Robotically-controlled surgical instruments

  • US 10,363,033 B2
  • Filed: 06/01/2018
  • Issued: 07/30/2019
  • Est. Priority Date: 06/04/2007
  • Status: Active Grant
First Claim
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1. A surgical instrument for use with a robotic surgical system including a drive assembly, said surgical instrument comprising:

  • a mounting portion configured to be attached to the robotic surgical system;

    a shaft extending from said mounting portion;

    an end effector extending from said shaft;

    a first transmission comprising a first drive element configured to be driven by the drive assembly to apply a first control motion to said end effector; and

    a second transmission, comprising;

    a second drive element configured to be driven by the drive assembly to apply a second control motion to said end effector when said second drive element is in a first position and to apply a third control motion to said end effector when said second drive element is in a second position; and

    a shifting element configured to operably interface with said second drive element, wherein said shifting element is configured to selectively switch said second drive element between said first position and said second position, and wherein said first transmission and said second transmission are operable independent of each other.

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