Surgical instruments with tensioning arrangements for cable driven articulation systems
View Patent ↗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 articulation relative to the elongate shaft assembly about an articulation axis that is transverse to the shaft axis. An articulation cable is coupled to the surgical end effector at a point of attachment and is journaled on a proximal pulley that is supported on the elongate shaft assembly. The proximal pulley defines a proximal pulley axis that is located a tension distance from the point of attachment. An articulation driver is coupled to the articulation cable for selectively causing the articulation cable to rotate about the proximal pulley in first and second articulation directions. An adjustable tensioning assembly interfaces with the proximal pulley to selectively adjust the tensioning distance.
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 articulation relative to said elongate shaft assembly about an articulation axis that is transverse to said shaft axis; and
an articulation system, comprising:
an articulation cable coupled to said surgical end effector at a point of attachment and journaled on a proximal pulley supported on said elongate shaft assembly, said proximal pulley defining a proximal pulley axis located a tension distance from said point of attachment;
an articulation driver coupled to said articulation cable for selectively causing said articulation cable to rotate about said proximal pulley in first and second articulation directions; and
an adjustable tensioning assembly interfacing with said proximal pulley to selectively adjust said tension distance, wherein said adjustable tensioning assembly comprises:
a pulley mount supporting said proximal pulley thereon; and
a mounting shaft coupled to said pulley mount and supported in a portion of said elongate shaft assembly for selective rotation relative thereto, said mounting shaft being eccentrically attached to said pulley mount such that rotation of said mounting shaft causes said proximal pulley to move axially to adjust said tension distance between said proximal pulley axis and said point of attachment.
2. The surgical instrument of claim 1 , further comprising a distal pulley attached to said surgical end effector and defining said point of attachment.
3. The surgical instrument of claim 2 , wherein said distal pulley defines said articulation axis.
4. The surgical instrument of claim 1 , wherein said mounting shaft defines a mounting shaft axis that is offset from said proximal pulley axis.
5. 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 articulation relative to said elongate shaft assembly about an articulation axis that is transverse to said shaft axis; and
an articulation system, comprising:
an articulation cable coupled to said surgical end effector at a point of attachment and journaled on a proximal pulley supported on said elongate shaft assembly, said proximal pulley defining a proximal pulley axis located a tension distance from said point of attachment;
an articulation driver coupled to said articulation cable for selectively causing said articulation cable to rotate about said proximal pulley in first and second articulation directions; and
an adjustable tensioning assembly interfacing with said proximal pulley to selectively adjust said tension distance, wherein said adjustable tensioning assembly comprises:
a pulley mount supporting said proximal pulley thereon;
a mounting member attached to said pulley mount and slidably supported on said elongate shaft assembly for selective axial travel relative thereto; and
means for selectively axially moving said mounting member on said elongate shaft assembly, wherein said means for selectively axially moving comprises a rotary cam assembly mounted in said elongate shaft assembly and configured to axially move said mounting member within an axial slot in said elongate shaft assembly.
6. The surgical instrument of claim 5 , wherein said rotary cam assembly comprises:
a tension cam configured for camming contact with said mounting member; and
a mounting spindle coupled to said tension cam and supported in a portion of said elongate shaft assembly for selective rotation relative thereto, said mounting spindle being attached to said tension cam such that rotation of said mounting spindle in a first direction causes said tension cam to axially bias said mounting member within said axial slot.
7. The surgical instrument of claim 6 , wherein said mounting spindle has a knurled outer surface and is configured to be received within a knurled hole in said portion of said elongate shaft assembly.
