Shaft assembly comprising first and second articulation lockouts
An end effector is disclosed which comprises a shaft, an end effector rotatably connected to the shaft about an articulation joint, and an articulation driver configured to rotate the end effector about the articulation joint. The end effector further comprises a first articulation lock configured to engage the end effector and a second articulation lock configured to engage the articulation driver which co-operatively prevent the end effector from rotating relative to the shaft, when actuated. The actuation and/or de-actuation of the first articulation lock and the second articulation lock can be contemporaneous or, in certain instances, staggered.
1. A shaft assembly, comprising:
a shaft frame;
an end effector comprising an end effector frame;
an articulation joint, wherein said articulation joint rotatably connects said end effector frame to said shaft frame;
a first articulation driver configured to rotate said end effector about said articulation joint in a first direction;
a second articulation driver configured to rotate said end effector about said articulation joint in a second direction;
a first articulation lock selectively actuatable to engage said end effector frame and prevent said end effector frame from rotating relative to said shaft frame; and
a second articulation lock selectively actuatable to prevent said end effector frame from rotating relative to said shaft frame, wherein said second articulation lock comprises:
a first arm configured to engage said first articulation driver; and
a second arm configured to engage said second articulation driver.
2. The shaft assembly of claim 1 , wherein said first articulation lock and said second articulation lock are both actuated into a locked condition by a lock actuator during a locking motion.
3. The shaft assembly of claim 2 , wherein said first articulation lock is configured to engage said end effector frame before said first arm engages said first articulation driver during said locking motion.
4. The shaft assembly of claim 3 , wherein said first arm is configured to disengage from said first articulation driver before said first articulation lock disengages from said end effector frame during an unlocking motion of said lock actuator.
5. The shaft assembly of claim 2 , wherein said first articulation lock is configured to engage said end effector frame after said first arm engages said first articulation driver during said locking motion.
6. The shaft assembly of claim 5 , wherein said first arm is configured to disengage from said first articulation driver after said first articulation lock disengages from said end effector frame during an unlocking motion of said lock actuator.
7. The shaft assembly of claim 2 , wherein said first articulation lock is configured to engage said end effector frame at the same time that said first arm engages said first articulation driver during said locking motion.
8. The shaft assembly of claim 7 , wherein said first arm is configured to disengage from said first articulation driver at the same time that said first articulation lock disengages from said end effector frame during an unlocking motion of said lock actuator.
9. The shaft assembly of claim 1 , wherein said first articulation lock and said second articulation lock are separately actuatable.
10. The shaft assembly of claim 1 , wherein said second direction is opposite said first direction.
11. The shaft assembly of claim 10 , wherein said second articulation lock is configured to engage said first articulation driver and said second articulation driver and prevent said end effector frame from rotating relative to said shaft frame when said second articulation lock is actuated.
12. The shaft assembly of claim 11 , wherein said second articulation lock is configured to engage said first articulation driver and said second articulation driver at the same time when said second articulation lock is actuated.
13. The shaft assembly of claim 11 , wherein said second articulation lock is configured to engage said first articulation driver and said second articulation driver at different times when said second articulation lock is actuated.
14. A shaft assembly, comprising:
a shaft frame;
an end effector comprising an end effector frame;
an articulation joint, wherein said articulation joint rotatably connects said end effector frame to said shaft frame;
an articulation driver configured to rotate said end effector about said articulation joint;
a first articulation lock selectively actuatable to engage said end effector frame and prevent said end effector frame from rotating relative to said shaft frame; and
a second articulation lock selectively actuatable to engage said articulation driver and prevent said end effector frame from rotating relative to said shaft frame, wherein said articulation driver comprises a first articulation driver configured to rotate said end effector in a first direction, wherein said shaft assembly further comprises a second articulation driver configured to rotate said end effector about said articulation joint in a second direction, wherein said second direction is opposite said first direction, wherein said second articulation lock is configured to engage said second articulation driver and prevent said end effector frame from rotating relative to said shaft frame when said second articulation lock is actuated, wherein said second articulation lock comprises a first arm configured to engage said first articulation driver and a second arm configured to engage said second articulation driver, and wherein said first articulation lock is configured to engage said first arm with said first articulation driver and said second arm with said second articulation driver during a locking motion of said first articulation lock.
15. The shaft assembly of claim 1 , wherein said end effector further comprises a staple cartridge.
16. The shaft assembly of claim 15 , wherein said staple cartridge is replaceable.
17. A shaft assembly, comprising:
a shaft frame;
an end effector comprising an end effector frame;
an articulation joint, wherein said articulation joint rotatably connects said end effector frame to said shaft frame;
a first articulation driver configured to rotate said end effector about said articulation joint;
a second articulation driver configured to rotate said end effector about said articulation joint; and
a lock system configured to:
engage said end effector frame and prevent said end effector frame from rotating relative to said shaft frame; and
engage said first articulation driver and said second articulation driver and prevent said end effector frame from rotating relative to said shaft frame, wherein said lock system comprises:
a first arm selectively engageable with said first articulation driver; and
a second arm selectively engageable with said second articulation driver.
18. The shaft assembly of claim 17 , wherein said end effector further comprises a staple cartridge.
19. A shaft assembly, comprising:
a shaft frame;
an end effector comprising an end effector frame;
an articulation joint, wherein said articulation joint rotatably connects said end effector frame to said shaft frame;
a first articulation driver displaceable to rotate said end effector about said articulation joint in a first direction;
a second articulation driver displaceable to rotate said end effector about said articulation joint in a second direction;
first locking means for selectively preventing the rotation of said end effector about said articulation joint; and
second locking means for selectively preventing the displacement of said first and second articulation drivers, wherein said second locking means comprises:
a first arm configured to engage said first articulation driver; and
a second arm configured to engage said second articulation driver.
20. The shaft assembly of claim 19 , wherein said end effector further comprises a staple cartridge.