Robotically-driven surgical instrument
A surgical instrument is disclosed. The surgical instrument includes an elongate channel configured to support a staple cartridge, an anvil connected to the elongate channel, a movable cam member, an elongate shaft connected to the elongate channel, a housing coupled to the elongate shaft, and a transmission system. The anvil is movable between an unclamped position and a clamped position. The housing comprises a first rotary drive member, a second rotary drive member, a third rotary drive member and a fourth rotary drive member, each configured to be driven by a robotic surgical device. The transmission system is coupled to the first rotary drive member and is configured to drive at least two independent motions of the surgical instrument based on a rotation of the first rotary drive member. The at least two independent motions include a clamping motion and a firing motion.
1. A surgical instrument, comprising:
an elongate channel configured to support a staple cartridge;
an anvil connected to the elongate channel, wherein the anvil is movable between an unclamped position and a clamped position;
a movable cam member configured to urge the anvil to the clamped position;
an elongate shaft connected to the elongate channel;
a housing coupled to the elongate shaft, wherein the housing comprises a first rotary drive member, a second rotary drive member, a third rotary drive member and a fourth rotary drive member, and wherein each rotary drive member is configured to be driven by a robotic surgical device; and
a transmission system coupled to the first rotary drive member, wherein the transmission system is configured to drive at least two independent motions of the surgical instrument based on a rotation of the first rotary drive member, wherein the at least two independent motions comprise:
a clamping motion; and
a firing motion.
2. The surgical instrument of claim 1 , wherein the elongate channel further comprises the staple cartridge.
3. The surgical instrument of claim 2 , wherein the staple cartridge comprises a replaceable staple cartridge.
4. The surgical instrument of claim 1 , wherein the movable cam member is driven by the transmission system.
5. The surgical instrument of claim 1 , wherein the transmission system comprises a movable shift member, wherein:
the rotation of the first rotary drive member operates to drive the clamping motion when the movable shift member is in a first position; and
the rotation of the first rotary drive operates to drive the firing motion when the movable shift member is in a second position.
6. The surgical instrument of claim 5 , further comprising an electric motor coupled to the movable shift member.
7. The surgical instrument of claim 1 , further comprising a firing member coupled to the transmission system.
8. The surgical instrument of claim 7 , wherein the firing member comprises a cutting portion.
9. A surgical instrument, comprising:
a jaw assembly movable between an unclamped configuration and a clamped configuration, wherein the jaw assembly is configured to support a staple cartridge;
a movable cam member configured to urge the jaw assembly to the clamped configuration;
an elongate shaft connected to the jaw assembly;
a housing coupled to the elongate shaft, wherein the housing comprises a first rotary drive member, a second rotary drive member, a third rotary drive member and a fourth rotary drive member, wherein each rotary drive member is configured to be driven by a robotic surgical device; and
a transmission system coupled to the first rotary drive member, wherein the transmission system is configured to drive a closing motion and a firing motion of the surgical instrument based on a rotation of the first rotary drive member, and wherein the closing motion is independent of the firing motion.
10. The surgical instrument of claim 9 , wherein the jaw assembly comprises:
an elongate channel; and
an anvil pivotably connected to the elongate channel, wherein the anvil is movable between the unclamped configuration and the clamped configuration.
11. The surgical instrument of claim 9 , wherein the jaw assembly comprises the staple cartridge.
12. The surgical instrument of claim 11 , wherein the staple cartridge comprises a replaceable staple cartridge.
13. The surgical instrument of claim 9 , wherein the movable cam member is coupled to the transmission system.
14. The surgical instrument of claim 9 , wherein the transmission system comprises a movable shift member, wherein:
the rotation of the first rotary drive member operates to drive the closing motion when the movable shift member is in a first position; and
the rotation of the first rotary drive member operates to drive the firing motion when the movable shift member is in a second first position.
15. The surgical instrument of claim 14 , further comprising an electric motor coupled to the movable shift member.
16. The surgical instrument of claim 9 , further comprising a firing member coupled to the transmission system.
17. The surgical instrument of claim 16 , wherein the firing member comprises a cutting portion.
18. A surgical instrument, comprising:
a staple cartridge;
an anvil movable between an unclamped position and a clamped position;
an elongate shaft;
a housing coupled to the elongate shaft, wherein the housing comprises at least four rotary drive members configured to be driven by a robotic surgical device; and
means for driving two independent motions of the surgical instrument based on a rotation of one of the at least four rotary drive members, wherein the at least two independent motions comprise a closing motion and a firing motion.