8. 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 articulation relative to said elongate shaft assembly about an articulation axis that is transverse to said shaft axis; and
an articulation system, comprising:
an articulation cable journaled on a distal pulley attached to said surgical end effector and a proximal pulley supported on said elongate shaft assembly, wherein said articulation cable comprises a first cable end and a second cable end;
an articulation driver coupled to said articulation cable for selectively causing said articulation cable to rotate about said proximal pulley in first and second rotation directions, wherein said first and second cable ends operably interface with said articulation driver; and
an adjustable tensioning assembly supported on said elongate shaft assembly and configured to selectively contact a portion of said articulation cable in a direction that is transverse to said first and second rotation directions to increase an amount of tension in said articulation cable.
9. The surgical instrument of claim 8 , wherein said articulation driver comprises a distal end portion comprising a pair of cleats, said cleats defining a mounting space therebetween and wherein said first cable end comprises a first lug attached thereto that is received within said mounting space and wherein said second cable end comprises a second lug attached thereto and received within said mounting space between said pair of cleats.
10. The surgical instrument of claim 8 , wherein said articulation cable is non-rotatably coupled to said distal pulley.
11. 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 articulation relative to said elongate shaft assembly about an articulation axis that is transverse to said shaft axis; and
an articulation system, comprising:
an articulation cable journaled on a distal pulley attached to said surgical end effector and a proximal pulley supported on said elongate shaft assembly, said articulation cable comprising a first cable end and a second cable end; and
an articulation driver for selectively causing said articulation cable to rotate about said proximal pulley in first and second articulation directions, said articulation driver comprising:
a first cleat attached to said first cable end;
a second cleat attached to said second cable end and being spaced from said first cleat; and
means coupled to said first and second cleats for moving said first and second cable ends toward each other to increase an amount of tension in said articulation cable;
wherein said first cable end comprises a first lug attached to said articulation said cable that is received between said first and second cleats, and wherein said second cable end comprises a second lug that is attached to said articulation cable and is received between said first and second cleats.
12. The surgical instrument of claim 11 , wherein said articulation cable is non-rotatably coupled to said distal pulley.
13. 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 articulation relative to said elongate shaft assembly about an articulation axis that is transverse to said shaft axis, wherein said surgical end effector is configured to cut and staple tissue; and
an articulation system, comprising:
an articulation cable journaled on a distal pulley attached to said surgical end effector and a proximal pulley supported on said elongate shaft assembly, said articulation cable comprising a first cable end and a second cable end; and
an articulation driver for selectively causing said articulation cable to rotate about said proximal pulley in first and second articulation directions, said articulation driver comprising:
a first cleat attached to said first cable end;
a second cleat attached to said second cable end and being spaced from said first cleat; and
means coupled to said first and second cleats for moving said first and second cable ends toward each other to increase an amount of tension in said articulation cable.
14. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis;
a surgical end effector configured to cut and staple tissue, said surgical end effector pivotally coupled to said elongate shaft assembly for selective articulation relative to said elongate shaft assembly about an articulation axis that is transverse to said shaft axis; and
an articulation system, comprising:
an articulation cable coupled to said surgical end effector at a point of attachment and journaled on a proximal pulley supported on said elongate shaft assembly, said proximal pulley defining a proximal pulley axis located a tension distance from said point of attachment;
an articulation driver coupled to said articulation cable for selectively causing said articulation cable to rotate about said proximal pulley in first and second articulation directions; and
an adjustable tensioning assembly interfacing with said proximal pulley to selectively adjust said tension distance.
15. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis;
a surgical end effector configured to cut and staple tissue, said surgical end effector pivotally coupled to said elongate shaft assembly for selective articulation relative to said elongate shaft assembly about an articulation axis that is transverse to said shaft axis; and
an articulation system, comprising:
an articulation cable journaled on a distal pulley attached to said surgical end effector and a proximal pulley supported on said elongate shaft assembly;
an articulation driver coupled to said articulation cable for selectively causing said articulation cable to rotate about said proximal pulley in first and second rotation directions; and
an adjustable tensioning assembly supported on said elongate shaft assembly and configured to selectively contact a portion of said articulation cable in a direction that is transverse to said first and second rotation directions to increase an amount of tension in said articulation cable.