> without distorting the shape of the clip <NUM>. In some examples, the drive shaft <NUM> can have a single vertical slot 1070A or 1070B. The first and second vertical slots 1070A, 1070B can be provided as an opening/aperture or as a deformation with or without an opening through the drive shaft <NUM>.

As shown in the combination of <FIG>, and in close-up views of <FIG> and <FIG>, the drive body <NUM> can include the body portion <NUM> and the anchor portion <NUM> connected, or integrally formed, at distal end of the body portion <NUM>. The anchor portion <NUM> can extend outwardly from an outer surface of body portion <NUM>. As such, the anchor portion <NUM> can include the distal spring seat <NUM> at a proximal end surface of the anchor portion <NUM>. The distal spring seat <NUM> can be connected to a distal end of the body portion <NUM>.

As shown in <FIG>, <FIG> and <FIG>, and as shown in further detail in other figures herein, including some features shown close-up in <FIG>, the anchor portion <NUM> can include the rotational keying slot <NUM>. The rotational keying slot <NUM> is also shown close-up in <FIG>. The rotational keying slot <NUM> can be horizontal slot, or a slot extending parallel to the longitudinal axis A1 of the drive shaft <NUM> (A1 is shown in <FIG>). The rotational keying slot <NUM> can extend into a side of the body portion <NUM>. In alternate examples, the drive body <NUM> may have any number of the rotational keying slot(s) <NUM>. In some examples, the rotational keying slot <NUM> can be any other suitable keying interface known in the art and are not necessarily provided as a slot. The interaction between the rotational keying slot <NUM> and an anti-rotation key <NUM> of the outer hub <NUM> is further described herein. The rotational keying slot <NUM> and the anti-rotation key <NUM> on the outer hub <NUM> can be any type of interface that limits relative rotation between the drive body <NUM> and the outer hub <NUM>. For example, the rotational keying slot <NUM> can be a protrusion instead of a slot to be received by the anti-rotation key <NUM> that is a slot, recess or groove of the outer hub <NUM> in order to provide the relative anti-rotation features between the drive body <NUM> and the outer hub <NUM>.

The cylindrical portion <NUM> of the drive body <NUM> can be connected to, or integrally formed with, the distal end of the anchor portion <NUM>. The cylindrical portion <NUM> can be sized to accept the O-ring <NUM>.

As shown in the exploded view of <FIG>, and in additional detail in other figures herein, the window portion <NUM> can include the first window 1084A extending through the first side of body portion <NUM> and the second window 1084B opposite the first window 1084A and extending through the second side of body portion <NUM>. Although described as a window, in some examples the window portion <NUM> may be provided as a track, such a window or track need not necessarily be bounded on all sides, and sections of the window or track may not extend entirely through the body portion <NUM>.

As shown in <FIG>, <FIG> and <FIG>, with some features shown close-up in <FIG>, the neck portion <NUM> of the drive body <NUM> can be connected to a proximal end of the body portion <NUM>. The neck portion <NUM> can have an outer diameter smaller than the outer diameter of the body portion <NUM> (e.g., a minor diameter surface). The collar <NUM> can be connected to a proximal end of the neck portion <NUM>. The collar <NUM> can have an outer diameter greater than the outer diameter of the neck portion <NUM> and less than an inner diameter of the force-limiting spring <NUM>.

The collar <NUM> can include the drive surface 1090A at a distal end surface of the collar <NUM> and the second distal spring seat <NUM> at a proximal end of the collar <NUM>, or a proximal end of the drive body <NUM>. As such, the drive surface 1090A can be fixedly connected to or integrally molded to the proximal end of the neck portion <NUM>. Although the neck portion <NUM> and associated flanges, such as drive surface 1090A and the second distal spring seat <NUM> are shown and described as being located or connected to a proximal end of the body portion <NUM>, they could be located elsewhere on the drive body <NUM>, such as along a central portion or distal portion of the drive body <NUM>, such as distal of the distal spring seat <NUM>.

The passageway <NUM> in the drive shaft <NUM> (<FIG>, <FIG>) can be shaped to accept the drive shaft <NUM>. The passageway <NUM> can be a cylindrical or non-cylindrical aperture extending through the cylindrical portion <NUM>, the anchor portion <NUM>, the body portion <NUM>, the window portion <NUM>, the neck portion <NUM>, and the collar <NUM>.

The drive shaft <NUM> can extend through the passageway <NUM> (<FIG>) of the drive body <NUM> such that the drive body <NUM> can be positioned around at least a portion of the drive shaft <NUM>. The force-limiting spring <NUM> can be positioned on the body portion <NUM> and over the window portion <NUM> of the drive body <NUM>. A distal end of the force-limiting spring <NUM> can contact the distal spring seat <NUM>. The clip <NUM> can be positioned on the window portion <NUM> of the drive body <NUM> and can connect to drive shaft <NUM> at the first vertical slot 1070A and the second vertical slot 1070B. Examples of clips and windows are described further herein, and for example, in <FIG>, <FIG>, <FIG>, <FIG>, <FIG>, <FIG>, <FIG>, <FIG>, <FIG>, <FIG>, <FIG>, <FIG>, 9A and 9B.

As shown in <FIG> and <FIG>, and with support for some features shown close-up in <FIG>, <FIG>, <FIG>, <FIG>, <FIG>, <FIG>, a proximal end of the force-limiting spring <NUM> can contact a distal end surface of the clip <NUM>. As such, the force-limiting spring <NUM> can be positioned on the drive body <NUM> between the distal spring seat <NUM> of anchor portion <NUM> and the clip <NUM>. In this arrangement, the clip <NUM> is fixed to the drive shaft <NUM> but can be longitudinally movable with respect to the drive body <NUM> within and along window portion <NUM> (<FIG>, <FIG>, <FIG>) when a preload on the force-limiting spring <NUM> is exceeded by the force applied to the lever <NUM>. As shown close-up in <FIG>, a clip support surface <NUM> of the body portion <NUM> can be adjacent a proximal end of the window portion <NUM>, and a distal support surface <NUM> of the body portion <NUM> can be adjacent a distal end of the window portion <NUM>. The clip support surface <NUM> and the distal support surface <NUM> can function as longitudinal stops for the clip <NUM> and impose the preload on the force-limiting spring <NUM>.

To cause driving of the jaws <NUM> between the open and closed positions shown in <FIG> and <FIG>, the lever <NUM> is moved proximally or distally which moves the drive body <NUM> proximally or distally. The drive link <NUM> can be operably coupled to the housing <NUM> and the drive body <NUM> such that the drive link <NUM> is configured to transfer a force received at the lever <NUM> into a linear motion of the drive body <NUM> and the drive shaft <NUM> relative to the housing <NUM>. For example, the drive link <NUM> can be connected to the drive body <NUM> at the neck portion <NUM>. The legs 1046B of drive link <NUM>, shown in <FIG>, can fit around the neck portion <NUM>. When the lever <NUM> is moved proximally, the drive link <NUM> can contact and push against the drive surface 1090A of the collar <NUM>. The location of the drive surface 1090A is shown generally in the cross-sectional view of <FIG> and <FIG> and close-up in <FIG>. In contrast, when the lever <NUM> is moved distally, the drive link <NUM> can move distally, contacting and pushing against a proximal end surface 1090B of body portion <NUM> of drive body <NUM>, also shown in close-up of <FIG>.

To rotationally fix the outer hub <NUM> to the drive body <NUM>, as shown in <FIG> and <FIG>, the anti-rotation key <NUM> can include a ridge that extends out of the inner surface <NUM> of the outer hub <NUM> into a channel of the outer hub <NUM>. For example, the anti-rotation key <NUM> can be sized to fit within the rotational keying slot <NUM> of the anchor portion <NUM>. The rotational keying slot <NUM> can accepts the anti-rotation key <NUM>, which can be positioned within the rotational keying slot <NUM> such that the rotational keying slot <NUM> can be linearly translated, or longitudinally moved, along the anti-rotation key <NUM>. These features are shown in further detail in <FIG>.

The flange <NUM> and the groove <NUM> or other formation can connect and lock the outer shaft <NUM> to the outer hub <NUM>. The anti-rotation key <NUM> and rotational keying slot <NUM> can connect and rotationally lock the outer hub <NUM> and the drive body <NUM>. Also, the drive shaft <NUM> can be rotationally locked to the drive body <NUM> by the clip <NUM>. Thus, rotating rotational actuator <NUM> rotates the outer hub <NUM>, which rotates both the outer shaft <NUM> and the drive shaft <NUM>. The connection between the outer hub <NUM>, the drive body <NUM> and the rotational actuator <NUM> is shown and described in further detail with reference to FIGS. 10A, 10B, 11A and 11B. Alternate examples of connections between the outer hub <NUM>, the drive body <NUM> and a rotational actuator <NUM> are described with reference to <FIG>.

