Robotically-controlled surgical stapling devices that produce formed staples having different lengths
A surgical stapling device that comprises an end effector that is configured to receive various control motions from a robotic system.
1. A surgical instrument for use with a robotic surgical system, wherein said surgical instrument comprises:
a housing comprising an interface for attachment to the robotic surgical system, wherein said housing is mountable to an arm of the robotic surgical system, and wherein said interface comprises:
a first rotatable input operably engageable with a driver of the arm of the robotic surgical system;
a second rotatable input; and
a third rotatable input;
a shaft extending from said housing, wherein said shaft comprises a longitudinal axis, wherein said shaft is operably coupled to said first rotatable input, and wherein said shaft is rotatable about said longitudinal axis by said first rotatable input;
an end effector extending from said shaft, wherein said end effector comprises:
an anvil; and
a staple cartridge, comprising:
a plurality of staple cavities, wherein said plurality of staple cavities are arranged in a first longitudinal row of staple cavities and a second longitudinal row of staple cavities;
a plurality of first staples removably stored within said first longitudinal row of staple cavities;
a plurality of second staples removably stored within said second longitudinal row of staple cavities; and
a plurality of staple drivers, wherein said staple drivers are configured to lift said first staples and said second staples toward said anvil;
a firing system, comprising:
a firing member configured to relatively position said anvil and said staple cartridge, wherein said firing member comprises:
a first portion comprising a first lateral portion, wherein said first portion is configured to engage said anvil;
a second portion comprising a second lateral portion, wherein said second portion is configured to engage said staple cartridge; and
a third portion comprising a third lateral portion, wherein said third portion is positioned intermediate said first portion and said second portion;
a ramp configured to lift said staple drivers toward said anvil; and
a tissue cutting edge;
an articulation joint;
an articulation drive configured to rotate said end effector relative to said shaft about said articulation joint;
a closure drive configured to relatively position said anvil and said staple cartridge, wherein said closure drive is operably coupled to said second rotatable input; and
a firing drive configured to drive said firing system to perform a firing stroke, wherein said firing drive is operably coupled to said third rotatable input.
2. The surgical instrument of claim 1 , wherein said staple cartridge further comprises a cartridge deck.
3. The surgical instrument of claim 2 , wherein said cartridge deck comprises:
a first tissue-supporting surface, wherein said first longitudinal row of staple cavities is defined in said first tissue-supporting surface; and
a second tissue-supporting surface, wherein said second longitudinal row of staple cavities is defined in said second tissue-supporting surface, and wherein said second tissue-supporting surface is positioned above said first tissue-supporting surface.
4. The surgical instrument of claim 3 , wherein said anvil is configured to deform said first staples to a first deformed height and said second staples to a second deformed height, and wherein said first deformed height is different than said second deformed height.
5. The surgical instrument of claim 1 , wherein said anvil is configured to deform said first staples to a first deformed height and said second staples to a second deformed height, and wherein said first deformed height is different than said second deformed height.
6. A surgical system, comprising:
a surgical robot comprising an arm including a mounting interface, wherein said mounting interface comprises a plurality of rotatable drivers; and
a surgical instrument configured to be releasably attached to said mounting interface, wherein said surgical instrument comprises:
a shaft, wherein said shaft comprises a longitudinal axis, wherein said shaft is rotatable about said longitudinal axis by a said rotatable driver;
an end effector extending from said shaft, wherein said end effector comprises:
a first jaw;
a second jaw movable relative to said first jaw;
an anvil;
a staple cartridge, comprising:
a plurality of staple cavities, wherein said plurality of staple cavities are arranged in a first longitudinal row of staple cavities and a second longitudinal row of staple cavities;
a plurality of first staples removably stored within said first longitudinal row of staple cavities;
a plurality of second staples removably stored within said second longitudinal row of staple cavities; and
a plurality of staple drivers, wherein said staple drivers are configured to lift said first staples and said second staples toward said anvil;
a firing assembly, comprising:
a firing member configured to relatively position said anvil and said staple cartridge, wherein said firing member comprises:
a first portion comprising a first lateral portion, wherein said first portion is configured to engage said anvil;
a second portion comprising a second lateral portion, wherein said second portion is configured to engage said staple cartridge; and
a third portion comprising a third lateral portion, wherein said third portion is positioned between said first portion and said second portion;
a sled configured to lift said staple drivers toward said anvil; and
a tissue cutting edge;
an articulation joint;
an articulation drive configured to articulate said end effector relative to said shaft about said articulation joint;
a closure drive configured to move said second jaw relative to said first jaw, wherein said closure drive is operably coupled to a said rotatable driver; and
a firing drive configured to advance said firing assembly through said end effector during a staple firing stroke, wherein said firing drive is operably coupled to a said rotatable driver.
