Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems
A shaft assembly is disclosed which is usable with a surgical system, such as a surgical robot and/or a handle of a surgical instrument, for example. The shaft assembly is configured to receive a rotary input motion from the surgical system and a transmission, or clutch, which is shiftable between a first operating mode and a second operating mode to selectively transmit the rotary input motion to a first drive system and a second drive system.
1. A shaft assembly releasably attachable to a surgical system, comprising:
an end effector, comprising:
a first jaw;
a second jaw;
a closure member configured to move said first jaw relative to said second jaw between an open position and a closed position; and
a firing member movable through a firing stroke; and
an attachment portion, comprising:
a shaft frame configured to engage a frame of the surgical system;
a rotatable input configured to receive a rotary motion from the surgical system;
a closure system operably coupled with said closure member;
a firing system operably coupled with said firing member; and
a clutch, comprising:
a closure gear operably coupled to said closure system;
a firing gear operably coupled to said firing system; and
a shiftable shaft, wherein said closure gear and said firing gear are mounted on said shiftable shaft, and wherein said clutch is configurable in:
a closure mode, wherein said shiftable shaft drivingly engages said closure gear to operably couple said rotatable input with said closure system, and wherein said shiftable shaft drivingly disengages from said firing gear to operably decouple said firing system from said rotatable input; and
a firing mode, wherein said shiftable shaft drivingly engages said firing gear to operably couple said rotatable input with said firing system, and wherein said shiftable shaft drivingly disengages from said closure gear to operably decouple said closure system from said rotatable input.
2. The shaft assembly of claim 1 , wherein said shiftable shaft is positionable in a closure position to place said clutch in said closure mode and a firing position to place said clutch in said firing mode.
3. The shaft assembly of claim 2 , wherein said shiftable shaft comprises a first pushable end and a second pushable end.
4. The shaft assembly of claim 1 , further comprising a manually-operable retraction system configured to retract said firing member.
5. The shaft assembly of claim 4 , wherein said manually-operable retraction system is configurable in a deactivated configuration and an activated configuration, and wherein said manually-operable retraction system is configured to decouple said rotatable input from said firing system when said manually-operable retraction system is placed in said activated configuration.
6. The shaft assembly of claim 5 , wherein said closure system is operably engageable with said rotatable input when said manually-operable retraction system is in said activated configuration.
7. The shaft assembly of claim 5 , wherein said firing system is permanently decoupled from said rotatable input when said manually-operable retraction system is placed in said activated configuration.
8. The shaft assembly of claim 5 , wherein said firing system is operably coupleable with said rotatable input after said manually-operable retraction system has been returned to said deactivated configuration.
9. The shaft assembly of claim 4 , wherein said attachment portion comprises a housing, and wherein said housing comprises a cover movable between a closed position and an open position to expose a lever of said manually-operable retraction system.
10. The shaft assembly of claim 9 , wherein said cover is configured to operably disengage said firing system from said rotatable input when said cover is moved from said closed position to said open position.
11. The shaft assembly of claim 10 , wherein said cover does not operably disengage said closure system from said rotatable input when said cover is moved from said closed position to said open position.
12. The shaft assembly of claim 10 , wherein said firing system is operably re-engageable with said rotatable input when said cover is moved back into said closed position.
13. The shaft assembly of claim 1 , wherein said firing member comprises a rotatable output shaft.
14. The shaft assembly of claim 10 , wherein said firing system comprises a first gear and a second gear, wherein said first gear is operably intermeshed with said second gear when said cover is in said closed position, and wherein said first gear is demeshed from said second gear when said cover is in said open position.
15. The shaft assembly of claim 14 , further comprising a spring configured to bias said first gear into operative intermeshment with said second gear.
16. The shaft assembly of claim 1 , wherein said end effector further comprises a staple cartridge.
17. The shaft assembly of claim 16 , wherein said staple cartridge is replaceable.
18. The shaft assembly of claim 1 , wherein said firing member is rotatable and said closure member is translatable.
19. An assembly releasably attachable to a surgical system, the assembly comprising:
a shaft assembly, comprising:
a shaft portion comprising a proximal end and a distal end;
an end effector extending from said distal end of said shaft portion, wherein said end effector comprises:
a first jaw;
a second jaw;
a closure member configured to move said first jaw relative to said second jaw between an open position and a closed position; and
a firing member movable through a firing stroke; and
an attachment portion extending from said proximal end of said shaft portion, wherein said attachment portion comprises:
a shaft frame configured to engage a frame of the surgical system;
a rotatable input configured to receive a rotary motion from the surgical system, wherein said rotatable input comprises teeth;
a closure system operably coupled with said closure member;
a firing system operably coupled with said firing member; and
a clutch meshingly engaged with said teeth of said rotatable input, wherein said clutch comprises a shiftable shaft, a closure gear mounted on said shiftable shaft, and a firing gear mounted on said shiftable shaft, wherein said shiftable shaft is shiftable relative to said closure gear and said firing gear, and wherein said clutch is configurable in:
a closure mode, wherein said rotatable input is operably coupled to said closure system via said shiftable shaft and said closure gear and operably decoupled from said firing system; and
a firing mode, wherein said rotatable input is operably coupled to said firing system via said shiftable shaft and said firing gear and operably decoupled from said closure system.
20. An assembly releasably attachable to a surgical system, the assembly comprising:
a shaft;
an end effector extending distally from said shaft and forming a distal end of the assembly, wherein said end effector comprises:
a first jaw;
a second jaw;
a closure member configured to move said first jaw relative to said second jaw between an open position and a closed position; and
a firing member movable through a firing stroke; and
an attachment portion extending proximally from said shaft and forming a proximal end of the assembly, wherein said attachment portion comprises:
a shaft frame configured to engage a frame of the surgical system;
a rotatable input configured to receive a rotary motion from the surgical system, wherein said rotatable input comprises teeth;
a closure system operably coupled with said closure member;
a firing system operably coupled with said firing member; and
a clutch meshingly engaged with said teeth of said rotatable input, wherein said clutch comprises a shiftable shaft, a closure gear mounted on said shiftable shaft, and a firing gear mounted on said shiftable shaft, wherein said shiftable shaft is selectively engageable with and disengageable from said closure gear and said firing gear, and wherein said clutch is configurable in:
a closure mode, wherein said rotatable input is operably coupled to said closure system via said shiftable shaft and said closure gear and operably decoupled from said firing system; and
a firing mode, wherein said rotatable input is operably coupled to said firing system via said shiftable shaft and said firing gear and operably decoupled from said closure system.