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Clip applier adapted for use with a surgical robot

  • US 10,039,548 B2
  • Filed: 06/17/2016
  • Issued: 08/07/2018
  • Est. Priority Date: 10/19/2011
  • Status: Active Grant
First Claim
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1. A surgical fastener deploying instrument comprising:

  • an end effector comprising a clip applier having opposed jaws capable of supporting and deploying a clip onto tissue;

    a shaft assembly having a proximal end and a distal end, the shaft assembly capable of rotation about an axis, the shaft assembly containing a plurality of clips and supporting the end effector at the distal end; and

    a housing disposed at the proximal end of the shaft assembly, the housing having first, second, and third rotary inputs configured to couple with a robotic surgical system, the housing containinga first drive train in mechanical communication with the first rotary input, the first drive train configured to control rotation of the shaft assembly;

    a second drive train in mechanical communication with the second rotary input, the second drive train comprising a gear drive train configured to control feeding of the clip from the shaft assembly into the jaws of the end effector; and

    a third drive train in mechanical communication with the third rotary input, the third drive train comprising a gear drive train configured to crimp the clip in the jaws independently of the second drive train feeding the clip.

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