Surgical instrument comprising a tissue grasping system
A surgical stapler for stapling the tissue of a patient is disclosed. The surgical stapler comprises a handle, a shaft extending from the handle, and an end effector. The end effector comprises a tissue compression surface, a plurality of staples, and an anvil comprising staple forming pockets, wherein the anvil is movable toward the tissue compression surface during a closing stroke to clamp the patient tissue against and tissue compression surface. The surgical stapler further comprises an anvil closing system configured to move the anvil through the closing stroke, a staple firing system configured to deploy the staples during a staple firing stroke, and means for clamping and holding the patient tissue during the staple firing stroke and moving the end effector relative to the patient tissue after the staple firing stroke.
1. A surgical stapler for stapling the tissue of a patient, comprising:
a handle;
a shaft extending from said handle;
an end effector, comprising:
a tissue compression surface;
a plurality of staples; and
an anvil comprising staple forming pockets, wherein said anvil is movable toward said tissue compression surface during a closing stroke to clamp the patient tissue against said tissue compression surface;
an anvil closing system configured to move said anvil through said closing stroke;
a staple firing system comprising a reciprocating mechanism configured to deploy said staples along a staple firing path during a series of staple firing strokes; and
a stapler advancement system comprising an electric drive motor configured to:
clamp and hold the patient tissue during said staple firing stroke; and
propel said end effector relative to the patient tissue after said staple firing stroke to position said end effector in a different position along said staple firing path, wherein said stapler advancement system is secured to said shaft.
2. The surgical stapler of claim 1 , wherein said anvil closing system is further configured to move said anvil through an opening stroke after said staple firing stroke and before moving said end effector relative to the patient tissue.
3. The surgical stapler of claim 1 , wherein said stapler advancement system comprises a first grasper and a second grasper configured to clamp and hold the patient tissue.
4. The surgical stapler of claim 3 , wherein said end effector further comprises a longitudinal axis, wherein said anvil is moved along said longitudinal axis during said closing stroke, and wherein said first grasper and said second grasper are positioned laterally with respect to said anvil.
5. The surgical stapler of claim 3 , wherein said first grasper and said second grasper comprise a first set of graspers, and wherein said surgical stapler comprises a second set of graspers.
6. The surgical stapler of claim 5 , wherein said first set of graspers is positioned on a first side of said anvil and said second set of graspers is positioned on a second side of said anvil.
7. The surgical stapler of claim 6 , wherein said stapler advancement system comprises a drive member, and wherein said first set of graspers and said second set of graspers are operably coupled to said drive member such that said first set of graspers and said second set of graspers are opened and closed at the same time.
8. The surgical stapler of claim 6 , wherein said first set of graspers is selectively operable to turn said end effector in a first direction, and wherein said second set of graspers is selectively operable to turn said end effector in a second direction which is different than said first direction.
9. The surgical stapler of claim 6 , wherein said first set of graspers and said second set of graspers are rotatable in the same direction to turn said end effector relative to the patient tissue.
10. The surgical stapler of claim 6 , wherein said first set of graspers and said second set of graspers are rotatable in opposite directions to advance said end effector relative to the patient tissue along a line.
11. The surgical stapler of claim 3 , wherein said end effector comprises a longitudinal axis, and wherein said first grasper and said second grasper are rotatably mounted to said end effector about a longitudinal grasper axis.
12. The surgical stapler of claim 11 , wherein said longitudinal grasper axis is parallel to said longitudinal axis.
13. The surgical stapler of claim 11 , wherein said first grasper and said second grasper are rotatable away from said longitudinal axis to move said end effector relative to the patient tissue.
14. The surgical stapler of claim 1 , wherein said stapler advancement system comprises:
a first rotatable member configured to engage and pull the patient tissue; and
a second rotatable member configured to engage and pull the patient tissue.
15. The surgical stapler of claim 14 , wherein said first rotatable member comprises a first gear and said second rotatable member comprises a second gear.
16. The surgical stapler of claim 15 , wherein at least one of said first gear and said second gear is rotatable in a forward direction to advance said end effector along a line.
17. The surgical stapler of claim 15 , wherein said first gear is rotatable in a forward direction and said second gear is rotatable in a backward direction to turn said end effector relative to the patient tissue.
18. The surgical stapler of claim 17 , wherein said first gear is rotatable in a backward direction and said first gear is rotatable in a forward direction to turn said end effector relative to the patient tissue in an opposite direction.
19. A surgical stapler for stapling the tissue of a patient, comprising:
a handle;
a shaft extending from said handle;
an end effector, comprising:
a tissue compression surface;
a plurality of staples; and
an anvil comprising staple forming pockets, wherein said anvil is movable toward said tissue compression surface during a closing stroke to clamp the patient tissue against said tissue compression surface;
an anvil actuator configured to move said anvil through said closing stroke;
a staple firing system comprising a reciprocating mechanism configured to deploy said staples during a series of staple firing strokes;
motor-driven drive means for moving said end effector relative to the patient tissue after said staple firing stroke to position said end effector in a different position along a staple firing path, wherein said motor-driven drive means is mounted to said shaft; and
motor-driven clamping means for holding the patient tissue when said drive means is not being operated, wherein said motor-driven clamping means is mounted to said shaft.