Modular stapling assembly
A modular shaft assembly is disclosed. The modular shaft assembly includes one or more inputs configured to receive input motions from a surgical instrument system, such as a handle, for example. The shaft assembly further includes one or more on-board inputs configured to generate input motions. The input motions received and generated by the shaft assembly are transferrable to an end effector of the shaft assembly to perform various functions at the end effector. The end effector can include a staple cartridge and a firing member which is movable between a proximal position and a distal position to eject staples from the staple cartridge. The end effector can include a plurality of jaw members and the firing member can comprise camming members which are configured to position the jaw members relative to one another.
1. A shaft assembly for use with a handle of a surgical instrument system, wherein the handle comprises a drive motor, a drive output, an output sensor configured to monitor the drive output, and a control system, wherein the output sensor is in communication with the control system, said shaft assembly comprising:
an attachment portion configured to be releasably attached to the handle;
a first drive input configured to receive a first drive motion from the handle;
a second drive input configured to receive a second drive motion from the handle;
an end effector comprising a first jaw and a second jaw, wherein said first jaw is movable relative to said second jaw;
a firing member movable within said end effector;
an articulation joint, wherein said end effector is rotatable about said articulation joint;
a closure drive operably coupled to said first drive input and said first jaw, wherein said closure drive is configured to transmit said first drive motion to said first jaw to move said first jaw between an open position and a closed position during a closure stroke;
a closure drive sensor configured to monitor said closure drive during said closure stroke, wherein said closure drive sensor is in communication with the control system, and wherein the control system is configured to monitor said closure stroke through the output sensor and said closure drive sensor,
a firing drive operably coupled to said second drive input and said firing member, wherein said firing drive is configured to transmit said second drive motion to said firing member to move said firing member relative to said end effector; and
an articulation drive comprising a motor configured to generate a third drive motion, wherein said articulation drive is configured to transmit said third drive motion to said end effector to rotate said end effector about said articulation joint.
2. The shaft assembly of claim 1 , further comprising a battery configured to supply power to said motor.
3. The shaft assembly of claim 1 , further comprising electrical contacts configured to be electrically coupled with electrical contacts on the handle when said shaft assembly is assembled to the handle.
4. The shaft assembly of claim 1 , wherein said end effector comprises a staple cartridge including a plurality of staples removably stored therein, and wherein said firing member is configured to eject said staples from said staple cartridge.
5. The shaft assembly of claim 4 , wherein said staple cartridge is replaceably positioned in said second jaw.
6. The shaft assembly of claim 4 , wherein said staple cartridge is replaceably positioned in said first jaw.
7. The shaft assembly of claim 1 , wherein said firing member comprises a first cam configured to engage said first jaw and a second cam configured to engage said second jaw, and wherein said first cam and said second cam are configured to position said first jaw relative to said second jaw.
8. A modular shaft assembly for use with a handle of a surgical instrument system, wherein the handle comprises a drive motor, a drive output, an output sensor configured to monitor the drive output, and a control system, wherein the output sensor is in communication with the control system, said modular shaft assembly comprising:
an attachment portion configured to be releasably attached to the handle;
a first drive input configured to receive a first drive motion from the handle;
a second drive input configured to receive a second drive motion from the handle;
a third drive input configured to generate a third drive motion within said modular shaft assembly;
an end effector comprising a first jaw and a second jaw, wherein said first jaw is movable relative to said second jaw in response to one of said first drive motion, said second drive motion, and said third drive motion;
a firing member movable through a firing stroke within said end effector in response to one of said first drive motion, said second drive motion, and said third drive motion;
an articulation joint, wherein said end effector is rotatable about said articulation joint in response to one of said first drive motion, said second drive motion, and said third drive motion; and
a firing drive sensor configured to monitor said firing member during said firing stroke, wherein said firing drive sensor is in communication with the control system, and wherein the control system is configured to monitor said firing stroke through said output sensor and said firing drive sensor.
9. The modular shaft assembly of claim 8 , wherein said third drive input comprises an electric motor and a battery configured to supply power to said electric motor.
10. The modular shaft assembly of claim 8 , further comprising electrical contacts configured to be electrically coupled with electrical contacts on the handle when said modular shaft assembly is assembled to the handle.
