US 12,446,880 B2
Robotic tool comprising an articulation lock
Frederick E. Shelton, IV, Hillsboro, OH (US); and Jerome R. Morgan, Cincinnati, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on May 9, 2024, as Appl. No. 18/659,609.
Application 18/659,609 is a continuation of application No. 17/032,279, filed on Sep. 25, 2020, granted, now 12,059,154.
Application 17/032,279 is a continuation of application No. 15/796,257, filed on Oct. 27, 2017, granted, now 11,129,616, issued on Sep. 28, 2021.
Application 15/796,257 is a continuation of application No. 14/725,181, filed on May 29, 2015, granted, now 10,130,366, issued on Nov. 20, 2018.
Application 14/725,181 is a continuation of application No. 13/118,241, filed on May 27, 2011, granted, now 9,072,535, issued on Jul. 7, 2015.
Prior Publication US 2024/0350139 A1, Oct. 24, 2024
Int. Cl. A61B 17/10 (2006.01); A61B 17/00 (2006.01); A61B 17/068 (2006.01); A61B 17/072 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01)
CPC A61B 17/105 (2013.01) [A61B 17/068 (2013.01); A61B 17/072 (2013.01); A61B 17/07207 (2013.01); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 34/37 (2016.02); A61B 2017/00115 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00473 (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 34/71 (2016.02); A61B 34/76 (2016.02); Y10T 29/53404 (2015.01); Y10T 29/53417 (2015.01); Y10T 29/53687 (2015.01)] 18 Claims
OG exemplary drawing
 
1. A robotic stapler, comprising:
a shaft;
an end effector, comprising:
a first jaw; and
a second jaw rotatable relative to the first jaw;
a staple firing driver movable distally through a staple firing stroke;
a first articulation joint, wherein the end effector is articulatable relative to the shaft about the first articulation joint in a first plane;
a second articulation joint, wherein the end effector is articulatable relative to the shaft about the second articulation joint in a second plane transverse to the first plane;
a first cable extending distally to the first articulation joint, wherein an actuation of the first cable is to generate a first articulation motion at the first articulation joint in the first plane;
a second cable extending distally to the second articulation joint, wherein an actuation of the second cable is to generate a second articulation motion at the second articulation joint in the second plane; and
an articulation lock to simultaneously prevent the first articulation motion and the second articulation motion.