WO2025088484A1

WO2025088484A1 - Surgical stapling device with an articulating tool assembly

Info

Publication number: WO2025088484A1
Application number: PCT/IB2024/060365
Authority: WO
Inventors: Justin P. WILLIAMS; David A. Nicholas; David M. Farascioni
Original assignee: Covidien LP
Current assignee: Covidien LP
Priority date: 2023-10-25
Filing date: 2024-10-22
Publication date: 2025-05-01
Anticipated expiration: 2026-04-25

Abstract

A surgical stapling device includes a tool assembly, an articulation joint, and a drive assembly having a push pull drive cable. The articulation joint includes a distal articulation member, a middle articulation member, and a proximal articulation member that are configured to facilitate articulation of the tool assembly about spaced articulation axes in both a yaw direction and a pitch direction and provide support and guidance to the push pull drive cable during firing of the stapling device.

Description

SURGICAL STAPLING DEVICE WITH AN ARTICULATING TOOL ASSEMBLY

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of the filing date of provisional U.S. Patent Application No. 63/593,024 filed on October 25, 2023, the entire content of each of which is incorporated herein by reference.

FIELD

[0002] The disclosure is directed to surgical stapling devices and, more particularly, to surgical stapling devices with articulating tool assemblies.

BACKGROUND

[0003] Surgical stapling devices for simultaneously stapling and cutting tissue are well known in the art and include a tool assembly and a drive assembly. The tool assembly includes an anvil assembly and a cartridge assembly having a channel member and a staple cartridge that is received within the channel member. Typically, the staple cartridge includes a cartridge body that defines a knife slot and supports staples, pushers, and an actuation sled. The drive assembly is movable through the cartridge body to move the actuation sled into sequential engagement with the pushers to sequentially eject the staples from the cartridge body.

[0004] In some stapling devices, the drive assembly includes a laminated beam that is coupled to an I-beam that includes a vertical strut that is movable through the knife slot and defines a cutting edge for cutting tissue. Stapling devices with laminated beams are limited to articulation about a single axis and are not suitable for wristed stapling devices for robotic stapling systems that require articulation about multiple axes.

[0005] Stapling devices capable of articulating about a plurality of axes typically include pivot members that are spaced along a longitudinal axis of the stapling device and have a drive member that includes a push pull cable that is coupled to the I-beam of the drive assembly and is advanced to advance the I-beam of the drive assembly. The pivot members define articulation axes that are perpendicular to each other and spaced from each other such that the tool assembly can pivot about the spaced axes. During firing of the stapling device, the push pull cable is subject to high loads and is susceptible to buckling. [0006] A continuing need exists for a wristed stapling device with a drive assembly having a push pull cable that is less susceptible to buckling.

SUMMARY

[0007] This disclosure is directed to a surgical stapling device that includes a tool assembly, an articulation joint, and a drive assembly including a push pull drive cable. The articulation joint includes a distal articulation member, a middle articulation member, and a proximal articulation member that are configured to facilitate articulation of the tool assembly about spaced articulation axes in both a yaw direction and a pitch direction and provide support and guidance to the push pull drive cable during firing of the stapling device.

[0008] Aspects of this disclosure are directed to a surgical stapling device including an elongated body, a tool assembly, an articulation joint, and a drive assembly. The elongated body has a proximal portion and a distal portion and defines a longitudinal axis. The articulation joint couples the tool assembly with the elongated body and includes a distal articulation member, a middle articulation member, a proximal articulation member, a pitch coupler, and a yaw coupler. The pitch coupler is pivotably coupled to the proximal articulation member by a first pivot member that defines a first pitch pivot axis and pivotably coupled to the middle articulation member by a second pivot member that defines a second pitch pivot axis. The first pitch pivot axis is longitudinally spaced from the second pitch pivot axis. The yaw coupler is pivotably coupled to the middle articulation member by a third pivot member that defines a first yaw pivot axis and pivotably coupled to the distal articulation member by a fourth pivot member that defines a second yaw pivot axis. The first yaw pivot axis is longitudinally spaced from the second yaw pivot axis. The drive assembly includes a push pull drive cable and an I-beam. The push pull drive cable has a proximal portion and a distal portion that is secured to the I-beam. The drive assembly is movable from a drive retracted position to a drive advanced position to move the I-beam through the tool assembly to actuate the tool assembly.

[0009] In aspects of the disclosure, the tool assembly includes a cartridge assembly and an anvil assembly.

[0010] In some aspects of the disclosure, the anvil assembly is fixedly secured to the distal articulation member and the anvil assembly is secured to the cartridge assembly and is movable between an open position and a clamped position. [0011] In certain aspects of the disclosure, the push pull drive cable includes a center cable and an outer sleeve, and the outer sleeve is positioned about the center cable and has a noncircular configuration.

[0012] In aspects of the disclosure, the distal articulation member defines a first longitudinal through bore that receives the push pull drive cable, and the first longitudinal through bore has a configuration that corresponds to the configuration of the outer sleeve of the push pull drive cable.

[0013] In some aspects of the disclosure, the outer sleeve of the push pull drive cable has a t- shaped configuration.

[0014] In certain aspects of the disclosure, the outer sleeve of the push pull drive cable has a rectangular configuration.

[0015] In aspects of the disclosure, the pitch coupler defines a second longitudinal through bore that receives and guides movement of the push pull drive cable about the first and second pitch pivot axes.

[0016] In some aspects of the disclosure, the yaw coupler defines a third longitudinal through bore that receives and guides movement of the push pull drive cable about the first and second yaw pivot axes.

[0017] In certain aspects of the disclosure, the middle articulation member and the proximal articulation member define fourth and fifth longitudinal through bores that receive and guide movement of the push pull drive cable.

[0018] In aspects of the disclosure, the distal articulation member includes proximally extending teeth that define a first cavity, the proximal articulation member includes distally extending teeth that define a second cavity, and the middle articulation member includes a distally extending tooth that is received within the first cavity and a proximally extending tooth that is received within the second cavity.

[0019] In some aspects of the disclosure, the stapling device includes a pitch drive bar that is coupled to the middle articulation member and is movable to pivot the tool assembly about the first pitch axis and the second pitch axis.

[0020] In certain aspects of the disclosure, the stapling device includes a first push pull articulation cable and a second push pull articulation cable that is coupled to the distal articulation member, and the first push pull articulation cable and the second push pull articulation cable are movable to pivot the tool assembly about the first yaw axis and the second yaw axis.

[0021] In aspects of the disclosure, the staple cartridge includes a body defining a longitudinal channel that has a configuration that corresponds to the configuration of the outer sleeve of the push pull drive cable.

[0022] In some aspects of the disclosure, the anvil assembly includes a locking member that is movable from a locked position obstructing advancement of the drive assembly to an unlocked position.

[0023] In certain aspects of the disclosure, the stapling device includes a first push pull articulation cable, a second push pull articulation cable, a third push pull articulation cable, and a fourth push pull articulation cable, and the first, second, third, and fourth push pull articulation cables are movable to articulate the tool assembly about the first and second pitch pivot axes and the first and second yaw pivot axes.

[0024] Other aspects of the disclosure are directed to a surgical stapling device including an elongated body, a tool assembly, an articulation joint, and a drive assembly. The elongated body has a proximal portion and a distal portion and defines a longitudinal axis. The articulation joint couples the tool assembly with the elongated body and includes a distal articulation member, a middle articulation member, a proximal articulation member, a pitch coupler, and a yaw coupler. The pitch coupler is pivotably coupled to the proximal articulation member by a first pivot member that defines a first pitch pivot axis and is pivotably coupled to the middle articulation member by a second pivot member that defines a second pitch pivot axis. The first pitch pivot axis is longitudinally spaced from the second pitch pivot axis. The yaw coupler is pivotably coupled to the middle articulation member by a third pivot member that defines a first yaw pivot axis and is pivotably coupled to the distal articulation member by a fourth pivot member that defines a second yaw pivot axis. The first yaw pivot axis is longitudinally spaced from the second yaw pivot axis. The distal articulation member includes proximally extending teeth that define a first cavity, the proximal articulation member includes distally extending teeth that define a second cavity, and the middle articulation member includes a distally extending tooth that is received within the first cavity and a proximally extending tooth that is received within the second cavity. The drive assembly includes a push pull drive cable that is movable from a drive retracted position to a drive advanced position to actuate the tool assembly. The distal articulation member defines a first longitudinal through bore that receives the push pull drive cable, the pitch coupler defines a second longitudinal through bore that receives and guides movement of the push pull drive cable around the first and second pitch pivot axes, and the yaw coupler defines a third longitudinal through bore that receives and guides movement of the push pull drive cable around the first and second yaw pivot axes.

