Surgical instrument articulation mechanism with slotted secondary constraint

  • US 10,413,291 B2
  • Filed: 02/09/2016
  • Issued: 09/17/2019
  • Est. Priority Date: 02/09/2016
  • Status: Active Grant
First Claim
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1. A surgical instrument, comprising:

  • an elongate shaft assembly defining a shaft axis;

    a surgical end effector pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis; and

    an articulation system, comprising;

    a first articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction;

    a first end effector link movably coupled to said surgical end effector, said first end effector link coupled to said first articulation driver for axial and pivotal travel relative thereto;

    a second articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in said distal and proximal directions; and

    a second end effector link movably coupled to said surgical end effector, said second end effector link coupled to said second articulation driver for axial and pivotal travel relative thereto, wherein said first end effector link and said second end effector link are configured to move relative to each other.

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