Robotically-controlled surgical stapling devices that produce formed staples having different lengths

  • US 10,524,790 B2
  • Filed: 06/26/2018
  • Issued: 01/07/2020
  • Est. Priority Date: 05/27/2011
  • Status: Active Grant
First Claim
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1. A surgical instrument for use with a robotic surgical system, wherein said surgical instrument comprises:

  • a housing comprising an interface for attachment to the robotic surgical system, wherein said housing is mountable to an arm of the robotic surgical system, and wherein said interface comprises;

    a first rotatable input operably engageable with a driver of the arm of the robotic surgical system;

    a second rotatable input; and

    a third rotatable input;

    a shaft extending from said housing, wherein said shaft comprises a longitudinal axis, wherein said shaft is operably coupled to said first rotatable input, and wherein said shaft is rotatable about said longitudinal axis by said first rotatable input;

    an end effector extending from said shaft, wherein said end effector comprises;

    an anvil; and

    a staple cartridge, comprising;

    a plurality of staple cavities, wherein said plurality of staple cavities are arranged in a first longitudinal row of staple cavities and a second longitudinal row of staple cavities;

    a plurality of first staples removably stored within said first longitudinal row of staple cavities;

    a plurality of second staples removably stored within said second longitudinal row of staple cavities; and

    a plurality of staple drivers, wherein said staple drivers are configured to lift said first staples and said second staples toward said anvil;

    a firing system, comprising;

    a firing member configured to relatively position said anvil and said staple cartridge, wherein said firing member comprises;

    a first portion comprising a first lateral portion, wherein said first portion is configured to engage said anvil;

    a second portion comprising a second lateral portion, wherein said second portion is configured to engage said staple cartridge; and

    a third portion comprising a third lateral portion, wherein said third portion is positioned intermediate said first portion and said second portion;

    a ramp configured to lift said staple drivers toward said anvil; and

    a tissue cutting edge;

    an articulation joint;

    an articulation drive configured to rotate said end effector relative to said shaft about said articulation joint;

    a closure drive configured to relatively position said anvil and said staple cartridge, wherein said closure drive is operably coupled to said second rotatable input; and

    a firing drive configured to drive said firing system to perform a firing stroke, wherein said firing drive is operably coupled to said third rotatable input.

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