Surgical system comprising a firing member rotatable into an articulation state to articulate an end effector of the surgical system
A surgical instrument is disclosed comprising an end effector, a frame, an articulation system configured rotate the end effector relative to the frame, and a firing system configured to perform a firing stroke within the end effector. The firing system is selectively engageable with the articulation system to rotate the end effector. In such instances, the firing system cannot perform the firing stroke until the firing system has been operably decoupled from the articulation system.
1. A shaft assembly for use with a surgical system, said shaft assembly comprising:
a frame attachable to the surgical system;
an end effector, comprising:
a first jaw;
a second jaw, wherein said first jaw is rotatable relative to said second jaw; and
a staple cartridge comprising staples removably stored therein;
an articulation joint, wherein said end effector is rotatably connected to said frame about said articulation joint;
a firing member extending proximally to terminate at a proximal end, wherein said proximal end of said firing member is translatable between an unfired position and a fired position during a firing stroke to eject said staples from said staple cartridge, and wherein said proximal end of said firing member is rotatable between a first orientation and a second orientation; and
an articulation driver configured to rotate said end effector about said articulation joint, wherein said firing member is operably coupled with said articulation driver when said firing member is in said first orientation, wherein translational movement of said firing member is transmitted to said articulation driver when said firing member is in said first orientation, and wherein said firing member is operably decoupled from said articulation driver when said firing member is in said second orientation.
2. The shaft assembly of claim 1 , further comprising an articulation lock movable between an unlocked configuration and a locked configuration, wherein said end effector is rotatable relative to said frame when said articulation lock is in said unlocked configuration, and wherein said articulation lock is configured to prevent said end effector from rotating relative to said frame when said articulation lock is in said locked configuration.
3. The shaft assembly of claim 2 , wherein said articulation lock is configured to engage said articulation driver and hold said articulation driver in position when said articulation lock is in said locked configuration.
4. The shaft assembly of claim 2 , wherein said articulation lock is configured to engage said end effector and hold said end effector in position when said articulation lock is in said locked configuration.
5. The shaft assembly of claim 2 , further comprising an articulation lock actuator configured to move said articulation lock between said unlocked configuration and said locked configuration.
6. The shaft assembly of claim 5 , wherein said articulation lock actuator is configured to rotate said firing member into said first orientation and operably couple said firing member with said articulation driver when said articulation lock actuator moves said articulation lock into said unlocked configuration.
7. The shaft assembly of claim 6 , wherein said articulation lock actuator is configured to rotate said firing member into said second orientation and operably decouple said firing member from said articulation driver when said articulation lock actuator moves said articulation lock into said locked configuration.
8. The shaft assembly of claim 1 , wherein said firing member is configured to engage said first jaw and move said first jaw toward said second jaw during a closure stroke, and wherein said firing member is configured to perform said closure stroke prior to said firing stroke.
9. The shaft assembly of claim 8 , further comprising a retraction actuator, wherein said retraction actuator is selectively engageable with said firing member and manually-actuatable to retract said firing member to said unfired position.
10. The shaft assembly of claim 1 , further comprising a closure member configured to engage said first jaw and move said first jaw toward said second jaw during a closure stroke.
11. The shaft assembly of claim 1 , wherein said firing member comprises:
a first portion;
a second portion; and
a clutch, wherein said clutch is configured to switch said firing member between an articulation-mode configuration and a firing-mode configuration, wherein said first portion is movable relative to said second portion when said firing member is in said articulation-mode configuration, and wherein said first portion is engaged with said second portion to drive said second portion distally when said firing member is in said firing-mode configuration.
12. The shaft assembly of claim 11 , wherein said clutch comprises a lock configured to releasably hold said firing member in said firing-mode configuration.
13. The shaft assembly of claim 12 , wherein said lock is mounted to said second portion of said firing member.
14. The shaft assembly of claim 12 , wherein said first portion of said firing member is movable toward said fired position to allow said lock to releasably trap said first portion into operative engagement with said second portion when said clutch transitions said firing member between said articulation-mode configuration and said firing-mode configuration.
15. The shaft assembly of claim 12 , wherein said frame further comprises a key, wherein said lock is configured to engage said key when said firing member is retracted toward said unfired position, and wherein said key is configured to unlock said lock and allow said firing member to transition from said firing-mode configuration to said articulation-mode configuration.
16. The shaft assembly of claim 1 , wherein said frame comprises a first rotational stop and a second rotational stop, wherein said first rotational stop is configured to stop said firing member in said first orientation, and wherein said second rotational stop is configured to stop said firing member in said second orientation.
17. The shaft assembly of claim 1 , wherein said staple cartridge is replaceable.
18. A shaft assembly for use with a surgical system, said shaft assembly comprising:
a frame attachable to the surgical system;
an end effector, comprising:
a first jaw; and
a second jaw, wherein said first jaw is rotatable relative to said second jaw;
an articulation joint, wherein said end effector is rotatably connected to said frame about said articulation joint;
an articulation driver configured to rotate said end effector about said articulation joint; and
a firing assembly comprising a first portion and a second portion terminating at a proximal end, wherein said first portion is translatable between an unfired position and a fired position during a firing stroke, wherein said first portion extends proximally beyond said proximal end of said second portion, wherein said first portion is rotatable relative to said second portion between an articulation-mode orientation and a firing-mode orientation, wherein said first portion is operably coupled with said articulation driver when said first portion is in said articulation-mode orientation, wherein translational movement of said firing assembly is transmitted to said articulation driver when said first portion is in said articulation-mode orientation, and wherein said firing assembly is operably decoupled from said articulation driver when said first portion is in said firing-mode orientation.
19. The shaft assembly of claim 18 , wherein said end effector further comprises a staple cartridge.
20. A shaft assembly for use with a surgical system, said shaft assembly comprising:
a frame attachable to the surgical system;
an end effector, comprising:
a first jaw; and
a second jaw, wherein said first jaw is rotatable relative to said second jaw;
an articulation joint, wherein said end effector is rotatably connected to said frame about said articulation joint;
an articulation driver configured to rotate said end effector about said articulation joint;
a firing assembly comprising a first portion and a second portion terminating at a proximal end, wherein said first portion extends proximally beyond said proximal end of said second portion, and wherein said first portion is translatable between an unfired position and a fired position during a firing stroke;
means for selectively rotating said first portion of said firing assembly into and out of operable engagement with said articulation driver; and
means for operably decoupling said second portion of said firing assembly from said first portion when said first portion is operably engaged with said articulation driver.