COUPLING ARRANGEMENTS FOR ATTACHING SURGICAL END EFFECTORS TO DRIVE SYSTEMS THEREFOR
Coupling arrangements for attaching an end effector including a plurality of distal drive train assemblies that are configured to apply a plurality of control motions to the end effector to corresponding proximal drive train assemblies that communicate with a source of drive motions.
1 . A surgical instrument, comprising:
an end effector;
a proximal rotary drive train assembly operably coupled to a source of rotary and axial control motions, the proximal rotary drive train assembly further being longitudinally shiftable in response to applications of the axial control motions thereto;
a distal rotary drive train assembly operably coupled to the end effector to apply the rotary control motions thereto;
a proximal axial drive train assembly operably coupled to a source of other axial control motions;
a distal axial drive train assembly operably coupled to the end effector to apply the axial control motions thereto; and
a coupling arrangement for simultaneously attaching and detaching the proximal rotary drive train assembly to the distal rotary drive train assembly and the proximal axial drive train assembly to the distal axial drive train assembly.
2 . The surgical instrument of claim 1 further comprising:
a first proximal articulation drive train assembly operably coupled to a first source of articulation motions; and
a first distal articulation drive train assembly operably coupled to the end effector and wherein the coupling arrangement is configured to attach the first proximal articulation drive train assembly to the first distal articulation drive train assembly.
3 . The surgical instrument of claim 2 further comprising:
a second proximal articulation drive train assembly operably coupled to a second source of articulation motions; and
a second distal articulation drive train assembly operably coupled to the end effector and wherein the coupling arrangement is configured to attach the second proximal articulation drive train assembly to the second distal articulation drive train assembly.
4 . The surgical instrument of claim 2 wherein the first proximal articulation drive train assembly comprises a first proximal articulation cable including first cable end portion attached to a first proximal articulation link and a second cable end portion attached to a second proximal articulation link and wherein the first distal articulation drive train assembly comprises:
a first distal cable segment operably interfacing with the end effector and coupled to a first distal articulation link configured to be operably coupled to the first proximal articulation link; and
a primary distal cable segment operably interfacing with the end effector and coupled to a primary distal articulation link configured to be operably coupled to the primary proximal articulation link.
5 . The surgical instrument of claim 3 wherein the second proximal articulation drive train assembly comprises a second proximal articulation cable including second cable end portion attached to a second proximal articulation link and a secondary cable end portion attached to a secondary proximal articulation link and wherein the second distal articulation drive train assembly comprises:
a second distal cable segment operably interfacing with the end effector and coupled to a second distal articulation link configured to be operably coupled to the second proximal articulation link; and
a secondary distal cable segment operably interfacing with the end effector and coupled to a secondary distal articulation link configured to be operably coupled to the secondary articulation link.
6 . The surgical instrument of claim 1 wherein the source of rotary and axial control motions and the source of other axial control motions comprises a robotic system.
7 . The surgical instrument of claim 1 wherein the source of rotary and axial control motions and the other axial control motions comprises a handle assembly operably supporting a plurality of drive systems.
8 . The surgical instrument of claim 1 wherein the distal rotary drive train assembly is configured to laterally slidably engage the proximal rotary drive train assembly and wherein the distal axial drive train assembly is configures to laterally slidably engage the proximal axial drive train assembly.
9 . The surgical instrument of claim 8 wherein the coupling arrangement further comprises a locking collar movable from an unlocked position wherein the distal rotary and axial drive train assemblies may be decoupled from the corresponding proximal rotary and axial drive train assemblies and a locked position wherein the distal rotary and axial drive train assemblies are retained in coupled engagement with their corresponding proximal rotary and axial drive train assemblies.
10 . The surgical instrument of claim 1 wherein the end effector comprises:
a surgical staple cartridge; and
an anvil movably supported relative to the surgical staple cartridge and operably interfacing with the distal axial drive train assembly.
