Surgical instruments with an end effector that is highly articulatable relative to an elongate shaft assembly
A surgical instrument that comprises an elongate shaft assembly that defines a shaft axis. A surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to the shaft axis. An articulation driver is supported for selective longitudinal travel relative to the elongate shaft assembly in a distal direction and a proximal direction. A central articulation link is movably coupled to a distal end of the elongate shaft assembly. The central articulation link is operably coupled to the articulation driver and an end effector driver link. The end effector driver link is operably coupled to the surgical end effector for selective pivotal and axial travel relative thereto.
1. A surgical instrument comprising:
an elongate shaft assembly defining a shaft axis and comprising a distal end;
a surgical end effector comprising a proximal end that is pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis; and
an articulation link arrangement configured for rotation relative to said shaft axis such that rotation of said articulation link arrangement induces articulation of said surgical end effector about said articulation axis relative to said elongate shaft assembly, said articulation link arrangement comprising:
a central articulation link movably coupled to said distal end of said elongate shaft assembly; and
an end effector driver link comprising a proximal driver link end that is pivotally coupled to said central articulation link and a distal driver link end that comprises an axial slot that is configured to slidably receive therein an end effector attachment member such that said end effector driver link is operably coupled to said surgical end effector for selective pivotal and longitudinal travel relative thereto, and wherein said surgical instrument further comprises an articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction, said articulation driver operably coupled to said central articulation link.
2. The surgical instrument of claim 1 , wherein said proximal driver link end is in meshing pivotal engagement with said distal end of said elongate shaft assembly.
3. The surgical instrument of claim 1 , wherein said articulation driver is movably coupled to said central articulation link by an intermediate driver link.
4. The surgical instrument of claim 1 , wherein said surgical end effector defines an end effector axis that is configured for axial alignment with said shaft axis when said surgical end effector is in an unarticulated position and wherein said articulation driver is supported for selective longitudinal travel along one lateral side of said shaft axis and wherein said end effector driver link is operably coupled to said surgical end effector on a lateral side of said end effector axis that corresponds to another lateral side of said shaft axis.
5. The surgical instrument of claim 1 , wherein said surgical end effector further comprises a firing member that is configured for longitudinal travel within said surgical end effector and wherein said elongate shaft assembly further comprises a longitudinally movable firing beam that operably interfaces with said firing member and is selectively movable in said distal direction in response to an application of a firing motion thereto and in a proximal direction in response to a retraction motion applied thereto.
6. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis and comprising a distal end;
a surgical end effector comprising a proximal end that is pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis; and
an articulation link arrangement configured for rotation relative to said shaft axis such that rotation of said articulation link arrangement induces articulation of said surgical end effector about said articulation axis relative to said elongate shaft assembly, said articulation link arrangement comprising:
a central articulation link pivotally coupled to said distal end of said elongate shaft assembly for pivotal travel relative thereto about said articulation axis; and
an end effector driver link movably coupled to said central articulation link for pivotal travel relative thereto, said end effector driver link operably coupled to said surgical end effector for selective pivotal and longitudinal travel relative thereto and wherein said surgical instrument further comprises an articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction, said articulation driver operably coupled to said central articulation link.
7. The surgical instrument of claim 6 , wherein said central articulation link comprises a triangular-shaped link that is pivotally coupled to said distal end of said elongate shaft assembly for pivotal travel relative thereto about said articulation axis.
8. The surgical instrument of claim 6 , wherein said surgical end effector defines an end effector axis that is configured for axial alignment with said shaft axis when said surgical end effector is in an unarticulated position and wherein said articulation driver is supported for selective longitudinal travel along one lateral side of said shaft axis and wherein said end effector driver link is operably coupled to said surgical end effector on a lateral side of said end effector axis that corresponds to another lateral side of said shaft axis.
9. The surgical instrument of claim 6 , wherein said surgical end effector further comprises a firing member that is configured for longitudinal travel within said surgical end effector and wherein said elongate shaft assembly further comprises a longitudinally movable firing beam that operably interfaces with said firing member and is selectively movable in said distal direction in response to an application of a firing motion thereto and in a proximal direction in response to a retraction motion applied thereto.
10. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis and comprising a distal end;
a surgical end effector comprising a proximal end that is pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis; and
an articulation link arrangement configured for rotation relative to said shaft axis such that rotation of said articulation link arrangement induces articulation of said surgical end effector about said articulation axis relative to said elongate shaft assembly, said articulation link arrangement comprising:
a central articulation link movably coupled to said distal end of said elongate shaft assembly; and
an end effector driver link movably coupled to said central articulation link for pivotal travel relative thereto, said end effector driver link operably coupled to said surgical end effector for selective pivotal and longitudinal travel relative thereto and wherein said surgical instrument further comprises an articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction, said articulation driver operably coupled to said central articulation link and wherein said surgical end effector defines an end effector axis that is configured for axial alignment with said shaft axis when said surgical end effector is in an unarticulated position and wherein said articulation driver is supported for selective longitudinal travel along one lateral side of said shaft axis and wherein said end effector driver link is operably coupled to said surgical end effector on another lateral side of said end effector axis that corresponds to another lateral side of said shaft axis.