[0025] In aspects of the disclosure, the tool assembly includes an anvil assembly and a cartridge assembly that includes a staple cartridge.

[0026] Other aspects of the disclosure are directed to an articulation joint for coupling a tool assembly with the elongated body of a stapling device. The articulation joint includes a distal articulation member, a middle articulation member, a proximal articulation member, a pitch coupler, and a yaw coupler. The pitch coupler is pivotably coupled to the proximal articulation member by a first pivot member that defines a first pitch pivot axis and is pivotably coupled to the middle articulation member by a second pivot member that defines a second pitch pivot axis. The first pitch pivot axis is longitudinally spaced from the second pitch pivot axis. The yaw coupler is pivotably coupled to the middle articulation member by a third pivot member that defines a first yaw pivot axis and is pivotably coupled to the distal articulation member by a fourth pivot member that defines a second yaw pivot axis. The first yaw pivot axis is longitudinally spaced from the second yaw pivot axis. The distal articulation member defines a first longitudinal through bore that receives the push pull drive cable, the pitch coupler defines a second longitudinal through bore that receives and guides movement of the push pull drive cable around the first and second pitch pivot axes, and the yaw coupler defines a third longitudinal through bore that receives and guides movement of the push pull drive cable around the first and second yaw pivot axes.

[0027] Other features of the disclosure will be appreciated from the following description.

BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Various aspects of the disclosure are described herein below with reference to the drawings, wherein:

[0029] FIG. 1 is side perspective view of a stapling device according to aspects of the disclosure including a tool assembly in an open position; [0030] FIG. 2 is an exploded view of the tool assembly and an articulation joint of the stapling device shown in FIG. 1 ;

[0031] FIG. 3 is an enlarged view of the indicated area of detail shown in FIG. 2;

[0032] FIG. 4 is an enlarged view of the indicated area of detail shown in FIG. 1 illustrating a first side of articulation joint connecting an elongated body of the stapling device and the tool assembly of the stapling device shown in FIG. 1 in a non-articulated position;

[0033] FIG. 5 is a side perspective view from an opposite side of the articulation joint shown in FIG. 1 in the non-articulated position;

[0034] FIG. 6 is a side perspective view of the first side of the articulation joint shown in FIG. 1 articulated in two planes;

[0035] FIG. 7 is a perspective view of a pitch coupler of the articulation joint shown in FIG. 3;

[0036] FIG. 8 is a perspective view of a yaw coupler of the articulation joint shown in FIG. 3;

[0037] FIG. 9 is a perspective, partial cutaway view from the distal end of a proximal member of the articulation joint of the stapling device shown in FIG. 1;

[0038] FIG. 10 is a perspective view from the distal end of a middle member of the articulation joint of the stapling device shown in FIG. 1;

[0039] FIG. 11 is a perspective view from the proximal end of the middle member of the articulation joint of the stapling device shown in FIG. 1;

[0040] FIG. 12 is a perspective view from the distal end of a distal member of the articulation joint of the stapling device shown in FIG. 1;

[0041] FIG. 13 is a perspective view from the proximal end of the distal member of the articulation joint of the stapling device shown in FIG. 1;

[0042] FIG. 14 is an enlarged view of the indicated area of detail shown in FIG. 2;

[0043] FIG. 15 is a side view of the tool assembly and the articulation joint of the stapling device shown in FIG. 1 with the tool assembly in the non-articulated position;

[0044] FIG. 16 is a cross-sectional view taken along section line 16-16 of FIG. 1;

[0045] FIG. 17 is an enlarged view of the indicated area of detail shown in FIG. 16;

[0046] FIG. 18 is a cross-sectional view taken along section line 18-18 of FIG. 17; [0047] FIG. 19 is a side perspective view of the tool assembly and the articulation joint of the stapling device shown in FIG. 1 with the tool assembly in an open position pivoted in an upward direction (as viewed in FIG. 19) about a pitch pivot axis of the articulation joint;

[0048] FIG. 20 is a cross-sectional view taken through the articulation joint and tool assembly of the stapling device shown in FIG. 19;

[0049] FIG. 21 is a side perspective view of the tool assembly and the articulation joint of the stapling device shown in FIG. 1 with the tool assembly in an open position and pivoted in a downward direction about the pitch pivot axis of the articulation joint;

[0050] FIG. 22 is a cross-sectional view taken through the articulation joint and tool assembly of the stapling device shown in FIG. 21;

[0051] FIG. 23 is a side perspective view from above of the tool assembly and the articulation joint of the stapling device shown in FIG. 1 with the tool assembly in an open position and pivoted in a first direction about a yaw pivot axis of the articulation joint;

[0052] FIG. 24 is a top view of the proximal portion of the tool assembly and the articulation joint of the stapling device shown in FIG. 1 with the tool assembly in an open position and pivoted in the first direction about the yaw pivot axis of the articulation joint;

[0053] FIG. 25 is a bottom view of the proximal portion of the tool assembly and the articulation joint of the stapling device shown in FIG. 1 with the tool assembly in the open position and pivoted in the first direction about the yaw pivot axis of the articulation joint;

[0054] FIG. 26 is a cross-sectional view taken along section line 26-26 of FIG. 23;

[0055] FIG. 27 is a cross-sectional view taken along section line 27-27 of FIG. 23;

[0056] FIG. 28 is a cross-sectional view taken through the distal portion of the tool assembly of the stapling device shown in FIG. 1 with the tool assembly in a clamped and fired position;

[0057] FIG. 29 is a cross-sectional view taken along section line 29-29 of FIG. 28;

[0058] FIG. 30 is a side perspective view from above of an alternate version of the tool assembly and articulation joint of the stapling device shown in FIG. 1 with the tool assembly in the open and non-articulated positions;

[0059] FIG. 31 is a side perspective view from below of the tool assembly and articulation joint of the stapling device shown in FIG. 30 with the tool assembly in the open and nonarticulated positions; [0060] FIG. 32 is a side perspective exploded view of the tool assembly and articulation joint shown in FIG. 30;

[0061] FIG. 33 is a side perspective view from above of the anvil assembly of the tool assembly shown in FIG. 30;

[0062] FIG. 34 is a side perspective exploded view from above of the anvil assembly shown in FIG. 35;

[0063] FIG. 35 is a side perspective view from above of the articulation joint and tool assembly shown in FIG. 30 with the tool assembly in the open position and articulated about the pitch and yaw pivot axes;

[0064] FIG. 36 is an enlarged view of the indicated area of detail shown in FIG. 35;

[0065] FIG. 37 is a side perspective exploded view of an alternate version of the drive assembly of the stapling device shown in FIG. 1 ;

[0066] FIG. 38 is a side perspective view of the drive assembly shown in FIG. 37 in an assembled condition;

[0067] FIG. 39 is a cross-sectional view taken along section line 39-39 of FIG. 30;

[0068] FIG. 39A is a side perspective view of an actuation sled of the staple cartridge of the tool assembly shown in FIG. 30;

[0069] FIG. 40 is a cross-sectional view taken along section line 40-40 of FIG. 39;

[0070] FIG. 41 is a cross-sectional view taken along section line 41-41 of FIG. 39;

[0071] FIG. 42 is a cross-sectional view taken through the articulation joint and tool assembly shown in FIG. 30 with the tool assembly in a clamped position and articulated in a first direction;

[0072] FIG. 43 is a cross-sectional view taken through the articulation joint and tool assembly shown in FIG. 30 with the tool assembly in a clamped position and articulated in a second direction;

[0073] FIG. 44 is a cross-sectional view taken through the proximal portion of the tool assembly shown in FIG. 30 with the tool assembly in the clamped position;

[0074] FIG. 45 is a perspective view from above of the proximal portion of the tool assembly shown in FIG. 44 as the drive assembly is advanced to eject staples from the tool assembly; [0075] FIG. 46 is a side perspective view of an I-beam of the drive assembly shown in FIG. 38 and an actuation sled a cartridge assembly of the tool assembly shown in FIG. 30 with the I- beam engaged with the actuation sled;

[0076] FIG. 47 is a side cross-sectional view of the distal portion of the tool assembly shown in FIG. 30 with the tool assembly in a clamped and partially fired position;

[0077] FIG. 48 is a cross-sectional view taken along section line 48-48 of FIG. 47; and

[0078] FIG. 49 is a cross-sectional view taken through the tool assembly and the articulation joint shown in FIG. 30 with the drive assembly shown in a drive retracted position after the tool assembly has been fired.

DETAILED DESCRIPTION

[0079] The disclosed surgical stapling device will now be described in detail with reference to the drawings in which like reference numerals designate identical or corresponding elements in each of the several views. However, it is to be understood that aspects of the disclosure are merely exemplary of the disclosure and may be embodied in various forms. Well-known functions or constructions are not described in detail to avoid obscuring the disclosure in unnecessary detail. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the disclosure in virtually any appropriately detailed structure.

