Surgical instrument with an articulating shaft locking mechanism
First Claim
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1. A surgical instrument, comprising:
- a proximal portion configured for manipulation external to a patient;
an elongate shaft attached to the proximal portion;
an end effector;
an articulation joint pivotally attaching the end effector to the elongate shaft;
an arcing braking surface attached to the end effector and radiating proximally about an articulation axis of the articulation joint;
an articulation control attached to the proximal portion;
an articulation member extending a distal end from the elongate shaft into engagement with the end effector, the distal end laterally deflected in response to the articulation control to effect articulation;
a locking actuator guided by the elongate shaft, proximally coupled to the articulation control, distally terminating in a locking surface positioned to selectively engage the locking surface.
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Abstract
A surgical instrument particularly suited to endoscopic use articulates an end effector by including a laterally sliding member in a proximal portion of a shaft that pivots the end effector to a selected side. Differentially opposing actuating forces (e.g., hydraulic, fluidic, mechanical) act against the laterally sliding member without binding by incorporating guidance mechanisms between the laterally sliding member and a frame of the shaft. A locking member advantageously unlocks automatically as articulation is commanded by resists backdriving of the mechanism.
1572 Citations
20 Claims
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1. A surgical instrument, comprising:
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a proximal portion configured for manipulation external to a patient;
an elongate shaft attached to the proximal portion;
an end effector;
an articulation joint pivotally attaching the end effector to the elongate shaft;
an arcing braking surface attached to the end effector and radiating proximally about an articulation axis of the articulation joint;
an articulation control attached to the proximal portion;
an articulation member extending a distal end from the elongate shaft into engagement with the end effector, the distal end laterally deflected in response to the articulation control to effect articulation;
a locking actuator guided by the elongate shaft, proximally coupled to the articulation control, distally terminating in a locking surface positioned to selectively engage the locking surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A surgical instrument, comprising:
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a proximal portion configured for manipulation external to a patient;
an elongate shaft attached to the proximal portion;
an end effector;
an articulation joint pivotally attaching the end effector to the elongate shaft;
a gear segment proximally directed and attached to the end effector aligned to rotate about an articulation axis of the articulation joint;
a slide bar constrained for lateral movement within the elongate shaft;
a distally directed rack attached to the slide bar positioned in the articulation joint in engagement with the gear segment of the end effector;
a proximal surface of the end effector engaged to the distal end of the articulation movement for converting a lateral motion of the slide bar to a pivoting motion of the end effector; and
a locking member in the elongate shaft selectively, distally and longitudinally translating to engage the gear segment of the end effector locking articulation joint. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A surgical instrument, comprising:
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a proximal portion configured for manipulation external to a patient;
an elongate shaft attached to the proximal portion;
an end effector;
an articulation joint pivotally attaching the end effector to the elongate shaft;
a slide bar received for lateral movement in the elongate shaft and comprising a distal end engaged to pivot the end effector about the articulation joint and a locking mechanism moved into binding engagement with the elongate shaft in response to a backdriving force on the end effector. - View Dependent Claims (18, 19, 20)
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Specification