Surgical instrument drive systems with cable-tightening system
A surgical instrument drive system is disclosed including a shaft assembly configured to be inserted into and attached to an attachment interface, a pulley drive system, an actuation member comprising a linear rack portion, and a bracket attaching the actuation member to the pulley drive system. The pulley drive system comprises a first cable driver, a second cable driver, a pulley, and a cable supported by the pulley and actuatable by the first cable driver and the second cable driver. The pulley drive system is configured to move the actuation member through an actuation stroke. The bracket comprises a mounting portion and a pawl configured to ratchet relative to the linear rack portion while the actuation member is held in position to allow the bracket to move relative to the actuation member to eliminate previously induced cable slack in the pulley drive system.
1. A surgical instrument drive system configured to perform a function of a surgical end effector, wherein said surgical instrument drive system comprises: a shaft assembly configured to be inserted into and attached to an attachment interface;
a pulley drive system, comprising:
a first cable driver;
a second cable driver;
a pulley; and
a cable attached to said first cable driver and said second cable driver, wherein said cable is supported by said pulley and actuatable by said first cable driver and said second cable driver;
an actuation member comprising a linear rack portion; and
a bracket attaching said actuation member to said pulley drive system, wherein said pulley drive system is configured to move said actuation member through an actuation stroke between a home position and a fully-actuated position by way of said bracket, and wherein said bracket comprises:
a mounting portion fixedly attached to said cable; and
a pawl engaged with said linear rack portion to hold said actuation member relative to said bracket, wherein said pawl is configured to ratchet relative to said linear rack portion while said actuation member is held in position to allow said bracket to move relative to said actuation member to eliminate previously induced cable slack in the pulley drive system by tensioning the cable of the pulley drive system with one of said first cable driver or said second cable driver.
2. The surgical instrument drive system of claim 1 , wherein said actuation member is configured to bottom out to ratchet said pawl relative to said linear rack portion when said one of said first cable driver or said second cable driver is actuated and the other of said first cable driver or said second cable driver is not actuated.
3. The surgical instrument drive system of claim 1 , wherein said cable is configured to be tensioned after each actuation stroke.