US 12,453,571 B2
Surgical instrument
Daniel W. Price, Loveland, OH (US); Kevin L. Houser, Springboro, OH (US); Jeffrey D. Messerly, Cincinnati, OH (US); and Foster B. Stulen, Johns Island, SC (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Sep. 13, 2021, as Appl. No. 17/473,474.
Application 14/625,349 is a division of application No. 13/657,553, filed on Oct. 22, 2012, granted, now 9,095,367, issued on Aug. 4, 2015.
Application 17/473,474 is a continuation of application No. 15/708,850, filed on Sep. 19, 2017, granted, now 11,179,173.
Application 15/708,850 is a continuation of application No. 14/625,349, filed on Feb. 18, 2015, granted, now 9,795,405, issued on Oct. 24, 2017.
Prior Publication US 2022/0071655 A1, Mar. 10, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 17/32 (2006.01); A61B 34/37 (2016.01); A61B 17/00 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 17/320092 (2013.01) [A61B 17/320068 (2013.01); A61B 34/37 (2016.02); A61B 2017/00305 (2013.01); A61B 2017/00327 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/320069 (2017.08); A61B 2017/320071 (2017.08); A61B 2017/320075 (2017.08); A61B 2017/320089 (2017.08); A61B 2017/320093 (2017.08); A61B 2017/320094 (2017.08); A61B 2017/320095 (2017.08); A61B 34/30 (2016.02); A61B 90/03 (2016.02)] 25 Claims
OG exemplary drawing
 
1. A system, comprising:
a robotic surgical system;
a surgical instrument, comprising:
a tool mounting portion configured to removably couple to the robotic surgical system;
an articulatable waveguide, comprising:
a drive section operably coupled to an ultrasonic transducer, wherein the drive section comprises a first cross-sectional shape, and wherein the drive section defines a longitudinal drive axis; and
a flexible section extending the drive section, wherein the flexible section comprises a second cross-sectional shape that is different than the first cross-sectional shape, wherein the second cross-sectional shape comprises a substantially rectangular cross-sectional shape, and wherein the flexible section comprises:
a first portion comprising a first thickness defined relative to the longitudinal drive axis; and
a second section comprising a second thickness defined relative to the longitudinal drive axis, wherein the first thickness is different than the second thickness; and
an articulation actuator, wherein pivotable movement of the articulation actuator is configured to articulate a distal end of the flexible section away from the longitudinal drive axis.