[0080] In this description, the term “endoscopic” is used to include endoscopic, laparoscopic, arthroscopic, and any other procedure conducted through small incisions, or cannulas positioned through small incisions in the skin. In addition, the term “proximal” is used generally to refer to that portion of the device that is closer to a clinician during use of the stapling device in its customary manner, while the term “distal” is used generally to refer to that portion of the device that is farther from the clinician during use of the stapling device in its customary manner. Further, the term “clinician” is used generally to refer to medical personnel including doctors, nurses, and support personnel. Moreover, directional terms such as front, rear, upper, lower, top, bottom, and similar terms are used to assist in understanding the description and are not intended to limit the disclosure.

[0081] The disclosed surgical stapling device includes a tool assembly, an articulation joint, and a drive assembly including a push pull drive cable. The articulation joint includes a distal articulation member, a middle articulation member, and a proximal articulation member that are configured to facilitate articulation of the tool assembly about spaced articulation axes in both a yaw direction and a pitch direction and provide support and guidance to the push pull drive cable during firing of the stapling device.

[0082] FIG. 1 illustrates a surgical stapling device according to aspects of the disclosure shown generally as stapling device 10. The stapling device 10 includes a handle assembly 12, an elongated body 14, an articulation joint 16, and a tool assembly 18. The articulation joint 16 couples the tool assembly 18 to the elongated body 14 for articulation of the tool assembly 18 about a plurality of articulation axes. The elongated body 14 defines a longitudinal axis “X” (FIG. 1). The handle assembly 12 includes a body 18 that defines a hand grip 18a, a plurality of actuator buttons 20, and a rotation knob 22. The rotation knob 22 is rotatably supported on a distal portion of the body 18 of the handle assembly 12 and supports the elongated body 14 to facilitate rotation of the elongated body 14 and the tool assembly 16 in relation to the handle assembly 12 about the longitudinal axis “X”. The actuator buttons 20 control operation of the various functions of the stapling device 10 including articulation, clamping, firing, and cutting of tissue. Although the stapling device 10 is illustrated as an electrically powered stapling device, it is envisioned that the disclosed tool assembly 16 would also be suitable for use with manually powered surgical stapling devices and robotically operated stapling devices. U.S. Patent No. 9,055,943 discloses a surgical stapling device including a powered handle assembly, U.S. Patent No. 6,241,139 discloses a surgical stapling device including a manually actuated handle assembly, and U.S Patent No. 9,962,159 discloses a stapling device that is configured for use with a robotic system.

[0083] FIG. 2 illustrates the tool assembly 18 which is supported on the articulation joint 16 and defines a longitudinal axis “X”. The tool assembly 18 includes an anvil assembly 30 and a cartridge assembly 32. The anvil assembly 30 is fixedly secured to the articulation joint 16 via screws or pins 34, and the cartridge assembly 32 is pivotably secured to the anvil assembly 30 by the pins 34. The cartridge assembly 32 includes a channel member 36 that defines a cavity 36a and a staple cartridge 38 that is received within the cavity 36a. The channel member 36 defines an elongated slot 37 that facilitates passage of an I-beam 150 (FIG. 14) of a drive assembly 110 of the stapling device 10 described below. In aspects of the disclosure, the staple cartridge 38 is releasably received within the cavity of the channel member 36 to facilitate replacement of the staple cartridge 38 and reuse of the stapling device 10. The staple cartridge 38 defines a longitudinal knife slot 38a and a plurality of staple receiving pockets 38b. In aspects of the disclosure, the anvil assembly 30 includes a proximal portion 30a that includes spaced wings 40 that extend downwardly about a proximal portion of the channel member 36. The spaced wings 40 define openings 42 that receive the pins 34 to secure the anvil assembly 30 to the articulation joint 16 and to rotatably secure the anvil assembly 30 to the channel member 36. The channel member 36 includes openings 44 that receive the pins 34.

[0084] FIGS. 2-6 illustrate the articulation joint 16 which includes a proximal articulation member 50, a middle articulation member 52, a distal articulation member 54, a pitch coupler 56, and a yaw coupler 58. The distal articulation member 54 (FIGS. 12 and 13) includes a body having a distal portion 60 and a proximal portion 62. The distal portion 60 of the distal articulation member 54 is received between the spaced wings 40 of the anvil assembly 30 and defines bores 64 and a longitudinal slot 66 that extends through the body of the distal articulation member 54. In aspects of the disclosure, the distal portion 60 of the distal articulation member 54 includes planar side walls 60a and includes a transverse slot 66a (FIG. 12). The bores 64 define an axis that is perpendicular to the longitudinal axis “X” of the tool assembly 18 and receive the pins 34 (FIG. 2) to secure the distal articulation member 54 to the proximal portion 30a of the anvil assembly 30. The proximal portion 62 of the distal articulation member 54 defines a bore 68 that defines a yaw pivot axis “Yl” (FIG. 3) that is perpendicular to the longitudinal axis “X” of the anvil assembly 30 and perpendicular to the axis defined by the bores 64. The proximal portion 62 of the also defines longitudinal through bores 70 and includes proximally extending teeth 72 (FIG. 13) that are spaced to define a cavity 74. The through bores 70 are longitudinally aligned with the longitudinal axis “X” of the anvil assembly 30 and are positioned on opposite sides of the distal articulation member 54. The longitudinal through bores 70 receive and guide distal portions of first and second push pull articulation cables 76, 78 (FIG. 2). In some aspects of the disclosure, the teeth 72 define concavities 72a (FIG. 13) that receive and guide the first and second push pull articulation cables 76, 78. In aspects of the disclosure, the first and second push pull articulation cables 76 and 78 are formed from stranded metal wire or spring steel although other materials of construction are envisioned. The distal articulation member 54 also defines a longitudinal through bore 79 that is formed through a lower end of the distal articulation member 54 and receives a push pull drive cable 112 of a drive assembly 110 (FIG. 14) of the stapling device 10. In aspects of the disclosure, the longitudinal through bore 79 of the distal articulation member 54 is aligned with a lower portion of the staple cartridge 38 and has a non-circular shape that corresponds to the configuration of at least a portion of the push pull drive cable 112. In some aspects of the disclosure, the longitudinal through bore 79 has a t-shape although other shapes are envisioned.

[0085] The middle articulation member 52 (FIGS.10 and 11) includes a body that defines a longitudinal through bore 81 and has a distal portion 80 and a proximal portion 82. The distal portion 80 of the body of the middle articulation member 52 defines a transverse through bore 84 that defines a yaw pivot axis “Y2” (FIG. 3) that is parallel to the yaw pivot axis “Yl” and includes a tooth 86 that is received in the cavity 74 defined between the teeth 72 of the distal articulation member 54. The body of the middle articulation member 52 also defines longitudinal through bores 88 and a proximally located transverse through bore 90. The longitudinal through bores 88 extend through opposite sides of the middle articulation member 52 and receive and guide the first and second push pull articulation cables 76 and 78. The through bore 90 defines an axis that is perpendicular to the yaw pivot axis “Y2 and receives a pivot pin 92. The proximal portion 82 of the middle articulation member 52 includes diametrically opposed teeth 94 that are offset from the tooth 86 by about ninety degrees and defines a through bore 96 that defines a pitch pivot axis “Pl”. The pitch pivot axis “Pl” is perpendicular to the yaw pivot axes “Yl” and

“Y2”

[0086] The proximal articulation member 50 (FIG. 9) includes a body that can be formed integrally with or secured to the distal portion of the elongated body 14 (FIG. 1) of the stapling device 10 and includes teeth 96 positioned on each side of the body of the proximal articulation member 50. The teeth 96 define diametrically opposed cavities 98 on the proximal articulation member 50 that receive the teeth 94 of the middle articulation member 52. The proximal articulation member 50 defines transverse through bores 100, a longitudinal through bore 101, and a longitudinal channel 101a. The through bores 100 define a pitch pivot axis “P2” that is parallel and spaced from the pitch pivot axis “Pl”. The longitudinal through bore 101 (FIG. 9) receives a pitch drive bar 130 (FIG. 2), and the longitudinal channel 101a receives the push pull articulation cables 76, 78 and a push pull drive cable 112 of a drive assembly 110 (FIG. 14). In aspects of the disclosure, the push pull articulation cables 76, 78 are positioned on opposite sides of the push pull drive cable 112 within the longitudinal channel 101a, and the longitudinal channel 101a defines a concavity for receiving the push pull drive cable 112.

