Drive arrangements for articulatable surgical instruments
A shaft assembly for a surgical instrument that includes a movable drive member. In at least one form, the surgical instrument includes a spine assembly that is couplable to the surgical instrument and has a surgical end effector coupled thereto by an articulation joint. The shaft assembly in one form includes a proximal firing member and an intermediate firing member that is coupled to a distal firing member. The distal firing member is configured for selective travel through the surgical end effector. At least one articulation driver is coupled to the surgical end effector to apply articulation motions thereto. A clutch assembly interfaces with the primary and intermediate firing members and the articulation driver such that when in an articulation orientation, movement of the drive member results in movement of the articulation driver and when in a firing orientation, movement of the drive member results in movement of the intermediate and distal firing members. A separate articulation motor may be employed to actuate the articulation driver.
1. A shaft assembly configured to be removably connectable to a handle assembly of a surgical instrument, the shaft assembly comprising:
an end effector pivotable between an unarticulated position and a plurality of articulated positions; and
an articulation drive assembly comprising:
a first articulation member coupled to the end effector, the first articulation member longitudinally movable from a first position to a second position to pivot the end effector in a first direction;
a second articulation member coupled to the end effector, the second articulation member longitudinally movable from a third position to a fourth position to pivot the end effector in a second direction;
an articulation lock system configured to engage with and thereby longitudinally retain at least one of the first articulation member or the second articulation member; and
an articulation driver configured to selectively disengage either the first articulation member from the articulation lock system such that the first articulation member is longitudinally movable to pivot the end effector or the second articulation member from the articulation lock system such that the second articulation member is longitudinally movable to pivot the end effector.
2. The shaft assembly of claim 1 , wherein the articulation lock system comprises:
a first lock configured to engage with and thereby longitudinally retain the first articulation member; and
a second lock configured to engage with and thereby longitudinally retain the second articulation member;
wherein the articulation driver is configured to selectively disengage the first articulation member from the first lock or the second articulation member from the second lock.
3. The shaft assembly of claim 2 , wherein each of the first lock and the second lock comprise a lock member configured to frictionally engage a serrated portion disposed on the respective first articulation member or the second articulation member.
4. The shaft assembly of claim 3 , wherein articulation of the first articulation member from the first position to the second position causes the lock member of the second lock to slip over the serrated portion of the second articulation member.
5. The shaft assembly of claim 3 , wherein the articulation driver is configured to flex the first articulation member or the second articulation member out of engagement with the first lock or the second lock respectively.
6. The shaft assembly of claim 1 , wherein the articulation driver comprises a dual-acting solenoid.
7. The shaft assembly of claim 1 , wherein the first position and the third position are proximal positions and the second position and the fourth position are distal positions.
8. The shaft assembly of claim 1 , wherein the first articulation member and the second articulation member comprise cables.
9. The shaft assembly of claim 1 , wherein the articulation drive assembly is positioned adjacently to an articulation joint about which the end effector pivots.
10. The shaft assembly of claim 1 , wherein the first articulation member and the second articulation member comprise bars.
11. A shaft assembly configured to be removably connectable to a handle assembly of a surgical instrument, the shaft assembly comprising:
an end effector pivotable between an unarticulated position and a plurality of articulated positions; and
an articulation drive assembly comprising:
a first articulation member coupled to the end effector, the first articulation member longitudinally movable from a first position to a second position to pivot the end effector in a first direction;
a first motor comprising a first drive shaft threadably coupled to the first articulation member, the first motor configured to drive the first articulation member between the first position and the second position based on rotations of the first drive shaft;
a second articulation member coupled to the end effector, the second articulation member longitudinally movable from a third position to a fourth position to pivot the end effector in a second direction; and
a second motor comprising a second drive shaft threadably coupled to the second articulation member, the second motor configured to drive the second articulation member between the third position and the fourth position based on rotations of the second drive shaft;
wherein the first motor and the second motor are configured to selectively advance the first articulation member and the second articulation member respectively.
12. The shaft assembly of claim 11 , further comprising a control circuit configured to selectively control the first motor and the second motor to drive the first articulation member and the second articulation member.
13. The shaft assembly of claim 11 , wherein the first position and the third position are proximal positions and the second position and the fourth position are distal positions.
14. The shaft assembly of claim 11 , wherein the first articulation member and the second articulation member comprise cables.
15. The shaft assembly of claim 11 , wherein the articulation drive assembly is positioned adjacently to an articulation joint about which the end effector pivots.
16. The shaft assembly of claim 11 , wherein the first articulation member and the second articulation member comprise bars.
17. A surgical instrument comprising:
a shaft assembly that is configured to be removably connectable to a handle assembly of the surgical instrument;
an articulation joint;
an end effector attached to the shaft assembly at the articulation joint, the end effector pivotable between an unarticulated position and a plurality of articulated positions about the articulation joint; and
an articulation drive assembly housed within the shaft assembly, the articulation drive assembly comprising:
a first articulation member coupled to the end effector, the first articulation member longitudinally movable from a first position to a second position to pivot the end effector about the articulation joint in a first direction;
a second articulation member coupled to the end effector, the second articulation member longitudinally movable from a third position to a fourth position to pivot the end effector about the articulation joint in a second direction;
an articulation lock system configured to longitudinally retain at least one of the first articulation member or the second articulation member; and
an articulation driver configured to selectively disengage either the first articulation member from the articulation lock system such that the first articulation member is longitudinally movable to pivot the end effector or the second articulation member from the articulation lock system such that the second articulation member is longitudinally movable to pivot the end effector.
18. The shaft assembly of claim 17 , wherein the articulation lock system comprises:
a first lock configured to engage with and thereby longitudinally retain the first articulation member; and
a second lock configured to engage with and thereby longitudinally retain the second articulation member;
wherein the articulation driver is configured to selectively disengage the first articulation member from the first lock or the second articulation member from the second lock.
19. The shaft assembly of claim 17 , wherein the first position and the third position are proximal positions and the second position and the fourth position are distal positions.
20. The shaft assembly of claim 17 , wherein the first articulation member and the second articulation member comprise cables.
21. The shaft assembly of claim 17 , wherein the articulation drive assembly is positioned within the shaft assembly adjacently to the articulation joint.
22. The shaft assembly of claim 17 , wherein the first articulation member and the second articulation member comprise bars.