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Surgical instruments with dual articulation drivers

  • US 10,716,565 B2
  • Filed: 12/19/2017
  • Issued: 07/21/2020
  • Est. Priority Date: 12/19/2017
  • Status: Active Grant
First Claim
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1. A surgical instrument, comprising:

  • a shaft, comprising;

    a proximal end;

    a distal end; and

    a longitudinal axis extending between said proximal end and said distal end;

    an end effector comprising an end effector frame rotatably coupled to said shaft about an articulation pivot, wherein said articulation pivot defines a fixed articulation axis, and wherein said fixed articulation axis is positioned laterally offset with respect to said longitudinal axis;

    a first articulation driver selectively movable between a first neutral position, a first distal position, and a first proximal position in response to corresponding first articulation control motions applied thereto;

    a first articulation link operably coupled to said first articulation driver, said first articulation link extending transverse to said longitudinal axis and coupled to said end effector frame at a first attachment location;

    a second articulation driver selectively movable between a second neutral position, a second distal position, and a second proximal position in response to corresponding second articulation control motions applied thereto; and

    a second articulation link operably coupled to said second articulation driver and extending transverse to said longitudinal axis and said first articulation link coupled to said end effector frame at a second attachment location.

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