Surgical instrument including a firing member movable at different speeds
A surgical instrument including an end effector that has a selectively reciprocatable implement movably supported therein. The implement is selectively advanceable in a distal direction upon application of a rotary actuation motion thereto and retractable in a proximal direction upon application of a rotary retraction motion thereto. An elongate shaft assembly is coupled to the end effector and is configured to transmit the rotary actuation motion and rotary retraction motion to the reciprocatable implement from a robotic system that is configured to generate the rotary actuation motion and said rotary retraction motion.
1. A surgical instrument, comprising:
a handle configured to generate rotary motions;
a shaft extending from said handle;
an end effector extending from said shaft, wherein said end effector comprises:
a first jaw;
a second jaw movable relative to said first jaw between an open position and a closed position; and
a staple cartridge comprising a plurality of staples; and
a firing member operably responsive to said rotary motions, wherein said firing member is configured to move said second jaw into said closed position, wherein said firing member is further configured to move distally within said end effector at a first rate to eject said plurality of staples from said staple cartridge, wherein said firing member is further configured to move proximally within said end effector at a second rate, and wherein said first rate and said second rate are different.
2. The surgical instrument of claim 1 , wherein said second rate is faster than said first rate.
3. A surgical instrument, comprising:
a housing configured to generate rotary motions;
a shaft extending from said housing;
an end effector extending from said shaft, wherein said end effector comprises:
a first jaw;
a second jaw movable relative to said first jaw between an open position and a closed position; and
a staple cartridge comprising a plurality of staples; and
an I-beam operably responsive to said rotary motions, wherein said I-beam is configured to move said second jaw to said closed position, wherein said I-beam is further configured to move distally within said end effector at a first speed to eject said plurality of staples from said staple cartridge, wherein said I-beam is further configured to move proximally within said end effector at a second speed, and wherein said second speed is faster than said first speed.
4. A surgical instrument, comprising:
a housing configured to generate rotary motions;
a shaft extending from said housing;
an end effector extending from said shaft, wherein said end effector comprises:
a first jaw;
a second jaw movable relative to said first jaw between an open position and a closed position; and
a staple cartridge comprising a plurality of staples; and
a firing member configured to perform a firing stroke and a retraction stroke within said end effector in response to said rotary motions, wherein said firing member comprises a first cam and a second cam, wherein said first cam engages said first jaw and said second cam engages said second jaw during said firing stroke, wherein said firing member is configured to move said second jaw to said closed position, wherein said firing member is further configured to move distally within said end effector at a firing speed to eject said plurality of staples from said staple cartridge during said firing stroke, wherein said firing member is further configured to move proximally within said end effector at a retraction speed during said retraction stroke, and wherein said firing speed and said retraction speed are different.
5. The surgical instrument of claim 4 , wherein said retraction speed is faster than said firing speed.
6. A powered surgical fastening instrument, comprising:
a housing configured to generate rotary motions;
a shaft extending from said housing;
an end effector extending from said shaft, wherein said end effector comprises:
a first jaw;
a second jaw movable relative to said first jaw between an open position and a closed position during a jaw closing motion and a jaw opening motion; and
a fastener cartridge comprising a plurality of fasteners; and
an I-beam operably responsive to said rotary motions, wherein said I-beam comprises a first cam and a second cam, wherein said first cam engages said first jaw and said second cam engages said second jaw, wherein said I-beam is configured to move said second jaw toward said closed position during said jaw closing motion, wherein said I-beam is further configured to move distally within said end effector at a first speed during said jaw closing motion, wherein said I-beam is further configured to move proximally within said end effector at a second speed during said jaw opening motion, and wherein said second speed is faster than said first speed.
7. A surgical stapling instrument, comprising:
a housing;
a drive system configured to transmit rotary motions, wherein said drive system is partially positioned in said housing;
a shaft extending from said housing;
an end effector rotatably connected to said shaft, wherein said end effector comprises:
a first jaw;
a second jaw movable relative to said first jaw between an open position and a closed position during a jaw closing motion and a jaw opening motion; and
a staple cartridge comprising a plurality of staples removably stored therein; and
an E-beam operably responsive to said rotary motions, wherein said E-beam comprises a first cam, a second cam, and a lateral shoulder intermediate said first cam and said second cam, wherein said first cam is configured to engage said first jaw and said second cam is configured to engage said second jaw, wherein said E-beam is configured to move said second jaw toward said closed position during said jaw closing motion, wherein said drive system is configured to move said E-beam distally within said end effector at a first speed during said jaw closing motion, wherein said drive system is configured to move said E-beam proximally within said end effector at a second speed during said jaw opening motion, and wherein said second speed is faster than said first speed.
8. A surgical stapling instrument, comprising:
a housing;
a drive system configured to transmit rotary motions, wherein said drive system is partially positioned in said housing;
a shaft extending from said housing;
an end effector rotatably connected to said shaft, wherein said end effector comprises:
a first jaw;
a second jaw movable relative to said first jaw between an open position and a closed position; and
a staple cartridge comprising a plurality of staples; and
a firing member configured to perform a firing stroke and a retraction stroke within said end effector in response to said rotary motions, wherein said firing member comprises a first cam, a second cam, and a lateral shoulder intermediate said first cam and said second cam, wherein said first cam engages said first jaw and said second cam engages said second jaw during said firing stroke, wherein said drive system is configured to move said firing member distally within said end effector at a firing speed to eject said plurality of staples from said staple cartridge during said firing stroke, wherein said drive system is configured to move proximally within said end effector at a retraction speed during said retraction stroke, and wherein said firing speed and said retraction speed are different.
9. The surgical stapling instrument of claim 8 , wherein said retraction speed is faster than said firing speed.
10. A surgical stapling instrument, comprising:
a housing;
a drive system configured to transmit rotary motions, wherein said drive system is partially positioned in said housing;
a shaft extending from said housing;
an end effector rotatably connected to said shaft, wherein said end effector comprises:
a first jaw;
a second jaw movable relative to said first jaw between an open position and a closed position; and
a staple cartridge comprising a plurality of staples; and
an E-beam operably responsive to said rotary motions, wherein said E-beam is configured to move said second jaw toward said closed position, wherein said drive system is further configured to move said E-beam distally within said end effector at a first speed to eject said plurality of staples from said staple cartridge, wherein said drive system is further configured to move said E-beam proximally within said end effector at a second speed, and wherein said second speed is faster than said first speed.