Articulating ultrasonic surgical instruments and systems

A surgical instrument, comprising:

• a housing having an elongated body extending distally therefrom, the elongated body defining a first articulating portion, and the elongated body defining a lumen therein;
• an end effector supported at a distal end portion of the elongated body;
• and
• a flexible waveguide extending through the lumen of the elongated body, a proximal end portion of the flexible waveguide configured to connect to an ultrasonic transducer, and a distal end portion of the flexible waveguide configured to connect with the end effector,
• the flexible waveguide defining a first articulating portion extending through the first articulating portion of the elongated body and having a first dimension narrower than a first dimension of other portions of the flexible waveguide,
• wherein the elongated body and the flexible waveguide are longitudinally fixed and rotatably coupled by a proximal annular collar and annular slot engagement proximally of the first articulating portions of the elongated body and the flexible waveguide and longitudinally fixed and rotatably coupled by a distal annular collar and annular slot engagement distally of the first articulating portions of the elongated body and the flexible waveguide.

An end effector of a surgical instrument, comprising:

• an elongated body defining a first joint configured to pivot about a first axis in a first dimension substantially perpendicular to the first axis and a second joint configured to pivot about a second axis in a second dimension substantially perpendicular to the second axis, the elongated body defining a lumen therein, and the elongated body supporting an end effector at a distal end portion thereof;
• and
• a flexible waveguide extending through the lumen,
• the flexible waveguide defining a first articulating portion extending through the first joint and having a width in the first dimension narrower than a width in the first dimension of other portions of the flexible waveguide to facilitate pivoting of the first articulating portion in the first dimension, and the flexible waveguide defining a second articulating portion extending through the second joint and having a width in the second dimension narrower than a width in the second dimension of other portions of the flexible waveguide to facilitate pivoting of the second articulating portion in the second dimension.

A robotic surgical system, comprising:

• a control device and a robotic arm;
• an elongated body defining a first articulating portion and, the elongated body defining a lumen therein, and the elongated body supporting an end effector at a distal end portion thereof, wherein the robotic arm is configured to control the elongated body and the end effector;
• a flexible waveguide extending through the lumen, the flexible waveguide defining a first articulating portion having a narrower thickness than a thickness of other portions of the flexible waveguide;
• and
• first and second transducers disposed on opposite sides of the first articulating portion of the flexible waveguide, at least one of the first or second transducers configured to amplify an ultrasonic wave transmitted through the first articulating portion of the flexible waveguide.

A surgical instrument, comprising:

• a housing having an elongated body extending distally therefrom, the elongated body defining an articulating portion, and the elongated body defining a lumen therein;
• an end effector supported at a distal end portion of the elongated body;
• a flexible waveguide extending through the lumen of the elongated body, a proximal end portion of the flexible waveguide configured to connect to an ultrasonic transducer, and a distal end portion of the flexible waveguide configured to connected with the end effector, the flexible waveguide defining an articulating portion extending through the articulating portion of the elongated body and having a narrower width than a width of other portions of the flexible waveguide;
• a distal stabilizer securing the flexible waveguide to the elongated body at a position distal of the articulating portion of the elongated body and the articulating portion of the flexible waveguide;
• and
• a first articulation cable extending from the housing through the articulating portion of the elongated body to engage the distal stabilizer, wherein manipulation of the first articulation cable articulates the articulating portions of the elongated body and the flexible waveguide.