Articulatable surgical instruments with single articulation link 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 about an articulation axis that extends transversely relative to the shaft axis. The surgical instrument further includes an articulation system that comprises a single articulation driver that is supported for longitudinal travel along a path that is laterally offset from the shaft axis. A cross link is coupled to the articulation driver and extends transversely across the shaft axis to be coupled to the surgical end effector.
1. A surgical instrument, comprising:
a flexible firing bar;
an elongate shaft assembly defining a shaft axis;
a surgical end effector pivotally coupled to said elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to said shaft axis, wherein said surgical end effector comprises:
a first jaw;
a second jaw movable relative to said first jaw to clamp tissue between said first jaw and said second jaw;
a staple cartridge comprising a plurality of staples, wherein said staples are configured to be ejected from said staple cartridge upon an actuation of said flexible firing bar through a firing stroke; and
an anvil; and
an articulation drive system, comprising:
a single articulation driver supported for longitudinal travel along a path that is laterally offset from said shaft axis; and
a cross link pivotally coupled to said articulation driver and extending transversely across said shaft axis to be pivotally coupled to said surgical end effector while said surgical end effector is in an unarticulated configuration, and wherein said flexible firing bar extends across said cross link and into said surgical end effector.
2. The surgical instrument of claim 1 , further comprising a motor and a primary actuator actuatable by said motor, wherein said single articulation driver is selectively drivable by said primary actuator, and wherein said primary actuator is configured to actuate said flexible firing bar.
3. The surgical instrument of claim 1 , wherein said cross link is pivotally coupled to said surgical end effector proximal to said articulation axis while said surgical end effector is in said unarticulated configuration.
4. The surgical instrument of claim 1 , further comprising an articulation lock configured to increase a locking engagement between said articulation lock and said articulation drive system upon an application of an external force to said surgical end effector.
5. The surgical instrument of claim 1 , wherein said flexible firing bar comprises a distal head portion comprising a first jaw-engaging member and a second jaw-engaging member configured to control a tissue-gap distance between said staple cartridge and said anvil during said firing stroke.
6. The surgical instrument of claim 1 , further comprising an articulation joint comprising a support member configured to laterally support said flexible firing bar within said articulation joint as said surgical end effector is articulated about said articulation axis.
7. A surgical stapling assembly, comprising:
a laminate firing bar actuatable through a firing stroke;
an articulation actuator;
a shaft defining a shaft axis;
an articulation joint;
an end effector attached to said shaft by way of said articulation joint, wherein said end effector is articulatable relative to said shaft between a straight configuration and an articulated configuration by said articulation actuator, wherein said end effector comprises:
a first jaw;
a second jaw movable relative to said first jaw;
a staple cartridge comprising a plurality of staples removably stored in said staple cartridge;
an anvil; and
a firing member movable through said end effector by said laminate firing bar during said firing stroke; and
an articulation cross link pivotally coupled to said articulation actuator and said end effector, wherein said articulation cross link extends across said shaft axis while said end effector is in said straight configuration, and wherein said laminate firing bar extends through said shaft, said articulation joint, and said end effector, and wherein said laminate firing bar extends across said articulation cross link.
8. The surgical stapling assembly of claim 7 , further comprising an articulation lock configured to prevent articulation of said end effector relative to said shaft upon an application of an external articulation force to said end effector.
9. The surgical stapling assembly of claim 7 , further comprising a motorized drive system comprising a primary actuator actuatable by said motor, wherein said articulation actuator is selectively actuatable by said primary actuator.
10. The surgical stapling assembly of claim 7 , wherein said articulation joint defines an articulation axis, and wherein said articulation cross link is pivotally coupled to said end effector proximal to said articulation axis while said end effector is in said straight configuration.
11. The surgical stapling assembly of claim 7 , wherein said firing member comprises a distal head portion comprising a first jaw-engaging member and a second jaw-engaging member configured to control a tissue-gap distance between said first jaw and said second jaw during said firing stroke.
12. The surgical stapling assembly of claim 7 , wherein said end effector further comprises a support member configured to laterally support said laminate firing bar within said articulation joint as said end effector is articulated relative to said shaft.