Surgical instrument for use with robotic system

  • US 10,278,780 B2
  • Filed: 07/18/2017
  • Issued: 05/07/2019
  • Est. Priority Date: 01/10/2007
  • Status: Active Grant
First Claim
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1. A surgical instrument for use with a robotic system, wherein the robotic system comprises a drive assembly and a controller, wherein the drive assembly is configured to provide rotary output motions to a plurality of rotatable members supported by the drive assembly, and wherein said surgical instrument comprises:

  • an end effector, comprising;

    an elongate channel;

    a staple cartridge positioned in said elongate channel;

    a cutting instrument movable axially within said staple cartridge between a starting position and an ending position; and

    an anvil selectively movable between an open position and a closed position relative to said staple cartridge;

    an elongate shaft assembly, comprising;

    a spine, comprising;

    a distal spine end coupled to said elongate channel; and

    a proximal spine end;

    a closure system configured to operably interact with said anvil, wherein said closure system comprises a first portion engaged with said anvil to close said anvil at a first speed during a first closure mode and a second portion engageable with said anvil to close said anvil at a slower speed than said first speed during a second closure mode, wherein said second portion is not engaged with said anvil during said first closure mode; and

    a mounting portion coupled to said proximal spine end, wherein said mounting portion is configured to operably interface with the drive assembly of the robotic system, and wherein said mounting portion comprises;

    a first driven disc rotatably supported by said mounting portion, wherein said first driven disc is configured to be operably engaged with one of said rotatable members of the drive assembly of the robotic system to receive a first rotary output motion, wherein said first driven disc is operably coupled with said closure system;

    a second driven disc rotatably supported by said mounting portion, wherein said second driven disc is configured to be operably engaged with one of said rotatable members of the drive assembly of the robotic system to receive a second rotary output motion, wherein said second driven disc is operably coupled with said cutting instrument, and wherein said cutting instrument is driven toward said ending position in response to said second rotary output motion; and

    a third driven disc rotatably supported by said mounting portion, wherein said third driven disc is configured to be operably engaged with one of said rotatable members of the drive assembly of the robotic system to receive a third rotary output motion, and wherein said third driven disc is operably coupled to said elongate shaft assembly to rotate said end effector about a longitudinal shaft axis extending through said elongate shaft assembly in response to said third rotary output motion.

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