SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM
First Claim
1. A surgical instrument, comprising:
- a shaft comprising a shaft frame;
an end effector, comprising;
an end effector frame; and
a jaw movable relative to said end effector frame;
an articulation joint, comprising;
an articulation frame, comprising;
a proximal articulation end; and
a distal articulation end;
a first articulation joint connecting said proximal articulation end to said shaft frame; and
a second articulation joint connecting said distal articulation end to said end effector frame;
a firing system movable relative to said shaft frame, said articulation frame, and said end effector frame, wherein said firing system comprises a cutting member movable relative to said end effector frame.
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0 Petitions
Accused Products
Abstract
A surgical instrument can include a shaft, an end effector, and an articulation joint configured to permit the end effector to rotate relative to the shaft about the articulation joint. The surgical instrument can further comprise a first articulation actuator for rotating the end effector in a first direction and a second articulation actuator for rotating the end effector in a second direction. The articulation actuators can be configured to push the end effector. The articulation actuators can assume different configurations depending on whether they are experiencing a compressive load or a tensile load. The articulation joint can comprise an articulation frame which forms a proximal joint with the shaft and a distal joint with the end effector. The joints can comprise fixed axis joints and/or ball-and-socket joints, for example. The articulation joint can comprise links having different sizes to facilitate the articulation of the articulation joint.
222 Citations
23 Claims
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1. A surgical instrument, comprising:
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a shaft comprising a shaft frame; an end effector, comprising; an end effector frame; and a jaw movable relative to said end effector frame; an articulation joint, comprising; an articulation frame, comprising; a proximal articulation end; and a distal articulation end; a first articulation joint connecting said proximal articulation end to said shaft frame; and a second articulation joint connecting said distal articulation end to said end effector frame; a firing system movable relative to said shaft frame, said articulation frame, and said end effector frame, wherein said firing system comprises a cutting member movable relative to said end effector frame. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A surgical instrument, comprising:
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a shaft comprising a shaft frame; an end effector, comprising; an end effector frame; and a jaw movable relative to said end effector frame; an articulation joint, comprising; an articulation frame, comprising; a proximal articulation end; and a distal articulation end; a first articulation ball-and-socket joint connecting said proximal articulation end to said shaft frame; and a second articulation ball-and-socket joint connecting said distal articulation end to said end effector frame; a first articulation actuator fixedly attached to said end effector frame, wherein said first articulation actuator is configured to push said end effector in a first direction about said articulation joint; and a second articulation actuator fixedly attached to said end effector frame, wherein said second articulation actuator is configured to push said end effector in a second direction about said articulation joint.
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20. An assembly for use with a surgical instrument, comprising:
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a shaft portion; an end effector; an articulation joint comprising a plurality of links including; a plurality of first links, wherein each said first link comprises a first actuator aperture and a second actuator aperture, and wherein each said first link is defined by a first diameter; a plurality of second links, wherein each said second link is defined by a second diameter, wherein said second diameter is smaller than said first diameter; a first articulation actuator attached to said end effector, wherein said first articulation actuator extends through said first actuator apertures of said first links, and wherein said first articulation actuator does not extend through said second links; and a second articulation actuator attached to said end effector, wherein said second articulation actuator extends through said second actuator apertures of said first links, and wherein said second articulation actuator does not extend through said second links. - View Dependent Claims (21, 22)
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23. An assembly for use with a surgical instrument, comprising:
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a shaft portion; an end effector; a firing member movable relative to said end effector; an articulation joint, wherein said articulation joint rotatably connects said end effector to said shaft portion, and wherein said articulation joint comprises a plurality of links including; a plurality of first links, wherein each said first link comprises a first aperture; a plurality of second links, wherein each said second link comprises a second aperture, wherein said first links are configured to shift relative to said second links when said end effector is articulated, wherein said first apertures and said second apertures define a firing member path through said articulation joint for said firing member, and wherein the length of said firing member path is dynamically adjusted when said first links shift relative to said second links.
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Specification