Articulation and firing force mechanisms
There is provided a surgical instrument incorporating driving force mechanisms capable of transmitting a driving force through an articulated section of the surgical instrument. In one embodiment, a series of racks connect with a transfer gear to pass forces around the articulated section. In an alternative embodiment a series of cable sections and wheels or pulleys are provided to transmit a driving force through the articulated section of the surgical instrument.
1. A method for operating a surgical instrument, the method comprising:
directing a drive force through a proximal portion of an elongate tubular member of the surgical instrument;
redirecting the drive force through a transfer device supported in an articulation portion of the elongate tubular member;
transferring the drive force from the transfer device to a transfer bar disposed in a distal portion of the elongate tubular member while the distal portion is articulated relative to the proximal portion; and
engaging the transfer bar with an actuator positioned in the distal portion to operate an end effector associated with the surgical instrument.
2. The method of claim 1 , further comprising generating the drive force with a drive element positioned in the proximal portion.
3. The method of claim 1 , further comprising rotating a gear mounted at a point of articulation in the articulation portion.
4. The method of claim 1 , further comprising releaseably engaging a drive tooth of the transfer bar with at least one abutment of the actuator.
5. The method of claim 1 , further comprising sequentially engaging a plurality of abutments of the actuator with the transfer bar to ratchet the actuator and sequentially actuate the end effector.
6. The method of claim 1 , further comprising rotating at least one wheel mounted at a point of articulation in the articulation portion.
7. The method of claim 6 , further comprising passing a flexible cable around the at least one wheel.
8. The method of claim 1 , wherein the drive force is a firing force that facilitates firing of the surgical instrument.
9. A method for operating a surgical instrument, the method comprising:
directing a drive force through a proximal portion of an elongate tubular member of the surgical instrument;
redirecting the drive force through a transfer device supported in an articulation portion of the elongate tubular member;
transferring the drive force from the transfer device to a transfer bar disposed in a distal portion of the elongate tubular member while the distal portion is articulated relative to the proximal portion;
rotating a gear mounted at a point of articulation in the articulation portion; and
axially moving a rack positioned in the proximal portion to rotate the gear about the point of articulation.
10. A method for operating a surgical instrument, the method comprising:
directing a drive force through a proximal portion of an elongate tubular member of the surgical instrument;
redirecting the drive force through a transfer device supported in an articulation portion of the elongate tubular member;
transferring the drive force from the transfer device to a transfer bar disposed in a distal portion of the elongate tubular member while the distal portion is articulated relative to the proximal portion;
rotating a gear mounted at a point of articulation in the articulation portion; and
axially moving the transfer bar within the distal portion in response to rotation of the gear.