# US 11,304,696 B2 · Surgical instrument comprising a powered articulation system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,304,696 B2 - Document ID: US11304696B2 - Status: Granted - Kind: B2 - Application number: 16/720,776 - Filed: 2019-12-19 - Published: 2021-06-24 - Granted: 2022-04-19 - Earliest claimed: 2019-12-19 - Assignees: Cilag GmbH International - Applicants: Ethicon LLC - Inventors: Frederick E. Shelton, IV; Jason L. Harris; Seth D. Holdmeyer; Mark S. Zeiner - Web page: https://patentgrep.com/patent/US11304696B2 ## CPC - A61B 17/07207: {the staples being applied sequentially} - A61B 2017/00017: {Electrical control of surgical instruments} - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2017/00526: {Methods of manufacturing} - A61B 2017/07228: {Arrangement of the staples} - A61B 2017/07257: {characterised by its anvil} - A61B 2017/07271: {characterised by its cartridge} - A61B 2017/07278: {characterised by its sled or its staple holder} - A61B 2017/07285: {characterised by its cutter} - A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft} - A61B 2017/2933: {camming or guiding means} - A61B 2017/2936: {Pins in guiding slots} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - A61B 2090/0814: {Preventing re-use} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The surgical instrument of claim 1, wherein the actuation of said first drive actuator automatically unlocks said first articulation lock. ### Claim 3 (depends on 1) The surgical instrument of claim 1, wherein the actuation of said second drive actuator automatically unlocks said second articulation lock. ### Claim 4 (depends on 1) The surgical instrument of claim 1, further comprising an end effector attached to said shaft, wherein said end effector comprises a staple cartridge. ### Claim 5 (depends on 1) The surgical instrument of claim 1, further comprising a first electric motor configured to drive said first drive actuator and a second electric motor configured to drive said second drive actuator. ### Claim 6 (depends on 1) The surgical instrument of claim 1, wherein said first drive actuator comprises a first set of cable drive actuators operably engaged with said first articulatable shaft portion configured to articulate said first articulatable shaft portion about said first articulation axis, and wherein said first set of cable drive actuators extends through said second articulation joint, and wherein said second drive actuator comprises a second set of cable drive actuators operably engaged with said second articulatable shaft portion configured to articulate said second articulatable shaft portion about said second articulation axis. ### Claim 7 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. ### Claim 8 (depends on 7) The surgical instrument of claim 7, wherein the actuation of said first drive actuator automatically unlocks said first articulation lock. ### Claim 9 (depends on 7) The surgical instrument of claim 7, wherein the actuation of said second drive actuator automatically unlocks said second articulation lock. ### Claim 10 (depends on 7) The surgical instrument of claim 7, further comprising an end effector attached to said shaft assembly, wherein said end effector comprises a staple cartridge. ### Claim 11 (depends on 7) The surgical instrument of claim 7, further comprising a first electric motor configured to drive said first drive actuator and a second electric motor configured to drive said second drive actuator. ### Claim 12 (depends on 7) The surgical instrument of claim 7, wherein said first drive actuator comprises a first set of cable drive actuators operably engaged with said first articulatable shaft portion configured to articulate said first articulatable shaft portion about said first articulation axis, wherein said first set of cable drive actuators extends through said second articulation joint, and wherein said second drive actuator comprises a second set of cable drive actuators operably engaged with said second articulatable shaft portion configured to articulate said second articulatable shaft portion about said second articulation axis. ### Claim 13 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. ### Claim 14 (depends on 13) The surgical system of claim 13, wherein the actuation of said first drive actuator automatically unlocks said first articulation block. ### Claim 15 (depends on 13) The surgical system of claim 13, wherein the actuation of said second drive actuator automatically unlocks said second articulation block. ### Claim 16 (depends on 13) The surgical system of claim 13, further comprising an end effector attached to said shaft assembly, wherein said end effector comprises a staple cartridge. ### Claim 17 (depends on 13) The surgical system of claim 13, further comprising a first electric motor configured to drive said first drive actuator and a second electric motor configured to drive said second drive actuator. ### Claim 18 (depends on 13) The surgical system of claim 13, wherein said first drive actuator comprises a first set of cable drive actuators operably engaged with said first articulatable shaft portion configured to articulate said first articulatable shaft portion about said first articulation axis, wherein said first set of cable drive actuators extends through said second articulation joint, and wherein said second drive actuator comprises a second set of cable drive actuators operably engaged with said second articulatable shaft portion configured to articulate said second articulatable shaft portion about said second articulation axis. ### Claim 19 (depends on 13) The surgical system of claim 13, further comprising a housing, wherein said shaft assembly extends from said housing.