As shown in <FIG>, to improve stabilization of the drive shaft <NUM> while allowing one or both of rotation and longitudinal motion, the first housing portion <NUM> can include the stabilizing flange <NUM> including a recess or the opening 1021A through which a proximal end of the drive shaft <NUM> can extend into or through.

To provide articulation of the lever <NUM>, the lever <NUM> can be operably coupled to the housing <NUM> via the first pin <NUM>. The lever <NUM> can be movable about the first pin <NUM> by a pivoting motion. In the example, the first pin <NUM> is retained in the housing <NUM>. In other examples, the first pin <NUM> may be retained by the lever <NUM> or may be part of the lever <NUM>. As shown in <FIG>, the lever <NUM> can be biased to a default position (<FIG>) by lever return spring <NUM>. In the example, lever return spring <NUM> can be constrained between the housing <NUM> and the lever <NUM>. In some examples, the lever return spring <NUM> can be provided as any suitable type of biasing element, such as a helical spring, an elastomeric component, an elastomeric band, or an elastomeric block arranged to bias the lever to a default position. Such a biasing element can be strained, for example by compression, extension, torsion or deflection, and elastically return to its original form, or substantially original form.

As a general overview, to transmit an input motion (e.g., input force F1) received at the lever <NUM>, a first end of the coupling link <NUM> can be connected to the lever <NUM> via the second pin <NUM>. A second end of the coupling link <NUM> can be connected to a first end of the drive link <NUM> via the third pin <NUM>. As such, the coupling link <NUM> can connect the lever <NUM> to the drive link <NUM>. A second end of the drive link <NUM> can be connected to the housing <NUM> via the fourth pin <NUM>. The drive link <NUM> can be formed as a yoke. For example, as shown in <FIG>, the drive link <NUM> can include a base 1046A between the first end and the second end of the drive link <NUM>. A pair of spaced apart legs 1046B can extend from the base 1046A of drive link <NUM> such that the ends of the legs 1046B form the second end of drive link <NUM>.

The illustrative forceps <NUM> includes a drive shaft motion transfer assembly <NUM> coupled to the housing <NUM>. The drive shaft motion transfer assembly <NUM> can include the drive body <NUM> which functions to transmit an input force F1 from the lever <NUM> to the drive shaft <NUM> to retract or extend the drive shaft <NUM> (e.g., to open or close jaws <NUM>).

In addition to transmitting the input force F1 from the lever <NUM> to the drive shaft <NUM>, in some examples, and as shown in the example forceps <NUM>, the drive shaft motion transfer assembly <NUM>, including the drive body <NUM> can also transmit a rotational motion from the rotational actuator <NUM>, through the outer hub <NUM>, to both the drive shaft <NUM> and the outer shaft <NUM>. However, not all examples of the drive body <NUM> require that the drive body <NUM> transmit both a longitudinal motion and a rotational motion to the drive shaft <NUM>. In some examples, the drive body <NUM> may only be configured to transmit one or the other of a longitudinal motion and a rotational motion through the drive body <NUM> to the drive shaft <NUM>. For example, some medical devices may employ the extension or retraction features of forceps <NUM> but without rotation; and vice versa, other medical devices may employ the rotation features without the extension or retraction features.

In the illustrative drive shaft motion transfer assembly <NUM>, the drive body <NUM> can be positioned around the drive shaft <NUM>. The drive shaft <NUM> can extend through a passageway <NUM> in the drive body <NUM> (<FIG>, <FIG>). In some examples, the passageway <NUM> may be formed as a center bore, though in some examples, the passageway <NUM> does not need to be central and/or does not need to be provided as a circular bore. In other examples, the passageway <NUM> can be square, polygonal, irregular, or include a notch. In some examples, the passageway <NUM> can include a channel. In some examples the passageway <NUM> may not surround the drive shaft <NUM>.

The drive body <NUM> can be located distal with respect to the lever <NUM> and can be coupled to the lever <NUM>. In the example, the drive body <NUM> is coupled to the lever <NUM> indirectly through a series of linkages. The drive body <NUM> can be connected to and receive an input force F1 from the lever <NUM> via the drive link <NUM> to retract or extend the drive shaft <NUM> relative to the housing <NUM> and the outer shaft <NUM> (thereby closing or opening the jaws <NUM>). The drive body <NUM> can be positioned within the yoke formed by the drive link <NUM> to receive the input from the drive link <NUM>.

The drive shaft motion transfer assembly <NUM> can include the force-limiting spring <NUM> and the clip <NUM>. The force-limiting spring <NUM> can be positioned around the drive body <NUM>. The clip <NUM> can be positioned on the drive body <NUM> adjacent and end of the force-limiting spring <NUM>. The clip <NUM> can be fixed to the drive shaft <NUM>. In some examples, the force-limiting spring <NUM> can be any suitable type of biasing element such as an elastomeric component, an elastomeric band, or an elastomeric block that can be elastically deformed and return to its original state, or substantially original state. In some examples, clip <NUM> may be inserted onto the drive shaft <NUM> via one or more slots (such as vertical slots 1070A and 1070B),. In some examples the clip can be flat, while in other examples, the clip may be non-planar or have irregular, non-flat surfaces.

In some examples, the drive shaft motion transfer assembly <NUM> can include the outer hub <NUM> which can be connected to the drive body <NUM>. The outer hub <NUM> can include an inner surface <NUM> within which the drive body <NUM>, the force-limiting spring <NUM>, and the clip <NUM> (<FIG>, <FIG>) can translate longitudinally together.

The rotational actuator <NUM> can be positioned around and connected to the outer hub <NUM>. The rotational actuator <NUM> can be rotationally constrained to the outer hub <NUM> and axially constrained to the outer hub <NUM>. The rotational actuator <NUM> can also be axially constrained with respect to the housing <NUM>. The nose <NUM> can be connected to a distal end of the outer hub <NUM>, for example, by a snap fit, adhesive or threaded connection. The drive shaft <NUM> and the outer shaft <NUM> can extend through and out of nose <NUM>. In some examples the rotational actuator <NUM> and/or the nose <NUM> can be omitted and the outer hub <NUM> can act as the rotational actuator <NUM> and/or the nose <NUM> to receive a rotation input directly from a user. In some examples, instead of the nose <NUM> being connected to a distal end of the outer hub <NUM>, the nose <NUM> can be connected directly to the rotational actuator <NUM>, for example, by a snap fit, adhesive or threaded connection.

In the example of <FIG>, axial retention of the rotational actuator <NUM> relative to housing <NUM> can be provided by axially constraining the rotational actuator <NUM> between the housing <NUM> and the nose <NUM>. A connection between a first snap fit connector 1060C on the outer hub <NUM> and a second snap fit connector 1062C on the nose <NUM> can constrain the rotational actuator <NUM> from moving distally. The first and second snap fit connectors are shown merely as an example, any type of snap fit connectors, or otherwise, may be provided. In this arrangement, the outer hub <NUM> can be axially constrained with respect to the housing <NUM> by a proximal housing flange 1060A and a distal housing flange 1060B of the outer hub <NUM>, which can be captured by surfaces of the housing <NUM> that interface with the proximal housing flange 1060A and the distal housing flange 1060B. Furthermore, since the nose <NUM> is axially constrained to the outer hub <NUM>, the rotational actuator <NUM> can also be axially constrained to the outer hub <NUM>, the nose <NUM> and the housing <NUM> by being captured between the nose <NUM> and the housing <NUM>. In other words, the nose <NUM> engages the outer hub <NUM> in an axial direction to provide axial retention of both the nose <NUM> as well as the rotational actuator <NUM>.

<FIG> illustrates a partial cross-sectional view of the forceps <NUM> of <FIG> showing the lever <NUM> in a distal position (e.g., an unactuated position), in accordance with at least one example. <FIG> illustrates a partial cross-sectional view of the forceps <NUM> of <FIG> showing the lever <NUM> being moved proximally (e.g., an actuated position, one of a plurality of actuated positions or user positions), in accordance with at least one example. <FIG> illustrates a partial cross-sectional view of the forceps <NUM> of <FIG> showing the lever <NUM> moved further proximally (e.g., into a further actuated position, which in some examples can be a fully-actuated position, and in this case, into a force limiting or over-travel state), in accordance with at least one example. Note that a force limiting state is a position of the drive body <NUM> that occurs when a force applied to the lever <NUM> and transferred to the drive body <NUM> exceeds a predetermined force that is based on a preload of the force-limiting spring <NUM>. Force limiting can occur in other actuated positions whenever the predetermined force is exceeded.

