Shaft assembly arrangements for surgical instruments
First Claim
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1. A stapling assembly, comprising:
- a first source of first rotary drive motions;
a second source of second rotary drive motions;
a proximal shaft assembly, comprising;
a first rotary actuator configured to receive said first rotary drive motions;
a second rotary actuator configured to receive said second rotary drive motions;
a first linear actuator operably interfacing with said second rotary actuator, wherein said first linear actuator is configured to convert said second rotary drive motions to linear drive motions; and
a distal coupler, wherein said distal coupler comprises a proximal articulation ball portion; and
a distal shaft assembly, comprising;
a third rotary actuator;
a second linear actuator;
an articulation joint;
a proximal coupler configured to be releasably coupled to said distal coupler so as to operably couple said first rotary actuator to said third rotary actuator and said first linear actuator to said second linear actuator, wherein said proximal coupler comprises a distal articulation ball portion, and wherein said proximal articulation ball portion and said distal articulation ball portion form an internal articulation ball when said distal shaft assembly and said proximal shaft assembly are coupled to each other; and
an end effector attached to said distal shaft assembly by way of said articulation joint, wherein said second linear actuator is configured to articulate said end effector about said articulation joint, and wherein said end effector comprises;
a first jaw;
a second jaw, wherein one of said first and second jaws is configured to operably support a surgical staple cartridge therein; and
a firing member operably interfacing with said third rotary actuator so as to axially move said firing member through said end effector upon rotary actuation of said third rotary actuator, said firing member configured to move one of said first and second jaws relative to the other one of said first and second jaws between an open position and closed positions and eject staples from said surgical staple cartridge.
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Abstract
Shaft assembly arrangements for surgical instruments are disclosed. A surgical instrument assembly can comprise a proximal shaft assembly comprising a distal coupling portion. The surgical instrument assembly can also comprise a distal shaft assembly comprising a proximal coupling portion configured to be releasably coupled to the distal coupling portion. The distal shaft assembly can also include an articulation joint and an end effector configured to articulate about the articulation joint.
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Citations
24 Claims
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1. A stapling assembly, comprising:
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a first source of first rotary drive motions; a second source of second rotary drive motions; a proximal shaft assembly, comprising; a first rotary actuator configured to receive said first rotary drive motions; a second rotary actuator configured to receive said second rotary drive motions; a first linear actuator operably interfacing with said second rotary actuator, wherein said first linear actuator is configured to convert said second rotary drive motions to linear drive motions; and a distal coupler, wherein said distal coupler comprises a proximal articulation ball portion; and a distal shaft assembly, comprising; a third rotary actuator; a second linear actuator; an articulation joint; a proximal coupler configured to be releasably coupled to said distal coupler so as to operably couple said first rotary actuator to said third rotary actuator and said first linear actuator to said second linear actuator, wherein said proximal coupler comprises a distal articulation ball portion, and wherein said proximal articulation ball portion and said distal articulation ball portion form an internal articulation ball when said distal shaft assembly and said proximal shaft assembly are coupled to each other; and an end effector attached to said distal shaft assembly by way of said articulation joint, wherein said second linear actuator is configured to articulate said end effector about said articulation joint, and wherein said end effector comprises; a first jaw; a second jaw, wherein one of said first and second jaws is configured to operably support a surgical staple cartridge therein; and a firing member operably interfacing with said third rotary actuator so as to axially move said firing member through said end effector upon rotary actuation of said third rotary actuator, said firing member configured to move one of said first and second jaws relative to the other one of said first and second jaws between an open position and closed positions and eject staples from said surgical staple cartridge. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A surgical instrument assembly, comprising:
