Robotically-controlled motorized surgical instrument with an end effector
View Patent ↗A surgical tool configured for operation in connection with a robotic system. The surgical tool includes a shaft and an end effector extending distally from the shaft. The end effector comprises a first jaw member and a second jaw member movable relative to the first jaw member from a closed position to an open position in response to at least one axial motion. In addition, the surgical tool includes a motor configured to generate at least one rotational motion and a motion conversion assembly operably coupled to the motor and the second jaw member, wherein the motion conversion assembly is configured to convert the at least one rotational motion to the at least one axial motion.
1. A surgical instrument for use with a robotic surgical system configured to generate output motions, wherein said surgical instrument comprises:
a mounting portion configured to operably interface with the robotic surgical system;
an elongate shaft extending from said mounting portion;
an articulation joint; and
an end effector extending from said elongate shaft, wherein said end effector is rotatably connected to said elongate shaft about said articulation joint, wherein said end effector is configurable in an open configuration and a closed configuration, and wherein said end effector comprises:
an elongate channel jaw comprising a staple cartridge, wherein said staple cartridge comprises a plurality of staples removably stored therein;
an anvil jaw; and
a firing member operably responsive to the output motions of the robotic surgical system, wherein said firing member engages said elongate channel jaw and said anvil jaw to place said end effector in said closed configuration when said firing member is moved distally from a proximal position at a first speed, wherein said firing member is then movable further distally to eject said staples from said staple cartridge during a staple firing stroke at a second speed, and wherein said second speed is different than said first speed.
2. The surgical instrument of claim 1 , wherein said second speed is greater than said first speed.
3. The surgical instrument of claim 1 , wherein said firing member is configured to retain said anvil jaw at a distance relative to said elongate channel jaw when said firing member is moved distally.
4. The surgical instrument of claim 1 , wherein the robotic surgical system comprises an electric motor, wherein the electric motor is limited to a torque threshold during said staple firing stroke which is different than a torque threshold when said end effector is being placed in said closed configuration.