<FIG>, <FIG>, and <FIG> will be discussed together and provide a general illustration of how the drive body <NUM>, the force-limiting spring <NUM>, and the clip <NUM> can function on the drive shaft <NUM> in response to the lever <NUM> providing an input to a linkage between the lever <NUM> and the drive body <NUM>. The components of the forceps <NUM> shown in <FIG>, <FIG>, and <FIG> include the housing <NUM> having stabilizing flange <NUM>, the lever <NUM>, the drive shaft <NUM>, the trigger <NUM>, the coupling link <NUM>, the drive link <NUM>, the drive body <NUM>, the force-limiting spring <NUM>, the clip <NUM>, the outer hub <NUM>, a spool <NUM>, the cross pin <NUM>, and the trigger return spring <NUM>. The drive shaft <NUM> can include the first horizontal slot 1069A, the second horizontal slot 1069B, the first vertical slot 1070A, and the second vertical slot 1070B (hidden here, but viewable in <FIG>). The drive body <NUM> includes the body portion <NUM>, the anchor portion <NUM> (including distal spring seat <NUM>), the window portion <NUM> (including the first window 1084A and the second window 1084B, the neck portion <NUM>, and the collar <NUM> (including the drive surface 1090A and the second distal spring seat <NUM>, also shown in <FIG>, and close-up in <FIG>). The outer hub <NUM> includes the inner surface <NUM>. The spool <NUM> can include a proximal trigger return spring seat <NUM>. The spool <NUM> is shown as one example of a motion transfer body designed to transmit motion received from an actuator to a shaft (e.g., received from trigger <NUM> and transmitted to blade shaft <NUM>). In other examples a motion transfer body within this disclosure need not be spool-shaped, such as in examples where the spool <NUM> does not need to be rotatable.

As shown in <FIG>, when the lever <NUM> is in a distal position (e.g., default position, open position of jaws <NUM>), the drive body <NUM> is positioned within the channel formed by inner surface <NUM> of outer hub <NUM>. Most of the body portion <NUM> of the drive body <NUM> is within the channel of the outer hub <NUM>. The drive shaft <NUM> is in a first position with respect to housing <NUM> as it is not being pulled proximally (e.g., unactuated position, non-retracted position) by clip <NUM> and is within the opening in the stabilizing flange <NUM>. As a result, the jaws <NUM> are in an open position as shown in <FIG>.

As shown in <FIG>, when the lever <NUM> is being moved proximally, the lever <NUM> pulls the bottom end of the drive link <NUM> in a proximal direction with respect to housing <NUM> via the coupling link <NUM>. The drive link <NUM> is connected to the drive body <NUM> at the neck portion <NUM> and pushes on the drive surface 1090A of the collar <NUM>, causing the drive body <NUM> to move in a proximal direction longitudinally with respect to the housing <NUM> (see <FIG> for a closeup view of the drive body <NUM>). As a result, a greater portion of the body portion <NUM>, including the window portion <NUM>, of the drive body <NUM> moves out the channel of the outer hub <NUM>. When the drive body <NUM> is pulled proximally, the force-limiting spring <NUM> and the clip <NUM> move along with the drive body <NUM> in the same positions with respect to the drive body <NUM>.

In other words, the distal spring seat <NUM> drives the force-limiting spring <NUM>, which drives the clip <NUM>, along with the drive body <NUM>. When the drive force supplied by the drive link <NUM> is less than the preload force in the force-limiting spring <NUM>, the force-limiting spring <NUM> acts like a rigid body and the ends of the force-limiting spring <NUM> move together. As such, the drive body <NUM> moves proximally with respect to the housing <NUM> and the clip <NUM> moves proximally with respect to the housing <NUM>. Because the clip <NUM> is longitudinally locked to the drive shaft <NUM> at the first vertical slot 1070A and the second vertical slot 1070B, the drive shaft <NUM> also moves proximally with respect to the housing <NUM>. As the drive shaft <NUM> moves proximally (e.g., is retracted), the end effector <NUM> becomes actuated. In this example, actuating the end effector <NUM> includes the jaws <NUM> beginning to close.

In other words, in the situation of <FIG>, the lever <NUM> may be closed due to user input to close jaws <NUM>. Movement of the lever <NUM> causes movement of drive body <NUM>. Closing lever <NUM> causes the coupling link <NUM> to pull drive link <NUM> proximally with respect to housing <NUM>, which causes longitudinal translation of drive body <NUM> in the proximal direction. Moving the drive body <NUM> proximally causes longitudinal translation of the drive shaft <NUM> in the proximal direction because the drive body <NUM> and the drive shaft <NUM> are connected via the clip <NUM>. As a result of the movement of the drive shaft <NUM>, a mechanism on the jaws <NUM> is actuated, closing the jaws <NUM>. As shown in the illustrative example, while the drive link <NUM> drives the drive body <NUM> longitudinally, the drive body <NUM> can still be free to rotate inside the yoke of the drive link <NUM> and can rotate relative to the drive link <NUM>. However, in some examples, the rotation aspect may be omitted.

In the illustrative example, at any time during use, regardless of whether the jaws <NUM> are opened or closed, the jaws <NUM> can be rotated. For example, rotation of the rotational actuator <NUM> rotates the outer hub <NUM>, which beneficially transfers rotational motion to rotate the outer shaft <NUM> and the drive body <NUM>. Because drive body <NUM> is locked (e.g., constrained) to the drive shaft <NUM> via the clip <NUM>, the drive shaft <NUM> can also rotate with the outer shaft <NUM>. Thus, the outer shaft <NUM> and the drive shaft <NUM> can be rotationally locked together (e.g., rotationally constrained) at a proximal end of forceps <NUM>, and as is described further herein, the outer shaft <NUM> and the drive shaft <NUM> can also be rotationally locked or constrained together at a distal end of the forceps <NUM> (such as by guide <NUM> shown in the forceps <NUM> of FIG. 20A, described further herein).

Further, first horizontal slot 1069A and second horizontal slot 1069B in drive shaft <NUM> can engage and rotate cross pin <NUM> when the drive shaft <NUM> is rotated, to rotate blade shaft <NUM> and spool <NUM>. Thus, the drive shaft <NUM> and blade assembly (<NUM>, 1032A) can be rotationally constrained (e.g., fixed, locked together) at a proximal end of forceps <NUM> via cross pin <NUM> (<FIG>, <FIG>). In other words, the blade assembly (<NUM>, 1032A) can be rotationally constrained to the drive shaft <NUM> at a longitudinal location along the longitudinal axis A1 (<FIG>) that is proximal of the jaws <NUM> and proximal of the drive body <NUM>.

If actuation is complete, to return the jaws <NUM> to the unactuated state of <FIG>, the lever return spring <NUM> can act on the lever <NUM> to return (e.g., bias) the lever <NUM> to the default position (e.g., distal position). Since the lever <NUM> is coupled to the drive shaft <NUM> by a series of linkages, the lever return spring <NUM> also returns the drive shaft <NUM> and thereby the jaws <NUM> to a default position, which in the present example is an open position. As shown in the condition of <FIG>, it is possible that jaws <NUM> may become stuck or caught on an anatomical feature or another medical device in the patient when the lever <NUM> is being moved proximally. In such a situation, the jaws <NUM> may not be able to close completely. However, the drive motion transfer assembly <NUM> of forceps <NUM> includes a force limiting feature that prevents the drive shaft <NUM> from being retracted to the point where the jaws <NUM> become damaged by the additional input force F1 from the user being transmitted to the jaws <NUM>. The forceps <NUM> can be capable of achieving a force limiting state (e.g., an over-travel state) in instances where the lever <NUM> is being moved proximally and the jaws <NUM> get stuck in an open or partially open position and the user continues to apply a force to the lever <NUM>.

To prevent damage to the jaws <NUM>, the force-limiting spring <NUM> can be configured to absorb excess force applied to the lever <NUM> instead of transferring the excess force to the jaws. For example, the force-limiting spring <NUM> can extend from a first end portion to a second end portion and can be in a preloaded state between the distal spring seat <NUM> and a distal end surface <NUM> of the clip <NUM>. The force-limiting spring <NUM> can push the clip <NUM> in a proximal direction such that the clip <NUM> contacts and is supported by a clip support surface (e.g., clip support surface <NUM>, <FIG>) of the body portion <NUM> adjacent a proximal end of the window portion <NUM>. The clip support surface (<NUM>, <FIG>) can function as a proximal stop for the clip <NUM>. With the force-limiting spring <NUM> in compression, the distal spring seat <NUM> can be configured to receive a first spring force from the distal end portion of the force-limiting spring <NUM>, and the clip <NUM> can be configured to receive a second spring force from the proximal end portion of the force-limiting spring <NUM>. The drive body <NUM> can include the clip support surface <NUM> configured to transmit the first force to the second surface (e.g., proximal end surface <NUM>) of the clip <NUM> when the force-limiting spring <NUM>, under a load, such as a preload, drives the clip <NUM> against the clip support surface <NUM>.

