Articulatable surgical instrument configured for detachable use with a robotic system

  • US 10,441,369 B2
  • Filed: 02/10/2014
  • Issued: 10/15/2019
  • 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, said surgical instrument, comprising:

  • an elongate shaft assembly defining a longitudinal tool axis, said elongate shaft assembly, comprising;

    a proximal portion;

    an articulation joint operably coupled to said proximal portion; and

    a drive shaft, and wherein said surgical instrument further comprises;

    an end effector operably coupled to said articulation joint, wherein said end effector comprises;

    a first jaw and a second jaw, wherein said second jaw is movable relative to said first jaw between an open and a closed position upon application of a closure motion thereto; and

    a firing member operably supported within said end effector, wherein said firing member is selectively movable in said end effector in response to an application of firing motions thereto from said drive shaft, and wherein said surgical instrument further comprises;

    a robotic system interface, comprising;

    a drive mount configured for detachable engagement with a driver portion of the robotic system, said drive mount operably supporting thereon a first rotary input member configured to operably engage a first rotary output member operably supported by the driver portion of the robotic system and impart said firing motions to said drive shaft;

    a second rotary input member operably supported on said drive mount and being configured to operably engage a second rotary output member operably supported by the driver portion of the robotic system; and

    a third rotary input member operably supported on said drive mount, wherein said third rotary input member is distal to said second rotary input member and configured to operably engage a third rotary output member operably supported by the driver portion of the robotic system to generate said closure motion, wherein said third rotary input member operably interfaces with a closure assembly configured to move distally to apply said closure motion to said second jaw, and wherein said surgical instrument further comprises;

    an articulation system interfacing with said articulation joint to apply articulation motions thereto, said articulation system comprising;

    an articulation ball joint assembly operably interfacing with an articulation gear train operably interfacing with said second rotary input member to receive second rotary input motions therefrom;

    a first pair of articulation cables operably interfacing with said articulation ball joint assembly and said articulation joint and extending along a right side of said longitudinal tool axis; and

    a second pair of articulation cables operably interfacing with said articulation ball joint assembly and said end effector and extending along a left side of said of said longitudinal tool axis.

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