Surgical instruments with articulatable end effector with axially shortened articulation joint configurations
A surgical instrument, comprising an articulatable end effector that is selectively articulatable about an articulation axis. The end effector comprises first and second jaws wherein the second jaw is pivotable relative to the first jaw about a pivot axis by an axially movable closure member. One of the first and second jaws supports a fastener cartridge that defines a proximal most fastener location therein. A first distance between the pivot axis and an area of camming contact between a closure member cam surface on the closure member and a jaw cam surface on one of the first and second jaws divided by a second distance from the articulation axis to the proximal most fastener location is less than 0.5.
1. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis; and
an axially movable firing beam; and
a surgical end effector, comprising:
a firing member coupled to said axially movable firing beam, wherein said firing member is configured to move between a starting position and an ending position upon application of firing motions thereto by said axially movable firing beam;
a first end effector jaw, wherein said first end effector jaw is coupled to an articulation joint that is coupled to said elongate shaft assembly, wherein said articulation joint defines an articulation axis that is transverse to said shaft axis; and
a second end effector jaw, wherein one of said first end effector jaw and said second end effector jaw is configured to operably support therein a surgical fastener cartridge comprising a proximal most fastener location therein, wherein said second end effector jaw comprises a jaw trunnion arrangement that defines a jaw pivot axis that extends through said jaw trunnion arrangement, wherein said jaw pivot axis is transverse to said shaft axis, wherein said jaw trunnion arrangement is configured to pivot about said jaw pivot axis relative to said first end effector jaw while remaining axially stationary to facilitate pivotal travel of said second end effector jaw relative to said first end effector jaw between a fully open position and a fully closed position by an axially movable closure member comprising a closure member cam surface configured for camming contact with a jaw cam surface on said one of said first end effector jaw and said second end effector jaw, and wherein a first distance measured along a first axis that is parallel to said shaft axis and extends between said articulation axis and an area of camming contact between said closure member cam surface and said jaw cam surface divided by a second distance measured along a second axis that is parallel to said first axis and extends from said articulation axis to said proximal most fastener location is less than 0.5.
2. The surgical instrument of claim 1 , wherein said first distance between said articulation axis and said area of camming contact between said closure member cam surface and said jaw cam surface divided by said second distance from said articulation axis to said proximal most fastener location is greater than 0.2 and less than 0.5.
3. The surgical instrument of claim 1 , wherein said surgical fastener cartridge is supported in said first end effector jaw and wherein said second end effector jaw comprises an anvil comprising said jaw cam surface.
4. The surgical instrument of claim 3 , wherein said anvil comprises at least one tissue stop member comprising a distal tissue contact surface that corresponds to said proximal most fastener location when said anvil is in said fully closed position.
5. The surgical instrument of claim 3 , wherein said anvil comprises:
an anvil body; and
an anvil mounting portion comprising said jaw cam surface, wherein said jaw trunnion arrangement comprises a pair of laterally extending anvil trunnions protruding from said anvil mounting portion, and wherein said pair of laterally extending anvil trunnions is configured to be pivotally supported in corresponding openings in said first end effector jaw.
6. The surgical instrument of claim 5 , wherein said axially movable closure member comprises an axially movable distal closure tube segment comprising said closure member cam surface.
7. The surgical instrument of claim 6 , wherein said elongate shaft assembly comprises:
a spine assembly operably coupled to said first end effector jaw; and
a proximal closure tube assembly movably supported for axial travel relative to said spine assembly and pivotally coupled to said axially movable distal closure tube segment.
8. The surgical instrument of claim 7 , wherein said proximal closure tube assembly operably interfaces with a closure system configured to selectively apply axial closure and opening motions to said proximal closure tube assembly.
9. The surgical instrument of claim 8 , wherein said closure system is supported by a handheld housing.
10. The surgical instrument of claim 8 , wherein said closure system is supported by a housing that operably interfaces with a robotic controlled actuator.
