Surgical instrument with bending articulation controlled articulation pivot joint

A surgical instrument, comprising:

• an end effector including a proximal camming surface;
• an elongate shaft including a hollow chamber within and a frame aligned with the camming surface of the end effector;
• an articulation joint pivotally attaching the end effector to a distal end of the elongate shaft, the pivot attachment positioned distal to the proximal camming surface of the end effector;
• a bending member located within the hollow chamber of the shaft and bendable therein, the bending member having a proximal end attached to the elongate shaft and a distal end slidingly engaged to the proximal camming surface of the end effector;
• differential actuators comprising a first and a second fluidic actuating bladders opposingly positioned within the hollow chamber of the shaft against the bending member located therebetween, the first and a second fluidic actuating bladders proximal to the camming surface of the end effector;
• and
• an articulation control actuator proximally attached to the elongate shaft and operably configured with a third fluidic bladder longitudinally coupled to the first fluid bladder and a fourth fluidic bladder longitudinally coupled to the second fluidic bladder, wherein selective actuation of the articulation control actuator in a first direction longitudinally moves fluid from one of the third and fourth fluid bladders to one of the first and second fluidic actuating bladders to selectively deflect a distal end of the bending member to articulate the end effector.

A surgical instrument, comprising:

• an end effector including a proximal surface;
• an elongate shaft including a longitudinal axis and a lateral recess therewithin, and a frame aligned with the proximal surface of the end effector;
• an articulation joint pivotally attaching the end effector to a distal end of the elongate shaft, the pivot attachment positioned distal to the proximal surface of the end effector;
• a bending member having a flexible shaft portion configured to flex within the lateral recess within the elongate shaft and having a proximal end attached to the elongate shaft and a distal end engaged to the proximal surface of the end effector;
• and
• a means for selectively deflecting the distal end of the bending member to bend the flexible shaft and articulate the end effector, wherein the means for selectively deflecting the distal end longitudinally transfers fluid from a proximal end of the shaft to laterally bend the flexible shaft portion in an arcuate path in a first direction to rotate a distal end of the end effector in an arcuate path in an opposite direction.