11. The surgical instrument of claim 10 , wherein said surgical end effector further comprises a firing member that is configured for longitudinal travel within said surgical end effector and wherein said elongate shaft assembly further comprises a longitudinally movable firing beam that operably interfaces with said firing member and is selectively movable in said distal direction in response to an application of a firing motion thereto and in a proximal direction in response to a retraction motion applied thereto.
12. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis and comprising an arcuate sun gear segment on a distal end thereof;
a surgical end effector comprising a proximal end that is pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis; and
an articulation link arrangement configured for rotation relative to said shaft axis such that rotation of said articulation link arrangement induces articulation of said surgical end effector about said articulation axis relative to said elongate shaft assembly, said articulation link arrangement comprising:
a central articulation link movably coupled to said distal end of said elongate shaft assembly; and
an end effector driver link comprising a planet gear portion in meshing engagement with said arcuate sun gear segment for movable travel relative thereto, said end effector driver link operably coupled to said surgical end effector for selective pivotal and longitudinal travel relative thereto and wherein said surgical instrument further comprises an articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction, said articulation driver operably coupled to said central articulation link.
13. The surgical instrument of claim 12 , wherein said planet gear portion comprises a plurality of planet gear teeth formed on a proximal end of said end effector driver link.
14. The surgical instrument of claim 12 , wherein said surgical end effector defines an end effector axis that is configured for axial alignment with said shaft axis when said surgical end effector is in an unarticulated position and wherein said articulation driver is supported for selective longitudinal travel along one lateral side of said shaft axis and wherein said end effector driver link is operably coupled to said surgical end effector on a lateral side of said end effector axis that corresponds to another lateral side of said shaft axis.
15. The surgical instrument of claim 12 , wherein said surgical end effector further comprises a firing member that is configured for longitudinal travel within said surgical end effector and wherein said elongate shaft assembly further comprises a longitudinally movable firing beam that operably interfaces with said firing member and is selectively movable in said distal direction in response to an application of a firing motion thereto and in a proximal direction in response to a retraction motion applied thereto.
16. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis;
a surgical end effector pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis; and
an articulation system, comprising:
an articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction in response to axial articulation motions applied thereto by a source of articulation motions operably coupled to said articulation driver; and
means for operably coupling said articulation driver to said surgical end effector, said means for operably coupling being configured to apply articulation motions to said surgical end effector in response to longitudinal movement of said articulation driver, said means for operably coupling being further configured to pivotally and longitudinally move relative to said surgical end effector and wherein said articulation driver is coupled to said means for operably coupling on one lateral side of said shaft axis and wherein said means for operably coupling is coupled to said surgical end effector on another lateral side of said shaft axis.
17. The surgical instrument of claim 16 , wherein said surgical end effector defines an end effector axis that is configured for axial alignment with said shaft axis when said surgical end effector is in an unarticulated position and wherein said articulation driver is supported for selective longitudinal travel along said one lateral side of said shaft axis and wherein an end effector driver link is operably coupled to said surgical end effector on a lateral side of said end effector axis that corresponds to said another lateral side of said shaft axis.
18. The surgical instrument of claim 16 , wherein said surgical end effector comprises a firing member that is configured for longitudinal travel within said surgical end effector and wherein said elongate shaft assembly comprises a longitudinally movable firing beam that operably interfaces with said firing member and is selectively movable in said distal direction in response to an application of a firing motion thereto and in a proximal direction in response to a retraction motion applied thereto.
19. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis;
a surgical end effector pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis, said surgical end effector comprising a firing member that is configured for longitudinal travel within said surgical end effector and wherein said elongate shaft assembly further comprises a longitudinally movable firing beam that operably interfaces with said firing member and is selectively movable in a distal direction in response to an application of a firing motion thereto and in a proximal direction in response to a retraction motion applied thereto; and
an articulation system, comprising:
an articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in said distal direction and said proximal direction in response to axial articulation motions applied thereto by a source of articulation motions operably coupled to said articulation driver; and
means for operably coupling said articulation driver to said surgical end effector, said means for operably coupling being configured to apply articulation motions to said surgical end effector in response to longitudinal movement of said articulation driver, said means for operably coupling being further configured to pivotally and longitudinally move relative to said surgical end effector.
20. The surgical instrument of claim 19 , wherein said surgical end effector defines an end effector axis that is configured for axial alignment with said shaft axis when said surgical end effector is in an unarticulated position and wherein said articulation driver is supported for selective longitudinal travel along one lateral side of said shaft axis and wherein an end effector driver link is operably coupled to said surgical end effector on a lateral side of said end effector axis that corresponds to another lateral side of said shaft axis.
21. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis;
a surgical end effector pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis; and
an articulation system, comprising:
an articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction; and
means for operably coupling said articulation driver to said surgical end effector, said means for operably coupling being configured to apply articulation motions to said surgical end effector in response to longitudinal movement of said articulation driver to articulate said surgical end effector about said articulation axis relative to said shaft axis, said means for operably coupling being further configured to pivotally and longitudinally move relative to said surgical end effector, said means for operably coupling comprising a triangular shaped link comprising:
a first link corner portion operably coupled to said articulation driver;
a second link corner portion operably interfacing with said surgical end effector; and
a third link corner portion pivotally coupled to a distal end of said elongate shaft assembly.
22. The surgical instrument of claim 21 , wherein said third link corner portion is pivotally coupled to said distal end of said elongate shaft assembly for pivotal travel relative thereto about said articulation axis.
23. The surgical instrument of claim 21 , wherein said second link corner portion of said triangular shaped link is operably coupled to an end effector driver link that is coupled to said surgical end effector for pivotal and longitudinal travel relative thereto.
24. The surgical instrument of claim 23 , wherein said end effector driver link comprises an intermediate proximal drive link end that is pivotally coupled to said triangular shaped link and an end effector driver link end that comprises an axial slot that is configured to slidably receive an end effector attachment member therein.
25. The surgical instrument of claim 21 , wherein said surgical end effector defines an end effector axis that is configured for axial alignment with said shaft axis when said surgical end effector is in an unarticulated position and wherein said articulation driver is supported for selective longitudinal travel along one lateral side of said shaft axis and wherein an end effector driver link is operably coupled to said surgical end effector on a lateral side of said end effector axis that corresponds to another lateral side of said shaft axis.
26. The surgical instrument of claim 21 , wherein said surgical end effector comprises a firing member that is configured for longitudinal travel within said surgical end effector and wherein said elongate shaft assembly comprises a longitudinally movable firing beam that operably interfaces with said firing member and is selectively movable in said distal direction in response to an application of a firing motion thereto and in a proximal direction in response to a retraction motion applied thereto.
27. A surgical instrument, comprising:
an elongate shaft assembly comprising a distal end and a shaft axis;
a surgical end effector pivotally coupled to said distal end of said elongate shaft assembly for selective pivotal travel about an articulation axis that is transverse to said shaft axis;
a stationary sun gear segment on said distal end of said elongate shaft assembly;
an end effector driver link comprising a distal end that is coupled to said surgical end effector for pivotal and longitudinal travel relative thereto and a proximal end comprising a planetary gear segment in meshing engagement with said stationary sun gear segment; and
a selectively movable articulation driver assembly operably interfacing with said end effector driver link to apply articulation motions thereto.
28. The surgical instrument of claim 27 , wherein said articulation driver assembly comprises:
an articulation driver member supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction along an axis that is offset from and parallel to said shaft axis; and
a linkage assembly coupled to said articulation driver member at a first attachment location on one side of said shaft axis, said linkage assembly being further coupled to said end effector driver link.
29. The surgical instrument of claim 27 , wherein said surgical end effector comprises a firing member configured for longitudinal travel within said surgical end effector and wherein said elongate shaft assembly further comprises a longitudinally movable firing beam that operably interfaces with said firing member and is selectively movable in a distal direction in response to an application of a firing motion thereto and in a proximal direction in response to a retraction motion applied thereto.
30. The surgical instrument of claim 27 , wherein said surgical end effector defines an end effector axis that is configured for axial alignment with said shaft axis when said surgical end effector is in an unarticulated position and wherein said articulation driver is supported for selective longitudinal travel along one lateral side of said shaft axis and wherein said end effector driver link is operably coupled to said surgical end effector on a lateral side of said end effector axis that corresponds to another lateral side of said shaft axis.
31. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis;
a surgical end effector pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis; and
an articulation system, comprising:
an articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction; and
means for operably coupling said articulation driver to said surgical end effector, said means for operably coupling being configured to apply articulation motions to said surgical end effector in response to longitudinal movement of said articulation driver, said means for operably coupling being further configured to pivotally and longitudinally move relative to said surgical end effector, said means for operably coupling comprising a triangular shaped link comprising:
a first link corner portion operably coupled to said articulation driver;
a second link corner portion operably coupled to an end effector driver link that is coupled to said surgical end effector for pivotal and longitudinal travel relative thereto; and
a third link corner portion pivotally coupled to a distal end of said elongate shaft assembly.
32. The surgical instrument of claim 31 , wherein said end effector driver link comprises an intermediate proximal drive link end that is pivotally coupled to said triangular shaped link and an end effector driver link end that comprises an axial slot that is configured to slidably receive an end effector attachment member therein.