Motor-driven surgical cutting and fastening instrument with tactile position feedback
A surgical cutting and fastening instrument is disclosed. According to various embodiments, the instrument includes an end effector comprising an elongate channel, a clamping member pivotably connected to the channel, and a moveable cutting instrument for traversing the channel to cut an object clamped in the end effector by the clamping member when the clamping member is in a clamped position. The instrument may also comprise a main drive shaft assembly for actuating the cutting instrument in the end effector, a gear drive train connected to the main drive shaft assembly, and a motor for actuating the gear drive train. The instrument may also includes a closure trigger and a firing trigger, separate from the closure trigger, for actuating the motor when the firing trigger is retracted. Also, the instrument may comprise a mechanical closure system connected to the closure trigger and to the clamping member for causing the clamping member to pivot to the clamped position when the closure trigger is retracted.
1. A surgical instrument, comprising:
a handle;
a shaft extending from said handle, comprising:
a proximal portion frame;
a distal portion frame; and
an articulation joint rotatably connecting said distal portion frame and said proximal portion frame, wherein said articulation joint defines a fixed articulation axis;
an end effector extending from said shaft, comprising:
a first jaw comprising a proximal end and a distal end;
a second jaw rotatable relative to said first jaw; and
a staple cartridge including staples removably stored therein;
a closure drive, comprising:
an outer closure tube movable distally to close said second jaw during a closure stroke, wherein said outer closure tube comprises:
a proximal tube slideable relative to said proximal portion frame;
a distal tube slideable relative to said distal portion frame; and
a link, wherein said link is rotatably connected to said proximal tube about a proximal articulation axis and rotatably connected to said distal tube about a distal articulation axis, and wherein said link traverses and is slideable relative to said articulation joint; and
a closure trigger rotatable to push said closure tube through said closure stroke;
a staple firing drive, comprising:
a drive shaft which traverses said articulation joint;
an electric motor operable to drive said drive shaft;
a firing member driveable distally by said drive shaft to eject said staples from said staple cartridge during a staple firing stroke; and
a firing trigger operable to apply a voltage potential to said electric motor when said firing trigger is actuated; and
a control circuit comprising a switch positioned in said handle and configured to detect when said firing member has reached an end of said staple firing stroke and reverse the polarity of said voltage potential applied to said electric motor.
2. The surgical instrument of claim 1 , wherein said staple cartridge is replaceable.
3. The surgical instrument of claim 1 , wherein said link comprises a first link positioned on a first side of said articulation joint, wherein said outer closure tube further comprises a second link rotatably connected to said proximal tube about a second proximal articulation axis and rotatably connected to said distal tube about a second distal articulation axis, and wherein said second link is slideable relative to said articulation joint, and wherein said second link is positioned on a second side of said articulation joint.
4. The surgical instrument of claim 1 , wherein said distal tube is coupled to said second jaw.
5. The surgical instrument of claim 1 , further comprising a mechanism configured for locking the closure trigger.
6. The surgical instrument of claim 1 , further comprising a battery electrically coupled to said electric motor.
7. The surgical instrument of claim 1 , wherein said firing member comprises a sloped distal surface.
8. The surgical instrument of claim 1 , wherein said firing member comprises a cutting member.
9. The surgical instrument of claim 1 , further comprising a sensing device configured for detecting a movement of the firing trigger.
10. The surgical instrument of claim 1 , further comprising a sensing device configured for detecting a beginning of the staple firing stroke.