7. The surgical system of claim 6 , wherein said staple cartridge further comprises a cartridge deck.
8. The surgical system of claim 7 , wherein said cartridge deck comprises:
a first tissue-supporting surface, wherein said first longitudinal row of staple cavities is defined in said first tissue-supporting surface; and
a second tissue-supporting surface, wherein said second longitudinal row of staple cavities is defined in said second tissue-supporting surface, and wherein said second tissue-supporting surface is positioned above said first tissue-supporting surface.
9. The surgical system of claim 8 , wherein said anvil is configured to deform said first staples to a first deformed height and said second staples to a second deformed height, and wherein said first deformed height is different than said second deformed height.
10. The surgical system of claim 6 , wherein said anvil is configured to deform said first staples to a first deformed height and said second staples to a second deformed height, and wherein said first deformed height is different than said second deformed height.
11. A surgical instrument for use with a robotic surgical system, wherein said surgical instrument comprises:
a housing comprising an interface for attachment to a robot of said robotic surgical system, wherein said housing is mountable to an arm of said robot, and wherein said interface comprises:
a first rotatable input operably engageable with a first driver of said arm;
a second rotatable input operably engageable with a second driver of said arm; and
a third rotatable input operably engageable with a third driver of said arm;
a shaft extending from said housing, wherein said shaft comprises a longitudinal axis, wherein said shaft is operably coupled to said first rotatable input, and wherein said shaft is rotatable about said longitudinal axis by said first rotatable input;
an end effector extending from said shaft, wherein said end effector comprises:
a first jaw;
a second jaw movable relative to said first jaw;
an anvil; and
a staple cartridge, comprising:
a plurality of staple cavities, wherein said plurality of staple cavities are arranged in a first longitudinal row of staple cavities and a second longitudinal row of staple cavities;
a plurality of first staples removably stored within said first longitudinal row of staple cavities;
a plurality of second staples removably stored within said second longitudinal row of staple cavities; and
a plurality of staple drivers, wherein said staple drivers are configured to lift said first staples and said second staples toward said anvil;
a firing system, comprising:
a firing member configured to relatively position said anvil and said staple cartridge, wherein said firing member comprises:
a first portion comprising a first lateral portion, wherein said first portion is configured to engage said anvil;
a second portion comprising a second lateral portion, wherein said second portion is configured to engage said staple cartridge; and
a third portion comprising a third lateral portion, wherein said third portion is positioned between said first portion and said second portion;
a sled configured to lift said staple drivers toward said anvil; and
a cutting member;
an articulation joint;
an articulation drive configured to articulate said end effector relative to said shaft about said articulation joint;
a closure drive configured to move said second jaw relative to said first jaw, wherein said closure drive is operably coupled to said second rotatable input; and
a firing drive configured to advance said firing system through said end effector during a staple firing stroke, wherein said firing drive is operably coupled to said third rotatable input.
12. The surgical instrument of claim 11 , wherein said staple cartridge further comprises a cartridge deck.
13. The surgical instrument of claim 12 , wherein said cartridge deck comprises:
a first tissue-supporting surface, wherein said first longitudinal row of staple cavities is defined in said first tissue-supporting surface; and
a second tissue-supporting surface, wherein said second longitudinal row of staple cavities is defined in said second tissue-supporting surface, and wherein said second tissue-supporting surface is positioned above said first tissue-supporting surface.
14. The surgical instrument of claim 13 , wherein said anvil is configured to deform said first staples to a first deformed height and said second staples to a second deformed height, and wherein said first deformed height is different than said second deformed height.
15. The surgical instrument of claim 11 , wherein said anvil is configured to deform said first staples to a first deformed height and said second staples to a second deformed height, and wherein said first deformed height is different than said second deformed height.