Actuation of a push / pull surgical instrument end effector using a flexible tension member

摘要

The surgical tool and related methods articulate the actuation rod assembly via an actuation tension member. The surgical tool includes an end effector, an instrument shaft assembly that supports the end effector, an actuating rod assembly that is drivably coupled to the end effector, a guide surface, and a flexible tension member connected to the actuating rod assembly. And an operating part. The actuation rod assembly is mounted to slide within the instrument shaft assembly. The flexible tension member is connected to the actuation rod assembly at the connection. The flexible tension member includes a first portion that extends distally from the connection portion to the guide surface, is wrapped around the guide surface, and extends proximally from the guide surface. The actuation portion is drivably coupled to the flexible tension member and is operable to articulate the tension member to articulate the actuation rod assembly and actuate the end effector.