# US 10,864,003 B2 · Articulation assemblies for use with endoscopic surgical instruments > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,864,003 B2 - Document ID: US10864003B2 - Status: Granted - Kind: B2 - Application number: 15/765,518 - Filed: 2016-02-05 - Published: 2020-05-28 - Granted: 2020-12-15 - Earliest claimed: 2016-02-05 - Assignees: Covidien LP - Applicants: Covidien LP - Inventors: Weijiang Ding; Mingfeng Xu - Web page: https://patentgrep.com/patent/US10864003B2 ## CPC - A61B 17/29: Forceps for use in minimally invasive surgery - A61B 2017/00314: {Separate linked members} - A61B 2017/00323: {Cables or rods} - A61B 2017/2908: {Multiple segments connected by articulations} - A61B 2017/2936: {Pins in guiding slots} - A61B 2018/00607: {Coagulation and cutting with the same instrument} - A61B 2018/1455: {having a moving blade for cutting tissue grasped by the jaws} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract An articulation assembly (200) for use with a surgical instrument (100) is provided. The articulation assembly (200) includes a plurality of joints (260), a plurality of cables (240), and a first drive member (220). Each joint (260) defines a plurality of openings (262) extending longitudinally therethrough, a central opening (263) extending longitudinally therethrough, a pair of projections (268) extending from a first surface, and a pair of grooves (266) extending at least partially through a second surface. Each groove (266) of at least one joint (260) is configured to engage one projection (268) of the pair of projections (268) from an adjacent joint (260). Each cable (240) extends through one opening (262) of the plurality of openings (262) of each joint (260). The first drive member (220) extends through the central opening (263) of each joint (260). ## Claims ### Claim 1 An articulation assembly for use with a surgical instrument including an elongated portion, a first jaw member and a second jaw member, the articulation assembly comprising: a plurality of joints, each joint defining: a plurality of openings extending longitudinally therethrough; a central opening extending longitudinally therethrough; a pair of projections extending from a first surface; and a pair of grooves extending at least partially through a second surface, each groove of at least one joint configured to engage one projection of the pair of projections from an adjacent joint; a plurality of cables, each cable extending through one opening of the plurality of openings of each joint; a first drive member extending through the central opening of each joint; and a second drive member extending through the central opening of each joint, wherein each of the first drive member and the second drive member includes a semi-circular cross-section at locations that are longitudinally aligned with each joint. ### Claim 2 (depends on 1) The articulation assembly according to claim 1, wherein each projection of at least one joint is configured to be at least partially positioned within one groove of the pair of grooves of an adjacent joint. ### Claim 3 (depends on 1) The articulation assembly according to claim 1, wherein each projection of at least one joint includes an arcuate surface configured to contact an arcuate wall defining one groove of the pair of grooves of an adjacent joint. ### Claim 4 (depends on 1) The articulation assembly according to claim 1, wherein each joint of the plurality of joints is substantially identical. ### Claim 5 (depends on 1) The articulation assembly according to claim 1, wherein each joint of the plurality of joints includes a pair of contours and a pair of platforms, each contour of the pair of contours of at least one joint is configured to engage one platform of the pair of platforms of an adjacent joint. ### Claim 6 (depends on 5) The articulation assembly according to claim 5, wherein each contour of the pair of contours of at least one joint is configured to pivot with respect to one platform of the pair of platforms of an adjacent joint. ### Claim 7 (depends on 6) The articulation assembly according to claim 6, wherein each contour of the pair of contours of at least one joint is configured to pivot against a flat surface of one platform of the pair of platforms of an adjacent joint. ### Claim 8 (depends on 5) The articulation assembly according to claim 5, wherein each projection of each joint is 90° offset from each contour of the pair of contours. ### Claim 9 (depends on 1) The articulation assembly according to claim 1, further comprising a cable actuator disposed in mechanical cooperation with a handle assembly of the surgical instrument, the cable actuator including at least one aperture, the plurality of cables extending through the at least one aperture of the actuator. ### Claim 10 (depends on 1) The articulation assembly according to claim 1, wherein the plurality of cables includes four cables. ### Claim 11 (depends on 10) The articulation assembly according to claim 10, further comprising a cable actuator disposed in mechanical cooperation with a handle assembly of the surgical instrument, the cable actuator including a first aperture and a second aperture defined therethrough, two cables of the plurality of cables extending through the first aperture of the actuator, and two cables of the plurality of cables extending through the second aperture of the actuator. ### Claim 12 An articulation assembly for use with a surgical instrument including an elongated portion, a first jaw member and a second jaw member, the articulation assembly comprising: a plurality of joints, each joint defining: a plurality of openings extending longitudinally therethrough; a central opening extending longitudinally therethrough; a pair of projections extending from a first surface; and a pair of grooves extending at least partially through a second surface, each groove of at least one joint configured to engage one projection of the pair of projections from an adjacent joint; a plurality of cables, each cable extending through one opening of the plurality of openings of each joint; and a first drive member extending through the central opening of each joint, wherein each joint of the plurality of joints includes a pair of contours and a pair of platforms, each contour of the pair of contours of at least one joint is configured to engage one platform of the pair of platforms of an adjacent joint, wherein each projection of each joint is 90° offset from each contour of the pair of contours. ### Claim 13 An articulation assembly for use with a surgical instrument including an elongated portion, a first jaw member and a second jaw member, the articulation assembly comprising: a plurality of joints, each joint defining: a plurality of openings extending longitudinally therethrough; a central opening extending longitudinally therethrough; a pair of projections extending from a first surface; and a pair of grooves extending at least partially through a second surface, each groove of at least one joint configured to engage one projection of the pair of projections from an adjacent joint; a plurality of cables, each cable extending through one opening of the plurality of openings of each joint; a first drive member extending through the central opening of each joint, wherein the plurality of cables includes four cables; and a cable actuator disposed in mechanical cooperation with a handle assembly of the surgical instrument, the cable actuator including a first aperture and a second aperture defined therethrough, two cables of the plurality of cables extending through the first aperture of the actuator, and two cables of the plurality of cables extending through the second aperture of the actuator.