Articulatable surgical instruments with proximal and distal shaft supports
A surgical stapling instrument comprising an elongate shaft assembly that includes a surgical end effector that is operably coupled thereto by an articulation joint. The surgical instrument may include a first distal articulation driver operably coupled to the surgical end effector and a second distal articulation driver that is coupled to the surgical end effector. At least one driver member may operably engage the first and second distal articulation drivers such that when the first distal articulation driver is moved in a distal direction, the least one driver moves the second distal articulation driver in a proximal direction and when the first distal articulation driver is moved in the proximal direction, the at least one driver member moves the second distal articulation driver in the distal direction.
1. A surgical instrument, comprising:
an elongate shaft;
a surgical end effector selectively articulatable relative to said elongate shaft about an articulation joint, wherein said surgical end effector comprises:
a channel coupled to said articulation joint;
a cartridge supported in said channel, wherein said cartridge operably supports a plurality of surgical staples therein;
an anvil movably supported on said channel; and
a firing member configured for movement within said end effector between a starting position and an ending position, wherein, as said firing member moves from said starting position to said ending position, said firing member spaces said anvil at a desired distance from said cartridge and causes said surgical staples supported in said cartridge to be ejected therefrom, and wherein said surgical instrument further comprises:
an axially movable flexible firing shaft spanning said articulation joint, wherein said axially movable flexible firing shaft is coupled to said firing member and interfaces with a source of axial firing motions;
a central shaft support structure comprising a proximal end and a distal end, wherein said proximal end is movably coupled to said elongate shaft and said distal end is movably coupled to said channel, wherein said central shaft support structure is configured to support said axially movable flexible firing shaft, wherein said central shaft support structure is pivotally coupled to said channel and movably coupled to said elongate shaft for selective pivotal and axial travel relative thereto;
a proximal shaft support structure configured to laterally support a portion of said axially movable flexible firing shaft that is proximal to said articulation joint, wherein said proximal shaft support structure is movably supported proximal to said central shaft support structure; and
a distal shaft support structure configured to laterally support another portion of said axially movable flexible firing shaft that is distal to said articulation joint, wherein said distal shaft support structure is longitudinally spaced from said proximal shaft support structure by said central shaft support structure and is independently movable relative to said proximal shaft support structure and said central shaft support structure.
2. The surgical instrument of claim 1 , further comprising a cable member coupled to said surgical end effector and spanning said articulation joint, wherein said cable member operably interfaces with a source of articulation control motions and is configured to apply said articulation control motions to said surgical end effector.
3. The surgical instrument of claim 1 , further comprising:
a first cable member coupled to said surgical end effector, wherein said first cable member spans said articulation joint; and
a second cable member coupled to said surgical end effector, wherein said second cable member spans said articulation joint, and wherein said first cable member and said second cable member operably interface with a source of articulation control motions and are configured to apply opposing said articulation control motions to said surgical end effector.
4. The surgical instrument of claim 1 , wherein said elongate shaft comprises an axially movable closure member configured to apply closure motions to said surgical end effector.
5. The surgical instrument of claim 4 , wherein said axially movable closure member comprises:
an axially movable proximal closure member; and
an axially movable distal closure member pivotally coupled to said axially movable proximal closure member, wherein said axially movable distal closure member is configured to apply closure and opening motions to said anvil.
6. The surgical instrument of claim 5 , wherein said elongate shaft operably interfaces with a powered control system, wherein said powered control system is configured to generate axial firing motions for axially moving said axially movable flexible firing shaft and axial closure motions for axially moving said axially movable proximal closure member and said axially movable distal closure member.
7. The surgical instrument of claim 6 , further comprising an axially movable articulation member coupled to said channel and spanning said articulation joint to operably interface with said powered control system, wherein said powered control system is configured to generate axial articulation motions and apply said axial articulation motions to said axially movable articulation member.
8. The surgical instrument of claim 7 , wherein said axially movable articulation member comprises a cable member.
9. The surgical instrument of claim 7 , wherein said axially movable articulation member comprises:
a first cable member coupled to said surgical end effector, wherein said first cable member spans said articulation joint; and
a second cable member coupled to said surgical end effector, wherein said second cable member spans said articulation joint, and wherein said first cable member and said second cable member operably interface with a source of articulation control motions and are configured to apply opposing said articulation control motions to said surgical end effector.
