MOTOR-POWERED ARTICULATABLE SURGICAL INSTRUMENTS
First Claim
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1. A surgical instrument comprising:
- an elongated shaft assembly defining a longitudinal tool axis;
a surgical end effector operably coupled to the elongated shaft assembly for selective articulation relative thereto, the surgical end effector being configured to perform at least one surgical procedure in response to firing motions applied thereto;
an articulation system operably interfacing with the elongated shaft assembly for applying articulation motions to the surgical end effector;
a firing member assembly operably interfacing with the elongated shaft assembly to apply the firing motions to the surgical end effector;
a motor configured to generate rotary actuation motions; and
a drive coupler assembly interfacing with the motor and the articulation system such that when the drive coupler assembly is in a first configuration, operation of the motor will result in the application of the actuation motions to the articulation system resulting in articulation of the surgical end effector relative to the longitudinal tool axis and when the drive coupler assembly is in a second configuration, operation of the motor will result in the application of actuation motions to the firing member assembly causing the firing member assembly to apply at least one of the firing motions to the surgical end effector.
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Abstract
A motor driven surgical instrument that includes a surgical end effector configured to perform at least one surgical procedure in response to firing motions applied thereto from a firing system. The surgical instrument further includes an articulation system that is configured to facilitate articulation of the end effector relative to an elongated tool axis. The instrument further includes a coupler assembly configured to enable the motor to selectively power the firing system and the articulation system.
529 Citations
21 Claims
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1. A surgical instrument comprising:
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an elongated shaft assembly defining a longitudinal tool axis; a surgical end effector operably coupled to the elongated shaft assembly for selective articulation relative thereto, the surgical end effector being configured to perform at least one surgical procedure in response to firing motions applied thereto; an articulation system operably interfacing with the elongated shaft assembly for applying articulation motions to the surgical end effector; a firing member assembly operably interfacing with the elongated shaft assembly to apply the firing motions to the surgical end effector; a motor configured to generate rotary actuation motions; and a drive coupler assembly interfacing with the motor and the articulation system such that when the drive coupler assembly is in a first configuration, operation of the motor will result in the application of the actuation motions to the articulation system resulting in articulation of the surgical end effector relative to the longitudinal tool axis and when the drive coupler assembly is in a second configuration, operation of the motor will result in the application of actuation motions to the firing member assembly causing the firing member assembly to apply at least one of the firing motions to the surgical end effector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A surgical instrument comprising:
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a handle; an elongated shaft assembly operably coupled to the handle and defining a longitudinal tool axis; a loading unit operably coupled to the elongated shaft and configured to sever and staple tissue in response to firing motions applied thereto, the loading unit being configured to be selectively articulated relative to the longitudinal tool axis about an articulation joint; an articulation system comprising; an articulation link assembly supported by the elongated shaft assembly and configured to operably interface with an articulation joint portion in one of the elongated shaft assembly and the loading unit; and an articulation actuation mechanism supported by the handle and interfacing with the articulation link assembly to apply articulation actuation motions thereto and wherein the surgical instrument further comprises; a firing member assembly operably interfacing with the loading unit to apply the firing motions thereto; a motor operably supported by the handle configured to generate rotary actuation motions; and a drive coupler assembly interfacing with the motor and the articulation actuation mechanism such that when the drive coupler assembly is in a first configuration, operation of the motor will result in the application of the actuation motions to the articulation system resulting in articulation of the loading unit relative to the longitudinal tool axis and when the drive coupler assembly is in a second configuration, operation of the motor will result in the application of actuation motions to the firing member assembly causing the firing member assembly to apply at least one of the firing motions to the loading unit. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A surgical instrument comprising:
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an elongated shaft assembly defining a longitudinal tool axis; a surgical end effector operably coupled to the elongated shaft assembly for selective articulation relative thereto, the surgical end effector being configured to perform at least one surgical procedure in response to firing motions applied thereto; an articulation system operably interfacing with the elongated shaft assembly for applying articulation motions to the surgical end effector; a firing member assembly operably interfacing with the elongated shaft assembly to apply the firing motions to the surgical end effector; a motor configured to generate rotary actuation motions; and means for selectively applying an output motion from the motor to each of the articulation system and the firing member assembly. - View Dependent Claims (18, 19, 20, 21)
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Specification