Surgical instrument assembly
The present invention is directed to a surgical instrument with a robotics system, a memory device and an end effector having an elongate channel, knife position sensor(s) and a firing bar coupled to a knife. In response to drive motions initiated by the robotics system, the firing bar may translate within the elongate channel. As the firing bar translates, the sensor(s) transmit a signal to the memory device. The position of the knife may be determined from the output signals and may be communicated to the robotics system or instrument user. The sensors may be Hall Effect sensors.
1. A surgical instrument assembly, comprising:
a housing;
an outer shaft attached to said housing;
an end effector assembly attached to said outer shaft, wherein said end effector assembly comprises:
a first jaw;
a second jaw movable relative to said first jaw;
a longitudinal axis; and
a staple cartridge, comprising:
a cartridge body comprising a plurality of staple cavities, wherein said staple cavities are arranged in six longitudinal rows;
a plurality of staples, wherein said staples are removably positioned in said staple cavities;
a plurality of pushers, wherein said pushers are configured to eject said staples from said staple cavities;
a plurality of rotary drivers couplable to said plurality of pushers; and
a longitudinal slot, wherein three of said six longitudinal rows of staple cavities are positioned on a first side of said longitudinal slot, and wherein the other three of said six longitudinal rows of staple cavities are positioned on a second side of said longitudinal slot;
a rotatable drive shaft positioned at least partially within said housing and extending through said outer shaft, wherein said rotatable drive shaft is rotatable by a motor;
a threaded shaft portion operatively connected to said rotatable drive shaft; and
a translatable sled, comprising:
a threaded aperture threadably engaged with said threaded shaft portion, wherein said threaded shaft portion is configured to displace said sled longitudinally when said threaded shaft portion is rotated;
a knife aligned with said longitudinal slot;
a first ramp positioned on said first side of said longitudinal slot, wherein said first ramp is configured to actuate a first group of said rotary drivers; and
a second ramp configured to actuate a second group of said rotary drivers, wherein said second ramp is aligned laterally with said first ramp.
2. The surgical instrument assembly of claim 1 , further comprising said motor.
3. The surgical instrument assembly of claim 1 , wherein said outer shaft comprises:
a proximal end;
a distal end; and
an articulation joint, wherein said staple cartridge is rotatable about said articulation joint, wherein said threaded shaft portion is distal to said articulation joint, and wherein the rotational motion of said rotatable drive shaft is converted to translational motion of said sled distally with respect to said articulation joint.
4. A surgical instrument assembly for use with a surgical instrument system, said surgical instrument assembly comprising:
a housing;
an outer shaft attached to said housing;
a longitudinal axis;
a first jaw;
a second jaw movable relative to said first jaw;
a cartridge body comprising a plurality of staple cavities, and wherein said staple cavities are arranged in an array consisting of six longitudinal rows;
a plurality of staples, wherein said staples are removably positioned in said staple cavities;
a plurality of pushers, wherein said pushers are configured to eject said staples from said staple cavities, and wherein said pushers are arranged in longitudinal rows;
a plurality of rotary drivers couplable to said plurality of pushers;
a longitudinal slot, wherein three of said six longitudinal rows of staple cavities are positioned on a first side of said longitudinal slot, and wherein the other three of said six longitudinal rows of staple cavities are positioned on a second side of said longitudinal slot;
a rotatable drive shaft positioned at least partially within said housing and extending through said outer shaft, wherein said rotatable drive shaft is rotatable by a motor;
a threaded shaft rotatable by said rotatable drive shaft; and
a firing member, comprising:
a threaded aperture threadably engaged with said threaded shaft, wherein said rotatable drive shaft is configured to displace said firing member longitudinally when said rotatable drive shaft is rotated;
a knife aligned with said longitudinal slot;
a first ramp positioned on said first side of said longitudinal slot, wherein said first ramp is configured to actuate a first row of said rotary drivers; and
a second ramp configured to actuate a second row of said rotary drivers, wherein said second ramp is disposed laterally with respect to said first ramp.
5. The surgical instrument assembly of claim 4 , further comprising said motor.
6. The surgical instrument assembly of claim 4 , wherein said outer shaft comprises:
a proximal end;
a distal end; and
an articulation joint, wherein said cartridge body is rotatable about said articulation joint, wherein said threaded shaft is positioned distal to said articulation joint, and wherein the rotational motion of said rotatable drive shaft is converted to translational motion of said firing member distally with respect to said articulation joint.