Robotically-controlled shaft based rotary drive systems for surgical instruments

  • US 8,931,682 B2
  • Filed: 05/27/2011
  • Issued: 01/13/2015
  • Est. Priority Date: 06/04/2007
  • Status: Active Grant
First Claim
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1. A surgical instrument comprising:

  • an end effector having a selectively reciprocatable implement movably supported therein, said implement being selectively advanceable in a distal direction upon application of a rotary actuation motion thereto and retractable in a proximal direction upon application of a rotary retraction motion thereto;

    an elongate shaft assembly coupled to said end effector and configured to transmit said rotary actuation motion and said rotary retraction motion to said reciprocatable implement from a robotic system configured to generate said rotary actuation motion and said rotary retraction motion; and

    a firing drive comprising;

    a first rotary drive assembly operably interfacing with a first corresponding drive portion of said robotic system, said first rotary drive assembly selectively interfacing with said elongate shaft assembly and configured to apply said rotary actuation motion thereto when activated; and

    a second rotary drive assembly operably interfacing with a second corresponding drive portion of said robotic system, said second rotary drive assembly interfacing with said elongate shaft assembly and configured to apply said rotary retraction motion thereto when said first rotary drive assembly is deactivated and said second rotary drive assembly is activated.

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