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US 2022/0031350 A1Published application
Surgical instruments with double pivot articulation joint arrangements
AssigneeCilag GmbH International
InventorSpencer J. Witte
Life of this patent
Estimating the term…
Abstract
Surgical instruments with articulation joints that include a proximal joint member that has a proximal face that defines an arcuate proximal apex and a distal joint member that has a distal face that defines an arcuate distal apex. A first link and a second link are coupled to the proximal joint member and the distal joint member such that they cross each other and the arcuate distal apex confronts the arcuate proximal apex.
Claims20
A surgical instrument, comprising:
- a shaft assembly, wherein said shaft assembly defines a shaft axis;
- a surgical end effector, wherein said surgical end effector defines an end effector axis, wherein said surgical end effector is coupled to said shaft assembly by an articulation joint configured to facilitate articulation of said surgical end effector relative to said shaft assembly in an articulation plane between an unarticulated position wherein said end effector axis is axially aligned with said shaft axis in said articulation plane and articulated positions wherein said end effector axis is not axially aligned with said shaft axis, wherein said articulation joint comprises:
- a proximal joint member coupled to said shaft assembly, wherein said proximal joint member comprises a proximal face that defines an arcuate proximal apex;
- a distal joint member coupled to said surgical end effector, wherein said distal joint member comprises a distal face that defines an arcuate distal apex;
- and
- at least one linkage assembly comprising:
- a first link coupled to said proximal joint member and said distal joint member;
- and
- a second link coupled to said proximal joint member and said distal joint member, wherein said second link crosses said first link, wherein said first link and said second link pivotally couple said proximal joint member to said distal joint member such that said arcuate distal apex confronts said arcuate proximal apex, wherein said surgical instrument further comprises at least two flexible actuator members, and wherein said at least two flexible actuator members span said articulation joint and operably interface with said distal articulation joint member to apply articulation motions thereto.
6 more elements
A surgical instrument, comprising:
- a shaft assembly, wherein said shaft assembly defines a shaft axis;
- a surgical end effector, wherein said surgical end effector defines an end effector axis, wherein said surgical end effector is coupled to said shaft assembly by an articulation joint configured to facilitate articulation of said surgical end effector relative to said shaft assembly in an articulation plane between an unarticulated position wherein said end effector axis is axially aligned with said shaft axis in said articulation plane and articulated positions wherein said end effector axis is not axially aligned with said shaft axis, wherein said articulation joint comprises:
- a proximal joint member coupled to said shaft assembly, wherein said proximal joint member comprises a proximal arcuate apex;
- a central joint member comprising a proximal facing first arcuate apex and a distal facing second arcuate apex;
- a distal joint member coupled to said surgical end effector, wherein said distal joint member defines an distal arcuate joint apex;
- and
- at least one proximal linkage assembly comprising:
- a first proximal link coupled to said proximal joint member and said central joint member;
- and
- a second proximal link coupled to said proximal joint member and said central joint member, wherein said second proximal link crosses said first proximal link, wherein said first proximal link and said second proximal link pivotally couple said proximal joint member to said central joint member such that said proximal facing first arcuate apex confronts said proximal arcuate apex to facilitate articulation of said central joint member relative to said proximal joint member through a first articulation plane, and wherein said surgical instrument further comprises at least one distal linkage assembly comprising:
- a first distal link coupled to said central joint member and said distal joint member;
- and
- a second distal link coupled to said central joint member and said distal joint member, wherein said second distal link crosses said first distal link, and wherein said first distal link and said second distal link pivotally couple said central joint member to said distal joint member such that said arcuate distal apex confronts said arcuate distally facing second arcuate apex to facilitate articulation of said distal joint member relative to said central joint member through a second articulation plane that differs from said first articulation plane, wherein said surgical instrument further comprises four flexible actuator members, and wherein said four flexible actuator members span said articulation joint and operably interface with said distal joint member to apply articulation motions thereto.
10 more elements
A surgical instrument, comprising:
- a shaft assembly, wherein said shaft assembly defines a shaft axis;
- a surgical end effector coupled to said shaft assembly by an articulation joint, wherein said articulation joint comprises:
- a proximal joint member coupled to said shaft assembly;
- a distal joint member coupled to said surgical end effector;
- a first linkage assembly comprising:
- a first link coupled to said proximal joint member and said distal joint member on a first side of said shaft axis;
- and
- a second link coupled to said proximal joint member on said first side of said shaft axis, wherein said second link crosses said first link and is attached to said distal joint member on said first side of said shaft axis and wherein said articulation joint further comprises:
- a second linkage assembly comprising:
- a third link coupled to said proximal joint member and said distal joint member on a second side of said shaft axis;
- and
- a fourth link coupled to said proximal joint member on said second side of said shaft axis, wherein said fourth link crosses said third link on said second side of said shaft axis and is attached to said distal joint member on said second side of said shaft axis, wherein said first linkage assembly and said second linkage assembly facilitate articulation of said surgical end effector through an articulation plane relative to said shaft assembly, wherein said surgical instrument further comprises at least two flexible actuator members, and wherein said at least two flexible actuator members span said articulation joint and operably interface with said distal joint member to apply articulation motions thereto.
9 more elements
Dependencies are inferred from the claim text.