Surgical stapling instrument comprising a magnetic element driver

TECHNICAL FIELD The present invention relates generally to surgical instruments, and more particularly to surgical stitching tools.

ii. State of the art [0002] Surgical stitching tools are used to simultaneously incision tissue and apply staple lines to opposed sides of an incision. Such tools typically include a pair of cooperating jaw members that, if the instrument is intended for endoscopic or laparoscopic applications, are capable of passing through the cannula channel. In various tools, one of the jaw members may receive a stapling cartridge having at least two transversely spaced rows of staples. The second jaw member may form an anvil with staple-forming pockets aligned with the rows of staples in the cartridge. The apparatus may further comprise a plurality of wedges or stapler slides which, when driven in a distal manner, they pass through openings in the stapler cartridge and engage with the staple drivers in order to launch the staples toward the anvil. The simultaneous cutting of tissue during the formation of rows of staples on both sides of the incision can reduce bleeding and simplify various surgical procedures. Under certain circumstances, the force required to form staples and simultaneously stretch the tissue may be significant.

[0003] Previous surgical stitching tools comprised a handle assembly, an elongated stem extending from the handle assembly and a gripper mounted movably on the elongated shaft, the gripper could be pivotably connected to the elongated stem. Often, the surgeon must use both hands to articulate the gripper relative to the shaft, i.e. the surgeon often must use one hand to hold the surgical tool holder assembly, e.g., and use a second hand to operate the lever, e.g., which articulated gripper. While such surgical instruments may be appropriate in many circumstances, the surgeon may not have a free hand to take the next step in the surgical procedure. The discussed discussion is only intended to present some of the shortcomings present in the field of the invention at this time and should not be regarded as a denial of the scope of the claim. US2007 / 106317 discloses an articulation joint for use in conjunction with a surgical instrument that has a part that must be passed through a trocar or similar structure, and then articulated to another portion of the device obtained in the trocar. Various examples of articulation with US2007 / 106317 include at least one fluid actuated cylinder or an elastically actuated member to articulate the surgical tool relative to the tool holder assembly. which must be passed through a trocar or similar structure, and then pivotally connected to another part of the device obtained in the trolley. Various examples of articulation with US2007 / 106317 include at least one fluid actuated cylinder or an elastically actuated member to articulate the surgical tool relative to the tool holder assembly. which must be passed through a trocar or similar structure, and then pivotally connected to another part of the device obtained in the trolley. Various examples of articulation with US2007 / 106317 include at least one fluid actuated cylinder or an elastically actuated member to articulate the surgical tool relative to the tool holder assembly.

[0004] US 2007/106317 also discloses a surgical stapler comprising a shank and an articulated gripper, the snail gear cable being adapted to guide the worm gear teeth, and said cable being operatively coupled to the electric motor in the gripper.

SUMMARY [0005] The present invention relates to a surgical stapler defined by claim 1 in the appended claims.

[0006] Preferred embodiments are defined in the dependent claims.

BRIEF DESCRIPTION OF THE DRAWINGS The above-mentioned features and advantages of the present invention and the method for obtaining them will become more obvious and the invention itself will be better understood by referring to the following description in connection with the accompanying drawing, in particular Figures 12 to 15 and related parts of the description, wherein:

Fig. 1A is a perspective view of a surgical suturing device comprising a handle assembly, an elongated stem extending from the handle assembly and a pivotably connected gripper extending from the elongated hearth;

Fig. 1B is an exploded view of the surgical tool gripper of Fig. 1;

Fig. 2 is a perspective view of the articulation connecting the gripper and the lanyard to the shank of the surgical tool, the articulation being shown to remove some of the elements;

Fig. 3 is a cross sectional view of the gripper of Fig. 2, showing a solenoid disposed in the longitudinal axis of the surgical tool, the solenoid being configured to articulate the gripper;

Fig. 4 is a partial perspective view of the gripper, the articulation joint and the elongated stem of Fig. 2 shown with the removal of some elements;

Fig. 5 is a side cross-sectional view of an articulation joint connecting to a gripper and an elongated shaft of a surgical tool;

Fig. 6 is a bottom cross-sectional view of the surgical instrument of Fig. 5 taken along lines 6-6 in Fig. 5 showing a solenoid operated articulation lock;

Fig. 7 is a cross-sectional view of the articulation joint connecting the gripper and the elongated shaft of the surgical tool;

Fig. 8 is a detailed view of the articulation joint of Fig. 7 showing an engine configured to articulate the gripper;

Fig. 9 is a cross-sectional view of the articulation joint connecting the gripper and the ex- cluded shaft of the surgical tool;

Fig. 10 is a partial perspective view of the gripper, articulation joint and elongated stem of Fig. 9 showing the motor actively engaged with the worm gear configured to articulate the gripper;

Fig. 11 is another partial perspective view of the gripper, articulation and elongated stem of Fig. 9 shown with some parts removed;

Fig. 12 is a partial perspective view of an articulation connecting the gripper and an elongated shank of a surgical tool in accordance with at least one embodiment of the present invention;

Fig. 13 is a cross-sectional view of the gripper, the articulation joint and the elongated stem of Fig. 12, showing a motor-driven tube configured to articulate the gripper;

Fig. 14 is another partial perspective view of the gripper, articulation joint and elongated stem of Fig. 12 with some elements removed and other illustrated dashed lines;

Fig. 15 is an exploded view of the articulation joint of Fig. 12;

Fig. 16 is a perspective view of a surgical tool having a joint knob for articulation of a surgical tool gripper and a rotation knob for rotating the gripper;

Fig. 17 is a lateral cross-sectional view of a part of the surgical tool holder of Fig. 16;

Fig. 18 is a perspective cross-sectional view of the handle portion of Fig. 17;

Fig. 19 is an exploded view of the handle portion in Fig. 17;

Fig. 20 is a perspective view of a surgical tool;

Fig. 21 is a cross sectional view of a surgical tool handle portion

Fig. 20;

Fig. 22 is a perspective view of the articulation connecting the gripper and the lap member of the surgical tool with some components removed;

Fig. 23 is a diagram illustrating electromagnets disposed in the elongated stem of Fig. 22 configured to apply a magnetic force to permanent magnets attached to the gripper of Fig. 22;

Fig. 24 is a cross sectional view of the elongated stem of Fig. 22;

Fig. 25 is a perspective view of the articulation between the gripper and the wife of the surgical tool with some parts removed;

Fig. 26 is a cross sectional view of the gripper of Fig. 25 illustrating a plurality of electromagnets;

Fig. 27 is a perspective view of the articulation between the gripper and the lapper of the surgical tool shown to remove some of the elements;

Fig. 28 is a cross-sectional view of the articulation connector of Fig. 27 showing a permanent magnets and electromagnet system configured to articulate the surgical tool gripper and another system of magnets and solenoids configured to lock the gripper in position with respect to the longitudinal body of the surgical tool;

Fig. 29 is a dismantled view of the articulation joint of Fig. 27 shown with some elements removed;

Fig. 30 is an exploded view of the articulation joint of Fig. 27;

Fig. 31 is a cross-sectional view of the articulation joint of Fig. 27 showing a permanent magnets and electromagnet system for articulation of a surgical tool gripper;

Fig. 32 is a cross-sectional view of the articulation joint of Fig. 27 showing a permanent magnets and electromagnet system for blocking the gripper in a position;

Fig. 33 is a perspective view of a surgical tool comprising a handle assembly, an elongated stem and a gripper articulated to an elongated stem;

Fig. 34 is a cross-sectional view of an articulation joint connecting the elongated stem and gripper of Fig. 33, the articulation connector including a plurality of disks;

Fig. 35 is a cross-sectional view of the articulation joint of Fig. 34 showing articulation in an articulation configuration;

Fig. 36 is a perspective view in cross-section of the disk of the articulation connector of Fig. 34, showing electromagnets disposed in a first set of holes and wires extending through another set of holes, wires electrically coupling electromagnets to a power supply;

Fig. 37 is another perspective view of the cross-section of the wheel of Fig.

36;

Fig. 38 is an assembly drawing of Fig. 36 and a second disk adjoining the disk, the second disk comprising a plurality of permanent magnets disposed in the first set of holes and a further set of holes configured to allow the wires of Fig. 36 to pass through them;

Fig. 39 is a exploded view of the disk of Fig. 36;

Fig. 40 is an electrical diagram of permanent magnets and solenoids of the articulation joint of Fig. 34;

Fig. 41 is a partial perspective view of the articulation of a surgical instrument shown with some elements removed and others shown in a cross-section;

Fig. 42 is a cross-sectional view of the articulation joint of Fig. 41 showing alternating first and second discs of an articulation joint;

Fig. 43 is a cross-sectional view of the articulation joint of Fig. 41 shown in an articulated bent configuration;

Fig. 44 is an end view of the articulation joint of Fig. 41;

Fig. 45 is another cross-sectional view of the articulation joint of Fig. 41 showing the stretched and shrunken configuration of the electromagnetic wires located inside the discs of the articulation joint;

Fig. 46 is a cross-sectional view of a surgical tool gripper in accordance with at least one embodiment of the present invention showing a plurality of permanent magnets disposed in a grab anvil;

Fig. 47 is a plan view of the anvil of Fig. 46;

Fig. 48 is a plan view of the cutting member of the gripper of Fig. 46 including a plurality of electromagnets configured to cooperate with permanent magnets located in the surgical tool gripper and advancing and / or retracting the cutting member in the gripper;

Fig. 49 is a perspective view of the cutting member of Fig. 48;

Fig. 50 is another cross-sectional view of the gripper of Fig. 46;

51A-51C depict distal, intermediate and proximal portions of an elongated shaft of a surgical tool and a movable firing rod placed in an elongated stem in accordance with at least one embodiment of the present invention;

Fig. 51A is a cross-sectional view of a distal portion of an elongated stem and a movable firing rod showing the arrangement of electromagnets located in an elongated stem;

Fig. 51B is a cross sectional view of an intermediate portion of an elongated stem and a movable rod for firing from Fig. 51A showing permanent magnets attached to a firing rod and electromagnets placed inside the shaft;

Fig. 51C is a cross sectional view of a proximal elongated stem portion and a movable rod for firing from Fig. 51A;

Fig. 52 is a sectional view of the transverse elongated stem and the movable rod for firing from Figs. 51A-C;

Fig. 53 is another cross-sectional view of the distal portion of the elongated shaft and the movable rod for firing from Fig. 51A, showing a firing bar in the firing position;

Fig. 54 is a cross-sectional view of an elongated shank of a surgical tool, according to at least one embodiment of the present invention, illustrating a firing bar in a non-firing position; and

Fig. 55 is a cross-sectional view of the surgical tool of Fig. 54, showing the firing bar displaced to a position fired by the electromagnetic coil.

[0008] Relevant reference characters indicate respective parts in different views. The examples presented give examples illustrating and preferred embodiments of the invention in one embodiment, and such examples of preferred embodiments can not be construed as limiting the scope of the invention in any way.

DETAILED DESCRIPTION [0009] Some exemplary embodiments and illustrative examples are described below to provide a general understanding of the principles of structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. Those skilled in the art will understand that the devices and methods disclosed herein and shown in the attached drawing are non-limiting embodiments, and that the scope of various embodiments of the present invention is defined only by the claims. Features shown or described in connection with one exemplary embodiment may be combined with features of other embodiments.

[0010] In various embodiments, referring to Figs. 1A and 1B, a surgical instrument, e.g., surgical tool 100, may include a handle assembly 102, an elongated stem 104 extending from the handle assembly 102, and a gripper 106 that can be moved or articulated relative to the elongated shaft 104, as described in more detail below. In at least one embodiment, the handle 102 may include a closure trigger 108 that may be configured to open and close the gripper 106.