10. The surgical instrument of claim 1 , wherein said firing member comprises:
a vertical body configured to span between said cartridge and said anvil, wherein said vertical body comprises a cutting surface;
an anvil engagement feature; and
a channel engagement feature, wherein said anvil engagement feature and said channel engagement feature serve to space said anvil at said desired distance from said cartridge as said firing member moves from said starting position to said ending position.
11. The surgical instrument of claim 1 , wherein said axially movable flexible firing shaft comprises a plurality of planar beam members laminated together.
12. A surgical instrument, comprising:
a power source;
an elongate shaft interfacing with said power source;
a surgical end effector, comprising:
a channel coupled to said elongate shaft by an articulation joint, wherein said articulation joint facilitates selective articulation of said channel relative to said elongate shaft;
an anvil movably supported on said channel, wherein said anvil is selectively movable between an open position and a closed position relative to said channel;
a cartridge supported in said channel, wherein said cartridge operably supports a plurality of surgical staples therein;
a firing member configured for movement within said end effector between a starting and an ending position, wherein as said firing member moves from said starting position to said ending position, said firing member causes surgical staples supported in said cartridge to be ejected therefrom, and wherein said firing member comprises:
an anvil engagement feature; and
a channel engagement feature, wherein said anvil engagement feature and said channel engagement feature serve to space said anvil at a desired distance from said cartridge as said firing member moves from said starting position to said ending position, and wherein said surgical instrument further comprises:
a flexible firing shaft operably interfacing with said power source and spanning said articulation joint to be coupled to said firing member;
a proximal shaft support structure configured to laterally support a portion of said flexible firing shaft that is proximal to said articulation joint;
a central shaft support structure pivotally coupled to said channel for pivotal travel relative thereto about a pivot axis, wherein said central shaft support structure is movably attached to said elongate shaft for pivotal and axial travel relative thereto, wherein said central shaft support structure is configured to support said flexible firing shaft; and
a distal shaft support structure configured to laterally support another portion of said flexible firing shaft that is distal to said articulation joint, wherein said distal shaft support structure is longitudinally spaced from said proximal shaft support structure by said central shaft support structure and is independently movable relative to said central shaft support structure and said proximal shaft support structure.
13. The surgical instrument of claim 12 , wherein said elongate shaft comprises an axially movable closure member configured to apply closure motions to said surgical end effector.
14. The surgical instrument of claim 13 , wherein said axially movable closure member comprises:
an axially movable proximal closure member; and
an axially movable distal closure member pivotally coupled to said axially movable proximal closure member, wherein said axially movable distal closure member is configured to apply closure motions and opening motions to said anvil.
15. The surgical instrument of claim 12 , wherein said firing member further comprises a cutting surface.
16. A surgical instrument, comprising:
an elongate shaft;
a surgical end effector selectively articulatable relative to said elongate shaft about an articulation joint, wherein said surgical end effector comprises a channel coupled to said articulation joint, and wherein said channel is configured to operably support a surgical staple cartridge therein;
an axially movable flexible firing shaft configured to span said articulation joint, and axially move within said channel;
a central shaft support structure comprising a proximal end and a distal end, wherein said proximal end is movably coupled to said elongate shaft, wherein said distal end is movably coupled to said channel, wherein said central shaft support structure is configured to support said axially movable flexible firing shaft, and wherein said proximal end of said central shaft support structure is coupled to said elongate shaft for selective pivotal and axial travel relative thereto;
a proximal shaft support structure configured to laterally support a portion of said axially movable flexible firing shaft, wherein said proximal shaft support structure is movably supported proximal to said central shaft support structure; and
a distal shaft support structure configured to laterally support said axially movable flexible firing shaft, wherein said distal shaft support structure is longitudinally spaced from said proximal shaft support structure by said central shaft support structure and is independently movable relative to said proximal shaft support structure and said central shaft support structure.
17. The surgical instrument of claim 16 , wherein said distal end of said central shaft support structure is pivotally pinned to said channel for selective pivotal travel relative thereto about a fixed pivot axis.
18. The surgical instrument of claim 17 , wherein said proximal end of said central shaft support structure is coupled to said elongate shaft for selective pivotal and axial travel relative thereto.
19. The surgical instrument of claim 16 , wherein said axially movable flexible firing shaft comprises a first lateral side, a second lateral, a top surface and a bottom surface, and wherein said central shaft support structure supports said first lateral side, said second lateral side and said bottom surface of said axially movable flexible firing shaft, and wherein said proximal shaft support structure and said distal shaft support structure supports said first lateral side and said second lateral side and said top surface of said axially movable flexible firing shaft.