# US 10,307,158 B2 · Articulating assembly and surgical instrument using the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,307,158 B2 - Document ID: US10307158B2 - Status: Granted - Kind: B2 - Application number: 15/366,453 - Filed: 2016-12-01 - Published: 2017-03-23 - Granted: 2019-06-04 - Earliest claimed: 2014-06-27 - Assignees: Reach Surgical, Inc. - Applicants: Reach Surgical Inc. - Inventors: Yongfeng Wang - Web page: https://patentgrep.com/patent/US10307158B2 ## CPC - A61B 17/072: for applying a row of staples in a single action, e.g. the staples being applied simultaneously - A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)} - A61B 17/07207: {the staples being applied sequentially} - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract Disclosed are an articulating assembly and a surgical instrument using the same. The articulating assembly includes a driver assembly configured to articulate an end effector of said surgical instrument, where said driver assembly includes: a screw portion rotatably mounted in a stationary handle of said surgical instrument, an axis of which is parallel to an axis of an elongated portion of said surgical instrument, wherein said screw portion is provided with at least two segments with opposite threads; two articulation plates in connection with said two thread segments, respectively, wherein a distal end of each articulation plate is in connection with said end effector of said surgical instrument; and a rotating sleeve coaxially sheathed on said screw portion so as to be in connection therewith through a gear assembly when being located at an articulation position. ## Claims ### Claim 1 An articulating assembly for a surgical instrument, comprising a driver assembly configured to articulate an end effector of said surgical instrument, wherein said driver assembly comprises: a screw portion rotatably mounted in a stationary handle of said surgical instrument, an axis of which is parallel to an axis of an elongated portion of said surgical instrument, wherein said screw portion is provided with at least two segments with opposite threads; two articulation plates in connection with said two segments, respectively, wherein a distal end of each articulation plate is in connection with said end effector of said surgical instrument; and a rotating sleeve coaxially sheathed on said screw portion so as to be in connection therewith through a gear assembly when being located at an articulation position. ### Claim 2 (depends on 1) The articulating assembly according to claim 1, wherein, said two articulation plates are in threaded engagement with said two segments, respectively. ### Claim 3 (depends on 1) The articulating assembly according to claim 1, wherein, said two articulation plates are in engagement with said two segments through pins, respectively. ### Claim 4 (depends on 1) The articulating assembly according to claim 1, wherein said gear assembly comprises: a plurality of internal teeth arranged on an inner surface of said rotating sleeve; a driven gear coaxially fixed on said screw portion; and at least one transmission gear rotatably arranged in said stationary handle, wherein, an axis of each transmission gear is parallel to the axis of said elongated portion, and each transmission gear is engaged with said driven gear and said internal teeth of said rotating sleeve, respectively. ### Claim 5 (depends on 4) The articulating assembly according to claim 4, wherein a plurality of transmission gears are equally spaced around said driven gear. ### Claim 6 (depends on 4) The articulating assembly according to claim 4, wherein a hole is arranged in a center of said screw portion, configured to allow a firing rod of said surgical instrument passing through. ### Claim 7 (depends on 1) The articulating assembly according to claim 1, wherein a snap ring is axially fixed in said stationary handle, as well as coaxial with said screw portion; when said rotating sleeve is located at an articulation position, said snap ring is axially fixed with respect to said rotating sleeve through an annular groove and at least one block. ### Claim 8 (depends on 7) The articulating assembly according to claim 7, wherein a plurality of elastic arms are equally spaced around the snap ring, each of which is provide with said block formed on an external surface thereof, and said annular groove is formed in an inner surface of said rotating sleeve. ### Claim 9 (depends on 8) The articulating assembly according to claim 8, wherein a locking ring is arranged within said rotating sleeve and coaxially sheathed on said snap ring, which can be reciprocated with respect to said snap ring; when said locking ring moves distally, the inner wall thereof contacts with the distal portion of each of said elastic arms so that said elastic arms are bent inwards. ### Claim 10 (depends on 9) The articulating assembly according to claim 9, further comprising a retraction spring sheathed on said locking ring, wherein when said rotating sleeve is located at the articulation position, said locking ring moves distally with respect to said snap ring so as to bias said retraction spring against said locking ring and said rotating sleeve, respectively. ### Claim 11 (depends on 7) The articulating assembly according to claim 7, further comprising a casing member in rigid connection with said elongated portion of said surgical instrument, wherein when said rotating sleeve is located at a rotation position, said casing member is non-rotatable with respect to said rotating sleeve through a circumferential limiting mechanism. ### Claim 12 (depends on 1) The articulating assembly according to claim 1, wherein pitch of each thread segment of the screw portion satisfies an equation of: P<=π*d*tan(ρ), wherein: P represents pitch of each thread segment; d represents pitch diameter; and ρ represents an equivalent friction angle. ### Claim 13 (depends on 1) The articulating assembly according to claim 1, wherein each of the articulation plates is provided with a rigid sheet in connection therewith, the distal end of which is provided with a connector having an opening adapted for being coupled to a protrusion of a cartridge. ### Claim 14 (depends on 13) The articulating assembly according to claim 13, wherein each of the rigid sheets is connected with the corresponding articulation plate through connection between a plurality of holes and protrusions. ### Claim 15 (depends on 1) The articulating assembly according to claim 1, wherein each of the articulation plates is provided with a connector having an opening arranged on the distal end thereof, adapted for being coupled to a protrusion of a cartridge. ### Claim 16 A surgical instrument, comprising a stationary handle, an end effector and an elongated portion, a distal end of which is in connection with said stationary handle; wherein said surgical instrument further comprises a driver assembly configured to articulate an end effector of said surgical instrument, wherein said driver assembly comprises: a screw portion rotatably mounted in a stationary handle of said surgical instrument, an axis of which is parallel to an axis of an elongated portion of said surgical instrument, wherein said screw portion is provided with at least two segments with opposite threads; two articulation plates in connection with said two segments, respectively, wherein a distal end of each articulation plate is in connection with said end effector of said surgical instrument; and a rotating sleeve coaxially sheathed on said screw portion so as to be in connection therewith through a gear assembly when being located at an articulation position; and each of said two articulation plates of said articulating assembly is connected with a proximal end of said end effector, respectively; one of said articulation plates is connected with said end effector on one side of the axis of said elongated portion, whereas the other articulation plate is connected with said end effector on the other side of the axis of said elongated portion. ### Claim 17 (depends on 16) The surgical instrument according to claim 16, wherein, said two articulation plates are in threaded engagement with said two segments, respectively. ### Claim 18 (depends on 16) The surgical instrument according to claim 16, wherein, said two articulation plates are in engagement with said two segments through pins, respectively. ### Claim 19 (depends on 16) The surgical instrument according to claim 16, wherein if said gear assembly comprises internal teeth, a driven gear, and a transmission gear, then said surgical instrument further comprises a closure tube with an axis parallel to the axis of said elongated portion, and said closure tube can be reciprocated with respect to said stationary handle; and a flange is arranged on the proximal end of said closure tube, and a stop is formed on the inner wall of said rotating sleeve; when said closure tube is located at a closure position and said rotating sleeve is located at a rotation position, the distal end of said flange is contacted against said stop of said rotating sleeve. ### Claim 20 (depends on 19) The surgical instrument according to claim 19, wherein said surgical instrument is an endoscopic stapling device.