Robotically-controlled shaft based rotary drive systems for surgical instruments
View Patent ↗A surgical instrument including an end effector that has a selectively reciprocatable implement movably supported therein. The implement is 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 is coupled to the end effector and is configured to transmit the rotary actuation motion and rotary retraction motion to the reciprocatable implement from a robotic system that is configured to generate the rotary actuation motion and said rotary retraction motion.
1. A surgical instrument, comprising:
an elongate shaft assembly coupled to a remotely actuatable system capable of generating a plurality of control motions, wherein said elongate shaft assembly is operably engaged with a first drive member and a second drive member;
an end effector coupled to said elongate shaft assembly, said end effector comprising:
an elongate channel configured to operably support a staple cartridge therein;
an anvil movably coupled to said elongate channel; and
a cutting member operably supported within said elongate channel, wherein said cutting member is operably engaged with said elongate shaft assembly, wherein, when said remotely actuatable system is engaged with said first drive member, a first actuation advances said cutting member a first distance, wherein, when said remotely actuatable system is engaged with said second drive member, a second actuation retracts said cutting member a second distance, and wherein said second distance is greater than said first distance.
2. The surgical instrument of claim 1 , wherein said remotely actuatable system is configured to apply opening and closing motions to a closure drive operably engaged with said anvil.
3. The surgical instrument of claim 1 , wherein, when said remotely actuatable system is controllably engaged with said first drive member, said remotely actuatable system is not controllably engaged with said second drive member, and wherein, when said remotely actuatable system is controllably engaged with said second drive member, said remotely actuatable system is not controllably engaged with said first drive member.
4. The surgical instrument of claim 1 , wherein said first actuation of said remotely actuatable system causes said first drive member to apply a first rotary drive motion to advance said cutting member said first distance and wherein said second actuation causes said second drive member to apply a second rotary drive motion to retract said cutting member said second distance.
5. A surgical instrument system, comprising:
a housing;
a rotary motion generator comprising a rotatable output;
a shaft extending distally from said housing, wherein said shaft comprises:
a rotatable drive screw operably coupled with said rotary motion generator, wherein said drive screw comprises a threaded portion; and
a translatable member comprising a threaded aperture threadably engaged with said threaded portion of said rotatable drive screw, wherein said threaded aperture and said threaded portion define an interface for converting the rotary motion of said drive screw to the translational motion of said translatable member; and
an end effector extending distally from said shaft, wherein said end effector comprises:
a cartridge channel;
an anvil movably coupled relative to said cartridge channel; and
a staple cartridge removably supported within said cartridge channel, wherein said translatable member is configured to engage said anvil and influence the distance between said anvil and said staple cartridge, and wherein said interface is located proximally with respect to said staple cartridge.
6. A surgical instrument system, comprising:
a housing;
a rotary motion generator comprising a rotatable output;
a shaft extending distally from said housing, wherein said shaft comprises:
a rotatable drive screw operably coupled with said rotary motion generator, wherein said drive screw comprises a threaded portion; and
a translatable member comprising a threaded aperture threadably engaged with said threaded portion of said rotatable drive screw, wherein said threaded aperture and said threaded portion define a conversion interface for converting the rotary motion of said drive screw to the translational motion of said translatable member; and
an end effector extending distally from said shaft, wherein said end effector comprises:
a cartridge channel;
an anvil movably coupled relative to said cartridge channel; and
a staple cartridge removably supported within said cartridge channel, wherein said translatable member is configured to induce the position of said anvil relative to said staple cartridge, and wherein said conversion interface is located outside of said staple cartridge.
7. A surgical instrument system, comprising:
an electric motor comprising a rotatable output;
an elongate shaft, comprising:
a rotatable drive shaft operably coupled with said electric motor, wherein said rotatable drive shaft comprises a first threaded portion; and
a translatable member comprising a second threaded portion threadably engaged with said first threaded portion of said rotatable drive shaft, wherein said first threaded portion and said second threaded portion define an interface for converting the rotary motion of said rotatable drive shaft to translational motion of said translatable member; and
an end effector extending distally from said elongate shaft, wherein said end effector comprises:
an anvil; and
a staple cartridge, wherein said translatable member is configured to affect the distance between said anvil and said staple cartridge, and wherein said interface is located proximally with respect to said staple cartridge.