CN112566563A - Surgical device comprising a valve - Google Patents

Abstract

Surgical devices having valves that facilitate thorough cleaning and drying of the surgical devices, tools for opening the valves, and methods of using or operating the valves are disclosed.

Description

Surgical device comprising a valve

Cross Reference to Related Applications

This application claims the rights and priority of each of united states provisional patent application No. 62/718,065 filed onday 13, 8, 2018, 62/718,079 filed onday 13, 8, 2018, 62/718,089 filed onday 13, 62/718,102 filed onday 13, 8, and 13, 2018, and 62/718,450 filed onday 14, 8, 2018, each of which is incorporated herein by reference in its entirety.

This application is filed for partial continuation of the benefit and priority of united states patent application No. 14/991,157 filed on 8/1/2016, which claims the benefit and priority of united states provisional patent application No. 62/145,759 filed on 10/4/2015, each of which is incorporated herein by reference in its entirety.

Technical Field

The present disclosure relates generally to surgical devices. More particularly, the present disclosure relates to surgical devices having valves that facilitate thorough cleaning and drying of the surgical devices, tools for opening the valves, and methods of using or operating the valves.

Background

Surgical instruments including powered devices used in surgical procedures are known. To allow reuse of the handle assembly of these surgical instruments and to allow the handle assembly to be used with a variety of end effectors, adapter assemblies and extension assemblies have been developed to selectively attach to the handle assembly and various end effectors. In addition, after use, the adapter, end effector, and/or extension assembly may be thoroughly cleaned and/or sterilized for reuse.

Disclosure of Invention

The present disclosure relates to a surgical device including an outer cannula and a valve. The outer sleeve includes an inner wall, a port, and a housing within the port. The port extends through an inner wall of the outer sleeve. The valve is at least partially disposed within the outer sleeve and includes an engagement portion configured to selectively engage a port of the outer sleeve. The engagement portion of the valve is movable relative to the outer sleeve from an occluded position in which the engagement portion forms a fluid-tight seal with the port to an open position in which at least a portion of the engagement portion is spaced from the port.

In the disclosed embodiment, the valve is biased to the occluding position.

The valve also includes a biasing element configured to urge the engagement portion of the valve radially outward and into an occluded position. In an embodiment, the biasing element is a compression spring. Also disclosed is that the valve includes a body portion, and a biasing element is disposed about the body portion of the valve. Further disclosed is a biasing element disposed between the engagement portion of the valve and a wall of the housing of the outer sleeve.

Further, a surgical device is disclosed that includes a second valve configured to selectively engage a second port of an outer cannula.

The present disclosure also relates to a method of cleaning a surgical device. The method includes moving an engagement portion of the valve radially inward relative to a port of an outer cannula of the surgical device from an occluded position in which the engagement portion forms a fluid tight seal with the port to an open position in which at least a portion of the engagement portion is spaced apart from the port, injecting fluid through the port into an outer tube of the surgical device, removing the fluid from the surgical device, and maintaining the engagement portion of the valve in the open position after a majority of the fluid has been removed from the surgical device.

In disclosed embodiments, the method includes biasing an engagement portion of the valve to an occluding position.

Additionally, embodiments of the method include moving an engagement portion of a second valve radially inward relative to a second port of an outer cannula of a surgical device from an occluded position in which the engagement portion of the second valve forms a liquid-tight seal with the second port to an open position in which at least a portion of the engagement portion of the second valve is spaced apart from the second port. In an embodiment, the method includes holding the engagement portion of the second valve in an open position while injecting fluid through a port in an outer tube of the surgical device.

The present disclosure relates to a surgical device including a handle housing, an elongated portion, and a valve. The handle housing includes an outer wall and a port. The port extends through the outer wall. An elongated portion extends distally from the handle housing. The valve is disposed at least partially within the handle housing and includes an engagement portion configured to selectively engage a port of the handle housing. The engagement portion of the valve is movable relative to the outer wall from an occluded position in which the engagement portion forms a liquid-tight seal with the port to an open position in which at least a portion of the engagement portion is spaced from the port.

In the disclosed embodiment, the valve is biased to the occluding position.

The valve also includes a biasing element configured to urge the engagement portion of the valve radially outward and into an occluded position. In an embodiment, the biasing element is a compression spring. Also disclosed is that the valve includes a body portion, and a biasing element is disposed about the body portion of the valve.

Further, a surgical device is disclosed that includes a second valve configured to selectively engage a second port of the elongated section of tubing.

The present disclosure also relates to a method of cleaning a surgical device. The method includes moving an engagement portion of the valve radially inward relative to a port of a handle housing of the surgical device from an occluded position in which the engagement portion forms a fluid tight seal with the port to an open position in which at least a portion of the engagement portion is spaced from the port, injecting a fluid into the surgical device, removing the fluid from the surgical device, and maintaining the engagement portion of the valve in the open position after a majority of the fluid has been removed from the surgical device.

In disclosed embodiments, the method includes biasing an engagement portion of the valve to an occluding position.

Additionally, embodiments of the method include moving an engagement portion of a second valve radially inward relative to a second port of a surgical device from an occluded position in which the engagement portion of the second valve forms a liquid-tight seal with the second port to an open position in which at least a portion of the engagement portion of the second valve is spaced from the second port.

The present disclosure relates to a surgical kit including a surgical device and an actuator. The surgical device includes a handle assembly, an elongate portion extending distally from the handle assembly, a port, and a valve. The valve includes an engagement portion configured to selectively engage a port. The engagement portion of the valve is movable from an occluded position in which the engagement portion forms a fluid-tight seal with the port to an open position in which at least a portion of the engagement portion is spaced from the port. The actuator includes a sleeve body and a finger. The cannula body is configured to slidably engage an elongated portion of a surgical device. The finger is configured to selectively engage an engagement portion of the valve to move the valve from the occluded position to the open position.

In disclosed embodiments, the fingers of the actuator comprise a plus-shaped or cross-shaped cross-sectional profile and the engagement portion of the valve of the surgical device comprises a circular cross-sectional profile.

It is also disclosed that the sleeve is annular and the fingers extend radially inward from the sleeve body. In an embodiment, the actuator includes a second finger extending radially inward from the cannula body.

A surgical device including a second port and a second valve is also disclosed. The second valve includes a second engagement portion configured to selectively engage the second port. The second engagement portion of the second valve is movable from an occluded position in which the second engagement portion forms a fluid tight seal with the second port to an open position in which at least a portion of the second engagement portion is spaced from the second port. The finger is configured to engage the second engagement portion of the second valve with the second finger to move the second valve from the occluded position to the open position while selectively engaging the engagement portion of the valve to move the valve from the occluded position to the open position.

The present disclosure also relates to a surgical kit including a surgical device and an actuator. The surgical device includes a handle housing, an elongated portion extending distally from the handle housing, a port, and a valve. The valve includes an engagement portion configured to selectively engage a port. The engagement portion of the valve is movable from an occluded position in which the engagement portion forms a fluid-tight seal with the port to an open position in which at least a portion of the engagement portion is spaced from the port. The actuator includes a frame and a post extending from the frame. At least a portion of the surgical device may be positioned on the actuator. The post is configured to selectively engage an engagement portion of the valve to move the valve from the occluded position to the open position.

In disclosed embodiments, the valve is at least partially disposed within a handle housing of the surgical device.

A surgical device including a second port and a second valve is also disclosed. The second valve includes a second engagement portion configured to selectively engage the second port. The second engagement portion of the second valve is movable from an occluded position in which the second engagement portion forms a fluid tight seal with the second port to an open position in which at least a portion of the second engagement portion is spaced from the second port.

In an embodiment, the valve is at least partially disposed within a handle housing of the surgical device, and the second valve is at least partially disposed within an elongated portion of the surgical device.

An actuator including a second post extending from the frame is also disclosed. The post is configured to engage the second engagement portion of the second valve with the second post to move the second valve from the occluded position to the open position while selectively engaging the engagement portion of the valve to move the valve from the occluded position to the open position.

The present disclosure relates to a surgical device including an outer cannula, a port extending through the outer cannula, and a valve disposed at least partially within the outer cannula. The valve includes an exhaust port slidably disposed between an open position and a closed position relative to the port, and a thermostat configured to urge the exhaust port to its open position in response to exposure of the thermostat to a predetermined temperature.

In disclosed embodiments, the valve includes a biasing element configured to urge the vent toward its occluded position. A portion of the thermostat contacts a portion of the exhaust port is also disclosed.

In an embodiment, the vent is configured to move to its occluded position in response to exposure of the thermostat to a temperature below a predetermined temperature. It is also disclosed that the predetermined temperature is about 130 ℃.

The present disclosure also relates to a surgical device including an outer cannula, a port extending through the outer cannula, and a valve. The valve is at least partially disposed within the outer sleeve and is made of a bimetallic material. A portion of the valve is configured to move between an open position and a closed position relative to the port in response to exposure of the valve to a predetermined temperature.

The valve also includes a first leg, a second leg, a third leg, and a blocking portion. The second leg extends adjacent the first end of the first leg and the third leg extends adjacent the second end of the second leg. Also disclosed is the movement of the first leg toward the second leg in response to exposure of the valve to a predetermined temperature.

In an embodiment, the portion of the valve is configured to remain in its occluded position in response to exposure of the valve to a temperature below a predetermined temperature. The predetermined temperature is disclosed as being about 130 deg.c.

In disclosed embodiments, the surgical device includes a shaft, and rotation of the shaft relative to the outer cannula causes the valve to move to its occluding position.

Drawings

Embodiments of the present disclosure are described herein with reference to the accompanying drawings, wherein:

FIG. 1 is an exploded perspective view of an adapter assembly, an extension assembly, and an exemplary handheld electromechanical surgical device according to an embodiment of the present disclosure;

FIG. 2 is a perspective side view of the exemplary handheld electromechanical surgical device of FIG. 1;

FIG. 3 is a perspective side view of the adapter assembly of FIG. 1;

FIG. 4 is a perspective side view of the adapter assembly of FIG. 3 with the outer sleeve removed;

FIG. 5 is a perspective side view of the adapter assembly of FIGS. 3 and 4 with the proximal and distal housings of the first and second pusher assemblies removed;

FIG. 6 is a cross-sectional side view of the adapter assembly of FIGS. 2-4 taken along line 6-6 shown in FIG. 3;

FIG. 7 is a cross-sectional side view of the adapter assembly of FIGS. 2-5 taken along line 7-7 shown in FIG. 5;

FIG. 8 is an enlarged perspective view of the coupling assembly and the transfer assembly of the adapter assembly of FIGS. 2-7;

FIG. 9 is a perspective side view of the adapter assembly of FIGS. 2-7 with the housing assembly removed;

FIG. 10 is an enlarged view of the designated detail area of FIG. 9;

FIG. 11 is an enlarged view of the designated detail area of FIG. 6;

FIG. 12 is an enlarged view of the designated detail area of FIG. 7;

FIG. 13 is a perspective end view of the transfer assembly of FIG. 8;

FIG. 14 is an enlarged view of the designated detail area of FIG. 6;

FIG. 15 is an enlarged view of the designated detail area of FIG. 7;

FIG. 16 is an enlarged view of the designated detail area of FIG. 9;

FIG. 17 is a perspective end view of the extension assembly of FIG. 1;

FIG. 18 is a perspective end view of the inner flex band assembly of the extension assembly of FIG. 17;

FIG. 19 is a perspective end view of the outer flex band assembly of the extension assembly of FIG. 17;

FIG. 20 is a perspective side view of the inner and outer flex band assemblies of FIGS. 18 and 19 and an exploded view of the frame assembly of the extension assembly of FIG. 17;

FIG. 21 is a perspective side view of the inner and outer flex band assembly and frame assembly of FIG. 20;

FIG. 22 is an enlarged view of the designated detail area of FIG. 21;

FIG. 23 is a front perspective view of the inner and outer flex band assembly and frame assembly of FIG. 20;

FIG. 24 is an enlarged view of the designated detail area of FIG. 23;

FIG. 25 is a cross-sectional end view taken along line 25-25 of FIG. 17;

FIG. 26 is a cross-sectional end view taken along line 26-26 of FIG. 17;

FIG. 27 is an enlarged perspective side view of the distal end of the inner and outer flex band assembly and frame assembly of FIG. 20, including the proximal seal member and the first and second distal seal members;

FIG. 28 is an exploded perspective view of the proximal seal member and first and second distal seal members of FIG. 27;

FIG. 29 is an exploded view of the trocar assembly of the extension assembly of FIG. 17;

FIG. 30 is a perspective side view of the trocar assembly of FIG. 29;

FIG. 31 is a cross-sectional side view taken along line 31-31 of FIG. 30;

FIG. 32 is a cross-sectional top view taken along line 32-32 of FIG. 17;

FIG. 33 is an enlarged cross-sectional view of the distal end of the extension assembly of FIG. 17;

FIG. 34 is a perspective side view of the adapter assembly of FIG. 3 connected to the extension assembly of FIG. 17 and an end effector and anvil assembly connected to the extension assembly;

FIG. 35 is an enlarged cross-sectional side view of the designated detail area of FIG. 34;

FIG. 36 is a rear perspective view of an adapter assembly according to another embodiment of the present disclosure;

FIG. 37 is a perspective side view of the adapter assembly of FIG. 36 with the outer sleeve and handle member removed;

FIG. 38 is a perspective side view of the adapter assembly of FIG. 37 with the base and housing members removed;

FIG. 39 is a perspective side view of the adapter assembly of FIG. 38 with the support structure removed;

FIG. 40 is a cross-sectional side view taken along line 40-40 of FIG. 36;

FIG. 41 is a cross-sectional side view taken along line 41-41 of FIG. 40;

FIG. 42 is a rear perspective view of an adapter assembly according to yet another embodiment of the present disclosure;

FIG. 43 is a cross-sectional side view taken along line 43-43 of FIG. 42;

FIG. 44 is a cross-sectional side view taken along line 44-44 of FIG. 42;

fig. 45 is a perspective view of a connector assembly according to an embodiment of the present disclosure;

FIG. 46 is an exploded perspective view of the connector assembly of FIG. 45;

