US 11,717,311 B2
Surgical instruments with articulating shafts
Michael P. Weir, Blanchester, OH (US); Joseph B. Kraimer, Mason, OH (US); Frederick E. Shelton, IV, Hillsboro, OH (US); Stephen J. Balek, Springboro, OH (US); Zhifan F. Huang, Mason, OH (US); Sora Rhee, Spring Mills, PA (US); Foster B. Stulen, Johns Island, SC (US); and Carl J. Draginoff, Jr., Mason, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Sep. 16, 2020, as Appl. No. 17/22,337.
Application 17/022,337 is a continuation of application No. 15/393,990, filed on Dec. 29, 2016, granted, now 10,987,123.
Application 15/393,990 is a continuation of application No. 13/538,720, filed on Jun. 29, 2012, abandoned.
Prior Publication US 2021/0100578 A1, Apr. 8, 2021
Int. Cl. A61B 17/32 (2006.01); A61B 18/14 (2006.01); A61B 34/37 (2016.01); A61B 17/00 (2006.01); A61B 18/08 (2006.01); A61B 34/30 (2016.01); A61B 17/29 (2006.01); A61B 17/22 (2006.01)
CPC A61B 17/320092 (2013.01) [A61B 17/00234 (2013.01); A61B 18/08 (2013.01); A61B 18/082 (2013.01); A61B 18/1445 (2013.01); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 2017/00314 (2013.01); A61B 2017/00318 (2013.01); A61B 2017/00323 (2013.01); A61B 2017/00327 (2013.01); A61B 2017/00331 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/22018 (2013.01); A61B 2017/2923 (2013.01); A61B 2017/2927 (2013.01); A61B 2017/320088 (2013.01); A61B 2017/320094 (2017.08); A61B 2017/320095 (2017.08)] 9 Claims
OG exemplary drawing
 
1. An articulatable surgical instrument comprising:
a robotic instrument mounting portion comprising:
a first gear and a second gear both configured to rotate on a common first plane;
a first connecting gear mechanically coupled to the first gear;
a second connecting gear mechanically coupled to the second gear;
a first shaft extending along a longitudinal axis and mechanically coupled to the first connecting gear and configured to rotate on a second plane perpendicular to both the common first plane and the longitudinal axis; and
a second shaft extending parallel to the longitudinal axis and mechanically coupled to the second connecting gear and configured to rotate on the second plane perpendicular to both the common first plane and the longitudinal axis;
a plurality of transverse spacer members coupled to the first shaft and the second shaft; and
an end effector coupled to distal ends of the first shaft and the second shaft;
wherein the first shaft comprises a first pivotable portion extending through the plurality of transverse spacer members and having a first natural bias away from the longitudinal axis, and wherein a direction of the first natural bias of the first shaft varies with rotation of the first shaft;
wherein the second shaft comprises a second pivotable portion extending through the plurality of transverse spacer members parallel to the longitudinal axis and having a second natural bias away from the longitudinal axis, wherein a direction of the second natural bias varies with rotation of the second shaft;
wherein:
the first and second pivotable portions are substantially straight when the first and second shafts are rotated such that the direction of the first natural bias of the first shaft and the direction of the second natural bias of the second shaft oppose one another, and both the first shaft and the second shaft exert bias forces oriented radially outward from the longitudinal axis; and
the first and second pivotable portions articulate in a common first direction away from the longitudinal axis when the first and second shafts are rotated such that the direction of the first natural bias of the first shaft and the direction of the second natural bias of the second shaft are aligned with one another both in the common first direction.