Surgical instrument end effector articulation drive with pinion and opposing racks
First Claim
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1. An apparatus, comprising:
- (a) a body;
(b) a shaft assembly in communication with the body;
wherein the shaft assembly comprises;
(i) an end effector having an articulation joint;
(ii) a first cam gear rotatably positioned within the shaft assembly,(iii) a second cam gear in communication with the end effector at the articulation joint, and(iv) a lock bar distally biased to lock against the second cam gear, wherein the first cam gear is rotatable through a first range of motion to unlock the lock bar relative to the second cam gear, wherein the first cam gear is rotatable through a second range of motion to rotate the end effector at the articulation joint; and
(c) a spring in communication with the lock bar, wherein the spring is operable to distally bias the lock bar.
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Abstract
An apparatus comprises a body and a shaft assembly. The shaft assembly is in communication with the body and comprises an end effector, first cam gear, second cam gear, and a lock bar. The end effector has an articulation joint. The first cam gear is rotatably positioned within the shaft assembly. The second cam gear is in communication with the end effector at the articulation joint. The lock bar is distally biased to lock against the second cam gear. The first cam gear is rotatable through a first range of motion to unlock the lock bar relative to the second cam gear. The first cam gear is rotatable through a second range of motion to rotate the end effector at the articulation joint.
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Citations
19 Claims
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1. An apparatus, comprising:
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(a) a body; (b) a shaft assembly in communication with the body;
wherein the shaft assembly comprises;(i) an end effector having an articulation joint; (ii) a first cam gear rotatably positioned within the shaft assembly, (iii) a second cam gear in communication with the end effector at the articulation joint, and (iv) a lock bar distally biased to lock against the second cam gear, wherein the first cam gear is rotatable through a first range of motion to unlock the lock bar relative to the second cam gear, wherein the first cam gear is rotatable through a second range of motion to rotate the end effector at the articulation joint; and (c) a spring in communication with the lock bar, wherein the spring is operable to distally bias the lock bar. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. An apparatus comprising:
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(a) a body; and (b) a shaft assembly in communication with the body;
wherein the shaft assembly comprises;(i) an end effector positioned at a distal end of the shaft assembly, (ii) an articulation joint positioned at a proximal end of the end effector, (iii) a first cam gear positioned at the distal end of the shaft assembly, wherein the first cam gear is configured to rotate, (iv) a second cam gear in communication with the end effector through the articulation joint, wherein the second cam gear is operable to drive articulation of the end effector at the articulation joint, and (v) a lock bar in selective communication with the first cam gear and the second cam gear, wherein the lock bar is movable between a distal position and a proximal position, wherein the lock bar is configured to impede the rotation of the second cam gear when the lock bar is in the distal position, wherein the lock bar is configured to allow rotation of the second cam gear when the lock bar is in the proximal position, wherein the first cam gear is configured to drive the lock bar from the distal position to the proximal position through rotation of the first cam gear. - View Dependent Claims (16, 17, 18)
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19. An apparatus, comprising:
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(a) a body; (b) a shaft assembly in communication with the body;
wherein the shaft assembly comprises;(i) an end effector having an articulation joint; (ii) a first cam gear rotatably positioned within the shaft assembly, (iii) a second cam gear in communication with the end effector at the articulation joint, and (iv) a lock bar distally biased to lock against the second cam gear, wherein the first cam gear is rotatable through a first range of motion to unlock the lock bar relative to the second cam gear, wherein the first cam gear is rotatable through a second range of motion to rotate the end effector at the articulation joint; and (c) an articulation knob in communication with a first arm and a second arm, wherein the first arm and the second arm are in opposing communication with the first cam gear, wherein the articulation knob is configured to rotate to effectuate opposing motion of the first arm and the second arm.
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Specification