Articulatable surgical end effector with asymmetric shaft arrangement
A surgical tool assembly. A surgical end effector is movably coupled to a shaft assembly by an articulation joint that is configured to facilitate selective articulation of the surgical end effector relative to the shaft assembly. The shaft assembly includes a proximal end portion and a distal end portion. The distal end portion is operably coupled to the articulation joint. An elongate notch is provided in the distal end portion and is located on one lateral side of a shaft axis that is defined by the shaft assembly. The shaft assembly may be configured to prevent the distal end portion from buckling when an axial actuation motion is applied to the proximal end.
1. A surgical tool assembly, comprising:
a surgical end effector movably coupled to a shaft assembly by an articulation joint that is configured to facilitate selective articulation of said surgical end effector relative to said shaft assembly about an articulation axis that is transverse to a shaft axis that is defined by said shaft assembly, wherein said shaft assembly comprises a first lateral side and a second lateral side, wherein said first lateral side and said second lateral side are on opposing sides of said shaft axis, wherein said articulation joint is configured to permit articulation of said surgical end effector about said articulation axis through an articulation angle only on said first lateral side of said shaft axis, wherein said articulation angle is greater than zero degrees, and wherein said shaft assembly comprises:
a spine member comprising a proximal spine end and a distal spine end, wherein said distal spine end comprises a portion of said articulation joint; and
a hollow outer tubular member movably supported on said spine member for selective axial travel on said spine member relative to said surgical end effector, wherein said hollow outer tubular member is configured to apply control motions to said surgical end effector, wherein said hollow outer tubular member comprises an elongate outer notch in an outer wall of said hollow outer tubular member on said second lateral side of said shaft axis, wherein said elongate outer notch is located adjacent said articulation joint, wherein said elongate outer notch comprises an axial length and a width, and wherein said axial length is greater than said width.
2. The surgical tool assembly of claim 1 , wherein said hollow outer tubular member comprises
a hollow proximal closure member supported on said spine member for selective axial travel relative thereto, wherein said hollow proximal closure member comprises a proximal outer wall, and wherein said elongate outer notch extends through said proximal outer wall, wherein said spine member further comprises an elongate spine notch in said distal spine end on said second lateral side of said shaft axis, and wherein said elongate outer notch is configured for axial alignment with said elongate spine notch.
3. The surgical tool assembly of claim 2 , wherein said surgical end effector comprises:
a first jaw comprising another portion of said articulation joint; and
a second jaw supported for selective movable travel relative to said first jaw in response to closure motions applied thereto.
4. The surgical tool assembly of claim 3 , wherein said shaft assembly further comprises a distal closure member movably coupled to said hollow proximal closure member for selective axial travel therewith relative to said surgical end effector, and wherein said distal closure member operably interfaces with said second jaw to apply said closure motions thereto.
5. The surgical tool assembly of claim 1 , further comprising means for preventing buckling of a distal end of said hollow outer tubular member when an axial actuation motion is applied to a proximal end of said hollow outer tubular member.
6. The surgical tool assembly of claim 2 , further comprising means for preventing buckling of a distal end of said hollow proximal closure member when an axial actuation motion is applied to a proximal end of said hollow proximal closure member.
7. The surgical tool assembly of claim 6 , wherein said means for preventing buckling comprises at least one alignment member protruding from said hollow proximal closure member and extending into a corresponding axial slot in said spine member.
8. The surgical tool assembly of claim 7 , wherein said at least one alignment member comprises:
at least one first alignment member protruding from said hollow proximal closure member at a first location and extending into a corresponding first axial slot in said spine member for axial travel therein; and
at least one second alignment member protruding from said hollow proximal closure member at a second location that is diametrically opposed to said first location, said second alignment member extending into a corresponding second axial slot in said spine member.
9. The surgical tool assembly of claim 7 , wherein at least one of said at least one alignment member has an L-shaped cross-sectional shape.