With continued reference to <FIG>, in an example of force limiting, the lever <NUM> is moved to a proximal position by the user, exerting force on the drive link <NUM> and pulling the bottom end of drive link <NUM> further in a proximal direction, although the jaws <NUM> are blocked from closing further. Consequently, the drive link <NUM> exerts more force on the drive surface 1090A of the collar <NUM>, moving the drive body <NUM> further proximally with respect to housing <NUM> and the drive body <NUM> moves farther proximally out of the inner surface <NUM> that forms a passageway 1098A (<FIG>) of the outer hub <NUM>. The outer hub <NUM> can be constrained from axial movement with respect to the housing <NUM> by proximal housing flange 1060A and distal flange 1060B of the outer hub <NUM> which can be captured by a portion of housing <NUM>. As the drive body <NUM> moves proximally, the distal spring seat <NUM> of the anchor portion <NUM> of the drive body <NUM> pushes on a distal end of the force-limiting spring <NUM>. However, because the jaws <NUM> are unable to close further, the drive shaft <NUM> cannot move proximally along with the drive body <NUM>. Further, because the clip <NUM> is locked to drive shaft <NUM>, the clip <NUM> cannot move proximally with respect to housing <NUM> either. Thus, the drive body <NUM> moves proximally relative to the clip <NUM> and the drive shaft <NUM> by sliding (e.g., linear motion, longitudinal motion or translating) proximally relative to the clip <NUM>.

The clip <NUM>, by remaining fixed with respect to the drive shaft <NUM>, effectively moves distally relative to the drive body <NUM> within the first window 1084A and the second window 1084B of the window portion <NUM>. As such, the force-limiting spring <NUM> becomes more compressed between the distal spring seat <NUM> and the distal end surface of the clip <NUM> when the force exerted on the drive link <NUM> is greater than a preload of the force-limiting spring <NUM>. The user can feel this force limiting feature as an increase in force on the lever <NUM> due to the additional compression of the force-limiting spring <NUM> over the preloaded state, however, the lever <NUM>, which is no longer transferring motion to the drive shaft, is still movable.

In other words, the lever <NUM> can be fully moved into a proximal position, moving the drive body <NUM> proximally in the housing <NUM> as far as the drive shaft <NUM> will go. At the same time, the jaws <NUM> can become locked in an open position (e.g., caught on something), preventing the drive shaft <NUM> from moving even though the lever <NUM> is being moved proximally. Because the drive shaft <NUM> cannot move proximally in the housing <NUM>, the clip <NUM> cannot move proximally with respect to the housing <NUM>. However, because the clip <NUM> can slide within the window portion <NUM>, the drive body <NUM> is able to move (e.g., slide, translate) proximally with respect to the clip <NUM>, changing the position of the clip <NUM> within the window portion <NUM>. As the drive body <NUM> moves with respect to the clip <NUM>, the force-limiting spring <NUM> compresses and absorbs the force exerted on the lever <NUM>. Because moving the drive shaft <NUM> causes the jaws <NUM> to close, the ability to prevent the drive shaft <NUM> from moving when the jaws <NUM> are unable to close prevents the jaws <NUM> from becoming damaged when a user is unaware of the jaws <NUM> being stuck open and the user continues to pull the lever <NUM> proximally to close the jaws <NUM>.

In addition to the clamping system shown and described in <FIG>, <FIG> and <FIG>, <FIG>, <FIG> and <FIG> also illustrate components that can be used to actuate another system, such as, but not limited to, a cutting system for actuating a blade assembly (e.g., blade shaft <NUM>, <FIG>).

As shown in the illustrative example of <FIG>, <FIG> and <FIG>, the spool <NUM> can be positioned around a proximal end of the drive shaft <NUM> proximal to the drive body <NUM> and can be connected to a proximal end of the blade shaft <NUM> via cross pin <NUM>. Thus, the blade assembly (<NUM>, 1032A) is attached to a proximal end of the drive shaft <NUM> via the cross pin <NUM> extending through the first horizontal slot 1069A and the second horizontal slot 1069B. The spool <NUM> can be within the housing <NUM> distal to the stabilizing flange <NUM>. The spool <NUM> can be axisymmetric and can be longitudinally movable with respect to the drive shaft <NUM>. In an alternate example, where the drive shaft <NUM> and blade shaft <NUM> do not need to rotate, the spool <NUM> can be a non-spool shaped body.

The trigger <NUM> can be connected to the spool <NUM>. A proximal end of the trigger <NUM> can include one or more legs, in this example, two legs forming a yoke, that fit around and can be connected to the spool <NUM>. The spool <NUM> can rotate relative to trigger <NUM> to allow the drive shaft <NUM> to rotate. The trigger return spring <NUM> can be a helical compression spring positioned on the drive shaft <NUM> between a distal end of spool <NUM> and a proximal end of drive body <NUM>. The trigger return spring <NUM> can be assembled by loading the trigger return spring <NUM> onto the drive shaft <NUM> and then positioning the spool <NUM> onto the drive shaft <NUM> to connect trigger <NUM> to the blade shaft <NUM>. In some examples, the trigger return spring <NUM> can be any suitable biasing element such as an elastomeric component, elastomeric band or elastomeric block that can be strained and elastically return to its original form, or substantially original form.

To facilitate extension and retraction of the blade shaft <NUM>, the cross pin <NUM> can move within the first horizontal slot 1069A and the second horizontal slot 1069B of the drive shaft <NUM>. In some examples, the dimensioning of first horizontal slot 1069A and the second horizontal slot 1069B can be such that they act as guide rails for the cross pin <NUM> to control longitudinal reciprocation of spool <NUM>. In such an example, the spool <NUM> can be guided by the drive shaft <NUM>. The first horizontal slot 1069A can extend into a first side of the drive shaft <NUM>, and the second horizontal slot 1069B can extend into a second side of the drive shaft <NUM> across from or opposing the first horizontal slot 1069A. The first horizontal slot 1069A and the second horizontal slot 1069B are near a proximal end of the drive shaft <NUM>. As such, the cross pin <NUM> can extend through the spool <NUM>, the first horizontal slot 1069A of the drive shaft <NUM>, the blade shaft <NUM>, and the second horizontal slot 1069B of the drive shaft <NUM>. The second arm 1034D is hidden in <FIG>, <FIG> and <FIG>. The spool <NUM> can include a proximal trigger return spring seat <NUM> at a distal end of the spool <NUM>. As such, the trigger return spring <NUM> can be positioned on the drive shaft <NUM> between a proximal end of the drive body <NUM>, or the second distal spring seat <NUM>, and a distal end of the spool <NUM>, or proximal trigger return spring seat <NUM>. In an alternate example, a second passageway 1064A (<FIG>) in the spool <NUM> can ride on the drive shaft <NUM> and be guided for longitudinal movement along the drive shaft <NUM>.

As a general overview, the cutting system can operate as described in the following manner. Compressing a distal end of the trigger <NUM> can move a proximal end of the trigger <NUM> in a distal direction with respect to the housing <NUM>, which can cause the spool <NUM> to move distally. The spool <NUM> can push against a proximal end of the trigger return spring <NUM>. The preload of the trigger return spring <NUM> can be overcome such that trigger return spring <NUM> compresses. The spool <NUM>, connected to the blade shaft <NUM> by the cross pin <NUM>, can cause the blade shaft <NUM> to move longitudinally in a distal direction via the cross pin <NUM> traveling along, or within, the first horizontal slot 1069A and the second horizontal slot 1069B of the drive shaft <NUM>, causing blade 1032A (<FIG>) to protrude from a distal end of the drive shaft <NUM>. When the trigger <NUM> is not compressed, the trigger return spring <NUM> can expand, pushing the spool <NUM> and the blade shaft <NUM> in a proximal direction to a position in which the blade 1032A (<FIG>) does not protrude from the drive shaft <NUM>.

<FIG> is an isometric view of an example drive shaft motion transfer assembly <NUM> that can be used in the forceps <NUM> of <FIG>, including the drive body <NUM>, the force-limiting spring <NUM>, the clip <NUM> and the drive shaft <NUM>. <FIG> is an isometric view of the drive body <NUM> and the clip <NUM> on the drive shaft <NUM> with the force-limiting spring <NUM> in cross-section. <FIG> is an exploded view of the drive body <NUM>, the clip <NUM>, and the drive shaft <NUM>. <FIG>, <FIG>, and <FIG> will be discussed together. The motion transfer assembly <NUM> serves to transfer a force input F1 (<FIG>) applied by a user at lever <NUM> and/or a rotational input R1 applied by a user at rotational actuator <NUM>, to the end effector <NUM> (<FIG>).

