US 12,220,126 B2
Surgical instruments with double pivot articulation joint arrangements
Spencer J. Witte, Los Altos, CA (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Jun. 28, 2021, as Appl. No. 17/360,192.
Claims priority of provisional application 63/057,430, filed on Jul. 28, 2020.
Claims priority of provisional application 63/057,432, filed on Jul. 28, 2020.
Prior Publication US 2022/0031350 A1, Feb. 3, 2022
Int. Cl. A61B 17/00 (2006.01); A61B 17/068 (2006.01); A61B 17/072 (2006.01); A61B 17/29 (2006.01); A61B 17/32 (2006.01); A61B 34/30 (2016.01)
CPC A61B 17/0686 (2013.01) [A61B 17/00234 (2013.01); A61B 17/068 (2013.01); A61B 17/072 (2013.01); A61B 17/07207 (2013.01); A61B 17/29 (2013.01); A61B 17/320092 (2013.01); A61B 34/30 (2016.02); A61B 2017/00314 (2013.01); A61B 2017/00323 (2013.01); A61B 2017/00336 (2013.01); A61B 2017/00367 (2013.01); A61B 2017/00389 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/07214 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07278 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/2927 (2013.01); A61B 2017/320071 (2017.08); A61B 2017/320093 (2017.08); A61B 2017/320094 (2017.08); A61B 2017/320095 (2017.08); A61B 2017/320097 (2017.08); A61B 2034/301 (2016.02)] 12 Claims
OG exemplary drawing
 
1. A surgical instrument, comprising:
a shaft assembly, wherein said shaft assembly defines a shaft axis;
a surgical end effector, wherein said surgical end effector defines an end effector axis, wherein said surgical end effector is coupled to said shaft assembly by an articulation joint configured to facilitate articulation of said surgical end effector relative to said shaft assembly in an articulation plane between an unarticulated position wherein said end effector axis is axially aligned with said shaft axis in said articulation plane and articulated positions wherein said end effector axis is not axially aligned with said shaft axis, wherein said articulation joint comprises:
a proximal joint member coupled to said shaft assembly, wherein said proximal joint member comprises a proximal face that defines an arcuate proximal apex;
a distal joint member coupled to said surgical end effector, wherein said distal joint member comprises a distal face that defines an arcuate distal apex; and
at least one linkage assembly comprising:
a first link coupled to said proximal joint member and said distal joint member; and
a second link coupled to said proximal joint member and said distal joint member, wherein said second link crosses said first link, wherein said first link and said second link pivotally couple said proximal joint member to said distal joint member such that said arcuate distal apex confronts said arcuate proximal apex, wherein said surgical instrument further comprises at least two flexible actuator members, and wherein said at least two flexible actuator members span said articulation joint and operably interface with said distal articulation joint member to apply articulation motions thereto.