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 stapling system, comprising:
a housing, comprising:
a first rotatable disk configured to transmit a first operative motion, wherein said first rotatable disk is rotatable about a first axis; and
a second rotatable disk configured to transmit a second operative motion, wherein said second rotatable disk is operable independently of said first rotatable disk, and wherein said second rotatable disk is rotatable about a second axis;
an end effector configurable in a closed configuration in response to a closing motion, comprising:
a jaw configured to support a staple cartridge; and
an anvil;
an elongate rigid shaft rotatably coupled to said housing, comprising:
a longitudinal axis, wherein said elongate rigid shaft is rotatable about said longitudinal axis in response to a rotational motion;
a closure drive configured to perform said closing motion in response to said first operative motion from said first rotatable disk; and
a firing member configured to perform a firing stroke in response to said second operative motion from said second rotatable disk; and
a control system configured to assure that said closing motion and said firing stroke are separate and distinct, wherein said control system prevents said firing stroke from occurring prior to the completion of said closing motion.
2. The stapling system of claim 1 , wherein said jaw comprises said staple cartridge.
3. The stapling system of claim 2 , wherein said staple cartridge is removably replaceable within said jaw.
4. The stapling system of claim 1 , further comprising a rotary motion generator configured to rotate said first rotatable disk.
5. The stapling system of claim 4 , wherein said rotary motion generator is configured to rotate said second rotatable disk, and wherein said control system requires said first rotatable disk to have completed said closing motion prior to rotating said second rotatable disk.
6. The stapling system of claim 1 , further comprising a third rotatable disk configured to transmit a third operative motion, wherein said third rotatable disk is operable independently of said first rotatable disk and said second rotatable disk, and wherein said third rotatable disk is rotatable about a third axis.
7. The stapling system of claim 6 , further comprising an opening member configured to move longitudinally to apply an opening force to said anvil to move said anvil toward an open position in response to said third operative motion from said third rotatable disk.
8. The stapling system of claim 7 , wherein said closure drive comprises a slow anvil drive system, wherein said stapling system further comprises a fast anvil drive system, wherein said third rotatable disk and said opening member are part of said fast anvil drive system, wherein said slow anvil drive system is configured to drive said anvil toward a clamped position at a first rate, wherein said fast anvil drive system is configured to drive said anvil toward said open position at a second rate, and wherein said second rate is faster than said first rate.
9. The stapling system of claim 8 , wherein said slow anvil drive system comprises a closure cam, wherein said anvil comprises a cam surface, wherein said closure cam transmits said closing motion to said anvil at said cam surface, and wherein said opening member is configured to move longitudinally to apply said opening force to said anvil at a location other than said cam surface.
10. A stapling system, comprising:
a housing, comprising:
a first input configured to transmit a first operative motion; and
a second input configured to transmit a second operative motion, wherein said second input is operable independently of said first input;
an end effector, comprising:
a first jaw configured to support a staple cartridge; and
an second jaw rotatable relative to said first jaw between an open position and a closed position, wherein said second jaw rotates toward said closed position in response to a closing motion;
an elongate rigid shaft rotatably coupled to said housing, comprising:
a longitudinal axis, wherein said elongate rigid shaft is rotatable about said longitudinal axis in response to a rotational motion;
a closure drive configured to perform said closing motion in response to said first operative motion from said first input; and
a firing member configured to perform a firing stroke in response to said second operative motion from said second input; and
a control system configured to assure that said closing motion and said firing stroke are separate and distinct, wherein said control system prevents said firing stroke from occurring prior to the completion of said closing motion.
11. The stapling system of claim 10 , wherein said first jaw comprises said staple cartridge.
12. The stapling system of claim 11 , wherein said staple cartridge is removably replaceable within said first jaw.
13. The stapling system of claim 10 , further comprising an input motion generator configured to provide said first input.
14. The stapling system of claim 13 , wherein said input motion generator is configured to provide said second input, wherein said control system requires said first input to have completed said closing motion prior to providing said second input.
15. A stapling system, comprising a rotary motion input generator, wherein said stapling system comprises:
a housing, comprising:
a first rotatable input configured to be rotated by the rotary motion input generator, wherein said first rotatable input is configured to transmit a first operative motion, and wherein said first rotatable input is rotatable about a first axis; and
a second rotatable input configured to be rotated by the rotary motion input generator, wherein said second rotatable input is configured to transmit a second operative motion, wherein said second rotatable input is operable independently of said first rotatable input, and wherein said second rotatable input is rotatable about a second axis;
an end effector, comprising:
a jaw comprising a staple cartridge, wherein said staple cartridge is removably replaceable; and
an anvil rotatable relative to said jaw between an open position and a clamped position, wherein said anvil rotates toward said clamped position in response to a clamping motion;
a shaft assembly rotatably coupled to said housing, comprising:
a longitudinal axis;
a shaft shroud, wherein said shaft shroud and said end effector are rotatable about said longitudinal axis in response to a rotational motion;
a closure system configured to perform said clamping motion in response to said first operative motion; and
a firing member configured to perform a firing motion in response to said second operative motion; and
a control system configured to assure that said clamping motion and said firing motion are separate and distinct, wherein said control system prevents said firing motion from initiating prior to completion of said clamping motion.
16. The stapling system of claim 15 , further comprising a third rotatable input configured to be rotated by the rotary motion input generator, wherein said third rotatable input is configured to transmit a third operative motion, wherein said third rotatable input is operable independently of said first rotatable input and said second rotatable input, and wherein said third rotatable input is rotatable about a third axis.
17. The stapling system of claim 16 , further comprising an opening member configured to move longitudinally to apply an opening force to said anvil to move said anvil toward said open position in response to said third operative motion from said third rotatable input.
18. The stapling system of claim 17 , wherein said closure system comprises a slow anvil drive system, wherein said stapling system further comprises a fast anvil drive system, wherein said third rotatable input and said opening member are part of said fast anvil drive system, wherein said slow anvil drive system is configured to drive said anvil toward said clamped position at a first rate, wherein said fast anvil drive system is configured to drive said anvil toward said open position at a second rate, and wherein said second rate is faster than said first rate.
19. The stapling system of claim 18 , wherein said slow anvil drive system comprises a closure cam, wherein said anvil comprises a cam surface, wherein said closure cam transmits said clamping motion to said anvil at said cam surface, and wherein said opening member is configured to move longitudinally to apply said opening force to said anvil at a location other than said cam surface.