The motion transfer assembly <NUM> of the example of <FIG> and <FIG> is described as follows. The drive shaft <NUM> can include the first vertical slot 1070A and the second vertical slot 1070B. The drive body <NUM> can include the body portion <NUM>, the anchor portion <NUM> (including the distal spring seat <NUM>), and the window portion <NUM> (including the first window 1084A and the second window 1084B), surfaces to interface with the drive link <NUM>, including the collar <NUM>, the neck portion <NUM> and the distal collar <NUM> (e.g. a distal surface, a proximally-facing distal face). The clip <NUM> can include a clip body <NUM> having a proximal end surface <NUM> and a distal end surface <NUM> (e.g., a proximal spring seat <NUM>), a clip slot <NUM>, clip notches 1108A and 1108B (including a first clip notch 1108A and a second clip notch 1108B). The window portion <NUM> can further include retaining ribs 1110A and 1110B (including a first retaining rib 1110A and a second retaining rib 1110B) and window notches 1112A and 1112B (including a first window notch 1112A and a second window notch 1112B). The drive shaft <NUM>, drive body <NUM>, force-limiting spring <NUM>, and the clip <NUM> can have the same structure and function as described with respect to <FIG>.

The clip <NUM> can have the clip body <NUM> having the proximal end surface <NUM> opposite a distal end surface <NUM>. The distal end surface <NUM> of the clip body <NUM> can provide the proximal spring seat <NUM> for supporting the force-limiting spring <NUM>. The clip slot <NUM> can be a slot that extends into the clip body <NUM> from a bottom of the clip body <NUM>. The clip slot <NUM> can have a width about equal to or slightly wider than the length from first vertical slot 1070A to second vertical slot 1070B of the drive shaft <NUM>. In an alternate example where the clip <NUM> is flexible, the clip slot <NUM> may have a width slightly narrower than the length from first vertical slot 1070A to second vertical slot 1070B of the drive shaft <NUM>. The clip notches 1108A and 1108B can extend into the clip body <NUM> from the clip slot <NUM>. The first clip notch 1108A can extend into the clip body <NUM> from a first side of the clip slot <NUM> at a top of the clip slot <NUM>, and the second clip notch 1108B can extend into the clip body <NUM> from a second side of the clip slot <NUM> at the top of the clip slot <NUM>. As such, the second clip notch 1108B can extend into the clip body <NUM> from the clip slot <NUM> opposite first the clip notch 1108A.

The window portion <NUM> can include the first window 1084A extending through a first side of body portion <NUM> and the second window 1084B extending through a second side of the body portion <NUM> opposite the first window 1084A. The first retaining rib 1110A can extend into the first window 1084A from a top of the body portion <NUM>. The first retaining rib 1110A can extend from an upper portion of the top of the body portion <NUM> such that the first retaining rib 1110A forms a first lip at the top of the body portion <NUM>. The second retaining rib 1110B can extend into the second window 1084B from a top of the body portion <NUM>. The second retaining rib 1110B can extend from an upper portion of the top of the body portion <NUM> such that the second retaining rib 1110B forms a second lip at the top of body portion <NUM>. The first window notch 1112A can be included as part of the first window 1084A at a distal end of the first retaining rib 1110A. The second window notch 1112B be included in as part of the second window 1084B at a distal end of the second retaining rib 1110B. In alternate examples, the first window notch 1112A and the second window notch 1112B can be positioned anywhere along the first retaining rib 1110A and the second retaining rib 1110B, respectively. In a potentially beneficial example, placement of the first and second window notches 1112A and 1112B may be far enough distal such that the clip <NUM> never aligns with the window notches 1112A and 1112B as assembled, even when the force-limiting spring <NUM> is compressed. Preventing the clip <NUM> from aligning with the window notches 1112A and 1112B prevents the clip <NUM> from egressing out of the window notches 1112A and 1112B.

When the drive body <NUM> is on the drive shaft <NUM>, the clip <NUM> can be positioned on the window portion <NUM> of the drive body <NUM>. The clip slot <NUM> can fit around drive body <NUM> at the window portion <NUM> and can fit around the drive shaft <NUM> at the first vertical slot 1070A and the second vertical slot 1070B such that the clip <NUM> fits within and is accepted by the first vertical slot 1070A and the second vertical slot 1070B of the drive shaft <NUM>. A proximal end of the force-limiting spring <NUM> can contact the proximal spring seat <NUM> of the clip <NUM>. A distal end of the force-limiting spring <NUM> can contact the distal spring seat <NUM>. The distance between the proximal spring seat <NUM> and the distal spring seat <NUM>, being less than a length of the force-limiting spring <NUM>, causes the force-limiting spring <NUM> to be compressed and places a preload upon the force-limiting spring <NUM>. The first clip notch 1108A can fit around first retaining rib 1110A. The second clip notch 1108B can fit around second retaining rib 1110B. The clip <NUM> can move longitudinally within the first window 1084A and the second window 1084B at window portion <NUM> and along the first retaining rib 1110A and the second retaining rib 1110B.

The first vertical slot 1070A and the second vertical slot 1070B on the drive shaft <NUM> longitudinally and rotationally lock the clip <NUM> to the drive shaft <NUM>. The clip notches 1108A and 1108B and the retaining ribs 1110A and 1110B can fit together to retain the clip <NUM> to both the drive body <NUM> and the drive shaft <NUM>, preventing the clip <NUM> from backing out of first vertical slot 1070A, second vertical slot 1070B, and the window portion <NUM>, and rotationally lock the clip <NUM> to drive body <NUM>. However, some instances (e.g., a force limiting state), as described herein, the drive body <NUM> is still capable of moving longitudinally with respect to the clip <NUM> such that the clip <NUM> moves longitudinally with respect to drive body <NUM> within the first window 1084A and the second window 1084B along the retaining ribs 1110A and 1110B. As a result, the drive body <NUM> can move longitudinally relative to the drive shaft <NUM> The clip <NUM> is prevented from backing out or popping off drive body <NUM> and the drive shaft <NUM> while drive body <NUM> moves longitudinally relative to the clip <NUM> and the drive shaft <NUM>. In the assembled state, the clip <NUM> can be misaligned with the window notches 1112A and 1112B but aligned with first and second vertical slots 1070A and 1070B (<FIG>).

In this arrangement, the clip <NUM> can be fixed to the drive shaft <NUM> and slidably coupled to the drive body <NUM>. The rotational motion can be delivered from the drive body <NUM> through the clip <NUM> to the drive shaft <NUM>, and the linear motion can be delivered from the drive body <NUM> indirectly through the force-limiting spring <NUM> to the clip <NUM> and from the clip <NUM> to the drive shaft <NUM> to translate the drive shaft <NUM>.

In other words, the clip <NUM> can be coupled to the drive body <NUM> and the drive shaft <NUM> to rotationally fix the drive body <NUM> to the drive shaft <NUM>. The drive body <NUM> can be configured to transfer a rotational input received from the rotational actuator <NUM> into a rotational motion of the clip <NUM>, and the clip <NUM> can be configured to transfer the rotational motion of the clip <NUM> into a rotational motion of the drive shaft <NUM>.

As shown in <FIG>, the input surfaces to receive an input from the drive link <NUM> (<FIG>, <FIG>, <FIG>) can include the collar <NUM> (e.g., first face), the neck portion <NUM> (e.g., minor diameter surface) and the distal collar <NUM> (e.g., distal face). The collar <NUM>, the neck portion <NUM> and the distal collar <NUM> can form a spool portion of the drive body <NUM>. In some examples, the spool portion (e.g., <NUM>, <NUM> and <NUM>) can be an axisymmetric spool portion. In some examples, a distal face 1088B of the proximal collar <NUM> and a proximal face 1089A of the distal collar <NUM> are planar. In some examples, a distal face 1088B of the proximal collar <NUM> and a proximal face 1089A of the distal collar <NUM> are parallel. In some examples, the spool portion allows for rotational displacement of the drive body <NUM> relative to the drive link <NUM>.

<FIG> is a partially exploded view of the motion transfer assembly <NUM> including the first example of the drive body <NUM> and the first example of the clip <NUM> showing the drive body <NUM> on the drive shaft <NUM>. <FIG> is an isometric view of the first example of the drive body <NUM> and the first example of the clip <NUM> showing the force-limiting spring <NUM> compressed and the clip <NUM> being assembled onto the drive shaft <NUM> along an insertion direction I1. <FIG> is a view of the first example of the drive body <NUM> and the first example of the clip <NUM> in a force limiting state (e.g., an over-travel position). <FIG>, <FIG>, and <FIG> will be discussed together to illustrate how the drive body <NUM>, the force-limiting spring <NUM>, and the clip <NUM> are assembled onto the drive shaft <NUM>.