[0087] The distal articulation member 54 is coupled to the middle articulation member 52 by the yaw coupler 58 shown in FIG. 8. The yaw coupler 58 includes a U-shaped body that includes a first pivot member 102, a second pivot member 104, and a back span 106 that couples one end of the first pivot member 102 to one end of the second pivot member 104. The back span 106 of the yaw coupler 58 defines a through bore 108 that receives and guides the push pull drive cable 112 of the drive assembly 110 (FIG. 14) around the yaw axes “Yl” and “Y2” and includes circular extensions 58a (FIG. 25) that are received within concavities 52a, 54a (FIG. 25) formed in the middle articulation member 52 and the distal articulation member 54, respectively. The first pivot member 102 of the yaw coupler 58 is received within the through bore 68 (FIG. 2) in the distal articulation member 54 and defines an axis that is coincident with the first yaw pivot axis “Yl”, and the second pivot member 104 of the yaw coupler 58 is received within the through bore 84 (FIG. 10) of the middle articulation member 52 and defines an axis that is coincident with the second yaw axis “Y2”.

[0088] The first pivot member 102 of the yaw coupler 58 extends from the through bore 68 of the distal articulation member 54, and the second pivot member 104 extends from the through bore 84 of the middle articulation member 52 and are coupled together by a link 113 that defines openings 113a that receive the first and second pivot members 102, 104. The link 113 is positioned on one side of the distal and middle articulation members 54, 52 and the back span 106 of the yaw coupler 58 is positioned on the other side of the distal and middle articulation members 54, 52. The first pivot member 102 facilitates articulation of the distal pivot member 54 and the tool assembly 18 which is secured to the distal articulation member 54 in relation to the middle articulation member 52 about the first and second yaw pivot axes “Yl” and Y2”. Receipt of the push pull drive cable 112 of the drive assembly 110 (FIG. 14) within the through bore 108 of the yaw coupler 58 facilitates uniform bending of the push pull drive cable 112 about the yaw pivot axes “Yl” and “Y2” when the tool assembly 18 is articulated in the yaw direction.

[0089] The middle articulation member 52 is coupled to the proximal articulation member 50 by the pitch coupler 56 (FIG. 7). The pitch coupler 56 (FIG. 7) includes a cylindrical body 120 that supports distal pivot members 122 and proximal pivot members 124. The cylindrical body

push pull drive cable 112 of the drive assembly 110. The distal pivot members 122 of the pitch coupler 56 are received within the through bores 96 (FIG. 11) of the middle articulation member 52, and the proximal pivot members 124 are received in the through bores 100 (FIG. 9) of the proximal articulation member 50 to facilitate articulation of the middle articulation member 52 in relation to the proximal articulation member 50 about the pitch pivot axes “Pl” and “P2” Receipt of the push pull drive cable 112 of the drive assembly 110 (FIG. 14) within the through bore 126 of the pitch coupler 56 facilitates uniform bending of the push pull drive cable 112 about the pitch pivot axes “Pl” and “P2” when the tool assembly 18 is articulated in the pitch direction.

[0090] The stapling device 10 includes a pitch drive bar 130 and a pitch link 132 (FIG. 2). The pitch drive bar 130 is movable within the elongated body 14 (FIG. 1) and through the central through bore 101 of the proximal articulation member 50 and is secured to the middle articulation member 52. In aspects of the disclosure, the distal portion of the pitch drive bar 130 forms a clevis 134 (FIG. 2) that includes transverse openings 136 and a longitudinal slot 138. The longitudinal slot 138 receives a proximal portion of the pitch link 132 and the openings 136 receive a pin 140. The pin 140 extends through the openings 136 of the pitch drive bar 130 and through an opening 142 in the proximal portion of the pitch link 132 to pivotably couple the proximal portion of the pitch link 132 to the distal portion of the pitch drive bar 130. In aspects of the disclosure, the pin 140 defines bores 144 that receive and guide the push pull articulation cables 76, 78. The pitch link 132 includes a distal portion that is received within a slot 143 (FIG. 11) defined in the middle articulation member 52 and is coupled to the middle articulation member 52 by a pivot pin 146 that is received in the through bores 90 of the middle articulation member 52 and a through bore 148 defined in the pitch link 132. The pivot pin 146 is offset from the central longitudinal axis of the middle articulation member 52 such that longitudinal movement of the pitch link 132 causes the middle articulation member 52 to pivot about the pitch pivot axes “Pl” and “P2” The pitch drive bar 130 is longitudinally movable between retracted and advanced positions to move the pitch link 132 longitudinally to pivot the middle articulation member 52 about the pitch pivot axes “Pl” and “P2”. Engagement between the teeth 96 of the proximal articulation member 50 and the tooth 94 of the middle articulation member 52 causes the middle articulation member 52 to pivot uniformly about the pitch pivot axes “Pl” and

“P2” [0091] As described above, the push pull articulation cables 76, 78 extend through the proximal articulation member 50 and the middle articulation member 52 and are coupled to the distal articulation member 54. When the first push pull articulation cable 76 is advanced and the second push pull articulation cable 78 is retracted, the distal articulation member 54 and the tool assembly 18 which is coupled to the distal articulation member 54 is pivoted in a first direction about the yaw pivot axes “Yl” and “Y2”, and when the first push pull articulation cable 76 and is retracted and the second push pull articulation cable 78 is advanced, the distal articulation member 54 and the tool assembly 18 are pivoted in a second opposite direction about the yaw pivot axes “Yl” and “Y2”. Engagement between the teeth 72 of the distal articulation member and the tooth 86 of the middle articulation member 52 causes the distal articulation member 54 to pivot uniformly about the yaw pivot axes “Yl” and “Y2”

[0092] FIG. 14 illustrates the drive assembly 110 which includes the push pull drive cable 112 and an I-beam 150 that is secured to a distal portion of the push pull drive cable 112. The I- beam 150 includes an upper beam 152, a lower beam 154, and a vertical strut 156 that extends between and fixedly secures the upper beam 152 to the lower beam 154. The vertical strut 154 defines a cam slot 156a that is positioned to engage a knife 158 (FIG. 16) of an actuation sled and knife assembly 160 (FIG. 16) in the staple cartridge 38 (FIG. 2) to move the knife 158 from a lowered position to a raised position. The actuation sled and knife assembly 160 also includes an actuation sled 157 (FIG. 16). The drive assembly 110 is movable between a drive retracted position and a drive advanced position to actuate the tool assembly 18 (FIG. 1). When the drive assembly 110 is moved from the drive retracted position to a drive clamped position located between the drive retracted position and the drive advanced position, the upper beam 152 of the I-beam 150 engages the anvil 30 and the lower beam 154 of the I-beam 150 engages the channel member 36 of the cartridge assembly 32 to initially move the tool assembly 18 from the open position to the clamped position. Subsequently, when the drive assembly 110 is moved from the drive clamped position to the drive advanced position, the I-beam 150 engages an actuation sled and knife assembly 160 (FIG. 16) to move the knife 158 from the lowered position to the raised position and subsequently move the actuation sled 157 from a sled retracted position to a sled advanced position to cut tissue clamped between the anvil 30 and the staple cartridge 38 and to eject the staples from the staple cartridge 38. [0093] In aspects of the disclosure, the distal portion 112a of the push pull drive cable 112 is received within an opening (not shown) defined in the proximal portion of the I-beam 150 at a location near the lower beam 154 to secure the push pull drive cable 112 to the I-beam 150. In some aspects of the disclosure, the distal portion 112a of the push pull drive cable 112 has a cross-section having a cylindrical configuration. Alternately, the distal portion 112a of the push pull drive cable 112 can be secured to the I-beam 150 using any known fastening technique, e.g., welding, and can have a variety of different cross-sectional configurations. In some aspects of the disclosure, the push pull drive cable 112 includes a center cable 162 and a sleeve portion 164 that is over-molded or secured about the distal portion of the center cable 162. The length of the sleeve portion 164 of the push pull drive cable 112 should be substantially equal to or greater than the distance between a proximal portion of the distal articulation member 54 and the distal end of the staple cartridge 38. In aspects of the disclosure, the outer sleeve 164 of the push pull drive cable 112 has a configuration that corresponds to the configuration of the longitudinal through bore 79 of the distal articulation member 54 although other non-circular configurations are envisioned. In certain aspects of the disclosure, the center cable 162 of the push pull drive cable 112 is formed from metal stranded cable and the sleeve portion 164 is formed from plastic or rubber. It is envisioned that a variety of different metals and plastics can be used to form the push pull cable 112.