10. A surgical tool assembly, comprising:
a surgical end effector movably coupled to a shaft assembly by an articulation joint that is configured to facilitate selective articulation of said surgical end effector relative to said shaft assembly about an articulation axis that is transverse to a shaft axis that is defined by said shaft assembly, wherein said shaft assembly comprises a first lateral side and a second lateral side, wherein said first lateral side and second lateral side are on opposing sides of said shaft axis, wherein said articulation joint is configured to permit articulation of said surgical end effector about said articulation axis through an articulation angle only on said first lateral side of said shaft axis, wherein said articulation angle is greater than zero degrees, and wherein said shaft assembly comprises:
a spine member comprising a proximal spine end and a distal spine end, wherein said distal spine end is operably coupled to said articulation joint; and
a hollow outer tubular member movably supported on said spine member for selective axial travel on said spine member relative to said surgical end effector to apply control motions thereto, wherein said hollow outer tubular member comprises:
a proximal outer portion including an uninterrupted, annular outer proximal perimeter; and
a distal outer portion comprising a distal annular outer perimeter that comprises a discontinuous distal portion that is located on said second lateral side of said shaft axis, wherein said discontinuous distal portion comprises an axial length and a width, wherein said axial length is greater than said width.
11. The surgical tool assembly of claim 10 , wherein said hollow outer tubular member comprises
a proximal closure member supported on said spine member for selective axial travel relative thereto, and wherein said discontinuous distal portion comprises an elongate closure member notch in said proximal closure member on said second lateral side of said shaft axis.
12. The surgical tool assembly of claim 11 , wherein said spine member further comprises an elongate spine notch, wherein said discontinuous distal portion is configured for axial alignment with said elongate spine notch.
13. The surgical tool assembly of claim 11 , further comprising means for preventing buckling of said hollow outer tubular member when an axial actuation motion is applied to said proximal closure member.
14. The surgical tool assembly of claim 13 , wherein said means for preventing buckling comprises at least one alignment member protruding from said proximal closure member and extending into a corresponding axial slot in said spine member.
15. The surgical tool assembly of claim 14 , wherein said at least one alignment member comprises:
at least one first alignment member protruding from said proximal closure member at a first location and extending into a corresponding first axial slot in said spine member for axial travel therein; and
at least one second alignment member protruding from said proximal closure member at a second location that is diametrically opposed to said first location, said second alignment member extending into a corresponding second axial slot in said spine member.
16. The surgical tool assembly of claim 14 , wherein at least one of said at least one alignment member has an L-shaped cross-sectional shape.
17. The surgical tool assembly of claim 10 , wherein said discontinuous distal portion includes a distal axial length and wherein said proximal outer portion includes a proximal axial length and wherein said proximal axial length is greater than said distal axial length.
18. A surgical tool assembly, comprising:
a surgical end effector movably coupled to a shaft assembly by an articulation joint that is configured to facilitate selective articulation of said surgical end effector relative to said shaft assembly about an articulation axis that is transverse to a shaft axis that is defined by said shaft assembly, wherein said shaft assembly comprises a first lateral side and a second lateral side, wherein said first lateral side and said second lateral side are on opposing sides of said shaft axis, wherein said articulation joint is configured to permit articulation of said surgical end effector about said articulation axis through an articulation angle only on said first lateral side of said shaft axis, wherein said articulation angle is greater than zero degrees, and wherein said shaft assembly comprises:
a spine member comprising a proximal spine end and a distal spine end operably coupled to said articulation joint;
a hollow outer tubular member movably supported on said spine member for selective axial travel on said spine member relative to said surgical end effector to apply control motions thereto, wherein said hollow outer tubular member comprises an elongate outer notch in an outer wall thereof on said second lateral side of said shaft axis, wherein said elongate outer notch is located adjacent said articulation joint, wherein said elongate outer notch comprises an axial length and a width, and wherein said axial length is greater than said width; and
an axially displaceable firing member axially aligned with said shaft axis.
19. The surgical tool assembly of claim 18 , wherein said surgical end effector comprises:
a first jaw; and
a second jaw supported for selective movable travel relative to said first jaw in response to closure motions applied thereto by said hollow outer tubular member.
20. The surgical tool assembly of claim 19 wherein said hollow outer tubular member is configured to move said second jaw from an open position to a closed position relative to said first jaw without axially moving said firing member.
21. The surgical tool assembly of claim 20 , wherein said firing member comprises a tissue cutting feature.
22. The surgical tool assembly of claim 2 , wherein said elongate spine notch comprises another axial length and another width, and wherein said another axial length is greater than said another width.
23. The surgical tool assembly of claim 22 , wherein said another axial length is at least as long as said axial length.
24. The surgical tool assembly of claim 3 , wherein said control motions comprise said closure motions.