Surgical instrument with articulating shaft with rigid firing bar supports

An articulating surgical instrument, comprising:

• a handle;
• a shaft extending distally from the handle and defining a longitudinal axis;
• an end effector moveably attached to a distal end of the shaft, the end effector moveable through an articulation angle from a first position in alignment with the longitudinal axis to a second position at an angle with the longitudinal axis;
• a bendable firing member for actuation of the end effector, the bendable firing member extending from the handle to the end effector and moveable proximally and distally;
• a link member moveably connected to the end effector and the shaft, the link member moving to a link angle relative to the longitudinal axis in response to movement of the end effector and including a link slot to support at least a portion of the bendable firing member between the shaft and the end effector at any articulation angle;
• a single pivot proximal frame ground member located within the shaft and rotatably attached to the handle and pivotally attached to the end effector at a single pivot, the single pivot proximal frame ground member including a guide slot for the bendable firing member;
• and
• wherein the shaft further comprises an articulating sleeve assembly having a proximal closure tube portion longitudinally moveable distally and proximally over the single pivot frame ground member, the articulating sleeve assembly further comprising a distal tube portion movable distally and proximally over the end effector, and at least one closure link pivotally connecting the proximal tube portion to the distal tube portion and movable distally and proximally over the single pivot, the at least one closure link distally pivotally attached to the distal tube portion and proximally pivotally attached to the proximal tube portion.

A surgical instrument, comprising:

• a handle;
• a shaft extending distally from the handle and defining a longitudinal axis;
• an end effector moveably attached to a distal end of the shaft, the end effector moveable through an articulation angle from a first position in alignment with the longitudinal axis to a second position at an angle with the longitudinal axis;
• a bendable firing member extending from the handle to the end effector for actuation of the end effector, the bendable firing member moveable proximally and distally;
• a link member moveably connected to the end effector and the shaft, the link member including a link slot;
• a single pivot proximal frame ground member located within the shaft and rotatably attached to the handle and pivotally attached to the end effector at a single pivot, the single pivot proximal frame ground member including a guide slot for the bendable firing member;
• and
• wherein the shaft further comprises an articulating sleeve assembly having a proximal closure tube portion longitudinally moveable distally and proximally over the single pivot frame ground member, the articulating sleeve assembly further comprising a distal tube portion movable distally and proximally over the end effector, and at least one closure link pivotally connecting the proximal tube portion to the distal tube portion and movable distally and proximally over the single pivot, the at least one closure link distally pivotally attached to the distal tube portion and proximally pivotally attached to the proximal tube portion;
• and
• an articulation mechanism operably coupled to the end effector and the link member wherein actuation of the articulation mechanism moves the end effector through an articulation angle and moves the link member and a portion of the bendable firing member located within the link member to a link angle away from the longitudinal axis.

A surgical instrument, comprising:

• a handle;
• a shaft extending distally from the handle and defining a longitudinal axis;
• an end effector moveably attached to a distal end of the shaft, the end effector moveable through an articulation angle from a first position in alignment with the longitudinal axis to a second position at an angle with the longitudinal axis;
• a bendable firing member extending from the handle to the end effector and moveable proximally and distally from the handle;
• a link member moveably connected to the end effector and the shaft, the link member moving to a link angle relative to the longitudinal axis in response to movement of the end effector and configured to support at least a portion of the bendable firing member bar between the shaft and the end effector at any articulation angle;
• a single pivot proximal frame ground member rotatably attached to the handle and pivotally attached to the end effector, the frame ground forming a single pivot frame ground member to rotatably and moveably attach the end effector to the handle;
• and
• wherein the shaft further comprises an articulating sleeve assembly having a proximal closure tube portion longitudinally moveable distally and proximally over the single pivot frame ground member, the articulating sleeve assembly further comprising a distal tube portion movable distally and proximally over the end effector, and a flexible portion connecting the distal and proximal closure tube portions and movable distally and proximally over the single pivot.