# US 11,432,816 B2 · Articulation pin for a surgical instrument > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,432,816 B2 - Document ID: US11432816B2 - Status: Granted - Kind: B2 - Application number: 16/846,313 - Filed: 2020-04-11 - Published: 2020-11-05 - Granted: 2022-09-06 - Earliest claimed: 2019-04-30 - Assignees: Cilag GmbH International - Applicants: Ethicon LLC - Inventors: Richard L. Leimbach; Zhifan F. Huang; Bret W. Smith; Gary S. Jaworek; Robbin B. Johnson - Web page: https://patentgrep.com/patent/US11432816B2 ## CPC - A61B 17/07207: {the staples being applied sequentially} - H04B 5/73: for taking measurements, e.g. using sensing coils - H04B 5/77: for interrogation - A61B 90/98: using electromagnetic means, e.g. transponders - A61B 2017/00017: {Electrical control of surgical instruments} - A61B 2017/00039: {Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect} - A61B 2017/00115: {with audible or visual output} - A61B 2017/00132: {Setting operation time of a device (A61B2017/00123 takes precedence)} - A61B 2017/0019: {Means for setting or varying the pulse width} - A61B 2017/00367: {Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like} - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2017/00734: {battery operated} - A61B 2017/07228: {Arrangement of the staples} - A61B 2017/07257: {characterised by its anvil} - A61B 2017/07271: {characterised by its cartridge} - A61B 2017/07285: {characterised by its cutter} - A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft} - A61B 2017/2929: {with a head rotatable about the longitudinal axis of the shaft} - A61B 2017/2936: {Pins in guiding slots} - A61B 2090/036: {abutting on tissue or skin} - A61B 2090/0811: {for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument} - A61B 2090/0814: {Preventing re-use} - G16H 40/63: for local operation - H01R 35/00: Flexible or turnable line connectors {, i.e. the rotation angle being limited} (rotary current collectors, distributors H01R39/00) - H01R 39/08: Slip-rings - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - H04B: TRANSMISSION - G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA - H01R: ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS ## Abstract A surgical instrument comprising a shaft and an articulatable end effector is disclosed. The surgical instrument further comprises an articulation drive system configured to articulate the end effector and means for retaining the articulation drive system in engagement with the end effector. ## Claims ### Claim 1 A surgical instrument, comprising: a housing; a shaft extending distally from said housing; an end effector, comprising: a frame comprising an articulation pin, wherein said articulation pin comprises a retention head; a first jaw extending distally from said frame; and a second jaw rotatable relative to said first jaw; an articulation joint rotatably connecting said end effector to said shaft; and an articulation drive system comprising an articulation driver, wherein said articulation driver comprises a distal end, wherein said distal end comprises an elongate aperture including a sidewall, wherein said articulation pin extends through said elongate aperture, wherein said articulation driver is movable distally to push said sidewall against said articulation pin and rotate said end effector in a first direction, wherein said articulation driver is movable proximally to pull said sidewall against said articulation pin to rotate said end effector in a second direction, wherein said retention head of said articulation pin extends above and laterally over at least a portion of said distal end, and wherein said retention head is configured to retain said articulation pin in said elongate aperture by preventing said articulation driver from lifting up off said articulation pin. ### Claim 2 (depends on 1) The surgical instrument of claim 1, wherein said first jaw comprises a staple cartridge and said second jaw comprises an anvil. ### Claim 3 (depends on 1) The surgical instrument of claim 1, wherein said articulation driver further comprises a lip extending around said elongate aperture, and wherein said lip is configured to receive a portion of said retention head. ### Claim 4 (depends on 1) The surgical instrument of claim 1, further comprising a metal retention plate extending between said retention head and said articulation driver configured to retain said articulation pin in said elongate aperture. ### Claim 5 (depends on 1) The surgical instrument of claim 1, wherein said elongate aperture is defined by an aperture width and an aperture length, and wherein said retention head is wider than said aperture width. ### Claim 6 (depends on 5) The surgical instrument of claim 5, wherein said shaft defines a longitudinal axis, wherein said articulation driver extends parallel to said longitudinal axis, and wherein said aperture length is orthogonal to said longitudinal axis. ### Claim 7 (depends on 1) The surgical instrument of claim 1, wherein said articulation driver is configured to resiliently bend to accommodate articulation of said end effector. ### Claim 8 A surgical instrument, comprising: a housing; a shaft extending distally from said housing; an end effector, comprising: a frame comprising an articulation pin, wherein said articulation pin comprises a retention head; a first jaw extending distally from said frame; and a second jaw rotatable relative to said first jaw; an articulation joint rotatably connecting said end effector to said shaft; and an articulation drive system comprising an articulation driver, wherein said articulation driver comprises a distal end, wherein said distal end comprises an elongate aperture including a sidewall, wherein said articulation pin extends through said elongate aperture, wherein said articulation driver is movable distally to push said sidewall against said articulation pin and rotate said end effector in a first direction, and wherein said articulation driver is movable proximally to pull said sidewall against said articulation pin to rotate said end effector in a second direction; and a metal retention plate extending between said retention head and said articulation driver configured to retain said articulation pin in said elongate aperture and prevent said articulation driver from lifting up off said articulation pin. ### Claim 9 (depends on 8) The surgical instrument of claim 8, wherein said first jaw comprises a staple cartridge and said second jaw comprises an anvil. ### Claim 10 (depends on 8) The surgical instrument of claim 8, wherein said elongate aperture is defined by an aperture width and an aperture length, and wherein said retention head is wider than said aperture width. ### Claim 11 (depends on 10) The surgical instrument of claim 10, wherein said shaft defines a longitudinal axis, wherein said articulation driver extends parallel to said longitudinal axis, and wherein said aperture length is orthogonal to said longitudinal axis. ### Claim 12 (depends on 8) The surgical instrument of claim 8, wherein said articulation driver is configured to resiliently bend to accommodate articulation of said end effector. ### Claim 13 A surgical instrument, comprising: a shaft; an end effector, comprising: an articulation pin comprising a retention head; a first jaw; and a second jaw rotatable relative to said first jaw; an articulation joint rotatably connecting said end effector to said shaft; and an articulation drive system comprising an articulation driver, wherein said articulation driver comprises an elongate aperture including a sidewall, wherein said articulation pin extends into said elongate aperture, wherein said articulation driver is movable distally to rotate said end effector in a first direction, wherein said articulation driver is movable proximally to rotate said end effector in a second direction, wherein said articulation driver further comprises a recess extending around said elongate aperture, wherein said recess is configured to receive a portion of said retention head, and wherein said retention head is configured to retain said articulation pin in said elongate aperture by preventing said articulation driver from lifting up off said articulation pin. ### Claim 14 (depends on 13) The surgical instrument of claim 13, wherein said first jaw comprises a staple cartridge and said second jaw comprises an anvil. ### Claim 15 (depends on 13) The surgical instrument of claim 13, further comprising a metal retention plate extending between said retention head and said articulation driver configured to retain said retention head in said recess. ### Claim 16 (depends on 13) The surgical instrument of claim 13, wherein said elongate aperture is defined by an aperture width and an aperture length, and wherein said retention head is wider than said aperture width. ### Claim 17 (depends on 16) The surgical instrument of claim 16, wherein said shaft defines a longitudinal axis, wherein said articulation driver extends parallel to said longitudinal axis, and wherein said aperture length is orthogonal to said longitudinal axis. ### Claim 18 (depends on 13) The surgical instrument of claim 13, wherein said articulation driver is configured to resiliently bend to accommodate articulation of said end effector.