Articulatable motor powered surgical instruments with dedicated articulation motor arrangements
A surgical instrument that includes a housing that defines a longitudinal axis. An elongated shaft assembly is operably coupled to the housing by a shaft rotator assembly for selective rotation about the longitudinal axis relative to the housing. A first motor is supported by the housing and configured to selectively apply first rotary actuation motions to a first drive shaft that is operably supported by the housing and operably interfaces with a first shaft actuator. A second motor is supported by the shaft rotator assembly such that the second motor is rotatable about the longitudinal axis and is configured to apply second rotary actuation motions to a second shaft actuator.
1. A surgical instrument, comprising:
a housing defining a longitudinal axis;
an elongated shaft assembly operably supported by a shaft rotator assembly that is rotatably coupled to said housing to enable said shaft rotator assembly and said elongated shaft assembly to be selectively rotated about said longitudinal axis relative to said housing in an orbit around said longitudinal axis, wherein said elongated shaft assembly comprises:
a first shaft actuator; and
a second shaft actuator, and wherein said surgical instrument further comprises:
a first motor supported by said housing and configured to selectively apply first rotary actuation motions to a first drive shaft operably supported by said housing, wherein said first drive shaft operably interfaces with said first shaft actuator;
a second motor comprising a second motor housing and a second motor drive shaft, wherein said second motor housing is supported by said shaft rotator assembly such that said second motor housing is rotatable about said longitudinal axis with said shaft rotator assembly relative to said housing through said orbit, wherein said second motor drive shaft is configured to apply second rotary actuation motions to said second shaft actuator; and
a switch assembly supported by said shaft rotator assembly for selective rotation about said longitudinal axis in said orbit, wherein said second motor drive shaft is further configured to apply third rotary switching motions to a said switch assembly to control an application of motor control signals to said second motor.
2. The surgical instrument of claim 1 , wherein said housing comprises a handle.
3. The surgical instrument of claim 1 , further comprising a surgical end effector operably coupled to said elongated shaft assembly.
4. The surgical instrument of claim 3 , wherein said surgical end effector comprises:
a first jaw comprising a surgical staple cartridge operably storing a plurality of surgical staples therein;
a second jaw operably coupled to said first jaw and being selectively movable between an open position and a closed position, wherein said second jaw comprises an anvil; and
a firing member configured to move axially from a starting position to an ending position within said surgical staple cartridge to drive said surgical staples stored within said surgical staple cartridge into forming contact with said anvil in response to first firing motions received from said first shaft actuator.
5. The surgical instrument of claim 3 , wherein said surgical end effector is movably coupled to said elongated shaft assembly for selective articulation relative thereto about an articulation axis that is transverse to a shaft axis defined by said elongated shaft assembly.
6. The surgical instrument of claim 5 , wherein said second shaft actuator comprises an articulation drive assembly configured to receive said second rotary actuation motions from said second motor and apply axial articulation motions to said surgical end effector.
7. The surgical instrument of claim 6 , wherein said articulation drive assembly comprises:
a proximal articulation drive shaft configured to receive said second rotary actuation motions from said second motor; and
a distal articulation drive assembly operably interfacing with said proximal articulation drive shaft and said surgical end effector and being configured to move axially in response to rotation of said proximal articulation drive shaft.
8. The surgical instrument of claim 7 , wherein said distal articulation drive assembly comprises:
an intermediate articulation driver supported for axial travel and threadably attached to said proximal articulation drive shaft such that said intermediate articulation driver moves axially in response to rotation of said proximal articulation drive shaft; and
a distal articulation link attached to said surgical end effector and said intermediate articulation driver.
9. The surgical instrument of claim 1 , further comprising a control circuit board in said housing, wherein said second motor is electrically coupled to said control circuit board by a slip ring assembly comprising:
at least one electrical contact fixed to said housing, wherein said at least one electrical contact is in electrical communication with said control circuit board; and
a conductive member operably supported in said shaft rotator assembly in constant rotatable contact with a corresponding one of said at least one electrical contact, wherein said conductive member is in electrical communication with said switch assembly and said second motor.
