Articulatable surgical instruments with articulation stroke amplification features
A surgical tool assembly that includes an elongate shaft that has an end effector coupled thereto for selective articulation relative to the shaft. A first articulation link operably interfaces with a source of articulation motions configured to selectively axially move the first articulation link a first axial distance in a first articulation direction. A second articulation link operably interfaces with the surgical end effector to apply articulation motions thereto. An articulation stroke multiplier operably interfaces with the first articulation link and the second articulation link such that when the first articulation link is axially moved the first axial distance in the first axial direction, the articulation stroke multiplier moves the second articulation link another first axial distance in the first axial direction that is greater than the first axial distance.
1. A surgical tool assembly, 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;
a first articulation link operably interfacing with a source of articulation motions to selectively axially move said first articulation link a first axial distance in a first axial direction;
a second articulation link operably interfacing with said surgical end effector to apply articulation motions thereto; and
an articulation stroke multiplier operably interfacing with said first articulation link and said second articulation link such that when said first articulation link is axially moved said first axial distance in said first axial direction, said articulation stroke multiplier moves said second articulation link another first axial distance in said first axial direction that is greater than said first axial distance.
2. The surgical tool assembly of claim 1 , wherein said source of articulation motions is configured to additionally axially move said first articulation link a second axial distance in a second axial direction and wherein when said first articulation link is moved said second axial distance in said second axial direction, said articulation stroke multiplier moves said second articulation link another second axial distance in said second axial direction that is greater than said second axial distance.
3. The surgical tool assembly of claim 1 , wherein said first articulation link comprises a first articulation gear rack and wherein said second articulation link comprises a second articulation gear rack and wherein said articulation stroke multiplier comprises at least one gear set in meshing engagement with said first and second articulation gear racks.
4. The surgical tool assembly of claim 3 , wherein each said at least one gear set comprises:
a first gear rotatably supported in meshing engagement with said first articulation gear rack; and
a second gear attached to said first gear for rotation therewith, said second gear having a larger diameter than a diameter of said first gear, said second gear in meshing engagement with said second articulation gear rack.
5. The surgical tool assembly of claim 1 , wherein said second articulation link operably interfaces with an articulation lock assembly that is operably coupled to said surgical end effector.
6. The surgical tool assembly of claim 1 , wherein said first articulation link comprises a first articulation gear rack and wherein said articulation stroke multiplier comprises a swing gear in meshing engagement with said first articulation gear rack and slidably coupled to said second articulation link.
7. The surgical tool assembly of claim 6 , wherein said swing gear is supported for rotational travel about a swing gear mounting axis that is transverse to said first and second articulation links.
8. The surgical tool assembly of claim 6 , wherein said second articulation link comprises a slotted distal end slidably engaging a portion of said swing gear therein.
9. The surgical tool assembly of claim 6 , wherein said swing gear has a slot therein configured to slidably engage a distal end portion of said second articulation link.
10. A surgical tool assembly, comprising:
an elongate shaft defining a shaft axis,
a surgical end effector comprising:
an elongate channel configured to operably support a surgical staple cartridge therein and coupled to said elongate shaft for selective articulation relative to said elongate shaft about an articulation axis that is transverse to said shaft axis; and
an anvil movably supported on said elongate channel and wherein said surgical tool assembly further comprises:
a first articulation link operably interfacing with a source of articulation motions to selectively axially move said first articulation link a first axial distance in a first axial direction;
a second articulation link operably interfacing with said surgical end effector to apply articulation motions thereto; and
an articulation stroke multiplier operably interfacing with said first articulation link and said second articulation link such that when said first articulation link is axially moved said first axial distance in said first axial direction, said articulation stroke multiplier moves said second articulation link another first axial distance in said first axial direction that is greater than said first axial distance.
11. The surgical tool assembly of claim 10 , wherein said source of articulation motions comprises:
a firing member assembly operably interfacing with a firing member that is supported for axial travel within said elongate channel: and
a clutch assembly operably interfacing with said first articulation link and said firing member assembly and being selectively configurable between a firing mode, wherein axial movement of said firing member assembly is applied to said firing member and an articulation mode wherein said axial movement of said firing member assembly is applied to said first articulation link.
12. The surgical tool assembly of claim 11 , wherein when said clutch assembly is in said articulation mode, said firing member assembly is configured to additionally axially move said first articulation link a second axial distance in a second axial direction and wherein when said first articulation link is moved said second axial distance in said second axial direction, said articulation stroke multiplier moves said second articulation link another second axial distance in said second axial direction that is greater than said secondary axial distance.
13. The surgical tool assembly of claim 11 , wherein said first articulation link comprises a first articulation gear rack and wherein said second articulation link comprises a second articulation gear rack and wherein said articulation stroke multiplier comprises at least one gear set in meshing engagement with said first and second articulation gear racks.
14. The surgical tool assembly of claim 13 , wherein each said at least one gear set comprises:
a first gear rotatably supported in meshing engagement with said first articulation gear rack; and
a second gear attached to said first gear for rotation therewith, said second gear having a larger diameter than a diameter of said first gear, said second gear in meshing engagement with said second articulation gear rack.
15. The surgical tool assembly of claim 11 , wherein said second articulation link operably interfaces with an articulation lock assembly that is operably coupled to said surgical end effector.
16. The surgical tool assembly of claim 11 , wherein said first articulation link comprises a first articulation gear rack and wherein said articulation stroke multiplier comprises a swing gear in meshing engagement with said first articulation gear rack and slidably coupled to said second articulation link.
17. The surgical tool assembly of claim 16 , wherein said swing gear is supported for rotational travel about a swing gear mounting axis that is transverse to said first and second articulation links.
18. The surgical tool assembly of claim 16 , wherein said second articulation link comprises a slotted distal end slidably engaging a portion of said swing gear therein.
19. The surgical tool assembly of claim 16 , wherein said swing gear has a slot therein configured to slidably engage a distal end portion of said second articulation link.
20. A surgical tool assembly, 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;
a first articulation link operably interfacing with a source of articulation motions to selectively axially move said first articulation link a first axial distance in a first axial direction;
a second articulation link operably interfacing with said surgical end effector to apply articulation motions thereto; and
an articulation stroke multiplying means operably interfacing with said first articulation link and said second articulation link to move said second articulation link a second axial distance in response to movement of said first articulation link said first axial distance, wherein said first axial distance is less than said second axial distance.