FIG. 47 is a perspective view of the connector assembly of FIG. 45 with the sleeve and the first portion of the tubular extension removed;

FIG. 48 is a perspective view of the connector assembly of FIG. 45 with the ferrule removed;

FIG. 49 is a cross-sectional side view taken along line 49-49 of FIG. 45;

FIG. 50 is a perspective view, with portions broken away, of the distal end of the adapter assembly of FIG. 1, in accordance with an embodiment of the present disclosure;

FIG. 51 is a transverse cross-sectional view of a portion of the distal end of the adapter assembly of FIG. 50;

FIG. 52 is a longitudinal cross-sectional view of the distal end of the adapter assembly taken along line 52-52 of FIG. 50;

FIGS. 53 and 54 are perspective views of the distal portion of the adapter assembly of FIG. 50 with some parts removed;

FIG. 55 is a perspective view of a sensor assembly of the adapter assembly of FIG. 50;

FIG. 56 is a perspective view of a seal assembly used with the frame assembly of FIG. 20;

FIG. 57 is an assembled view of the seal assembly of FIG. 56;

FIG. 58 is a perspective view of the seal assembly of FIGS. 56 and 57, shown within the frame assembly of FIG. 20;

FIG. 59 is a perspective view of the seal assembly of FIGS. 56 and 57, with portions of the frame shown and omitted within the frame assembly of FIG. 20;

FIG. 60 is a transverse cross-sectional view taken along line 60-60 of FIG. 58;

FIG. 61 is a longitudinal cross-sectional view taken along line 61-61 of FIG. 58;

FIG. 62 is an enlarged view of the designated detail area of FIG. 61;

FIG. 63 is a perspective view of a portion of a surgical device incorporating a valve according to an embodiment of the present disclosure;

FIG. 64 is a transverse cross-sectional view of the surgical device taken alongline 64 of FIG. 63;

FIG. 65 is an assembled view of the valve of FIGS. 63 and 64;

FIG. 66 is a perspective side view of a handle housing of a surgical device including an exhaust port according to an embodiment of the present disclosure;

FIG. 67 is a perspective view of a surgical device including a valve and an actuator engaged with a portion of the surgical device;

FIG. 68 is a perspective view of a portion of the surgical device and actuator of FIG. 67, with the actuator separated from the surgical device;

FIG. 68A is a cross-sectional view of the actuator taken alongline 68A-68A of FIG. 68;

FIG. 69 is a perspective view of a portion of the surgical device of FIG. 67 with an actuator engaged therewith;

FIG. 70 is a perspective view of the surgical device of FIG. 67 engaged with a second actuator; and

FIG. 71 is a perspective view of a surgical device incorporating a valve according to an embodiment of the present disclosure;

FIG. 72 is a perspective view of a portion of the surgical device of FIG. 71, illustrating the valve and showing internal components;

FIG. 73 is a cross-sectional view of a portion of the surgical device and valve of FIG. 72;

FIG. 74 is a perspective view of the exhaust port of the valve of FIGS. 71-73;

FIG. 75 is a perspective view of a thermostat of the valve of FIGS. 71-73;

FIG. 76 is a cross-sectional view of the thermostat of FIG. 75 taken along line 76-76 of FIG. 75;

FIG. 77 is a perspective view of a portion of a surgical device with portions removed and showing a valve according to an embodiment of the present disclosure;

FIG. 78 is a perspective view of the valve of FIG. 77;

FIG. 79 is a cross-sectional view taken along line 79-79 of FIG. 77, showing the valve in an open position; and

fig. 80 is a schematic view of a robotic surgical system configured for use in accordance with the present disclosure.

Detailed Description

Embodiments of the seal assembly of the presently disclosed surgical instrument are described in detail with reference to the drawings, wherein like reference numerals designate identical or corresponding elements in each of the several views. As used herein, the term "distal" refers to the portion of the seal assembly or surgical instrument or component thereof that is farther from the user, while the term "proximal" refers to the portion of the seal assembly or surgical instrument or component thereof that is closer to the user.

Referring to FIG. 1, an adapter assembly, shown generally asadapter assembly 100, according to an embodiment of the present disclosure, and an extension assembly, shown generally asextension assembly 200, according to an embodiment of the present disclosure, are configured for selective connection to a powered hand-held electromechanical instrument, shown generally assurgical device 10. As shown in fig. 1, thesurgical device 10 is configured for selective connection with theadapter assembly 100, and theadapter assembly 100 is in turn configured for selective connection with theextension assembly 200.Extension assembly 200 is configured for selective connection with a tool assembly or end effector, such as tool assembly 30 (fig. 34), which contains a loading unit, such as loading unit 40 (fig. 34), and an anvil assembly, such as anvil assembly 50 (fig. 34), for applying an annular array of staples (not shown) to tissue (not shown).

As shown in fig. 1 and 2, thesurgical device 10 includes ahandle housing 12 having alower housing portion 14, anintermediate housing portion 16 extending from and/or supported on thelower housing portion 14, and anupper housing portion 18 extending from and/or supported on theintermediate housing portion 16. The distal half of theupper housing portion 18 defines a nose or connectingportion 18a configured to receive a correspondingdrive coupling assembly 110 of the adapter assembly 100 (fig. 10). For a detailed description of the structure and function of an exemplary electromechanical machine, reference is made to commonly owned U.S. patent No. 9,055,943 (hereinafter the "943 patent"), the contents of which are incorporated herein by reference in their entirety.

Theadapter assembly 100 will now be described with reference to fig. 3-20. Referring first to fig. 3, theadapter assembly 100 includes aproximal end 102 configured to be operably connected to the connectingportion 18a (fig. 1) of the surgical device 10 (fig. 1) and adistal end 104 configured to be operably connected to the extension assembly 200 (fig. 1). In accordance with the present disclosure, theadapter assembly 100 may be substantially or completely rigid throughout its length.

Turning to fig. 3-5, from theproximal end 102 to thedistal end 104 of theadapter assembly 100, theadapter assembly 100 includes adrive coupling assembly 110, adrive transfer assembly 130 operatively connected to thedrive coupling assembly 110, afirst pusher assembly 160 operatively connected to thedrive transfer assembly 130, and asecond pusher assembly 180 operatively connected to thedrive transfer assembly 130. Each of thedrive transfer assembly 130, thefirst pusher assembly 160, and thesecond pusher assembly 180 is operably retained within the outer sleeve 106 (fig. 3). As will be described in further detail below, shaft 108 (fig. 3) extends longitudinally throughadapter assembly 100 and is operatively connected to drivetransfer assembly 130.

Referring to fig. 5-9, thedrive coupling assembly 110 has a cylindrical profile and is configured to selectively secure theadapter assembly 100 to the surgical device 10 (fig. 1). Drivecoupling assembly 110 includes aconnector housing 112 and aconnector extension 114 fixedly connected toconnector housing 112 by a mountingplate 113. Theconnector housing 112 andconnector extension 114 are operative to rotatably support a first rotatableproximal drive shaft 116, a second rotatableproximal drive shaft 118 and a third rotatableproximal drive shaft 120. Theconnector housing 112 and theconnector extension 114 of thedrive coupling assembly 110 also rotatably support first, second, andthird connector sleeves 116, 118, and 120, respectively. Each of theconnector cannulas 122, 124, 126 is configured to mate with a respective first, second, and third drive connector (not shown) of the surgical device 10 (fig. 1). Eachconnector sleeve 122, 124, 126 is further configured to mate with theproximal end 116a, 118a, 120a of the respective first, second and thirdproximal drive shafts 116, 118, 120.

Thedrive coupling assembly 110 also includes first, second, andthird biasing members 122a, 124a, and 126a disposed distal of the respective first, second, andthird connector sleeves 122, 124, 126. Each biasingmember 122a, 124a, and 126a is disposed about a respective first, second, and third rotatableproximal drive shaft 122, 124, and 126 to help maintain theconnector sleeves 122, 124, and 126 in engagement with the distal ends of the respective drive rotatable drive connectors of the surgical device 10 (not shown) when theadapter assembly 100 is connected to thesurgical device 10. In particular, the first, second, andthird biasing members 122a, 124a, and 126a serve to bias therespective connector sleeves 122, 124, and 126 in a proximal direction.

For a detailed description of an exemplary drive coupling assembly, please refer to the' 943 application, the contents of which are previously incorporated herein by reference.

Referring to fig. 9-13, the drive transmission assembly 130 (fig. 10 and 13) of theadapter assembly 100 has a cylindrical profile and operatively connects the distal ends of the first, second, and third rotatableproximal drive shafts 116, 118, and 120 to theshaft 108, thefirst pusher assembly 160, and thesecond pusher assembly 180, respectively. Thedrive transfer assembly 130 includes a support plate 132 (fig. 11 and 12) secured to the proximal end of theconnector housing 112, and adrive transfer housing 134 located adjacent thesupport plate 132. Thesupport plate 132 and thehousing 134 operate to rotatably support a first rotatabledistal drive shaft 136, a second rotatabledistal drive shaft 138, and adrive member 140.

The first and second rotatabledistal drive shafts 136 and 138 are operatively connected to the respective first and second rotatableproximal drive shafts 116 and 118, respectively, of thedrive coupling assembly 110 by a pair of gears. In particular, the distal end of each of the first and second rotatableproximal drive shafts 116 and 118 includes agear portion 142a and 144a, respectively, that engages aproximal drive gear 142b and 144b on the proximal end of the respective first and seconddistal drive shafts 136 and 138. As shown, each of the respective pairs of gear segments and proximal drive gears 142a, 142b and 144a, 144b are the same size to provide a 1: a gear ratio of 1. In this manner, each of the rotatable proximal and distal drive shafts rotate at the same speed. However, it is contemplated that one or both of the pair of gear portions and the proximal drive gear may have different dimensions to vary the gear ratio between the rotatable proximal and distal drive shafts.

The distal end of the thirdproximal drive shaft 120 of thedrive coupling assembly 110 includes agear portion 146a that engages agear portion 146b formed on the proximal end of thedrive member 140 of thedrive transmission assembly 130. Thegear portion 146a on the thirdproximal drive shaft 120 and thegear portion 146b on thedrive member 140 are the same size to provide a 1: a gear ratio of 1. In this manner, the thirdproximal drive shaft 120 and thedrive member 140 rotate at the same speed. However, it is contemplated that one or both ofgear portions 146a, 146b may have different dimensions to vary the gear ratio between thirdproximal drive shaft 120 and drivemember 140. The distal end of thedrive member 140 defines arecess 145 that receives theproximal end 108a of theshaft 108. Alternatively, therecess 145 may be configured to operably engage theproximal end 208a of the drive shaft (fig. 17) of the extension assembly 200 (fig. 17).

Thedrive transfer assembly 130 further includes a drive connector 148 (fig. 11) operatively connecting the first rotatabledistal drive shaft 136 to thefirst pusher assembly 160 and atubular connector 150 operatively connecting the second rotatabledistal drive shaft 138 to thesecond pusher assembly 180. In particular, the distal end of the first rotatabledistal drive shaft 136 includes agear portion 152a that engages agear portion 152b of thedrive connector 148. The distal end of the second rotatabledistal drive shaft 138 includes agear portion 154a that engages adrive gear 154b fixed to the distal end of thetubular connector 150.

As shown in fig. 10, thegear portion 152a of the first rotatabledistal drive shaft 136 is smaller than thegear portion 152b of thedrive connector 148 to provide a ratio of greater than 1: a gear ratio of 1. In this manner, thedrive connector 148 rotates at a slower speed than the first rotatabledistal drive shaft 136. Similarly,gear portion 154a of second rotatabledistal drive shaft 138 is smaller thandrive gear 154b ontubular connector 150 to provide a ratio of greater than 1: a gear ratio of 1. In this manner,tubular connector 150 rotates at a slower speed than second rotatabledistal drive shaft 138. However, it is contemplated that each of the pairs ofgear portions 152a and 152b andgear portions 154a and drivegears 154b may be the same size to provide a 1: a gear ratio of 1.

With particular reference to fig. 9-13, thefirst pusher assembly 160 includes proximal anddistal housing portions 162, 164 (fig. 11), aplanetary gear assembly 166 operably mounted within theproximal housing portion 162, ascrew member 168 operably connected to theplanetary gear assembly 166 and rotatably supported in the distal housing portion 164 (fig. 11), and apusher member 170 operably connected to thescrew member 168 and slidably disposed in the distal housing portion 164 (fig. 11). Theplanetary gear assembly 166 includes first and secondplanetary gear systems 166a, 166b (fig. 10). Firstplanetary gear system 166a includes acentral drive gear 172a mounted on a distal end ofdrive connector 148 ofdrive transfer assembly 130 and a plurality ofplanetary gears 174a rotatably mounted to arotatable support ring 176.

Eachplanet gear 174a of the firstplanetary gear system 166a engages thecentral drive gear 172a and the toothedinner surface 165 of theproximal housing portion 162. When thecenter drive gear 172a rotates in a first direction (e.g., clockwise), eachplanet gear 174a rotates in a second direction (e.g., counterclockwise). When eachplanet gear 174a rotates in the second direction, the engagement of theplanet gear 174a with the toothedinner surface 165 of thedistal housing portion 162 causes therotatable support ring 176 to rotate in the first direction. Conversely, rotation of thecentral drive gear 172a in a second direction causes rotation of eachplanet gear 174a in a first direction, thereby causing rotation of therotatable support ring 176 in a second direction. The configuration of the firstplanetary gear system 166a reduces the gear ratio. In this manner, the rotational speed of the rotatable support ring 174 is less than the rotational speed of thecenter drive gear 170 a.