10. The surgical instrument of claim 1 , wherein said switching assembly comprises:
a switch drive shaft rotatably supported in said shaft rotator assembly, wherein said switch drive shaft is in meshing engagement with the second motor drive shaft of said second motor to receive said third rotary switching motions therefrom;
a plurality of limit switches supported in said shaft rotator assembly, wherein each said limit switch corresponds to an axial position of said second shaft actuator; and
a switch follower in operable engagement with said switch drive shaft such that rotation of said switch drive shaft axially moves said switch follower into actuation with each said limit switch.
11. A surgical instrument, comprising:
a housing defining a longitudinal axis;
an elongated shaft assembly operably supported by a shaft rotator assembly that is rotatably coupled to said housing to enable said shaft rotator assembly and said elongated shaft assembly to be selectively rotated about said longitudinal axis relative to said housing in an orbit about said longitudinal axis;
a surgical end effector movably coupled to said elongated shaft assembly for selective articulation relative thereto about an articulation axis that is transverse to a shaft axis defined by said elongated shaft assembly;
a first motor non-movably supported in said housing and configured to selectively apply first rotary actuation motions to a first drive shaft operably supported in said housing, wherein said first drive shaft operably interfaces with a first shaft actuator interfacing with said surgical end effector; and
a second motor comprising a second motor housing and a second motor drive shaft, wherein said second motor housing is supported in said shaft rotator assembly such that said second motor is rotatable in said orbit about said longitudinal axis with said shaft rotator assembly relative to said housing, wherein said second motor drive shaft is configured to apply second rotary actuation motions to an articulation drive assembly operably coupled to said surgical end effector to apply articulation motions thereto in response to said second rotary actuation motions; and
a switch assembly supported by said shaft rotator assembly for selective rotation about said longitudinal axis, wherein said second motor drive shaft is further configured to apply third rotary switching motions to a said switch assembly to control an application of motor control signals to said second motor.
12. The surgical instrument of claim 11 , further comprising means for locking said surgical end effector in an articulated position after said second rotary actuation motions are discontinued.
13. The surgical instrument of claim 12 , wherein said means for locking comprises a threaded connection between a first portion of said articulation drive assembly that is configured to receive said second rotary actuation motions from said second motor and a second portion of said articulation drive assembly operably coupled to said surgical end effector.
14. The surgical instrument of claim 13 , wherein said first portion of said articulation drive assembly comprises:
a rotatable proximal articulation drive shaft configured to receive said second rotary actuation motions from said second motor;
an axially movable intermediate articulation driver threadably attached to said rotatable proximal articulation drive shaft such that said axially movable intermediate articulation driver moves axially in response to rotation of said rotatable proximal articulation drive shaft; and
a distal articulation link attached to said surgical end effector and said axially movable intermediate articulation driver.
15. The surgical instrument of claim 14 , wherein said distal articulation link is attached to said axially movable intermediate articulation driver on one side of said shaft axis and wherein said distal articulation link is attached to said surgical end effector on another side of said shaft axis.
16. The surgical instrument of claim 12 , further comprising a control circuit board associated with said housing, and wherein said second motor is electrically coupled to said control circuit board by a slip ring assembly configured to facilitate electrical communication between said control circuit board, said second motor, and said switching assembly while enabling said second motor and said switching assembly to be selectively rotated relative to said housing in said orbit.
17. The surgical instrument of claim 16 , wherein said slip ring assembly comprises:
at least one electrical contact fixed to said housing, wherein said at least one electrical contact is in electrical communication with said control circuit board; and
a conductive member operably supported in said shaft rotator assembly in constant rotatable contact with a corresponding one of said at least one electrical contact, wherein said conductive member is in electrical communication with said second motor and said switching assembly.
