Back to results
US 12,446,880 B2Granted
Robotic tool comprising an articulation lock
AssigneeCilag GmbH International
InventorsFrederick E. Shelton, IV, Jerome R. Morgan
Life of this patent
Estimating the term…
Abstract
A surgical stapling instrument. Various embodiments include an actuation system for selectively generating a plurality of control motions. A surgical end effector is operably coupled to the actuation system. The actuation system interfaces with an actuation member configured to operably engage rotatable camming members to fire staples within the end effector into forming contact with an anvil portion of the end effector.
Claims18
A robotic stapler, comprising:
- a shaft;
- an end effector, comprising:
- a first jaw;
- and
- a second jaw rotatable relative to the first jaw;
- a staple firing driver movable distally through a staple firing stroke;
- a first articulation joint, wherein the end effector is articulatable relative to the shaft about the first articulation joint in a first plane;
- a second articulation joint, wherein the end effector is articulatable relative to the shaft about the second articulation joint in a second plane transverse to the first plane;
- a first cable extending distally to the first articulation joint, wherein an actuation of the first cable is to generate a first articulation motion at the first articulation joint in the first plane;
- a second cable extending distally to the second articulation joint, wherein an actuation of the second cable is to generate a second articulation motion at the second articulation joint in the second plane;
- and
- an articulation lock to simultaneously prevent the first articulation motion and the second articulation motion.
9 more elements
A robotic stapler, comprising:
- a shaft defining a longitudinal axis;
- an end effector, comprising:
- a first jaw;
- and
- a second jaw rotatable relative to the first jaw;
- a staple firing driver movable distally through a staple firing stroke;
- an articulation region, wherein the end effector is articulatable relative to the longitudinal axis in a first direction, a second direction opposite the first direction, a third direction different than the first direction and the second direction, and a fourth direction opposite the third direction;
- a plurality of actuation cables actuatable to generate articulations motions in the first direction, the second direction, the third direction, and the fourth direction;
- and
- an articulation lock to simultaneously prevent actuation of the plurality of actuation cables.
7 more elements
Dependencies are inferred from the claim text.