US 11,696,776 B2
Articulatable surgical instrument
Frederick E. Shelton, IV, Hillsboro, OH (US); Kevin M. Fiebig, Cincinnati, OH (US); and Mark S. Zeiner, Mason, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on May 28, 2020, as Appl. No. 16/885,820.
Claims priority of provisional application 62/955,299, filed on Dec. 30, 2019.
Prior Publication US 2021/0196301 A1, Jul. 1, 2021
Int. Cl. A61B 17/29 (2006.01); A61B 17/068 (2006.01); A61B 8/00 (2006.01); A61B 1/01 (2006.01); A61B 1/00 (2006.01); A61B 1/008 (2006.01); A61B 1/005 (2006.01)
CPC A61B 17/29 (2013.01) [A61B 17/068 (2013.01); A61B 1/008 (2013.01); A61B 1/009 (2022.02); A61B 1/00149 (2013.01); A61B 1/01 (2013.01); A61B 8/4218 (2013.01); A61B 2017/2908 (2013.01); A61B 2017/2919 (2013.01); A61B 2017/2939 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A surgical instrument, comprising:
a surgical end effector comprising an end effector frame assembly; and
a proximal shaft segment defining a shaft axis, wherein said proximal shaft segment is attached to said end effector frame assembly by an articulation system to facilitate articulation of said end effector frame assembly relative to said proximal shaft segment about an articulation axis that is transverse to said shaft axis, wherein said articulation system comprises:
a first link comprising:
a first link proximal end pivotally coupled to said proximal shaft segment; and
a first link distal end, wherein said articulation system further comprises:
a second link, comprising:
a second link proximal end pivotally coupled to said first link distal end; and
a second link distal end pivotally coupled to said end effector frame assembly, wherein said articulation system further comprises an axially movable articulation actuator pivotally pinned to said first link at a location between said first link proximal end and said first link distal end to apply articulation motions thereto, and wherein axial movement of said axially movable articulation actuator only in a proximal axial direction causes articulation of said end effector frame assembly in a first articulation direction and articulation of said axially movable articulation actuator only in a distal axial direction causes articulation of said end effector frame assembly in a second articulation direction.