Surgical instruments with non-symmetrical articulation arrangements
A surgical instrument that comprises an elongate shaft assembly that defines a shaft axis. A surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal travel relative thereto about an articulation axis that is laterally offset from the shaft axis and extends transversely relative thereto. An end effector driver link is operably coupled to the surgical end effector and an articulation driver that is supported for longitudinal travel in distal and proximal directions upon application of articulation motions thereto. A flexible de-articulation member is coupled to the elongate shaft assembly and the surgical end effector to apply de-articulation motions to the surgical end effector.
1. A surgical instrument, comprising:
an elongate shaft extending distally along a central shaft axis;
an end effector configured to articulate relative to the elongate shaft from an unarticulated configuration to an articulated configuration about an articulation axis transverse to and laterally offset from the central shaft axis, the end effector comprising:
an elongate channel configured to receive a staple cartridge; and
an anvil comprising a staple forming surface;
a proximal articulation system comprising a rotary input;
a distal articulation system coupled to the proximal articulation system, wherein the distal articulation system is asymmetrical relative to the central shaft axis, the distal articulation system comprising an articulation driver laterally offset from the central shaft axis and comprising a distal end pivotably coupled to the end effector at a pin aligned with the articulation axis, and wherein the articulation driver is movable longitudinally in response to a rotation of the rotary input to effect articulation of the end effector relative to the elongate shaft; and
a firing assembly configured to selectively move relative to the articulation driver during a firing stroke, the firing assembly comprising:
a proximal portion positioned in the elongate shaft and movable along the central shaft axis during the firing stroke;
a distal portion comprising a firing beam configured to move through the end effector and progressively fire staples from the staple cartridge during the firing stroke; and
a flexible portion intermediate the proximal portion and the distal portion, wherein the flexible portion is configured to flex around the articulation axis when the end effector is in the articulated configuration relative to the elongate shaft.
2. The surgical instrument of claim 1 , wherein an articulation force applied exclusively by the articulation driver is configured to articulate the end effector between the unarticulated configuration and the articulated configuration.
3. The surgical instrument of claim 2 , wherein the articulation force is applied to the end effector on only one side of the firing assembly.
4. The surgical instrument of claim 1 , wherein the distal articulation system further comprises a link laterally offset from the articulation driver and the central shaft axis, wherein the link is pivotably coupled to the end effector at a link pin.
5. The surgical instrument of claim 4 , wherein the flexible portion of the firing assembly is positioned between the articulation driver and the link.
6. The surgical instrument of claim 1 , further comprising a handle comprising a handle attachment portion, wherein the elongate shaft comprises a shaft attachment portion interchangeably mounted to the handle attachment portion.
7. The surgical instrument of claim 1 , further comprising a handle comprising a motor operably coupled to the firing assembly.
8. The surgical instrument of claim 7 , wherein the elongate shaft comprises a modular and interchangeable shaft assembly selectively decoupleable from the handle, and wherein the motor is selectively decoupleable from the firing assembly.
9. The surgical instrument of claim 1 , further comprising a clutch assembly configured to selectively couple the firing assembly to the articulation driver.
10. The surgical instrument of claim 1 , wherein the distal articulation system further comprises a link configured to pivot within the elongate shaft in response to the rotation of the rotary input to effect articulation of the end effector relative to the elongate shaft.
11. The surgical instrument of claim 1 , wherein the articulation driver extends along a first lateral side of the central shaft axis, and wherein the distal articulation system further comprises a link positioned on a second lateral side of the central shaft axis when the end effector is in the unarticulated configuration.
12. The surgical instrument of claim 1 , wherein the pin defines a pin axis, and wherein the pin axis and the articulation axis are collinear.
13. The surgical instrument of claim 1 , wherein the pin extends longitudinally along the articulation axis.
14. A surgical instrument, comprising:
an elongate shaft extending distally along a central shaft axis;
an end effector configured to articulate relative to the elongate shaft from an unarticulated configuration to an articulated configuration about an articulation axis transverse to and laterally offset from the central shaft axis, the end effector comprising:
an elongate channel configured to receive a staple cartridge; and
an anvil comprising a staple forming surface;
a proximal articulation system comprising a rotary input;
a distal articulation system coupled to the proximal articulation system, wherein the distal articulation system comprises an articulation driver configured to singly apply an articulation force to effect articulation of the end effector relative to the elongate shaft, wherein the articulation driver is laterally offset from the central shaft axis, wherein the articulation driver comprises a distal pivot pivotably coupled to the end effector at a pin aligned with the articulation axis, and wherein the articulation driver is movable longitudinally in response to a rotation of the rotary input to effect articulation of the end effector relative to the elongate shaft; and
a firing assembly configured to selectively move relative to the articulation driver during a firing stroke, the firing assembly comprising:
a proximal portion positioned in the elongate shaft and movable along the central shaft axis during the firing stroke;
a distal end comprising a firing beam configured to move through the end effector and progressively fire staples from the staple cartridge during the firing stroke; and
a flexible portion intermediate the proximal portion and the distal end, wherein the flexible portion is configured to flex around the articulation axis when the end effector is in the articulated configuration relative to the elongate shaft.
15. A surgical instrument, comprising:
an elongate shaft extending distally along a central shaft axis;
an end effector configured to articulate relative to the elongate shaft from an unarticulated configuration to an articulated configuration about an articulation axis transverse to and laterally offset from the central shaft axis, the end effector comprising:
an elongate channel configured to receive a staple cartridge; and
an anvil comprising a staple forming surface;
a proximal articulation system comprising a rotary input;
a distal articulation system coupled to the proximal articulation system, wherein the distal articulation system comprises a solitary articulation driver configured to apply an articulation force to effect articulation of the end effector relative to the elongate shaft, wherein the solitary articulation driver comprises a distal end pivotably coupled to the end effector at a pin aligned with the articulation axis, wherein the solitary articulation driver is laterally offset from the central shaft axis such that the distal articulation system is asymmetrical relative to the central shaft axis, and wherein the solitary articulation driver is movable longitudinally in response to a rotation of the rotary input to effect articulation of the end effector relative to the elongate shaft; and
a firing assembly configured to selectively move relative to the solitary articulation driver during a firing stroke, the firing assembly comprising:
a proximal portion positioned in the elongate shaft and movable along the central shaft axis during the firing stroke;
a distal end comprising a firing beam configured to move through the end effector and progressively fire staples from the staple cartridge during the firing stroke; and
a flexible portion intermediate the proximal portion and the distal end, wherein the flexible portion is configured to flex around the articulation axis when the end effector is in the articulated configuration relative to the elongate shaft.