Surgical instrument system including replaceable end effectors
A surgical instrument system that includes a housing and a rotatable drive shaft, a motor operably coupled to the drive shaft, and a plurality of replaceable end effectors that can be connected to the housing. Each replaceable end effector includes a drive screw that is turned a fixed number of revolutions by the motor-driven rotatable drive shaft when the end effector is connected to the housing. Each end effector further comprises a firing member operably coupled with the drive screw of the end effector. The drive screw is configured to displace the firing member over a firing length as a result of the fixed number of revolutions. In certain embodiments, each replaceable end effector can include a drive screw with a thread pitch set to the firing length divided by the fixed number of revolutions.
1. A surgical stapling system, comprising:
an end effector, comprising:
a first jaw; and
a second jaw rotatable relative to said first jaw between an open position and a closed position;
a coupling member movable within said end effector between a starting position and an ending position, wherein said coupling member is configured to couple said first jaw to said second jaw as said coupling member moves toward said ending position, wherein said coupling member comprises a non-threaded coupling member body, a first threaded interface coupled to said non-threaded coupling member body and a second threaded interface coupled to said non-threaded coupling member body, wherein said non-threaded coupling member body comprises an entirely non-threaded lumen portion, wherein said first threaded interface, said second threaded interface, and said entirely non-threaded lumen portion define a lumen extending through said coupling member, wherein said non-threaded coupling member body is intermediate said first threaded interface and said second threaded interface, wherein said first threaded interface comprises a first non-threaded surface configured to interface with a first non-threaded surface of said non-threaded coupling member body, and wherein said second threaded interface comprises a second non-threaded surface configured to interface with a second non-threaded surface of said non-threaded coupling member body;
an elongate shaft extending proximally from said end effector; and
an articulation joint, wherein said end effector is rotatable relative to said elongate shaft about said articulation joint, wherein said end effector is rotatable about said articulation joint in a first plane and a second plane, and wherein said second plane is different than said first plane.
2. The surgical stapling system of claim 1 , further comprising a first pair of drive cables and a second pair of drive cables, wherein antagonistic motion generated by said first pair of drive cables is configured to rotate said end effector within said first plane, and wherein antagonistic motion generated by said second pair of drive cables is configured to rotate said end effector within said second plane.
3. The surgical stapling system of claim 2 , further comprising a first rotary drive member and a second rotary drive member, wherein said antagonistic motion generated by said first pair of drive cables is based on rotation of said first rotary drive member, and wherein said antagonistic motion generated by said second pair of drive cables is based on rotation of said second rotary drive member.
4. The surgical stapling system of claim 3 , wherein said first plane is non-parallel to said second plane.
5. The surgical stapling system of claim 1 , wherein said end effector further comprises a staple cartridge comprising staples removably stored therein, and wherein said staples are deployed from said staple cartridge when said coupling member is moved toward said ending position.
6. The surgical stapling system of claim 1 , wherein said coupling member comprises a first window and a second window, wherein said first threaded interface is positioned in said first window, and wherein said second threaded interface is positioned in said second window.
7. The surgical stapling system of claim 6 , wherein said first threaded interface and said second threaded interface are removable from said coupling member.
8. The surgical stapling system of claim 6 , wherein said first threaded interface and said second threaded interface are separately removable from said coupling member.
9. A robotic surgical stapling system, comprising:
an end effector, comprising:
a first jaw; and
a second jaw rotatable relative to said first jaw between an open position and a closed position;
a coupling member movable within said end effector between a proximal position and a distal position, wherein said coupling member is configured to couple said first jaw to said second jaw as said coupling member moves toward said distal position, wherein said coupling member comprises;
a non-threaded coupling member body comprising an entirely non-threaded lumen portion;
a first threaded interface comprising a first threaded side and a first pair of non-threaded surfaces, wherein said first threaded interface is coupled to said non-threaded coupling member body; and
a second threaded interface comprising a second threaded side and a second pair of non-threaded surfaces, wherein said second threaded interface is coupled to said non-threaded coupling member body, wherein said first threaded side, said second threaded side, and said entirely non-threaded lumen portion define a lumen extending through said coupling member, and wherein at least a portion of said non-threaded coupling member body is situated intermediate said first threaded interface and said second threaded interface;
an elongate shaft extending proximally from said end effector; and
an articulation pivot, wherein said end effector is pivotable relative to said elongate shaft about said articulation pivot, wherein said end effector is pivotable about said articulation pivot in a first plane and a second plane, and wherein said second plane is different than said first plane.
10. The robotic surgical stapling system of claim 9 , further comprising a first pair of drive cables and a second pair of drive cables, wherein antagonistic motion between said first pair of drive cables is configured to pivot said end effector along said first plane, and wherein antagonistic motion between said second pair of drive cables is configured to pivot said end effector along said second plane.
11. The robotic surgical stapling system of claim 10 , further comprising a first rotary drive member and a second rotary drive member, wherein said antagonistic motion between said first pair of drive cables is based on rotation of said first rotary drive member, and wherein said antagonistic motion between said second pair of drive cables is based on rotation of said second rotary drive member.
12. The robotic surgical stapling system of claim 11 , wherein said first plane is substantially non-parallel to said second plane.
13. The robotic surgical stapling system of claim 9 , wherein said end effector further comprises a staple cartridge comprising staples removably stored therein, and wherein said staples are deployable from said staple cartridge based on said coupling member moving toward said distal position.
14. The robotic surgical stapling system of claim 9 , wherein said coupling member comprises a first aperture and a second aperture, wherein said first threaded interface is positioned in said first aperture, and wherein said second threaded interface is positioned in said second aperture.
15. The robotic surgical stapling system of claim 14 , wherein said first threaded interface and said second threaded interface are removable from said coupling member.
16. The robotic surgical stapling system of claim 15 , wherein said first threaded interface and said second threaded interface are separately removable from said coupling member.
17. A surgical stapling system, comprising:
an end effector, comprising:
a first jaw; and
a second jaw rotatable relative to said first jaw between an open position and a closed position;
a coupling member movable within said end effector between a starting position and an ending position during a firing stroke, wherein said coupling member is configured to couple said first jaw to said second jaw during said firing stroke, wherein said coupling member comprises a non-threaded coupling member body, a first component including a first threaded interface and a first non-threaded interface, and a second component including a second threaded interface and a second non-threaded interface, wherein said non-threaded coupling member body comprises an entirely non-threaded lumen portion, wherein said first threaded interface, said second threaded interface, and said entirely non-threaded lumen portion define a lumen extending through said coupling member, wherein said non-threaded coupling member body is intermediate said first component and said second component, wherein said first non-threaded interface is configured to confront a first non-threaded surface of said non-threaded coupling member body, and wherein said second non-threaded interface is configured to confront a second non-threaded surface of said non-threaded coupling member body;
an elongate shaft; and
an articulation joint, wherein said end effector is rotatable relative to said elongate shaft about said articulation joint, wherein said end effector is rotatable about said articulation joint in a first plane and a second plane, and wherein said second plane is different than said first plane.