An articulating ultrasonic surgical instrument, comprising:nan articulable harmonic waveguide, comprising:na first drive section comprising a proximal end and a distal end, the proximal end configured to connect to an ultrasonic transducer;a first flexible waveguide coupled to the distal end of the first drive section;an end effector extending distally from the first flexible waveguide;an articulation actuator to flex the first flexible waveguide; anda total curvature limiter configured to prevent the first flexible waveguide from exceeding a predetermined condition;wherein the predetermined condition comprises a local radius of curvature limiter to prevent a transmission of ultrasonic energy to the articulable harmonic waveguide when the first flexible waveguide exceeds the predetermined condition.
›2.↳ 1The articulating ultrasonic surgical instrument of claim 1, wherein:nthe distal end of the first drive section and a proximal end of the first flexibl…d2
The articulating ultrasonic surgical instrument of claim 1, wherein:nthe distal end of the first drive section and a proximal end of the first flexible waveguide are located at an anti-node; andwherein a distal end of the first flexible waveguide and a proximal end of the end effector are located at an anti-node.
›3.↳ 1The articulating ultrasonic surgical instrument of claim 1, wherein:nthe distal end of the first drive section and a proximal end of the first flexibl…d2
The articulating ultrasonic surgical instrument of claim 1, wherein:nthe distal end of the first drive section and a proximal end of the first flexible waveguide are located at a node; andwherein a distal end of the first flexible waveguide and a proximal end of the end effector are located at a node.
›4.↳ 1The articulating ultrasonic surgical instrument of claim 1, wherein a center of the first flexible waveguide is located at an anti-node.d2
The articulating ultrasonic surgical instrument of claim 1, wherein a center of the first flexible waveguide is located at an anti-node.
›5.↳ 1The articulating ultrasonic surgical instrument of claim 1, wherein the first flexible waveguide comprises a circular rod.d2
The articulating ultrasonic surgical instrument of claim 1, wherein the first flexible waveguide comprises a circular rod.
›6.↳ 1The articulating ultrasonic surgical instrument of claim 1, wherein the first flexible waveguide comprises a metal ribbon.d2+1
The articulating ultrasonic surgical instrument of claim 1, wherein the first flexible waveguide comprises a metal ribbon.
›7.↳ 6The articulating ultrasonic surgical instrument of claim 6, comprising at least one slot formed in the metal ribbon.d3
The articulating ultrasonic surgical instrument of claim 6, comprising at least one slot formed in the metal ribbon.
›8.↳ 1The articulating ultrasonic surgical instrument of claim 1, comprising:na second drive section couple to a distal end of the first flexible waveguide …d2+1
The articulating ultrasonic surgical instrument of claim 1, comprising:na second drive section couple to a distal end of the first flexible waveguide along a longitudinal axis of the articulable harmonic waveguide; anda second flexible waveguide coupled to a distal end of the second drive section and a proximal end of the end effector.
›9.↳ 8The articulating ultrasonic surgical instrument of claim 8, comprising:na pad tine comprising a proximal end and a distal end; anda surgical pad locat…d3
The articulating ultrasonic surgical instrument of claim 8, comprising:na pad tine comprising a proximal end and a distal end; anda surgical pad located at the distal end of the pad tine;wherein, the pad tine comprises a first tine curvature and a second tine curvature, wherein the first tine curvature is equal to a curvature of the first flexible waveguide, and wherein the second tine curvature is equal to a curvature of the second flexible waveguide.
›10.↳ 1The articulating ultrasonic surgical instrument of claim 1, the articulation actuator comprising:na first flange located at a distal end of the first …d2+1
The articulating ultrasonic surgical instrument of claim 1, the articulation actuator comprising:na first flange located at a distal end of the first flexible waveguide;a second flange located at a proximal end of the first flexible waveguide; andat least one control member coupling the first flange and the second flange.
›11.↳ 10The articulating ultrasonic surgical instrument of claim 10, wherein:nthe at least one control member comprises at least one cable extending proximall…d3
The articulating ultrasonic surgical instrument of claim 10, wherein:nthe at least one control member comprises at least one cable extending proximally from the first flange, the at least one cable connected to the first flange and the second flange, wherein tensioning the at least one cable in a proximal direction causes the first flexible waveguide to flex.
›12.↳ 1The articulating ultrasonic surgical instrument of claim 1, wherein the local radius of curvature limiter is limited such that:d2
The articulating ultrasonic surgical instrument of claim 1, wherein the local radius of curvature limiter is limited such that:
›13.↳ 1The articulating ultrasonic surgical instrument of claim 1, wherein the local radius of curvature limiter is limited such that:d2
The articulating ultrasonic surgical instrument of claim 1, wherein the local radius of curvature limiter is limited such that:
›14.↳ 1The articulating ultrasonic surgical instrument of claim 1, the total curvature limiter comprising an electrical stroke limiter to prevent the transmi…d2
The articulating ultrasonic surgical instrument of claim 1, the total curvature limiter comprising an electrical stroke limiter to prevent the transmission of ultrasonic energy to the articulable harmonic waveguide when the first flexible waveguide exceeds the predetermined condition.
›15.↳ 1The articulating ultrasonic surgical instrument of claim 1, the total curvature limiter comprising a viewing window comprising one or more graduations…d2
The articulating ultrasonic surgical instrument of claim 1, the total curvature limiter comprising a viewing window comprising one or more graduations, wherein the viewing window provides a visual indication of a current local radius of curvature with respect to the predetermined condition.
›16.↳ 1The articulating ultrasonic surgical instrument of claim 1, the total curvature limiter comprising a resonant frequency shift-tracker configured to ge…d2
The articulating ultrasonic surgical instrument of claim 1, the total curvature limiter comprising a resonant frequency shift-tracker configured to generate a control signal when the first flexible waveguide exceeds the predetermined condition, wherein the control signal prevents the transmission of ultrasonic energy to the articulable harmonic waveguide.
›17.↳ 1The articulating ultrasonic surgical instrument of claim 1, comprising:na flexible sheath disposed over the articulable harmonic waveguide;a clamp arm…d2+1
The articulating ultrasonic surgical instrument of claim 1, comprising:na flexible sheath disposed over the articulable harmonic waveguide;a clamp arm pivotably coupled to the articulable harmonic waveguide;wherein the articulation actuator comprises:na first flexible strip;a second flexible strip;articulation member comprising a first side and a second side, wherein the first and second flexible strips are coupled to the respective first and second sides of the articulation member, wherein the first and second flexible strips are translatable in a proximal direction and a distal direction to pivot the clamp arm, and wherein the articulation member is rotatable about a center point to articulate the flexible sheath.
›18.↳ 17The articulating ultrasonic surgical instrument of claim 17, comprising one or more flex features configured to provide a flex bias.d3
The articulating ultrasonic surgical instrument of claim 17, comprising one or more flex features configured to provide a flex bias.