The secondplanetary gear system 166b includes acentral drive gear 172b fixedly secured to arotatable support ring 176 and a plurality of planet gears 174b rotatably mounted to theproximal end surface 168a of thescrew member 168. Eachplanet gear 174b of the secondplanetary gear system 166b engages thecentral drive gear 172b and the toothedinner surface 165 of theproximal housing portion 162. When therotatable support ring 176 of the firstplanetary gear system 166a is rotated in a first direction, causing thecenter drive gear 172b to also rotate in the first direction, eachplanetary gear 174b rotates in a second direction. As eachplanet gear 174b rotates in the second direction, the engagement of the planet gears 174b with the toothedinner surface 165 of theproximal housing portion 162 causes thescrew member 168 to rotate in the first direction. Conversely, rotation of thecentral drive gear 172b in the second direction causes rotation of eachplanet gear 174b in the first direction, thereby rotating thescrew member 168 in the second direction. The configuration of the secondplanetary gear system 166b reduces the transmission ratio. In this manner, the rotational speed of thescrew member 168 is less than the rotational speed of thecenter drive gear 172 b. The first and secondplanetary gear systems 166a, 166b operate in unison to reduce the gear ratio between the first rotatableproximal drive shaft 116 and thescrew member 168. In this manner, the reduction in rotational speed of thescrew member 168 relative to thedrive connector 148 is a product of the reduction provided by the first and secondplanetary gear systems 166a, 166 b.

Ascrew member 168 is rotatably supported withinproximal housing portion 162 and includes a threadeddistal end 168b that operably engages a threadedinner surface 170a of apusher member 170. When thescrew member 168 is rotated in a first direction, engagement of the threadeddistal end 168b of thescrew member 168 with the threadedinner surface 170a of the pusher member 170 (which is keyed to allow axial translation thereof and prevent rotation thereof) results in longitudinal advancement of thepusher member 170, as shown by arrow "a" in fig. 12. Conversely, rotation of thescrew member 168 in a second direction causes thepusher member 170 to retract.

Thepusher member 170 of thefirst pusher assembly 160 of theadapter assembly 100 includes a pair oftabs 178 formed on a distal end thereof for engaging theconnector extensions 240, 242 (fig. 19) of the outer flexible band assembly 230 (fig. 19) of the extension assembly 200 (fig. 17). While shown as atab 178, it is contemplated that thepusher member 170 may comprise any structure suitable for selectively engaging theconnector extensions 240, 242 of the outerflexible band 230 of theextension assembly 200.

Referring now specifically to fig. 14-16, thesecond pusher assembly 180 is substantially similar to thefirst pusher assembly 160 and includes proximal anddistal housing portions 182, 184, aplanetary gear assembly 186 operatively mounted within theproximal housing portion 182, ascrew member 188 operatively connected to theplanetary gear assembly 186 and rotatably supported in thedistal housing portion 184, and apusher member 190 operatively connected to thescrew member 188 and slidably disposed in thedistal housing portion 184. Theplanetary gear assembly 186 includes first and secondplanetary gear systems 186a, 186b (fig. 16). The firstplanetary gear system 186a includes acentral drive gear 192a mounted on the distal end of thetubular connector 150 of thedrive transfer assembly 130 and a plurality ofplanetary gears 194a rotatably mounted to arotatable support ring 196.

Eachplanet gear 194a of the firstplanetary gear system 186a engages thecentral drive gear 192a and the toothedinner surface 185 of theproximal housing portion 182. When thecenter drive gear 192a rotates in a first direction (e.g., clockwise), eachplanet gear 194a rotates in a second direction (e.g., counterclockwise). As eachplanet gear 194a rotates in the second direction, engagement of theplanet gear 194a with the toothedinner surface 185 of thedistal housing portion 182 causes therotatable support ring 196 to rotate in the first direction. Conversely, rotation of thecenter drive gear 192a in a second direction causes rotation of eachplanet gear 194a in a first direction, thereby causing rotation of therotatable support ring 196 in a second direction. The configuration of the firstplanetary gear system 186a reduces the gear ratio. In this manner, the rotational speed of the rotatable support ring 194 is less than the rotational speed of the center drive gear 190 a.

The secondplanetary gear system 186b includes acentral drive gear 192b fixedly secured to arotatable support ring 196 and a plurality of planet gears 194b rotatably mounted to theproximal end surface 188a of thescrew member 188. Eachplanet gear 194b of the secondplanetary gear system 186b engages thecentral drive gear 192b and the toothedinner surface 185 of theproximal housing portion 182. Eachplanet gear 174b rotates in a second direction when therotatable support ring 196 of the firstplanetary gear system 186a rotates in the first direction causing thecenter drive gear 192b to also rotate in the first direction. When eachplanet gear 194b rotates in the second direction, engagement of theplanet gear 194b with the toothedinner surface 185 of theproximal housing portion 182 causes thescrew member 188 to rotate in the first direction. Conversely, rotation of thecentral drive gear 192b in a second direction causes rotation of eachplanet gear 194b in a first direction, thereby rotating thescrew member 198 in a second direction. The configuration of the secondplanetary gear system 186b reduces the transmission ratio. In this way, the rotational speed of thescrew member 188 is less than the rotational speed of the center drive gear 182 b. The first and secondplanetary gear systems 186a, 186b operate in unison to reduce the gear ratio between the second rotatableproximal drive shaft 118 and thescrew member 188. In this manner, the reduction in rotational speed of thescrew member 188 relative to thetubular connector 150 is a product of the reduction provided by the first and secondplanetary gear systems 186a, 186 b.

Ascrew member 188 is rotatably supported within theproximal housing portion 182 and includes a threadeddistal end 188b that operatively engages a threaded inner surface 190a of apusher member 190. When thescrew member 188 is rotated in a first direction, engagement of the threadeddistal end 188b of thescrew member 188 with the threaded inner surface 190a of the pusher member 190 (which is keyed to allow axial translation thereof and prevent rotation thereof) causes longitudinal advancement of thepusher member 190. Conversely, rotation of thescrew member 188 in the second direction causes thepusher member 190 to retract.

Thepusher member 190 of thesecond pusher assembly 180 of theadapter assembly 100 includes a pair oftabs 198 formed on its distal end for engaging theconnector extensions 220, 224 (fig. 18) of the inner flexible band assembly 220 (fig. 18) of the extension assembly 200 (fig. 17). While shown as atab 198, it is contemplated that thepusher member 190 may comprise any structure suitable for selectively engaging theconnector extensions 240, 242 of the outerflexible band 230 of theextension assembly 200.

Turning now to fig. 17-34, anextension assembly 200 for operably connecting adapter assembly 100 (fig. 3) with a circular loading unit, such as loading unit 40 (fig. 34), and an anvil assembly, such as anvil assembly 50 (fig. 34), will be described. In particular,proximal end 202 ofextension assembly 200 is operably connected to distal end 104 (fig. 3) of adapter assembly 100 (fig. 3), anddistal end 204 ofextension assembly 200 is operably connected toloading unit 40 andanvil assembly 50. As shown, theextension assembly 200 provides a slight bend between theproximal end 202 and thedistal end 204. In alternative embodiments, theextension assembly 200 may be straight or may include a greater curvature. In accordance with the present disclosure, theextension assembly 200 may be substantially or completely rigid throughout its length.

Whileextension assembly 200 will be shown and described as connectingloading unit 40 andanvil assembly 50 to adapter assembly 100 (fig. 3), it is contemplated that aspects of the present disclosure may be modified for use with a variety of loading units, anvil assemblies, and adapter assemblies. Exemplary loading unit and anvil assemblies are described in commonly owned U.S. patent nos. 8,590,763 and 9,579,099, and 14/056,301 (U.S. patent publication No. 2015/0108201 filed on 2013, 10, 17), the contents of each of which are incorporated herein by reference in their entirety.

Theextension assembly 200 includes an inner flex band assembly 210 (fig. 18), an outer flex band assembly 230 (fig. 19) slidably disposed about the innerflex band assembly 210, a frame assembly 250 (fig. 20) for supporting the innerflex band assembly 210 and the outerflex band assembly 230, a trocar assembly 270 (fig. 28) operably received by the innerflex band assembly 210 and the outerflex band assembly 230, and aconnector assembly 290 for securing the loading unit 40 (fig. 34) to theextension assembly 200. Theouter sleeve 206 is received around theframe assembly 250 and the trocar assembly 270 (fig. 17), and the inner and outercompliant band assemblies 210, 230 are slidably received through theouter sleeve 206. As will be described in further detail below, theextension assembly 200 may include adrive shaft 208 operably coupled to thetrocar assembly 270 and extending through theproximal end 202 of theextension assembly 200.

Referring to FIG. 18, the innerflex band assembly 210 includes first and secondinner flex bands 212, 214, asupport ring 216, asupport base 218, and first andsecond connection extensions 220, 222. The proximal ends 212a, 214a of the respective first and second innerflexible bands 212, 214 are laterally spaced apart and fixedly attached to asupport ring 216. The distal ends 212b, 214b of the first and second innerflexible straps 212, 214 are laterally spaced apart and fixedly attached to theproximal end 218a of thesupport base 218. Each of the first innerflexible band 212 and the second innerflexible band 214 may be attached to thesupport ring 216 and/or thesupport base 218 in any suitable manner, including for example by press fitting, welding, adhesives, and/or by mechanical fasteners. As will be described in further detail below, the innerflex band assembly 210 is configured to be slidably received around the trocar assembly 270 (fig. 28) and within the outer flex band assembly 230 (fig. 19) and the outer cannula 206 (fig. 17).

The first andsecond connection extensions 220, 222 of the innerflexible band assembly 210 extend proximally from thesupport ring 216 and operatively connect the innerflexible band assembly 210 with the pusher member 190 (fig. 15) of the second pusher assembly 180 (fig. 15) of the adapter assembly 100 (fig. 3). In particular, each of the first andsecond connection extensions 220, 222 defines arespective opening 221, 223 configured to receive the protrusion 198 (fig. 15) of the pusher member 190 (fig. 15) of thesecond pusher assembly 180. Theprotrusion 198 of thepusher member 190 is received within theopenings 221, 223 of the respective first andsecond extensions 220, 222 to secure the innerflexible strap assembly 210 of theextension assembly 200 with thesecond pusher assembly 180 of theadapter assembly 100. The first andsecond connection extensions 220, 222 may be integrally formed with thesupport ring 216 or attached thereto in any suitable manner.

Support base 218 extends distally from innerflexible straps 212, 214 and is configured to selectively connectextension assembly 200 with loading unit 40 (fig. 34). Specifically,distal end 218a ofsupport base 218 includes aflange 224 for operable engagement with an axially movable component (not shown) of loading unit 40 (fig. 34). In an embodiment,flange 224 is configured for connection with a knife assembly (not shown) of loading unit 40 (fig. 34).

Referring now to fig. 19, the outerflex band assembly 230 is substantially similar to the innerflex band assembly 210 and includes first and secondflexible bands 232, 234 laterally spaced apart and connected to asupport ring 236 atproximal ends 232a, 234a and to aproximal end 238a of asupport base 238 atdistal ends 234b, 234 b. Each of first outerflexible band 232 and second outerflexible band 234 may be attached to supportring 236 and/orsupport base 238 in any suitable manner, including for example by press-fitting, welding, adhesives, and/or by mechanical fasteners. As will be described in further detail below, the outerflex tape assembly 230 is configured to receive a trocar assembly 270 (fig. 28) therethrough.

The first andsecond connection extensions 240, 242 of the outerflexible band assembly 230 extend proximally from thesupport ring 236 and operatively connect the outerflexible band assembly 230 with the pusher member 170 (fig. 12) of the first pusher assembly 160 (fig. 12) of the adapter assembly 100 (fig. 1). In particular, each of the first andsecond connection extensions 240, 242 defines arespective opening 241, 243 configured to receive theprotrusion 178 of thepusher member 170 of the first pusher assembly 180 (fig. 12). The receipt of thetabs 178 of thepusher member 170 within theopenings 241, 243 of the respective first andsecond extensions 240, 242 secures the outerflexible strap assembly 230 of theextension assembly 200 with thefirst pusher assembly 180 of theadapter assembly 100. The first andsecond connection extensions 240, 242 may be integrally formed with thesupport ring 236 or attached thereto in any suitable manner.

Support base 238 extends distally from outerflexible straps 232, 234 and is configured to selectively connectextension assembly 200 with loading unit 40 (fig. 34). Specifically, thedistal end 238b of thesupport base 238 includes aflange 244 for operable engagement with an axially movable component (not shown) of a loading unit (not shown). In one embodiment, theflange 244 is configured for connection with a staple pusher assembly (not shown) of the loading unit 40 (FIG. 34).

Referring now to fig. 20-26, aframe assembly 250 includes first and secondproximal spacer members 252, 254 and first and seconddistal spacer members 256, 258. When secured together, the first and secondproximal spacer members 252, 254 define a pair of innerlongitudinal slots 253a for slidably receiving the first and secondflexible straps 212, 214 (fig. 18) of the inner flexible strap assembly 210 (fig. 18), and a pair of outerlongitudinal slots 253b for slidably receiving the first and secondflexible straps 232, 234 (fig. 19) of the outer flexible strap assembly 230 (fig. 19). The first and secondproximal spacer members 252, 254 further define alongitudinal channel 255 for receiving thetrocar assembly 270.

In one embodiment, and as shown, the first and second proximal spacingmembers 252, 254 are formed of plastic and secured together by a snap-fit arrangement. Alternatively, the first and second proximal spacingmembers 252, 254 may be formed of metal or other suitable material and may be secured together in any suitable manner, including by welding, adhesives, and/or using mechanical fasteners.

The first and seconddistal spacer members 256, 258 define a pair ofinner slots 257a for slidably receiving the first andsecond flex bands 212, 214 (fig. 18) of the inner flex band assembly 210 (fig. 18), and a pair ofouter slots 257b for slidably receiving the first andsecond flex bands 232, 234 (fig. 19) of the outer flex band assembly 230 (fig. 19). First and seconddistal spacer members 256, 258 further define alongitudinal passage 259 for receivingtrocar assembly 270.

In one embodiment, and as shown, each of the first and seconddistal spacer members 256, 258 are secured to the outer cannula 206 (fig. 17) about the inner and outerflex band assemblies 210, 230 by a pair ofscrews 260a, 260b (fig. 26). Alternatively, first and seconddistal spacer members 256, 258 may be secured together in any suitable manner, including by welding, adhesives, and/or the use of mechanical fasteners. First and seconddistal spacer members 256, 258 may be formed of metal or any other suitable material.

