Articulation and firing force mechanisms
First Claim
Patent Images
1. A method for operating a surgical instrument, the method comprising:
- directing a drive force through a proximal portion of an elongate tubular member of the surgical instrument;
redirecting the drive force through a transfer device supported in an articulation portion of the elongate tubular member;
transferring the drive force from the transfer device to a transfer bar disposed in a distal portion of the elongate tubular member while the distal portion is articulated relative to the proximal portion; and
engaging the transfer bar with an actuator positioned in the distal portion to operate an end effector associated with the surgical instrument.
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Abstract
There is provided a surgical instrument incorporating driving force mechanisms capable of transmitting a driving force through an articulated section of the surgical instrument. In one embodiment, a series of racks connect with a transfer gear to pass forces around the articulated section. In an alternative embodiment a series of cable sections and wheels or pulleys are provided to transmit a driving force through the articulated section of the surgical instrument.
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Citations
10 Claims
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1. A method for operating a surgical instrument, the method comprising:
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directing a drive force through a proximal portion of an elongate tubular member of the surgical instrument; redirecting the drive force through a transfer device supported in an articulation portion of the elongate tubular member; transferring the drive force from the transfer device to a transfer bar disposed in a distal portion of the elongate tubular member while the distal portion is articulated relative to the proximal portion; and engaging the transfer bar with an actuator positioned in the distal portion to operate an end effector associated with the surgical instrument. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for operating a surgical instrument, the method comprising:
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directing a drive force through a proximal portion of an elongate tubular member of the surgical instrument; redirecting the drive force through a transfer device supported in an articulation portion of the elongate tubular member; transferring the drive force from the transfer device to a transfer bar disposed in a distal portion of the elongate tubular member while the distal portion is articulated relative to the proximal portion; rotating a gear mounted at a point of articulation in the articulation portion; and axially moving a rack positioned in the proximal portion to rotate the gear about the point of articulation.
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10. A method for operating a surgical instrument, the method comprising:
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directing a drive force through a proximal portion of an elongate tubular member of the surgical instrument; redirecting the drive force through a transfer device supported in an articulation portion of the elongate tubular member; transferring the drive force from the transfer device to a transfer bar disposed in a distal portion of the elongate tubular member while the distal portion is articulated relative to the proximal portion; rotating a gear mounted at a point of articulation in the articulation portion; and axially moving the transfer bar within the distal portion in response to rotation of the gear.
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Specification