US 12,064,107 B2
Articulatable surgical instruments with articulation joints comprising flexible exoskeleton arrangements
Darryl A. Parks, Mason, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Jun. 28, 2021, as Appl. No. 17/360,244.
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 2022/0031346 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)] 17 Claims
OG exemplary drawing
 
1. A surgical instrument, comprising:
an elongate shaft;
a surgical end effector coupled to said elongate shaft by an articulation joint, wherein said articulation joint is configured to facilitate selective articulation of said surgical end effector relative to said elongate shaft;
a constant velocity drive shaft assembly spanning said articulation joint, wherein said constant velocity drive shaft assembly is configured to apply rotary motions to a portion of said surgical end effector, and wherein said constant velocity drive shaft assembly comprises a series of movable drive joints, wherein each said moveable drive joint comprises a first sphere portion comprising a socket cavity, and a second sphere portion sized to be rotatably received in said socket cavity in said first sphere portion of an adjacent movable drive joint in said series of movable drive joints, wherein each said movable drive joint is capable of moving in multiple planes relative to each other;
a movable exoskeleton that defines at least a portion of said articulation joint, wherein said movable exoskeleton comprises a series of movably interfacing annular ribs, wherein each said annular rib comprises a first end and a second end, wherein said first end of one said annular rib is configured to movably interface with said second end of an adjacent annular rib to facilitate relative movement therebetween in multiple directions, wherein each said annular rib comprises a central opening, and wherein said central opening in each said annular rib in said series of movably interfacing annular ribs cooperate to form a passage through said series of movably interfacing annular ribs for receiving said constant velocity drive shaft assembly therethrough;
a distal drive shaft configured to operably interface with a movable distal-most drive joint;
a firing driver supported for axial travel within said surgical end effector between a starting position and an ending position;
an upper flexible spine assembly attached to a top portion of said firing driver; and
a lower flexible spine assembly attached to a bottom portion of said firing driver, and wherein said distal drive shaft is configured to apply rotary drive motions to said upper flexible spine assembly and said lower flexible spine assembly.