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Shaft assembly comprising first and second articulation lockouts

  • US 10,542,982 B2
  • Filed: 12/21/2016
  • Issued: 01/28/2020
  • Est. Priority Date: 12/21/2016
  • Status: Active Grant
First Claim
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1. A shaft assembly, comprising:

  • a shaft frame;

    an end effector comprising an end effector frame;

    an articulation joint, wherein said articulation joint rotatably connects said end effector frame to said shaft frame;

    a first articulation driver configured to rotate said end effector about said articulation joint in a first direction;

    a second articulation driver configured to rotate said end effector about said articulation joint in a second direction;

    a first articulation lock selectively actuatable to engage said end effector frame and prevent said end effector frame from rotating relative to said shaft frame; and

    a second articulation lock selectively actuatable to prevent said end effector frame from rotating relative to said shaft frame, wherein said second articulation lock comprises;

    a first arm configured to engage said first articulation driver; and

    a second arm configured to engage said second articulation driver.

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