11. A surgical system, comprising:
a housing operably supporting a closure system therein; and
an interchangeable surgical tool assembly, comprising:
an elongate shaft assembly operably and removably couplable to said housing such that a proximal closure portion of said elongate shaft assembly is configured to receive axial closure motions from said closure system, wherein said elongate shaft assembly defines a shaft axis;
an axially movable firing beam; and
a surgical end effector, comprising:
a firing member coupled to said axially movable firing beam, wherein said firing member is configured to move between a starting position and an ending position upon application of firing motions thereto by said axially movable firing beam;
a first end effector jaw, wherein said first end effector jaw is coupled to an articulation joint that is coupled to said elongate shaft assembly, wherein said articulation joint defines an articulation axis that is transverse to said shaft axis; and
a second end effector jaw, wherein one of said first end effector jaw and said second end effector jaw is configured to operably support therein a surgical fastener cartridge comprising a proximal most fastener location therein, wherein one of said first end effector jaw and said second end effector jaw comprises a jaw trunnion arrangement that defines a jaw pivot axis that extends through said jaw trunnion arrangement, wherein said jaw pivot axis is transverse to said shaft axis, wherein said jaw trunnion arrangement is configured to pivot about said jaw pivot axis while remaining axially stationary to enable one of said first end effector jaw and said second end effector jaw to move between a fully open position and a fully closed position by an axially movable distal closure member, wherein said axially movable distal closure member is operably coupled to said proximal closure portion of said elongate shaft assembly, wherein said axially movable distal closure member comprises a closure member cam surface configured for camming contact with a jaw cam surface on said one of said first end effector jaw and said second end effector jaw, and wherein a first distance measured along a first axis that is parallel to said shaft axis and extends between said articulation axis and an area of camming contact between said closure member cam surface and said jaw cam surface divided by a second distance measured along a second axis that is parallel to said first axis and extends from said articulation axis to said proximal most fastener location is less than 0.5.
12. A surgical instrument, comprising:
an elongate shaft, wherein said elongate shaft defines a shaft axis, and wherein said elongate shaft comprises:
an articulation joint that defines an articulation axis that is transverse to said shaft axis;
an axially movable closure member, wherein said axially movable closure member is movable from a proximal most beginning position to an ending position, and wherein said axially movable closure member comprises a distal end, wherein said distal end is located a first axial distance from said articulation axis when said axially movable closure member is in said proximal most beginning position; and
an axially movable firing beam coupled to a firing member, and wherein said surgical instrument further comprises:
a surgical end effector operably coupled to said articulation joint for selective articulation about said articulation axis, wherein said surgical end effector comprises:
a first jaw, wherein said first jaw is configured to removably support a surgical staple cartridge therein, wherein said surgical staple cartridge operably supports a plurality of surgical staples therein, and wherein a proximal most one of said surgical staples is located a second axial distance from said articulation axis that is at least twice as great as said first axial distance; and
an anvil comprising an anvil trunnion arrangement that defines a jaw pivot axis that extends through said anvil trunnion arrangement, wherein said jaw pivot axis is transverse to said shaft axis, wherein said anvil trunnion arrangement is configured to pivot about said jaw pivot axis while remaining axially stationary to enable said anvil to move between a fully open position and a fully closed position relative to said surgical staple cartridge.
13. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis;
an axially movable firing beam; and
a surgical end effector, comprising:
a firing member coupled to said axially movable firing beam, wherein said firing member is configured to move between a starting position and an ending position upon application of firing motions thereto by said axially movable firing beam;
a first end effector jaw, wherein said first end effector jaw is coupled to an articulation joint that is coupled to said elongate shaft assembly, wherein said articulation joint defines an articulation axis that is transverse to said shaft axis; and
a second end effector jaw, wherein one of said first end effector jaw and said second end effector jaw is configured to operably support therein a surgical fastener cartridge comprising a proximal most fastener location therein, wherein said second end effector jaw comprises a jaw trunnion arrangement that defines a jaw pivot axis that is transverse to said shaft axis, wherein said jaw trunnion arrangement is configured to pivot about said jaw pivot axis relative to said first end effector jaw while remaining axially stationary to facilitate pivotal travel of said second end effector jaw relative to said first end effector jaw between a fully open position and a fully closed position by an axially movable closure member comprising a closure member cam surface configured for camming contact with a jaw cam surface on said one of said first end effector jaw and said second end effector jaw, wherein a first distance measured along a first axis that is parallel to said shaft axis and extends between said articulation axis and an area of camming contact between said closure member cam surface and said jaw cam surface divided by a second distance measured along a second axis that is parallel to said first axis and extends from said articulation axis to said proximal most fastener location is less than 0.5, and wherein said firing member comprises at least one jaw engagement feature thereon, and wherein when said firing member is in said starting position and said one of said first end effector jaw and said second end effector jaw is in said fully open position, each said at least one jaw engagement feature extends proximally beyond said jaw pivot axis a predetermined distance.
