Articulatable surgical instrument configured for detachable use with a robotic system
A surgical instrument for use with a robotic system that has a control unit and a shaft portion that includes an electrically conductive elongated member that is attached to a portion of the robotic system. The elongated member is configured to transmit control motions from the robotic system to an end effector.
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.
2. The surgical instrument of claim 1 , wherein said articulation ball joint assembly is configured to facilitate articulation of said end effector about a first articulation axis in response to a first articulation motion from said articulation system, and wherein said articulation ball joint assembly is configured to facilitate articulation of said end effector about a second articulation axis in response to a second articulation motion from said articulation system.
3. The surgical instrument of claim 2 , wherein the first articulation axis is transverse to the longitudinal tool axis and wherein the second articulation axis is transverse to the longitudinal tool axis and the first articulation axis.
4. The surgical instrument of claim 1 , wherein said articulation ball joint assembly is configured to facilitate articulation of said end effector about first and second axes that are parallel to each other and transverse to the longitudinal tool axis and third and fourth axes that are parallel to each other and transverse to the longitudinal tool axis and the first and second axes.
5. The surgical instrument of claim 1 , wherein said second jaw comprises an anvil and wherein said first jaw comprises a surgical staple cartridge, and wherein said firing member comprises a tissue-cutting member.
6. The surgical instrument of claim 1 , wherein said closure assembly comprises a closure tube assembly movably supported for selective axial travel relative to said end effector in response to said closure motion such that an application of said closure motion to the closure tube assembly causes said second jaw to move toward said first jaw and an application of an opening motion to said closure tube assembly causes said second jaw to move away from the said first jaw.
7. The surgical instrument of claim 6 , wherein said end effector further comprises at least one sensor transponder, and wherein said closure tube assembly comprises an antenna to transmit signals from said at least one sensor transponder to a control unit of the robotic system.
8. The surgical instrument of claim 1 , wherein said drive mount comprises a latch arrangement for detachably latching said drive mount to the driver portion of the robotic system.
9. A surgical instrument for use with a robotic system, wherein said surgical instrument, comprises:
an end effector comprising 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;
an elongate shaft assembly defining a longitudinal tool axis, said elongate shaft assembly, comprising:
a rigid proximal portion, wherein said rigid proximal portion is axially movable and rotatable about said longitudinal tool axis;
an articulation joint operably coupled to said rigid proximal portion and said end effector such that said end effector is operably coupled to said articulation joint for selective articulation relative to said rigid proximal portion about an articulation axis transverse to said longitudinal tool axis; and
an axially movable closure member operably interfacing with said articulation joint and configured to axially apply said closure motion to said second jaw 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, wherein said drive mount operably supports a proximal end of said rigid proximal portion to facilitate said axial and rotation travel thereof relative to said drive mount;
a closure system, comprising:
a first rotary input member operably supported by said drive mount, wherein said first rotary input member is configured to operably engage a first rotary output member operably supported by the driver portion of the robotic system to generate said closure motion; and
a closure driver member supported for axial movement on said drive mount, wherein said closure driver member operably interfaces with said rigid proximal portion and said first rotary input member, wherein rotation of said first rotary input member causes said closure driver member to apply said closure motion to said rigid proximal portion, and wherein said robotic system interface further comprises:
a second rotary input member operably supported on said drive mount, wherein said second rotary input member is configured to operably engage a second rotary output member operably supported by the driver portion of the robotic system; and
an articulation system, comprising:
an articulation ball joint assembly operably interfacing with said second rotary input member to receive articulation control motions therefrom;
a first pair of articulation cables operably interfacing with said articulation ball joint assembly and said articulation joint, wherein said first pair of articulation cables extend 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, wherein said second pair of articulation cables extend along a left side of said of said longitudinal tool axis.
10. The surgical instrument of claim 9 , wherein said closure system is distal relative to said first rotary input member, and wherein said first rotary input member is distal to said second rotary input member.
11. The surgical instrument of claim 9 , wherein said articulation ball joint assembly, comprises:
a ball-shaped member non-movably supported on said drive mount;
an articulation control ring movably supported on said ball-shaped member, wherein said articulation control ring is operably coupled to said second pairs of said articulation cables; and
a ring actuator operably interfacing with said second rotary input member and said articulation control ring to apply said articulation control motions thereto.
12. The surgical instrument of claim 11 , wherein said ring actuator comprises a first ring actuator cable operably coupled to said articulation control ring, wherein said first ring actuator cable operably interface with said second rotary input member.
13. The surgical instrument of claim 12 , wherein said ring actuator further comprises a second ring actuator cable operably coupled to said articulation control ring, wherein said second ring actuator cable operably interfaces with said second rotary input member.
14. The surgical instrument of claim 9 , further comprising a third rotary input member operably supported on said drive mount, wherein said third rotary input member is configured to operably engage a third rotary output member operably supported by the driver portion of the robotic system, wherein said third rotary input member is configured to operably interface with said proximal end of said rigid proximal portion, wherein rotation of said third rotary input member causes said rigid proximal portion to rotate relative to said drive mount about said longitudinal tool axis.