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US 11,304,696 B2Granted
Surgical instrument comprising a powered articulation system
AssigneeCilag GmbH International
InventorsFrederick E. Shelton, IV, Jason L. Harris, Seth D. Holdmeyer, Mark S. Zeiner
Life of this patent
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Abstract
A surgical instrument comprising an end effector and an articulation joint configured to permit the end effector to be articulated into position is disclosed. The surgical instrument further comprises an articulation drive system powered by at least one electric motor for articulating the end effector.
Claims19
A surgical instrument, comprising:
- a housing;
- a shaft extending from said housing, wherein said shaft comprises:
- a longitudinal shaft;
- a first articulatable shaft portion;
- a first articulation joint rotatably connecting said first articulatable shaft portion to said longitudinal shaft, wherein said first articulation joint defines a first articulation axis;
- a second articulatable shaft portion;
- and
- a second articulation joint rotatably connecting said second articulatable shaft portion to said longitudinal shaft, wherein said second articulation joint defines a second articulation axis, and wherein said second articulation axis is orthogonal to said first articulation axis;
- a first drive actuator operably engaged with said first articulatable shaft portion configured to articulate said first articulatable shaft portion about said first articulation axis, wherein said first drive actuator extends through said second articulation joint;
- a second drive actuator operably engaged with said second articulatable shaft portion configured to articulate said second articulatable shaft portion about said second articulation axis;
- a first articulation lock positioned adjacent to said first articulation joint configured to releasably hold said first articulatable shaft portion in position;
- and
- a second articulation lock positioned adjacent to said second articulation joint configured to releasably hold said second articulatable shaft portion in position.
10 more elements
A surgical instrument, comprising:
- a housing;
- a shaft assembly extending from said housing, wherein said shaft assembly comprises:
- a longitudinal shaft;
- a first articulatable shaft portion;
- a first articulation joint rotatably connecting said first articulatable shaft portion to said longitudinal shaft, wherein said first articulation joint defines a first articulation axis;
- a second articulatable shaft portion;
- and
- a second articulation joint rotatably connecting said second articulatable shaft portion to said first articulatable shaft portion, wherein said second articulation joint defines a second articulation axis, and wherein said second articulation axis is orthogonal to said first articulation axis;
- a first drive actuator operably engaged with said first articulatable shaft portion, wherein said first drive actuator is configured to articulate said first articulatable shaft portion about said first articulation axis, and wherein said first drive actuator extends through said second articulation joint;
- a second drive actuator operably engaged with said second articulatable shaft portion, wherein said second drive actuator is configured to articulate said second articulatable shaft portion about said second articulation axis;
- a first articulation lock positioned adjacent to said first articulation joint, wherein said first articulation lock is configured to releasably hold said first articulatable shaft portion in position;
- and
- a second articulation lock positioned adjacent to said second articulation joint, wherein said second articulation lock is configured to releasably hold said second articulatable shaft portion in position.
10 more elements
A surgical system, comprising:
- a shaft assembly, comprising:
- a longitudinal shaft;
- a first articulatable shaft portion;
- a first articulation joint rotatably connecting said first articulatable shaft portion to said longitudinal shaft, wherein said first articulation joint defines a first articulation axis;
- a second articulatable shaft portion;
- and
- a second articulation joint rotatably connecting said second articulatable shaft portion to said first articulatable shaft portion, wherein said second articulation joint defines a second articulation axis, and wherein said second articulation axis is orthogonal to said first articulation axis;
- a first drive actuator operably engaged with said first articulatable shaft portion, wherein said first drive actuator is configured to articulate said first articulatable shaft portion about said first articulation axis, and wherein said first drive actuator extends through said second articulation joint;
- a second drive actuator operably engaged with said second articulatable shaft portion, wherein said second drive actuator is configured to articulate said second articulatable shaft portion about said second articulation axis;
- a first articulation block positioned adjacent to said first articulation joint, wherein said first articulation block is configured to releasably hold said first articulatable shaft portion in position;
- and
- a second articulation block positioned adjacent to said second articulation joint, wherein said second articulation block is configured to releasably hold said second articulatable shaft portion in position.
9 more elements
Dependencies are inferred from the claim text.