Surgical instruments comprising a shifting mechanism
A surgical instrument system is disclosed comprising a plurality of outputs driven by an input. The input is selectively engaged with the outputs by a shifting system.
1. A surgical instrument, comprising:
a handle comprising a first electric motor and a second electric motor;
a shaft assembly attached to said handle, wherein said shaft assembly comprises:
a rotatable input shaft operably coupled to said first electric motor;
a rotatable shifting shaft operably coupled to said second electric motor;
a first rotatable drive shaft; and
a second rotatable drive shaft; and
an end effector extending from said shaft assembly, wherein said end effector is configured to perform a first end effector function in response to the rotation of said first rotatable drive shaft, wherein said end effector is configured to perform a second end effector function in response to the rotation of said second rotatable drive shaft, wherein said rotatable shifting shaft is rotatable between a first position and a second position, wherein said rotatable input shaft is operably coupled to said first rotatable drive shaft when said rotatable shifting shaft is in said first position, and wherein said rotatable input shaft is operably coupled to said second rotatable drive shaft when said rotatable shifting shaft is in said second position.
2. The surgical instrument of claim 1 , wherein said end effector comprises:
a longitudinal axis;
a jaw assembly movable between an open configuration and a closed configuration, wherein the rotation of said first rotatable drive shaft in a first direction moves said jaw assembly toward said closed configuration, and wherein the rotation of said first rotatable drive shaft in a second direction moves said jaw assembly toward said open configuration; and
a rotation joint, wherein said jaw assembly is rotatable about said longitudinal axis by the rotation of said second rotatable drive shaft.
3. The surgical instrument of claim 1 , wherein said rotatable input shaft is rotatably supported by said rotatable shifting shaft.
4. The surgical instrument of claim 3 , wherein said shaft assembly comprises a first stop configured to stop the rotation of said rotatable shifting shaft in said first position and a second stop configured to stop the rotation of said rotatable shifting shaft in said second position.
5. The surgical instrument of claim 1 , wherein said rotatable input shaft and said rotatable shifting shaft are rotatable about a common longitudinal shaft axis.
6. The surgical instrument of claim 1 , wherein said shaft assembly further comprises a third rotatable drive shaft, wherein said end effector is configured to perform a third end effector function in response to the rotation of said third rotatable drive shaft, and wherein said rotatable shifting shaft is rotatable into a third position to operably couple said rotatable input shaft with said third rotatable drive shaft.
7. The surgical instrument of claim 1 , further comprising a control system, wherein said first electric motor and said second electric motor are in communication with said control system, and wherein said control system is configured to control the operation of said first electric motor and said second electric motor.
8. The surgical instrument of claim 7 , wherein said control system comprises a first input control and a second input control, wherein said control system operates said second electric motor to rotate said rotatable shifting shaft into said first position when said first input control is actuated, and wherein said control system operates said second electric motor to rotate said rotatable shifting shaft into said second position when said second input control is actuated.
9. The surgical instrument of claim 8 , wherein said control system does not operate said first electric motor while operating said second electric motor.
10. The surgical instrument of claim 8 , wherein said control system is configured to operate said first electric motor before said rotatable shifting shaft is placed in said first position and said second position by said second electric motor.
11. A surgical assembly, comprising:
a housing comprising a first electric motor and a second electric motor;
a shaft assembly attached to said housing, wherein said shaft assembly comprises:
a rotatable input shaft operably coupled to said first electric motor;
a rotatable shifting shaft operably coupled to said second electric motor;
a first rotatable drive shaft; and
a second rotatable drive shaft; and
an end effector extending from said shaft assembly, wherein said end effector is configured to perform a first end effector function in response to the rotation of said first rotatable drive shaft, wherein said end effector is configured to perform a second end effector function in response to the rotation of said second rotatable drive shaft, wherein said rotatable shifting shaft is rotatable between a first position and a second position, wherein said rotatable input shaft is operably coupled to said first rotatable drive shaft when said rotatable shifting shaft is in said first position, and wherein said rotatable input shaft is operably coupled to said second rotatable drive shaft when said rotatable shifting shaft is in said second position.
12. The surgical assembly of claim 11 , wherein said end effector comprises:
a longitudinal axis;
a jaw assembly movable between an open configuration and a closed configuration, wherein the rotation of said first rotatable drive shaft in a first direction moves said jaw assembly toward said closed configuration, and wherein the rotation of said first rotatable drive shaft in a second direction moves said jaw assembly toward said open configuration; and
a rotation joint, wherein said jaw assembly is rotatable about said longitudinal axis by the rotation of said second rotatable drive shaft.
13. The surgical assembly of claim 11 , wherein said rotatable input shaft is rotatably supported by said rotatable shifting shaft.
14. The surgical assembly of claim 13 , wherein said shaft assembly comprises a first stop configured to stop the rotation of said rotatable shifting shaft in said first position and a second stop configured to stop the rotation of said rotatable shifting shaft in said second position.
15. The surgical assembly of claim 11 , wherein said rotatable input shaft and said rotatable shifting shaft are rotatable about a common longitudinal shaft axis.
16. The surgical assembly of claim 11 , wherein said shaft assembly further comprises a third rotatable drive shaft, wherein said end effector is configured to perform a third end effector function in response to the rotation of said third rotatable drive shaft, and wherein said rotatable shifting shaft is rotatable into a third position to operably couple said rotatable input shaft with said third rotatable drive shaft.
17. The surgical assembly of claim 11 , further comprising a control system, wherein said first electric motor and said second electric motor are in communication with said control system, and wherein said control system is configured to control the operation of said first electric motor and said second electric motor.
18. The surgical assembly of claim 17 , wherein said control system comprises a first input control and a second input control, wherein said control system operates said second electric motor to rotate said rotatable shifting shaft into said first position when first input control is actuated, and wherein said control system operates said second electric motor to rotate said rotatable shifting shaft into said second position when said second input control is actuated.
19. The surgical assembly of claim 18 , wherein said control system does not operate said first electric motor while operating said second electric motor.
20. The surgical assembly of claim 18 , wherein said control system is configured to operate said first electric motor before said rotatable shifting shaft is placed in said first position and said second position by said second electric motor.
21. The surgical assembly of claim 11 , wherein said housing is configured to be mounted to a robotic surgical system.
22. A surgical instrument, comprising:
a handle comprising a first electric motor and a second electric motor;
a shaft assembly operably attached to said handle, wherein said shaft assembly comprises:
a rotatable input shaft operably coupled to said first electric motor;
a rotatable shifting shaft operably coupled to said second electric motor;
a first rotatable drive shaft; and
a second rotatable drive shaft; and
an end effector extending from said shaft assembly, wherein said end effector is configured to perform a first end effector function in response to the rotation of said first rotatable drive shaft, wherein said end effector is configured to perform a second end effector function in response to the rotation of said second rotatable drive shaft, wherein said rotatable shifting shaft is rotatable between a first engaged orientation and a second engaged orientation, wherein said rotatable input shaft is operably coupled to said first rotatable drive shaft when said rotatable shifting shaft is in said first engaged orientation, wherein said rotatable input shaft is operably coupled to said second rotatable drive shaft when said rotatable shifting shaft is in said second engaged orientation, wherein said rotatable input shaft is not operably engaged with said first engaged rotatable drive shaft when said rotatable shifting shaft is not in said first orientation, and wherein said rotatable input shaft is not operably engaged with said second rotatable drive shaft when said rotatable shifting shaft is not in said second engaged orientation.