Andrew T. Beckman,Robert L. Koch, Jr.,Jeffrey S. Swayze,Mark S. Zeiner,Frederick E. Shelton, IV,Jason L. Harris
申请号：
US15385895
公开号：
US20180168596A1
申请日:
2016.12.21
申请国别(地区):
US
年份:
2018
代理人:
摘要：
An end effector is disclosed which comprises a shaft, an end effector rotatably connected to the shaft about an articulation joint, and an articulation driver configured to rotate the end effector about the articulation joint. The end effector further comprises a first articulation lock configured to engage the end effector and a second articulation lock configured to engage the articulation driver which co-operatively prevent the end effector from rotating relative to the shaft, when actuated. The actuation and/or de-actuation of the first articulation lock and the second articulation lock can be contemporaneous or, in certain instances, staggered.
