Articulatable surgical instrument configured for detachable use with a robotic system
First Claim
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1. A surgical instrument for use with a robotic system, said surgical instrument, comprising:
- an elongate shaft assembly defining a longitudinal tool axis, said elongate shaft assembly, comprising;
a proximal portion;
an articulation joint operably coupled to said proximal portion; and
a drive shaft, and wherein said surgical instrument further comprises;
an end effector operably coupled to said articulation joint, wherein said end effector comprises;
a first jaw and a second jaw, wherein said second jaw is movable relative to said first jaw between an open and a closed position upon application of a closure motion thereto; and
a firing member operably supported within said end effector, wherein said firing member is selectively movable in said end effector in response to an application of firing motions thereto from said drive shaft, and wherein said surgical instrument further comprises;
a robotic system interface, comprising;
a drive mount configured for detachable engagement with a driver portion of the robotic system, said drive mount operably supporting thereon a first rotary input member configured to operably engage a first rotary output member operably supported by the driver portion of the robotic system and impart said firing motions to said drive shaft;
a second rotary input member operably supported on said drive mount and being configured to operably engage a second rotary output member operably supported by the driver portion of the robotic system; and
a third rotary input member operably supported on said drive mount, wherein said third rotary input member is distal to said second rotary input member and configured to operably engage a third rotary output member operably supported by the driver portion of the robotic system to generate said closure motion, wherein said third rotary input member operably interfaces with a closure assembly configured to move distally to apply said closure motion to said second jaw, and wherein said surgical instrument further comprises;
an articulation system interfacing with said articulation joint to apply articulation motions thereto, said articulation system comprising;
an articulation ball joint assembly operably interfacing with an articulation gear train operably interfacing with said second rotary input member to receive second rotary input motions therefrom;
a first pair of articulation cables operably interfacing with said articulation ball joint assembly and said articulation joint and extending along a right side of said longitudinal tool axis; and
a second pair of articulation cables operably interfacing with said articulation ball joint assembly and said end effector and extending along a left side of said of said longitudinal tool axis.
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Accused Products
Abstract
A surgical instrument for use with a robotic system that has a control unit and a shaft portion that includes an electrically conductive elongated member that is attached to a portion of the robotic system. The elongated member is configured to transmit control motions from the robotic system to an end effector.
4447 Citations
14 Claims
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1. A surgical instrument for use with a robotic system, said surgical instrument, comprising:
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an elongate shaft assembly defining a longitudinal tool axis, said elongate shaft assembly, comprising; a proximal portion; an articulation joint operably coupled to said proximal portion; and a drive shaft, and wherein said surgical instrument further comprises; an end effector operably coupled to said articulation joint, wherein said end effector comprises; a first jaw and a second jaw, wherein said second jaw is movable relative to said first jaw between an open and a closed position upon application of a closure motion thereto; and a firing member operably supported within said end effector, wherein said firing member is selectively movable in said end effector in response to an application of firing motions thereto from said drive shaft, and wherein said surgical instrument further comprises; a robotic system interface, comprising; a drive mount configured for detachable engagement with a driver portion of the robotic system, said drive mount operably supporting thereon a first rotary input member configured to operably engage a first rotary output member operably supported by the driver portion of the robotic system and impart said firing motions to said drive shaft; a second rotary input member operably supported on said drive mount and being configured to operably engage a second rotary output member operably supported by the driver portion of the robotic system; and a third rotary input member operably supported on said drive mount, wherein said third rotary input member is distal to said second rotary input member and configured to operably engage a third rotary output member operably supported by the driver portion of the robotic system to generate said closure motion, wherein said third rotary input member operably interfaces with a closure assembly configured to move distally to apply said closure motion to said second jaw, and wherein said surgical instrument further comprises; an articulation system interfacing with said articulation joint to apply articulation motions thereto, said articulation system comprising; an articulation ball joint assembly operably interfacing with an articulation gear train operably interfacing with said second rotary input member to receive second rotary input motions therefrom; a first pair of articulation cables operably interfacing with said articulation ball joint assembly and said articulation joint and extending along a right side of said longitudinal tool axis; and a second pair of articulation cables operably interfacing with said articulation ball joint assembly and said end effector and extending along a left side of said of said longitudinal tool axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A surgical instrument for use with a robotic system, wherein said surgical instrument, comprises:
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an end effector comprising a first jaw and a second jaw, wherein said second jaw is movable relative to said first jaw between an open and a closed position upon application of a closure motion thereto; an elongate shaft assembly defining a longitudinal tool axis, said elongate shaft assembly, comprising; a rigid proximal portion, wherein said rigid proximal portion is axially movable and rotatable about said longitudinal tool axis; an articulation joint operably coupled to said rigid proximal portion and said end effector such that said end effector is operably coupled to said articulation joint for selective articulation relative to said rigid proximal portion about an articulation axis transverse to said longitudinal tool axis; and an axially movable closure member operably interfacing with said articulation joint and configured to axially apply said closure motion to said second jaw and wherein said surgical instrument further comprises; a robotic system interface, comprising; a drive mount configured for detachable engagement with a driver portion of the robotic system, wherein said drive mount operably supports a proximal end of said rigid proximal portion to facilitate said axial and rotation travel thereof relative to said drive mount; a closure system, comprising; a first rotary input member operably supported by said drive mount, wherein said first rotary input member is configured to operably engage a first rotary output member operably supported by the driver portion of the robotic system to generate said closure motion; and a closure driver member supported for axial movement on said drive mount, wherein said closure driver member operably interfaces with said rigid proximal portion and said first rotary input member, wherein rotation of said first rotary input member causes said closure driver member to apply said closure motion to said rigid proximal portion, and wherein said robotic system interface further comprises; a second rotary input member operably supported on said drive mount, wherein said second rotary input member is configured to operably engage a second rotary output member operably supported by the driver portion of the robotic system; and an articulation system, comprising; an articulation ball joint assembly operably interfacing with said second rotary input member to receive articulation control motions therefrom; a first pair of articulation cables operably interfacing with said articulation ball joint assembly and said articulation joint, wherein said first pair of articulation cables extend along a right side of said longitudinal tool axis; and a second pair of articulation cables operably interfacing with said articulation ball joint assembly and said end effector, wherein said second pair of articulation cables extend along a left side of said of said longitudinal tool axis. - View Dependent Claims (10, 11, 12, 13, 14)
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Specification