US Patent 11684364 Articulation mechanism for surgical stapling device

A surgical device includes an adapter assembly and a tool assembly that is coupled to the adapter assembly by a pivot member to facilitate articulation of the tool assembly in relation to the adapter assembly. The adapter assembly supports a drive assembly for actuating or firing the tool assembly. The adapter assembly includes an articulation mechanism that adjusts the position of the tool assembly in relation to the drive assembly to compensate for changes in stroke length of the drive assembly that result from articulation of the tool assembly.