SURGICAL INSTRUMENT HAVING LINK-DRIVEN ARTICULATION JOINT

原文（中国語）

A surgical instrument (), including: a shaft () defining a longitudinal axis; an end effector (); and an articulation assembly (). The articulation assembly being positioned between the shaft and the end effector and configured to articulate the end effector relative to the shaft about each of a pitch axis and a yaw axis. The articulation assembly including: a pitch articulation beam () and a yaw articulation beam (). Wherein the pitch articulation beam is configured to drive a pitch of the end effector relative to the shaft about the pitch axis by pushing a first linked portion of the end effector distally and pulling the first linked portion of the end effector proximally. Wherein the yaw articulation beam is configured to drive a yaw of the end effector relative to the shaft about the yaw axis by pushing a second linked portion of the end effector distally.