Robotically-controlled motorized surgical instrument with an end effector

  • US 10,045,778 B2
  • Filed: 09/23/2016
  • Issued: 08/14/2018
  • Est. Priority Date: 09/23/2008
  • Status: Active Grant
First Claim
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1. A surgical instrument, comprising:

  • a housing comprising a plurality of motors;

    a modular shaft assembly extending distally from the housing, wherein the modular shaft assembly is detachably coupled to the housing;

    an end effector extending distally from the modular shaft assembly, the end effector comprising;

    a first jaw member configured to support a removable staple cartridge; and

    a second jaw member movable relative to the first jaw member between an open position and a closed position;

    an axially movable drive member in operable communication with the second jaw member; and

    at least three rotary drive shafts in operable communication with the plurality of motors, wherein;

    a first one of the at least three rotary drive shafts is in operable engagement with the axially movable drive member, wherein at least one rotational motion of the first one of the at least three rotary drive shafts causes the axially movable drive member to move the second jaw member relative to the first jaw member from the closed position to the open position;

    a second one of the at least three rotary drive shafts is coupled to a first gear assembly, wherein a rotational motion of the second one of the at least three rotary drive shafts is operable to cause an articulation of the modular shaft assembly; and

    a third one of the at least three rotary drive shafts is coupled to a second gear assembly, wherein a rotational motion of the third one of the at least three rotary drive shafts is operable to cause a rotation of the end effector.

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