The drive shaft <NUM> can include the first vertical slot 1070A and the second vertical slot 1070B. The drive body <NUM> can include the body portion <NUM>, the anchor portion <NUM>, and the window portion <NUM> (including the first window 1084A and the second window 1084B ). The clip <NUM> can include the clip body <NUM>, the proximal spring seat <NUM>, the clip slot <NUM>, the clip notches 1108A and 1108B (including the first clip notch 1108A and the second clip notch 1108B). The window portion <NUM> can further include the retaining ribs 1110A and 1110B (including first retaining rib 1110A and second retaining rib 1110B) and the window notches 1112A and 1112B (including first window notch 1112A and second window notch 1112B). The drive shaft <NUM>, the drive body <NUM>, the force-limiting spring <NUM>, and the clip <NUM> can have the same structure and function as described with respect to <FIG>.

To assemble the drive body <NUM>, the force-limiting spring <NUM> and the clip <NUM> onto the drive shaft <NUM>, first the drive body <NUM> can be positioned on the drive shaft <NUM>. Second, the force-limiting spring <NUM> can be positioned on the drive body <NUM> around the body portion <NUM> and the window portion <NUM> of drive body <NUM>. Third, the force-limiting spring <NUM> can be slid onto the drive body <NUM> from the proximal ends of the drive shaft <NUM> and the drive body <NUM>. Fourth, the force-limiting spring <NUM> can be compressed against the anchor portion <NUM> such that the force-limiting spring <NUM> is not positioned around the window notches 1112A and 1112B , as shown in <FIG>. The drive body <NUM> can be positioned on the drive shaft <NUM> such that first vertical slot 1070A and second vertical slot 1070B in the drive shaft <NUM> are aligned with the window notches 1112A and 1112B in the window portion <NUM> of the drive body <NUM>. The first vertical slot 1070A and the second vertical slot 1070B can be visible through the first window 1084A and the second window 1084B when the first vertical slot 1070A and the second vertical slot 1070B are aligned with the window portion <NUM>. The clip <NUM> can then be positioned onto the window portion <NUM> of drive body <NUM> at the window notches 1112A and 1112B such that the clip <NUM> also extends through first vertical slot 1070A and second vertical slot 1070B in the drive shaft <NUM>, as shown in <FIG>. In this method of assembly the clip <NUM> does not need to flex, stress or deform during assembly, in order to be installed.

As shown in <FIG>, the compression force is then removed from the force-limiting spring <NUM>, and the force-limiting spring <NUM> expands towards a preloaded state between anchor portion <NUM> and the clip <NUM>, pushing the clip <NUM> longitudinally within the window portion <NUM> until the clip <NUM> is against the clip support surface <NUM> of body portion <NUM> adjacent a proximal end of the window portion <NUM>, or proximal ends of first window 1084A and second window 1084B.

The clip notches 1108A and 1108B can engage retaining ribs 1110A and 1110B (e.g., or another retention element) as the clip <NUM> is moved proximally with respect to the window notches 1112A and 1112B. As shown in <FIG>, which also illustrates the position of the clip <NUM> relative to the drive body <NUM> in the force limiting or over-travel state, the drive body <NUM> moves proximally relative to the clip <NUM>. As such, the clip <NUM> can move longitudinally within the first window 1084A and the second window 1084B at the window portion <NUM>. The clip <NUM> can travel within the window portion <NUM>. The clip <NUM> cannot travel longitudinally outside of the window portion <NUM> because the body portion <NUM> on either side of the window portion <NUM> can stop the clip <NUM>.

The window notches 1112A and 1112B can function as slots that allow the clip <NUM> to be assembled onto the retaining ribs 1110A and 1110B. Keeping the clip <NUM> within the length of the retaining ribs 1110A and 1110B is desirable as the fit between the clip notches 1108A and 1108B and retaining ribs 1110A and 1110B retains the clip <NUM> on the drive body <NUM> and the drive shaft <NUM>. Positioning the clip <NUM> onto the window portion <NUM> and within first vertical slot 1070A and second vertical slot 1070B rotationally locks the clip <NUM> to the drive body <NUM> and rotationally and longitudinally locks the clip <NUM> to the drive shaft <NUM>. The fit between the retaining ribs <NUM> and 1110B and the clip notches 1108A and 1108B can help to transmit a rotational torque between the drive body <NUM> and the clip <NUM>. Compressing the force-limiting spring <NUM> to place the clip <NUM> on drive body <NUM> provides the force-limiting spring <NUM> a preload, which affects the amount of force necessary to initiate the force limiting state (e.g., the over-travel state). The higher the preload on the force-limiting spring <NUM>, the more force a user must apply before the force limiting state is initiated.

<FIG>, <FIG> illustrate an example of how the drive shaft <NUM> and outer shaft <NUM> can be constrained to one another and to the outer hub <NUM> and rotational actuator <NUM>. <FIG> illustrates a side view of a portion of the forceps of <FIG>, in accordance with at least one example. <FIG> includes the outer shaft <NUM>, the outer hub <NUM>, the housing <NUM> and the rotational actuator <NUM> (shown in phantom). <FIG> is a cross-sectional view of the rotational actuator <NUM> and outer hub <NUM> of <FIG> along line 7A-7A' but with the rotational actuator <NUM> shown in solid, in accordance with at least one example.

The outer hub <NUM> can be located around at least a portion of the drive body <NUM> and the drive shaft <NUM>. To transfer rotational motion from the outer hub <NUM> to the drive shaft <NUM>, the rotational motion received from the rotational actuator <NUM> can be transferred to the outer hub <NUM>; transferred from the outer hub <NUM> to the drive body <NUM>; transferred from the drive body <NUM> to the clip <NUM>; and transferred from the clip <NUM> to the drive shaft <NUM>. The rotational input received from the rotational actuator <NUM> can also be transferred from the outer hub <NUM> to the outer shaft <NUM> to rotate the outer shaft <NUM>. In other examples, the clip <NUM> can be omitted and/or the passageway <NUM> (e.g., bore) in the drive body <NUM> can be rotationally keyed to the drive shaft <NUM> to transfer the rotational input.

As shown in the combination of <FIG>, at the proximal portion of the forceps <NUM>, the rotational actuator <NUM> can be constrained to the outer hub <NUM> via a keyed interface. For example, the rotational actuator <NUM> can include an actuator-hub keyed interface <NUM> that is configured to be rotationally constrained to the outer hub <NUM> having a complimentary actuator-hub keyed interface <NUM>. The keyed interface <NUM>, <NUM> can constrain, couple, fix, lock, or limit rotation between the rotational actuator <NUM> and the outer hub <NUM>.

In this arrangement, the outer hub <NUM> can be configured to receive a rotational input from the rotational actuator <NUM> such that the rotational actuator <NUM> and outer hub <NUM> can be rotated relative to the housing <NUM>. In alternate examples, the rotational actuator <NUM> can be otherwise attached to the outer hub <NUM>, such as by integral molding, adhesive, welding, snap-fit, or any other suitable method. In some examples, the rotational actuator <NUM> can be omitted and the outer hub <NUM> can function as an actuator to receive a rotational input from a user directly. The rotational actuator <NUM> is merely shown as one example of a component to receive a rotational input from a user, any suitable rotational input device can be provided.

<FIG> illustrates a side view of a portion of the forceps of <FIG> including the housing <NUM>, the drive shaft <NUM>, the outer shaft <NUM>, the drive body <NUM> (having a first portion 1052A and a second portion 1052B), the force-limiting spring <NUM>, the drive link <NUM>, the outer hub <NUM> (shown in phantom), the sleeve <NUM>, and the jaws <NUM> in accordance with at least one example. <FIG> is a cross-sectional view of the outer hub <NUM> and the drive body <NUM> of <FIG> along line 8B-8B' with the outer hub <NUM> shown in solid, in accordance with at least one example.

To rotationally fix the outer hub <NUM> to the drive body <NUM>, the outer hub <NUM> and the drive body <NUM> can include a hub-body keyed interface. For example, the outer hub <NUM> can include the anti-rotation key <NUM>, and the drive body <NUM> can have a complimentary hub-body keyed interface, such as rotational keying slot <NUM>. The rotational keying slot <NUM> can be located at a second portion 1052B of the drive body <NUM> (e.g., distal portion). In this arrangement, the drive body <NUM> can be configured to receive a rotational input from the outer hub <NUM>, supplied to the outer hub <NUM> by the rotational actuator <NUM> (<FIG>).

The anti-rotation key <NUM> can include a ridge that extends out of the inner surface <NUM> of the outer hub <NUM> into the channel formed by the inner surface <NUM>. The anti-rotation key <NUM> can be sized to fit within the rotational keying slot <NUM> of the outer hub <NUM>. The rotational keying slot <NUM> can accept the anti-rotation key <NUM> such that the rotational keying slot <NUM> can be linearly translated, or otherwise longitudinally moved, along the anti-rotation key <NUM> in order to allow retraction and extension of the drive body <NUM> with respect to the outer hub <NUM> and the housing <NUM>.

