Surgical instrument assembly comprising a lockable articulation system
View Patent ↗A surgical stapling apparatus is disclosed which comprises a shaft, an end effector, and an articulation joint, wherein the end effector is rotatable relative to the shaft about the articulation joint. The stapling apparatus further comprises a firing drive responsive to an input, an articulation drive, and a switch assembly configured to selectively couple the articulation drive to the input. The switch assembly is configured to lock the articulation drive in position when the articulation drive is not coupled to the input.
1. A shaft assembly for use with a surgical instrument, said shaft assembly comprising:
an end effector, comprising:
a proximal end;
a distal end; and
a movable jaw;
an articulation joint, wherein said end effector is rotatable about said articulation joint;
an input actuator movable in a proximal direction and a distal direction;
a closure system comprising a closing member movable between an open configuration and a closed configuration to close said movable jaw;
a firing system comprising a firing member, wherein said firing system is configured to actuate said end effector;
an articulation system comprising an articulation actuator configured to articulate said end effector, wherein said articulation actuator comprises:
a first articulation actuator; and
a second articulation actuator configured to rotate said end effector, wherein said first articulation actuator and said second articulation actuator are configured to move separately from one another and are configured to move in different directions; and
a switching system configured to:
operably couple said articulation system to said input actuator when said closure system is in said open configuration;
operably decouple said articulation system from said input actuator when said closure system is in said closed configuration; and
lock said articulation system in an articulated position when said closure system is in said closed configuration.
2. The shaft assembly of claim 1 , wherein said end effector further comprises a staple cartridge comprising staples removably stored therein.
3. The shaft assembly of claim 2 , wherein said staple cartridge is removable from said end effector.
4. The shaft assembly of claim 2 , wherein said movable jaw comprises an anvil configured to deform said staples.
5. The shaft assembly of claim 1 , wherein said input actuator comprises a rack of teeth, wherein said switching system comprises a rotatable pinion gear movable between a first position in which the pinion gear is operably engaged with said first articulation actuator, said second articulation actuator, and said rack of teeth and a second position in which the pinion gear is operably disengaged from said first articulation actuator and said second articulation actuator.
6. The shaft assembly of claim 5 , wherein said pinion gear is rotatably mounted to a rotatable switch, wherein said rotatable switch comprises a lock configured to prevent the movement of said first articulation actuator and said second articulation actuator when said rotatable pinion gear is in said second position.
7. The shaft assembly of claim 1 , wherein said articulation system further comprises a rotatable articulation driver, wherein the rotatable articulation driver comprises:
a first actuator slot, wherein said first articulation actuator is operably engaged with said first actuator slot;
a second actuator slot, wherein said second articulation actuator is operably engaged with said second actuator slot, wherein said rotatable articulation driver is rotatable:
in a first direction to push said first articulation actuator distally and pull said second articulation actuator proximally; and
in a second direction to pull said first articulation actuator proximally and push said second articulation actuator distally; and
a longitudinal aperture, wherein said input actuator extends through said longitudinal aperture, wherein said input actuator rotates said rotatable articulation driver:
in said first direction when said input actuator is moved in said proximal direction, and
in said second direction when said input actuator is moved in said distal direction.
8. A shaft assembly for use with a surgical instrument, said shaft assembly comprising:
an end effector, comprising:
a proximal end;
a distal end; and
a closable jaw;
an articulation joint, wherein said end effector is rotatable about said articulation joint;
an input actuator movable in a proximal direction and a distal direction;
a closure system comprising a closing member movable between an open configuration and a closed configuration to close said jaw;
a firing system comprising a firing member configured to actuate said end effector;
an articulation system comprising an articulation actuator configured to articulate said end effector;
and
a switching system configured to:
operably couple said articulation system to said input actuator when said closure system is in said open configuration;
operably decouple said articulation system from said input actuator when said closure system is in said closed configuration; and
wherein said switching system comprises a brake configured to hold said articulation system in its articulated position when said closure system is in said closed configuration.
9. The shaft assembly of claim 8 , wherein said end effector further comprises a staple cartridge including staples removably stored therein.
10. A shaft assembly for use with a surgical instrument, said shaft assembly comprising:
an end effector, comprising:
a proximal end;
a distal end; and
a closable jaw;
an articulation joint, wherein said end effector is rotatable about said articulation joint;
an input actuator movable in a proximal direction and a distal direction;
a closure system comprising a closing member movable between an open configuration and a closed configuration to close said jaw;
a firing system comprising a firing member configured to actuate said end effector;
an articulation system, comprising:
a first articulation member configured to articulate said end effector in a first direction; and
a second articulation member configured to articulate said end effector in a second direction, wherein said first direction is different than said second direction;
a switching system configured to:
operably couple said articulation system to said input actuator when said closure system is in said open configuration; and
operably decouple said articulation system from said input actuator when said closure system is in said closed configuration; and
locking means for locking said articulation system in its articulated position when said closure system is in said closed configuration.
11. The shaft assembly of claim 10 , wherein said end effector further comprises a staple cartridge comprising staples removably stored therein.