Surgical instrument
A surgical instrument is disclosed. The surgical instrument includes a handle assembly, a body, a tool assembly and an articulation assembly. The articulation mechanism includes a receptacle, and a main shaft. A lower clutch is fixedly positioned within the receptacle and has a serrated portion including a plurality of serrations. An upper clutch includes at least one projection positioned to engage the serrations of the lower clutch to releasably retain the main shaft at a rotatably fixed position. An angle between a first pair of adjacent serrations is defined as a first angle, an angle between a second pair of adjacent serrations is defined as a second angle, and an angle between a third pair of adjacent serrations is defined as a third angle. The first angle, the second angle, and the third angle are each different from one another.
1. A method of articulating a tool assembly of a surgical instrument, comprising:
manipulating an articulation lever;
rotating an upper clutch about a rotation axis with respect to a lower clutch and with respect to a receptacle of the surgical instrument, wherein the lower clutch is removable from the receptacle;
engaging a plurality of protrusions of the upper clutch with at least one recess of a plurality of recesses of the lower clutch to retain the tool assembly in one articulated position out of a plurality of articulated positions; and
maintaining the position of the lower clutch along the rotation axis while rotating the upper clutch with respect to the lower clutch and with respect to the receptacle.
2. The method according to claim 1 , further including rotating a main shaft, the main shaft pinned to the upper clutch.
3. The method according to claim 2 , further including moving an articulation link, the articulation link disposed in mechanical cooperation with the main shaft.
4. The method according to claim 3 , further including moving the articulation link in a linear fashion.
5. The method according to claim 4 , wherein moving the articulation link includes moving the articulation link in one of two directions.
6. The method according to claim 1 , wherein engaging the plurality of protrusions of the upper clutch with at least one recess of the plurality of recesses of the lower clutch includes engaging a first protrusion of the plurality of protrusions of the upper clutch with a first recess of the plurality of recesses of the lower clutch corresponding with a central position of the tool assembly, the first recess of the plurality of recesses of the lower clutch corresponding with a central position of the tool assembly being larger than other recesses of the plurality of recesses of the lower clutch.
7. The method according to claim 1 , further including biasing the upper clutch towards the lower clutch.
8. The method according to claim 1 , wherein the lower clutch is fixedly positioned with respect to the receptacle.