Referring now to fig. 27 and 28, theframe assembly 250 further includes aproximal seal member 262 and first and seconddistal seal members 264, 266. Each of theproximal seal member 252 and the first and seconddistal seal members 264, 266 contain ahalf seal 262a, 262b, 264a, 264b, 266a, 266b, respectively. Aproximal sealing member 262 is received between the first and second proximal spacingmembers 252, 254 and the first and seconddistal spacing members 256, 258. Thefirst half 264a of the firstdistal seal member 264 is secured to thefirst half 266a of the seconddistal seal member 266, and thesecond half 264b of the firstdistal seal member 264 is secured to thesecond half 266 of the second distal seal member. Theproximal sealing member 262 and the first and second distal sealingmembers 264, 266 sealingly engage the outer cannula 206 (fig. 17), the inner and outerflexible bands 212, 214 and 232, 234 of the respective inner and outerflexible band assemblies 210, 230, and the cannula assembly 270 (fig. 28). In this manner, the proximal sealingmember 262 and the first and second distal sealingmembers 264, 266 serve to provide a fluid-tight seal between thedistal end 204 and theproximal end 202 of theextension assembly 200.

Referring to fig. 29-32,trocar assembly 270 ofextension assembly 200 includes ahousing 272; atrocar member 274 rotatably disposed within thetubular housing 272; and adrive screw 276 operably received within thetrocar member 274 to move thetrocar member 274 relative to thetubular housing 272. In particular, thetrocar member 274 includes aproximal end 274a having an internally threaded portion 275 that engages a threaded distal end portion 276b of thedrive screw 276. As thedrive screw 276 rotates within thetrocar member 274, engagement of the internally threaded portion 275 of thetrocar member 274 with the threaded distal portion 276b of thedrive screw 276 causes longitudinal movement of thetrocar member 274 within thehousing 272 of thetrocar assembly 270. Rotation of thedrive screw 276 in a first direction causes longitudinal advancement of thetrocar member 274, and rotation of thedrive screw 276 in a second direction causes longitudinal retraction of thetrocar member 274.Distal end 274b oftrocar member 274 is configured to selectively engage anvil assembly 50 (fig. 34).

A bearingassembly 278 is mounted to the proximal end 272a of thehousing 272 of thetrocar assembly 270 to rotatably support theproximal end 276a of thedrive screw 276 relative to thehousing 272 and thetrocar member 274. The bearingassembly 278 includes ahousing 280, proximal anddistal spacers 282a, 282b, proximal anddistal retaining clips 284a, 284b, proximal anddistal bearings 286a, 286b, and awasher 288. As shown, theproximal end 276a of thedrive screw 276 includes aflange 276c for connection with alinkage assembly 277. Thedistal portion 277b of thelinkage assembly 277 is pivotally received between the first and secondproximal spacer members 252, 254 and operably engages aflange 276c on thedrive screw 276. Theproximal end 277a of thelinkage assembly 277 is configured for operable engagement with the distal end 208b of thedrive shaft 208.

Referring now to fig. 32 and 33, theconnector assembly 290 of theextension assembly 200 includes a tubular connector 292 attached to the distal end 206a of theouter cannula 206 and surrounding the distal ends of the inner and outerflexible assemblies 210, 230 (fig. 26) and thetrocar assembly 270. In particular, a proximal end 292a of the tubular connector 292 is received in adistal end 206b of theouter sleeve 206 and is securely attached thereto by a retainingclip 294. The O-ring 296 forms a fluid-tight seal between the tubular connector 292 and theouter sleeve 206 of theconnector assembly 290. The distal end 292b of tubular connector 292 is configured to selectively engage the proximal end of loading unit 40 (fig. 34). The distal end 292b of the tubular connector 292 engages with the annular loading unit by a snap-fit arrangement, a bayonet coupling, or in other suitable manner.

Referring now to fig. 34 and 35, theextension assembly 200 is connected to theadapter assembly 100 by receiving the proximal end 202 (fig. 17) of theextension assembly 200 within thedistal end 104 of theadapter assembly 100. In particular, the first andsecond connection extensions 220, 240, 222, 242 of the respective inner and outerflexible strap assemblies 210, 230 are received within thesleeve 106 of theadapter assembly 100 such that thetab 178 of thepusher member 170 of thefirst pusher assembly 160 of theadapter assembly 100 is received within theopenings 241, 243 of the respective first andsecond connection extensions 240, 242 of the outerflexible strap assembly 230 to secure the outerflexible strap assembly 230 with thefirst pusher assembly 160, and thetab 198 of thepusher member 190 of thesecond pusher assembly 180 of theadapter assembly 100 is received within theopenings 221, 223 of the first andsecond connection extensions 221, 223 of the innerflexible strap assembly 210 to secure the innerflexible strap assembly 210 with thesecond pusher assembly 180.

As described above, theadapter assembly 100 may include a drive shaft 108 (fig. 3) extending from thedistal end 104 of theadapter assembly 100. Alternatively, theextension assembly 200 may include adrive shaft 208 extending from theproximal portion 202 of theextension assembly 200. If theadapter assembly 100 includes adrive shaft 108 and theextension assembly 200 includes adrive shaft 208, one of thedrive shafts 108, 208 must be removed from therespective adapter assembly 100 andextension assembly 200 before theproximal portion 202 of theextension assembly 200 is received into thedistal end 104 of theextension assembly 100. During receipt of theproximal portion 202 of theextension assembly 200 into thedistal end 102 of theadapter assembly 100, either the distal end 108b (fig. 35) of the drive shaft 108b (fig. 35) engages theproximal portion 277b (fig. 35) of thelinkage assembly 277, or theproximal end 208a (fig. 17) of the drive shaft 208 (fig. 17) is received within therecess 145 of thedrive member 140 of thedrive transmission assembly 130 of the extension assembly 100 (fig. 12).

Afterextension assembly 200 is operably engaged withadapter assembly 100 andadapter assembly 100 is operably engaged with surgical device 10 (fig. 1), loading unit 40 (fig. 34) of end effector 30 (fig. 34) may be attached toconnector assembly 290 ofextension assembly 200 and anvil assembly 50 (fig. 34) may be attached todistal end 274b oftrocar 274 ofextension assembly 200 in a conventional manner. During actuation ofloading unit 40 andanvil assembly 50, longitudinal advancement ofpusher member 190 ofsecond pusher assembly 180 ofadapter assembly 100, as described above and shown by arrow "C" in fig. 35, results in longitudinal advancement of outerflexible band assembly 230 ofextension assembly 200, and longitudinal advancement ofpusher member 170 offirst pusher assembly 160, as described above and shown by arrow "D" in fig. 35, results in longitudinal advancement of innerflexible band assembly 210. Rotation of thedrive shaft 108 in a first direction as described above and shown by arrow "E" causes thetrocar 274 of theextension assembly 200 to advance. Conversely, longitudinal retraction of thepusher member 190 results in longitudinal retraction of the outerflexible band assembly 230, longitudinal retraction of thepusher member 170 results in longitudinal retraction of the innerflexible band assembly 210, and rotation of thedrive shaft 108 in the second direction results in retraction of thetrocar 274 of theextension assembly 200.

In one embodiment, innerflexible band assembly 210 is operably connected to a knife assembly (not shown) of loading unit 40 (fig. 34) of end effector 30 (fig. 34) that is attached toconnection assembly 290 ofextension assembly 200, outerflexible band assembly 230 is operably connected to a staple driver assembly (not shown) ofloading unit 40, andtrocar 274 is operably connected to anvil assembly 50 (fig. 34) of end effector 30 (fig. 34). In this manner, longitudinal movement of the innerflexible band assembly 210 causes longitudinal movement of the knife assembly, longitudinal movement of the outerflexible band assembly 230 causes longitudinal movement of the staple driver assembly, and longitudinal movement of thetrocar 274 causes longitudinal movement of theanvil assembly 50 relative to theloading unit 40.

Referring to fig. 36-41, an adapter assembly according to another embodiment of the present disclosure is shown asadapter assembly 300. Theadapter assembly 300 is substantially similar to theadapter assembly 100 described above and will only be described when differences therebetween are concerned.

As will become apparent from the following description, the configuration ofadapter assembly 300 allowsdistal portion 304 ofadapter assembly 300 to rotate about longitudinal axis "X" (fig. 37) relative toproximal portion 302 ofadapter assembly 300. In this manner, an end effector, such as end effector 30 (fig. 34), secured todistal portion 304 ofadapter assembly 300, or an end effector, such as extension assembly 200 (fig. 17), secured to extension assembly, such asdistal portion 304 ofadapter assembly 300, may be rotated about longitudinal axis "X" regardless of movement of a surgical device (not shown) to whichadapter assembly 300 is attached.

Theadapter assembly 300 includes abase 306 and asupport structure 308 that is rotatable relative to thebase 306 along a longitudinal axis "X" of theadapter assembly 300. Arotating handle 310 is rotatably secured to thebase 306 and is fixedly secured to the proximal end of thesupport structure 308. Rotating thehandle 310 allows thedistal portion 304 of theadaptor assembly 300 to rotate longitudinally relative to theproximal end 302 of theadaptor assembly 300. As will be described in further detail below, alatch 312 is mounted to theswing handle 310 and selectively secures the swing handle 310 in a fixed longitudinal position.

Theproximal end portion 302 of theadapter assembly 300 includes adrive coupling assembly 320 and adrive transfer assembly 330 operatively connected to thedrive coupling assembly 320. Thedistal portion 304 of theadapter assembly 300 includes afirst pusher assembly 340 operably connected to thedrive transfer assembly 330 and asecond pusher assembly 350 operably connected to thedrive transfer assembly 330. Drivecoupling assembly 320 and drivetransfer assembly 330 are mounted withinbase 306 and, thus, remain rotationally fixed relative to a surgical device (not shown) attached toadapter assembly 300. The first andsecond pusher assemblies 340, 350 are mounted within thesupport structure 308 and are thus rotatable relative to the surgical device (not shown) to which theadapter assembly 300 is attached.

Drivecoupling assembly 320 is configured to selectivelysecure adapter assembly 300 to a surgical device (not shown). For a detailed description of an exemplary surgical device and drive coupling assembly, reference is made to commonly-owned U.S. patent application serial No. 14/550,183 (now U.S. patent publication No. 2015/0157321) filed 11/21 2014 and U.S. patent application serial No. 14/822,970 (now U.S. patent publication No. 2015/0342603) filed 8/11 2015, the contents of each of which are incorporated herein by reference in their entirety.

Knob 310 is rotatably secured tobase 306. Thelatch 312 includes apin 312a (fig. 40) configured to lock theknob 310 relative to thebase 306. In particular, apin 312a of thelatch 312 is received within aslot 307 formed in thebase 306 and is biased distally by aspring 314 into anotch 307a (fig. 40) formed in thebase 306 and communicates with theslot 307 to lock theknob 310 relative to thebase 306.Proximal movement pin 312a oflatch 312, as shown by arrow "F" in fig. 36, retracts from withinnotch 307a to allow rotation ofknob 310 relative tobase 306. Although not shown, it is contemplated that the base 306 may define a plurality of notches radially spaced around thebase 306 and in communication with thegroove 307, which allows theknob 310 to be locked in a plurality of longitudinal directions relative to thebase 306.

Thedrive transfer assembly 330, the firstdrive pusher assembly 340, and the seconddrive pusher assembly 350 of theadapter assembly 300 are substantially identical to the respectivedrive transfer assembly 130, the firstdrive pusher assembly 160, and the seconddrive pusher assembly 180 of theadapter assembly 100 described above, and therefore, only the differences therebetween will be described.

Thesupport structure 308 is fixedly received about the first and second drivenpusher assemblies 340, 350 and is rotatable relative to thebase 306. As described above, theknob 310 is fixedly secured to the proximal end of thesupport structure 308 to facilitate rotation of thesupport structure 308 relative to thebase 306. Thesupport structure 308 is retained with theouter sleeve 305 of theadapter assembly 300 and is configured to maintain axial alignment of the first and seconddrive pusher assemblies 340, 350. Thesupport structure 308 may also reduce the cost of theadapter assembly 300 compared to the cost of theadapter assembly 100.

Thesupport structure 308 includes first, second, third, fourth, fifth, sixth andseventh plates 360a, 360b, 360c, 360d, 360e, 360f, 360g, respectively, first and second pluralities oftubular supports 362a, 362b, first and second support rings 364a, 364b, first and second pluralities ofribs 366a, 366b, and a plurality ofrivets 368. From the proximal end to the distal end, the first andsecond plates 360a, 360b are maintained in spaced apart relation from one another by a first plurality oftubular supports 362a, the second andthird plates 360b, 360c are maintained in spaced apart relation from one another by afirst support ring 364a, the third andfourth plates 360c, 360d are maintained in spaced apart relation from one another by a first plurality ofsupport ribs 366a, the fourth andfifth plates 360d, 360e are maintained in spaced apart relation from one another by a second plurality oftubular supports 362b, the fifth andsixth plates 360e, 360f are maintained in spaced apart relation from one another by asecond support ring 364b, and the sixth andseventh plates 360f, 360g are maintained in spaced apart relation from one another by a second plurality ofsupport ribs 366 b. The first, second, third, fourth, fifth, sixth andseventh plates 360a-g are held together by a plurality ofrivets 368 secured to the first andseventh plates 360a, 360g and extending through the second, third, fourth, fifth andsixth plates 360b-360f, the first and second support rings 364a, 364b and the respective first and second plurality oftubular supports 362a, 362 b.

Theadapter assembly 300 operates in a substantially similar manner to theadapter assembly 100 described above. Additionally, as described above,adapter assembly 300 is configured to allow rotation of an end effector, such as end effector 30 (fig. 34) attached toadapter assembly 300 or to an extension assembly attached toadapter assembly 300, to be selectively rotatable about longitudinal axis "X" (fig. 37) during use.

Referring now to fig. 42-44, an adapter assembly according to another embodiment of the present disclosure is shown generally asadapter assembly 400. Theadapter assembly 400 is substantially similar to theadapter assemblies 100 and 300 described above and therefore will only be described when differences between them are concerned.

