ROBOTICALLY-CONTROLLED END EFFECTOR
The present invention is directed to a surgical instrument with a robotics system, a memory device and an end effector having an elongate channel, knife position sensor(s) and a firing bar coupled to a knife. In response to drive motions initiated by the robotics system, the firing bar may translate within the elongate channel. As the firing bar translates, the sensor(s) transmit a signal to the memory device. The position of the knife may be determined from the output signals and may be communicated to the robotics system or instrument user. The sensors may be Hall Effect sensors.
1 - 17 . (canceled)
18 . A surgical cutting and fastening instrument, comprising:
an end effector, comprising:
an anvil comprising staple forming features;
a housing frame;
a knife;
a channel in the housing frame configured to receive the knife; and
a replaceable cartridge comprising a plurality of staples that can be deployed from the cartridge with a distal actuation of a deploying wedge;
an elongate rigid shaft comprising at least one articulation joint for positioning the cartridge at an angle not parallel to a longitudinal axis of the shaft;
an electrically coupled remote-controlled actuation consol;
a motor operably coupled to an actuation mechanism; and
a linear drive motion converter configured to convert rotary motion from the motor to linear motion.
19 . The surgical instrument of claim 18 , wherein the electrically coupled remote-controlled actuation consol comprises an electrically wired connection to the motor.
20 . A surgical cutting and fastening system, comprising:
an end effector, comprising:
an anvil jaw comprising staple forming features;
a knife;
a cartridge jaw, comprising:
a housing frame; and
a channel defined in the housing frame configured to receive the knife; and
a replaceable staple cartridge positionable in the channel, wherein the staple cartridge comprises a plurality of staples removably stored therein and a wedge configured to eject the staples from the staple cartridge during a staple firing stroke;
an elongate rigid shaft, comprising:
at least one articulation joint for positioning the staple cartridge at an angle which is not parallel to a longitudinal axis of the shaft; and
a remote-controlled actuation consol;
a motor operably coupled to an actuation mechanism; and
a linear drive motion converter configured to convert rotary motion from the motor to linear motion.
21 . The surgical system of claim 20 , wherein the electrically coupled remote-controlled actuation consol comprises an electrically wired connection to the motor.