Surgical instruments with flexible firing member actuator constraint arrangements
Articulatable surgical instruments that include a firing system configured to selectively move a firing member between a starting position and an ending position. The firing system includes a flexible upper drive member that axially passes through a flexible upper hollow member to provide upper axial drive motions to the firing member. The firing system also includes a flexible lower drive member that axially passes through a lower hollow member to provide lower axial drive motions to the firing member.
1 . A surgical instrument, comprising:
(a) an elongate shaft;
(b) a surgical end effector operatively coupled with said elongate shaft by an articulation joint, wherein said articulation joint is configured to facilitate selective articulation of said surgical end effector relative to said elongate shaft in multiple articulation planes;
(c) a firing driver supported for axial travel within said surgical end effector between a starting position and an ending position; and
(d) a firing system configured to selectively move said firing driver between the starting position and the ending position, wherein said firing system comprises:
(i) an upper flexible firing assembly comprising:
(A) a flexible upper hollow guide comprising an upper proximal end and an upper distal end, wherein said upper proximal end is supported within said elongate shaft, wherein said flexible upper hollow guide spans said articulation joint and said upper distal end is fixed to said surgical end effector; and
(B) a flexible upper driver comprising an upper driver proximal end operably interfacing with a source of axial drive motions, wherein said flexible upper driver is slidably constrained in said flexible upper hollow guide for axial movement therein, wherein said flexible upper driver spans said articulation joint and further comprises an upper driver distal end that operably interfaces with an upper portion of said firing driver to apply upper axial drive motions thereto to move said firing driver from the starting position to the ending position, wherein said flexible upper driver comprises an upper hollow coil; and
(ii) a lower flexible firing assembly comprising:
(A) a flexible lower hollow guide comprising a lower proximal end and a lower distal end, wherein said lower proximal end is supported within said elongate shaft, wherein said flexible lower hollow guide spans said articulation joint and said lower distal end is fixed to said surgical end effector; and
(B) a flexible lower driver comprising a lower driver proximal end operably interfacing with said source of axial drive motions, wherein said flexible lower driver is slidably constrained in said flexible lower hollow guide for axial movement therein, wherein said flexible lower driver spans said articulation joint and further comprises a lower driver distal end that operably interfaces with a lower portion of said firing driver to apply lower axial drive motions thereto to move said firing driver from the starting position to the ending position, wherein said flexible lower driver comprises a lower hollow coil.
2 . The surgical instrument of claim 1 , wherein said flexible upper hollow guide forms an upper pathway spanning said articulation joint for slidably supporting said flexible upper driver therethrough, wherein said flexible lower hollow guide forms a lower pathway spanning said articulation joint for slidably supporting said flexible lower driver therethrough, wherein said upper pathway and said lower pathway are parallel to each other when said surgical end effector is in an unarticulated position and wherein said upper pathway and said lower pathway are concentric to each other when said surgical end effector is articulated relative to said elongate shaft.
3 . The surgical instrument of claim 2 , wherein said upper proximal end of said flexible upper hollow guide and said lower proximal end of said flexible lower hollow guide are coupled to a distal differential assembly operably supported by said elongate shaft, wherein said distal differential assembly is configured to enable said flexible upper hollow guide and said flexible lower hollow guide to move in opposite axial directions when said surgical end effector is articulated relative to said elongate shaft.
4 . The surgical instrument of claim 3 , wherein said distal differential assembly comprises:
an upper distal gear rack supported for axial travel in two axial directions, wherein said upper distal gear rack is coupled to said proximal end of said flexible upper hollow guide;
a lower distal gear rack supported for axial travel in the two axial directions, wherein said lower distal gear rack is coupled to said proximal end of said flexible lower hollow guide; and
a distal pinion gear rotatably supported in meshing engagement with said upper distal rack and said lower distal gear rack.
5 . The surgical instrument of claim 3 , wherein said source of axial drive motions comprises a proximal differential drive assembly supported proximal to said articulation joint and operably interfacing with said flexible upper driver and said flexible lower driver such that when said surgical end effector is in said unarticulated position, said proximal differential drive assembly is configured to drive said flexible upper driver and said flexible lower driver equal axial distances in a same axial direction to apply an upper axial drive motion and a lower axial drive motion that is equal to the upper axial drive motion to said firing driver, and wherein when said surgical end effector is in an articulated position, said proximal differential drive assembly is configured to permit said flexible upper driver and said flexible lower driver to move equal axial distances in opposite axial directions while applying the upper axial drive motion and lower axial drive motion that is equal to the upper axial drive motion to said firing driver.
6 . The surgical instrument of claim 5 , wherein, said proximal differential drive assembly comprises:
an upper proximal gear rack operably interfacing with said flexible upper driver; a lower proximal gear rack operably interfacing with said flexible lower driver;
and
a carrier supported for axial movement relative to said upper proximal gear rack and said lower proximal gear rack, wherein said carrier comprises a rotatable proximal pinion gear in meshing engagement with said upper proximal gear rack and said lower proximal gear rack.
7 . The surgical instrument of claim 6 , wherein said carrier further comprises a carrier rack in meshing engagement with a motor-driven drive gear.
8 . The surgical instrument of claim 6 , wherein said flexible upper driver comprises an upper push coil, and wherein said flexible lower driver comprises a lower push coil.