Theadaptor assembly 400 includes aproximal portion 402 and adistal portion 404 rotatable relative to theproximal portion 402 along a longitudinal axis "X". Thedistal portion 404 includes asupport structure 408 secured to theouter sleeve 405 and formed around the first and second pusher assemblies 440, 450. Thesupport structure 408 includes a plurality of stiffeningmembers 462 that extend substantially the length of theouter sleeve 405. Thestrength members 462 each include aproximal projection 462a and adistal projection 462b that extend through theouter sleeve 405 to secure thestrength members 462 within theouter sleeve 405. Theproximal projection 462 of thereinforcement member 462 is further configured to engage theknob 410 of theadapter assembly 400. Theadapter assembly 400 may include an annular plate (not shown) positioned radially inward of thereinforcement member 462 to maintain the proximal anddistal projections 462a, 462b of thereinforcement member 462 in engagement with theouter sleeve 405. The annular plate may also provide structural support to thedistal portion 404 of theadapter assembly 400.

Referring to fig. 45-49, a connection assembly according to an embodiment of the present disclosure is shown generally asconnection assembly 500. As shown and to be described, theconnection assembly 500 is configured to be attached to first and second tubular bodies (not shown) to connect the first tubular body, e.g., adapter assembly 100 (fig. 3), 300 (fig. 36), 400 (fig. 42), to the second tubular body, e.g., extension assembly 200 (fig. 17). However, it is contemplated that aspects of the present disclosure may be incorporated directly into the first and second tubular bodies to allow the first tubular body to be directly connected to the second tubular body.

Theconnection assembly 500 includes atubular base 510 and atubular extension 520 formed by first andsecond portions 520a, 520b and anouter sleeve 522. As shown, thetubular base 510 defines a pair ofopenings 511 for securing thetubular base 510 to a first tubular body (not shown). Alternatively, thetubular base 510 may contain only a single opening, one or more tabs (not shown), and/or one or more slots (not shown) for securing thetubular base 510 to the first tubular body (not shown). Aflange 512 extends from a first end of thetubular base 510 and includes anannular rim 514 extending therearound.

The first andsecond portions 520a, 520b of thetubular extension 520 are substantially similar to one another and each form anannular recess 521 along an inner first surface thereof. Each of the first andsecond portions 520a, 520b of thetubular extension 520 are configured to be received around theflange 512 of thetubular base 510 such that therim 514 of thetubular base 510 is received within thegroove 521 of the first andsecond portions 520a, 520b of thetubular extension 520. Once the first andsecond portions 520a, 520b of thetubular extension 520 are received about theflange 512 of thetubular base 510, theouter sleeve 522 of thetubular extension 520 is received about the first andsecond portions 520a, 520b of thetubular extension 520 to secure thetubular extension 520 to thetubular base 510.

As shown, each of the first andsecond portions 520a, 520b of thetubular extension 520 defines anopening 523 configured to align with a pair ofopenings 525 in theouter sleeve 522 to secure theouter sleeve 522 to the first andsecond portions 520a, 520 b. One or both of the first andsecond portions 520a, 520b and theouter sleeve 522 may include one or more tabs and/or one or more slots for securing theouter sleeve 522 about the first and second extensions. Alternatively, theouter sleeve 522 may be secured to the first andsecond portions 520a, 520b in any suitable manner.

Theouter sleeve 522 may be selectively secured around the first and second extensions to selectively remove theouter sleeve 522 from around the first andsecond portions 520a, 520b to allow thetubular extension 520 to be separated from thetubular base 510. Alternatively, theouter sleeve 522 may be permanently secured around the first andsecond portions 520a, 520b to prevent thetubular extension 520 from separating from thetubular base 510. As noted above, while it is shown and described that thetubular base 510 and thetubular extension 520 form aseparate connection assembly 500, it is contemplated that thetubular base 510 may be formed on a first tubular member, such as the adapter assembly 100 (fig. 3), and thetubular extension 520 may be formed on a second tubular member, such as the extension assembly 200 (fig. 17), such that the first tubular member may be directly connected to the second tubular member.

50-52, an alternate embodiment oftrocar assembly 1270 is shown in combination with an alternate embodiment ofextension assembly 1200. Thetrocar assembly 1270 is similar to thetrocar assembly 270 described above and all similarities will not be discussed herein. However, whiletrocar assembly 270 is configured for secure engagement tolinkage assembly 277 ofextension assembly 200,trocar assembly 1270 is configured for releasable engagement withextension assembly 1200.

With particular reference to fig. 50,trocar assembly 1270 includes a pair offlat portions 1280 around its periphery andextension assembly 1200 includes a pair ofopenings 1210a, 1210b (opening 1210a not visible in fig. 50) through its outer wall orcannula 1206. When thetrocar assembly 1270 is engaged with theextension assembly 1200, theflat portion 1280 of thetrocar assembly 1270 is axially aligned with theopenings 1210a, 1210b of theextension assembly 1200. In this position, a pair of retainingmembers 1300a, 1300b can be inserted throughrespective openings 1210a, 1210b and adjacent (e.g., in contact with) theflat portion 1280.

More specifically, each retainingmember 1300a, 1300b includes anextension 1310a, 1310b and areceptacle 1320a, 1320b, respectively. Eachextension 1310a, 1310b is configured to releasably engage areceptacle 1320a, 1320b of an opposing retainingmember 1300a, 1300 b. That is, theextension 1310a of the retainingmember 1300a is configured to releasably engage thereceptacle 1320b of the retainingmember 1300 b; theextended portion 1310b of the retainingmember 1300b is configured to releasably engage thereceptacle 1320a of the retainingmember 1300 a. It is contemplated that theextensions 1310a, 1310b engage thereceptacles 1320b, 1320a, respectively, via a snap-fit connection. It is further contemplated that the retainingmember 1300a is identical to the retainingmember 1300b, which can help minimize manufacturing costs and facilitate assembly.

In use, to engage thetrocar assembly 1270 with theextension assembly 1200, thetrocar assembly 1270 is inserted into thedistal opening 1202 of theextension assembly 1200 until theproximal end 1276a of thedrive screw 1276 of thetrocar assembly 1200 engages the linkage assembly of the trocar assembly 1200 (see, e.g., thelinkage assembly 277 of thetrocar assembly 270 in fig. 32). Next, theextension 1310a, 1310b of eachretention member 1300a, 1300b is inserted through therespective opening 1210a, 1210b of theouter sleeve 1206, over theflat portion 1280 of thetrocar assembly 1270, and into thereceptacle 1320b, 1320a of theother retention member 1300b, 1300a, respectively. That is, theextension 1310a of theretention member 1300a is inserted through theopening 1210a (or 1210b) of theouter sleeve 1206, over theflat portion 1280, and into thereceptacle 1320b of theretention member 1300b, and theextension 1310b of theretention member 1300b is inserted through theopening 1210b (or 1210a) of theouter sleeve 1206, over theflat portion 1280, and into thereceptacle 1320a of theretention member 1300 a. The engagement between theextension 1310a, theflat portion 1280, and thereceptacle 1320b, and the engagement between theextension 1310b, theflat portion 1280, and thereceptacle 1320a, is configured to prevent the trocar member 1274 of thetrocar assembly 1270 from translating longitudinally relative to theouter cannula 1206 of the trocar 1200 (e.g., due to engagement between theextension 1310a, 1310b and thewall 1282 of the flat portion 1280). Additionally, the engagement between theextension 1310a, the flat 1280, and thereceptacle 1320b, and the engagement between theextension 1310b, the flat 1280, and thereceptacle 1320a are configured to prevent relative rotation between the trocar member 1274 of thetrocar assembly 1270 and theouter cannula 1206 of thetrocar assembly 1200.

Additionally and with particular reference to fig. 50, eachretention member 1300a, 1300b includes a nub 1302 (only nub 1302 associated withretention member 1300a is shown) configured to mechanically engage afemale bore 1284 of atrocar assembly 1270. It is contemplated that the engagement between thenubs 1302 and therecesses 1284 can aid in maintaining proper alignment and/or orientation between themembers 1300a, 1300b and thetrocar assembly 1270.

To disengage the retainingmembers 1300a, 1300b from each other, it is envisioned that a user may use a tool (e.g., a screwdriver type tool) to push theextension portions 1310a, 1310b out of thereceptacles 1320b, 1320a, respectively. It is also envisioned that theretention members 1300a, 1300b are configured to tool-lessly disengage from each other and from thetrocar assembly 1270. Disengagement of theretention members 1300a, 1300b allows thetrocar assembly 1270 to be removed from theouter sleeve 1206 of the trocar assembly 1200 (e.g., for replacement or cleaning). It is contemplated that cleaning may be performed by inserting a cleaning device at least partially into at least oneopening 1210a, 1210b ofouter sleeve 1206 ofextension assembly 1200 and directing a cleaning fluid (e.g., saline) proximally and/or distally to help flush out any contaminants that may be present withinouter sleeve 1206, for example.

Additionally, while theextension assembly 1200 andtrocar assembly 1270 are shown in use with theadapter assembly 100, the present disclosure also contemplates the use of theextension assembly 1200 and/ortrocar assembly 1270 with a surgical instrument (e.g., a circular stapling instrument) without the use of an adapter assembly.

Referring to fig. 53-55, the present disclosure also includes astrain gauge 1500, a position sensor 1520, and a memory sensor 1540 (e.g., E-PROM (erasable programmable read only memory sensor)). With particular reference to fig. 55, it is envisioned that aflexible cable 1600 extends between thestrain gauge 1500, the position sensor 1520, the memory sensor 1540, and a printed circuit board (not shown) and extends from the printed circuit board to an electrical connector disposed, for example, at theproximal portion 302 of theadapter assembly 300.

It is envisioned thatstrain gauge 1500 is used to detect axial loads exerted on tissue during tissue clamping. Here, it is contemplated that the user (or thesuturing device 10 itself) may abort the suturing operation if the load is too great or exceeds a predetermined value, or may choose to use adifferent suturing device 10 oradapter assembly 100, for example.

It is contemplated that position sensor 1520 may be used to detect the axial position of the fastener during the stapling process (e.g., when the fastener is ejected from adapter assembly 100). It is further contemplated that the memory sensor 1540 is configured to identify the size and/or type of staple cartridge engaged with theadapter assembly 100 engaged with thestapling apparatus 10 and relay that information to thehandle housing 12 of thestapling apparatus 10.

Referring now to fig. 56-62, aseal assembly 1700 for use with thesurgical device 10,adapter assembly 100, and/orextension assembly 200 of the present disclosure is shown. Theseal assembly 1700 is configured to facilitate thorough cleaning of debris (e.g., surgical debris) from thesurgical device 10, for example, after use, before use, and/or before reuse. More specifically,seal assembly 1700 is particularly useful when flushing the interior ofsurgical device 10 with a fluid to assist in removing debris from withinsurgical device 10. Further, theseal assembly 1700 is configured to minimize flow traps that may occur, for example, when the irrigation introduction point is located distal to the seal or seal assembly. Additionally, although theseal assembly 1700 is shown and described for use with a particular type ofsurgical device 10, theseal assembly 1700 may be used with (e.g., reusable) various types of surgical instruments that may require cleaning and/or sterilization. Further, when used with thesurgical device 10 of the present disclosure, theseal assembly 1700 replaces theproximal seal member 262 and the first and seconddistal seal members 264, 266 (fig. 27 and 28).

Seal assembly 1700 is positioned withinouter sleeve 206 and defines abore 1710 through which an actuating member, such asdrive screw 276, is positioned. Referring particularly to fig. 56 and 57, theseal assembly 1700 is formed from afirst portion 1700a and asecond portion 1700b that are configured to engage one another (e.g., frictionally held together by theinner wall 206c of the outer sleeve 206). It is contemplated that thefirst portion 1700a is a mirror image or substantially mirror image of thesecond portion 1700 b.

With continued reference to fig. 56, 57, and 62, theseal assembly 1700 includes anannular body portion 1720, an annular proximal seal 1740 (e.g., a wiper seal), and an annular distal seal 1760 (e.g., a wiper seal). As shown, aproximal seal 1740 and adistal seal 1760 extend radially outward from thebody portion 1720 and define acute angles α 1 and α 2, respectively, with respect to the body portion 1720 (see fig. 62). The angles α 1 and α 2 may be the same as or different from each other, and may be, for example, about 15 ° to about 45 °. Additionally, as shown in fig. 62, theproximal seal 1740 and thedistal seal 1760 are configured to contact theinner wall 206c of theouter cannula 206 of thesurgical device 10.

Thebody portion 1720 of theseal assembly 1700 includes a plurality ofchannels 1722 formed therein. Thechannel 1722 is configured to allow the inner flex assembly 210 (including the first and secondinner flex 212, 214) and the outer flex assembly 230 (including the first andsecond flex 232, 234) to pass therethrough (see fig. 20). More specifically, and as shown in fig. 57, each of the first andsecond portions 1700a, 1700b of theseal assembly 1700 includes anopening 1722a, 1722b, respectively (e.g., U-shaped). When the first andsecond portions 1700a, 1700b are engaged with one another, theopenings 1722a, 1722b form a channel 1722 (FIG. 56). Thus, for example, during assembly of thesurgical device 10, theseal assembly 1700 may be positioned around the inner and outerflex band assemblies 210, 230 without the need to pass the inner and outerflex band assemblies 210, 230 through thepassage 1722. Additionally, although fourchannels 1722 are shown, theseal assembly 1700 may contain more or less than fourchannels 1722 depending on the number of bands (or other features) extending therethrough.

Referring now to fig. 57 and 62, theseal assembly 1700 also includes a plurality ofchannel seals 1724 associated with eachchannel 1722. In the embodiment shown, eachchannel 1722 includes three longitudinally spacedchannel seals 1724 extending along a periphery of thechannel 1722. Channel seals 1724 (e.g., rubber gaskets) are configured to provide a seal (e.g., a water-tight seal) between the walls of theseal assembly 1700 defining thechannel 1722 and thebands 212, 214, 232, 234 extending therethrough. Theseal assembly 1700 may include more or less than threechannel seals 1724 perchannel 1722.