In other words, the anti-rotation key <NUM> and rotational keying slot <NUM> constrain the outer hub <NUM> and the drive body <NUM> rotationally, but the drive body <NUM> can still move (e.g., slide, translate) along the longitudinal axis A1 relative to the outer hub <NUM> when the lever <NUM> is actuated by a user (<FIG>). The longitudinal movement of the outer hub <NUM> relative to the drive body <NUM> allows the drive body <NUM> to retract relative to the outer hub <NUM> when the lever <NUM> is actuated to close the jaws <NUM>. Such retraction of the drive body <NUM> results in retraction of the drive shaft <NUM>, up until a specified input force F1 is applied to the lever <NUM> that exceeds the preload of the force-limiting spring <NUM>. When the input force F1 exceeds the specified input force, the drive body <NUM> can continue to move proximally with respect to the drive shaft <NUM> and without retracting the drive shaft <NUM>. Thereby protecting the end effector <NUM> from receiving an excessive force and becoming damaged.

As shown in <FIG>, as well as in <FIG> and <FIG>, the outer hub <NUM> can be longitudinally constrained to the housing <NUM> while remaining rotatable relative to the housing <NUM>. This can be accomplished, for example, by the outer hub <NUM> including the proximal housing flange 1060A and the distal housing flange 1060B that interface with the housing <NUM> to longitudinally constrain a portion of housing <NUM> therebetween. In the illustrative example, the interface between the proximal housing flange 1060A and the housing <NUM> can constrain the outer hub <NUM> from moving distally relative to the housing <NUM>. In a corresponding fashion, the interface between the distal housing flange 1060B and the housing <NUM> can constrain the outer hub <NUM> from moving proximally relative to the housing <NUM>. One of the benefits of this arrangement is that the outer hub <NUM> is prevented from moving longitudinally with respect to the housing <NUM>, without impacting the ability of the outer hub <NUM> to rotate relative to the housing <NUM>, thereby rotating the end effector <NUM>. In other examples, the housing <NUM> can also or alternatively include a flange to interface with the outer hub <NUM> and thereby provide a similar longitudinal constraint. In some examples, a single flange can provide one or more interfaces with the housing <NUM> to constrain the outer hub <NUM> longitudinally with respect to the housing. In some examples, instead of the proximal housing flange 1060A and the distal housing flange 1060B, a single flange can provide the interface that constrains the outer hub <NUM> longitudinally with respect to the housing <NUM>. For example, by an interface such as a single flange on the outer hub <NUM> or a single flange on the housing <NUM> that is bounded proximally and distally by the other of the outer hub <NUM> and the housing <NUM>. Such alternate geometries are within the scope of this disclosure.

To transfer the rotational motion from the outer hub <NUM> to the drive shaft <NUM>, the transfer can occur from the outer hub <NUM> through the clip <NUM> to the drive body <NUM> and the drive shaft <NUM>. To transfer the rotational motion from the outer hub <NUM> to the outer shaft <NUM>, the outer hub <NUM> can be fixedly coupled to the outer shaft <NUM>. Examples of attachment of an outer hub to an outer shaft are shown and described in <FIG> and <FIG>.

<FIG> illustrate various examples for attaching a handpiece (e.g. <NUM>) to an outer shaft (e.g., <NUM>). Benefits of the attachment method of <FIG> include improved ease of manufacturing, ergonomics during manufacturing and quality.

<FIG> illustrates an example of a portion of the forceps <NUM> of <FIG> including a handpiece <NUM> connection to the outer shaft <NUM>, with the housing <NUM> and the outer hub <NUM> shown in cross-section. In the illustrative example, the sleeve <NUM> can be constrained to both the outer hub <NUM> and to the outer shaft <NUM>. The sleeve <NUM>, the outer hub <NUM> and the outer shaft <NUM> can be both rotationally and longitudinally constrained to each other. The sleeve can be positioned between the outer hub <NUM> and the outer shaft <NUM>.

To constrain the sleeve <NUM> to the outer hub <NUM>, the sleeve <NUM> can be affixed the outer hub <NUM>, such as by overmolding the outer hub <NUM> to the sleeve <NUM>. As shown in the illustrative example of <FIG>, the inner surface <NUM> of the outer hub <NUM> can be overmolded around the outer surface 1061A of the sleeve <NUM>. In some examples, instead of the inner surface <NUM> of the outer hub <NUM> being overmolded around the outer surface 1061A of the sleeve <NUM> as shown, all or a portion of the sleeve <NUM> can be embedded into the outer hub <NUM> such that the outer hub <NUM> contacts at least a portion of the outer surface 1061A and an inner surface 1061B of the sleeve <NUM>, or just the inner surface 1061B. Overmolding represents one possible method of attachment, the sleeve <NUM> can be affixed to the outer hub <NUM> by other methods, such as, but not limited to, adhesive, heat stake, press fit or a snap fit connection (e.g., one or more resiliently deformable geometric mating features between two components).

The sleeve <NUM> can be a hollow tube. With the outer hub <NUM> and the sleeve <NUM> affixed to one another, the outer shaft <NUM> can be inserted into and overlapped with the hollow sleeve <NUM>. In some examples, the insertion relationship between the outer shaft <NUM> and the sleeve <NUM> could be reversed, with the sleeve <NUM> having a smaller size or diameter than the outer shaft <NUM> such that the sleeve <NUM> can be inserted into the outer shaft <NUM>.

To constrain the sleeve <NUM> to the outer shaft <NUM>, the sleeve <NUM> is affixed to the outer shaft <NUM> by welding at one or more attachment locations. An example of a first attachment location <NUM> and a second attachment location <NUM> are shown in <FIG>, but any suitable attachment location for connecting the outer hub <NUM> to the sleeve <NUM> and from the sleeve <NUM> to the outer shaft <NUM> may be used. Any suitable welding method can be used including laser welding, tig welding, ultrasonic welding, or the like. The first attachment location is located within an aperture 1065A (<FIG>) in the outer hub <NUM> or another component of the handpiece. In some examples the aperture 1065A is a slot. The aperture extends through all or at least a portion of the outer hub <NUM> along an aperture path intersecting a lumen of the outer hub <NUM>, and the sleeve <NUM> is welded to the shaft along the aperture path.

The sleeve <NUM> and/or the outer shaft <NUM> can include a flange <NUM> at a proximal end of the sleeve <NUM> and/or the outer shaft <NUM>. In some examples, the flange <NUM> can be welded to, or formed in, the sleeve <NUM> and/or the outer shaft <NUM>. The flange <NUM> can improve the ability to affix the sleeve <NUM> or the outer shaft <NUM> to the outer hub <NUM>. A groove <NUM> or other formation can form a ring in the inner surface <NUM> of the outer hub <NUM>. In the example where the outer hub <NUM> is overmolded on to the sleeve <NUM>, there is not necessarily a groove <NUM>, but the outer hub <NUM> is molded onto the sleeve <NUM> in a complimentary form to the flange <NUM>.

In the example of <FIG> the sleeve <NUM> is shown as an annularly continuous tube. In some examples, the sleeve <NUM> need not be continuous along all or at least a portion of the sleeve <NUM> in any direction. One possible example of a discontinuous sleeve <NUM> is shown in <FIG>. A discontinuous sleeve can be used with any of the examples described herein. In some examples, the sleeve <NUM> need not be cylindrical, but rather have a rectangular or other polygonal-type cross-section, or an irregular cross-section.

During a surgical procedure, carbon dioxide or other gas may be used for insufflation, which introduces a pressure differential between the body cavity and the external environment. To prevent leakage, the O-ring <NUM> can create a seal between the drive shaft <NUM> and the outer hub <NUM> so that the pressure differential between the body cavity in which the distal portion of forceps <NUM> is positioned and the external environment in which the proximal portion of forceps <NUM> is located, is maintained (e.g., pneumatically sealed, substantially pneumatically sealed). In some examples, the O-ring <NUM> can be positioned adjacent and distal to the cylindrical portion <NUM> of the drive body <NUM>.

<FIG> illustrates second example of a portion of a forceps <NUM> including a handpiece <NUM> connection to an outer shaft <NUM>, with an outer hub <NUM> and a housing <NUM> shown in cross-section. As in the example of <FIG>, the outer shaft <NUM> can be rotatable relative to the housing <NUM>. Like numerals in <FIG> can represent like numerals in <FIG>, therefore, for the sake of brevity some elements may not be described in further detail in <FIG>. For example, a drive body <NUM>, a housing <NUM>, an outer hub <NUM>, an O-ring <NUM>, a cylindrical portion <NUM>, and a drive shaft <NUM> can be similar to or the same as the drive body <NUM>, housing <NUM>, outer hub <NUM>, O-ring <NUM>, cylindrical portion <NUM> and drive shaft <NUM> of <FIG>.

