US Patent 11510667 Surgical instrument including cooperative articulation members

In various embodiments, a surgical instrument comprising an elongate shaft, an end effector comprising a first jaw, a second jaw, and an elongate channel is disclosed. The surgical instrument further comprises an articulation joint, a first articulation member, a second articulation member, and a firing member comprising a first cam member and a second cam member. The first articulation member is pivotally coupled to a proximal portion of the elongate channel and pivotally coupled to the elongate shaft. A distal end of the second articulation member is pivotally coupled to a proximal portion of the first articulation member. The first articulation member articulates at a first rate when the end effector is rotated to an articulated position. The second articulation member articulates at a second rate when the end effector is rotated to the articulated position. The first rate and the second rate are different.