Surgical instruments with multiple link articulation arrangements

  • US 10,433,837 B2
  • Filed: 02/09/2016
  • Issued: 10/08/2019
  • 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;

    an articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction, wherein said surgical end effector is pushed in a first articulation direction upon application of a pulling motion to said articulation driver and wherein said surgical end effector is pulled in a second articulation direction upon application of a pushing motion to said articulation driver;

    a central articulation link pivotally coupled to said elongate shaft assembly for pivotal travel relative thereto;

    an intermediate link movably coupled to said articulation driver and said central articulation link; and

    an end effector driver movably coupled to said central articulation link and said surgical end effector.

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