Surgical system with selectively articulatable end effector

  • US 10,064,688 B2
  • Filed: 03/14/2016
  • Issued: 09/04/2018
  • Est. Priority Date: 03/23/2006
  • Status: Active Grant
First Claim
Patent Images

1. A surgical system, comprising:

  • a surgical end effector, comprising;

    a first jaw and a second jaw, wherein one of said first and second jaws is movable relative to the other of said first and second jaws between open and closed positions upon application of jaw control motions thereto; and

    a firing member axially movable between a starting position and an ending position within said first and second jaws and wherein said surgical system further comprises;

    an elongate shaft assembly operably coupled to said surgical end effector and defining a longitudinal tool axis, said elongate shaft assembly comprising a plurality of discrete articulation segments wherein each said articulation segment defines a corresponding articulation plane and wherein each said articulation plane is not co-planar with any other of said articulation planes and each said articulation plane is transverse to said longitudinal tool axis;

    a plurality of articulation members extending through said elongate shaft assembly and coupled to said surgical end effector;

    an articulation transmission operably interfacing with each said articulation member and wherein at least a portion of said articulation transmission is selectively movable in at least one articulation direction to simultaneously apply corresponding articulation motions to each said articulation member;

    a firing shaft configured to transmit firing motions to said firing member;

    a firing control system interfacing with said firing shaft to apply said firing motions thereto; and

    a closure control system configured to generate said jaw control motions independent from said firing control system, said closure control system comprising a closure output member selectively movable about a closure axis that is transverse to said longitudinal tool axis wherein each said articulation segment comprises;

    a segment body;

    a central passage in said segment body, wherein the central passage in said segment body of each said articulation segment cooperates with said central passages of the other of said articulation segments to form a passageway through said elongate shaft assembly for receiving said firing shaft therethrough; and

    a plurality of notches in an outer edge of each said segment body wherein each said notch corresponds to one of said articulation members for movably receiving said corresponding one of said articulation members therethrough.

View all claims
    ×
    ×

    Thank you for your feedback

    ×
    ×