More specifically, the gripper 106 may include an anvil 114, and the elongated stem 104 may include a closure tube 112, and actuating the closure trigger 108 may move the closure tube 112 in the longitudinal direction to rotate the anvil 114 between open and closed positions relative to the cartridge passage 113. staples and staple cartridge 115. In at least one embodiment, the closure tube 112 may be configured to be moved relative to a stationary part of the elongated shaft 104, such as, e.g., a ridge 116 (Fig. 1B). In certain embodiments, the gripper 106 may further include a tubular portion, such as a distal tubular portion 118, e.g., that can be moved through the closure tube 112 to open and / or close the anvil 114. In at least one embodiment,

[0011] In various embodiments, referring again to Figs. 1A and 1B, the surgical device may further comprise a articulation joint, such as an articulation joint 120, for example, which may be configured to allow the gripper 106 to move relative to the elongated shaft 104. In at least one embodiment, the gripper 106 may further include a rotation plate 122 that may be held in the staple cartridge passage 113 through the channel pivot 124. As shown in Fig. 1B, the channel bolt 124 may be inserted, fitted, and / or latched into openings and / or through holes 111 in the cartridge passage 113 and openings 121 in the rotary plate 122 to secure the rotation plate 122 to the cartridge channel 113. In certain embodiments, the rotary plate

122 may be stationary stopped in channel 113 of the staple cartridge. In addition to the above, the elongated shaft 104 may further include a pin inserting insert 126 that may be secured in a position by the ridge 116, wherein, in at least one embodiment, the insertion insert plate 126 may be held stationarily in the elongated stem 104. primarily to Fig. 1B, the pivot plate 122 may further include a pin hole 123 that may be configured to receive a pivot pin 127 extending from the pin insertion insert 126. In various embodiments, the pin 127 and the pin hole 123 may be sized and configured to form an axis, such as axis 128, e.g. against which the staple cartridge channel 113 and the pivot plate 122 may rotate with respect to the pivot insert plate 126. As a result, the gripper 106 may be articulated relative to the elongated shaft 104, for example, to locate the gripper 110 in the surgical site, respectively. When properly positioned, the gripper 106 can be locked in position with respect to the shank 104. In some embodiments, the longitudinal shank 104 can further include a lock or brake, e.g. a lock 130, which can be configured to selectively engage the rotation plate 122, e.g. in position relative to the insertion plate 126. In at least one such embodiment, the rotary plate 122 may comprise one or more teeth 125,

[0012] For use, the lock 130 can be decoupled from the turn plate 122, so that the puller106 can be rotated relative to the elongated shaft 104. When the lock 130 is disengaged from the rotation plate 122, in at least one such embodiment, the gripper 106 can be placed the gripper on the wall of the cavity in the surgical site, such as the peritoneal cavity wall, and the shank 104, through the handle assembly 102, longitudinal force can be applied to rotate the gripper 106 with respect to the elongated shaft 104. In some circumstances, such articulation may be determined as a passive articulated connection. In any case, when the puller106 has been articulated, the lock 130 can be re-coupled to the rotary plate 122, and the closure tube may be advanced by the closure release 108 of the anvil 114 as described above. The reader notes that when the gripper 106 is moved between a straight position, i.e. a position in which it is aligned or at least substantially aligned with the elongated stem 104 and the articulation, the distal tubular portion 118 can be moved between the first angle relative to the closure tube 112 and a second or different angle to the closure tube 112. In order to reconcile such relative motion, referring to Figs. 2 and 3, rotary links 211 may be articulated to the distal tubular portion 118 and closure pipe 112 via projections 109 of pins extending from rotatable connectors 211 and through holes 107 within the tubular portion. 118 and closure pipes 112. The projections 109 of the pins and the pin holes 107 may be configured such that the rotary links 211 may provide at least one degree of freedom between the distal tubular portion 118 and the closure tube 112. In such embodiments, the articulated links 211 may allow the distal tube 118 to articulate relative to the closure tube 112, although at least a portion of the closure tube 112 has been moved distally beyond the articulation joint 120. Whenever the anvil 114 has been properly closed, the trigger 110 may be properly actuated to advance the rod for firing distally to the gripper 106. Although the firing bar is shown in Figs. 1A and 1B, the surgical tool 200, referring to Figs. 2-4, includes a corresponding firing bar 250 and a cutting member 252. .

[0013] In various examples, referring to Figs. 2-4, a surgical instrument, e.g., surgical tool 200, may include an elongated stem 204 and a gripper 206, the gripper 206 may be configured to articulate relative to the elongated shaft 204 around the connector. Similar to the surgical device 100, the gripper 206 may include a swivel plate 222 maintained in the suture cartridge channel 213, the pivot plate 222 may include a pin hole 223 configured to receive a pivot pin 227 extending from the insertion insert plate 226. In various examples, referring primarily to Fig. 4, the elongated stem 204 may further include one or more actuators that may be configured to rotate, or rotate, the gripper 206 relative to the shaft 204. In at least one such example, the elongated shaft 204 may further include a first solenoid 240 and a second solenoid 242 mounted therein, which may be operatively coupled to the rotatable disk 222 such that actuating the first solenoid 240 and / or the second solenoid 242 may, e.g. , rotate the rotary plate 222 around the axis. In certain instances, the first solenoid 240 may include a piston and / or rod 241 sufficiently mounted on the articulation panel 222 such that the articulation plate 222 may be pushed distally and / or pulled proximately through the first solenoid 240 to rotate the gripper 206 in a direction consistent with motion. clockwise (CW) and / or counter-clockwise (CCW). In certain circumstances, such an articulation may be referred to as an active articulation.

[0014] In various examples, further to the above, the rod 241 can be traversed distally in the direction of the arrow "D" to rotate the gripper 206 in the clockwise direction indicated by the arrow "CW". In order to rotate the gripper 206 in the counter-clockwise direction indicated by the arrow "CCW", the rod 241 must be retracted proximally in the direction of the arrow "P". In some instances, the rod 241 may include a distal end 245 that may be disposed in the opening 246 in the rotatable plate 222 such that the rod 241 can rotate relative to the rotatable plate 222. In at least one example, the rod 241 may be flexible enough to combine the relative the movement between the rotating plate 222 and the solenoid 240. In certain examples, the solenoid 240 may be slidable and / or rotatably mounted in the elongated stem 204 so that the rod 241 does not bend inappropriately or bind when it is retracted or retracted to drive the rotatable plate 222 around the axis. In any event, referring to Fig. 3, the solenoid 240 may include windings or windings 247 that may be electrically and / or electrically energized to create a sufficient magnetic field to move the rod 241 in the distal and / or proximal direction, in depending on the direction in which the current flows and / or the polarity of the voltage applied to the winding. In at least one such example, the piston and / or bar 241 may include an iron core, e.g., which may be configured to interact with the magnetic field produced by the solenoid winding 247.

[0015] In certain examples, further to the above, the elongated shaft 204 may include at least one additional solenoid, such as e.g. a solenoid 242 that may be configured to rotate the rotary plate 222 contemporary and / or independent of the solenoid 240. In at least one such an example, the solenoid 242 may include a piston and / or rod 243 that may be advanced distally and / or proximally to rotate the gripper 206 in a clockwise and / or anti-clockwise direction. In contrast to the solenoid 240, the rod 243 may be moved distally to rotate the rotary plate 222 counterclockwise and / or retract in the proximal direction to rotate the rotatable plate 222 in the clockwise direction. Similar to solenoid 240,

[0016] As described above, the surgical tool gripper can be locked in position when the gripper has been articulated accordingly. In various examples, referring to Figures 5 and 6, a surgical instrument, e.g. a surgical tool 300, may include an elongated stem 304 and a gripper 306, the gripper 306 may be configured to articulate with the elongated stem 304 around the articulation joint 320. Similar to the surgical tool 100, the gripper 306 may include a swivel plate 322 retained in the suture cartridge channel 313, the rotary plate 322 may include a bolt hole 323 configured to receive the articulation pin 327 extending from the insert insertion pin 326 held in place. elongated stem 304. In some examples, the elongated stem 304 may further include a lock,

[0017] In various examples, referring to Figs. 7 and 8, a surgical tool, e.g., surgical tool 400, may comprise one or more motors configured to articulate the gripper of the surgical tool. In such examples, the motor may comprise, for example, an induction motor, a brushless DC motor, a stepper motor and / or a synchronous motor. In certain examples, the surgical tool 400 may include an elongated stem 404 and a gripper 406, the gripper 406 may be configured to be articulated relative to the elongated shaft 404 around the articulation joint 420. Similar to the surgical tool 100, the gripper 406 may include a rotatable plate 422 held in the channel 413 of the suturing cartridge, wherein the rotatable plate 422 may include a pin hole 423, configured to

[0018] As above, a surgical instrument, e.g. a surgical tool 500, may comprise one or more motors configured to articulate the gripper of the surgical tool with a worm drive system. In various examples, the surgical tool 500 may include an elongated stem 504 and a gripper 506, the gripper 506 may be configured to articulate relative to the elongated shaft 504 around the articulation joint 520. Like the surgical tool 400, the gripper 506 may include a rotatable plate 522 retained in channel 513 of the suture cartridge, wherein the articulation panel 522 may include a bolt hole 523 configured to receive a pivot pin extending from the insert insert 526 retained in the elongated stem 504. In at least one example, the elongated stem 504 can include, for example, a motor, such as an engine 540, e.g. mounted therein, which can be operatively coupled to the rotating disk 522 to rotate or articulate the gripper 506 relative to the shaft 504. More specifically, in at least one such example, the motor 540 can be configured to rotate a screw, such as screw 539, e.g., which can be engaged meshingly with a worm gear or a concave part of the worm wheel 529 on the joint plate 522 so that the screw rotation 539 can be transferred to a rotating disk 522. The worm drive system, as, for example, described above, can provide a very large gear ratio, so that the gearbox is not needed to reduce the engine speed, although the gearbox can be used. In some examples, the worm drive system may be self-locking. In particular, the helical thread angle on the worm 539 can be such that the gripper 506 and a part of the worm gear 529 can not be rotated to drive the worm 539 and the motor 540 to the rear. In other words, a part of the worm gear 529 and the worm 539 may be configured such that they are connected to each other by friction if a rotational force is applied to the gripper 506. In some examples, as a result the articulation of the gripper relative to the longitudinal shank 504 can be driven only by selectively rotating the worm 539, by the motor 540 in a clockwise and anti-clockwise direction, to rotate the gripper 506 counterclockwise. and right, for example,

[0019] In various embodiments of the present invention, at least a portion of the elongated shaft of surgical tools, such as surgical tool 600, for example, may comprise an engine configured to articulate the gripper of the surgical tool. In various embodiments, referring to Figs. 12-15, the surgical tool 600 may include an elongated stem 604 and a gripper606, wherein the chytak606 may be configured to articulate relative to the elongated shaft 604 around the articulation 620. In various embodiments, the gripper 606 it may further comprise an articulation member 622 mounted where, in at least some embodiments, the rotating member 622 may be fixedly mounted in the gripper 606. In addition, the elongated shaft 604 may comprise one or more motors, for example, a motor 640 that can be configured to rotate the rotation member 622 about an axis defined by the pivot pin 627a and 627b. In at least one embodiment, the motor 640 may include a ridge part 616 mounted in the elongated stem 604, and further a spindle member 626 mounted on the ridge part 616, the ridge part 616 and the pivot pin member 626 may be mounted fixed in the longitudinal stem 604. Referring to Fig. 15, the swivel member 626 may include upper and lower teeth 626a, 626b extending therefrom, wherein the pivot pins 627a and 627b may extend appropriately from the teeth 626a and 626b and may be mounted in openings 627c inside. teeth 626a and 626b in any suitable manner, such as for example pressure fit and / or adhesive.

