Laterally actuatable articulation lock arrangements for locking an end effector of a surgical instrument in an articulated configuration
A surgical instrument that includes an elongate shaft that has an end effector coupled thereto for selective articulation relative to the shaft. At least one articulation link operably interfaces with a source of articulation motions and is coupled to the end effector for applying articulation motions thereto. An articulation lock member corresponds to each articulation link and is configured to laterally move into locking engagement with the corresponding articulation link from an unlocked position that is laterally adjacent to the corresponding articulation link. An actuation system operably interfaces with each of the articulation lock members to selectively laterally move each articulation lock member from the unlocked position into locking engagement with the corresponding articulation link.
1. A surgical instrument, comprising:
an elongate shaft defining a shaft axis,
a surgical end effector coupled to said elongate shaft for selective articulation relative to said elongate shaft about an articulation axis that is transverse to said shaft axis;
at least one articulation link operably interfacing with a source of articulation motions and being coupled to said surgical end effector for applying said articulation motions thereto;
an articulation lock arrangement comprising an articulation lock member corresponding to each said articulation link, each said articulation lock member configured to laterally move into locking engagement with said corresponding articulation link from an unlocked position that is laterally adjacent to said corresponding articulation link; and
actuation means operably interfacing with each of said articulation lock members to selectively laterally move each said articulation lock member from said unlocked position into locking engagement with said corresponding articulation link.
2. The surgical instrument of claim 1 , wherein each said at least one articulation link comprises a plurality of articulation link teeth, and wherein said articulation lock member corresponding thereto comprises a plurality of locking teeth oriented relative thereto in a lateral confronting relationship for said meshing engagement therewith when said corresponding articulation lock member is laterally advanced toward said articulation link.
3. The surgical instrument of claim 1 , wherein said at least one articulation link comprises:
an axially movable right articulation link including comprising a plurality of right articulation link teeth; and
an axially movable left articulation link comprising a plurality of left articulation link teeth, and wherein said articulation lock member comprises:
a right articulation lock member comprising a plurality of right locking teeth that are in lateral confronting relationship with said plurality of right articulation link teeth for meshing engagement therewith when said right articulation lock member is laterally advanced toward said right articulation link; and
a left articulation lock member including a plurality of left locking teeth that are in lateral confronting relationship with said plurality of left articulation link teeth for meshing engagement therewith when said left articulation lock member is laterally advanced toward said left articulation link.
4. The surgical instrument of claim 3 , wherein said actuation means comprises a locking actuator movably positioned relative to said right articulation lock member and said left articulation lock member such that axial movement of said locking actuator in a first axial direction causes said right articulation lock member to move laterally toward said right articulation link so as to bring said right locking teeth into locking engagement with said right articulation link teeth and said left articulation lock member to move laterally toward said left articulation link so as to bring said left locking teeth into locking engagement with said left articulation link teeth.
5. The surgical instrument of claim 4 , wherein said axial movement of said locking actuator in a first axial direction causes said right articulation lock member and said left articulation lock member to simultaneously move laterally away from each other, wherein said right articulation lock member lockingly engages said right articulation link, and wherein said left articulation lock member lockingly engages said left articulation link.
6. The surgical instrument of claim 3 , wherein said actuation means operably interfaces with said source of articulation motions, and wherein said source of articulation motions comprises:
an axially movable firing actuator configured to selectively apply firing motions to a corresponding portion of said surgical end effector; and
an articulation transmission operably interfacing with said right and left articulation links and said axially movable firing actuator such that actuation of said axially movable firing actuator in a first axial firing direction moves said right articulation link in a first axial direction and said left articulation link in a second axial direction and movement of said axially movable firing actuator in said second axial direction moves said right articulation link in said second axial direction and said left articulation link in said first axial direction.
7. The surgical instrument of claim 6 , wherein said articulation lock arrangement further comprises a locking actuator movably positioned relative to said right articulation lock member and said left articulation lock member such that axial movement of said locking actuator in said first axial direction causes said right articulation lock member to move laterally toward said right articulation link so as to bring said plurality of right locking teeth into locking engagement with said plurality of right articulation link teeth and said left articulation lock member to move laterally toward said left articulation link so as to bring said plurality of left locking teeth into locking engagement with said plurality of left articulation link teeth.