18. The surgical instrument of claim 11 , wherein said switching assembly comprises:
a switch drive shaft rotatably supported in said shaft rotator assembly, wherein said switch drive shaft is in meshing engagement with the second motor drive shaft of said second motor to receive said third rotary switching motions therefrom;
a plurality of limit switches supported in said shaft rotator assembly, wherein each said limit switch corresponds to an axial position of said articulation drive assembly; and
a switch follower in operable engagement with said switch drive shaft such that rotation of said switch drive shaft axially moves said switch follower into actuation with each said limit switch.
19. A surgical instrument, comprising:
a handle defining a longitudinal axis;
an elongated shaft assembly operably supported by a nozzle assembly that is rotatably coupled to said handle to enable said elongated shaft assembly to be selectively rotated about said longitudinal axis relative to said handle;
a surgical end effector movably coupled to said elongated shaft assembly for selective articulation relative thereto about an articulation axis that is transverse to a shaft axis defined by said elongated shaft assembly;
a first motor non-movably supported in said handle and configured to selectively apply first rotary actuation motions to a first drive shaft operably supported in said handle, wherein said first drive shaft operably interfaces with a first shaft actuator operably supported in said elongated shaft assembly, and wherein said first shaft actuator interfaces with said surgical end effector; and
a second motor comprising a second motor housing and a second motor drive shaft, wherein said second motor housing is supported in said nozzle assembly such that said second motor housing is rotatable in an orbit about said longitudinal axis with said nozzle assembly relative to said handle, wherein said second motor is configured to apply second rotary actuation motions to an articulation drive assembly operably coupled to said surgical end effector to apply articulation motions thereto in response to said second rotary actuation motions, and wherein said second motor is further configured to apply third rotary switching motions to a switching assembly supported in said nozzle assembly, wherein said switching assembly is configured to control an application of motor control signals to said second motor.
20. The surgical instrument of claim 19 , wherein said surgical end effector comprises:
a first jaw comprising a surgical staple cartridge, wherein said surgical staple cartridge operably stores a plurality of surgical staples therein;
a second jaw operably coupled to said first jaw, wherein said second jaw is selectively movable between an open position and a closed position, and wherein said second jaw comprises an anvil; and
a firing member configured to move axially from a starting position to an ending position within said surgical staple cartridge to drive said surgical staples stored within said surgical staple cartridge into forming contact with said anvil in response to first firing motions received from said first shaft actuator.
21. The surgical instrument of claim 20 , wherein said elongated shaft assembly further comprises an axially movable closure member configured to move said anvil from said open position to said closed position in response to a closure motion generated by a closure system supported by said handle.
22. The surgical instrument of claim 21 , further comprising means for locking the surgical end effector in an articulated position upon discontinuance of said second rotary actuation motions.
23. The surgical instrument of claim 19 , wherein said switching assembly comprises:
a switch drive shaft rotatably supported in said nozzle assembly, wherein said switch drive shaft is in meshing engagement with the second motor drive shaft of said second motor to receive said third rotary switching motions therefrom;
a plurality of limit switches supported in said nozzle assembly, wherein each said limit switch corresponds to an axial position of said articulation drive assembly; and
a switch follower in operable engagement with said switch drive shaft such that rotation of said switch drive shaft axially moves said switch follower into actuation with each said limit switch.
24. A surgical instrument, comprising:
a handheld housing defining a longitudinal axis;
an elongated shaft assembly comprising a nozzle assembly that is rotatably coupled to said handheld housing such that said nozzle assembly is selectively rotatable in an orbit about said longitudinal axis relative to said handheld housing;
a surgical end effector operably coupled to a distal end of said elongated shaft assembly;
a first motor non-movably supported in said handheld housing and configured to selectively apply first rotary actuation motions a corresponding portion of said elongate shaft assembly;
a second motor comprising a motor housing and a second motor drive shaft, wherein said motor housing is supported in said nozzle assembly such that said motor housing is rotatable in said orbit about said longitudinal axis with said nozzle assembly relative to said handheld housing; and
a switch assembly supported in said nozzle assembly, wherein said switch assembly is configured to control an application of motor control signals to said second motor.