[0020] In various embodiments, in addition to the above, the ridge part 616 and / or the pivot pin member 626 may include one or more openings or recesses, such as holes 651, e.g., which may be configured to receive one or more pivots. or more electromagnets, such as electromagnets 647, for example, mounted there. Although not shown, the surgical tool 600 may further include one or more conductors, e.g. insulated routs, which may be configured to conduct electric current through the wires when the current and / or voltage source, such as a battery, for example, it is operatively coupled with wires. In at least one embodiment, the wires may extend from the surgical tool holder assembly, such as the handle assembly 102, e.g. to the distal end of the elongated hearth 606, the wires may be wrapped or wound around a ferromagnetic cores that may contain iron and / or cobalt, for example to include electromagnets 647a and 647b. In use, in at least one embodiment, the surgical tool may further include a switch or actuator that can be used to selectively couple the current source and / or the voltage source to the wires. In some embodiments, when the electric current does not flow through the wires, the electromagnets 647a, 647b may not produce a magnetic field, and if sufficient electric current flows through the wires, the electric current may generate one or more magnetic fields that can be used to rotate drive 639. Referring primarily to Fig. 15,

[0021] In various embodiments, further to the foregoing, permanent magnets 649 may include magnetic polarity regardless of whether they are present in the magnetic field. In at least one embodiment, each permanent magnet 649 may include a positive or north pole 649n and a negative or southern pole 649s, where the poles 649n and 649s may be arranged such that when the magnetic field or fields produced by the electromagnets 647a and 647b are produced selectively, such magnetic fields may interact with magnetic fields produced by permanent magnets 649 and, as a result, rotate drive 639. In various embodiments, drive 639 can be tightly received and rotatably supported in opening 654 in ridge 616 such that drive 639 can be rotated about an axis . when permanent magnets 649 are moved in a magnetic field produced by electromagnets 647a, 647b. As discussed above, the electromagnets 647a and 647b can be selectively energized to create a magnetic field which, due to the polarity of the permanent magnets 649, causes the permanent magnets 649 to be moved in the magnetic field. In various embodiments, the electromagnets 647a and 647b can be energized in such a way that the electromagnets 647a have a different polarity than the polarity of the solenoids 647b. In at least one embodiment, the magnets 647 a and 647 b can be energized in such a way that they have opposite poles or different positive (north) and negative (south) poles, and that the poles of the solenoids 647 a and 647 b are arranged alternately. In various embodiments, the direction of the current flowing through the wires wrapped around the cores of the electromagnets 647a, 647b can determine the polarity of the magnetic field produced by the electromagnets. In use, the direction of the current flowing through the wires as described above can be repeatedly switched or changed so that the polarity of one or more solenoids 647a and 647b can be repeatedly switched or changed to attract and / or push permanent magnets 649 in this way. that the drive 639 may, for example, be continuously rotated in a clockwise and / or counter-clockwise direction.

[0022] As described above, operation of the permanent magnets 647a, 647b may rotate the drive 639 in the clockwise direction and / or in the counter-clockwise direction. In various embodiments, the drive 639 may further include one or more portions of the gears or drive teeth that may be configured to engage or connect to the appropriate toothed portion or drive teeth on the rotating member 622. In particular, at least one example the drive 639 may include a first portion of the transmission 639a extending therefrom, which may be configured to engage the first portion of the gear 629a extending from the rotating member 622 such that when the drive 639 is rotated in the manner described above, the first part of the gear 639a may drive the first part of the gear 629a to rotate or rotate the articulation of the rotating member 622, respectively, the gripper 606 around the pivot pins 627a and 627b. In at least one embodiment, referring primarily to Fig. 14, the drive 639 may be rotated in the first direction indicated by the arrow D1 to rotate the gripper 606 in the clockwise direction indicated by the arrow CW, and the drive 639 may be rotated in the second direction indicated by the arrow D2 to rotate the gripper 606 in a counter-clockwise direction with the indicated arrow CCW. In at least one embodiment, as a result, the drive 639 may be rotated about a first axis and the gripper 606 may be rotated about a second axis, wherein the first axis and the second axis may be perpendicular or at least substantially perpendicular to each other. In other embodiments, the first and second axes may be non-parallel, transverse and / or oblique to each other. In various embodiments, referring again to Fig. 14, the drive 639 may further include a second transmission part 639b that can be operatively coupled to the second gear part 629b of the rotating member 622 via a gearing 653. In at least one embodiment, the transmission Toothed 653 can be rotatably mounted on the rotary pin member 626 by means of a pin, e.g. a pin 655, such that when the drive 639 is rotated in the direction D1 as described above,

[0023] As outlined above, the surgical tool may comprise a handle assembly for operating a surgical instrument. In various examples, referring now to Figs. 16 and 17, a surgical tool, e.g., a surgical tool 700, may e.g. include a frame 701, a closure trigger 108, rotatably attached to the frame 701, and, in addition, firing trigger 110, also rotatably attached. to the frame 701. Similar to the surgical tool 100, the operation of the closure trigger 108 and the associated closing motor, can move the closing tube 712 longitudinally along the elongated stem 704 to open and close the anvil114. In some examples, now referring mainly to Fig. 17, the closing drive may include a retaining collar 108b slidably in the frame 701 and, in addition, a closure connector 108a,

[0024] In addition to the closure drive described above, the grip assembly 702 may further include a pivot system configured to rotate a drive, such as drive 739, e.g. to articulate the gripper 706 relative to the elongated stab 704. In at least one such example, the system 702 The handle can further comprise a knob 760 that can be moved between locked and unlocked positions in which, in certain examples, mainly relates to Fig. 17, the knob of the joint 760 can be moved between the first or distal position in which it is blocked. to the rotation knob 770 and a second or proximal position in which it is unlocked from the rotation knob 770. Referring primarily to Fig. 19, the joint knob 760 may include one or more closure teeth or protrusions 761 that may be configured to engage one or more closure teeth or protrusions 771 on the rotation knob 770 so that the knob 760 can not be rotated relative to the rotation knob 770, when the joint knob 760 is in the locked or distal position. In at least one such example, as a result, the knob 760 can not be used to rotate the rotation drive 739 and the articulation of the gripper 706 when the joint knob 760 is in its locked position. such that the joint knob 760 can not be rotated relative to the rotation knob 770 when the joint knob 760 is in the locked or distal position. In at least one such example, as a result, the knob 760 can not be used to rotate the rotation drive 739 and the articulation of the gripper 706 when the joint knob 760 is in its locked position. such that the joint knob 760 can not be rotated relative to the rotation knob 770 when the joint knob 760 is in the locked or distal position. In at least one such example, as a result, the knob 760 can not be used to rotate the rotation drive 739 and the articulation of the gripper 706 when the joint knob 760 is in its locked position.

[0025] Further to the above, when the joint knob 760 is moved into its unlocked or proximal position, the closure teeth 761 may be sufficiently decoupled from the closure teeth 771, such that the joint knob 760 may be rotated relative to the rotation knob 770. In at least one such example, referring back to Fig. 16, the joint knob 760 may be rotated in the first direction indicated by the arrow D1 to rotate the gripper 706 in the clockwise direction of the indicated CW arrow, respectively the joint knob 760 may be rotated in the second direction indicated by the arrow D2 to rotate the gripper 706 counter-clockwise, indicated by the arrow CCW. Referring primarily to Fig. 18, the joint knob 760 may be operatively coupled to the splined ring 763 such that when rotating the knob 760, the splined ring 763 may be rotated by means of the knob 760. In at least one such example, referring to Fig. 18, a splined ring 763 may include one or more spline splices 764 that may be configured to allow the connector knob 760 to move between its locked and unlocked positions, but nevertheless transmits a pivoting motion. for splined ring 763. In various examples, referring now to Fig. 19, a splined ring 763 may consist of two or more parts that may be assembled together such that the splined ring 763 includes at least a portion of the closure tube 712. In at least one such example, the closure tube 712 may include an aperture or window 765 that may be configured such that at least a portion of the spline ring 763 extends through the closure tube 712 and operably the drive clutch 739. More specifically, the splined ring 763 may further include one or more protrusions or both. the keys 766 that can be pulled out of them, which can be received in one or more openings 767 in the drive 739 such that when the splined ring 763 is rotated by means of the knob 760, the splined ring 763 can rotate the drive 739. In various embodiments, the joint knob 760 and the drive 739 may be rotated relative to the closure tube 712 and the back member 716 when the knob 760 is in the unlocked position. that at least a portion of the splined ring 763 extends through the closure tube 712 and operationally clutching the drive 739. More specifically, the splined ring 763 may further comprise one or more protrusions or keys 766 that can be extracted therefrom, which can be received in one piece. or more openings 767 in the drive 739 such that when the splined ring 763 is rotated by means of the knob 760, the splined ring 763 may rotate the drive 739. In various embodiments, the joint knob 760 and the drive 739 may be rotated relative to the closure tube 712 and the back member 716 when the knob 760 is in the unlocked position. that at least a portion of the splined ring 763 extends through the closure tube 712 and operationally clutching the drive 739. More specifically, the splined ring 763 may further comprise one or more protrusions or keys 766 that can be extracted therefrom, which can be received in one piece. or more openings 767 in the drive 739 such that when the splined ring 763 is rotated by means of the knob 760, the splined ring 763 may rotate the drive 739. In various embodiments, the joint knob 760 and the drive 739 may be rotated relative to the closure tube 712 and the back member 716 when the knob 760 is in the unlocked position. the splined ring 763 may further comprise one or more protrusions or keys 766 that can be extracted therefrom, which can be received in one or more openings 767 in the drive 739 such that when the splined ring 763 is rotated by means of a knob 760, The splined ring 763 can rotate the drive 739. In various embodiments, the joint knob 760 and the drive 739 may be rotated relative to the closure tube 712 and the back member 716 when the knob 760 is in the unlocked position. the splined ring 763 may further comprise one or more protrusions or keys 766 that can be extracted therefrom, which can be received in one or more openings 767 in the drive 739 such that when the splined ring 763 is rotated by means of a knob 760, The splined ring 763 can rotate the drive 739. In various embodiments, the joint knob 760 and the drive 739 may be rotated relative to the closure tube 712 and the back member 716 when the knob 760 is in the unlocked position.

[0026] In use, as outlined above, the joint knob 760 can be pulled proximally to unlock the closure teeth 761 from the teeth 771 closing the rotation knobs 770. In various examples, referring generally to Fig. 16, the joint knob 760 may further include a lip 769 extending therefrom, wherein in at least one example, the lip 769 may be configured to allow the surgeon to grasp the lip 769 with one or more fingers. and pulling the joint knob 760 proximally. In such circumstances, referring to Fig. 17, the joint knob 760 may compress the deflection member, such as spring 768, e.g., positioned indirectly between the knob 760 and the rotation knob 770. In some examples, the knob 760, drive 739 and gripper 706 can be configured as when the joint knob 760 is rotated substantially 10 degrees in the D1 direction, for example, the gripper 706 can be rotated substantially 10 degrees towards the CW. Such examples may be described as having a 1: 1 ratio, although other examples are foreseen that may have a smaller transmission ratio or a larger transmission ratio. In any case, when the gripper 706 has been pivotally connected sufficiently, the surgeon may release the joint knob 760 so that the spring 768 can again move the joint knob 760 from the unlocking position to the locked position. Referring to Fig. 19, the closure teeth 761 and / or closure teeth 771 may include a plurality of teeth that may be configured such that at least some of the closure teeth 761 and 771 may be interlocked or locked independently of each other, in which the joint knob 760 is rotated relative to the rotation knob 770. In the example shown, teeth 761 and teeth 771 are arranged in an annular, or at least substantially annular, and concentric or at least substantially concentric arrangement.

[0027] In various examples, further above, the rotation knob 770 may be configured to rotate the gripper706 about a longitudinal axis, e.g. longitudinal axis 799. In at least one such example, referring primarily to Fig. 17, the rotation knob 770 may to be moved between the closed, distal position in which it is locked on the frame 701 and the unlocked proximal position in which it is unlocked from the frame 701. In various examples, again referring to Fig. 17, the rotation knob 770 may include lip 779 extending from it, wherein in at least one example the lip 779 can be configured so that the surgeon can grip the lip 779 with one or more fingers and pull the rotation knob 770 proximally. Like the above referring primarily to Fig. 19, the rotation knob 770 may include one or more closure teeth or protrusions 772 that may be configured to engage with one or more closure teeth 773 or protrusions on the frame 701 such that the rotation knob 770 is not rotatable. it may be rotated with respect to the frame 701 when the rotary knob 770 is in its locked or distal position. When the rotation knob 770 is unlocked from the frame 701, the rotation knob 770 may be rotated relative to the frame 701 to rotate the gripper706 about the longitudinal axis 799. In particular, in at least one example, the rotation knob 770 may include one or more drive parts, e.g. flat drive portions 774,

