Surgical instrument comprising a plurality of articulation joints
View Patent ↗A surgical instrument can include a handle, a shaft extending from the handle, and an end effector. The surgical instrument can further include a first articulation joint and a second articulation joint about which the end effector can be articulated. The surgical instrument can include a firing system which traverses the first articulation joint and the second articulation joint. The firing system can be operated by an electric motor.
1. A surgical instrument system, comprising:
a housing;
an electric motor positioned within said housing;
an elongate shaft assembly, comprising:
a first portion extending from said housing;
a second portion;
a first articulation joint, wherein said second portion is rotatably connected to said first portion about said first articulation joint; and
a second articulation joint, wherein said second articulation joint is positioned distal to said first articulation joint;
a rotatable drive shaft rotatably engaged with said electric motor, wherein said rotatable drive shaft extends through said first articulation joint and said second articulation joint;
an end effector, wherein said end effector is rotatably connected to said second portion about said second articulation joint, said end effector comprising:
a cartridge channel;
a staple cartridge removably positioned in said cartridge channel comprising a plurality of staples removably stored therein;
a firing member translatable relative to said cartridge channel configured to eject said staples from said staple cartridge, wherein said rotatable drive shaft is threadably engaged with said firing member; and
an anvil configured to deform said staples; and
a closure actuator operably engaged with said end effector, wherein said closure actuator traverses said first articulation joint and said second articulation joint and is separate and independent of said rotatable drive shaft.
2. The surgical instrument system of claim 1 , wherein said first articulation joint comprises a universal joint.
3. The surgical instrument system of claim 2 , wherein said second articulation joint comprises a universal joint.
4. The surgical instrument system of claim 1 , wherein said first articulation joint defines a first articulation axis, wherein said second articulation joint defines a second articulation axis, and wherein said first axis is not parallel to said second axis.
5. The surgical instrument system of claim 1 , wherein said anvil is pivotably mounted to said cartridge channel about a pivot joint.
6. The surgical instrument system of claim 5 , wherein said closure actuator is operably engaged with said anvil and is configured to move said anvil relative to said cartridge channel.
7. A surgical instrument system, comprising:
a housing;
an electric motor positioned within said housing;
a shaft assembly, comprising:
a first portion;
a second portion;
a first articulation joint, wherein said second portion is rotatably connected to said first portion about said first articulation joint; and
a second articulation joint, wherein said second articulation joint is positioned distal to said first articulation joint;
a drive screw rotatably engaged with said electric motor, wherein said drive screw traverses said first articulation joint and said second articulation joint;
an end effector, wherein said end effector is rotatably connected to said second portion about said second articulation joint, said end effector comprising:
a cartridge channel;
a staple cartridge removably positioned in said cartridge channel comprising a plurality of staples removably stored therein;
a sled translatable relative to said cartridge channel configured to eject said staples from said staple cartridge, wherein said drive screw is threadably engaged with said sled; and
an anvil configured to deform said staples; and
a closure actuator operably engaged with said end effector, wherein said closure actuator traverses said first articulation joint and said second articulation joint and is separate and independent of said drive screw.
8. The surgical instrument system of claim 7 , wherein said first articulation joint comprises a universal joint.
9. The surgical instrument system of claim 8 , wherein said second articulation joint comprises a universal joint.
10. The surgical instrument system of claim 7 , wherein said first articulation joint defines a first articulation axis, wherein said second articulation joint defines a second articulation axis, and wherein said first axis is not parallel to said second axis.
11. The surgical instrument system of claim 7 , wherein said anvil is pivotably mounted to said cartridge channel about a pivot joint.
12. The surgical instrument system of claim 7 , wherein said closure actuator is operably engaged with said anvil and is configured to move said anvil relative to said cartridge channel.
13. A surgical stapling system, comprising:
an electric motor;
a shaft assembly, comprising:
a first shaft portion;
a second shaft portion;
a first articulation joint, wherein said second shaft portion is rotatably connected to said first shaft portion about said first articulation joint; and
a second articulation joint, wherein said second articulation joint is positioned distal to said first articulation joint;
an actuator rotatably engaged with said electric motor, wherein said actuator spans said first articulation joint and said second articulation joint, and wherein said actuator comprises a threaded portion;
an end effector, wherein said end effector is rotatably connected to said second portion about said second articulation joint, and wherein said end effector comprises firing means for performing a plurality of end effector functions, and wherein said firing means is operably engaged with and driven by said threaded portion of said actuator; and
closing means operably engaged with said end effector, wherein said closing means traverses said first articulation joint and said second articulation joint and is separate and independent of said actuator.
14. The surgical stapling system of claim 13 , wherein said firing means comprises at least one of:
means for stapling tissue; and
means for incising the tissue.
15. The surgical stapling system of claim 13 , wherein said first articulation joint comprises a universal joint.
16. The surgical stapling system of claim 15 , wherein said second articulation joint comprises a universal joint.
17. The surgical stapling system of claim 13 , wherein said first articulation joint defines a first articulation axis, wherein said second articulation joint defines a second articulation axis, and wherein said first axis is not parallel to said second axis.
18. The surgical stapling system of claim 13 , wherein said closing means comprises clamping means for clamping tissue.