Surgical stapling devices with improved rotary driven closure systems
A surgical instrument comprising an articulatable end effector that is attached to an elongate shaft at an articulation joint. The end effector comprises a first jaw and a second jaw that is movably supported relative to the first jaw between an open position and a closed position. The instrument also includes a rotary closure shaft that operably interfaces with a closure assembly located distal to the articulation joint. The closure assembly interfaces with the second jaw and is configured to move axially in response to rotary closure motions applied thereto by the rotary closure shaft. Axial movement of the closure assembly results in an application of pivotal closure motions to the second jaw to move the second jaw between the open position and the closed position.
1. A surgical instrument, comprising:
an elongate shaft assembly;
a surgical end effector operably coupled to said elongate shaft assembly for selective articulation relative thereto about an articulation joint, said surgical end effector comprising:
a first jaw; and
a second jaw movably attached to said first jaw for movable travel between an open position and a closed position, said surgical instrument further comprising:
a rotary closure shaft;
a closure shuttle operably interfacing with said rotary closure shaft and configured for axial travel between a first position and a second position upon rotation of said rotary closure shaft; and
a closure linkage operably coupled to said second jaw and operably interfacing with said closure shuttle such that when said closure shuttle is moved into said first position, said closure shuttle causes said closure linkage to pivot said second jaw to said open position and when said closure shuttle is moved toward said second position, said closure shuttle causes said closure linkage to pivot said second jaw to said closed position.
2. The surgical instrument of claim 1 , wherein said closure linkage is pivotally coupled to said second jaw.
3. The surgical instrument of claim 1 , wherein said first jaw defines an end effector axis and wherein, when said closure shuttle is in said second position, said closure linkage is substantially perpendicular to said end effector axis and when said closure shuttle is in said first position, said closure linkage is located at an acute angle relative to said end effector axis.
4. The surgical instrument of claim 1 , wherein said closure shuttle is threaded onto said rotary closure shaft.
5. The surgical instrument of claim 1 , wherein said first jaw comprises an elongate channel configured to removably support a surgical staple cartridge therein and wherein said second jaw comprises an anvil.
6. The surgical instrument of claim 5 , wherein said surgical staple cartridge comprises a cartridge deck surface, wherein said anvil comprises a staple forming undersurface configured to confront said cartridge deck surface when said anvil is in said closed position, and wherein said surgical instrument further comprises a firing member configured to axially advance within said surgical staple cartridge and said anvil when said anvil is in said closed position and establish a desired tissue gap between said cartridge deck surface and said staple forming undersurface of said anvil.
7. The surgical instrument of claim 6 , wherein said firing member is threaded onto a rotary firing shaft.
8. The surgical instrument of claim 7 , wherein said rotary closure shaft is rotated during rotation of said rotary firing shaft such that said closure shuttle causes said closure linkage to apply additional closure motions to said anvil as said firing member is axially driven through said surgical staple cartridge and said anvil.
9. The surgical instrument of claim 7 , wherein said rotary closure shaft is concentrically aligned with said rotary firing shaft.
10. The surgical instrument of claim 1 , wherein said closure linkage comprises at least one drive notch configured to drivingly engage and disengage said closure shuttle.
11. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis;
a surgical end effector operably coupled to said elongate shaft assembly by an articulation joint, wherein said articulation joint facilitates articulation of said surgical end effector relative to said elongate shaft assembly about an articulation axis that is transverse to said shaft axis, wherein said surgical end effector comprises:
a first jaw; and
a second jaw movably attached to said first jaw for movable travel between an open position and a closed position relative to said first jaw about a fixed pivot axis, and wherein said surgical instrument further comprises:
a rotary driven closure shaft rotatably supported in said first jaw;
a closure shuttle operably interfacing with said rotary driven closure shaft and configured for axial travel between a first position and a second position upon application of a rotary closure motion thereto by said rotary driven closure shaft; and
a closure linkage operably coupled to said second jaw and operably interfacing with said closure shuttle such that when said closure shuttle is moved into said first position, said closure shuttle causes said closure linkage to pivot said second jaw to said open position and when said closure shuttle is moved toward said second position, said closure shuttle causes said closure linkage to pivot said second jaw to said closed position, wherein said closure linkage comprises:
a right closure link pivotally coupled to said second jaw, wherein said right closure link comprises a right actuation end that is configured to drivingly engage a corresponding right drive notch in said closure shuttle; and
a left closure link pivotally coupled to said second jaw, wherein said left closure link comprises a left actuation end that is configured to drivingly engage a corresponding left drive notch in said closure shuttle.
