Patent attributes
An articulating surgical instrument includes a case having a trigger handle, a sheath coupled to the case, an intermediate connector coupled to the sheath, an end effector removably attachable to the intermediate connector, a set of cables that control position of the intermediate connector, at least two motors coupled to the cables, and a user control module configured to control position of the intermediate connector and the end effector. The instrument further includes a pushrod disposed within the sheath and within the intermediate connector that is configured for axial motion relative to the sheath and the intermediate connector and rotational motion within the sheath and the intermediate connector. The pushrod is coupled to the trigger handle and removably coupled to the end effector, so that rotational motion of the pushrod effectuates rotation of the end effector and axial motion of the pushrod is controllable by the trigger handle.