11 . A coupling arrangement for attaching an end effector including a plurality of distal drive train assemblies configured to apply a plurality of control motions to the end effector to corresponding proximal drive train assemblies communicating with a source of drive motions, the coupling arrangement comprising:
a proximal attachment formation on a distal end of each proximal drive train assembly;
a proximal coupler member configured to operably support each proximal drive train assembly therein such that the proximal attachment formations thereon are retained in substantial coupling alignment;
a distal attachment formation on a proximal end of each distal drive train assembly, each distal attachment formation configured to operably engage a proximal attachment formation on the distal end of a corresponding proximal drive train when brought into coupling engagement therewith;
a distal coupler member operably coupled to the end effector and configured to operably support each distal drive train therein to retain the distal attachment formations thereon in substantial coupling alignment; and
a locking collar movable from an unlocked position wherein the distal drive train assemblies may be decoupled from the corresponding proximal drive train assemblies and a locked position wherein the distal drive train assemblies are retained in coupled engagement with their corresponding proximal drive train assemblies.
12 . The coupling arrangement of claim 11 wherein one distal drive train assembly comprises a distal rotary drive train assembly that is configured to be coupled to a corresponding proximal rotary drive train assembly.
13 . The coupling arrangement of claim 12 wherein the proximal rotary drive train assembly is longitudinally shiftable.
14 . The coupling arrangement of claim 11 wherein one distal drive train assembly comprises a distal axial drive train assembly that is configured to be coupled to a corresponding proximal axial drive train assembly.
15 . The coupling arrangement of claim 11 wherein one of the proximal drive train assemblies comprise a first proximal articulation drive train assembly and wherein one of the distal drive train assemblies comprises a first distal articulation drive train assembly.
16 . The coupling arrangement of claim 11 wherein the source of drive motions comprises a robotic system.
17 . The coupling arrangement of claim 11 wherein the source of drive motions comprises a handle assembly operably supporting a plurality of drive systems.
18 . The coupling arrangement of claim 1 wherein the distal attachment formation on the distal end of each proximal drive train assembly is configured to laterally slidably engage a proximal attachment formation on the proximal end of each corresponding distal drive train assembly.
19 . The coupling arrangement of claim 18 wherein the distal attachment formation on the distal end of each proximal drive train comprises a distal dovetail joint formation and wherein the proximal attachment formation on the proximal end of each corresponding distal drive train assembly comprises a proximal dovetail joint formation.
20 . A surgical instrument, comprising:
an end effector configured to perform surgical activities in response to drive motions applied thereto;
a source of drive motions;
a first proximal drive train assembly operably interfacing with the source of drive motions for receiving corresponding first drive motions therefrom;
a second proximal drive train assembly operably interfacing with the source of drive motions for receiving corresponding second drive motions therefrom;
a first distal drive train assembly operably interfacing with the end effector and configured to receive the corresponding first drive motions from the first proximal drive train assembly when operably coupled thereto;
a second distal drive train assembly operably interfacing with the end effector and configured to receive the corresponding second drive motions from the second proximal drive train assembly when operably coupled thereto; and
a coupling arrangement comprising:
a first coupling member operably supporting the first and second proximal drive train assemblies therein;
a second coupling member operably supporting the first and second distal drive train assemblies therein and configured for axial alignment with the first coupling member such that when the second coupling member is axially aligned with the first coupling member, the first distal drive train assembly is in axial alignment with the first proximal drive train assembly for operable engagement therewith and the second distal drive train assembly is in axial alignment with the second proximal drive train assembly for operable engagement therewith; and
a locking collar movably journaled on one of the first and second coupling members and configured to move between an unlocked position wherein the first and second distal drive train assemblies are detachable from the first and second proximal drive train assemblies, respectively and a locked position wherein the first and second distal drive train assemblies are retained in operable engagement with the first and second proximal drive train assemblies, respectively.