Dual articulation drive system arrangements for articulatable surgical instruments
View Patent ↗A surgical stapling instrument comprising an elongate shaft assembly that includes a surgical end effector that is operably coupled thereto by an articulation joint. The surgical instrument may include a first distal articulation driver operably coupled to the surgical end effector and a second distal articulation driver that is coupled to the surgical end effector. At least one driver member may operably engage the first and second distal articulation drivers such that when the first distal articulation driver is moved in a distal direction, the least one driver moves the second distal articulation driver in a proximal direction and when the first distal articulation driver is moved in the proximal direction, the at least one driver member moves the second distal articulation driver in the distal direction.
1. A surgical instrument comprising:
a housing;
an elongate shaft assembly operably coupled to said housing and 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:
a source of axial articulation motions operably supported by said housing;
a proximal articulation driver operably supported in said elongate shaft assembly and interfacing with said source of axial articulation motions for selective axial movement in first and second axial directions;
a first distal articulation driver operably interfacing with said proximal articulation driver and supported for selective longitudinal travel in a distal direction and a proximal direction in response to corresponding articulation motions applied thereto by said proximal articulation driver, said first distal articulation driver operably coupled to said surgical end effector;
a second distal articulation driver supported for longitudinal travel in said distal and proximal directions, said second distal articulation driver operably coupled to said surgical end effector; and
at least two pinion gears in meshing engagement with said first distal articulation driver and said second distal articulation driver such that when said first distal articulation driver is moved in said distal direction, said at least two pinion gears drive said second distal articulation driver in said proximal direction to articulate said surgical end effector about said articulation axis in a first articulation direction and when said first distal articulation driver is moved in said proximal direction, said at least two pinion gears drive said second distal articulation driver in said distal direction to articulate said surgical end effector about said articulation axis in a second articulation direction that is opposite to said first articulation direction.
2. The surgical instrument of claim 1 , wherein said at least two pinion gears comprises:
a proximal pinion gear; and
a distal pinion gear located distal to said proximal pinion gear.
3. The surgical instrument of claim 1 , wherein said first distal articulation driver is pivotally coupled to said surgical end effector and wherein said second distal articulation driver is pivotally attached to said surgical end effector.
4. The surgical instrument of claim 1 , wherein said first distal articulation driver is attached to said surgical end effector by a first movable coupler and wherein said second distal articulation driver is attached to said surgical end effector by a second movable coupler.
5. The surgical instrument of claim 4 , wherein said first movable coupler is attached to said first distal articulation driver by a first ball joint and wherein said second distal articulation driver is attached to said second movable coupler by a second ball joint.
6. The surgical instrument of claim 5 , wherein said first ball joint comprises:
a proximal first ball joint coupled to said first distal articulation driver; and
a distal first ball joint coupled to said proximal first ball joint and said surgical end effector and wherein said second ball joint comprises:
a proximal second ball joint coupled to said second distal articulation driver; and
a distal second ball joint coupled to said proximal second ball joint and said surgical end effector.
7. The surgical instrument of claim 1 , further comprising means for selectively locking said surgical end effector in a plurality of articulated positions relative to said elongate shaft assembly.
8. The surgical instrument of claim 7 , wherein said means for selectively locking comprises means for selectively preventing said first distal articulation driver from longitudinally moving in said proximal and distal directions.
9. The surgical instrument of claim 8 , wherein said proximal articulation driver operably interfaces with said means for selectively preventing to selectively unlock said means for selectively preventing and causes said means for selectively preventing to apply said proximal and distal articulation motions to said first distal articulation driver.
10. The surgical instrument of claim 6 , wherein said means for selectively locking comprises an articulation lock located between said proximal articulation driver and said first distal articulation driver and interfacing therewith.
11. The surgical instrument of claim 1 , wherein a portion of said surgical end effector that is pivotally coupled to said elongate shaft assembly comprises an elongate channel that is configured to operably support a surgical staple cartridge therein.
12. The surgical instrument of claim 11 , further comprising an anvil supported relative to said elongate channel such that one of said anvil and said elongate channel is selectively movable relative to the other one of said anvil and said elongate channel between open and closed positions.