Referring to fig. 56 and 57,seal assembly 1700 includes a plurality ofbore seals 1712 associated withbores 1710. In the illustrated embodiment, thebore 1710 includes three longitudinally spaced bore seals 1712 extending along the periphery of thebore 1710. The bore seal 1712 (e.g., a rubber gasket) is configured to provide a seal (e.g., a watertight seal) between the wall of theseal assembly 1700 defining thebore 1710 and the component(s) of thesurgical device 10 extending therethrough. Theseal assembly 1700 may include more or less than three bore seals 1712.

Fig. 57 also shows a plurality ofpartial seals 1750. A first plurality ofpartial seals 1750a are disposed on thefirst portion 1700a of theseal assembly 1700 and a second plurality ofpartial seals 1750b are disposed on thesecond portion 1700b of theseal assembly 1700. When thefirst portion 1700a of theseal assembly 1700 is engaged with thesecond portion 1700b of theseal assembly 1700, thefirst portion seals 1750a engage or otherwise contact (e.g., compress) the respective second portion seals 1750b, thereby forming a seal (e.g., a watertight seal) therebetween. As shown, a first set ofpartial seals 1750 are disposed on proximal portions of the first andsecond portions 1700a, 1700b and a second set ofpartial seals 1750 are disposed on distal portions of the first andsecond portions 1700a, 1700 b.

The use ofbore seal 1712,channel seal 1724, andpartial seal 1750 helps prevent contaminants from entering the portion ofsurgical device 10 proximal to sealassembly 1700.

Theseal assembly 1700 is positioned within theouter cannula 206 of thesurgical device 10 such that the opening orport 207 extending through theouter cannula 206 is positioned adjacent anannular space 1715 between theproximal seal member 1740 and thedistal seal member 1760 of theseal assembly 1700, as shown in fig. 58 and 59. In addition, theseal assembly 1700 is positioned such that eachband 212, 214, 232, 234 of thesurgical device 10 extends through one of thechannels 1722 of theseal assembly 1700, as described above.

To clean portions of the surgical device (e.g., the portion distal to the seal assembly 1700), a fluid (e.g., water, saline, etc.; or gas) is introduced into theannular space 1715 of theseal assembly 1700 through theport 207 of theouter cannula 206. With particular reference to fig. 62, as the fluid fills theannular space 1715, theproximal seal member 1740 prevents the fluid from moving proximally therethrough due to theangle α 1 formed by theproximal seal 1740 and thebody portion 1720 of theseal assembly 1700, and due to the interference (or contact) of theproximal seal 1740 with theinner wall 206c of theouter sleeve 206. Further, as the fluid pressure increases, the proximally directed pressure causes theproximal seal 1740 to be further compressed against theinner wall 206c of theouter cannula 206, thereby increasing the effectiveness of the seal.

With continued reference to fig. 62, as the fluid fills theannular space 1715, fluid pressure builds until thedistal seal 1760 is displaced away from theinner wall 206c of theouter cannula 206 in the general direction of arrow "G". This displacement of thedistal seal 1760 away from theinner wall 206c of theouter cannula 206 allows pressurized fluid from theannular space 1715 to flow or weep between thedistal seal 1760 and theinner wall 206c of theouter cannula 206, distally of theseal assembly 1700 and through thepartial extension assembly 200 andadapter assembly 100, e.g., to thereby flush these portions of thesurgical device 10, e.g., to remove surgical debris. As fluid is introduced proximal to the distal end of theseal assembly 1700, flow traps (that might otherwise occur between a fluid port and a seal disposed proximal thereto) are eliminated or minimized.

The present disclosure also includes methods of cleaning a surgical instrument (e.g., surgical device 10) using theseal assembly 1700. For example, the disclosed method includes injecting fluid through theport 207 of theouter cannula 206 or the outer tube of thesurgical device 10 and into theannular space 1715 between theproximal seal 1740 and thedistal seal 1760, filling theannular space 1715 with fluid, biasing thedistal seal 1760 out of contact with the outer cannula 206 (in response to the pressure build-up of the fluid), and moving the fluid distally from theannular space 1715 past thedistal seal 1760 of theseal assembly 1700. The method also includes removing fluid from the distal end of thesurgical device 10.

Referring now to fig. 63-65, avalve 2200 is shown for use with thesurgical device 10,adapter assembly 100, and/orextension assembly 200 of the present disclosure. Thevalve 2200 is configured to selectively engage a first opening orport 207v extending through theouter cannula 206 of theextension assembly 200 to selectively allow air and/or fluid to pass through theport 207v during, for example, cleaning, drying, or venting of thesurgical device 10.

Thevalve 2200 includes abody portion 2210, anengagement portion 2220, abiasing element 2230, and ashoulder 2240. Thevalve 2200 is disposed in thehousing 211 within theouter sleeve 206 and adjacent to theport 207v. Biasing element 2230 urgesengagement portion 2220 toward and into contact withport 207v and/or through the port. In the illustrated embodiment, thebiasing element 2230 is a compression spring positioned around thebody portion 2210 and between theengagement portion 2220 and theshoulder 2240, and is configured to push theengagement portion 2220 away from theshoulder 2240. Theshoulder 2240 is positioned adjacent thewall 211a of thehousing 211. Other types of biasing elements are also contemplated by the present disclosure. It is also contemplated that theengagement portion 2220 may move and disengage theaccess port 207v without a biasing element, but with another mechanical actuator, for example.

More specifically, theengagement portion 2220 of thevalve 2200 is movable between an occluded position in which theengagement portion 2220 of thevalve 2200 engages theport 207v and an open position in which at least a portion of theengagement portion 2220 of thevalve 2200 is spaced radially inward from theport 207 v. Theengagement portion 2220 of thevalve 2200 is biased radially outward in the occluded position. For example, a mechanical device or a user's finger may move theengagement portion 2220 of thevalve 2200 radially inward from the occluded position to the open position. In the occluded position, theengagement portion 2220 of thevalve 2200 provides a fluid tight seal with theport 207v, which prevents fluid from entering or exiting theouter sleeve 206 through theport 207 v. When thevalve 2200 is in the open position, fluid and/or air can enter and exit theouter sleeve 206 through the space between theengagement portion 2220 and theport 207v (e.g., the wall defining theport 207 v).

When thevalve 2200 is in its rest position, theengagement portion 2220 of thevalve 2200 is in an occluded position when no external force acts on thevalve 2200, such that theengagement portion 2220 mechanically engages and occludes (e.g., blocks or blocks) theport 207v of theouter sleeve 206.

When thesurgical device 10 is used to perform a surgical task, theengagement portion 2220 of thevalve 220 is in its biased occluding position. In this position, bodily fluids and gases are prevented or impeded from entering thesurgical device 10 throughport 207 v.

When it is desired to clean debris from the surgical device 10 (e.g., after a surgical procedure), a user may introduce fluid through a port of thesurgical device 10. During such cleaning, theengagement portion 2220 of thevalve 2200 may be in its occluded position or in its open position. When a user desires to inject a cleaning fluid into theouter cannula 206, for example, through a different port (thanport 207v), it may be desirable to place theengagement portion 2220 of thevalve 2200 in its occluded position during cleaning. When a user desires to inject a cleaning fluid into theouter cannula 206 through theport 207v, it may be desirable to place theengagement portion 2220 of thevalve 2200 in its open position during the cleaning process. Additionally, when theport 207v is used as an air valve, it may be desirable for theengagement portion 2220 of thevalve 2200 to be in its open position during cleaning to facilitate the flow of fluid or gas through thesurgical device 10 as it enters the surgical device through the various ports.

Additionally, when cleaning of thesurgical device 10 is performed by introducing fluid through theport 207v, engagement between the syringe (or fluid exiting the syringe) and theengagement portion 2220 of thevalve 2200 may cause theengagement portion 2220 to move from its occluded position to its open position to allow fluid to enter thesurgical device 10 through theport 207 v.

Additionally, it may also be helpful to have theengagement portion 2220 of thevalve 2200 in an open position to help dry thesurgical device 10 after use and/or cleaning of thesurgical device 10. That is, when theengagement portion 2220 of thevalve 2200 is in the open position, air (e.g., ambient air, forced heated air, forced cooled air, or forced ambient air) can freely enter and exit thesurgical device 10 through theport 207v to assist in drying, for example, internal components of thesurgical device 10, which may contain residual moisture.

Additionally, although thevalve 2200 and theport 207v are shown in a particular location on the surgical device 10 (e.g., distal of theseal assembly 1700; fig. 56-62), other locations of thevalve 2200 and theport 207v are contemplated by the present disclosure. Further, thesurgical device 10 may include more than onevalve 2200 and more than one associatedport 207 v. For example, the plurality ofvalves 2200 andports 207v may be used to create specific paths for fluid and air flow to aid in cleaning and drying thesurgical device 10.

In other embodiments, theouter cannula 206 of thesurgical device 10 can be at least partially detached from the remainder of the surgical device 10 (e.g., by a threaded connection) to help facilitate drying out moisture from within thesurgical device 10.

Additionally, although thevalve 2200 is shown and described as being used with a particular type ofsurgical device 10, thevalve 2200 may be used with (e.g., reusable) various types of surgical instruments that may require cleaning and/or sterilization.

The present disclosure also includes methods of cleaning a surgical instrument (e.g., surgical device 10) usingvalve 2200. For example, the disclosed method includes injecting a fluid through port 207c or a different port and moving theengagement portion 2220 of thevalve 2200 from its occluded position to its open position to allow air to enter thesurgical device 10 to facilitate drying the internal components of thesurgical device 10.

Further, referring to fig. 66, thesurgical device 10 includes avalve 2200a and an associated port 207va disposed on a proximal portion of thesurgical device 10. In the illustrated embodiment, thevalve 2200a is located on thehandle housing 12. As discussed above with respect to thevalve 2200, thevalve 2200a is configured to selectively engage the port 207va extending through thehandle housing 12 to selectively allow air and/or fluid to pass through the port 207va, for example, during cleaning, drying, or venting of thesurgical device 10.

Thevalve 2200a can be the same as or similar to thevalve 2200 discussed above. For example, theengagement portion 2220a of thevalve 2200a may be moved into and out of engagement with the access port 207va, such as by using a biasing element, without a biasing element, or with another mechanical actuator.

Additionally, although thevalve 2200a and the port 207va are shown at particular locations on thehandle housing 12, other locations of thevalve 2200a and the port 207va are contemplated by the present disclosure. For example, thevalve 2200a and the port 207va may be located proximally or distally on thehandle housing 12, rather than the particular locations shown in fig. 66. Further, thesurgical device 10 may include more than onevalve 2200a and more than one associatedport 207 va. For example, a plurality ofvalves 2200a and ports 207va may be included on thehandle housing 12 to create specific paths for fluid and air flow to facilitate cleaning and drying of thesurgical device 10.

Additionally, while thevalves 2200, 2200a are shown and described as being used with a particular type ofsurgical device 10, thevalves 2200, 2200a may be used with (e.g., reusable) various types of surgical instruments that may require cleaning and/or sterilization.

The present disclosure also includes methods of cleaning a surgical instrument (e.g., surgical device 10) usingvalves 2200, 2200 a. For example, the disclosed method includes injecting a fluid through the port 207c or a different port and moving therespective engagement portions 2220, 2220a of thevalves 2200, 2200a from the occluded position to the open position to allow air to enter thesurgical device 10 to facilitate drying the internal components of thesurgical device 10.

Referring now to fig. 67-70, various tools for opening thevalves 2200, 2200a (see fig. 63-66) of thesurgical device 10 are disclosed. As described above, thevalves 2200, 2200a are configured to selectively allow air and/or fluid to pass through therespective ports 207v, 207va, for example during cleaning, drying or venting of thesurgical device 10.

Referring first to fig. 67-69, a first tool oractuator 3000 for opening avalve 2200 of asurgical device 10 is shown. Theactuator 3000 includes acannula body 3010 and at least one post orfinger 3020. Theactuator 3000 is selectively engageable with thesurgical device 10 to surround or at least partially enclose theouter cannula 206 of thesurgical device 10. Further, theactuator 3000 may be positioned adjacent to thevalve 2200 of thesurgical device 10. Thefingers 3020 of theactuator 3000 extend radially inward from thecannula body 3010 and are configured to selectively contact theengagement portion 2220 of thevalve 2200.

Contact between thefinger 3020 of theactuator 3000 and theengagement portion 2220 of thevalve 2200 deflects theengagement portion 2220 of thevalve 2200 radially inward against the bias of thebiasing element 2230, moving theengagement portion 2220 to its open position to allow water and/or air to pass through theport 207v of thesurgical device 10.

As shown in fig. 68 and 68A, the shape of thefinger 3020 is different from the shape of theengagement portion 2220 and theport 207v of thevalve 2200. While theengagement portion 2220 and theport 207v of thevalve 2200 both have circular or annular cross-sectional profiles, thefinger 3020 includes a plus-shaped or cross-shaped cross-sectional profile. The difference in shape or cross-sectional profile between thefinger 3020 of theactuator 3000 and theengagement portion 2220 of the valve 2200 (and/or theport 207v) facilitates the flow of air/water through the space 3022 (fig. 69) therebetween. Although thefingers 3020 are shown as having a particular shape, the present disclosure contemplatesfingers 3020 having other shapes or cross-sectional profiles, including but not limited to circular.

Referring now to fig. 70, a second tool oractuator 3100 for opening thevalves 2200, 2200a of thesurgical device 10 is shown. Theactuator 3100 is in the form of a rack 3110 (e.g., a dryer rack) having at least onepost 3120 extending therefrom. Thepost 3120 of theactuator 3100 may be positioned or selectively engageable with thevalves 2200, 2200a of thesurgical device 10 to selectively contact theengagement portions 2220, 2220a of therespective valves 2200, 2200 a.

Contact between thepost 3120 of theactuator 3100 and theengagement portions 2220, 2220a of thevalves 2200, 2200a causes therespective engagement portions 2220, 2220a to deflect radially inward against the bias of thebiasing element 2230, thereby moving theengagement portions 2220, 2220a to their open positions, thereby allowing water and/or air to travel through theports 207v, 207va of thesurgical device 10.

