ROBOTICALLY-CONTROLLED SHAFT BASED ROTARY DRIVE SYSTEMS FOR SURGICAL INSTRUMENTS
First Claim
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1. A surgical instrument comprising:
- an end effector having a selectively reciprocatable implement movably supported therein, said implement being 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 coupled to said end effector and configured to transmit said rotary actuation motion and rotary retraction motion to said reciprocatable implement from a robotic system configured to generate said rotary actuation motion and said rotary retraction motion; and
a firing drive comprising;
a first rotary drive assembly operably interfacing with a first corresponding drive portion of said robotic system, said first rotary drive assembly selectively interfacing with said elongate shaft assembly and configured to apply said rotary actuation motion thereto when activated; and
a second rotary drive assembly operably interfacing with a second corresponding drive portion of said robotic system, said second rotary drive assembly interfacing with said elongate shaft assembly and configured to apply said rotary retraction motion thereto when said first rotary drive assembly is deactivated and said second rotary drive assembly is activated.
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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
12 Claims
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1. A surgical instrument comprising:
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an end effector having a selectively reciprocatable implement movably supported therein, said implement being 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 coupled to said end effector and configured to transmit said rotary actuation motion and rotary retraction motion to said reciprocatable implement from a robotic system configured to generate said rotary actuation motion and said rotary retraction motion; and a firing drive comprising; a first rotary drive assembly operably interfacing with a first corresponding drive portion of said robotic system, said first rotary drive assembly selectively interfacing with said elongate shaft assembly and configured to apply said rotary actuation motion thereto when activated; and a second rotary drive assembly operably interfacing with a second corresponding drive portion of said robotic system, said second rotary drive assembly interfacing with said elongate shaft assembly and configured to apply said rotary retraction motion thereto when said first rotary drive assembly is deactivated and said second rotary drive assembly is activated. - View Dependent Claims (2, 3, 4, 5)
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6. A surgical instrument, comprising:
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an end effector having a selectively reciprocatable implement member movably supported therein and being selectively advanceable in a distal direction upon application of a rotary actuation motion thereto and is retractable in a proximal direction upon application of a rotary retraction motion thereto; an elongate shaft assembly coupled to said end effector and configured to transmit said rotary actuation motion and rotary retraction motion to said reciprocatable implement from a robotic system; and a transmission operably interfacing with said robotic system and configurable in a first configuration for rotating said elongate shaft assembly about an axis in a first direction and a second configuration for rotating said elongate shaft assembly about said axis in a direction opposite said first direction. - View Dependent Claims (7, 8)
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9. A surgical instrument, comprising:
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an elongate shaft assembly coupled to a remotely actuatable system capable of generating a plurality of control motions, wherein said elongate shaft assembly is operably engaged with a first drive member and a second drive member; an end effector coupled to said elongate shaft assembly, said end effector comprising; an elongate channel configured to operably support a staple cartridge therein; an anvil movably coupled to said elongate channel; and a cutting member operably supported within said elongate channel, wherein said cutting member is operably engaged with said elongate shaft assembly;
wherein, when said remotely actuatable system is engaged with said first drive member, a first actuation advances said cutting member a first distance, wherein, when said remotely actuatable system engaged with said second drive member, a second actuation retracts said cutting member a second distance, and wherein said second distance is greater than said first distance. - View Dependent Claims (10, 11, 12)
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Specification