[0094] FIGS. 15-18 illustrate the tool assembly 18 and the articulation joint 16 with the tool assembly 18 in an open, non-articulated position. In the open, non-articulated position, the drive assembly 110 is in a drive retracted position with the I-beam 150 of the drive assembly 110 received within the longitudinal slot 66 of the distal articulation member 54 at a position proximal of the tool assembly 18. The sleeve portion 164 of the push pull drive cable 112 of the drive assembly 110 is received in the longitudinal through bore 79 (FIG. 13) of the distal articulation member 54 (FIG. 18). As illustrated, the longitudinal through bore 79 of the distal articulation member 54 is larger than the sleeve portion 164 of the push pull drive cable 112 to allow the push pull drive cable 112 to move vertically within the longitudinal through bore 79. Although not described in detail herein, movement of the sleeve portion 164 within the longitudinal through bore 79 allows for the staple cartridge 38 to float within the channel member 36 of the cartridge assembly 32 to allow the tool assembly 18 to compensate for tissues of different thicknesses. In the non-articulated position, the articulation joint 16 defines an axis that is substantially aligned with the longitudinal axis “X” of the tool assembly 18.

[0095] FIGS. 19-22 illustrate the articulation joint 16 and the tool assembly 18 of the stapling device 10 as the tool assembly 18 is articulated about the pitch pivot axes “Pl” and “P2”. FIGS. 19 and 20 illustrate the tool assembly 18 and the articulation joint 16 as the tool assembly 18 is pivoted upwardly in the direction indicated by arrow A in FIG. 19. When the pitch drive bar 130 is moved proximally in the direction indicated by arrow B in FIG. 20, the pitch link 132 is pulled proximally to pull the middle articulation member 52 proximally and pivot the middle articulation member 52 about the pitch pivot axes “Pl” and “P2” upwardly as viewed in FIG. 20. When the middle articulation member 52 pivots upwardly, the distal pivot member 50 and the tool assembly 18 pivot upwardly in the direction indicated by arrow “A”. The teeth 94 of the middle articulation member 52 are engaged with the teeth 96 of the proximal articulation member 50 to facilitate uniform articulation of the middle articulation member 52 about the pivot axes “Pl” and “P2”. Receipt of the push pull drive cable 112 within the longitudinal through bore 126 of the pitch coupler 56 guides the push pull drive cable 112 about the pitch pivot axes “Pl” and “P2” in a uniform manner.

[0096] FIGS. 21 and 22 illustrate the tool assembly 18 and the articulation joint 16 as the tool assembly 18 is pivoted downwardly in the direction indicated by arrow C in FIG. 21. When the pitch drive bar 130 is moved distally in the direction indicated by arrow D in FIG. 22, the pitch link 132 is pushed distally to push the middle articulation member 52 distally and pivot the middle articulation member 52 about the pitch pivot axes “Pl” and “P2” downwardly as viewed in FIG. 22. When the middle articulation member 52 pivots downwardly, the distal pivot member 50 and the tool assembly 18 pivot downwardly in the direction indicated by arrow “C” The teeth 94 of the middle articulation member 52 are engaged with the teeth 96 of the proximal articulation member 50 to facilitate uniform articulation of the middle articulation member 52 about the pivot axes “Pl” and “P2”.

[0097] FIGS. 23-27 illustrate the illustrate the articulation joint 16 and the tool assembly 18 as the tool assembly 18 is articulated about the yaw pivot axes “Yl” and “Y2”. When the push pull articulation cable 76 is retracted in the direction indicated by arrow “E” in FIG. 24 and the push pull articulation cable 78 is advanced in the direction indicated by arrow “F” in FIG. 24, the tool assembly 18 and the distal articulation member 54 are pivoted about the yaw pivot axes “Yl” and “Y2” (FIG. 23) in the direction indicated by arrow “G” in FIG. 24. When the push pull articulation cable 76 is advanced in the direction indicated by arrow “H” in FIG. 26 and the push pull articulation cable 78 is retracted in the direction indicated by arrow “I” in FIG. 26, the tool assembly 18 and the distal articulation member 54 are pivoted about the yaw pivot axes “Yl” and “Y2” in the direction indicated by arrow “J” in FIG. 25. The tooth 86 of the middle articulation member 52 is engaged with the teeth 72 of the distal articulation member 54 to facilitate uniform articulation of the distal articulation member 54 about the pivot axes “Yl” and “Y2”. Receipt of the push pull drive cable 112 within the longitudinal through bore 108 of the yaw coupler 58 guides the push pull drive cable 112 about the yaw pivot axes “Yl” and “Y2” in a uniform manner.

[0098] FIGS. 28 and 29 illustrate the tool assembly 18 as the stapling device 10 (FIG. 1) is fired. When the stapling device 10 (FIG. 1) is fired, the push pull drive cable 112 of the drive assembly 110 is moved in the direction indicated by arrow “K” in FIG. 28 from a drive retracted position to a drive advanced position to initially move the tool assembly 18 from the open position to the clamped position, and to subsequently engage the actuation sled and knife assembly 160 to move the knife 158 from the lowered position to the raised position and to advance the actuation sled 157 through the staple cartridge 38 to eject staples from the staple cartridge 38. When the push pull drive cable 112 of the drive assembly 110 moves through the staple cartridge 38, a portion of the sleeve portion 164 of the push pull drive cable 112 extends into the knife slot 38a (FIG. 29) of the staple cartridge 38 and the elongated slot 37 of the channel member 36 to stabilize the push pull drive cable 112 during firing of the stapling device 10. This arrangement minimizes any likelihood the push pull drive cable 112 will buckle under high loads.

[0099] FIGS. 30-49 illustrate an alternate version of the articulation joint and tool assembly of the stapling device 10 (FIG. 1) shown generally as articulation joint 216 and tool assembly 218. FIGS. 30-36 illustrate the tool assembly 218 which is supported on the distal portion of the articulation joint 216 and defines a longitudinal axis “X” (FIG. 31). The tool assembly 218 includes an anvil assembly 230 and a cartridge assembly 232. The anvil assembly 230 is fixedly secured to the articulation joint 216 via screws or pins 234 (FIG. 32), and the cartridge assembly 232 is pivotably secured to the anvil assembly 230 by the pins 234. The cartridge assembly 232 includes a channel member 236 that defines a cavity 236a (FIG. 2) and a staple cartridge 238 that is received within the cavity 236a. The channel member 236 defines an elongated slot 237 (FIG. 32) that facilitates passage of an I-beam 414 (FIG. 37) of a drive assembly 410 of the stapling device 10 (FIG. 1). In aspects of the disclosure, the staple cartridge 238 includes a body 239 that is releasably received within the cavity 236a of the channel member 236 to facilitate replacement of the staple cartridge 238 and reuse of the stapling device 10. The body 239 of the staple cartridge 238 defines a longitudinal knife slot 239a and a plurality of staple receiving pockets 239b. In aspects of the disclosure, the anvil assembly 230 includes a proximal portion 230a that includes spaced wings 240 that extend downwardly about a proximal portion of the channel member 236. The spaced wings 240 define openings 242 that receive the pins 234 to secure the anvil assembly 230 to the articulation joint 216 and to rotatably secure the anvil assembly 230 to the channel member 236. The channel member 236 includes openings 244 that receive the pins 234.

[00100] The anvil assembly 230 includes an anvil plate 246 and a cover plate 248. The anvil plate 246 includes a tissue engaging surface 246a (FIG. 31) that defines a knife slot 250 and a plurality of staple forming depressions 252 that are positioned on both sides of the knife slot 250. The knife slot 250 is longitudinally aligned with the knife slot 239a of the staple cartridge 238 and with the elongated slot 237 formed in the channel member 236. The anvil plate 246 also includes an outer surface 254 that defines a channel 254a that receives an upper beam 416 (FIG. 37) of the I-beam 414 of the drive assembly 410 as described in further detail below. The cover plate 248 is secured to the anvil plate 246 to enclose the channel 254a of the anvil plate 246 and supports a proximal locking member 258 that is positioned within the channel 254a of the anvil plate 246. In aspects of the disclosure, the locking member 258 is secured to or formed integrally with the cover plate 248 in cantilevered fashion to facilitate movement of the locking member 258 between a locked position and an unlocked position. The locking member 258 is positioned to obstruct advancement of the upper beam 416 of the I-beam 414 within the channel 254a in the locked position and is deflectable from the locked position to the unlocked position to permit advancement of the upper beam 416 of the I-beam 414 in the unlocked position. In some aspects of the disclosure, the anvil plate 246 defines cutouts 260 and the locking member 258 extends transversely across the anvil plate 246 and is received within the cutouts 260. In further aspects of the disclosure, the locking member 258 is coupled to the body of the cover plate 248 by resilient arms 259 (FIG. 34) that can deform upwardly as viewed in FIG. 33 to facilitate movement of the locking member 258 from the locked position to the unlocked position.

