Articulatable surgical instruments with single articulation link arrangements
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. The surgical instrument further includes an articulation system that comprises a single articulation driver that is supported for longitudinal travel along a path that is laterally offset from the shaft axis. A cross link is coupled to the articulation driver and extends transversely across the shaft axis to be coupled to the surgical end effector.
1. 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 configured to move said surgical end effector between an articulated configuration and a non-articulated configuration, wherein said articulation system comprises:
a single articulation driver supported for longitudinal travel along a path that is laterally offset from said shaft axis; and
a cross link, comprising:
a proximal end pivotally coupled to said articulation driver, wherein said proximal end defines a first axis; and
a distal end pivotally coupled to said surgical end effector, wherein said cross link extends across said shaft axis at least when said surgical end effector is in said non-articulated configuration, and wherein said distal end defines a second axis which is transverse to said first axis.
2. The surgical instrument of claim 1 , wherein said articulation axis intersects said shaft axis.
3. The surgical instrument of claim 1 , wherein said surgical end effector defines an end effector axis and wherein said surgical end effector is selectively articulatable between a non-articulated position wherein said end effector axis is axially aligned with said shaft axis and a fully articulated position located to one lateral side of said shaft axis wherein said end effector axis is transverse to said shaft axis.
4. The surgical instrument of claim 3 , wherein when said surgical end effector is in said fully articulated position, said end effector axis is located at an articulation angle relative to said shaft axis and wherein said articulation angle is at least sixty-five degrees.
5. The surgical instrument of claim 3 , wherein said surgical end effector is selectively articulatable to another fully articulated position located on another lateral side of said shaft axis.
6. The surgical instrument of claim 1 , wherein said cross link is pivotally coupled to a proximal end of said surgical end effector about a link axis that is parallel to said articulation axis.
7. The surgical instrument of claim 1 , wherein said single articulation driver is configured to apply pushing and pulling motions to said cross link.
8. The surgical instrument of claim 1 , wherein said surgical end effector comprises a firing member configured for axial travel within said surgical end effector and wherein said elongate shaft assembly further comprises an axially 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.
9. The surgical instrument of claim 8 , further comprising a middle support member that is configured to laterally support said firing member when said surgical end effector is articulated about said articulation axis, said middle support member pivotally coupled to said surgical end effector and being pivotally and slidably supported relative to said elongate shaft assembly.
10. The surgical instrument of claim 1 , wherein said surgical end effector further comprises a staple cartridge comprising a plurality of staples removably stored in said staple cartridge.
11. 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 at an attachment location on said distal end of said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis; and
an articulation drive assembly supported for longitudinal travel relative to said elongate shaft assembly along an articulation actuation axis that is parallel to said shaft axis and spaced to a first lateral side of said shaft axis, said articulation drive assembly pivotally coupled to said surgical end effector at a single attachment location that is located on another lateral side of said shaft axis, wherein said articulation drive assembly is configured to apply pushing and pulling motions to said surgical end effector across said shaft axis to articulate said surgical end effector about said articulation axis, wherein said articulation drive assembly comprises:
a distal articulation driver supported by said elongate shaft assembly for longitudinal travel along said articulation actuation axis in response to articulation control motions applied thereto; and
a cross link, comprising:
a proximal end pivotally coupled to said distal articulation driver; and
a distal end pivotally coupled to said surgical end effector at said single attachment location, wherein said cross link extends transversely across said shaft axis, and wherein said cross link comprises a non-linear proximal-to-distal profile.
12. The surgical instrument of claim 11 , wherein said proximal end of said surgical end effector is pivotally coupled to said distal end of said elongate shaft assembly by a pivot member that defines said articulation axis.
13. The surgical instrument of claim 11 , wherein said cross link has a curved shape.
14. The surgical instrument of claim 11 , wherein said surgical end effector further comprises a staple cartridge comprising a plurality of staples removably stored in said staple cartridge.
15. 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 at an attachment location on said distal end of said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis through a first range of articulation angles on a first lateral side of said shaft axis and through a second range of articulation angles on a second lateral side of said shaft axis, wherein said surgical end effector comprises a staple cartridge comprising a plurality of staples removably stored in said staple cartridge; and
an articulation drive assembly supported for longitudinal travel relative to said elongate shaft assembly along an articulation actuation axis that is parallel to and laterally offset on one of said first and second lateral sides of said shaft axis, said articulation drive assembly pivotally coupled to said surgical end effector at a single attachment location that is located on the other one of said first and second lateral sides of said shaft axis to selectively apply pulling and pushing motions to said surgical end effector, wherein said articulation drive assembly is configured to transfer pulling and pushing motions across said shaft axis, wherein said articulation drive assembly comprises:
a distal articulation driver supported by said elongate shaft assembly for longitudinal travel in response to articulation control motions applied thereto; and
a cross link, comprising:
a proximal end pivotally coupled to said distal articulation driver; and
a distal end pivotally coupled to said surgical end effector at said attachment location, wherein said cross link extends transversely across said shaft axis.
16. The surgical instrument of claim 15 , wherein said first range of articulation angles is between one degree and sixty five degrees and wherein said second range of articulation angles is between one degree and sixty five degrees.
17. The surgical instrument of claim 15 , wherein when said distal articulation driver is moved in a distal direction, said surgical end effector is pivoted in a first articulation direction and when said distal articulation driver is moved in a proximal direction, said surgical end effector is pivoted in a second articulation direction.
18. The surgical instrument of claim 17 , wherein said surgical end effector comprises a firing member that is configured for axial travel within said surgical end effector and wherein said elongate shaft assembly further comprises an axially 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. The surgical instrument of claim 18 , further comprising a middle support member that is configured to laterally support said firing member when said surgical end effector is articulated about said articulation axis, said middle support member being pivotally coupled to said surgical end effector and is pivotally and slidably supported relative to said elongate shaft assembly.
20. The surgical instrument of claim 15 , wherein said cross link comprises a proximal portion defining a first axis and a distal portion defining a second axis, and wherein said first axis and said second axis are transverse relative to each other.
21. The surgical instrument of claim 20 , wherein said second axis is at least substantially parallel to said shaft axis.