Surgical instrument with discrete cammed articulation
First Claim
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1. A surgical apparatus, comprising:
- an end effector;
a shaft extending proximally from said end effector, said shaft including an articulation region;
a handle including at least one button;
an articulation gear held by said handle;
at least one cam path defined in, and having a surface that is a portion of, said articulation gear;
at least one holder post extending into at least one said cam path and movable along and in contact with said surface of at least one said cam path wherein said at least one holder post is biased outward against a corresponding outer surface of said at least one cam path;
a spindle extending from said articulation gear; and
at least two articulation bands engaging said spindle, wherein said articulation bands extend through said shaft to said end effector;
wherein actuation of one said button engages said articulation gear and causes longitudinal motion of at least two said articulation bands, whereby said end effector articulates through a discrete angular increment relative to said shaft.
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Abstract
One example of a surgical apparatus may include an end effector; a shaft extending proximally from the end effector, the shaft including an articulation region; a handle including at least one button; an articulation gear held by the handle, where at least one cam path is defined in the articulation gear; and at least one holder post extending into each cam path; where actuation of one button causes the end effector to articulate through a discrete angular increment relative to the shaft.
168 Citations
15 Claims
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1. A surgical apparatus, comprising:
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an end effector; a shaft extending proximally from said end effector, said shaft including an articulation region; a handle including at least one button; an articulation gear held by said handle; at least one cam path defined in, and having a surface that is a portion of, said articulation gear; at least one holder post extending into at least one said cam path and movable along and in contact with said surface of at least one said cam path wherein said at least one holder post is biased outward against a corresponding outer surface of said at least one cam path; a spindle extending from said articulation gear; and at least two articulation bands engaging said spindle, wherein said articulation bands extend through said shaft to said end effector; wherein actuation of one said button engages said articulation gear and causes longitudinal motion of at least two said articulation bands, whereby said end effector articulates through a discrete angular increment relative to said shaft. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A surgical apparatus, comprising:
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an end effector; a shaft extending proximally from said end effector, said shaft including an articulation region; a handle including at least one button; an articulation gear held by said handle; at least one cam path defined in, and having a surface that is a portion of, said articulation gear; at least one holder post extending into at least one cam path and movable along and in contact with said surface of at least one said cam path; a spindle extending from said articulation gear; and at least two articulation bands engaging said spindle, wherein said articulation bands extend through said shaft to said end effector; wherein actuation of one said button engages said articulation gear and causes longitudinal motion of at least two said articulation bands, whereby said end effector changes its angular position by a discrete amount relative to said shaft. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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Specification