[00101] FIGS. 32 and 35 illustrate the articulation joint 216 which includes a proximal articulation member 270, a middle articulation member 272, a distal articulation member 274, a pitch coupler 276, and a yaw coupler 278. The distal articulation member 274 includes a body having a distal portion 280 and a proximal portion 282. The distal portion 280 of the distal articulation member 274 is received between the spaced wings 240 of the anvil assembly 230 and defines bores 284 and a longitudinal slot 286 that extends through the body of the distal articulation member 274. In aspects of the disclosure, the distal portion 280 of the distal articulation member 274 includes planar side walls 280a that engage an inner surface of the channel member 236. The bores 284 define an axis that is perpendicular to the longitudinal axis “X” of the tool assembly 218 and receive the pins 234 (FIG. 2) to secure the distal articulation member 274 to the proximal portion of the anvil assembly 230. The proximal portion 282 of the distal articulation member 274 defines through bores 288. The through bores 288 receive pivot pins 289 that define a yaw pivot axis “Yl” (FIG. 32) that is perpendicular to the longitudinal axis “X” of the anvil assembly 230 and perpendicular to the axis defined by the bores 284. The pivot pins couple the distal articulation member 274 to the yaw coupler 278. The proximal portion 282 of the distal articulation member 274 also defines longitudinal through bores 290 and includes proximally extending teeth 292 that are spaced from each other to define a cavity 294. The through bores 290 are longitudinally aligned with the longitudinal axis “X” of the anvil assembly 230 and are positioned on opposite sides of the distal articulation member 274. The through bores 290 receive and guide distal portions of push pull articulation cables 296, 298, 300, and 302. In aspects of the disclosure, the push pull articulation cables 296, 298, 300, and 302 are formed from stranded metal wire or spring steel although other materials of construction are envisioned. The distal articulation member 274 also defines a longitudinal through bore 299 that receives and guides the push pull drive cable 412 (FIG. 37) of the drive assembly 410 (FIG. 32). In aspects of the disclosure, the longitudinal through bore 299 of the distal articulation member 274 has a non-circular shape that corresponds to the configuration of the push pull drive cable 412. In some aspects of the disclosure, the longitudinal through bore 299 has a rectangular shape although other shapes are envisioned. [00102] The middle articulation member 272 includes a body that defines a longitudinal through bore 291 and has a distal portion 316 and a proximal portion 318. The distal portion 316 of the body of the middle articulation member 272 defines through bores 320 that defines a yaw pivot axis “Y2” (FIG. 32) that is parallel to the yaw pivot axis “Yl” and includes a tooth 322 that is received in the cavity 294 defined between the teeth 292 of the distal articulation member 274. The body of the middle articulation member 272 also defines longitudinal through bores 324 that extend through opposite sides of the middle articulation member 272 and proximally located transverse through bores 326 that define a first pitch pivot axis “Pl” that is perpendicular to the yaw pivot axis “Y2”. The longitudinal through bores 324 receive and guide the articulation cables 296, 298, 300, and 302 as the articulation cables 296, 298, 300, and 302 pass through the middle articulation member 272. The transverse through bores 326 receive pivot pins 328 to couple the middle articulation member 272 to the pitch coupler 276. The proximal portion 318 of the middle articulation member 272 includes diametrically opposed teeth 330 that are offset from the tooth 322 by about ninety degrees.

[00103] The proximal articulation member 270 includes a body that can be formed integrally with or secured to the distal portion of the elongated body 14 (FIG. 1) of the stapling device 10 and includes teeth 332 positioned on each side of the body of the proximal articulation member 270. The teeth 332 define diametrically opposed cavities 334 on the proximal articulation member 270 that receive the teeth 330 of the middle articulation member 272. The proximal articulation member 270 defines transverse through bores 336, longitudinal through bores 338, and a longitudinal channel 340. The transverse through bores 336 receive pivot pins 342 that define a pitch pivot axis “P2” that is parallel and spaced from the pitch pivot axis “Pl”. The pivot pins 342 are coupled to the pitch coupler 276 to couple the proximal articulation member 270 to the middle articulation member 272. The longitudinal through bores 338 receive and guide the push pull articulation cables 296-302 as the push pull articulation cables 296, 298, 300, and 302 pass through the proximal articulation member 270. The longitudinal channel 340 receives and guides the push pull drive cable 412.

[00104] The pitch coupler 276 which is pivotably coupled to the proximal articulation member 270 by the pivot pins 342 and pivotably coupled to the middle articulation member 272 by the pivot pins 328. The pivots pins 328 define a first pitch pivot axis “Pl” (FIG. 32) and the pivot pins define a second pitch pivot axis “P2”. The pitch pivot coupler 276 defines a longitudinal through bore 276a (FIG. 40) that receives and guides the push pull drive cable 412 of the drive assembly 410. In aspects of the disclosure, the longitudinal through bore 276a has a non-circular configuration, e.g., square, or rectangular, that corresponds to the configuration of the push pull drive cable 412 to add stability to the push pull drive cable 412.

[00105] The yaw coupler 278 is coupled to the middle articulation coupler 272 by pivot pins 329 and coupled to the distal articulation member 274 by the pivot pins 289. The yaw coupler 278 defines a longitudinal through bore 278a (FIG. 32) that receives and guides the push pull drive cable 412. As described above regarding the longitudinal through bore 276a, the longitudinal through bore 278a may have a configuration that corresponds to the configuration of the push pull drive cable 412 to add stability to the push pull drive cable 412.

[00106] FIGS. 37 and 38 illustrate the drive assembly 410 which includes the push pull drive cable 412 and the I-beam 414 that is secured to a distal portion of the push pull drive cable 412. The I-beam 414 includes an upper beam 416, a lower beam 418, and a vertical strut 420 that extends between and fixedly secures the upper beam 416 to the lower beam 418. The vertical strut 420 includes a centrally located guide member 422 that defines a longitudinal through bore 424 and a distally located step 426 that is positioned on one side of the longitudinal through bore 424. In aspects of the disclosure, the longitudinal through bore 424 has a non-circular configuration, e.g., square, or rectangular. The upper beam 416 defines a cutout 428 that is positioned on the distal end of the upper beam 416.

[00107] The push pull drive cable 412 includes a distal portion 412a that is received within the longitudinal through bore 424 of the I-beam 414. In some aspects of the disclosure, the distal portion 412a of the push pull drive cable 412 has a cross-section having a cylindrical configuration and extends through the I-beam 414 to a position adjacent the step 426. In certain aspects of the disclosure, the distal portion 412a is secured to the I-beam 414 with ferrules 433 that are secured to the distal portion 412a of the I-beam 414 on opposite sides of the I-beam 414 by welding or crimping. Alternately, the distal portion 412a of the push pull drive cable 412 can be secured to the I-beam 414 using any known fastening technique and can have a variety of different cross-sectional configurations.

[00108] In aspects of the disclosure, the push pull drive cable 412 includes a center cable 430 and an outer sleeve 432 that is over-molded or secured about the distal portion 412a of the center cable 430. The length of the sleeve portion 432 of the push pull drive cable 412 should be substantially equal to or greater than the distance between a proximal portion of the distal articulation member 274 and the distal end of the staple cartridge 238. In aspects of the disclosure, the outer sleeve 432 of the push pull drive cable 412 has a configuration that corresponds to the configuration of the longitudinal through bore 299 of the distal articulation member 274 (and to the configuration of the guide member 422 of the I-beam 414). In certain aspects of the disclosure, the center cable 430 of the push pull drive cable 412 is formed from metal stranded cable and the sleeve portion 432 is formed from plastic or rubber. It is envisioned that a variety of different metals and plastics can be used to form the push pull drive cable 412. [00109] FIGS. 39 and 39A illustrate a cross-sectional view of the tool assembly 218 and the articulation joint 216 of the stapling device 10 (FIG. 1). The staple cartridge 238 of the cartridge assembly 232 includes an actuation sled 360 that includes a centrally located knife 362 and wedges 363 positioned on opposite sides of the knife 362. The actuation sled 360 includes a central portion 364 that supports the knife 362 and is received within the longitudinal knife slot 239a (FIG. 32) of the staple cartridge 238. The central portion 364 of the actuation sled 360 includes a knife guard 366 that extends distally over the knife 362 and is positioned to engage the locking member 258 (FIG. 39) of the anvil assembly 230 when the actuation sled 360 moves from a sled retracted position towards a sled advanced position to move the locking member 258 from the locked position to the unlocked position. The actuation sled 360 is positioned to be engaged by the I-beam 414 of the of the drive assembly 410 as the drive assembly 410 moves from the drive retracted position towards the drive advanced position to advance the actuation sled 360 from the sled retracted position to the sled advanced position through the staple cartridge 238 to eject staples from the staple cartridge 238 and cut tissue clamped between the cartridge assembly 232 and the anvil assembly 230. The proximal portion of the central portion 364 of the actuation sled 360 is received within the cutout 428 of the upper beam 416 of the I- beam 414 when the I-beam engages the actuation sled 360. The I-beam 414 is in abutting relation with the actuation sled 360 such that when the drive assembly 410 moves from the drive advanced position to the drive retracted position, the actuation sled 360 remains in the sled advanced position.