[0028] In addition to the above, referring to Fig. 17, the rotation knob 770 may be configured such that when it is drawn proximally to its unlocked position as described above, the closure teeth 771 may transmit the rotation of the rotation knob 770 to the knob 760. joints by closing teeth 761. In at least one such example, whereby the joint knob 760 can rotate synchronously with the rotation knob 770 such that the ridge member 716 can rotate synchronously with the drive 739 when the rotation knob 770 is in the unlocked position. In at least one example, due to the synchronous rotation of the ridge member 716 and the drive 739, the gripper 706 may not have pivoted to the elongated stem 704 when the rotation knob 770 is rotated relative to the handle frame 701. Explaining otherwise, if the rotation knob 770 is not rotated relative to the knob 760 and the drive 739 is not rotated relative to the ridge 716, the drive 739 may not be able to articulate the gripper 706 relative to the shaft 704. In any case when the gripper 706 has been rotated correctly. around axis 799, rotation knob 770 may be released to reconnect teeth 772 closing rotation knobs 770 to teeth 773 closing handle frame 701. In at least one example, referring to Figures. 17-19, the handle assembly 702 may further include a biasing member, such as a spring 778, e.g. positioned indirectly between the rotation knob 770 with the frame 701, wherein the spring 778 may be compressed between the rotation knob 770 and the frame 701, when the rotary knob 770 is moved from its closed, distal position to its unlocked, proximal position, and when the rotation knob 770 is released, as described above, the spring 778 can swing the rotation knob 770 from the frame 701 so that the closing teeth 772 are again coupled with locking teeth 773. Referring again to Fig. 19, closures 772 and / or closure teeth 773 each can include a tooth array that can be configured such that at least some of the closure teeth 772 and 773 can mutually interlock or interlock, regardless of the angle in which the rotation knob 770 is rotated relative to the frame 701. In the example shown, the teeth 772 and the closing teeth 773 are each arranged in annular, or at least substantially annular,

[0029] In various examples, further to the above, the surgeon may hold the handle assembly 702 in one hand, for example in their right hand, and operate the surgical tool 700. In at least one example, as outlined above, the surgeon may retract the triggers 108 and 110 towards the pistol grip 103 by placing its thumb, e.g., on the proximal side of the pistol grip 103, and placing one or more fingers of the same hand on the distal side of the trigger 108 and 110 to apply force to it and pull it to the pistol grip 103. As outlined above, the surgeon may pull one or more fingers of the same hand in the distal direction to grip the lip 769 of the knob 760 and / or the lip 779 of the rotation knob 770 and pull them proximally. In other words, the surgeon can open and close the anvil 114 via the closure trigger 108, cut and staple the tissue with the firing trigger 110, articulate the gripper 706 relative to the elongated shaft 704 around the articulation joint 720 and, additionally, rotate the gripper 706 about the longitudinal axis 799 and all this one hand. As a result, the surgeon may have his other free hand to perform other tasks during surgery. In various circumstances, operations of knobs 760 and 770 and triggers 108 and 110 may require the surgeon to use both hands to operate the surgical instrument, especially if the surgeon's hands are too small or otherwise unable to perform the tasks given above, overcoming in this way one or more possible advantages. In various alternative examples, now referring to Figs. 20 and 21, a surgical instrument, e.g. the surgical tool 800 may, for example, comprise a magnetic element system for articulation of the gripper 706 relative to the elongated shaft 704, and a magnetic system for the rotary gripper706 about the longitudinal axis 799. In various examples, the surgical tool 800 may further include additional magnetic element systems to move the knob 760 Rotation joints and knobs 770 between their closed and unlocked positions. In any case, the surgical tool 800 may be similar to the surgical tool 700 in many respects, although various differences are discussed in more detail below. and, furthermore, a magnetic system for the rotary gripper 706 about the longitudinal axis 799. In various examples, the surgical tool 800 may further include additional magnetic element systems for moving the joint knob 760 and the rotation knob 770 between their closed and unlocked positions. In any case, the surgical tool 800 may be similar to the surgical tool 700 in many respects, although various differences are discussed in more detail below. and, furthermore, a magnetic system for the rotary gripper 706 about the longitudinal axis 799. In various examples, the surgical tool 800 may further include additional magnetic element systems for moving the joint knob 760 and the rotation knob 770 between their closed and unlocked positions. In any case, the surgical tool 800 may be similar to the surgical tool 700 in many respects, although various differences are discussed in more detail below.

[0030] Similarly to the surgical tool connector knob 760, now referring to Fig. 20, the surgical tool connector knob 860 can be moved between a closed position, a distal position and an unlocked proximal position. Similar to the knob 760 relating to Fig. 21, the knob 860 may include closure teeth 761 that can be engaged and disengaged from the closure teeth 762 on the rotation knob 870 when the knob 860 is moved appropriately between its locked and unlocked positions. . In various examples, the joint knob 860 may, for example, be pulled away, or proximally, through a solenoid system 881 and magnetic elements 882. In at least one example, referring again to Fig. 21, the electromagnets 881 may be attached to a rotation knob 870 in a circular or at least substantially circular arrangement that may be concentric or at least substantially concentric with a circular or at least substantially circular array of magnetic elements 882 mounted on the knob 860. In various examples, the surgeon may operate the switch on the handle assembly 802, for example to place the power source and / or voltage source in contact with the solenoids 881 so that the electromagnets 881 can be sufficiently energized or polarized to attract the magnetic elements 882 towards the electromagnets 881, and thereby move the joint knob 860 in the proximal direction. In at least one such example, the electromagnets 881 can apply sufficient magnetomotive force (mmf) to the magnetic elements 882 to sufficiently move the joint knob 860 and disengage the closing teeth 761 from the closing teeth 762 so that the joint knob 860 can be rotated relative to the rotation knob 870, as described in more detail below. In various examples, as above, a deflecting element, such as spring 768, can for example be positioned indirectly between the articulation knob 860 and the rotary knob 870 so that the spring 768 is compressed when the joint knob 860 is moved and held, its proximal. , unlocked position by means of solenoids 881. After the electromagnets 881 have been sufficiently discharged or depolarized, spring 768 may be configured to bias the joint knob 860 back into the locked distal position. In various examples, further to the foregoing, the magnetic elements 882 may comprise iron and / or any suitable ferromagnetic material, for example, which may interact with the magnetic field. In at least some examples, the magnetic elements 882 may comprise, for example, permanent magnets, such as neodymium magnets, samarium-cobalt magnets and / or any suitable rare-earth magnets. In at least one such example, the magnetic elements 882 can be arranged and configured to attract or push away at least a portion of the electromagnets 881 so

When the joint knob 860 has been sufficiently unlocked as described above, the joint knob 860 may be rotated relative to the rotation knob 870 to articulate the gripper 706 relative to the elongated shaft 704. In various embodiments the joint knob 860 may include one or more magnetic elements 849, which can be configured to interact with a magnetic field or fields, produced by one or more solenoids 847 mounted on a rotary knob 870. In at least one such example, the magnetic elements 849 may comprise, for example, iron and / or any other suitable ferromagnetic material and may be embedded inside and / or otherwise appropriately secured to the knob 860. In various examples, the electromagnets 847 may apply a magnetomotive force (mmf) to the magnetic elements 849 to move the magnetic members 849 and the knob 860, relative to the magnets 847 and the rotation knob 870. In at least one example, the polarity of the electromagnets 847 can be switched between the first and second polarity to drive the joint knob 860 in the first direction indicated by the arrow D1 (Fig. 20) and / or in the second direction indicated by the arrow D2. In use, referring to Fig. 20, the surgeon may actuate switch 869 to place a current source and / or voltage source in contact with solenoids 847 so that solenoids 847 may generate a magnetic field sufficient to move the joint knob 860 relative to the rotation knob 870. the desired direction and, therefore,

[0032] Like the surgical tool rotation wheel 700, the surgical tool rotation dial 870 can be moved between a distal position in which it is locked on the frame 801 and the proximal position in which it is unlocked from the frame 801. In various examples, further to the above, a system of electromagnets and magnetic elements can be used to move the rotation knob 870 between its locked and unlocked positions. In at least one such example, referring to Fig. 21, the frame 801 may include a plurality of electromagnets 886 attached thereto, which are arranged in a circular or at least substantially circular arrangement, the electromagnets 886 being configured to generate a magnetic field or fields. . configured to attract and / or repel magnetic elements 887 mounted on the rotation knob 870. As in the previous example, the electromagnets 886 can be sufficiently energized or polarized to attract magnetic elements 887 and rotation dial 870 towards solenoids 886 to disengage the closing teeth 772 from the closure teeth on the frame 701. When the rotation knob 870 is in the unlocked position the rotation knob 870 may be rotated relative to the frame 801 by another system of electromagnets and magnetic elements. In at least one such example, referring again to Fig. 21, the frame 801 may include a plurality of magnetic elements 880 attached thereto, which may be configured to interact with the magnetic field or fields, Similar to the above, referring to Fig. 20, the surgeon may use switch 879 to selectively power or bias magnetic elements 847 to create a first magnetic field for rotating the rotation knob 870 in a first direction and a second rotating magnetic field. rotate 870 in the second direction. In such instances, when the rotation knob 870 rotates, the rotation knob 870 may rotate the gripper 706 about the longitudinal axis 799 in the same manner or at least a similar method as described above in connection with the surgical tool 700, for example. to selectively feed or bias magnetic elements 847 to produce a first magnetic field for rotating the rotation knob 870 in the first direction and a second magnetic field for rotating the rotation knob 870 in the second direction. In such instances, when the rotation knob 870 rotates, the rotation knob 870 may rotate the gripper 706 about the longitudinal axis 799 in the same manner or at least a similar method as described above in connection with the surgical tool 700, for example. to selectively feed or bias magnetic elements 847 to produce a first magnetic field for rotating the rotation knob 870 in the first direction and a second magnetic field for rotating the rotation knob 870 in the second direction. In such instances, when the rotation knob 870 rotates, the rotation knob 870 may rotate the gripper 706 about the longitudinal axis 799 in the same manner or at least a similar method as described above in connection with the surgical tool 700, for example.

[0033] Although not shown, the reader will appreciate that the electromagnets of the surgical tool 800 may be powered from a common power source, such as a battery and / or various energy sources, for example. Referring again to Fig. 21, the surgical tool 800 may further include one or more conductors or wires for inserting the source or power sources in conjunction with the surgical tool solenos 800. In various examples, the handle assembly 802 may further include one or more conductors or wires 883, which can supply power and / or apply voltage to solenoids 847. In some examples, though not shown, the wires 883 can have sufficient flexibility and / or slack to accommodate relative movement between the rotation knob 870 and the frame 801. In other examples . Referring to Fig. 21, the handle assembly 802 may include one or more brushes 888 positioned intermediate between the frame 801 and the rotation knob 870 that may be configured to carry a current between the power source and solenoids 847 regardless of whether the rotation knob 870 moves with respect to the frame 801 and irrespective of the angle of rotation between the rotation knob 870 and the frame 801. In at least one example, the example of the brush 888 may be arranged in an annular or at least substantially annular arrangement around the frame 801 and the rotation knob 870. In various instances, the brushes 888 may include metal fiber brushes, such as copper braided brushes, e.g. carbon brushes and / or any other suitable brush. In at least one example "brush" may include one or more material blocks, e.g. a carbon block, for example, which may be configured to carry current and allows relative sliding contact of the opposite "brush" on its surface. In certain instances, the "brush" may include any suitable compatible member. In any case, the brushes 888 may be sufficiently resilient so that they may bend or compress when the rotation knob 870 is pulled distally and resume when the rotation knob 870 is turned moved back to the locked position. may contain any corresponding compatible member. In any case, the brushes 888 can be sufficiently resilient so that they can bend or squeeze when the rotation knob 870 is pulled distally and expand again when the rotation knob 870 is moved back to the locked position. may contain any corresponding compatible member. In any case, the brushes 888 can be sufficiently resilient so that they can bend or squeeze when the rotation knob 870 is pulled distally and expand again when the rotation knob 870 is moved back to the locked position.

whether the rotation knob 860 moves relative to the frame 801 and / or independently of the rotation angle between the rotation knob 870 and the frame 801. Similar to the above, brushes 885 include metal fiber brushes, such as braided copper brushes, e.g. carbon brushes and / or any brushes. another suitable brush that may be sufficiently resilient to bend or squeeze when the rotation knob 870 is pulled distally and re-deploy when the rotation knob 870 is moved back to its locked position. In addition to the above, the brushes 885 and / or the brushes 888 may allow relative sliding movement between the two brush halves. More specifically, in at least one example, brush 885, e.g. it may include a first half attached to a rotation knob 870 extending therefrom, the second half of the brush 885 may include a contact plate or plates mounted on the frame 801 against which the bristles may contact and slide on them. In other various examples, the brush 885, for example, may include a first and a second half, each having bristles extending therefrom, the first and second half being mounted on the rotation dial 870 and the frame 801 and being able to contact and slide. one after another. In any case, the brushes 885 can be arranged in an annular, or at least essentially annular, arrangement around the shoulder 801 and the rotation knob 870. In various examples, referring again to Fig. 21, the handle assembly 802 may include one or more conductors or wires, 889,

