ROBOTICALLY-CONTROLLED SURGICAL END EFFECTOR SYSTEM
First Claim
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1. A surgical tool for use with a robotic system that has a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly, said surgical tool comprising:
- a surgical end effector comprising at least one component portion that is selectively movable between first and second positions relative to at least one other component portion thereof in response to control motions applied at least to said selectively movable component portion; and
a sensor arrangement communicating with said control unit for providing a signal thereto when said selectively movable component portion is in said second position.
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Accused Products
Abstract
A surgical severing and stapling instrument, suitable for laparoscopic and endoscopic clinical procedures, clamps tissue within an end effector of an elongate channel pivotally opposed by an anvil. Various embodiments are configured to be operably attached to a robotic system to receive actuation/control motions therefrom.
1340 Citations
20 Claims
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1. A surgical tool for use with a robotic system that has a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly, said surgical tool comprising:
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a surgical end effector comprising at least one component portion that is selectively movable between first and second positions relative to at least one other component portion thereof in response to control motions applied at least to said selectively movable component portion; and a sensor arrangement communicating with said control unit for providing a signal thereto when said selectively movable component portion is in said second position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A surgical tool for use with a robotic system that has a tool drive assembly that is operatively coupled to a controller of the robotic system that is operable by inputs from an operator and is configured to provide a plurality of rotary output motions to a plurality of corresponding rotatable body portions supported on the tool drive assembly, said surgical tool comprising:
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an end effector, comprising; an elongated channel; a surgical staple cartridge supported within said elongated channel; a cutting instrument axially movable within said surgical staple cartridge between a starting position and an ending position; and an anvil movably supported relative to said elongated channel and being selectively movable between an open position relative to said surgical staple cartridge and a closed position relative to said surgical staple cartridge and wherein said surgical tool further comprises; a sensor arrangement communicating with said control unit for providing a signal thereto when said anvil is in said closed position; an elongated shaft assembly coupled to said elongated channel; and a tool mounting portion coupled to a proximal end of elongated shaft assembly and configured to operably interface with the tool drive assembly of the robotic system when coupled thereto.
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20. A surgical tool for use with a robotic system that has a tool drive assembly that is operatively coupled to a controller of the robotic system that is operable by inputs from an operator and is configured to provide a plurality of rotary output motions to a plurality of corresponding rotatable body portions supported on the tool drive assembly, said surgical tool comprising:
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an end effector, comprising; an elongated channel; a surgical staple cartridge supported within said elongated channel; a cutting instrument axially movable within said surgical staple cartridge between a starting position and an ending position; and an anvil movably supported relative to said elongated channel and being selectively movable between an open position relative to said surgical staple cartridge and a closed position relative to said surgical staple cartridge and wherein said surgical tool further comprises; a sensor arrangement communicating with said control unit for providing signals thereto when said cutting instrument is in at least one of said staring and said ending positions; an elongated shaft assembly coupled to said elongated channel; and a tool mounting portion coupled to a proximal end of said elongated shaft assembly and configured to operably interface with the tool drive assembly of the robotic system when coupled thereto.
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Specification