SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS

  • US 20170224336A1
  • Filed: 02/09/2016
  • Published: 08/10/2017
  • Est. Priority Date: 02/09/2016
  • Status: Active Grant
First Claim
Patent Images

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 articulation relative to said elongate shaft assembly about an articulation axis that is transverse to said shaft axis; and

    an articulation system, comprising;

    an articulation cable coupled to said surgical end effector at a point of attachment and journaled on a proximal pulley supported on said elongate shaft assembly, said proximal pulley defining a proximal pulley axis located a tension distance from said point of attachment;

    an articulation driver coupled to said articulation cable for selectively causing said articulation cable to rotate about said proximal pulley in first and second articulation directions; and

    an adjustable tensioning assembly interfacing with said proximal pulley to selectively adjust said tensioning distance.

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