Robotically-controlled shaft based rotary drive systems for surgical instruments

  • US 10,368,863 B2
  • Filed: 06/01/2018
  • Issued: 08/06/2019
  • Est. Priority Date: 06/04/2007
  • Status: Active Grant
First Claim
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1. A stapling system, comprising:

  • a housing, comprising;

    a first rotatable disk configured to transmit a first operative motion, wherein said first rotatable disk is rotatable about a first axis; and

    a second rotatable disk configured to transmit a second operative motion, wherein said second rotatable disk is operable independently of said first rotatable disk, and wherein said second rotatable disk is rotatable about a second axis;

    an end effector configurable in a closed configuration in response to a closing motion, comprising;

    a jaw configured to support a staple cartridge; and

    an anvil;

    an elongate rigid shaft rotatably coupled to said housing, comprising;

    a longitudinal axis, wherein said elongate rigid shaft is rotatable about said longitudinal axis in response to a rotational motion;

    a closure drive configured to perform said closing motion in response to said first operative motion from said first rotatable disk; and

    a firing member configured to perform a firing stroke in response to said second operative motion from said second rotatable disk; and

    a control system configured to assure that said closing motion and said firing stroke are separate and distinct, wherein said control system prevents said firing stroke from occurring prior to the completion of said closing motion.

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