[0035] In various instances, a surgical tool may include one or more electromagnets disposed in an elongated stem, the electromagnets may be configured to articulate the gripper of the surgical tool relative to the elongated hearth. In at least one example, referring to Figures. 22-24, the surgical tool 900 may include an elongated stem 904 and a gripper 906 (shown with removed portions), the gripper 906 being rotatably connected to the elongated stem 904 via the articulation joint 920. Like above, the gripper 906 may include a hinge plate 922 and, furthermore, the elongated stem 904 may include a pin inserting plate 926 that may be secured on the elongated stem 904 through the ridge 916. Similar to the above, the pin insert plate 926 may include a pin, which extends from there, may be configured to be tightly received in the hole of the pin 123 in the rotary plate 922. In certain examples, referring mainly to Fig. 23, the elongated stem 904 may further include electromagnets 940a and 940b attached therein, and further a plate rotatable 922 may further include magnetic elements 949 attached to it, the electromagnets 940a, 940b may be configured to generate a magnetic field or fields that can be configured to interact with magnetic elements 949 and rotate the rotating plate 922, and gripper 906, about an axis determined by the insert insert 926. In various examples, the magnetic elements 949 may include, for example, magnets, such as, for example, rare earth magnets, which can be placed and arranged on the rotating plate 922 in such a way that the poles of the magnets are set in a given orientation. In at least one example, the magnetic elements 949 can be arranged such that the poles of each magnet are arranged in an end-to-end configuration such that, for example, the positive pole or north of each magnet is positioned adjacent to the negative or south pole of an adjacent magnet. magnet. Other examples are provided in which the positive magnet poles 949 are radially outward relative to the exemplary negative poles. for example, the positive pole or the north of each magnet is placed next to the negative or south pole of the neighboring magnet. Other examples are provided in which the positive magnet poles 949 are radially outward relative to the exemplary negative poles. for example, the positive pole or the north of each magnet is placed next to the negative or south pole of the neighboring magnet. Other examples are provided in which the positive magnet poles 949 are radially outward relative to the exemplary negative poles.

[0036] In use, in at least one example, the electromagnet 940b, for example, may be energized or biased such that the distal end of the electromagnet 940b comprises a positive or north magnetic pole of the magnetic field. In such circumstances, the poles of adding magnetic elements 949 can be pushed away from the electromagnet 940b, and the negative poles of the magnetic elements 949 can be attracted to the electromagnet 940b. In various instances, the magnetic field produced by the electromagnet 940b may, for example, be sufficient to displace or rotate the pivot disc 922 and the gripper 906 in a counter-clockwise direction, e.g. indicated by the arrow CCW. In at least one such example, referring to Fig. 23, the intensity of the magnetic field produced by the electromagnet 940b can be controlled by controlling the magnitude of the current flowing through the conductor 947b, whereby a larger current can produce a more intense magnetic field, and a smaller current can produce a less intense magnetic field. In some examples, like the above, the direction of current delivery, or polarity in which voltage is applied to the conductor 947b may control the polarity of the magnetic pole produced at the distal end of the electromagnet 940b. More specifically, if the current flowing through the conductor 947b flows in the first direction, the current may generate a positive pole at the distal end of the core 941b, while the current flowing through the conductor 947b flows in the opposite direction, the current can form a negative pole at the distal end of the core 941b. In various instances, as a result, the direction of current flow through the conductor 947b may be selectively changed to selectively change the polarity of the magnetic field produced, for example, by the electromagnet 940b. In at least one of such examples, the initial polarity of the distal end of the electromagnet 940b may be positive, e.g., to repel the first magnet 949, in which the polarity of the distal end of the electromagnet 940b may then be changed from positive to negative so as to attract the next permanent magnet 949. in the direction of the electromagnet 940b to continue rotating the rotary plate 922 and the gripper 906. When the second permanent magnet 949 has been positioned sufficiently, the polarity of the electromagnet 940b can be changed again, i.e.

[0037] In various examples it may be desirable to limit the range in which the gripper 906 can be rotated relative to the elongated stem 904. In some examples, although not shown, the elongated stem 904 can include one or more stops that can be configured to stop rotation. of the gripper 906 when it is moved in a clockwise and / or anti-clockwise direction. In at least one such example, the stops can limit the maximum rotation of the gripper 906 in the clockwise direction and / or counter-clockwise. In some examples, referring to Fig. 23, the surgical instrument may further include means for detecting a relative position or angle between the gripper 906 and the elongated stem 904, and further means for stopping the rotation of the gripper 906 when the gripper 906 has been sufficiently displaced. In at least one such example, the elongated stem 904 may further include one or more sensors that may be configured to detect one or more tags on the gripper 906 to determine the amount or extent to which the gripper 906 has been rotated relative to the shaft 904. More specifically in at least one example, the elongated stem 904 may further comprise at least one photodetector, e.g. a photodetector 991, e.g., which may be configured to detect the encoder indications 990 as they pass under the photodetector 991 when the gripper 906 is rotated. In various examples, the photodetector 991 may further include a light emitter, and in addition, the encoder indications 990 may include at least partially reflecting surfaces on the rotating panel 922 that may be configured to reflect the light produced by the light emitters to facilitate detection of the encoded coder indications 990. In some examples, the encoder designations 990 may be etched in the surface of the rotating plate 922. In at least one example, although not shown, the gripper 906 may include a plurality of slots or openings arranged in a corresponding table similar to the arrangement of the encoder indications 990, the apertures being configured to allow light to pass through them from a light source placed on the encoder. opposite or lower side of rotary plate 922. In at least one such example, the light source may comprise one or more light-emitting diodes. In some other examples, although not shown, the gripper and elongated shank may include a mechanical encoder that is indexed when the gripper is rotated.

although such communication can be wireless via a wireless transmitter (not shown). In each case, the DSP 993 may be configured to process such signal pulses, calculate the amount in which the gripper 906 has rotated relative to the gripper 904 and for transmitting such information to the surgeon. In at least one example, in addition to the above, the detection of one encoder 990 may represent one articulation step of the gripper 906, wherein the DSP 993 may be configured to transmit a step in which the gripper 906 has been rotated to the LCD display on the surgical tool holder assembly. In various examples, the LCD display may include a screen on which the data may be displayed in the form of numbers, text and / or a graphic form, e.g. an increasing or decreasing bar scale.

[0039] As described above, the elongated stem 904 can include two electromagnets, i.e., electromagnets 940a and 940b, which can be configured to emit a magnetic field or fields that can interact with magnetic elements 949. As shown in Fig. 23, a plate 922 rotatable contains five magnetic elements

949 embedded in it; however, other examples may have fewer than five magnetic elements 949 or more than five magnetic elements. Similarly, other surgical instruments may contain any suitable number of solenoids. In at least one example, referring now to Fig. 25, the elongated stem 1004 of the surgical tool 1000 may include four electromagnets, i.e. electromagnets 1040a, 1040b, 1040c and 1040d, each of which may be configured to independently produce a magnetic field and polarity on the distal ends of 1041a-1041d cores, respectively. As above, the force and polarity of the magnetic fields produced by the electromagnets 1040a1040d can be determined by the direction and size of the current flowing through conductors or wires 1041a-1041d. In each case, when the gripper 906 is pivotably connected, like above, the gripper 106 can be locked in position. In various examples, referring to Fig. 23, the elongated stem 904 may further include a lock 930 that can be moved between a proximal, unlocked position and a distal, locked position in which the lock 930 is engaged with the teeth 925 on the rotating plate 922. In at least one example, the lock 930 may include a plurality of recesses 931 that may be configured to receive one or more of the 925 teeth such that the rotating plate 922 may not rotate, or at least substantially rotate, with the lock 930 and, respectively, an elongated shaft 904. Similarly, the lock 930 may include a plurality of teeth placed in the intermediate recesses 931, which may be configured to be received in recesses located, for example, between the teeth 925 on the rotating plate 922. In various examples, also similar to the above, the elongated stem 904 may further include a latch actuator 932 that may be configured to move the lock 930 between its locked and unlocked positions. In at least one such example, the lock actuator 932 may, for example, include a solenoid.

Like the above, the elongated stem 1104 can include one or more electromagnets that can be configured to generate a magnetic field or fields that can be configured to interact with one or more magnetic elements attached to the gripper 1106. In at least one such example, referring to First of all Fig. 28-31, the rotary plate 1122 of the gripper 110 may have a plurality of permanent magnets 1149 attached thereto, in at least one example, the permanent magnets 1149 may be embedded in one or more recesses within the rotation plate 1122. In some examples, similar to the above, permanent magnets 1149 can have positive and negative poles, which can be arranged in a suitable manner, that when magnets 1141 mounted in the longitudinal stem 1104 are sufficiently energized or polarized, permanent magnets 1149 can interact with the magnetic field or fields produced by the electromagnet 1141. In at least one such example, positive poles of permanent magnets 1149 can be arranged such that their positive poles are located radially outward relative to their negative poles. In other words, in at least one example, the positive poles of the permanent magnets 1149 can be placed adjacent to the surface 1125, while the negative poles 1149 can be located distally or at least slightly distal to the positive poles. In some examples permanent magnets 1141 may be arranged such that their poles are alternating.

[0041] In various examples, further to the above, the electromagnets 1141 may be selectively energized or biased in order to retract or push permanent magnets 1149 and rotate the gripper 110 in the desired direction. In some examples, referring to Figs. 28 and 30, the electromagnets 1141 may be embedded or disposed in one or more recesses of the actuating member 1140. In at least one example, the first group of solenoids 1141 may be energized or polarized so that their distal the ends, i.e. their ends placed adjacent to the permanent magnets 1149, generate negative poles, for example, while the second group of solenoids 1141 may remain unpowered or unpolarized or at least substantially un-energized or non-polarized. In at least one such example as a result, the negative polarity of the distal ends of the electromagnets 1141 can attract the positive poles 1149 and displace the permanent magnets 1149 towards the negative poles 1141. Under various circumstances, selective energizing or polarizing the first group 1141 can move the permanent magnets 1149 so that the gripper 1106 rotates e.g. counterclockwise. Under certain circumstances, the first group of solenoids 1141 may then be energy-deprived or depolarized or at least substantially energy-deprived or depolarized, and a second group of solenoids 1141 may be energized or polarized that their distal ends produce a negative polarity, which, like in the above example, attracts positive poles 1149 to continue rotating the gripper 1106 counterclockwise. In certain other examples, the first group of electromagnets 1141 may be energized in such a way that their distal ends produce negative polarity, for example, while the second group of electromagnets 1141 may be energized in such a way that their distal ends produce positive polarity. In various examples, the first and second groups can be powered in such a way that they have different polarity simultaneously or in a corresponding alternating sequence. for example, while the second group of electromagnets 1141 can be supplied in such a way that their distal ends produce positive polarity. In various examples, the first and second groups can be powered in such a way that they have different polarity simultaneously or in a corresponding alternating sequence. for example, while the second group of electromagnets 1141 can be supplied in such a way that their distal ends produce positive polarity. In various examples, the first and second groups can be powered in such a way that they have different polarity simultaneously or in a corresponding alternating sequence.

