SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM

摘要

A surgical instrument can include a shaft, an end effector, and an articulation joint configured to permit the end effector to rotate relative to the shaft about the articulation joint. The surgical instrument can further comprise a first articulation actuator for rotating the end effector in a first direction and a second articulation actuator for rotating the end effector in a second direction. The articulation actuators can be configured to push the end effector. The articulation actuators can assume different configurations depending on whether they are experiencing a compressive load or a tensile load. The articulation joint can comprise an articulation frame which forms a proximal joint with the shaft and a distal joint with the end effector. The joints can comprise fixed axis joints and/or ball-and-socket joints, for example. The articulation joint can comprise links having different sizes to facilitate the articulation of the articulation joint.

主权项

1. A surgical instrument, comprising:
a shaft comprising a shaft frame; an end effector, comprising:
an end effector frame; anda jaw movable relative to said end effector frame; an articulation joint, comprising:
an articulation frame, comprising:
a proximal articulation end; anda distal articulation end;a first articulation joint connecting said proximal articulation end to said shaft frame; anda second articulation joint connecting said distal articulation end to said end effector frame; a firing system movable relative to said shaft frame, said articulation frame, and said end effector frame, wherein said firing system comprises a cutting member movable relative to said end effector frame.