As shown in fig. 70,post 3120 ofactuator 3100 is cylindrical in shape. It is contemplated that thepost 3120 includes shapes other than cylindrical or cross-sectional profiles other than circular, such as a plus-shaped or cross-shaped cross-sectional profile, as discussed above with respect to thefinger 3020 of theactuator 3000. It is also envisioned that the cylindrical body ofpost 3120 has a cross-section that is smaller than the cross-section of theengagement portions 2220, 2220a of therespective valves 2200, 2200a to facilitate air/water flow therebetween. Further, although the housing 3110 is shown with asingle post 3120, the present disclosure also contemplates a housing 3110 withmultiple posts 3120 to engagemultiple valves 2200, 2200a, for example, simultaneously.

The present disclosure also encompasses methods of drying and/or ventilating a surgical instrument (e.g., surgical device 10) usingactuator 3000 and/oractuator 3100. For example, the disclosed method includes engaging theactuator 3000 with the surgical device 10 (e.g., after the surgical device has been cleaned with fluid), positioning thefinger 3020 of the actuator in contact with theengagement portion 2220 of thevalve 2200 and moving theengagement portion 2220 of thevalve 2200 to its open position to facilitate the passage of water/air through theport 207v of thesurgical device 10 to help dry the internal components of thesurgical device 10. Other disclosed methods include positioning thesurgical device 10 on the frame 3110 of the second actuator 3100 (e.g., after the surgical device has been cleaned with fluid), positioning thepost 3120 of theactuator 3100 in contact with theengagement portions 2220, 2220a of therespective valves 2200, 2200a, moving theengagement portions 2220, 2220a to their open positions to facilitate the travel of water/air through therespective ports 207v, 207va of thesurgical device 10 to help dry the internal components of thesurgical device 10.

Additionally, the present disclosure includes a surgical kit including asurgical device 10 having at least onevalve 2200, 2200a and anactuator 3000 and/oractuator 3100.

Referring now to fig. 71-76, avalve 2300 is shown for use with thesurgical device 10,adapter assembly 100, and/orextension assembly 200 of the present disclosure. Thevalve 2300 is positioned within thesurgical device 10 and is configured to selectively engage a first opening or port 207p (fig. 72) extending through theouter cannula 206 of theextension assembly 200 to selectively allow air, steam, and/or fluid to pass through the port 207p during, for example, cleaning, sterilization, drying, or venting of thesurgical device 10.

Referring specifically to fig. 73, thevalve 2300 includes anexhaust port 2310, abiasing element 2320, and athermostat 2330. Thevent 2310 is slidably disposed relative to the port 207p of theouter sleeve 206 between an open position (e.g., distally or leftward in fig. 73) and an occluded position (e.g., proximally or rightward in fig. 73) relative to the port 207 p. Thebiasing element 2320 is in contact with thelip 2312 of thevent 2310 and is configured to urge thevent 2310 toward an occluded position (e.g., proximal in fig. 73). Although thebiasing element 2320 is shown as a compression spring, other types of biasing elements are also contemplated by the present disclosure. Thethermostat 2330 is positioned within theextension assembly 200 and adjacent to (e.g., proximal to) theexhaust port 2310. Thepiston 2332 of thethermostat 2330 is configured to selectively urge theexhaust port 2310 toward an open position (e.g., distally) against the bias of thebiasing element 2320.

More specifically, and with particular reference to fig. 74, thevent 2310 includes a slopedsurface 2313 toward its distal side that is configured to facilitate displacement of a portion of thevent 2310 below (e.g., radially inward of) theouter sleeve 206. Additionally, as shown in fig. 74, thevent 2310 includes a plurality of legs 2314 (e.g., spring-like legs) configured to allow at least a portion (e.g., a distal portion) of thevent 2310 to flex relative to a different portion (e.g., a proximal portion) of thevent 2310 to further facilitate displacement of a portion of thevent 2310 below theouter sleeve 206.

Referring specifically to fig. 75 and 76,thermostat 2330 is shown in more detail.Thermostat 2330 includes apiston 2332, ahousing 2334, adiaphragm 2336, and agasket 2338. Thepiston 2332 of thethermostat 2330 is configured to move between an initial (e.g., proximal) position and an extended (e.g., distal) position. More specifically, whenthermostat 2330 is exposed to a particular minimum temperature (e.g., about 130 ℃), piston 2332 (e.g., a thermally activated piston) automatically moves from its initial position to its extended position. When moved to its extended position, thepiston 2332 moves the exhaust port 2310 (by contact with the exhaust port lip 2312) from its occluded position to its open position. In addition, when the temperature of thethermostat 2330 drops below a minimum temperature, thepiston 2332 automatically moves from its extended position to its initial position, allowing thebiasing element 2320 to move theexhaust port 2310 from its open position to its occluded position.

In the occluded position, thevent 2310 provides a fluid tight seal with the port 207p that prevents fluid, vapor, air, or gas from entering or exiting theouter sleeve 206 through the port 207 p. When theexhaust port 2310 is in the open position, fluid, vapor, air, and/or gas can enter and exit theouter sleeve 206 through a space between theexhaust port 2310 and the port 207p (e.g., a wall defining the port 207 p).

When thesurgical device 10 is used to perform a surgical task, theexhaust port 2310 is in its biased occluded position. In this position, bodily fluids and gases are prevented or impeded from entering or exiting thesurgical device 10 through the port 207 p.

When it is desired to clean debris from the surgical device 10 (e.g., after a surgical procedure), a user may introduce fluid or steam through a port of thesurgical device 10. Prior to such a cleaning procedure, thevent 2310 is in its occluded position to help prevent fluid or gas from entering thesurgical device 10 through the port 207 p. During cleaning and/or sterilization, when the temperature (e.g., steam temperature) adjacent tothermostat 2330 reaches or exceeds a predetermined minimum temperature (e.g., about 130 ℃),piston 2332 ofthermostat 2330 automatically moves from its initial position to its extended position, movingexhaust port 2310 to its open position. In its open position, theexhaust port 2310 facilitates drying and venting of thesurgical device 10 by creating a path (e.g., an additional path) for air, steam, and/or fluid to exit thesurgical device 10. In addition, when the temperature near thethermostat 2330 within thesurgical device 10 drops below a predetermined minimum temperature (e.g., about 130 ℃; or a different predetermined temperature), thepiston 2332 of thethermostat 2330 automatically moves from its extended position to its initial position, allowing thebiasing element 2320 to move theexhaust port 2310 back to its occluded position.

Additionally, while thevalve 2300 and the port 207p are shown in a particular location on the surgical device 10 (e.g., proximal of theseal assembly 1700; fig. 72), the present disclosure contemplates other locations of thevalve 2300 and the port 207 p. Further, thesurgical device 10 may include more than onevalve 2300 and more than one associated port 207 p. For example, the plurality ofvalves 2300 and ports 207p may be used to create specific paths for fluid and air flow to facilitate cleaning, degassing, and drying thesurgical device 10. Additionally, although the port 207p is depicted as being rectangular in shape, the port 207p may be another regular or irregular shape.

Additionally, although thevalve 2300 is shown and described as being used with a particular type ofsurgical device 10, thevalve 2300 may be used with (e.g., reusable) various types of surgical instruments that may require cleaning and/or sterilization.

The present disclosure also includes methods of cleaning a surgical instrument (e.g., surgical device 10) usingvalve 2300. For example, the disclosed method includes introducing fluid or vapor into thesurgical device 10 through a port and automatically moving theexhaust port 2310 of thevalve 2300 from its occluded position to its open position based on the temperature within thesurgical device 10 to allow fluid and gas to enter and exit thesurgical device 10 to facilitate exhausting and drying the internal components of thesurgical device 10. The method also includes automatically moving theexhaust port 2310 of thevalve 2300 from its open position to its occluded position in response to the temperature proximate thethermostat 2330 falling below a predetermined value.

Referring now to fig. 77-79, avalve 2400 for use with thesurgical device 10,adapter assembly 100, and/orextension assembly 200 of the present disclosure is shown.Valve 2400 is positioned withinsurgical device 10 and is configured to selectively engage a first opening or port 207pa (fig. 79) extending throughouter cannula 206 ofextension assembly 200 to selectively allow air, steam, and/or fluid to pass through port 207pa during, for example, cleaning, sterilization, drying, or venting ofsurgical device 10.

At least some portions ofvalve 2400 are made from a bi-metallic material, andvalve 2400 includes a plurality of folded or bent portions, as described in detail herein. With particular reference to fig. 78, thevalve 2400 includes afirst leg 2410, asecond leg 2420, athird leg 2430, afourth leg 2440, and a blockingportion 2450. Thefirst end 2422 of thesecond leg 2420 extends from thefirst end 2412 of thefirst leg 2410 such that thefirst leg 2410 pivots relative to thesecond leg 2420. Thefirst end 2432 of thethird leg 2430 extends adjacent (e.g., perpendicular) to thesecond end 2414 of thefirst leg 2410. Thefirst end 2442 of thefourth leg 2440 extends (e.g., at an acute angle) from thesecond end 2434 of thethird leg 2430. Anocclusive portion 2450, which may be made of rubber or similar material that facilitates sealing, extends outwardly from the first leg 2410 (e.g., near thesecond end 2414 thereof) and is configured to selectively engage the port 207pa (fig. 79) in a sealing arrangement.

The bimetallic material included onvalve 2400 is configured to bend or otherwise change shape when subjected to a predetermined temperature (e.g., approximately 130 ℃) such that a portion ofvalve 2400 is movable between an open position and a blocked position relative toport 207 pa. In particular, when thesurgical device 10 is heated and thevalve 2400 is subjected to a predetermined temperature, thefirst leg 2410 of thevalve 2400 is configured to move toward thesecond leg 2420 of the valve 2400 (e.g., from the occluded position to the open position). More specifically, due to the arrangement of the first andsecond legs 2410, 2420, thesecond end 2414 of thefirst leg 2410 of thevalve 2400 is configured to move away from the port 207pa and toward thesecond end 2424 of thesecond leg 2420 of thevalve 2400. Movement of thefirst leg 2410 away from the port 207pa also moves theocclusion 2450 of thevalve 2400 away from and out of engagement with the port 207pa to its open position.

In the open position, fluid, vapor, air, and/or gas can enter and exit theouter sleeve 206 through the space between theocclusion 2450 and the port 207pa (e.g., the wall defining theport 207 pa) of thevalve 2400. In the occluded position, theoccluded portion 2450 of thevalve 2400 provides a fluid tight seal with the port 207pa that prevents fluid, vapor, air, or gas from entering or exiting theouter sleeve 206 through theport 207 pa.

When thesurgical device 10 is used to perform a surgical task, theoccluded portion 2450 of thevalve 2400 is in its occluded position relative to theport 207 pa. In this position, bodily fluids and gases are prevented or impeded from entering thesurgical device 10 through theport 207 pa.

When it is desired to clean debris from the surgical device 10 (e.g., after a surgical procedure), a user may introduce fluid or steam through a port of thesurgical device 10. Prior to such a cleaning procedure, theocclusive portion 2450 of thevalve 2400 is in its occluded position to help prevent fluid or gas from entering thesurgical device 10 through theport 207 pa. During cleaning and/or sterilization, when the temperature (e.g., steam temperature)adjacent valve 2400 reaches or exceeds a predetermined minimum temperature (e.g., about 130 ℃),first leg 2410 ofvalve 2400 moves (e.g., bends or pivots) towardsecond leg 2430 ofvalve 2400 due to the characteristics of the bimetallic material from which the portions ofvalve 2400 are manufactured. As described above, movement of thefirst leg 2410 to thesecond leg 2420 also moves theoccluded portion 2450 of thevalve 2400 from its occluded position to its open position relative to the port 207pa, thereby facilitating drying and venting of thesurgical device 10 by creating a path (e.g., an additional path) for air, vapor, and fluid to exit thesurgical device 10.

When the cleaning or sterilization process is complete, and when the temperature insurgical device 10adjacent valve 2400 drops below a predetermined minimum temperature, the bi-metallic nature ofvalve 2400 can causevalve 2400 to retain its shape (e.g., in the open position). That is,occlusion 2450 ofvalve 2400 remains in an open position relative to port 207pa while and aftersurgical device 10 cools. The open port 207pa allows for additional drying and venting even after the temperature within thesurgical device 10 has dropped below a predetermined minimum temperature.

With particular reference to fig. 79, to moveoccluded portion 2450 ofvalve 2400 to its occluded position (e.g., when reusing surgical device 10), a user actuates a handle or other actuator to rotateshaft 2460 ofsurgical device 10 relative tovalve 2400. Rotation ofshaft 2460 causes latch 2462 ofshaft 2460 to engagefourth leg 2440 ofvalve 2400. Engagement betweenlatch 2462 ofshaft 2460 andfourth leg 2440 ofvalve 2400 causesthird leg 2430 ofvalve 2400 to bend or curve down in the general direction of arrow "H," which causesfirst leg 2410 ofvalve 2400 to move away fromsecond leg 2420 ofvalve 2400 such thatocclusion portion 2450 moves in the general direction of arrow "I" to its occluding position.

Additionally, althoughvalve 2400 and port 207pa are shown in a particular location on surgical device 10 (e.g., proximal ofseal assembly 1700; FIG. 77), other locations ofvalve 2400 and port 207pa are also contemplated by the present disclosure. Further, thesurgical device 10 may include more than onevalve 2400 and more than one associatedport 207 pa. For example, the plurality ofvalves 2400 and ports 207pa can be used to create specific paths for fluid and air flow to facilitate cleaning, degassing, and drying thesurgical device 10.

Additionally, althoughvalve 2400 is shown and described as being used with a particular type ofsurgical device 10,valve 2400 may be used with (e.g., reusable) various types of surgical instruments that may require cleaning and/or sterilization.

