ROBOTICALLY-CONTROLLED SURGICAL INSTRUMENT WITH SELECTIVELY ARTICULATABLE END EFFECTOR
Devices and systems are provided for controlling movement of a working end of a surgical device by means of a robotic system. In one embodiment, systems and devices are provided for moving an end effector on a distal end of a surgical fastening device. Movement can include rotational movement of the end effector about an axis of the shaft, articulation of the end effector relative to the shaft, and actuation of an end effector, e.g., closing, firing, and/or cutting.
1 - 18 . (canceled)
19 . A stapling system configured for use with a surgical instrument system comprising an elongate shaft, said stapling system comprising:
a staple cartridge comprising a plurality of staples removably positioned therein;
a staple cartridge carrier configured to operably support said staple cartridge;
a first articulation joint, wherein said first articulation joint defines a first articulation axis, wherein said staple cartridge carrier extends from said first articulation joint, and wherein said staple cartridge carrier is pivotable about said first articulation axis in a first plane;
a second articulation joint, wherein said second articulation joint defines a second articulation axis, wherein said staple cartridge carrier is pivotable about said second articulation axis in a second plane, and wherein said first plane is different than said second plane;
a housing configured to be removably coupled to the elongate shaft;
a drive member selectively operable to eject said staples from said staple cartridge; and
an electric motor configured to selectively operate said drive member.
20 . The stapling system of claim 19 , wherein said second articulation joint is separate and distinct from said first articulation joint.
21 . The stapling system of claim 19 , further comprising an anvil, wherein said anvil is pivotable between an open position and a closed position, and wherein said anvil includes a staple forming surface.
22 . The stapling system of claim 21 , wherein said drive member comprises a knife configured to incise tissue captured between said anvil and said staple cartridge.
23 . The stapling system of claim 19 , wherein said staple cartridge comprises a proximal end and a distal end, and wherein said drive member comprises a sled movable toward said distal end to eject said staples from said staple cartridge.
24 . The stapling system of claim 23 , wherein said drive system further comprises a rotatable threaded shaft, and wherein said sled is threadably engaged with said rotatable threaded shaft.
25 . The stapling system of claim 19 , wherein said housing comprises a rotatable input, and wherein said rotatable input is configured to operably interface with said electric motor.
26 . The stapling system of claim 19 , wherein said staple cartridge comprises a plurality of staple cavities defined therein, wherein said staple cavities are arranged in six longitudinal rows, and wherein said staples are positioned in said staple cavities.
27 . A stapling system configured for use with a surgical instrument system, said stapling system comprising:
a staple cartridge comprising a plurality of staples removably positioned therein;
a staple cartridge carrier configured to operably support said staple cartridge;
a first articulation joint, wherein said first articulation joint defines a first articulation axis, wherein said staple cartridge carrier extends from said first articulation joint, and wherein said staple cartridge carrier is pivotable about said first articulation axis in a first plane;
a second articulation joint, wherein said second articulation joint defines a second articulation axis, wherein said staple cartridge carrier is pivotable about said second articulation axis in a second plane, and wherein said first plane is different than said second plane;
a housing configured to be removably coupled to the surgical instrument system;
a rotational output responsive to a rotational input; and
a drive member operably engaged with said rotational output, wherein said drive member is selectively operable to eject said staples from said staple cartridge.
28 . The stapling system of claim 27 , wherein said second articulation joint is separate and distinct from said first articulation joint.
29 . The stapling system of claim 27 , further comprising an anvil, wherein said anvil is pivotable between an open position and a closed position, and wherein said anvil includes a staple forming surface.
30 . The stapling system of claim 29 , wherein said drive member comprises a knife configured to incise tissue captured between said anvil and said staple cartridge.
31 . The stapling system of claim 27 , wherein said staple cartridge comprises a proximal end and a distal end, and wherein said drive member comprises a sled movable toward said distal end to eject said staples from said staple cartridge.
32 . The stapling system of claim 31 , wherein said rotatable output comprises a threaded shaft, and wherein said sled is threadably engaged with said threaded shaft.
33 . The stapling system of claim 27 , wherein said rotatable input is positioned within said housing.
34 . The stapling system of claim 33 , wherein said rotatable input comprises an electric motor.
35 . The stapling system of claim 27 , wherein said staple cartridge comprises a plurality of staple cavities defined therein, wherein said staple cavities are arranged in six longitudinal rows, and wherein said staples are positioned in said staple cavities.
36 . A stapling system, comprising:
a manipulatable surgical instrument system;
a rotary motion generator; and
an end effector assembly, comprising:
a staple cartridge comprising a plurality of staples removably positioned therein;
a staple cartridge carrier configured to operably support said staple cartridge;
a first articulation joint, wherein said first articulation joint defines a first articulation axis, wherein said staple cartridge carrier extends from said first articulation joint, and wherein said staple cartridge carrier is pivotable about said first articulation axis in a first plane;
a second articulation joint, wherein said second articulation joint defines a second articulation axis;
a shaft portion extending between said first articulation joint and said second articulation join, wherein said shaft portion is pivotable about said second articulation axis in a second plane, and wherein said first plane is different than said second plane;
a housing coupled to said manipulatable surgical instrument system;
a rotational output operably coupled and responsive to said rotary motion generator; and
a drive member operably engaged with said rotational output, wherein said drive member is configured to eject said staples from said staple cartridge.