Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument
An adapter for use with an electromechanical surgical instrument. The adapter includes a shaft assembly and a surgical end effector that is selectively articulatable and rotatable relative to the shaft assembly through a range of articulated and rotated positions. The adapter includes a firing member that is axially displaceable through the end effector. The adapter also includes a control system that operably interfaces with an articulation actuator assembly of the adapter and a source of articulation motions in the electromechanical surgical instrument to cause the source of articulation motions to apply additional rotary articulation motions to the articulation actuator assembly that are required to maintain the surgical end effector in an articulated position during an application of axial firing motions to the firing member.
1. An adapter for use with an electromechanical surgical instrument, said adapter comprising:
an adapter housing assembly configured to be operably coupled to the electromechanical surgical instrument;
a shaft assembly defining a longitudinal axis between a proximal end and a distal end thereof, said proximal end operably coupled to said adapter housing assembly;
a surgical end effector operably coupled to said distal end of said shaft assembly for selective articulation relative to said shaft assembly;
an articulation actuator assembly configured to operably interface with a source of rotary articulation motions in the electromechanical surgical instrument when said adapter housing assembly is operably coupled thereto to apply axial articulation motions to said surgical end effector to move said surgical end effector into a desired articulated position;
a firing member assembly configured to operably interface with a source of rotary firing motions in the electromechanical surgical instrument when said adapter housing assembly is operably coupled thereto and apply axial firing motions to said surgical end effector while said surgical end effector is in said desired articulated position; and
a control system operably interfacing with said articulation actuator assembly and the source of rotary articulation motions in the electromechanical surgical instrument to cause the source of rotary articulation motions to apply additional rotary articulation motions to said articulation actuator assembly required to maintain said surgical end effector in said desired articulated position during an application of axial firing motions to said surgical end effector.
2. The adapter of claim 1 , wherein said articulation actuator assembly comprises:
a rotary articulation drive shaft configured to operably interface with the source of rotary articulation motions in the electromechanical surgical instrument when said adapter housing assembly is operably coupled thereto; and
an articulation driver operably interfacing with said rotary articulation drive shaft and said surgical end effector and configured to move axially in response to rotation of said rotary articulation drive shaft to articulate said surgical end effector through a range of articulated orientations and wherein said control system comprises means for monitoring strain experienced by said articulation driver during said application of axial firing motions to said surgical end effector and communicating a signal corresponding to a magnitude of said strain to a control circuit for the source of rotary articulation motions in the electromechanical surgical instrument.
3. The adapter of claim 2 , wherein said means for monitoring strain experienced by said articulation driver during said application of axial firing motions to said surgical end effector and communicating a signal corresponding to a magnitude of said strain to a control circuit for the source of rotary articulation motions in the electromechanical surgical instrument comprises a strain gauge that is mounted to said articulation driver.
4. The adapter of claim 1 , wherein said firing member assembly, comprises:
a rotary firing shaft configured to operably interface with the source of rotary firing motions in the electromechanical surgical instrument; and
an axially movable firing member operably interfacing with said rotary firing shaft and configured to apply said axial firing motions to a portion of said surgical end effector.
5. The adapter of claim 4 , wherein said surgical end effector comprises:
a first jaw; and
a second jaw pivotally coupled to said first jaw such that said first jaw and said second jaw are movable relative to each other between a fully open position and closed positions and wherein said portion of said surgical end effector comprises a dynamic clamping assembly configured to apply closing motions to said first and second jaws upon an initial amount of axial displacement thereof.
6. The adapter of claim 5 , wherein said first jaw comprises an anvil and said second jaw comprises a cartridge assembly.
7. The adapter of claim 6 , wherein said cartridge assembly comprises:
a channel pivotally coupled to said anvil; and
a fastener cartridge operably supported in said channel and operably storing a plurality of fasteners therein.
8. The adapter of claim 7 , wherein said dynamic clamping assembly comprises a tissue cutting surface and is configured to eject said plurality of fasteners from said fastener cartridge as said dynamic clamping assembly is driven from a beginning firing position to an ending position within said surgical end effector.
9. The adapter of claim 1 , wherein said surgical end effector comprises:
a proximal housing portion comprising a proximal end and a distal end and defining a longitudinal axis therebetween, said proximal end configured to be operably coupled to said distal end of said shaft assembly; and
a tool assembly pivotally coupled to said proximal housing portion for selective articulation relative thereto about an articulation axis that is transverse to said longitudinal axis.
10. The adapter of claim 9 , wherein said proximal housing portion operably supports an articulation link coupled to said tool assembly and configured for operable attachment to said articulation actuator assembly when said proximal housing portion is operably coupled to said distal end of said shaft assembly.
11. The adapter of claim 10 , wherein said tool assembly comprises:
a first jaw; and
a second jaw pivotally coupled to said first jaw such that said first jaw and said second jaw are movable relative to each other between a fully open position and closed positions.
12. The adapter of claim 11 , wherein said surgical end effector further comprises:
a dynamic clamping assembly configured to apply closing motions to said first and second jaws upon an initial amount of axial displacement thereof; and
a flexible drive beam supported for axial movement within said proximal housing portion and configured to be operably coupled to said firing member assembly when said proximal housing portion is operably coupled to said distal end of said shaft assembly, said flexible drive beam operably interfacing with said dynamic clamping assembly.