[0042] When the gripper 1106 is hingedly connected, further to the above, the gripper 1106 can be locked in place. In various examples, referring to Figs. 28-30 and 32, the elongated stem 1104 may further include a lock 1130, at least a portion of the zipper 1130 may be moved between the distal, locked position in which it is engaged with the rotatable plate 1122 and a proximal position in which it is sufficiently disconnected from the rotating plate 1122 to allow the gripper 1106 to rotate about an axis defined by the pin hole 123 and pin 127. In at least one example, the lock 1130 may include a movable brake pad 1131, for an example that can be moved between proximal and distal positions. More specifically, in at least one example,

[0043] In order to unlock the brake pad 1131 from the rotor plate 1122, in various instances, the magnetic elements 1133 can include electromagnets that can be selectively energized to form a magnetic field or fields that can move the brake pad 1131 away from the rotation plate 1122. In at least one case, the electromagnets 1133 can be energized to generate positive poles at their distal ends, i.e. their ends closest to the rotation plate 122, so that the positive poles generated by the magnets 1133 are repelled by the positive poles 1138. In various examples, the electromagnets 1133 can be mounted on the brake pad 1131 such that with sufficient magnetomotive force, the brake pad 1131 can be moved proximally. The brake pad 1131 can be moved proximately so that the brake pad 1131 is no longer coupled to the brake surface 1125 and / or such that the brake shoe 1131 otherwise can not apply sufficient braking force to the rotation plate 1122 to maintain the gripper 1106. in position. In some other examples, negative poles of permanent magnets 1138 may be arranged radially outwardly such that when electrom magnets 1133 are energized, negative poles generated at the distal ends of solenoids 1133 can be pushed away by negative poles 1138. In at least one example referencing mainly to Figures. 29 and 32, the lock 1130 may include one or more features limiting displacement of the brake pad 1131 such that the brake pad 1131 moves, e.g.,

[0044] In various examples, further to the above, the articulation joint may comprise a first and a second portion, which can be configured, articulated to one another. In various other examples, the articulation joint may comprise more than two parts that can articulate one another. In at least one such example, referring to Figs. 33-40, the surgical tool, e.g., surgical tool 1200, may include handle assembly 1202, elongated stem 1204, and gripper 1206, the articulation joint 1220 may be configured to allow the gripper 1206 rotating relative to the elongated shank 1204, wherein the articulation joint 1220 may include a plurality of first connector members 1222 and, for example, a plurality of second connector members 1226. In some examples, referring primarily to Figs. 34 and 35, the first connector members 1222 and the second connector members 1226 may be arranged in an alternating arrangement, wherein in at least one example, the first connector members 1222 may each include one or more permanent magnets attached thereto, and the second connector members 1226 may each comprise one or more electromagnets attached to them. Referring now to Figs. 38 and 40, each first coupling member 1222 may include a first permanent magnet 1249a disposed in an opening therein, e.g. for example, and in addition a second permanent magnet 1249b located in another opening 1248 on an opposite or at least substantially opposite end. on the side of the first coupling member 1222. Similarly, referring to Figs. 36-40, each second connector member 1226 may include a first electromagnet 1240a located inside the hole therein, e.g.

In various examples, further to the above, each solenoid 1240a may include a core, e.g. core 1241a and a conductor, e.g., conductor 1247a, in which conductors 1247a may be configured to carry current when the current source and / or the voltage source is provided to conductors 1247a, at least a portion of the conductors 1247a may be wrapped around the cores 1241a to produce a magnetic field having a polarity. As shown above, the polarity of such magnetic fields may depend on the direction in which the current passes through the conductors 1247a. Like the above, any permanent magnet 1240b may include a core, e.g. core 1241b and a conductor, e.g. a conductor 1247b, in which the wires 1247b may be configured to conduct a current, when the power source and / or the voltage source is supplied to the wires 1247b. In use, in at least one example, the gripper 1206 may be articulated clockwise or clockwise, e.g. as shown in Fig. 35, when current and / or voltage is provided to the conductor 1247a such that the current flows through the guide 1247a in the first direction. More specifically, referring again to Fig. 40, the electromagnets 1240a may be energized or polarized so that the negative or south poles of the permanent magnets 1249a, designated by the letter "S", are attracted to the positive or northern poles produced by the electromagnets 1240a, and adding the pole of permanent magnets 1249a, marked with the letter "N", are attracted to the negative poles generated by the electromagnets 1240a. In such circumstances, referring back to Fig. 35, the magnetomotive force (mmf) between the magnets 1240a and the permanent magnets 1249a may be sufficient to cause the first coupling members 1222 and the second joint members 1226 to articulate to each other. In some examples, the connector elements 1222 and 1226 may be articulated relative to each other until they contact each other. In some examples, the gripper 1206 may be pivotally connected to the left or counterclockwise, as shown in Fig. 33, when current is applied and / or applying voltage, to conductors 1247a so that current flows through wires 1247a in the second or opposite direction. In such examples, referring again to Fig. 40, the electromagnets 1240a may be energized or polarized so that

[0046] In various examples, like above, the gripper 1206 may be pivotally connected to the left or in the counter-clockwise direction, e.g. when the current is supplied to and / or the voltage is applied to the conductors 1247b so that the current flows through guides 1247b in the first direction. More specifically, referring back to Fig. 40, the electromagnets 1240b can be energized or polarized so that the negative or south poles of the permanent magnets 1249b, designated by the letter "S", are attracted to the positive or north poles produced by the electromagnets 1240b, and in addition, the addition of the permanent magnets 1249b, marked "N", are attracted to the negative poles generated by the electromagnets 1240b. In such circumstances, referring again to Fig. 33, the magnetomotive force (mmf) between the magnets 1240b and the permanent magnets 1249b may be sufficient for the first connection members 1222 and the second joint members 1226 to be articulated relative to each other. In some instances, the connector elements 1222 and 1226 may be articulated with each other until they contact each other. Similarly to the above, the gripper 1206 may be articulated clockwise or clockwise as shown in Fig. 35 when the current is applied and / or applies voltage to the conductors 1247b so that the current flows through the conductors 1247b to the second or opposite direction. In such examples, referring again to Fig. 40, the electromagnets 1240b may be energized or polarized so that that the negative poles of permanent magnets 1249b are repelled by the negative poles generated by the electromagnets 1240b, and moreover the positive poles of the permanent magnets 1249b are repelled by the positive poles generated by the electromagnets 1240b. In various examples, further to the foregoing, the gripper 1206 and / or the elongated stem 1204 may include one or more permanent magnets and / or electromagnets that may be configured to articulate one or more connector members 1222 and / or 1226.

[0047] In various examples, also further to the above, each solenoid 1240a, for example, in articulation 1220, may be energized simultaneously to obtain a maximum articulation of the gripper 1206. Similarly, each solenoid 1240b may for example be energized simultaneously to achieve the maximum articulation to the left of the gripper 1206. In at least one example, referring to Fig. 35, the articulation joint 1220 may include, for example, three movable first connector members 1222 and three movable second connector members 1226. In at least one example, each of the six connector members may be configured for articulation approximately 10 degrees from the adjacent connector member, e.g., giving, for example, about 70 degrees of total articulation. In some instances, although not shown, a single conductor may be used to feed or polarity each of the electromagnets 1240a, and a single conductor may be used to power or polarity each of the solenoids 1240b. As a result, the electromagnets 1240a may be located in series with each other, and similarly the electromagnets 1240b may be placed in series with each other. In certain other examples, as shown in Fig. 40, for example, each solenoid 1240a may be activated independently of the other solenoids 1240a, and similarly each solenoid 1240b may be activated independently of the other electromagnets 1240b. In at least one such example, the electromagnets 1240a, 1240b can be selectively activated in such a way, that the gripper 1206 may be articulated less than its maximum articulation. For example, only one solenoid 1240a may be energized or polarized to articulate the gripper 1206 at approximately 20 degrees; two electromagnets 1240a may be energized or polarized to articulate the gripper 1206 at approximately 40 degrees; and the three electromagnets 1240a may be energized or polarized to articulate the gripper 1206 by approximately 70 degrees. In some examples, the gripper 1206 and / or the elongated stem 1204 may include one or more solenoids that can be actuated to articulate the gripper 1206 by more than 70 degrees, i.e., about 80 degrees, e.g., or less than 20 degrees. For example, only one solenoid 1240a may be energized or polarized to articulate the gripper 1206 at approximately 20 degrees; two electromagnets 1240a may be energized or polarized to articulate the gripper 1206 at approximately 40 degrees; and the three electromagnets 1240a may be energized or polarized to articulate the gripper 1206 by approximately 70 degrees. In some examples, the gripper 1206 and / or the elongated stem 1204 may include one or more solenoids that can be actuated to articulate the gripper 1206 by more than 70 degrees, i.e., about 80 degrees, e.g., or less than 20 degrees. For example, only one solenoid 1240a may be energized or polarized to articulate the gripper 1206 at approximately 20 degrees; two electromagnets 1240a may be energized or polarized to articulate the gripper 1206 at approximately 40 degrees; and the three electromagnets 1240a may be energized or polarized to articulate the gripper 1206 by approximately 70 degrees. In some examples, the gripper 1206 and / or the elongated stem 1204 may include one or more solenoids that can be actuated to articulate the gripper 1206 by more than 70 degrees, i.e., about 80 degrees, e.g., or less than 20 degrees. and the three electromagnets 1240a may be energized or polarized to articulate the gripper 1206 by approximately 70 degrees. In some examples, the gripper 1206 and / or the elongated stem 1204 may include one or more solenoids that can be actuated to articulate the gripper 1206 by more than 70 degrees, i.e., about 80 degrees, e.g., or less than 20 degrees. and the three electromagnets 1240a may be energized or polarized to articulate the gripper 1206 by approximately 70 degrees. In some examples, the gripper 1206 and / or the elongated stem 1204 may include one or more solenoids that can be actuated to articulate the gripper 1206 by more than 70 degrees, i.e., about 80 degrees, e.g., or less than 20 degrees.

[0048] As described above, each solenoid 1240a, 1240b may include a conductor 1247a, 1247b, respectively, which may be configured to carry a current. In various instances, the conductors 1247a and 1247b may include wires, e.g., which may be sufficiently flexible to accommodate relative movement between the first coupling members 1222 and the second connector member 1226. In at least one example, the conductors 1247a and 1247b may extend through one or more bushings 1298 in the connector members 1222 and 1226, the wires 1247a and 1247b may have enough clearance so that they do not break when the gripper 1206 is pivotally connected. In at least some examples, referring again to Fig. 36, the first connector members 1222 and / or the second connector members 1226 may further include one or more channels 1296, e.g., which may be configured to receive one or more conductors 1247a and / or 1247b so that the wires can be mounted in one plane. and / or below the faces of the connector members 1222 and 1226. In various examples, one or more wires, such as wires 1247a and 1247b, e.g., may extend through the passages 1250 of the connection members 1222 and 1226. In at least one such example, the passages 1250 may lie along the neutral axis of the articulation joint so that the stress and load applied to the conductors 1247a and 1247b can be minimized. In other words, in at least one example, the path through the passages 1250 can determine the length through the articulation joint,

In various examples, as described above, the first connector members 1222 may be configured for articulation relative to the second connector member 1226 and, respectively, the second connector members 1226 may be configured for articulation relative to the first connector members 1222. In at least one as an example, referring again to Figs. 36-39, the connecting elements 1222 and 1226 may be connected to each other by means of one or more ball and socket arrangements or joints. More specifically, each first coupling member 1222 may include a ball member 1227 that may be configured to receive in the socket 1223 an adjacent second connector member 1226. Similarly, each second connector member 1226 may also include a ball member 1227, which may be configured to receive in the slot 1223 an adjacent first connector member 1222. In at least one example, the ball members 1227 may be spherical or at least substantially spherical, and the seats 1223 may include a semi-spherical or at least partially spherical pocket. In various examples, the sphere and seat joints may be configured to allow the first and second coupling member 1222 and 1226 to move side to side in the up and down directions and / or in any other suitable direction. In various examples, the ball elements 1227 and sockets 1223 may define a passage 1254 that may be configured to slid receive the firing member 1250 (Fig. 35) and define a path for the firing member 1250, especially when the gripper 1206 is in the articulation position. In certain examples, one or more ball joints and a socket may be configured to limit the relative movement between the connector members 1222 and 1226. In at least one example, one or more ball joints may be configured and the socket may be configured to limit the relative movement between the first and second coupling members such that, for example, the joint elements can only move relative to each other along the plane. Referring again to Fig. 36, the ball members 1227 may include one or more retaining flanges 1224, for example, extending from this, which, now referring to Figs. 37 and 38, may be configured to be received in grooves 1221. equalizers, for example, defined in sockets 1223. In at least one example,

[0050] In any event, further to the above, one or more of the first coupling members 1222 and one or more second connector members 1226 may be re-aligned along the axis after their displacement or articulation relative to each other. In at least one example, the electromagnets 1240a and 1240b, for example, can be energized to straighten the articulation joint 1220 and also align the gripper 1206 with the stem 1204. In particular, in at least one example, the electromagnets 1240a and the electromagnets 1240b can be energized simultaneously such that the first coupling elements 1222 and the second connector elements 1226 are positioned along a central axis defined by the stem 1204. In some examples, the magnitude of the current and / or power supplied to the electromagnets 1240a and 1240b may differ at least initially, for moving the joint members 1222 and 1226 substantially relative to each other in which the magnitude of the current and / or power supplied to the solenoids 1240a and 1240b can be evened out, or at least substantially aligned, so that the joint members 1222 and 1226 can be more precisely aligned. In some examples, the magnitude of the current and / or power delivered to the electromagnets 1240a and 1240b may be the same, or at least substantially the same, initially, especially when the gripper 1206 is not significantly articulated.

