Patent ID: 9198718
Filing Date: 2015-12-01
Classification: A61B

Abstract:
1. A surgical instrument for treating tissue, comprising: a housing having a shaft extending there from, said shaft including at least an articulating portion and an end effector; a first casing connected to and rotatable with the proximal end of said shaft; an internal frame housed within the first casing; a plurality of posts, supported by the internal frame and connected on their distal ends to at least one drive wire, and connected on their proximal ends to a threaded shaft; a second casing connected to the first casing and rotatable therewith, said second casing housing the threaded shafts; a first electric motor driving a first gear, said first gear interfacing with the threaded shafts such that a first pair of the plurality of threaded shaft rotate in a same direction; a second electric motor driving a second gear, said second gear causing the connected shaft and first and second casings to rotate about a common axis; wherein driving said first gear in a first direction causes said articulating portion to articulate in a first plane.