A curvilinear gear system and method for transferring force and speed through a wide range of angles is disclosed. The system can optionally incorporate curvilinear U joints to increase effective range of angles to tailor the system to specific applications. The system includes complimentary gear heads, one of which is a curvilinear gear such as a hemispherical gear. A method of using the gear systems in a transmission apparatus is also disclosed.

A gear and methods for mating the gear to at least on further gear. The gear, for example an idler gear, comprises a gear ring rotationally mounted around a gear hub, the gear hub comprising an axial gear hub opening, wherein the gear comprises a further inner hub rotationally engaging the gear hub, the further inner hub being provided in the gear hub opening, the further inner hub being provided for predeterminedly translating the center of rotation of the gear ring by moving the gear ring and the gear hub with respect to the center of rotation of at least one further gear from a first predetermined position in which the gear mates with the at least one further gear with substantially no backlash to a second predetermined position in which the gear mates with the at least one further gear with a predetermined backlash.

An articulating surgical instrument is disclosed, and includes an end effector and a drive assembly operably coupled with the end effector. The end effector includes a first drive shaft defining a first axis, and a second drive shaft operably engaged with and extending away from the first drive shaft. The second drive shaft is operably coupled with the end effector and defines a second axis, the second axis different from the first axis. The first drive shaft and the second drive shaft are pivotably arranged such that the first drive shaft and the second drive shaft are configured to transition between a first, substantially straight arrangement and a second, substantially perpendicular arrangement.

A reverse idler support article includes a reverse idler support body that has a disk member, a plateau and a hollow cylinder. The disk member is connected to and in facial contact with the plateau that projects from a first disk member surface and the hollow cylinder that projects from a second disk member surface to define an interior space. The disk member and the plateau have an offset hole formed therethrough that is in communication with the interior space. The offset hole is oriented offset from a central axis of the reverse idler support body which extends generally centrally through the disk member and the interior space of the hollow cylinder.

An articulating surgical instrument is disclosed, and includes an end effector and a drive assembly operably coupled with the end effector. The end effector includes a first drive shaft defining a first axis, and a second drive shaft operably engaged with and extending away from the first drive shaft. The second drive shaft is operably coupled with the end effector and defines a second axis, the second axis different from the first axis. The first drive shaft and the second drive shaft are pivotably arranged such that the first drive shaft and the second drive shaft are configured to transition between a first, substantially straight arrangement and a second, substantially perpendicular arrangement.