The present disclosure also includes methods of cleaning a surgical instrument (e.g., surgical device 10) usingvalve 2400. For example, the disclosed method comprises: fluid or vapor is injected through port 207pa or other port and, based on the temperature and bimetallic properties of the portions ofvalve 2400,occlusion portion 2450 ofvalve 2400 is automatically moved from its occluding position to its open position to allow fluid and gas to enter and exitsurgical device 10 to facilitate drying the internal components ofsurgical device 10. The method further includes maintaining the blockedportion 2450 of thevalve 2400 in its open position after the temperature drops below the predetermined temperature. Additionally, the method includes actuating a portion of thesurgical device 10 to manually move theocclusion portion 2450 of thevalve 2400 to its occlusion position.

Surgical devices, such as those described herein, may also be configured for use with robotic surgical systems commonly referred to as "telesurgery". Such systems use various robotic elements to assist the surgeon and allow for teleoperation (or partial teleoperation) of the surgical instrument. For this purpose, various robotic arms, gears, cams, pulleys, electric and mechanical motors, etc. may be employed and may be designed with a robotic surgical system to assist the surgeon during the course of an operation or procedure. Such robotic systems may include telesteerable systems, automated flexible surgical systems, teleflexible surgical systems, telearticulated surgical systems, wireless surgical systems, modular or selectively configurable teleoperated surgical systems, and the like.

Robotic surgical systems may be employed with one or more consoles proximate to an operating room or at remote locations. In this example, one surgeon or nurse team may prepare the patient for surgery and configure the robotic surgical system with one or more of the instruments disclosed herein, while another surgeon (or a group of surgeons) remotely controls the instruments via the robotic surgical system. As can be appreciated, a highly skilled surgeon can perform multiple operations at multiple locations without leaving his/her remote console, which is economically advantageous and also beneficial to a patient or a series of patients.

The robotic arms of the surgical system are typically coupled to a pair of primary handles by a controller. The surgeon may move the handle to cause corresponding movement of the working end of any type of surgical instrument (e.g., end effector, grasper, knife, scissors, etc.), which may complement the use of one or more of the embodiments described herein. The movement of the main handle may be scaled such that the working end has a corresponding movement that is different, smaller, or larger than the movement performed by the surgeon's manipulator. The scale factor or gear ratio may be adjustable so that an operator may control the resolution of the working end of one or more surgical instruments.

The main handle may contain various sensors to provide feedback to the surgeon regarding various tissue parameters or conditions, such as tissue resistance due to manipulation, cutting, or other treatment; the pressure of the instrument against the tissue; tissue temperature; tissue impedance, etc. As can be appreciated, such sensors provide the surgeon with enhanced tactile feedback that simulates actual operating conditions. The main handle may also contain a variety of different actuators for fine tissue manipulation or treatment, further enhancing the surgeon's ability to simulate actual operating conditions.

Referring to fig. 80, a medical workstation is shown generally asworkstation 1000, and may generally include: a plurality ofrobot arms 1002, 1003; acontrol device 1004; and anoperation console 1005 coupled with thecontrol device 1004. Theoperations console 1005 may include adisplay device 1006 that may be specifically set to display three-dimensional images; andmanual input devices 1007, 1008 by means of which a person (not shown), for example a surgeon, may be able to remotely manipulate therobotic arms 1002, 1003 in the first mode of operation.

According to any of the several embodiments disclosed herein, each of therobotic arms 1002, 1003 may contain a plurality of members connected by joints; andattachment devices 1009, 1011 to which a surgical tool "ST" supportingend effector 1100, for example, may be attached, as will be described in more detail below.

Therobotic arms 1002, 1003 may be driven by electrical drivers (not shown) connected to thecontrol device 1004. A control means 1004, e.g. a computer, may be arranged to activate the drivers, in particular by means of a computer program, such that therobot arms 1002, 1003, their attachment means 1009, 1011 and thus the surgical tool (including the end effector 1100) perform the required movements according to the movements defined by the manual input means 1007, 1008. The control means 1004 may also be arranged in such a way that: which regulates movement of therobotic arms 1002, 1003 and/or the drives.

Themedical workstation 1000 may be configured for apatient 1013 lying on a patient table 1012 to be treated in a minimally invasive manner by theend effector 1100. Themedical workstation 1000 may also comprise more than tworobotic arms 1002, 1003, the further robotic arms being likewise connected to thecontrol device 1004 and being remotely controllable by means of theoperating console 1005. Medical instruments or surgical tools (including end effector 1100) may also be attached to additional robotic arms. Themedical workstation 1000 may include adatabase 1014, particularly a database coupled with thecontrol device 1004, in which preoperative data, for example, from a patient/living subject 1013 and/or anatomical atlas is stored.

Reference is made to U.S. patent No. 8,828,023 entitled "medical workstation" to Neff et al for a more detailed discussion of the construction and operation of an exemplary robotic surgical system, the entire contents of which are incorporated herein by reference.

Any of the components described herein may be fabricated from metal, plastic, resin, composite, etc., in view of strength, durability, wear resistance, weight, corrosion resistance, ease of fabrication, cost of fabrication, etc.

It should be understood that the foregoing description is only illustrative of the present disclosure. Various alternatives and modifications can be devised by those skilled in the art without departing from the disclosure. Accordingly, the present disclosure is intended to embrace all such alternatives, modifications and variances. The embodiments described with reference to the accompanying drawings are presented merely to illustrate certain examples of the disclosure. Other elements, steps, methods and techniques that are substantially different from those described above and/or in the appended claims are also intended to be within the scope of the present disclosure.

Claims (49)

1. A surgical device, comprising:

an outer sleeve including an inner wall, a port extending through the inner wall of the outer sleeve, and a housing within the port; and

a valve at least partially disposed within the outer sleeve, the valve including an engagement portion configured to selectively engage the port of the outer sleeve, the engagement portion of the valve being movable relative to the outer sleeve from an occluded position in which the engagement portion forms a liquid-tight seal with the port to an open position in which at least a portion of the engagement portion is spaced from the port.

2. The surgical device of claim 1, wherein the valve is biased to the occluded position.

3. The surgical device of claim 1, wherein the valve includes a biasing element configured to urge the engagement portion of the valve radially outward and into the occluded position.

4. The surgical device of claim 3, wherein the biasing element is a compression spring.

5. The surgical device of claim 3, wherein the valve includes a body portion, the biasing element disposed about the body portion of the valve.

6. The surgical device of claim 5, wherein the biasing element is disposed between the engagement portion of the valve and a wall of the housing of the outer cannula.

7. The surgical device of claim 1, further comprising a second valve configured to selectively engage a second port of the overtube.

8. A method of cleaning a surgical device, comprising:

moving an engagement portion of a valve radially inward relative to a port of an outer cannula of the surgical device from an occluded position in which the engagement portion forms a liquid-tight seal with the port to an open position in which at least a portion of the engagement portion is spaced from the port;

injecting fluid into an outer tube of the surgical device through the port;

removing the fluid from the surgical device; and

maintaining the engagement portion of the valve in the open position after a majority of the fluid has been removed from the surgical device.

9. The method of claim 8, further comprising biasing the engagement portion of the valve to the occluded position.

10. The method of claim 8, further comprising moving an engagement portion of a second valve radially inward relative to a second port of the outer cannula of the surgical device from an occluded position in which the engagement portion of the second valve forms a liquid-tight seal with the second port to an open position in which at least a portion of the engagement portion of the second valve is spaced apart from the second port.

11. The method of claim 10, further comprising maintaining the engagement portion of the second valve in the open position while injecting fluid through the port into the outer tube of the surgical device.

12. A surgical device, comprising:

a handle housing including an outer wall and a port extending through the outer wall;

an elongated portion extending distally from the handle housing; and

a valve disposed at least partially within the handle housing, the valve including an engagement portion configured to selectively engage the port of the handle housing, the engagement portion of the valve being movable relative to the outer wall from an occluded position in which the engagement portion forms a liquid-tight seal with the port to an open position in which at least a portion of the engagement portion is spaced from the port.

13. The surgical device of claim 12, wherein the valve is biased to the occluded position.

14. The surgical device of claim 12, wherein the valve includes a biasing element configured to urge the engagement portion of the valve radially outward and into the occluded position.

15. The surgical device of claim 14, wherein the biasing element is a compression spring.

16. The surgical device of claim 14, wherein the valve includes a body portion, the biasing element disposed about the body portion of the valve.

17. The surgical device of claim 12, further comprising a second valve configured to selectively engage a second port of the surgical device, the second port disposed on the elongate portion.

18. A method of cleaning a surgical device, comprising:

moving an engagement portion of a valve radially inward relative to a port of a handle housing of the surgical device from an occluded position in which the engagement portion forms a liquid-tight seal with the port to an open position in which at least a portion of the engagement portion is spaced from the port;

injecting a fluid into the surgical device;

removing the fluid from the surgical device; and

maintaining the engagement portion of the valve in the open position after a majority of the fluid has been removed from the surgical device.

19. The method of claim 18, further comprising biasing the engagement portion of the valve to the occluded position.

20. The method of claim 18, further comprising moving an engagement portion of a second valve radially inward relative to a second port of the surgical device from an occluded position in which the engagement portion of the second valve forms a liquid tight seal with the second port to an open position in which at least a portion of the engagement portion of the second valve is spaced from the second port.

21. A surgical kit, comprising:

a surgical device comprising a handle assembly, an elongate portion extending distally from the handle assembly, a port, and a valve comprising an engagement portion configured to selectively engage the port, the engagement portion of the valve being movable from an occluded position in which the engagement portion forms a liquid-tight seal with the port to an open position in which at least a portion of the engagement portion is spaced from the port; and

an actuator including a cannula body configured to slidingly engage the elongate portion of the surgical device and a finger configured to selectively engage the engagement portion of the valve to move the valve from the occluded position to the open position.

22. The surgical kit of claim 21, wherein the fingers of the actuator include a cross-shaped cross-sectional profile.

23. The surgical kit of claim 22, wherein the engagement portion of the valve of the surgical device includes a circular cross-sectional profile.

24. The surgical kit of claim 21, wherein the cannula is annular.

25. The surgical kit of claim 21, wherein the fingers extend radially inward from the cannula body.

26. The surgical kit of claim 25, wherein the actuator includes a second finger extending radially inward from the cannula body.

27. The surgical kit of claim 26, wherein the surgical device includes a second port and a second valve including a second engagement portion configured to selectively engage the second port, the second engagement portion of the second valve being movable from an occluded position in which the second engagement portion forms a liquid-tight seal with the second port to an open position in which at least a portion of the second engagement portion is spaced from the second port.

28. The surgical kit of claim 27, wherein the second finger is configured to selectively engage the second engagement portion of the second valve to move the second valve from the occluded position to the open position.

29. The surgical kit of claim 27, wherein the finger is configured to selectively engage the engagement portion of the valve to move the valve from the occluded position to the open position while the second finger engages the second engagement portion of the second valve to move the second valve from the occluded position to the open position.

30. A surgical kit, comprising:

a surgical device comprising a handle housing, an elongate portion extending distally from the handle housing, a port, and a valve comprising an engagement portion configured to selectively engage the port, the engagement portion of the valve being movable from an occluded position in which the engagement portion forms a liquid-tight seal with the port to an open position in which at least a portion of the engagement portion is spaced from the port; and

an actuator including a housing and a post extending from the housing, at least a portion of the surgical device being positionable on the actuator, the post being configured to selectively engage the engagement portion of the valve to move the valve from the occluded position to the open position.

31. The surgical kit of claim 30, wherein the valve is at least partially disposed within a handle housing of the surgical device.

32. The surgical kit of claim 30, wherein the surgical device includes a second port and a second valve including a second engagement portion configured to selectively engage the second port, the second engagement portion of the second valve being movable from an occluded position in which the second engagement portion forms a liquid-tight seal with the second port to an open position in which at least a portion of the second engagement portion is spaced from the second port.

33. The surgical kit of claim 32, wherein the valve is at least partially disposed within the handle housing of the surgical device, and wherein the second valve is at least partially disposed within the elongate portion of the surgical device.

34. The surgical kit of claim 32, wherein the actuator includes a second post extending from the frame.

35. The surgical kit of claim 34, wherein the second post is configured to selectively engage the second engagement portion of the second valve to move the second valve from the occluded position to the open position.

36. The surgical kit of claim 34, wherein the post is configured to selectively engage the engagement portion of the valve to move the valve from the occluded position to the open position while the second post engages the second engagement portion of the second valve to move the second valve from the occluded position to the open position.

37. A surgical device, comprising:

an outer sleeve;

a port extending through the outer sleeve; and

a valve disposed at least partially within the outer cannula, the valve comprising: an exhaust port slidably disposed relative to the port between an open position and a closed position; and a thermostat configured to urge the exhaust port to its open position in response to exposure of the thermostat to a predetermined temperature.

38. The surgical device of claim 37, further comprising a biasing element configured to urge the vent toward its occluded position.

39. The surgical device of claim 37, wherein a portion of the thermostat contacts a portion of the exhaust port.

40. The surgical device of claim 37, wherein the vent is configured to move to its occluded position in response to exposure of the thermostat to a temperature below the predetermined temperature.

41. The surgical device of claim 40, wherein the predetermined temperature is about 130 ℃.

42. The surgical device of claim 37, wherein the predetermined temperature is about 130 ℃.

43. A surgical device, comprising:

an outer sleeve;

a port extending through the outer sleeve; and

a valve disposed at least partially within the outer cannula, the valve being made of a bimetallic material, a portion of the valve being configured to move between an open position and a closed position relative to the port in response to exposure of the valve to a predetermined temperature.

44. The surgical device of claim 43, wherein the valve includes a first leg, a second leg, a third leg, and an occlusion portion, the second leg extending adjacent a first end of the first leg, and the third leg extending adjacent a second end of the second leg.

45. The surgical device of claim 44, wherein the first leg moves toward the second leg in response to exposure of the valve to the predetermined temperature.

46. The surgical device of claim 43, wherein the portion of the valve is configured to remain in its occluded position in response to exposure of the valve to a temperature below the predetermined temperature.

47. The surgical device of claim 46, wherein the predetermined temperature is about 130 ℃.

48. The surgical device of claim 43, wherein the predetermined temperature is about 130 ℃.

49. The surgical device of claim 43, further comprising a shaft, wherein rotation of the shaft relative to the outer cannula moves the valve to its occluding position.

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