Robotically-controlled shaft based rotary drive systems for surgical instruments
View Patent ↗A stapling assembly for use with a robotic device is disclosed. The stapling assembly comprises a first jaw, a second jaw rotatable relative to the first jaw between an open position and a closed position, an elongate shaft coupled to the first jaw, and a housing coupled to the elongate shaft. The housing comprises rotatable inputs operably engageable with the robotic device. A first system is configured to position the second jaw relative to the first jaw at a first rate. A second system is configured to position the second jaw relative to the first jaw at a second rate which is faster than the first rate.
1. A stapling assembly for use with a robotic device, said stapling assembly comprising:
a first jaw;
a second jaw rotatable relative to said first jaw between an open position and a closed position;
an elongate shaft coupled to said first jaw;
a housing coupled to said elongate shaft, wherein said housing comprises rotatable inputs operably engageable with the robotic device;
a first system configured to position said second jaw relative to said first jaw at a first rate; and
a second system configured to position said second jaw relative to said first jaw at a second rate which is faster than said first rate.
2. The stapling assembly of claim 1 , further comprising a staple cartridge.
3. The stapling assembly of claim 1 , further comprising said robotic device, wherein said robotic device comprises:
an actuator manipulatable by a clinician; and
a visual indicator configured to provide real-time feedback to the clinician regarding the closure of said second jaw.
4. The stapling assembly of claim 1 , wherein said elongate shaft comprises:
a distal end;
a first articulation joint defining a first articulation axis; and
a second articulation joint defining a second articulation axis, wherein said second articulation joint is closer to said distal end than said first articulation joint.
5. A stapling assembly for use with a robotic device, said stapling assembly comprising:
a first jaw;
a second jaw rotatable relative to said first jaw between an open position and a closed position;
an elongate shaft coupled to said first jaw;
a housing coupled to said elongate shaft, wherein said housing comprises rotatable inputs operably engageable with the robotic device;
a first system configured to close said second jaw at a first rate; and
a second system configured to close said second jaw at a second rate which is faster than said first rate.
6. The stapling assembly of claim 5 , further comprising a staple cartridge.
7. The stapling assembly of claim 5 , further comprising said robotic device, wherein said robotic device comprises:
an actuator manipulatable by a clinician; and
a visual indicator configured to provide real-time feedback to the clinician regarding the closure of said second jaw.
8. The stapling assembly of claim 5 , wherein said elongate shaft comprises:
a distal end;
a first articulation joint defining a first articulation axis; and
a second articulation joint defining a second articulation axis, wherein said second articulation joint is closer to said distal end than said first articulation joint.
9. A stapling assembly for use with a robotic device, said stapling assembly comprising:
a first jaw;
a second jaw rotatable relative to said first jaw between an open position and a closed position;
an elongate shaft extending from said first jaw;
a housing attached to said elongate shaft, wherein said housing comprises rotatable inputs operably engageable with the robotic device;
a first system configured to position said second jaw relative to said first jaw and operate at a first rate; and
a second system configured to position said second jaw relative to said first jaw and operate at a second rate which is faster than said first rate.
10. The stapling assembly of claim 9 , further comprising a staple cartridge.
11. The stapling assembly of claim 9 , further comprising said robotic device, wherein said robotic device comprises:
an actuator manipulatable by a clinician; and
a visual indicator configured to provide real-time feedback to the clinician regarding the closure of said second jaw.
12. The stapling assembly of claim 9 , wherein said elongate shaft comprises:
a distal end;
a first articulation joint defining a first articulation axis; and
a second articulation joint defining a second articulation axis, wherein said second articulation joint is closer to said distal end than said first articulation joint.
13. A stapling assembly for use with a user-actuated motion generating system, said stapling assembly comprising:
a jaw;
a staple cartridge positioned in said jaw;
an anvil rotatable relative to said jaw between an open position and a closed position;
an elongate shaft, wherein said jaw extends from said elongate shaft;
a housing, wherein said elongate shaft extends from said housing, and wherein said housing comprises rotatable inputs drivable by the user-actuated motion generating system;
a first system configured to position said anvil relative to said jaw at a first rate; and
a second system configured to position said anvil relative to said jaw at a second rate which is faster than said first rate.
14. The stapling assembly of claim 13 , further comprising said user-actuated motion generating system, wherein said user-actuated motion generating system comprises:
an actuator manipulatable by a clinician; and
a visual indicator configured to provide real-time feedback to the clinician regarding the closure of said anvil.
15. The stapling assembly of claim 13 , wherein said elongate shaft comprises:
a distal end;
a first articulation joint defining a first articulation axis; and
a second articulation joint defining a second articulation axis, wherein said second articulation joint is closer to said distal end than said first articulation joint.
16. A stapling instrument for use with a user-controlled actuation system, said stapling instrument comprising:
a jaw;
a staple cartridge in said jaw;
an anvil rotatable relative to said jaw between an open position and a closed position;
an elongate shaft, wherein said jaw extends from said elongate shaft;
a housing, wherein said elongate shaft extends from said housing, and wherein said housing comprises rotatable inputs configured to be rotated by the user-controlled actuation system when in operable engagement with the user-controlled actuation system;
a first system configured to move said anvil relative to said jaw at a first rate; and
a second system configured to move said anvil relative to said jaw at a second rate which is faster than said first rate.
17. The stapling instrument of claim 16 , further comprising said user-controlled actuation system, wherein said user-controlled actuation system comprises:
an actuator manipulatable by a clinician; and
a visual indicator configured to provide real-time feedback to the clinician regarding the closure of said anvil.
18. The stapling instrument of claim 16 , wherein said elongate shaft comprises:
a distal end;
a first articulation joint defining a first articulation axis; and
a second articulation joint defining a second articulation axis, wherein said second articulation joint is closer to said distal end than said first articulation joint.
19. A stapling instrument for use with a user-controlled actuation system, said stapling instrument comprising:
a first jaw;
a second jaw, wherein said second jaw is rotatable between an open position and a closed position;
a staple cartridge comprising staples removably stored therein;
an anvil configured to deform said staples;
an elongate shaft, wherein said first jaw and said second jaw extend from said elongate shaft;
a housing, wherein said elongate shaft extends from said housing, and wherein said housing comprises rotatable inputs configured to be rotated by the user-controlled actuation system when in operable engagement with the user-controlled actuation system;
a first system configured to move said second jaw relative to said first jaw at a first rate; and
a second system configured to move said second jaw relative to said first jaw at a second rate which is faster than said first rate.
20. The stapling instrument of claim 19 , further comprising said user-controlled actuation system, wherein said user-controlled actuation system comprises:
an actuator manipulatable by a clinician; and
a visual indicator configured to provide real-time feedback to the clinician regarding the closure of said second jaw.
21. The stapling instrument of claim 19 , wherein said elongate shaft comprises:
a distal end;
a first articulation joint defining a first articulation axis; and
a second articulation joint defining a second articulation axis, wherein said second articulation joint is closer to said distal end than said first articulation joint.