[0051] In various instances, hereinafter, the surgical tool gripper may be articulated in more than one plane. In at least one example, now referring to Figs. 41-45, the surgical tool 1300 may include an elongated stem 1304, a gripper 1306 and a articulation 1320 that may be configured to allow the gripper 1306 to articulate relative to the shaft 1304. Similarly as the articulation connector 1220, the articulation connector 1320 may include a plurality of first connector members 1322 and a plurality of second connector members 1326 that may be configured to articulate relative to each other. In contrast to the joint members 1222 and 1226, the joint members 1322 and 1326 do not include alignment features 1221 and 1224, which limit the relative movement between them. In at least one example, as a result, the gripper 1306 can be articulated in a plurality of directions and / or planes. In certain examples, referring primarily to Fig. 41, each second connector member 1326 may include four electromagnets, e.g., solenoids 1340a, 1340b, 1340c and 1340d, which may be mounted on the second connector member 1326 in the openings in the connector member 1326. In at least one example, the solenoids 1340a - 1340d may be positioned uniformly with respect to each other and with respect to the center of the connector member 1326. Accordingly, each first connector member 1322 may include four permanent magnets comprising, referring to Fig. 42, permanent magnets 1349a, 1349b, 1349c (Fig. 41) and a fourth permanent magnet not shown, each permanent magnet 1349a can be aligned with one or more solenoids 1340a,

[0052] In use, similar to the above and referring to Fig. 43, electromagnets 1340a and / or electromagnets 1340b can be selectively actuated to articulate the gripper 1306 with respect to the elongated stem 1304 in the left and right directions. Shown in another way, referring to Fig. 44, the gripper 1306 may be pivotally connected in the left and right direction with respect to the axis 1395v, wherein, in some examples, the axis 1395v may extend via the electromagnets 1340c and 1340d and may intersect and extend transversely to axis 1399 along the line. In addition to the above, the electromagnets 1340c and / or electromagnets 1340d can be selectively activated to articulate the gripper1306 with respect to the elongated stem 1304 up and down. In other words, the gripper 1306 may be articulated up and down relative to the axis 1395h, wherein in some examples the axis 1395h may extend through the electromagnets 1340a and 1340b and may intersect and extend transversely to the longitudinal axis 1399. In various examples, any suitable combination solenoids 1390a, 1390b, 1390c and 1390d can be activated to articulate the gripper1306 relative to the elongated stem 1304 in any desired direction. For example, referring again to Fig. 44, electromagnets 1340b and 1340c may be operable to articulate the gripper 130 in the direction along the axis 1395n. In this example, the magnitude of the current flowing through the conductors 1347b may be the same or at least substantially the same as the amount of current flowing through the conductors 1347c so that the magnitudes of the magnetic field produced by the electromagnets 1340b and 1340c can be the same or at least substantially the same, such that they exert an equal or at least substantially equal magnetomotive force to their respective aligned permanent magnets. Electromagnets 1340a and 1340d can be operated to articulate the gripper 1306 in the opposite direction along 1395n. Similarly, electromagnets 1340a and 1340c may be operable to articulate the gripper 130 in the direction along the axis 1395p, and further electromagnets 1340b and 1340d may be operable to articulate the gripper 130 in the opposite direction along the axis 1395p. so that they exert equal or at least substantially equal magnetomotive forces for their adequately aligned permanent magnets. Electromagnets 1340a and 1340d can be operated to articulate the gripper 1306 in the opposite direction along 1395n. Similarly, electromagnets 1340a and 1340c may be operable to articulate the gripper 130 in the direction along the axis 1395p, and further electromagnets 1340b and 1340d may be operable to articulate the gripper 130 in the opposite direction along the axis 1395p. so that they exert equal or at least substantially equal magnetomotive forces for their adequately aligned permanent magnets. Electromagnets 1340a and 1340d can be operated to articulate the gripper 1306 in the opposite direction along 1395n. Similarly, electromagnets 1340a and 1340c may be operable to articulate the gripper 130 in the direction along the axis 1395p, and further electromagnets 1340b and 1340d may be operable to articulate the gripper 130 in the opposite direction along the axis 1395p.

[0053] In various examples, as outlined above, the solenoids 1340b and 1340c can be operated to connect the gripper 1306 in the direction of the axis 1395n, for example. In at least one such example, the solenoids 1340b and 1340c can be actuated to attract permanent magnets 134b and 1349c respectively. At the same time, in some examples, electromagnets 1340a and 1340d can be actuated to push permanent magnets 1349a and 1349d respectively to articulate the gripper 1306. In various examples, in view of the above, any suitable electromagnet combination can be actuated in such a way that they can attract and / or or repel various permanent magnets associated with them, e.g., at the same time and / or in any suitable order.

[0054] As outlined above, different combinations of solenoids 1340a, 1340b, 1340c and 1340d can be activated to produce a gripper 1306, in some examples the same amount of current can be supplied to the solenoids to connect the gripper 1306 along axis 1395n by articulation. and 1395p, i.e. along angles of approximately 45 degrees with respect to the axis 1395v and 1395h for example. In other examples, different magnitudes of current may be supplied to different solenoids, so that the gripper 1306 is articulated in other directions. For example, the 1347c conductors 1340c may be provided with current that has about twice the current delivered to the 1340b electromagnet guides 1340b to articulate the gripper 130 in a direction that is intermediate between the 1395n and 1395v axes. In any case, electromagnets 1340a, 1340b, 1340c and 1340d can be operated simultaneously to align the articulation joint 1320 along the longitudinal axis 1399, for example. In certain examples, referring again to Figures. 41 and 43, the articulation joint 1320 may further comprise one or more elastic straightening and aligning bars, e.g. bars 1343, which may be configured to straighten the articulation joint 1320. In at least one such an example, the proximal ends of the rods 1343 may be mounted on the elongated shaft 1304, in which the rods 1343 can extend through the openings 1346 in the coupling members 1322 and 1326 and extend into the openings 1397 in the grab 1306. When the puller 1306 is articulated as described above, the rods 1343 can be flexible enough to allow such, articulated connection, but can be sufficiently resilient to return to its original shape when the solenoids 1340a, 1340b, 1340c and 1340d have been properly discharged. In at least one example, the rods 1343 may be configured to slide in openings 1346 and openings 1397 to accommodate various configurations of the articulation joint 1320. Similar to the above, referring to Figs. 41 and 45, the joint members 1322 and 1326 may include one or several bushings 1398a-1398d, which may be configured to slidably receive the 1347a-1347d conductors therein, wherein the conductors 1347a-1347d may be flexible enough to accommodate various configurations of the articulation joint 1320. 1340c and 1340d were properly unloaded. In at least one example, the rods 1343 may be configured to slide in openings 1346 and openings 1397 to accommodate various configurations of the articulation joint 1320. Similar to the above, referring to Figs. 41 and 45, the joint members 1322 and 1326 may include one or several bushings 1398a-1398d, which may be configured to slidably receive the 1347a-1347d conductors therein, wherein the conductors 1347a-1347d may be flexible enough to accommodate various configurations of the articulation joint 1320. 1340c and 1340d were properly unloaded. In at least one example, the rods 1343 may be configured to slide in openings 1346 and openings 1397 to accommodate various configurations of the articulation joint 1320. Similar to the above, referring to Figs. 41 and 45, the joint members 1322 and 1326 may include one or several bushings 1398a-1398d, which may be configured to slidably receive the 1347a-1347d conductors therein, wherein the conductors 1347a-1347d may be flexible enough to accommodate various configurations of the articulation joint 1320.

[0055] As described above, a permanent magnets and electromagnet system may be used to articulate the gripper with respect to the elongated shaft of the surgical instrument. In various embodiments, the surgical tool may include a permanent magnets system and electromagnets configured to drive the cutting member and / or the stapler drive through a surgical tool gripper. In at least one embodiment, referring to Figs. 46-50, a surgical tool, e.g., surgical tool 1400, may include a gripper 1406, an elongated stem 1404, and a cutting member 1452 configured to advance advanced and / or retract from gripper 1406. Referring primarily to Figs. 46 and 50, the gripper 1406 may include a staple cartridge channel 1413 configured as such, to support and / or maintain the suturing insert 115, e.g. in it. The gripper 1406 may further include an anvil 1414 that may be pivotally connected to the staple cartridge passage 1413 such that the anvil 1414 may be rotated between the open and closed positions. As best shown in Fig. 46, the anvil 1414 may further include a plurality of permanent magnets 1417 attached thereto, wherein, when the anvil 1414 is in the closed position, for example, the permanent magnets 1417 may be configured to slide or retract the member. cut 1452. More specifically, in at least one embodiment, the cutting member 1452 may include one or more solenoids 1456 (Figs. 48-50) that can be energized or polarized to form a magnetic field or fields, that can interact with permanent magnets 1417 and generate a magnetomotive force between them. In various embodiments, such forces can move the cutting member 1452 proximally and / or distally in the gripper 1406. In at least one embodiment, the permanent magnets 1417 can be secured in equidistant or at least substantially equidistant holes in the anvil 1414 and additionally, the electromagnets 1456 can be to be mounted in the upper foot 1458. In various embodiments, referring to Fig. 50, the upper foot 1458 can be configured to be received in the channel 1405a in the anvil 1414 so that when the cutting member 1452 transits the anvil 1414, the top foot 1458 may bias the anvil 1414 downwardly to compress, e.g., a tissue positioned indirectly between the anvil 1414 and the stapling cartridge 115.

[0056] In various embodiments, similar to the above, the stapling cartridge channel 1413 may further include a plurality of permanent magnets 1419 attached thereto, permanent magnets 1419 may be configured to advance or retract the cutting member 1452. More specifically, at least in in one embodiment, the cutting member 1452 can include one or more solenoids 1457 that can be powered or polarized to create a magnetic field or fields that can interact with permanent magnets 1419 and create a magnetomotive force therebetween. In various embodiments, such forces can move the cutting member 1452 proximally and / or distally in the gripper 1406. In at least one embodiment, the magto prevent the flow between electromagnets and / or between electromagnets and permanent magnets, yet they are sufficiently permeable to the magnetic field. In any event, similar to the above, the surgical tool 1400 may further comprise one or more conductors, e.g. wires 1484, e.g., which may be configured to supply electromagnets 1456 and / or 1457 with current flow for the selective polarity of the electromagnets 1456 and 1457 In at least one such embodiment, again like the above, the direction of the current flowing through the wires 1484 can be selectively changed to control the poles generated by the electromagnets 1456 and / or 1457. In various embodiments, at least some of the conductors 1484 may be embedded in the 1450 shooting bar. In some embodiments, the firing bar 1450 may include two or more laminate layers, wherein, although not shown, at least a portion of the guides 1484 may be located indirectly between the layers, and in which the layers may be configured to protect and / or electrically isolate of guides 1484 from unintentional earthing of one another and / or of any other part of the surgical tool 1400. In various embodiments, although not shown, the conductors 1484 may include an elastic ribbon cable, which may include a plurality of conductors 1484 arranged in parallel and electrically insulated from each other.