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a first source of first rotary drive motions; a second source of second rotary drive motions; a proximal shaft assembly, comprising; a first rotary drive configured to receive said first rotary drive motions; a second rotary drive configured to receive said second rotary drive motions; a first linear articulation drive member operably interfacing with said second rotary drive, wherein said first linear articulation drive member is configured to convert said second rotary drive motions to linear articulation drive motions; and a distal coupling portion, wherein said distal coupling portion comprises a proximal articulation ball portion; and a distal shaft assembly, comprising; a third rotary drive; a second linear articulation drive member; an articulation joint; a proximal coupling portion configured to be releasably coupled to said distal coupling portion so as to operably couple said first rotary drive to said third rotary drive and said first linear articulation drive member to said second linear articulation drive member, wherein said proximal coupling portion comprises a distal articulation ball portion, and wherein said proximal articulation ball portion and said distal articulation ball portion form an internal articulation ball when said distal shaft assembly and said proximal shaft assembly are coupled to each other; and an end effector attached to said distal shaft assembly by way of said articulation joint, wherein said second linear articulation drive member is configured to articulate said end effector about said articulation joint, and wherein said end effector comprises; a first jaw; a second jaw; and a firing member operably interfacing with said third rotary drive so as to axially move said firing member through said end effector upon rotary actuation of said third rotary drive, said firing member configured to move one of said first and second jaws relative to the other one of said first and second jaws between an open position and closed positions. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A surgical fastening assembly, configured to be attached to a surgical robot, wherein said surgical fastening assembly comprises:
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a proximal shaft assembly, comprising; a first rotary drive configured to receive first rotary drive motions from the surgical robot; a second rotary drive configured to receive second rotary drive motions from the surgical robot; a first linear articulation drive operably interfacing with said second rotary drive, wherein said first linear articulation drive is configured to convert said second rotary drive motions to linear articulation drive motions; and a distal coupling portion, wherein said distal coupling portion comprises a proximal articulation ball portion; and a distal shaft assembly configured to be operably attached to said proximal shaft assembly, wherein said distal shaft assembly comprises; a third rotary drive; a second linear articulation drive; an articulation joint; a proximal coupling portion configured to be releasably coupled to said distal coupling portion so as to operably couple said first rotary drive to said third rotary drive and said first linear articulation drive to said second linear articulation drive, wherein said proximal coupling portion comprises a distal articulation ball portion, and wherein said proximal articulation ball portion and said distal articulation ball portion form an internal articulation ball when said distal shaft assembly and said proximal shaft assembly are coupled to each other; and an end effector attached to said distal shaft assembly by way of said articulation joint, wherein said second linear articulation drive is configured to articulate said end effector about said articulation joint, and wherein said end effector comprises; a first jaw; a second jaw, wherein one of said first and second jaws is configured to operably support a surgical fastener cartridge therein; and a firing member operably interfacing with said third rotary drive so as to axially move said firing member through said end effector upon rotary actuation of said third rotary drive, said firing member configured to move one of said first and second jaws relative to the other one of said first and second jaws between an open position and closed positions and eject fasteners from said surgical fastener cartridge. - View Dependent Claims (14, 15, 16, 17, 18)
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19. A surgical instrument assembly, comprising:
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a proximal shaft assembly, comprising; a first rotary drive; a second rotary drive; a first linear drive operably interfacing with said second rotary drive; and a distal coupling portion comprising a proximal articulation ball portion; and a distal shaft assembly, comprising; a third rotary drive; a second linear drive; an articulation joint; a proximal coupling portion configured to be releasably coupled to said distal coupling portion so as to operably couple said first rotary drive to said third rotary drive and said first linear drive to said second linear drive, wherein said proximal coupling portion comprises a distal articulation ball portion, and wherein said proximal articulation ball portion and said distal articulation ball portion form an articulation ball when said distal shaft assembly and said proximal shaft assembly are coupled to each other; and an end effector configured to articulate about said articulation joint, wherein said end effector comprises a first jaw, a second jaw, and a firing member, and wherein said firing member operably interfaces with said third rotary drive. - View Dependent Claims (20, 21, 22, 23, 24)
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Specification