US 11,786,239 B2
Surgical instrument articulation joint arrangements comprising multiple moving linkage features
Frederick E. Shelton, IV, Hillsboro, OH (US); Aaron J. Chow, Cincinnati, OH (US); Adam D. Hensel, Gahanna, OH (US); Luke C. Ice, Warsaw, IN (US); and Sudhir B. Patel, Mason, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Mar. 24, 2021, as Appl. No. 17/211,242.
Prior Publication US 2022/0304683 A1, Sep. 29, 2022
Int. Cl. A61B 17/068 (2006.01); A61B 17/072 (2006.01); A61B 17/29 (2006.01)
CPC A61B 17/0686 (2013.01) [A61B 17/072 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/2927 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A surgical instrument, comprising:
a shaft assembly, wherein said shaft assembly defines a shaft axis;
a surgical end effector;
an articulation joint comprising:
a proximal mounting member operably interfacing with said shaft assembly;
a distal mounting member operably interfacing with said surgical end effector;
and
a linkage assembly comprising:
a first link member comprising a first link proximal end, a first link distal end, and a first link body extending therebetween, wherein said first link proximal end is coupled to said proximal mounting member to enable said first link proximal end to pivot relative thereto and said first link body to rotate about the shaft axis during articulation of said surgical end effector, and wherein said first link distal end is coupled to said distal mounting member to enable said first link distal end to pivot relative thereto and said first link body to rotate about the shaft axis; and
a second link member comprising a second link proximal end, a second link distal end, and a second link body extending therebetween, wherein said second link proximal end is coupled to said proximal mounting member to enable said second link proximal end to pivot relative thereto and said second link body to rotate about the shaft axis, and wherein said second link distal end is coupled to said distal mounting member to enable said second link distal end to pivot relative thereto and said second link body to rotate about the shaft axis.