Surgical instruments with multiple link articulation arrangements
A surgical instrument comprising 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. A central articulation link is pivotally coupled to the elongate shaft assembly for pivotal travel relative thereto. An intermediate link is movably coupled to the articulation driver and the central articulation link. An end effector driver is movably coupled to the central articulation link and 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, comprising:
an articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction, wherein said surgical end effector is pushed in a first articulation direction upon application of a pulling motion to said articulation driver and wherein said surgical end effector is pulled in a second articulation direction upon application of a pushing motion to said articulation driver;
a central articulation link pivotally coupled to said elongate shaft assembly for pivotal travel relative thereto;
an intermediate link movably coupled to said articulation driver and said central articulation link; and
an end effector driver movably coupled to said central articulation link and said surgical end effector.
2. The surgical instrument of claim 1 , wherein said central articulation link is pivotally coupled to said elongate shaft assembly for pivotal travel relative thereto about a link axis that is offset from said articulation axis.
3. The surgical instrument of claim 2 , wherein said link axis is parallel to said articulation axis and transverse to said shaft axis.
4. The surgical instrument of claim 2 , wherein said central articulation link comprises a first central link end that is movably coupled to said intermediate link and a second central link end that is movably attached to said end effector driver and wherein said first central link end is a first distance from said link axis and wherein said second central link end is a second distance from said link axis and wherein said first distance differs from said second distance.
5. The surgical instrument of claim 4 , wherein said first distance is less than said second distance.
6. The surgical instrument of claim 1 , wherein said central articulation link includes a first length and said intermediate link includes a second length and wherein said end effector driver includes a third length and wherein said second length is shorter than said first and third lengths.
7. The surgical instrument of claim 6 , wherein said first length is shorter than said third length.
8. The surgical instrument of claim 1 , wherein said intermediate link curves in a first direction.
9. The surgical instrument of claim 8 , wherein said end effector driver curves in a second direction that is opposite to said first direction.
10. The surgical instrument of claim 1 , wherein said surgical end effector is selectively articulatable between an unarticulated position and first articulated positions through a first range of articulation angles and wherein said surgical end effector is articulatable between said unarticulated position and second articulated positions through a second range of articulation angles.
11. The surgical instrument of claim 10 , wherein said first range of articulation angles is between one degree and ninety degrees and wherein said second range of articulation angles is between one degree and ninety degrees.
12. 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;
a central articulation link pivotally coupled to said elongate shaft assembly for selective pivotal travel about a link axis that is offset from said articulation axis;
a curved intermediate link movably coupled to said articulation driver and said central articulation link; and
a curved end effector driver pivotally coupled to said central articulation link and said surgical end effector, wherein said curved end effector driver is configured to articulate said surgical end effector about said articulation axis.
13. The surgical instrument of claim 12 , wherein said central articulation link comprises a first central link end that is movably coupled to said intermediate link and a second central link end that is movably attached to said end effector driver and wherein said first central link end is a first distance from said link axis and wherein said second central link end is a second distance from said link axis and wherein said first distance differs from said second distance.
14. The surgical instrument of claim 13 , wherein said first distance is less than said second distance.
15. The surgical instrument of claim 12 , wherein said central articulation link includes a first length and said intermediate link includes a second length and said end effector driver includes a third length and wherein said second length is shorter than said first and third lengths.
16. The surgical instrument of claim 15 , wherein said first length is shorter than said third length.