12. The surgical instrument of claim 11 , wherein said closure shuttle is constrained to axially move within a portion of said first jaw between said first position and said second position.
13. The surgical instrument of claim 12 , wherein said closure shuttle is configured to threadably engage a threaded portion of said closure shuttle.
14. The surgical instrument of claim 11 , further comprising a firing member supported in said first jaw for movement between a starting and an ending position.
15. The surgical instrument of claim 14 , further comprising a rotary driven firing shaft, wherein said rotary driven firing shaft is supported for rotation in said first jaw and in operable engagement with said firing member such that said rotation of said rotary driven firing shaft in a first rotary direction causes said firing member to axially move from said starting position to said ending position, and rotation of said rotary driven firing shaft in a second rotary direction causes said firing member to axially move from said ending position to said starting position.
16. The surgical instrument of claim 15 , wherein said rotary driven firing shaft is concentrically mounted relative to said rotary driven closure shaft.
17. The surgical instrument of claim 16 , wherein said rotary driven closure shaft comprises a hollow portion, and wherein said rotary driven firing shaft rotatably extends through said hollow portion.
18. The surgical instrument of claim 11 , wherein when said closure shuttle is in said first position, said right closure link and said left closure link are each oriented in a perpendicular position relative to said shaft axis.
19. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis;
a surgical end effector operably coupled to said elongate shaft assembly by an articulation joint, wherein said articulation joint facilitates articulation of said surgical end effector relative to said elongate shaft assembly about an articulation axis that is transverse to said shaft axis, wherein said surgical end effector comprises:
a first jaw; and
a second jaw movably attached to said first jaw for movable travel between an open position and a closed position, and wherein said surgical instrument further comprises:
a rotary driven closure shaft rotatably supported in said first jaw;
a closure shuttle operably interfacing with said rotary driven closure shaft and configured for axial travel between a first position and a second position upon application of a rotary closure motion thereto by said rotary driven closure shaft; and
a closure linkage operably coupled to said second jaw and operably interfacing with said closure shuttle such that when said closure shuttle is moved into said first position, said closure shuttle causes said closure linkage to pivot said second jaw to said open position and when said closure shuttle is moved toward said second position, said closure shuttle causes said closure linkage to pivot said second jaw to said closed position, wherein said closure linkage comprises:
a right closure link pivotally coupled to said second jaw, wherein said right closure link comprises a right actuation end that is configured to drivingly engage a corresponding right drive notch in said closure shuttle; and
a left closure link pivotally coupled to said second jaw, wherein said left closure link comprises a left actuation end that is configured to drivingly engage a corresponding left drive notch in said closure shuttle.
20. The surgical instrument of claim 19 , wherein said closure shuttle is constrained to axially move within a portion of said first jaw between said first position and said second position.
21. The surgical instrument of claim 19 , wherein said closure shuttle is configured to threadably engage a threaded portion of said closure shuttle.
22. The surgical instrument of claim 19 , further comprising a firing member supported in said first jaw for movement between a starting and an ending position.
23. The surgical instrument of claim 22 , further comprising a rotary driven firing shaft, wherein said rotary driven firing shaft is supported for rotation in said first jaw and in operable engagement with said firing member such that said rotation of said rotary driven firing shaft in a first rotary direction causes said firing member to axially move from said starting position to said ending position, and rotation of said rotary driven firing shaft in a second rotary direction causes said firing member to axially move from said ending position to said starting position.
24. The surgical instrument of claim 23 , wherein said rotary driven firing shaft is concentrically mounted relative to said rotary driven closure shaft.
25. The surgical instrument of claim 24 , wherein said rotary driven closure shaft comprises a hollow portion, and wherein said rotary driven firing shaft rotatably extends through said hollow portion.
26. The surgical instrument of claim 19 , wherein when said closure shuttle is in said first position, said right closure link and said left closure link are each oriented in a perpendicular position relative to said shaft axis.