Surgical tool assemblies with clutching arrangements for shifting between closure systems with closure stroke reduction features and articulation and firing systems
A tool assembly for use with a closure actuator that is configured to move a first axial closure distance upon actuation thereof. A surgical end effector is operably coupled to a shaft assembly. A firing member assembly operably interfaces with an articulation member. A closure system operably interfaces with the closure actuator such that when the closure actuator is axially advanced through the first axial closure distance, the closure system disengages the firing member assembly and the articulation member and also moves a closure member axially through a second axial closure distance that is less than the first axial closure distance to apply closure motions to the end effector.
1. A surgical tool assembly for use with a control system including a closure actuator and a firing actuator, said surgical tool assembly comprising:
a shaft assembly configured to releasably interface with the control system;
a surgical end effector comprising first and second jaws configured to move between a fully-open position and a fully-closed position relative to each other, said surgical end effector operably coupled to said shaft assembly for selective articulation relative thereto;
a firing assembly operably interfacing with the firing actuator, wherein said firing assembly comprises a firing member, and wherein operation of the firing actuator advances said firing member distally;
an articulation member interfacing with said surgical end effector and being selectively engageable with said firing assembly, wherein movement of said firing assembly causes said articulation member to articulate said surgical end effector relative to said shaft assembly when said articulation member is in an engaged configuration, and wherein said firing member is movable without moving said articulation member when said articulation member is in disengaged configuration;
a closure assembly coupled to the closure actuator, wherein said closure assembly comprises a closure member, wherein said closure member is configured to partially close said surgical end effector when said closure member is moved a first axial distance by the closure actuator, and wherein said closure member is configured to fully close said surgical end effector after said closure member is moved a second axial distance beyond said first axial distance by the closure actuator; and
a clutch assembly operably configured to move said articulation member from said engaged configuration to said disengaged configuration after said closure member moves beyond said first axial distance such that said articulation member is movable to articulate said surgical end effector while said closure member is movable along said first axial distance to partially close said surgical end effector.
2. The surgical tool assembly of claim 1 , wherein said clutch assembly comprises a rotary lock assembly operably interfacing with said articulation member, said firing assembly, and said closure assembly, said rotary lock assembly being rotatable between said engaged configuration and said disengaged configuration such that movement of the closure actuator through the first axial closure distance causes a portion of said closure assembly to rotate said rotary lock assembly from said engaged configuration to said disengaged configuration.
3. The surgical tool assembly of claim 2 , wherein said portion of said closure assembly comprises a proximal closure member configured to releasably interface with the closure actuator for axial movement therewith through the first axial distance, and wherein said clutch assembly comprises a closure stroke reduction assembly operably interfacing with said proximal closure member such that when the proximal closure member moves the first axial distance, said closure stroke reduction assembly causes a distal portion of said closure assembly to axially move said second axial distance to thereby move said at least one of said first and second jaws from said fully-open position to said fully-closed position.
4. The surgical tool assembly of claim 3 , wherein said clutch assembly further comprises a cam assembly operably interfacing with said proximal closure member and said rotary lock assembly such that when said proximal closure member is moved from a starting position corresponding to said fully-open position distally through the first axial distance to an ending position corresponding to said fully-closed position, said cam assembly rotates said rotary lock assembly from said engaged configuration to said disengaged configuration and when said proximal closure member is moved in a proximal direction from said ending position to said starting position, said cam assembly rotates said rotary lock assembly to said engaged configuration.
5. The surgical tool assembly of claim 1 , wherein the control system comprises:
a handle; and
a closure trigger assembly operably supported on said handle and being selectively movable between an unactuated position and a fully actuated position and operably interfacing with the closure actuator such that movement of said closure trigger assembly to said fully actuated position causes the closure actuator to move said articulation member from said engaged configuration to said disengaged configuration.
6. The surgical tool assembly of claim 5 , further comprising:
a motor operably interfacing with the firing actuator such that operation of said motor in a first rotary direction causes the firing actuator to move said firing assembly distally and when said motor is moved in a second rotary direction, the firing actuator moves said firing assembly proximally; and
a firing trigger assembly operably supported on said handle and configured to selectively rotate said motor in said first and second rotary directions.
7. The surgical tool assembly of claim 1 , wherein said first and second jaws are mounted relative to each other for selective pivotal travel about a fixed jaw axis.
8. The surgical tool assembly of claim 7 , wherein said first jaw comprises an elongate channel configured to removably support a surgical staple cartridge therein and wherein said second jaw comprises an anvil.
9. The surgical tool assembly of claim 8 , wherein said firing member assembly comprises:
a proximal firing member;
a distal firing member slidably interfacing with said proximal firing member; and
an end effector firing member operably coupled to said distal firing member and being configured to sever tissue and fire staples out of a surgical staple cartridge that is operably supported in said elongate channel when said firing assembly is moved distally a predetermined firing distance.
10. A surgical system, comprising:
a control system comprising a closure actuator and a firing actuator;
a shaft assembly;
an end effector configured to articulate relative to said shaft assembly, wherein said end effector comprises:
a first jaw; and
a second jaw coupled to said first jaw, wherein said second jaw is configured to move between a fully-open position and a fully-closed position relative to said first jaw;
a firing drive comprising a firing member drivable by said firing actuator;
a closure drive comprising a closure member drivable by said closure actuator, wherein said closure member partially closes said second jaw when said closure member is moved a first distance by said closure actuator, and wherein said closure member fully closes said second jaw when said closure member is moved a second distance beyond said first distance by said closure actuator;
an articulation drive configured to articulate said end effector relative to said shaft assembly, wherein said articulation drive is configured to engage with said firing member such that the motion of said firing member articulates said end effector, and wherein said articulation drive is further configured to disengage from said firing member such that the motion of said firing member does not articulate said end effector; and
a clutch configured to disengage said articulation drive from said firing member when said closure member moves beyond said first distance but not prior to said first distance, wherein said articulation drive is configured to articulate said end effector while said closure member is movable along said first distance to partially close said second jaw.