Surgical instrument comprising an articulation system ratio
A shaft assembly is disclosed comprising a shaft including a proximal end, a distal end, a longitudinal axis extending between the proximal end and the distal end, and an outer housing comprising a shaft radius defined with respect to the longitudinal axis. The shaft assembly further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about a fixed articulation axis positioned laterally offset with respect to the longitudinal axis. The shaft assembly further comprises an articulation driver coupled to the end effector frame at an attachment location, wherein a lateral moment arm is defined between the attachment location and the fixed articulation axis, wherein the lateral moment arm is orthogonal to the longitudinal axis, and wherein the shaft assembly is configured such that a ratio of the shaft radius to the lateral moment arm is minimized.
1. A surgical instrument, comprising:
a shaft, comprising:
a proximal end;
a distal end;
a longitudinal axis extending between the proximal end and the distal end; and
an outer housing comprising a shaft radius defined with respect to the longitudinal axis;
an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, wherein the articulation pivot defines a fixed articulation axis, and wherein the fixed articulation axis is positioned laterally offset with respect to the longitudinal axis; and
an articulation driver coupled to the end effector frame at an attachment location, wherein the articulation driver is movable proximally to rotate the end effector in a first direction, wherein the articulation driver is movable distally to rotate the end effector in a second direction which is opposite the first direction, wherein a lateral moment arm is defined between the attachment location and the fixed articulation axis, wherein the lateral moment arm is orthogonal to the longitudinal axis, wherein the lateral moment arm increases to a maximum length when the end effector is fully rotated in the second direction and decreases to a minimum length when the end effector is fully rotated in the first direction, and wherein a ratio of the shaft radius to the lateral moment arm is less than 1.4,
wherein the end effector is rotatable from an unarticulated position through a first range in the first direction and from the unarticulated position through a second range in the second direction, wherein the first range and the second range are not equal.
2. The surgical instrument of claim 1 , wherein the ratio is less than 1.3.
3. The surgical instrument of claim 1 , wherein the ratio is less than 1.2.
4. The surgical instrument of claim 1 , wherein the ratio is less than 1.1.
5. The surgical instrument of claim 1 , further comprising a staple cartridge including staples removably stored therein.
6. The surgical instrument of claim 5 , wherein the staple cartridge is replaceable.
7. The surgical instrument of claim 1 , wherein the outer housing defines an inner aperture, and wherein the shaft radius is defined by the inner aperture.
8. The surgical instrument of claim 7 , wherein the shaft comprises a shaft frame extending through the inner aperture, and wherein the end effector frame is rotatably coupled to the shaft frame.
9. The surgical instrument of claim 1 , wherein the shaft comprises a first longitudinal portion and a second longitudinal portion, wherein the shaft radius of the outer housing comprises a first shaft radius in the first longitudinal portion and a second shaft radius in the second longitudinal portion, and wherein the first shaft radius is different than the second shaft radius.