[0057] In various embodiments, as outlined above, the electromagnets can be arranged on and / or inside the cutting member moving in the gripper. In use, electromagnets can be operated or energized so that they can produce a polarized magnetic field. In at least one such embodiment, each electromagnet may comprise at least one conductor arranged in a folded configuration, wherein when the current is applied to the conductor, the current may generate a field having positive and negative poles. In some embodiments, as outlined above, the iron cores disposed within the wrapped conductor can amplify the magnetic field generated by the current. Although electromagnets are completely suitable in various embodiments, any device capable of selectively generating one or more magnetic fields may be used. In at least one embodiment, for example, a polarizable device may include an annular or toroidal permanent magnet and / or an iron core, wherein the conductor may extend through an opening therein, and the magnetic field generated by the current flowing through the wire may be amplified by an annular core iron surrounding the guide. In various circumstances, the magnetic field produced by such a device can be sufficient to produce a useful magnetomotive force, as described herein. In certain embodiments, the fields generated by the Hall Hall or coil device may be used to move the cutting member, e.g. in a grab. In at least one embodiment, for example, a polarizable device may include an annular or toroidal permanent magnet and / or an iron core, wherein the conductor may extend through an opening therein, and the magnetic field generated by the current flowing through the wire may be amplified by an annular core iron surrounding the guide. In various circumstances, the magnetic field produced by such a device can be sufficient to produce a useful magnetomotive force, as described herein. In certain embodiments, the fields generated by the Hall Hall or coil device may be used to move the cutting member, e.g. in a grab. In at least one embodiment, for example, a polarizable device may include an annular or toroidal permanent magnet and / or an iron core, wherein the conductor may extend through an opening therein, and the magnetic field generated by the current flowing through the wire may be amplified by an annular core iron surrounding the guide. In various circumstances, the magnetic field produced by such a device can be sufficient to produce a useful magnetomotive force, as described herein. In certain embodiments, the fields generated by the Hall Hall or coil device may be used to move the cutting member, e.g. in a grab. wherein the conductor may extend through an opening therein, and the magnetic field generated by the current flowing through the wire may be strengthened by an annular iron core surrounding the conductor. In various circumstances, the magnetic field produced by such a device can be sufficient to produce a useful magnetomotive force, as described herein. In certain embodiments, the fields generated by the Hall Hall or coil device may be used to move the cutting member, e.g. in a grab. wherein the conductor may extend through an opening therein, and the magnetic field generated by the current flowing through the wire may be strengthened by an annular iron core surrounding the conductor. In various circumstances, the magnetic field produced by such a device can be sufficient to produce a useful magnetomotive force, as described herein. In certain embodiments, the fields generated by the Hall Hall or coil device may be used to move the cutting member, e.g. in a grab. as described here. In certain embodiments, the fields generated by the Hall Hall or coil device may be used to move the cutting member, e.g. in a grab. as described here. In certain embodiments, the fields generated by the Hall Hall or coil device may be used to move the cutting member, e.g. in a grab.

[0058] In various embodiments, in addition to or instead of the above, the surgical tool may comprise a permanent magnets system and electromagnets configured to advance and / or retract the firing rod in the elongated stem of the surgical tool. Referring now to Figs. 51A-51C and 53, the surgical tool 1500 may include an elongated shaft 1504 and a firing bar 1550, wherein the firing bar 1550 may be moved distally (Figure 53) and / or retracted proximally (Fig. 51A-51C ) to move the cutting member and / or the drive of the stapler, such as the cutting member 1452, for example, in a gripper to cut the tissue and / or to use staples in the tissue. In some embodiments, the shaft 1504 may include a ridge 1516 that may include one or more nests configured as to allow the 1550 shooting rod to move to it. In at least one embodiment, the elongated stem 1504 can further include one or more solenoids 1556 mounted on the ridge 1516 that can be configured to selectively generate one or more magnetic fields. As above, such magnetic fields may interact with permanent magnets 1517 mounted to the drive rod 1550 such that a magnetomotive force generated between solenoids 1556 and permanent magnets 1517 can move permanent magnets 1517 and drive rod 1550 relative to solenoids 1556 and ridge 1516. At least one embodiment, now referring to Fig. 52, the elongated shaft 1504 may include a first set of solenoids 1556 located on one side of the firing bar 1550 and a second set of solenoids 1556 located on the opposite side of the firing bar 1550. Accordingly, the first permanent magnet set 1517 can be positioned on the first side of the firing rod 1550 and the second set of permanent magnets 1517 can be placed on the opposite side of the firing bar 1550. As above, the current supplied to solenoids 1556 may be selectively provided to generate positive poles, negative polarity and / or lack of polarity in the 1556 electromagnets, if necessary to sufficiently attract and repel positive poles and negative permanent magnets 1517. In certain examples embodiments, referring again to Fig. 52,

[0059] In further embodiments, further to the above, the surgical tool may comprise a system comprising magnetic elements, such as, for example, iron cores and / or permanent magnets and selectively actuated solenoids, the system may comprise a linear motor configured to move the firing bar. and / or a cutting member along a defined path, wherein the path may comprise linear portions and / or curved portions in one or more directions. In various embodiments, the surgical tool may further include a computer or processor that may be configured to calculate the appropriate magnitude, duration, and / or direction of the current delivered to the electromagnets. In some embodiments, the surgical tool may further include one or more switches, which can be operated by a computer to selectively provide power to one or more electromagnets. In some embodiments, although not shown, the surgical tool may include a handle, an elongated stem extending from the handle and a gripper operatively connected to the stem, wherein the stem may include one or more conductors wound around an axis or a preset path within the stem. In at least one of the embodiments, the firing rod or rod having an iron part, e.g., can be placed in an opening defined by the wound conductors so that when the current is supplied to the conductors, the magnetic field or fields generated by the current flow can move the iron stick to shoot along the set path. In at least one embodiment, similar to the above,

[0060] In various embodiments, the elongated stem of the surgical tool may include a solenoid configured to advance and / or retract the shooting bar, cutting member, and / or stapler drive. In at least one embodiment, referring to Figs. 54 and 55, the surgical tool 1600 may include a handle assembly 1602, an elongated stem 1604, and a firing bar 1650. Similar to the handle assembly 102, the handle assembly 1602 may further include a trigger (not shown) configured to advance and / or retract the firing bar 1650. In at least one embodiment, the handle assembly trigger 1602 may be configured to close or terminate the circuit when it is actuated, the closed circuit being configured to supply current to the solenoid operably connected to the firing bar 1650. In some embodiments, although not shown, the handle assembly 1602, e.g., may include one or more batteries disposed therein, the batteries and one or more wires may be configured to supply current to the solenoid. In at least one embodiment, the solenoid can include windings 1656 that can be powered by a current to generate a polarized magnetic field. Similarly to the above, the solenoid may further comprise a magnetic element 1617, which may comprise iron, e.g., which may be configured to interact with the magnetic field. In use, the current flowing in the first direction can be supplied to the windings 1656 so that the magnetic field generated by the winding 1656 can move the magnetic element 1617 and the drive rod 1650 attached to it, distal in the elongated stem 1604 as shown in Fig. 55. In some embodiments, the trigger may be released to disconnect power to the winding 1656 and stop the progress of the firing bar 1650. In at least one embodiment, the handle assembly 1602 and / or the elongated stem 1604 may include one or more springs (not shown) that may be configured to deflect the magnetic element 1617 and the firing bar 1650 back to their starting positions, which are depicted in FIG. Fig. 54. In other embodiments, the current flowing in the windings 1656 may be inverted when the trigger is released so that the polarity of the magnetic field generated by the windings 1656 reverses and the magnetic element 1617 is retracted. In still other embodiments,

[0061] In various embodiments, although not shown, the surgical tool may include a handle, a stem extending from the handle and a gripper operatively connected to the shank, the shank may include a rotary drive shaft, the surgical tool may further comprise a motor configured to rotate. drive shaft. Various surgical instruments, including motor and rotary drive shaft, are disclosed in US Patent No. 7,422,139 to Shelton, IV, et al., Titled "MOTOR-DRIVEN

SURGICAL CUTTING FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK ", issued on September 9, 2008, and U.S. Patent No. 7,416,101 to Shelton, IV, et al., Entitled MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH

LOADING FORCE FEEDBACK, issued on August 28, 2008. In at least one embodiment, the surgical tool motor may comprise a stepper motor that may be configured to rotate the drive shaft through a given rotation range. In at least one embodiment, for example, one or more magnetic elements, such as iron cores, can be placed or embedded in the drive stem, wherein the magnetic elements can be configured, for example, to be detected by one or more sensors positioned inside the shaft. . In certain embodiments, such sensors may include Hall Hall or coil sensors that can be configured to detect interference within one or more magnetic fields, i.e., interference created by magnetic elements.

[0062] In various embodiments, although not shown, the surgical tool may include an array of electromagnets and magnetic elements that can be configured to close and / or open the surgical tool gripper. In at least one such embodiment, similar to the above, the gripper may include a staple cartridge channel configured to receive a stapling cartridge and, additionally, an anvil pivotally coupled to the staple cartridge channel. In certain embodiments, one or more electromagnets may be located within the channel of the suturing cartridge, moreover, one or more magnetic elements may be placed inside the anvil, where electromagnets are energized or polarized, electromagnets can generate magnetic fields, which can move the magnetic elements towards the electromagnets and, as a result, move the anvil between the open position and the closed position. In some such examples, the polarity of the electromagnets can be reversed to repel magnetic elements attached to the anvil and, as a result, to move the anvil between the closed position and the open position. In other embodiments, the current supplied to the electromagnets may be correspondingly reduced or decoupled so that the electromagnets can not produce a sufficient magnetic field to keep the anvil in its closed position. to repulse the magnetic elements attached to the anvil and, as a result, to move the anvil between the closed position and the open position. In other embodiments, the current supplied to the electromagnets may be correspondingly reduced or decoupled so that the electromagnets can not produce a sufficient magnetic field to keep the anvil in its closed position. to repulse the magnetic elements attached to the anvil and, as a result, to move the anvil between the closed position and the open position. In other embodiments, the current supplied to the electromagnets may be correspondingly reduced or decoupled so that the electromagnets can not produce a sufficient magnetic field to keep the anvil in its closed position.

In at least one such embodiment, the gripper can further comprise a spring that can be configured to bias the anvil to its open open position such that when the electromagnets are sufficiently energy free as described above, the spring can slide the anvil into its open position. position. In various alternative embodiments, the electromagnets may be configured to pierce the anvil into its open position, and the spring may be configured to bias the anvil to its closed position.

[0063] While the present invention has been described with the description of several embodiments and examples and while the illustrative embodiments and examples have been described to a considerable extent, it is not the intention of the applicant to restrict in any way the scope of the appended claims to such a detail. Additional advantages and modifications can be readily available to those skilled in the art. In addition, although the embodiments and examples disclosed herein have been described in connection with a endoscopic cutting and suturing device, other examples are provided in connection with any suitable medical device. While the present invention has been described as having exemplary formulas, the present invention may be further modified within the scope of the claims.

[0064] In view of the above, various examples have been described above in connection with cutting-type surgical instruments. It should be noted, however, that in other examples the surgical instruments disclosed herein do not have to be a cutting type surgical instrument. For example, it may be a non-intrinsic endoscopic tool, grasper, stapler, clip applicator, access device, drug / gene therapy device, ultrasound energy device, RF, laser, etc. Although the present invention has been described in connection with certain disclosed embodiments, many modifications and variations can be made to these embodiments. For example, different types of grippers can be used. Also, materials have been disclosed in relation to some parts, other materials may be used. The above description and the following claims are intended to cover all such modifications and variants.

[0065] Further to the above, the various stapling cartridges may be disposable. In at least one embodiment, a used suture cartridge or at least a partially used suture cartridge can be removed from the surgical stapler and replaced with another suturing cartridge. In other embodiments, the suturing cartridge can not be removed and / or interchangeable during normal surgical instrument use, but can under certain circumstances be interchangeable during and / or after re-conditioning the surgical stapler, as described in more detail below. In various embodiments, the suturing cartridge may be part of a disposable loading unit or a gripper that may further include a suture cartridge carrier, anvil, cutting member, and / or staple driver. In at least one embodiment,

[0066] The tools disclosed herein may be designed for disposal after one-time use or may be designed for repeated use. In both cases, the tools can be re-conditioned for reuse after at least one use. Re-conditioning may involve any combination of steps to disassemble the device, and then cleaning or replacing individual components, and then reassembling. In particular, the device can be disassembled, and any number of individual parts or parts of the device can be replaced or removed in any combination. After cleaning and / or replacing individual parts, the tool can be assembled for later use in the reconditioning facility or by the surgical team immediately before the surgery. Those skilled in the art will appreciate that the re-conditioning of the device may utilize various disassembly, cleaning / replacement and reassembly techniques. The use of such techniques and the resulting conditioned equipment is within the scope of the present application.

[0067] Preferably, the invention described herein will be processed before the operation. First, a new or used tool is obtained, and if necessary cleaned. The tool can then be sterilized. In one sterilization technique, the device is placed in a closed and sealed container, such as a plastic bag or TYVEK. The container and tool are then placed in a radiation field that can penetrate into a container, such as gamma radiation, X-rays or high-energy electrons. Radiation kills bacteria on the tool and in the container. The sterilized tool can be stored in a sterile container. The sealed container holds a sterile tool until it is opened in a medical facility.

Ethicon LLC, Puerto Rico

Proxy:

EP 2 393 428 B1 Z-15598/17