[00110] FIGS. 39-41 illustrate the tool assembly 218 and the articulation joint 216 of the stapling device 10 (FIG. 1) in the unclamped, non-articulated position. In the unclamped, nonarticulated position, the drive assembly 410 is in the drive retracted position with the I-beam 414 of the drive assembly 410 spaced proximally of the staple cartridge 238 and the vertical strut 420 of the I-beam 414 received within the longitudinal slot 286 of the distal articulation member 274. The outer sleeve 432 of the push pull drive cable 412 (FIG. 41) and the guide member 422 of the I-beam (FIG. 40) are received within the longitudinal through bore 299 of the distal articulation member 274 to stabilize and support the push pull drive cable 410.

[00111] To move the tool assembly 218 from the unclamped position to the clamped position, the drive assembly 410 is advanced in the direction indicated by arrow “X” in FIG. 42 from the drive retracted position to a drive clamped position to move the I-beam 414 into engagement with the tool assembly 218 to pivot the cartridge assembly 232 towards the anvil assembly 230 in the direction indicated by arrow “Y”. In the drive clamped position, the I-beam 414 of the drive assembly 410 is positioned adjacent to the actuation sled 360 and the actuation sled 360 remains in the sled retracted position.

[00112] FIG. 42 illustrates the tool assembly 218 and the articulation joint 216 are articulated upwardly about the pitch pivot axes “Pl” and “P2” The distal ends of the push pull cables 296, 298, 300, and 302 are secured to the distal articulation member 274 or to the tool assembly 218. To pivot the tool assembly 218 about the pitch pivot axes “Pl” and “P2”, the push pull articulation cables 296 and 300 are retracted in the direction indicated by arrow “L” and the push pull articulation cables 298 and 302 are advanced in the direction indicated by arrow “M” to pivot the tool assembly 218 upwardly in the direction indicated by arrow “N”. The distal ends of the push pull cables 296, 298, 300, and 302 are secured to the distal articulation member 274. Although not illustrated, the tool assembly 218 can be pivoted downwardly by advancing the push pull articulation cables 296 and 300 and retracting the push pull articulation cables 298 and 302. The push pull drive cable 412 is guided and supported in the longitudinal channels 340, 276a, 291, 278a, and 299 defined by the articulation members 270, 272, 274, the pitch coupler 276, and the yaw coupler 278 to stabilize the push pull drive cable 412 and minimize any likelihood of buckling during firing.

[00113] FIG. 43 illustrates the tool assembly 218 and the articulation joint 216 as the tool assembly 218 is articulated to one side about the yaw pivot axes “Yl” and “Y2” To pivot the tool assembly 218 about the yaw pivot axes “Yl” and “Y2”, the push pull articulation cables 300 and 302 are retracted in the direction indicated by arrow “O” and the push pull articulation cables 296 and 298 are advanced in the direction indicated by arrow “P” to pivot the tool assembly 218 to one side in the direction indicated by arrow “Q”. The distal ends of the push pull cables 296, 298, 300, and 302 are secured to the distal articulation member 274. Although not illustrated, the tool assembly 218 can be pivoted to the opposite side by advancing the push pull articulation cables 300 and 302 and retracting the push pull articulation cables 296 and 298. The push pull drive cable 412 is guided and supported in the longitudinal channels 340, 276a, 291, 278a, and 299 defined by the articulation members 270, 272, 274, the pitch coupler 276, and the yaw coupler 278 to stabilize the push pull drive cable 412 and minimize any likelihood of buckling during firing.

[00114] FIGS. 42-47 illustrate the tool assembly 218 as the stapling device 10 is fired. When the drive assembly 410 is advanced from the drive clamped position towards the drive advanced position in the direction indicated by arrows “R”, the I-beam 414 of the drive assembly 410 engages the actuation sled 360 to advance the actuation sled 360 from the sled retracted position towards the sled advanced position. As the actuation sled 360 moves from the sled retracted position towards the sled advanced position, the locking member 258 is engaged by a sloped surface 370 of the knife guard 366 of the actuation sled 360 and is pushed upwardly from the channel 254a of the anvil assembly 230 to move the locking member 258 in the direction of arrow “S” from the locked position to the unlocked position to facilitate passage of the I-beam 414. As the drive assembly moves from the drive clamped position towards the drive advanced position, the actuation sled 360 is advanced from the sled retracted position to the sled advanced position to eject staples from the body 239 of the staple cartridge 238 and cut tissue clamped between the anvil assembly 230 and the cartridge assembly 232.

[00115] The body 239 of the staple cartridge 238 defines a non-circular, longitudinal channel 376 (FIG. 48) that receives and guides the push pull drive cable 412. In aspects of the disclosure, the non-circular channel 376 has a configuration that corresponds to the shape of the outer sleeve 432 of the push pull drive cable 412, e.g., square, or rectangular. In some aspects of the disclosure, the channel 376 defined by the body 239 of the staple cartridge 238 is dimensioned to allow the staple cartridge to move vertically within the channel member 232 a distance “G” (FIG. 48) to accommodate tissues of different thicknesses. In aspects of the disclosure, the distance “G” is between about .005 of an inch and about .040 of an inch. In some aspects of the disclosure, “G’ is about .015 of an inch. [00116] FIG. 49 illustrates the drive assembly 410 in a retracted position after the stapling device 10 has been fired. When the drive assembly 410 is returned to the drive retracted position, the actuation sled 360 remains in the sled advanced position. As the I-beam 414 of the drive assembly 410 moves to the drive retracted position, the locking member 258 moves to the locked position as the I-beam 414 moves proximally past the locking member 258 to obstruct readvancement of the drive assembly 410.

[00117] Persons skilled in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary aspects of the disclosure. It is envisioned that the elements and features illustrated or described in connection with one exemplary aspects of the disclosure may be combined with the elements and features of other aspects of the disclosure without departing from the scope of the disclosure. One skilled in the art will appreciate further features and advantages of the disclosure based on the above-described aspects of the disclosure. Accordingly, the disclosure is not to be limited by what has been particularly shown and described, except as indicated by the appended claims.

[00118] This disclosure is further described in connection with the following examples.

[00119] Example 1. A surgical stapling device comprising: an elongated body having a proximal portion and a distal portion and defining a longitudinal axis; a tool assembly; an articulation joint coupling the tool assembly with the elongated body, the articulation joint including a distal articulation member, a middle articulation member, a proximal articulation member, a pitch coupler, and a yaw coupler, the pitch coupler pivotably coupled to the proximal articulation member by a first pivot member and pivotably coupled to the middle articulation member by a second pivot member, the first pivot member defining a first pitch pivot axis, and the second pivot member defining a second pitch pivot axis, the first pitch pivot axis longitudinally spaced from the second pitch pivot axis, the yaw coupler pivotably coupled to the middle articulation member by a third pivot member and pivotably coupled to the distal articulation member by a fourth pivot member, the third pivot member defining a first yaw pivot axis and the fourth pivot member defining a second yaw pivot axis, the first yaw pivot axis longitudinally spaced from the second yaw pivot axis; and a drive assembly including a push pull drive cable and an I-beam, the push pull drive cable having a proximal portion and a distal portion, the distal portion of the push pull drive cable secured to the I-beam, the drive assembly movable from a drive retracted position to a drive advanced position to move the I-beam through the tool assembly to actuate the tool assembly.

[00120] Example 2. The surgical stapling device of example 1, wherein the tool assembly includes a cartridge assembly and an anvil assembly, and the cartridge assembly includes a staple cartridge.

[00121] Example 3. The surgical stapling device of example 2, wherein the anvil assembly is fixedly secured to the distal articulation member and the anvil assembly is secured to the cartridge assembly and movable between an open position and a clamped position.

[00122] Example 4. The surgical stapling device of example 2, wherein the push pull drive cable includes a center cable and an outer sleeve, the outer sleeve positioned about the center cable and having a non-circular configuration.

[00123] Example 5. The surgical stapling device of example 4, wherein the distal articulation member defines a first longitudinal through bore that receives the push pull drive cable, the first longitudinal through bore having a configuration that corresponds to the configuration of the outer sleeve of the push pull drive cable.

[00124] Example 6. The surgical stapling device of example 5, wherein the outer sleeve of the push pull drive cable has a t-shaped configuration.

[00125] Example 7. The surgical stapling device of example 5, wherein the outer sleeve of the push pull drive cable has a rectangular configuration.

[00126] Example 8. The surgical stapling device of example 5, wherein the pitch coupler defines a second longitudinal through bore that receives and guides movement of the push pull drive cable around the first and second pitch pivot axes.