11. The modular shaft assembly of claim 8 , wherein said end effector comprises a staple cartridge including a plurality of staples removably stored therein, and wherein said firing member is configured to eject said staples from said staple cartridge.
12. The modular shaft assembly of claim 11 , wherein said staple cartridge is replaceably positioned in said second jaw.
13. The modular shaft assembly of claim 11 , wherein said staple cartridge is replaceably positioned in said first jaw.
14. The modular shaft assembly of claim 8 , wherein said firing member comprises a first cam configured to engage said first jaw and a second cam configured to engage said second jaw, and wherein said first cam and said second cam are configured to position said first jaw relative to said second jaw.
15. A shaft assembly for use with a surgical instrument system, wherein the surgical instrument system comprises a drive motor, a drive output, at least one output sensor configured to monitor the drive output, and a control system, wherein the at least one output sensor is in communication with the control system, said shaft assembly comprising:
an attachment portion configured to be releasably attached to the surgical instrument system;
a first drive input configured to receive a first drive motion from the surgical instrument system;
a second drive input configured to receive a second drive motion from the surgical instrument system;
an end effector comprising a first jaw and a second jaw, wherein said first jaw is movable relative to said second jaw;
a firing member movable within said end effector;
an articulation joint, wherein said end effector is rotatable about said articulation joint;
a closure drive comprising a first longitudinal threaded shaft operably coupled to said first drive input and said first jaw, wherein said first longitudinal threaded shaft is configured to transmit said first drive motion to said first jaw to move said first jaw between an open position and a closed position during a closure stroke;
a closure drive sensor configured to detect movement of said closure drive;
a firing drive comprising a second longitudinal threaded shaft operably coupled to said second drive input and said firing member, wherein said second longitudinal threaded shaft is configured to transmit said second drive motion to said firing member to move said firing member relative to said end effector during a firing stroke;
a firing drive sensor configured to detect movement of said firing drive; and
an articulation drive comprising a motor configured to generate a third drive motion, wherein said articulation drive further comprises a third longitudinal threaded shaft configured to transmit said third drive motion to said end effector to rotate said end effector about said articulation joint,
wherein said firing drive sensor and said closure drive sensor are in communication with the control system, and wherein the control system is configured to monitor said firing stroke and said closure stroke through said closure drive sensor, said firing drive sensor, and the at least one output sensor.
16. The shaft assembly of claim 15 , further comprising a battery configured to supply power to said motor of said articulation drive.
17. The shaft assembly of claim 15 , further comprising electrical contacts configured to be electrically coupled with electrical contacts on the surgical instrument system when said shaft assembly is assembled to the surgical instrument system.
18. The shaft assembly of claim 15 , wherein said end effector comprises a staple cartridge including a plurality of staples removably stored therein, and wherein said firing member is configured to eject said staples from said staple cartridge.
19. The shaft assembly of claim 18 , wherein said staple cartridge is replaceably positioned in said second jaw.
20. The shaft assembly of claim 18 , wherein said staple cartridge is replaceably positioned in said first jaw.
21. A modular stapling assembly for use with a surgical instrument system, wherein the surgical instrument system comprises a drive motor, a drive output, an output sensor configured to monitor the drive output, and a control system, wherein the output sensor is in communication with the control system, wherein said modular stapling assembly comprises:
an attachment portion configured to be releasably attached to a portion of the surgical instrument system;
a first drive input configured to receive a first drive motion from the surgical instrument system;
a second drive input configured to receive a second drive motion from the surgical instrument system;
a third drive input configured to generate a third drive motion within said modular stapling assembly;
an end effector, comprising:
a first jaw;
a second jaw movable relative to said first jaw in response to one of said first drive motion, said second drive motion, and said third drive motion; and
a staple cartridge comprising a plurality of staples;
a firing member movable through a firing stroke within said end effector to deploy said staples in response to one of said first drive motion, said second drive motion, and said third drive motion;
an articulation joint, wherein said end effector is rotatable about said articulation joint in response to one of said first drive motion, said second drive motion, and said third drive motion; and
a firing drive sensor configured to monitor said firing member during said firing stroke, wherein said firing drive sensor is in communication with the control system, and wherein the control system is configured to monitor said firing stroke through said output sensor and said firing drive sensor.