Articulatable surgical instruments with off-axis firing beam 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 such that the surgical end effector is selectively movable between an unarticulated position and a fully articulated position relative to the shaft axis. A firing beam is movably supported within a pathway in the elongate shaft assembly for selective longitudinal travel therein. The pathway is configured to position a portion of the firing beam exiting the distal end of the elongate shaft member to an off axis position relative to the shaft axis.
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 distal end of said elongate shaft assembly such that said surgical end effector is selectively movable between an unarticulated position and a fully articulated position relative to said shaft axis; and
a firing beam movably supported within a pathway in said elongate shaft assembly for selective longitudinal travel therein, said pathway configured to position a portion of said firing beam exiting said distal end of said elongate shaft assembly to a predetermined off axis position relative to said shaft axis irrespective of the position of said surgical end effector between the unarticulated position and the fully articulated position.
2. The surgical instrument of claim 1 , wherein said pathway comprises:
a first pathway portion aligned on said shaft axis;
a second arcuate pathway portion communicating with said first pathway portion and curving in a first direction away from said shaft axis; and
a third arcuate pathway portion communicating with said second arcuate pathway portion and curving in a second direction toward said shaft axis.
3. The surgical instrument of claim 1 , wherein said surgical end effector is configured to articulate in only one articulation direction that is transverse to said shaft axis.
4. The surgical instrument of claim 1 , wherein said proximal end of said surgical end effector 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 between said unarticulated position and said fully articulated position about an articulation axis that extends transversely relative to said shaft axis, but does not intersect said shaft axis.
5. The surgical instrument of claim 1 , further comprising an articulation driver that is supported for longitudinal travel relative to said elongate shaft assembly and being coupled to said surgical end effector for applying articulation motions thereto.
6. The surgical instrument of claim 5 , wherein said articulation driver is configured to apply pushing and pulling motions to said surgical end effector.
7. The surgical instrument of claim 1 , wherein said pathway comprises:
a first pathway portion that is axially aligned on said shaft axis; and
a second pathway portion communicating with said first pathway portion and extending distally therefrom such that at least a portion of said second pathway portion is not axially aligned with said shaft axis.
8. The surgical instrument of claim 1 , wherein said firing beam comprises a plurality of beam layers that are laminated together.
9. The surgical instrument of claim 1 , wherein said surgical end effector comprises a firing member that operably interfaces with said firing beam and is configured for axial travel within said surgical end effector.
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;
an articulation joint movably coupling said proximal end of said surgical end effector to said distal end of said elongate shaft assembly at an articulation angle;
a firing beam movably supported within said elongate shaft assembly for longitudinal travel therein along said shaft axis; and
means for positioning a portion of said firing beam exiting said distal end of said elongate shaft assembly in a predetermined off axis position relative to said shaft axis irrespective of the articulation angle.
11. The surgical instrument of claim 10 , wherein said articulation joint pivotally couples said proximal end of said surgical end effector to said distal end of said elongate shaft assembly for selective articulation relative to said elongate shaft assembly about an articulation axis that is transverse to, and laterally offset from, said shaft axis.
12. The surgical instrument of claim 10 , 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.
13. The surgical instrument of claim 10 , wherein said firing beam comprises a plurality of beam layers that are laminated together.
14. The surgical instrument of claim 10 , wherein said surgical end effector comprises a firing member operably interfacing with said firing beam and being configured for axial travel within said surgical end effector.
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;
an articulation joint coupling said proximal end of said surgical end effector to said distal end of said elongate shaft assembly at a variable articulation angle;
a firing beam movably supported within said elongate shaft assembly for longitudinal travel therein along said shaft axis; and
means for biasing a portion of said firing beam to an invariable off axis position relative to said shaft axis prior to said articulation joint irrespective of the variable articulation angle.
16. The surgical instrument of claim 15 , wherein said articulation joint pivotally couples said proximal end of said surgical end effector to said distal end of said elongate shaft assembly for selective articulation relative to said elongate shaft assembly about an articulation axis that is transverse to, and laterally offset from, said shaft axis.
17. The surgical instrument of claim 15 , 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.
18. The surgical instrument of claim 15 , wherein said firing beam comprises a plurality of beam layers that are laminated together.
19. The surgical instrument of claim 15 , wherein said surgical end effector comprises a firing member operably interfacing with said firing beam and being configured for axial travel within said surgical end effector.
20. The surgical instrument of claim 15 , wherein said means comprises an arcuate path in a spine portion of said elongate shaft assembly, said arcuate path configured to slidably receive said firing beam therein and opening at a distal end of said spine portion at a location that is axially offset from said shaft axis.