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 stapling instrument system, comprising:
a surgical stapling instrument, comprising:
an end effector, comprising:
a first jaw;
a second jaw, wherein said second jaw is movable relative to said first jaw;
a staple cartridge; and
a driver element supported for axial travel through said surgical end effector in response to firing motions applied thereto;
a reciprocatable closure element configured to apply opening and closing motions to said one of said first and second jaws; and
a motor powered firing element configured to apply said firing motions to said driver element; and
a remote user-controlled console electrically coupled to said surgical stapling instrument.
19 . The surgical stapling instrument system of claim 18 , wherein said closure element is configured to move said one of said first and second jaws to a closed position when said closure element is driven in a distal direction and to move said one of said first and second jaws to an open position when said closure element is driven in a proximal direction.
20 . The surgical stapling instrument system of claim 19 , wherein said closure element is controlled through manual manipulation of a closure actuator interfacing with said closure element.
21 . The surgical stapling instrument system of claim 19 , wherein said other of said first and second jaws is configured to support a staple cartridge.
22 . The surgical stapling instrument system of claim 21 , wherein said driver element comprises a tissue cutting surface.
23 . The surgical stapling instrument system of claim 22 , wherein said firing element comprises a rotary drive shaft in threaded engagement with said driver element.
24 . The surgical stapling instrument system of claim 19 , wherein said closure element comprises a hollow tubular shaft configured to interface with said one of said first and second jaws.
25 . A surgical stapling instrument system, comprising:
an end effector, comprising:
an anvil;
a staple cartridge comprising staples that can be ejected out of said staple cartridge with a distal actuation of a firing member; and
at least one sensor;
an assembly, comprising:
an elongate shaft comprising a longitudinal axis;
a motor; and
an articulation joint for positioning said staple cartridge at an angle to said longitudinal axis of said elongate shaft;
a remote user-controllable actuation console electrically coupled to said motor; and
a motion converter configured to convert a rotary drive motion produced by said motor to a linear drive motion.
26 . A surgical stapling instrument system, comprising:
an end effector configured to staple tissue, comprising:
a first jaw;
a second jaw, wherein one of said first and second jaws is movable between an open position and a closed position relative to the other of said first and second jaws in response to a closing motion; and
a driver element supported for axial travel through said end effector in response to a firing motion;
a motor-powered firing element configured to apply the firing motion to said driver element; and
a remote user-controlled console electrically coupled to said motor.
27 . A surgical stapling instrument system, comprising:
a firing member;
an end effector, comprising:
an anvil;
a staple cartridge comprising staples that can be urged out of said staple cartridge by said firing member; and
at least one sensor;
an elongate shaft, comprising:
a drive shaft operably interfacing with said firing member such that rotation of said drive shaft in a first rotary direction causes said firing member to move longitudinally in a distal direction and rotation of said drive shaft in a second rotary direction causes said firing member to move longitudinally in a proximal direction; and
a closure member configured to close said end effector;
a motor operably coupled to said drive shaft; and
a remote user-controlled actuation console electrically coupled to said motor.