As illustrated in <FIG>, in some examples, a sleeve (e.g., <NUM>, <FIG>) can be omitted and the outer hub <NUM> can be directly or indirectly affixed to the outer shaft <NUM> without a sleeve. In the absence of the sleeve <NUM> as described in <FIG>, the outer hub <NUM> can be affixed to the outer shaft <NUM>, such as by overmolding the outer hub <NUM> directly or indirectly onto the outer shaft <NUM>, but the outer hub <NUM> can also be attached to the outer shaft <NUM> by adhesive, heat stake, press fit or a snap fit connection (e.g., one or more resiliently deformable geometric mating features between two components). An inner surface <NUM> of the outer hub <NUM> can be overmolded onto the outer surface 1228A of the outer shaft <NUM>. The outer shaft <NUM> can include a flange <NUM>. The flange <NUM> can improve attachment to the outer hub <NUM> and can help seal fluid from leaking through the hollow outer shaft <NUM> and into the handpiece <NUM> from a patient during surgery. In some examples, the outer shaft <NUM> can be non-cylindrical and can have a rectangular, polygonal or irregular cross-section.

<FIG> illustrates a third example of a portion of a forceps <NUM> including a handpiece <NUM> connection to an outer shaft <NUM> by a sleeve <NUM>, with the outer shaft <NUM> and housing <NUM> shown in cross-section. In contrast to the example of <FIG> and <FIG>, in the examples of <FIG> and <FIG>, the outer shaft <NUM> (<NUM> in <FIG>) may not be rotatable relative to the housing <NUM>. Like numerals in <FIG> can represent like numerals in <FIG> and <FIG>, therefore, for the sake of brevity, elements may not be described in further detail in <FIG>. For example, a drive body <NUM>, an O-ring <NUM>, a cylindrical portion <NUM>, and a drive shaft <NUM> can be similar to or the same as the drive body <NUM>, O-ring <NUM>, cylindrical portion <NUM> and drive shaft <NUM> of <FIG>.

In the example of <FIG>, the forceps <NUM> can have a non-rotating outer shaft <NUM> such that end effector <NUM> (<FIG>) is not rotatable relative to the housing <NUM>. In such an example where the outer shaft <NUM> need not rotate relative to a housing <NUM>, an outer hub (e.g., <NUM>, <FIG>) can be omitted. With no outer hub, the housing <NUM> can be affixed to the outer shaft <NUM> by the sleeve <NUM>. Eliminating the outer hub <NUM> can simplify the design and reduce cost.

As with the outer hub <NUM> to sleeve connection <NUM> in the example of <FIG>, in the example of <FIG>, the housing <NUM> can be affixed to the outer shaft <NUM>, such as by overmolding the housing <NUM> onto a sleeve <NUM>, however, the housing <NUM> could also be attached to the sleeve <NUM> by adhesive, heat stake, press fit or a snap fit connection (e.g., one or more resiliently deformable geometric mating features between two components). An inner surface of the housing <NUM> can be overmolded onto the outer surface 1361A of the sleeve <NUM>, although in some examples, all or a portion of the sleeve <NUM> can be embedded in the housing <NUM> such that the housing is over molded onto the outer surface 1361A and/or an inner surface 1361B of the housing <NUM>.

The sleeve <NUM> and/or the outer shaft <NUM> can include a flange <NUM>. The flange <NUM> can improve attachment to the housing <NUM> and to help seal fluid from leaking from a patient through the hollow outer shaft <NUM> and into the handpiece <NUM> during treatment.

As described in <FIG>, in <FIG>, the sleeve <NUM> can be overlapped with and affixed to the outer shaft <NUM>, such as by laser welding, tig welding, ultrasonic welding, brazing, or the like and will not be described in further detail with respect to <FIG>. The aperture 1065A in the outer hub <NUM> that was described in the example of <FIG> can be included in the housing <NUM> since there is no outer hub in the example of <FIG>.

<FIG> illustrates a fourth example of a portion of a forceps <NUM> including a handpiece <NUM> connection to an outer shaft <NUM> with a housing <NUM> shown in cross-section. Like numerals in <FIG> can represent like numerals in <FIG>, therefore, for the sake of brevity elements may not be described in further detail in <FIG>. For example, a drive body <NUM>, a cylindrical portion <NUM>, an O-ring <NUM>, a flange <NUM> and a drive shaft <NUM> can be similar to or the same as the drive body <NUM>, the housing <NUM>, the outer hub <NUM>, the O-ring <NUM>, the flange <NUM>, the cylindrical portion <NUM> and drive shaft <NUM> of <FIG>. The housing <NUM> can be the same as or similar to the housing <NUM> illustrated in <FIG>.

In the example of <FIG>, like the example of <FIG>, the forceps <NUM> can include an outer shaft <NUM> that is non-rotatable relative to housing <NUM>, such as when an end effector (e.g., <NUM>, <FIG>) does not need to be rotatable. In such an example where the outer shaft <NUM> does not rotate relative to a housing <NUM>, an outer hub (e.g. <NUM>, <FIG>; <NUM>, <FIG>) can be omitted. Furthermore, a sleeve (e.g., <NUM>, <FIG>; <NUM>, <FIG>) can also be omitted. Therefore, in the illustrative forceps <NUM>, the housing <NUM> can be directly or indirectly affixed to the outer shaft <NUM> without a sleeve.

As in the example of <FIG> in which the outer hub <NUM> is affixed to the outer shaft <NUM> without a sleeve, in the example of <FIG>, since there is no outer hub, the housing <NUM> can be affixed to the outer shaft <NUM>, directly or indirectly, such as by overmolding the housing <NUM> onto the outer shaft <NUM> without a sleeve. In addition to, or in lieu of overmolding, the housing <NUM> can also be attached the outer shaft <NUM> by adhesive, heat stake, press fit or a snap fit connection (e.g., one or more resiliently deformable geometric mating features between two components). The outer shaft <NUM> can, but is not require, to include a flange <NUM>. The flange <NUM> can improve attachment to the housing <NUM> and can help to seal fluid from leaking through the hollow outer shaft <NUM> and into the handpiece <NUM> from a patient during surgery.

While illustrative examples of a medical device are shown and described in this disclosure with respect to a forceps, the features can be used in other medical devices besides forceps for controlling end effectors used in diagnosis, treatment or surgery. Any representation of a forceps or description thereto is shown primarily for illustrative purposes to disclose features of various examples.

The forceps illustrated in the examples can be an electrosurgical device, however, the forceps may be any type of medical device that facilitates mechanical and/or electrical actuation of one or more end effectors or other elements arranged distal from the handpiece having one or more actuation systems. The actuation systems described, which can extend, retract or rotate one or more shafts to produce this result, can be used to effect actions in other medical devices (e.g., medical instruments).

The directional descriptors described herein are used with their normal and customary use in the art. For example, proximal, distal, lateral, up, down, top and bottom may be used to describe the apparatus with the longitudinal axis arranged parallel to a ground with the device in an upright position. The proximal direction refers to a direction towards the user end of the apparatus, and the distal direction represents a direction towards the patient end of the apparatus.

Relative terms described herein, such as, "about" or "substantially" may be used to indicate a possible variation of ±<NUM>% in a stated numeric value, or a manufacturing variation.

As described throughout this disclosure, components and assemblies can be operably connected to each other and interact with one another in a manner that provides improved actuation, a more compact and simpler design, lower cost, and better user satisfaction than traditional medical devices.

However, the present inventor also contemplates examples in which only those elements shown or described are provided. Moreover, the present inventor also contemplates examples using any combination or permutation of those elements shown or described (or one or more aspects thereof), either with respect to a particular example (or one or more aspects thereof), or with respect to other examples (or one or more aspects thereof) shown or described herein.

In the event of inconsistent usages between this document and any documents cited, the usage in this document controls.

Claim 1:
A medical device comprising:
a handpiece (<NUM>) configured to transfer motion from an actuator (<NUM>, <NUM>) to an end effector (<NUM>) of the medical device, the handpiece including:
a lumen extending through a portion of the handpiece (<NUM>);
a sleeve (<NUM>) affixed to the handpiece (<NUM>), the sleeve (<NUM>) extending through at least a portion of the lumen; and
a shaft (<NUM>) extending into the sleeve (<NUM>) and affixed to the sleeve (<NUM>);
characterized in that the sleeve (<NUM>) is affixed to the shaft (<NUM>) by a weld;
the medical device further comprising an aperture (1065A) that extends through at least a portion of the handpiece (<NUM>) intersecting the lumen, and
wherein the sleeve (<NUM>) is welded to the shaft (<NUM>) along the aperture (1065A).