8. The surgical instrument of claim 7 , wherein said articulation transmission comprises:
a gear assembly in meshing engagement with said right and left articulation links; and
a shifter configured for selective meshing engagement with said gear assembly and said axially movable firing actuator, said shifter configured for selective operable engagement with said locking actuator such that when said shifter is in operable engagement with said locking actuator, said shifter is moved into meshing engagement with said axially movable firing actuator and said gear assembly and movement of said shifter out of operable engagement with said locking actuator also moves said shifter out of meshing engagement with said gear assembly and said axially movable firing actuator.
9. The surgical instrument of claim 3 , wherein said right articulation lock member is coupled to said left articulation lock member.
10. The surgical instrument of claim 1 , wherein said source of articulation motions comprises:
an axially movable firing actuator configured to selectively apply firing motions to a corresponding portion of said surgical end effector; and
an articulation transmission operably interfacing with said axially movable firing actuator and said at least one articulation link such that actuation of said axially movable firing actuator in a first axial firing direction moves said at least one articulation link in a first axial articulation direction and movement of said axially movable firing actuator in a second axial retraction direction moves said at least one articulation link in a second axial articulation direction.
11. The surgical instrument of claim 10 , wherein said corresponding portion of said surgical end effector comprises a firing member attached to said axially movable firing actuator, said firing member supported for axial travel through said surgical end effector between a starting and ending position therein.
12. A surgical instrument, comprising:
an elongate shaft;
a surgical end effector coupled to said elongate shaft for selective articulation relative thereto;
a source of articulation motions;
a first axially movable articulation link operably interfacing with said source of said articulation motions, wherein said first axially movable articulation link is coupled to said surgical end effector to apply said articulation motions thereto;
a first articulation lock member configured to laterally move between a first unlocked position wherein said first articulation link is axially movable and a first locked position wherein said first articulation lock member prevents axial movement of said first articulation link; and
an axially movable lock actuator operably interfacing with said first articulation lock member to selectively laterally move said first articulation lock member from said first unlocked position to said first locked position.
13. The surgical instrument of claim 12 , further comprising:
a second axially movable articulation link operably interfacing with said source of articulation motions, wherein said second axially movable articulation link is coupled to said surgical end effector to apply other said articulation motions thereto; and
a second articulation lock member configured to laterally move between a second unlocked position wherein said second articulation link is axially movable and a second locked position wherein said second articulation lock member prevents axial movement of said second articulation link, and wherein said axially movable lock actuator operably interfaces with said second articulation lock member to selectively laterally move said second articulation lock member from said second unlocked position to said second locked position.
14. The surgical instrument of claim 13 , wherein said first articulation lock member and said second articulation lock member are coupled together.
15. The surgical instrument of claim 13 , wherein said first articulation link comprises plurality of first articulation link teeth, wherein said first articulation lock member comprises a plurality of first lock teeth that are configured to meshingly engage said plurality of said first articulation link teeth when said first articulation lock member is in said first locked position, wherein said second articulation link comprises plurality of second articulation link teeth, wherein said second articulation lock member comprises a plurality of second lock teeth that are configured to meshingly engage said plurality of said second articulation link teeth when said second articulation lock member is in said second locked position.
16. The surgical instrument of claim 13 , wherein said source of articulation motions comprises:
an axially movable firing actuator configured to selectively apply firing motions to a corresponding portion of said surgical end effector; and
an articulation transmission operably interfacing with said axially movable firing actuator and said first articulation link and said second articulation link such that actuation of said axially movable firing actuator in a first axial firing direction moves said first articulation link in a first axial articulation direction and said second articulation link in a second axial articulation direction, and wherein movement of said axially movable firing actuator in a second axial retraction direction moves said first articulation link in said second axial articulation direction and said second articulation link in said first axial articulation direction.
17. The surgical instrument of claim 16 , wherein said articulation transmission comprises:
a gear assembly in meshing engagement with said first articulation link and said second articulation link; and
a shifter configured for selective meshing engagement with said gear assembly and said axially movable firing actuator, wherein said shifter is configured for selective operable engagement with said lock actuator such that when said shifter is in operable engagement with said lock actuator, said shifter is moved into meshing engagement with said axially movable firing actuator and said gear assembly, and wherein movement of said shifter out of operable engagement with said lock actuator also moves said shifter out of meshing engagement with said gear assembly and said axially movable firing actuator.