Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member
First Claim
1. A surgical instrument comprising:
- an end effector pivotable between an unarticulated position and an articulated position;
a flexible firing bar movable relative to the end effector;
wherein a length of the flexible firing bar varies between a first length and a second length according to an angular position of the end effector between the unarticulated position and the articulated position; and
a detection system configured to detect the length of the flexible firing bar.
2 Assignments
0 Petitions
Accused Products
Abstract
A surgical instrument is disclosed. The surgical instrument can include an end effector, comprising an anvil and a staple cartridge. The surgical instrument can further include a shaft defining a longitudinal axis. The surgical instrument can also include an articulation joint, wherein the end effector is rotatably connected to the shaft about the articulation joint between an unarticulated position and at least one articulated position. The surgical instrument can include means for adjusting the length of a firing stroke as a function of the degree in which the end effector is articulated relative to the longitudinal axis. The surgical instrument can include a sensor configured to defect shifting of lateral portions of a flexible firing bar that extends through the articulation joint. Additionally or alternatively, the surgical instrument can include a relief feature configured to accommodate shifting of lateral portions of a flexible firing bar.
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Citations
25 Claims
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1. A surgical instrument comprising:
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an end effector pivotable between an unarticulated position and an articulated position; a flexible firing bar movable relative to the end effector; wherein a length of the flexible firing bar varies between a first length and a second length according to an angular position of the end effector between the unarticulated position and the articulated position; and a detection system configured to detect the length of the flexible firing bar. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A surgical instrument comprising:
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an articulation joint; an end effector pivotably connected at the articulation joint, the end effector pivotable between an unarticulated position and an articulated position; a flexible firing bar movable through the articulation joint, wherein flexure of the flexible firing bar through the articulation joint causes a length of the flexible firing bar to vary according to an angular position of the end effector between the unarticulated position and the articulated position; and a sensor configured to detect the length of the flexible firing bar. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A surgical instrument comprising:
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an end effector pivotable between an unarticulated position and an articulated position; a firing bar movable relative to the end effector between a proximal position and a distal position; a motor coupled to the firing bar, the motor configured to drive the firing bar between the proximal position and the distal position; a first sensor configured to detect an articulation position of the end effector between the unarticulated position and the articulated position; and a second sensor configured to detect whether the firing bar has stopped; a controller coupled to the first sensor, the second sensor, and the motor, the controller configured to; adjust a distance that the firing bar is driven by the motor according to the articulation position of the end effector detected by the first sensor; and cause the motor to stop driving the firing bar upon determining that the firing bar has stopped via the second sensor. - View Dependent Claims (22, 23, 24, 25)
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Specification