Surgical instrument with articulating and axially translatable end effector
A surgical instrument comprising an elongate shaft assembly that defines a shaft axis. The surgical instrument includes a surgical end effector that has a distal end and a proximal end. The proximal end is pivotally coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to the shaft axis. The surgical end effector is selectively pivotable about the articulation axis from an unarticulated position wherein the distal end of the surgical end effector is located an unarticulated distance from the articulation axis to articulated positions wherein the distal end of the surgical end effector is located a corresponding articulated distance from the articulation axis that is less than the unarticulated distance.
1. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis;
a surgical end effector comprising a distal end and a proximal end, said proximal end being 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 selectively pivotable about said articulation axis from an unarticulated position wherein said distal end of said surgical end effector is located an unarticulated distance from said articulation axis to articulated positions wherein said distal end of said surgical end effector is located a corresponding articulated distance from said articulation axis that is less than said unarticulated distance; and
means for selectively applying articulation motions to said surgical end effector, wherein said means for selectively applying comprises a rotary gear in meshing engagement with said surgical end effector.
2. The surgical instrument of claim 1 , wherein said proximal end of said surgical end effector comprises an elliptical gear profile in meshing engagement with said rotary gear.
3. The surgical instrument of claim 2 , wherein said means for selectively applying comprises a selectively axially moveable distal articulation driver that operably interfaces with said rotary gear.
4. The surgical instrument of claim 3 , further comprising:
a drive slot in said selectively axially movable distal articulation driver; and
a drive pin attached to said rotary gear and slidably received in said drive slot.
5. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis;
a surgical end effector comprising a distal end and a proximal end, said proximal end being 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 selectively pivotable about said articulation axis from an unarticulated position wherein said distal end of said surgical end effector is located an unarticulated distance from said articulation axis to articulated positions wherein said distal end of said surgical end effector is located a corresponding articulated distance from said articulation axis that is less than said unarticulated distance; and
means for selectively applying articulation motions to said surgical end effector, wherein said means for selectively applying comprises:
a central articulation link supported for rotational travel about said articulation axis;
a selectively axially movable articulation driver interfacing with said central articulation link at a first location on a first side of said shaft axis; and
an articulation drive link comprising a first end coupled to said surgical end effector and a second end coupled to said central articulation link at a second location on a second side of said shaft axis.
6. The surgical instrument of claim 5 , wherein said means for selectively applying comprises:
a central articulation gear supported for travel about said articulation axis; and
a gear profile on said second end of said articulation drive link, said gear profile in meshing engagement with said central articulation gear.
7. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis;
a surgical end effector comprising a distal end and a proximal end, said proximal end being movably coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis and translational travel relative to said articulation axis; and
an articulation system operably interfacing with said surgical end effector to selectively apply articulation motions thereto, wherein said articulation system comprises:
a rotary gear in meshing engagement with said surgical end effector; and
means for rotating said rotary gear.
8. The surgical instrument of claim 7 , further comprising an elliptical gear segment on said proximal end of said surgical end effector in meshing engagement with said rotary gear.
9. The surgical instrument of claim 7 , wherein said means for rotating said rotary gear comprises:
a selectively axially moveable distal articulation driver comprising a drive slot; and
a drive pin attached to said rotary gear and slidably received in said drive slot.
10. The surgical instrument of claim 9 , wherein said drive slot is transverse to said shaft axis.
11. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis;
a surgical end effector comprising a distal end and a proximal end, said proximal end being movably coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis and translational travel relative to said articulation axis; and
an articulation system operably interfacing with said surgical end effector to selectively apply articulation motions thereto, wherein said surgical end effector is configured to cut and staple tissue.
12. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis;
a surgical end effector comprising a distal end and a proximal end, said proximal end being movably coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis and translational travel relative to said articulation axis; and
an articulation system operably interfacing with said surgical end effector to selectively apply articulation motions thereto, wherein said articulation system comprises:
a central articulation link supported for rotational travel about said articulation axis;
a selectively axially movable articulation driver interfacing with said central articulation link at a first location on a first side of said shaft axis; and
an articulation drive link comprising a first end coupled to said surgical end effector and a second end coupled to said central articulation link at a second location on a second side of said shaft axis.
13. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis; and
a surgical end effector configured to cut and staple tissue, wherein said surgical end effector comprises:
a distal end; and
a proximal end pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis;
wherein said surgical end effector is selectively pivotable about said articulation axis between an unarticulated position and a plurality of articulated positions, wherein said distal end is located an unarticulated distance from said articulation axis in said unarticulated position of said surgical end effector, wherein said distal end is located a corresponding articulated distance from said articulation axis in each said articulated position of said surgical end effector, and wherein each said corresponding articulated distance is less than said unarticulated distance.
14. The surgical instrument of claim 13 , further comprising a rotary gear in meshing engagement with said surgical end effector.
15. The surgical instrument of claim 14 , wherein said proximal end comprises an elliptical gear profile in meshing engagement with said rotary gear.
16. The surgical instrument of claim 15 , further comprising:
a selectively axially moveable distal articulation driver that operably interfaces with said rotary gear;
a drive slot in said selectively axially movable distal articulation driver; and
a drive pin attached to said rotary gear and slidably received in said drive slot.
17. A surgical instrument, comprising:
an elongate shaft assembly comprising a distal shaft portion, wherein said elongate shaft assembly defines a shaft axis; and
a surgical end effector configured to cut and staple tissue, wherein said surgical end effector comprises a distal end and a proximal end, wherein said surgical end effector defines an end effector axis, wherein said proximal end is movably coupled to said distal shaft portion for selective travel between an unarticulated position, in which said end effector axis is aligned with said shaft axis, and articulated positions, in which said end effector axis is transverse to said shaft axis, wherein said distal end is located an unarticulated distance from said distal shaft portion in said unarticulated position of said surgical end effector, wherein said distal end is located a corresponding articulated distance from said distal shaft portion in each said articulated position of said end effector, and wherein each said corresponding articulated distance is less than said unarticulated distance.
18. The surgical instrument of claim 17 , further comprising a rotary gear in meshing engagement with said surgical end effector.
19. The surgical instrument of claim 18 , wherein said proximal end comprises an elliptical gear profile in meshing engagement with said rotary gear.
20. The surgical instrument of claim 19 , further comprising:
a selectively axially moveable distal articulation driver that operably interfaces with said rotary gear;
a drive slot in said selectively axially movable distal articulation driver; and
a drive pin attached to said rotary gear and slidably received in said drive slot.