Drive system for surgical tool
A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate output motions. A drive system is configured to interface with a corresponding portion of the tool drive assembly for receiving the robotically-generated output motions and applying the output motions to a drive shaft assembly which is configured to apply control motions to a surgical end effector operably coupled thereto. A manually-actuatable control system operably interfaces with the drive shaft assembly to facilitate the selective application of manually-generated control motions to the drive shaft assembly.
1. A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly, said surgical tool comprising:
an end effector, comprising:
a cartridge body;
a plurality of staples removably stored within said cartridge body; and
a firing sled selectively movable between a first position and a second position relative to said cartridge body in response to a rotary control motion applied to said firing sled, wherein said firing sled is configured to eject said staples from said cartridge body;
an elongate shaft assembly comprising a rotary drive shaft that is in operable communication with said firing sled;
a tool mounting portion configured to operably interface with the tool drive assembly when coupled thereto, said tool mounting portion comprising:
a driven element rotatably supported on said tool mounting portion and configured for driving engagement with a corresponding one of the at least one rotatable body portions of the tool drive assembly to receive corresponding rotary output motions therefrom; and
a drive system, comprising:
a rotary drive gear in driving engagement with said driven element;
a first rotary driven gear in meshing engagement with said rotary drive gear, wherein said first rotary driven gear is driven in a first direction to produce a staple firing motion, and wherein said first rotary driven gear is driven in a second direction to produce a retraction motion; and
a second rotary driven gear movably mounted to said rotary drive shaft of said elongate shaft assembly for movement into and out of meshing engagement with said first rotary driven gear, wherein said drive system is in operable engagement with said driven element to apply a robotically-generated, rotary actuation motion thereto to cause said rotary drive shaft to apply said rotary control motion to said firing sled to move said firing sled in a forward direction; and
means for moving said second rotary driven gear into meshing engagement with said first rotary driven gear to apply rotary actuation motions to said second rotary driven gear to cause said rotary drive shaft to apply a rotary control motion to said firing sled to move said firing sled.
2. A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly, said surgical tool comprising:
a surgical end effector comprising at least one component portion that is selectively movable between first and second positions relative to at least one other component portion thereof in response to rotary control motions applied to the at least one selectively movable component portion;
an elongate shaft assembly operably coupled to the surgical end effector, the elongate shaft assembly comprising at least one rotary drive shaft that is in operable communication with the at least one selectively movable component portion of the surgical end effector;
a tool mounting portion operably coupled to the elongate shaft assembly, the tool mounting portion being configured to operably interface with the tool drive assembly when coupled thereto, said tool mounting portion comprising:
a driven element rotatably supported on said tool mounting portion and configured for driving engagement with a corresponding one of the at least one rotatable body portions of the tool drive assembly to receive corresponding rotary output motions therefrom; and
a drive system, comprising:
a rotary drive gear in driving engagement with the driven element;
a first rotary driven gear in meshing engagement with the rotary drive gear, wherein said first rotary driven gear is driven in a first direction to produce a staple firing motion, and wherein said first rotary driven gear is driven in a second direction to produce a retraction motion; and
a second rotary driven gear movably mounted to the at least one rotary drive shaft of the elongate shaft assembly for movement into and out of meshing engagement with the first rotary driven gear;
wherein the drive system is in operable engagement with the at least one rotary drive shaft to apply robotically-generated actuation motions thereto to cause said at least one rotary drive shaft to apply at least one said rotary control motion to the selectively movable component portion, and wherein the surgical tool further comprises:
means for moving said second rotary driven gear into meshing engagement with said first rotary driven gear to apply rotary actuation motions to said second rotary driven gear to cause said at least one rotary drive shaft to apply at least one said rotary control motion to said at least one selectively movable component portion to move said at least one selectively movable component portion.
3. The surgical tool of claim 2 , wherein said at least one selectively movable component portion comprises a firing element operably interfacing with said at least one rotary drive shaft and is movably responsive to said rotary control motions applied thereto.
4. The surgical tool of claim 2 , wherein said surgical end effector further comprises:
a staple cartridge;
a plurality of staples removably stored within said staple cartridge; and
an anvil.
5. A surgical instrument assembly, comprising:
an end effector, comprising:
a staple cartridge;
a plurality of staples removably stored within said staple cartridge; and
a firing member movable relative to said staple cartridge in response to rotary control motions applied to said firing member, wherein said firing member is configured to eject said staples from said staple cartridge;
a shaft assembly coupled to said end effector, wherein said shaft assembly comprises a rotary drive shaft configured to move said firing member;
a housing operably coupled to said shaft assembly, wherein said housing is configured to be coupled to a robotic surgical instrument, and wherein said housing comprises:
an input drive configured to be coupled with an output drive of the robotic surgical instrument when said housing is coupled to the robotic surgical instrument to receive rotary output motions therefrom; and
a drive system, comprising:
a first gear in driving engagement with said input drive;
a second gear in meshing engagement with said first gear, wherein said second gear is driven in a first direction to produce a firing motion, and wherein said second gear is driven in a second direction to produce a retraction motion; and
a third gear movably mounted to said rotary drive shaft of said shaft assembly for movement into and out of meshing engagement with said second gear;
wherein the drive system is in operable engagement with said input drive to apply robotically-generated, rotary actuation motions thereto to cause said rotary drive shaft to apply at least one said rotary control motion to said firing member to move said firing member; and
means for moving said third gear into meshing engagement with said second gear to apply rotary actuation motions to said third gear to cause said rotary drive shaft to apply at least one said rotary control motion to said firing member to move said firing member.