Surgical instruments with multiple link articulation arrangements

Patent metadata

Field	Value
Publication number	US-10433837-B2
Application number	US-201615019228-A
Country	US
Kind code	B2
Filing date	Feb 9, 2016
Priority date	Feb 9, 2016
Publication date	Oct 8, 2019
Grant date	Oct 8, 2019

Abstract

A surgical instrument comprising 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. An articulation driver is supported for selective longitudinal travel relative to the elongate shaft assembly. A central articulation link is pivotally coupled to the elongate shaft assembly for pivotal travel relative thereto. An intermediate link is movably coupled to the articulation driver and the central articulation link. An end effector driver is movably coupled to the central articulation link and the surgical end effector.

First claim

What is claimed is:

1. A surgical instrument, comprising:
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; and
an articulation system, comprising:
an articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction, wherein said surgical end effector is pushed in a first articulation direction upon application of a pulling motion to said articulation driver and wherein said surgical end effector is pulled in a second articulation direction upon application of a pushing motion to said articulation driver;
a central articulation link pivotally coupled to said elongate shaft assembly for pivotal travel relative thereto;
an intermediate link movably coupled to said articulation driver and said central articulation link; and
an end effector driver movably coupled to said central articulation link and said surgical end effector.

2. The surgical instrument of claim 1 , wherein said central articulation link is pivotally coupled to said elongate shaft assembly for pivotal travel relative thereto about a link axis that is offset from said articulation axis.

3. The surgical instrument of claim 2 , wherein said link axis is parallel to said articulation axis and transverse to said shaft axis.

4. The surgical instrument of claim 2 , wherein said central articulation link comprises a first central link end that is movably coupled to said intermediate link and a second central link end that is movably attached to said end effector driver and wherein said first central link end is a first distance from said link axis and wherein said second central link end is a second distance from said link axis and wherein said first distance differs from said second distance.

5. The surgical instrument of claim 4 , wherein said first distance is less than said second distance.

6. The surgical instrument of claim 1 , wherein said central articulation link includes a first length and said intermediate link includes a second length and wherein said end effector driver includes a third length and wherein said second length is shorter than said first and third lengths.

7. The surgical instrument of claim 6 , wherein said first length is shorter than said third length.

8. The surgical instrument of claim 1 , wherein said intermediate link curves in a first direction.

9. The surgical instrument of claim 8 , wherein said end effector driver curves in a second direction that is opposite to said first direction.

10. The surgical instrument of claim 1 , wherein said surgical end effector is selectively articulatable between an unarticulated position and first articulated positions through a first range of articulation angles and wherein said surgical end effector is articulatable between said unarticulated position and second articulated positions through a second range of articulation angles.

11. The surgical instrument of claim 10 , wherein said first range of articulation angles is between one degree and ninety degrees and wherein said second range of articulation angles is between one degree and ninety degrees.

12. A surgical instrument, comprising:
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; and
an articulation system, comprising:
an articulation driver supported for selective longitudinal travel relative to said elongate shaft assembly in a distal direction and a proximal direction;
a central articulation link pivotally coupled to said elongate shaft assembly for selective pivotal travel about a link axis that is offset from said articulation axis;
a curved intermediate link movably coupled to said articulation driver and said central articulation link; and
a curved end effector driver pivotally coupled to said central articulation link and said surgical end effector, wherein said curved end effector driver is configured to articulate said surgical end effector about said articulation axis.

13. The surgical instrument of claim 12 , wherein said central articulation link comprises a first central link end that is movably coupled to said intermediate link and a second central link end that is movably attached to said end effector driver and wherein said first central link end is a first distance from said link axis and wherein said second central link end is a second distance from said link axis and wherein said first distance differs from said second distance.

14. The surgical instrument of claim 13 , wherein said first distance is less than said second distance.

15. The surgical instrument of claim 12 , wherein said central articulation link includes a first length and said intermediate link includes a second length and said end effector driver includes a third length and wherein said second length is shorter than said first and third lengths.

16. The surgical instrument of claim 15 , wherein said first length is shorter than said third length.

Assignees

• Ethicon Endo Surgery Llc
• Ethicon Llc

Inventors

• Worthington Sarah A
• Hunter Morgan R
• Schultz Darwin L
• Hensel Adam D
• Shelton Iv Frederick E
• Weaner Lauren S
• Vendely Michael J

Classifications

• A61B2034/715

  Cable tensioning mechanisms for removing slack · CPC title

• A61B2017/2908

  Multiple segments connected by articulations · CPC title

• A61B2017/2943

  Toothed members, e.g. rack and pinion · CPC title

• A61B2017/00862

  elastic or resilient · CPC title

• A61B2017/00473

  Distal part, e.g. tip or head (A61B2017/00464 takes precedence) · CPC title