Surgical system bailout
A surgical system comprising a surgical instrument attachment assembly and a transmission assembly is disclosed. The surgical instrument attachment assembly comprises a shaft and an end effector. The transmission assembly is configured to be operably attached to and detached from a surgical robot, wherein the surgical instrument attachment assembly is configured to be operably attached to and detached from the transmission assembly. The transmission assembly comprises a drive system comprising a drive member movable in a first direction during a drive stroke and a second direction during a return stroke. The transmission assembly further comprises a manually-operated bailout configured to selectively move the drive member in the first and second directions when the transmission assembly is attached to the surgical robot.
1. A surgical instrument assembly configured to be attached to and detached from a surgical robot, comprising a housing and a motor, wherein said surgical instrument assembly comprises:
a firing system;
a motor-driven closure system which is operable independently from said firing system;
a shaft;
an end effector, comprising:
a first jaw;
a second jaw;
a firing member;
a clamped configuration; and
an unclamped configuration, wherein said motor-driven closure system is configured to be actuated by the surgical robot to selectively move said end effector between said clamped configuration and said unclamped configuration when said surgical instrument assembly is operably attached to the surgical robot; and
a manually-actuatable bailout configured to actuate said motor-driven closure system to manually move said end effector between said clamped configuration and said unclamped configuration when said surgical instrument assembly is detached from the surgical robot.
2. The surgical instrument assembly of claim 1 , wherein said shaft comprises a spine, wherein said closure system comprises a closure tube, wherein said closure tube is configured to be actuated in a first direction to place said end effector into said clamped configuration and in a second direction to place said end effector into said unclamped configuration, and wherein said first direction is opposite said second direction.
3. The surgical instrument assembly of claim 2 , wherein said manually-actuatable bailout is configured to actuate said spine in said first direction to place said end effector in said unclamped configuration and in said second direction to place said end effector in said clamped configuration.
4. The surgical instrument assembly of claim 3 , wherein said manually-actuatable bailout comprises:
a rotary drive input;
a drive screw configured to be actuated by said rotary drive input; and
an actuator portion coupled to said drive screw and said spine.
5. The surgical instrument assembly of claim 1 , wherein said closure system comprises a linearly-actuatable drive portion configured to be actuated by a drive output of the surgical robot, and wherein said linearly-actuatable drive portion is further configured to be manually actuated when the surgical instrument assembly is detached from the surgical robot.
6. The surgical instrument assembly of claim 1 , further comprising an articulation system configured to articulate said end effector relative to said shaft, wherein said articulation system comprises actuators configured to be manually actuated when said surgical instrument assembly is detached from the surgical robot.
7. The surgical instrument assembly of claim 1 , wherein said firing system comprises a firing member movable through a firing stroke, and wherein said firing system further comprises a firing system bailout configured to retract said firing member.
8. The surgical instrument assembly of claim 1 , wherein said manually-actuated bailout comprises a first manually-actuated bailout, and wherein said surgical instrument assembly further comprises a second manually-actuatable bailout configured to actuate said closure system to manually place said end effector into said clamped configuration and said unclamped configuration when said surgical instrument assembly is attached to the surgical robot.
9. The surgical instrument assembly of claim 1 , further comprising means for operably disengaging a powered actuator of the surgical robot with a linear actuator of said closure system such that said manually-actuatable bailout can be used without interference from the powered actuator of the surgical robot.
10. The surgical instrument assembly of claim 1 , further comprising a staple cartridge comprising a plurality of staples removably stored therein.