9 . The surgical instrument of claim 8 , wherein said flexible upper driver further comprises an upper push coil cable extending through said upper push coil and comprising an upper cable distal end coupled to said top portion of said firing driver and an upper cable proximal end coupled to said upper proximal gear rack, and wherein said flexible lower driver further comprises a lower push coil cable extending through said lower push coil and comprising a lower cable distal end coupled to said bottom portion of said firing driver and a lower cable proximal end coupled to said lower proximal gear rack.
10 . The surgical instrument of claim 9 , further comprising:
an upper support beam supported by said elongate shaft and extending proximally from said upper distal gear rack, wherein said upper support beam defines an upper axial passage therein configured to slidably constrain a portion of said upper push coil extending from said distal upper gear rack to said proximal upper gear rack; and
a lower support beam supported by said elongate shaft and extending proximally from said lower distal gear rack, wherein said lower support beam defines a lower axial passage therein configured to slidably constrain a portion of said lower push coil extending from said distal gear rack to said proximal gear rack.
11 . The surgical instrument of claim 8 , wherein said upper push coil is received within an upper flexible sleeve, and wherein said lower push coil is received within a lower flexible sleeve.
12 . The surgical instrument of claim 1 , wherein said articulation joint comprises:
a proximal joint portion attached to said elongate shaft;
a distal joint portion attached to said surgical end effector; and
a linkage assembly pivotally coupling said proximal joint portion to said distal joint portion.
13 . The surgical end effector of claim 12 , further comprising a plurality of flexible articulation actuators extending through said elongate shaft and said proximal joint portion and attached to said distal joint portion.
14 . A surgical instrument, comprising:
(a) an elongate shaft;
(b) a surgical end effector operatively coupled with said elongate shaft by an articulation joint, wherein said articulation joint is configured to facilitate selective articulation of said surgical end effector relative to said elongate shaft in multiple articulation planes;
(c) a firing driver supported for axial travel within said surgical end effector between a starting position and an ending position; and
(d) a firing system configured to selectively move said firing driver between the starting position and the ending position, wherein said firing system comprises:
(i) an upper flexible firing assembly comprising:
(A) a flexible upper hollow guide comprising an upper proximal end and an upper distal end, wherein said upper proximal end is supported within said elongate shaft for axial travel in two axial directions, wherein said flexible upper hollow guide spans said articulation joint and said upper distal end is fixed to said surgical end effector; and
(B) a flexible upper push coil operably interfacing with a source of axial drive motions, wherein said flexible upper push coil is slidably constrained in said flexible upper hollow guide for axial movement therein, wherein said flexible upper push coil spans said articulation joint inside of said flexible upper hollow guide and operably interfaces with an upper portion of said firing driver to apply upper axial drive motions thereto to move said firing driver from the starting position to the ending position; and
(ii) a lower flexible firing assembly comprising:
(A) a flexible lower hollow guide comprising a lower proximal end and a lower distal end, wherein said lower proximal end is supported within said elongate shaft for axial travel in the two axial directions, wherein said flexible lower hollow guide spans said articulation joint and said lower distal end is fixed to said surgical end effector, wherein said upper proximal end of flexible upper hollow guide and said lower proximal end of said flexible hollow lower guide are configured to move equal distances relative to each other in opposite axial directions when said surgical end effector is articulated relative to said elongate shaft; and
(B) a flexible lower push coil operably interfacing with said source of axial drive motions, wherein said flexible lower push coil is slidably constrained in said flexible lower hollow guide for axial movement therein, wherein said flexible lower push coil spans said articulation joint inside of said flexible lower hollow guide and operably interfaces with a lower portion of said firing driver to apply lower axial drive motions thereto to move said firing driver from the starting position to the ending position.
15 . The surgical instrument of claim 14 , wherein said source of axial drive motions comprises a proximal differential drive assembly supported proximal to said articulation joint and operably interfacing with said flexible upper push coil and said flexible lower push coil such that when said surgical end effector is in an unarticulated position, said proximal differential drive assembly is configured to drive said flexible upper push coil and said flexible lower push coil equal axial distances in a same axial direction to apply an upper axial drive motion and a lower axial drive motion that is equal to the upper axial drive motion to said firing driver, and wherein when said surgical end effector is in an articulated position, said proximal differential drive assembly is configured to permit said flexible upper push coil and said flexible lower push coil to move equally in opposite axial directions while applying the upper axial drive motion and lower axial drive motion that is equal to the upper axial drive motion to said firing driver.
16 . The surgical instrument of claim 15 , wherein, wherein said proximal differential drive assembly comprises:
an upper proximal gear rack operably interfacing with said flexible upper push coil;
a lower proximal gear rack operably interfacing with said flexible lower push coil; and
a carrier supported for axial movement relative to said upper proximal gear rack and said lower proximal gear rack, and wherein said carrier comprises a rotatable proximal pinion gear in meshing engagement with said upper proximal gear rack and said lower proximal gear rack.
17 . The surgical instrument of claim 16 , wherein said carrier further comprises a carrier rack in meshing engagement with a motor-driven drive gear.
18 . The surgical instrument of claim 17 , wherein said flexible upper push coil further comprises an upper push coil cable extending through said flexible upper push coil and comprising an upper cable distal end coupled to said top portion of said firing driver and an upper cable proximal end coupled to said upper proximal gear rack, and wherein said flexible lower push cable further comprises a lower push coil cable extending through said lower push coil and comprising a lower cable distal end coupled to said bottom portion of said firing driver and a lower cable proximal end coupled to said lower proximal gear rack.
19 . The surgical instrument of claim 18 , wherein said upper push coil is received within an upper flexible sleeve, and wherein said lower push coil is received within a lower flexible sleeve.