Robotically-controlled motorized surgical instrument with an end effector

  • US 10,238,389 B2
  • Filed: 09/23/2016
  • Issued: 03/26/2019
  • Est. Priority Date: 09/23/2008
  • Status: Active Grant
First Claim
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1. A surgical tool for use with a robotic system, the surgical tool comprising:

  • a housing;

    a shaft extending distally from the housing;

    an end effector extending distally from the shaft, the end effector comprising a circular stapler;

    a motor configured to generate at least one rotational motion, wherein the motor comprises at least two windings;

    a modular adapter coupled to the housing and the robotic system, wherein the modular adapter comprises at least three rotary shaft interfaces, wherein the at least three rotary shaft interfaces are configured to actuate a closing motion and a firing motion of the circular stapler;

    a motion conversion assembly operably coupled to the motor and the circular stapler, wherein the motion conversion assembly is configured to convert the at least one rotational motion to at least one axial motion; and

    a lockout sensor, wherein the lockout sensor is operable to lockout the firing motion when the lockout sensor senses a spent condition of an interchangeable staple cartridge supported by the circular stapler.

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