14. The surgical instrument of claim 13 , wherein said first distance between said articulation axis and said area of camming contact between said closure member cam surface and said jaw cam surface divided by said second distance from said articulation axis to said proximal most fastener location is greater than 0.2 and less than 0.5.
15. The surgical instrument of claim 13 , wherein said surgical fastener cartridge is supported in said first end effector jaw and wherein said second end effector jaw comprises an anvil comprising said jaw cam surface.
16. The surgical instrument of claim 15 , wherein said anvil comprises at least one tissue stop member comprising a distal tissue contact surface that corresponds to said proximal most fastener location when said anvil is in said fully closed position.
17. The surgical instrument of claim 15 , wherein said anvil comprises:
an anvil body; and
an anvil mounting portion comprising said jaw cam surface, wherein said jaw trunnion arrangement comprises a pair of laterally extending anvil trunnions protruding from said anvil mounting portion, and wherein said pair of laterally extending anvil trunnions is configured to be pivotally supported in corresponding openings in said first end effector jaw.
18. The surgical instrument of claim 17 , wherein said axially movable closure member comprises an axially movable distal closure tube segment comprising said closure member cam surface.
19. The surgical instrument of claim 18 , wherein said elongate shaft assembly comprises:
a spine assembly operably coupled to said first end effector jaw; and
a proximal closure tube assembly movably supported for axial travel relative to said spine assembly and pivotally coupled to said axially movable distal closure tube segment.
20. The surgical instrument of claim 19 , wherein said proximal closure tube assembly operably interfaces with a closure system configured to selectively apply axial closure and opening motions to said proximal closure tube assembly.
21. The surgical instrument of claim 20 , wherein said closure system is supported by a handheld housing.
22. The surgical instrument of claim 20 , wherein said closure system is supported by a housing that operably interfaces with a robotic controlled actuator.
23. A surgical system, comprising:
a housing operably supporting a closure system therein; and
an interchangeable surgical tool assembly, comprising:
an elongate shaft assembly operably and removably couplable to said housing such that a proximal closure portion of said elongate shaft assembly is configured to receive axial closure motions from said closure system, wherein said elongate shaft assembly defines a shaft axis;
an axially movable firing beam; and
a surgical end effector, comprising:
a firing member coupled to said axially movable firing beam, wherein said firing member is configured to move between a starting position and an ending position upon application of firing motions thereto by said axially movable firing beam;
a first end effector jaw, wherein said first end effector jaw is coupled to an articulation joint that is coupled to said elongate shaft assembly, wherein said articulation joint defines an articulation axis that is transverse to said shaft axis; and
a second end effector jaw, wherein one of said first end effector jaw and said second end effector jaw is configured to operably support therein a surgical fastener cartridge comprising a proximal most fastener location therein, wherein one of said first end effector jaw and said second end effector jaw comprises a jaw trunnion arrangement that defines a jaw pivot axis that is transverse to said shaft axis, wherein said jaw trunnion arrangement is configured to pivot about said jaw pivot axis while remaining axially stationary to enable one of said first end effector jaw and said second end effector jaw to move between a fully open position and a fully closed position by an axially movable distal closure member, wherein said axially movable distal closure member is operably coupled to said proximal closure portion of said elongate shaft assembly, wherein said axially movable distal closure member comprises a closure member cam surface configured for camming contact with a jaw cam surface on said one of said first end effector jaw and said second end effector jaw, wherein a first distance measured along a first axis that is parallel to said shaft axis and extends between said articulation axis and an area of camming contact between said closure member cam surface and said jaw cam surface divided by a second distance measured along a second axis that is parallel to said first axis and extends from said articulation axis to said proximal most fastener location is less than 0.5, wherein said firing member comprises at least one jaw engagement feature thereon, and wherein when said firing member is in said starting position and said one of said first end effector jaw and said second end effector jaw is in said fully open position, each said at least one jaw engagement feature extends proximally beyond said jaw pivot axis a predetermined distance.
24. The surgical system of claim 23 , wherein said surgical fastener cartridge is supported in said first end effector jaw and wherein said second end effector jaw comprises an anvil comprising said jaw cam surface.