Surgical stapler having an articulation mechanism
An articulation mechanism for use with a surgical instrument includes a shaft, a first member disposed in mechanical cooperation with the articulation shaft, a second member disposed in mechanical cooperation with the shaft, and a flexible shaft having proximal and distal portions. The flexible member is operatively coupled to the first and second members. Upon rotation of the articulation shaft, at least one of the first and the second members moves longitudinally with respect to the other of the first and second members between a first position where the first and second members are approximated to each other and a second position where the first and second members are spaced apart from each other. This longitudinal motion causes the distal portion of the flexible member to articulate relative to the proximal portion.
1. A surgical instrument comprising:
a tool assembly;
a drive shaft operatively coupled with the tool assembly;
a nutating gear drive configured to reduce a speed and increase a torque of the drive shaft, wherein the drive shaft is transitionable between a first position in which the drive shaft operatively engages the nutating gear drive and a second position in which the drive shaft disengages the nutating gear drive.
2. The surgical instrument according to claim 1 , wherein the drive shaft includes an outwardly extending protrusion configured to engage the nutating gear drive when the drive shaft is in the first position.
3. The surgical instrument according to claim 2 , wherein the nutating gear drive includes an engagement portion configured to engage the outwardly extending protrusion when the drive shaft is in the first position.
4. The surgical instrument according to claim 3 , wherein the engagement portion is a cross-shaped recess.
5. The surgical instrument according to claim 2 , wherein the tool assembly includes an anvil and a cartridge including a plurality of fasteners and a sled configured to drive the plurality of fasteners through tissue and towards the anvil, wherein the anvil and the cartridge are movable relative to each other between spaced and approximated positions.
6. The surgical instrument according to claim 5 , wherein rotation of the drive shaft in the first position moves the anvil and the cartridge relative to each other between the spaced and approximated positions.
7. The surgical instrument according to claim 5 , wherein rotation of the drive shaft in the second position drives the sled within the cartridge.
8. The surgical instrument according to claim 5 , wherein the tool assembly includes first and second lead screws, the first lead screw operatively coupled with at least one of the anvil or the cartridge, wherein rotation of the first lead screw moves the at least one of the anvil or the cartridge relative to the other of the at least one anvil or cartridge.
9. The surgical instrument according to claim 8 , wherein the second lead screw is operatively coupled with the sled, wherein rotation of the second lead screw causes translation of the sled within the cartridge.
10. The surgical instrument according to claim 1 , further comprising a motor operatively coupled with the drive shaft.
11. The surgical instrument according to claim 1 , wherein the nutating gear drive includes a wobbler having a tubular portion having a lumen configured to receive the drive shaft therethrough, a proximal surface substantially orthogonal to the tubular portion, and a distal surface defining an acute angle with respect to the proximal surface.
12. The surgical instrument according to claim 11 , wherein the wobbler includes an angled elongate portion extending distally from the distal surface, the angled elongate portion defining a hollow space configured to receive at least a portion of the drive shaft and including an engagement portion configured to securely engage the protrusion of the drive shaft when the drive shaft is in the first position.
13. The surgical instrument according to claim 11 , wherein the nutating gear drive further includes a crown gear and a crown stator operatively engaging the wobbler and configured to mesh with the crown gear when the drive shaft is in the first position, wherein rotation of the wobbler causes wobbling motion of the crown stator which in turn causes rotation of the crown gear, thereby moving the anvil and the cartridge relative to each other between the spaced and approximated positions.