Abstract: An articulating surgical instrument includes a housing, a shaft extending distally from the housing, an end effector assembly, and an articulating component interconnecting the shaft and end effector assembly. The articulating component includes a proximal disk connected to the shaft, a distal disk connected to the end effector assembly, an intermediate disk, a first flexible interconnect connecting the proximal and intermediate disks, and a second flexible interconnect connecting the intermediate and distal disks. The first flexible interconnect defines a single plane of bending to enable articulation of the end effector assembly relative to the shaft within a first plane. The second flexible interconnect defines a single plane of bending substantially perpendicular to the single plane of bending of the first flexible interconnect to enable articulation of the end effector assembly relative to the shaft within a second plane substantially perpendicular to the first plane.

Abstract: A roller assembly utilizes a ferrofluid as a lubricant (ferrolubricant). Integral structural portions of the assembly are made to have magnetic portions which create their own magnetic field gradient causing magnetic field maxima at points immediately surrounding the contact point between a particular roller element and its raceway. This in turn entrains the ferrolubricant around the contact point thus ensuring continued lubrication of contacting surfaces. Further, the entraining action prevents leakage of the ferrolubricant from the assembly.