Hand held rotary powered surgical instruments with end effectors that are articulatable about multiple axes

  • US 10,420,555 B2
  • Filed: 12/08/2016
  • Issued: 09/24/2019
  • Est. Priority Date: 06/28/2012
  • Status: Active Grant
First Claim
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1. A surgical instrument comprising:

  • a handle;

    a firing system operably supported by said handle and configured to selectively generate at least one rotary firing motion;

    a shaft assembly operably extending from said handle and defining a shaft axis, said shaft assembly comprising at least one rotary drive shaft assembly operably interfacing with said firing system;

    an articulation joint assembly comprising;

    a first joint segment defining a proximal socket oriented at a distal end of said shaft assembly;

    a second joint segment comprising a proximal gimbal movably supported within said proximal socket and defining a distal socket, wherein said at least one rotary drive shaft assembly extends through said proximal socket and said proximal gimbal;

    a third joint segment comprising a distal gimbal movably supported within said distal socket and wherein said surgical instrument further comprises;

    a surgical end effector operably coupled to said third joint segment and comprising a firing member operably interfacing with said at least one rotary drive shaft assembly and being configured to move within said surgical end effector in response to an application of said at least one rotary firing motion to said at least one rotary drive shaft assembly; and

    articulation means for selectively moving said third joint segment in multiple directions that are transverse to said shaft axis.

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