Robotically-controlled shaft based rotary drive systems for surgical instruments
First Claim
Patent Images
1. A stapling system, comprising:
- a housing, comprising;
a first rotatable disk configured to transmit a first operative motion, wherein said first rotatable disk is rotatable about a first axis; and
a second rotatable disk configured to transmit a second operative motion, wherein said second rotatable disk is operable independently of said first rotatable disk, and wherein said second rotatable disk is rotatable about a second axis;
an end effector configurable in a closed configuration in response to a closing motion, comprising;
a jaw configured to support a staple cartridge; and
an anvil;
an elongate rigid shaft rotatably coupled to said housing, comprising;
a longitudinal axis, wherein said elongate rigid shaft is rotatable about said longitudinal axis in response to a rotational motion;
a closure drive configured to perform said closing motion in response to said first operative motion from said first rotatable disk; and
a firing member configured to perform a firing stroke in response to said second operative motion from said second rotatable disk; and
a control system configured to assure that said closing motion and said firing stroke are separate and distinct, wherein said control system prevents said firing stroke from occurring prior to the completion of said closing motion.
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Accused Products
Abstract
A surgical instrument including an end effector that has a selectively reciprocatable implement movably supported therein. The implement is selectively advanceable in a distal direction upon application of a rotary actuation motion thereto and retractable in a proximal direction upon application of a rotary retraction motion thereto. An elongate shaft assembly is coupled to the end effector and is configured to transmit the rotary actuation motion and rotary retraction motion to the reciprocatable implement from a robotic system that is configured to generate the rotary actuation motion and said rotary retraction motion.
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Citations
19 Claims
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1. A stapling system, comprising:
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a housing, comprising; a first rotatable disk configured to transmit a first operative motion, wherein said first rotatable disk is rotatable about a first axis; and a second rotatable disk configured to transmit a second operative motion, wherein said second rotatable disk is operable independently of said first rotatable disk, and wherein said second rotatable disk is rotatable about a second axis; an end effector configurable in a closed configuration in response to a closing motion, comprising; a jaw configured to support a staple cartridge; and an anvil; an elongate rigid shaft rotatably coupled to said housing, comprising; a longitudinal axis, wherein said elongate rigid shaft is rotatable about said longitudinal axis in response to a rotational motion; a closure drive configured to perform said closing motion in response to said first operative motion from said first rotatable disk; and a firing member configured to perform a firing stroke in response to said second operative motion from said second rotatable disk; and a control system configured to assure that said closing motion and said firing stroke are separate and distinct, wherein said control system prevents said firing stroke from occurring prior to the completion of said closing motion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A stapling system, comprising:
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a housing, comprising; a first input configured to transmit a first operative motion; and a second input configured to transmit a second operative motion, wherein said second input is operable independently of said first input; an end effector, comprising; a first jaw configured to support a staple cartridge; and an second jaw rotatable relative to said first jaw between an open position and a closed position, wherein said second jaw rotates toward said closed position in response to a closing motion; an elongate rigid shaft rotatably coupled to said housing, comprising; a longitudinal axis, wherein said elongate rigid shaft is rotatable about said longitudinal axis in response to a rotational motion; a closure drive configured to perform said closing motion in response to said first operative motion from said first input; and a firing member configured to perform a firing stroke in response to said second operative motion from said second input; and a control system configured to assure that said closing motion and said firing stroke are separate and distinct, wherein said control system prevents said firing stroke from occurring prior to the completion of said closing motion. - View Dependent Claims (11, 12, 13, 14)
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15. A stapling system, comprising a rotary motion input generator, wherein said stapling system comprises:
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a housing, comprising; a first rotatable input configured to be rotated by the rotary motion input generator, wherein said first rotatable input is configured to transmit a first operative motion, and wherein said first rotatable input is rotatable about a first axis; and a second rotatable input configured to be rotated by the rotary motion input generator, wherein said second rotatable input is configured to transmit a second operative motion, wherein said second rotatable input is operable independently of said first rotatable input, and wherein said second rotatable input is rotatable about a second axis; an end effector, comprising; a jaw comprising a staple cartridge, wherein said staple cartridge is removably replaceable; and an anvil rotatable relative to said jaw between an open position and a clamped position, wherein said anvil rotates toward said clamped position in response to a clamping motion; a shaft assembly rotatably coupled to said housing, comprising; a longitudinal axis; a shaft shroud, wherein said shaft shroud and said end effector are rotatable about said longitudinal axis in response to a rotational motion; a closure system configured to perform said clamping motion in response to said first operative motion; and a firing member configured to perform a firing motion in response to said second operative motion; and a control system configured to assure that said clamping motion and said firing motion are separate and distinct, wherein said control system prevents said firing motion from initiating prior to completion of said clamping motion. - View Dependent Claims (16, 17, 18, 19)
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Specification