[00127] Example 9. The surgical stapling device of example 8, wherein the yaw coupler defines a third longitudinal through bore that receives and guides movement of the push pull drive cable around the first and second yaw pivot axes.

[00128] Example 10. The surgical stapling device of example 9, wherein the middle articulation member and the proximal articulation member define fourth and fifth longitudinal through bores that receive and guide movement of the push pull drive cable.

[00129] Example 11. The surgical stapling device of example 1, wherein the distal articulation member includes proximally extending teeth that define a first cavity, the proximal articulation member including distally extending teeth that define a second cavity, and the middle articulation member includes a distally extending tooth that is received within the first cavity and a proximally extending tooth that is received within the second cavity.

[00130] Example 12. The surgical stapling device of example 1, further including a pitch drive bar coupled to the middle articulation member and movable to pivot the tool assembly about the first pitch axis and the second pitch axis.

[00131] Example 13. The surgical stapling device of example 12, further including a first push pull articulation cable and a second push pull articulation cable coupled to the distal articulation member, the first push pull articulation cable and the second push pull articulation cable being movable to pivot the tool assembly about the first yaw axis and the second yaw axis. [00132] Example 14. The surgical stapling device of example 2, wherein the staple cartridge includes a body defining a longitudinal channel that has a configuration that corresponds to the configuration of the outer sleeve of the push pull drive cable.

[00133] Example 15. The surgical stapling device of example 2, wherein the anvil assembly includes a locking member that is movable from a locked position obstructing advancement of the drive assembly to an unlocked position.

[00134] Example 16. The surgical stapling device of example 1, further including a first push pull articulation cable, a second push pull articulation cable, a third push pull articulation cable, and a fourth push pull articulation cable, the first, second, third, and fourth push pull articulation cables movable to articulate the tool assembly about the first and second pitch pivot axes and the first and second yaw pivot axes.

[00135] Example 17. A surgical stapling device comprising: an elongated body having a proximal portion and a distal portion and defining a longitudinal axis; a tool assembly; an articulation joint coupling the tool assembly with the elongated body, the articulation joint including a distal articulation member, a middle articulation member, a proximal articulation member, a pitch coupler, and a yaw coupler, the pitch coupler pivotably coupled to the proximal articulation member by a first pivot member and pivotably coupled to the middle articulation member by a second pivot member, the first pivot member defining a first pitch pivot axis, and the second pivot member defining a second pitch pivot axis, the first pitch pivot axis longitudinally spaced from the second pitch pivot axis, the yaw coupler pivotably coupled to the middle articulation member by a third pivot member and pivotably coupled to the distal articulation member by a fourth pivot member, the third pivot member defining a first yaw pivot axis and the fourth pivot member defining a second yaw pivot axis, the first yaw pivot axis longitudinally spaced from the second yaw pivot axis, wherein the distal articulation member includes proximally extending teeth that define a first cavity, the proximal articulation member including distally extending teeth that define a second cavity, and the middle articulation member includes a distally extending tooth that is received within the first cavity and a proximally extending tooth that is received within the second cavity; and a drive assembly including a push pull drive cable that is movable from a drive retracted position to a drive advanced position to actuate the tool assembly, wherein the distal articulation member defines a first longitudinal through bore that receives the push pull drive cable, the pitch coupler defines a second longitudinal through bore that receives and guides movement of the push pull drive cable around the first and second pitch pivot axes, and the yaw coupler defines a third longitudinal through bore that receives and guides movement of the push pull drive cable around the first and second yaw pivot axes.

[00136] Example 18. The surgical stapling device of example 17, wherein the tool assembly includes an anvil assembly and a cartridge assembly, the cartridge assembly including a staple cartridge.

[00137] Example 19. An articulation joint for coupling a tool assembly with the elongated body of a stapling device, the articulation joint comprising: a distal articulation member, a middle articulation member, a proximal articulation member, a pitch coupler, and a yaw coupler, the pitch coupler pivotably coupled to the proximal articulation member by a first pivot member and pivotably coupled to the middle articulation member by a second pivot member, the first pivot member defining a first pitch pivot axis, and the second pivot member defining a second pitch pivot axis, the first pitch pivot axis longitudinally spaced from the second pitch pivot axis, the yaw coupler pivotably coupled to the middle articulation member by a third pivot member and pivotably coupled to the distal articulation member by a fourth pivot member, the third pivot member defining a first yaw pivot axis and the fourth pivot member defining a second yaw pivot axis, the first yaw pivot axis longitudinally spaced from the second yaw pivot axis.

[00138] Example 20. The articulation joint of example 19, wherein the distal articulation member defines a first longitudinal through bore that receives the push pull drive cable, the pitch coupler defines a second longitudinal through bore that receives and guides movement of the push pull drive cable around the first and second pitch pivot axes, and the yaw coupler defines a third longitudinal through bore that receives and guides movement of the push pull drive cable around the first and second yaw pivot axes

Claims

WHAT IS CLAIMED IS:

1. A surgical stapling device comprising: an elongated body having a proximal portion and a distal portion and defining a longitudinal axis; a tool assembly; an articulation joint coupling the tool assembly with the elongated body, the articulation joint including a distal articulation member, a middle articulation member, a proximal articulation member, a pitch coupler, and a yaw coupler, the pitch coupler pivotably coupled to the proximal articulation member by a first pivot member and pivotably coupled to the middle articulation member by a second pivot member, the first pivot member defining a first pitch pivot axis, and the second pivot member defining a second pitch pivot axis, the first pitch pivot axis longitudinally spaced from the second pitch pivot axis, the yaw coupler pivotably coupled to the middle articulation member by a third pivot member and pivotably coupled to the distal articulation member by a fourth pivot member, the third pivot member defining a first yaw pivot axis and the fourth pivot member defining a second yaw pivot axis, the first yaw pivot axis longitudinally spaced from the second yaw pivot axis; and a drive assembly including a push pull drive cable and an I-beam, the push pull drive cable having a proximal portion and a distal portion, the distal portion of the push pull drive cable secured to the I-beam, the drive assembly movable from a drive retracted position to a drive advanced position to move the I-beam through the tool assembly to actuate the tool assembly.

2. The surgical stapling device of claim 1, wherein the tool assembly includes a cartridge assembly and an anvil assembly, and the cartridge assembly includes a staple cartridge.

3. The surgical stapling device of claim 2, wherein the anvil assembly is fixedly secured to the distal articulation member and the anvil assembly is secured to the cartridge assembly and movable between an open position and a clamped position.

4. The surgical stapling device of claim 2, wherein the push pull drive cable includes a center cable and an outer sleeve, the outer sleeve positioned about the center cable and having a non-circular configuration.

5. The surgical stapling device of claim 4, wherein the distal articulation member defines a first longitudinal through bore that receives the push pull drive cable, the first longitudinal through bore having a configuration that corresponds to the configuration of the outer sleeve of the push pull drive cable.

6. The surgical stapling device of claim 5, wherein the outer sleeve of the push pull drive cable has a t-shaped configuration.

7. The surgical stapling device of claim 5, wherein the outer sleeve of the push pull drive cable has a rectangular configuration.

8. The surgical stapling device of claim 5, wherein the pitch coupler defines a second longitudinal through bore that receives and guides movement of the push pull drive cable around the first and second pitch pivot axes.

9. The surgical stapling device of claim 8, wherein the yaw coupler defines a third longitudinal through bore that receives and guides movement of the push pull drive cable around the first and second yaw pivot axes.

10. The surgical stapling device of claim 9, wherein the middle articulation member and the proximal articulation member define fourth and fifth longitudinal through bores that receive and guide movement of the push pull drive cable.

11. The surgical stapling device according to any of the preceding claims, wherein the distal articulation member includes proximally extending teeth that define a first cavity, the proximal articulation member including distally extending teeth that define a second cavity, and the middle articulation member includes a distally extending tooth that is received within the first cavity and a proximally extending tooth that is received within the second cavity.

12. The surgical stapling device according to any of the preceding claims, further including a pitch drive bar coupled to the middle articulation member and movable to pivot the tool assembly about the first pitch axis and the second pitch axis.

13. The surgical stapling device according to any of the preceding claims, further including a first push pull articulation cable and a second push pull articulation cable coupled to the distal articulation member, the first push pull articulation cable and the second push pull articulation cable being movable to pivot the tool assembly about the first yaw axis and the second yaw axis.

14. The surgical stapling device according to any of claims 4-13, wherein the staple cartridge includes a body defining a longitudinal channel that has a configuration that corresponds to the configuration of the outer sleeve of the push pull drive cable.

15. The surgical stapling device according to any of claims 2-14, wherein the anvil assembly includes a locking member that is movable from a locked position obstructing advancement of the drive assembly to an unlocked position.