Robotically-controlled shaft based rotary drive systems for surgical instruments
A surgical instrument including an end effector that has a selectively reciprocatable implement movably supported therein. The implement is selectively advanceable in a distal direction upon application of a rotary actuation motion thereto and retractable in a proximal direction upon application of a rotary retraction motion thereto. An elongate shaft assembly is coupled to the end effector and is configured to transmit the rotary actuation motion and rotary retraction motion to the reciprocatable implement from a robotic system that is configured to generate the rotary actuation motion and said rotary retraction motion.
1. A surgical instrument for use with a robotic system, wherein the robotic system comprises a control unit and a drive system, and wherein said surgical instrument comprises:
a mounting portion;
an end effector;
an elongate shaft, comprising:
a proximal end portion supported by said mounting portion; and
a distal end portion interfacing with said end effector; and
a transmission supported by said mounting portion, wherein said transmission is configured to operably interface with a rotatable drive element of said drive system to receive a rotary output motion from said drive system when said mounting portion is attached to said robotic system, wherein said transmission is configured to communicate with the control unit of the robotic system and is configurable in a first configuration and a second configuration, wherein said rotary output motion causes a first control motion to be applied to said end effector through said elongate shaft when said transmission is in said first configuration, and wherein said rotary output motion causes a second control motion to be applied to said end effector through said elongate shaft when said transmission is in said second configuration.
2. The surgical instrument of claim 1 , wherein said end effector comprises:
a replaceable staple cartridge; and
an anvil movable relative to said staple cartridge between an open position and a closed position in response to a closure control motion.
3. A surgical instrument for use with a robotic system comprising a robotic arm, a drive assembly, and a control unit, wherein the drive assembly comprises a rotatable drive element, and wherein said surgical instrument comprises:
a mounting portion selectively engageable with the robotic arm;
an end effector;
an elongate shaft assembly, comprising:
a proximal portion supported by said mounting portion; and
a distal portion operably interfacing with said end effector; and
a transmission operably supported by said mounting portion, wherein said transmission is configured to operably interface with the rotatable drive element of the drive assembly to receive a rotary output motion from the drive assembly when said mounting portion is engaged with the robotic arm, wherein said transmission and the control unit of the robotic system are in communication with one another, wherein said transmission is switchable between a first state and a second state, wherein the rotary output motion causes a first control motion to be applied to said end effector through said elongate shaft assembly when said transmission is in said first state, wherein the rotary output motion causes a second control motion to be applied to said end effector through said elongate shaft assembly when said transmission is in said second state, and wherein said first control motion is different than said second control motion.
4. The surgical instrument of claim 3 , wherein said end effector comprises:
a replaceable staple cartridge; and
an anvil movable relative to said staple cartridge between an open position and a closed position in response to a closure control motion.