Robotically-driven surgical instrument with E-beam driver
A surgical severing and stapling instrument, suitable for laparoscopic and endoscopic clinical procedures, clamps tissue within an end effector of an elongate channel pivotally opposed by an anvil. Various embodiments are configured to be operably attached to a robotic system to receive actuation/control motions therefrom.
1. A surgical instrument, comprising:
a housing;
a first rotary drive driven by a first electric motor;
a second rotary drive driven by a second electric motor;
a shaft defining a longitudinal axis;
an end effector, comprising:
a first jaw comprising a proximal end and a distal end;
a second jaw rotatable relative to said first jaw between an open position and a closed position; and
a staple cartridge including staples removably stored therein;
a closure drive comprising a longitudinally movable closure driver operably coupled to said first rotary drive, wherein said closure driver is driven longitudinally by said first rotary drive, and wherein said closure drive is operable to move said second jaw into said closed position during a closure stroke; and
a firing drive comprising a longitudinally movable firing driver operably coupled to said second rotary drive, wherein said firing driver is driven longitudinally by said second rotary drive to fire said staples from said staple cartridge during a staple firing stroke, and wherein said firing driver comprises a firing beam head, comprising:
a first pin to engage said first jaw based on said firing driver being driven longitudinally by said second rotary drive; and
a second pin to engage said second jaw based on said firing driver being driven longitudinally by said second rotary drive.
2. The surgical instrument of claim 1 , wherein said closure drive is operable to move said second jaw into said open position during an opening stroke.
3. The surgical instrument of claim 1 , wherein said second electric motor is actuatable to apply a compressive firing actuation force through said firing drive to move said second jaw into said closed position.
4. The surgical instrument of claim 3 , wherein said closure drive is actuatable to apply a compressive closure actuation force to move said second jaw into said closed position.
5. The surgical instrument of claim 1 , wherein said first pin moves along a first side of said staples and said second pin moves along a second side of said staples through said staple firing stroke, wherein said staples comprise a first staple and a second staple, and wherein said staple cartridge comprises:
a cartridge body;
a first staple cavity defined in said cartridge body, wherein said first staple is positioned in said first staple cavity, wherein said first staple is formed to a first formed height based on said firing driver being driven through said staple firing stroke; and
a second staple cavity defined in said cartridge body, wherein said second staple cavity is longitudinally offset from said first staple cavity, wherein said second staple is positioned in said second staple cavity, wherein said second staple is formed to a second formed height based on said firing driver being driven through said staple firing stroke, and wherein said second formed height is different than said first formed height.
6. The surgical instrument of claim 5 , wherein said firing driver is driven longitudinally by said second rotary drive from a starting position to an ending position during said staple firing stroke, wherein said first staple cavity is positioned closed to said starting position than said second staple cavity, and wherein said first formed height is smaller than said second formed height.
7. The surgical instrument of claim 1 , wherein said firing drive further comprises a firing bar extending from said firing beam head.
8. The surgical instrument of claim 1 , wherein said firing beam head further comprises a knife.
9. A surgical instrument, comprising:
a housing;
a first electric motor;
a second electric motor;
a first rotary drive driven by said first electric motor;
a second rotary drive driven by said second electric motor;
a shaft;
a longitudinal axis;
an end effector, comprising:
a first jaw comprising a proximal end and a distal end; and
a second jaw rotatable relative to said first jaw between an open position and a closed position;
a closure drive comprising a longitudinally movable closure driver operably coupled to said first rotary drive, wherein said closure driver is driven longitudinally by said first rotary drive, and wherein said closure drive is operable to move said second jaw into said closed position during a closure stroke; and
a firing drive comprising a longitudinally movable firing driver operably coupled to said second rotary drive, wherein said firing driver is driven longitudinally by said second rotary drive to fire staples from a staple cartridge seated in said end effector during a staple firing stroke, and wherein said firing driver comprises a firing beam head, comprising:
a first arm to engage said first jaw based on said firing driver being driven longitudinally driven by said second rotary drive; and
a second arm to engage said second jaw based on said firing driver being driven longitudinally driven by said second rotary drive.
10. The surgical instrument of claim 9 , wherein said closure drive is operable to move said second jaw into said open position during an opening stroke.
11. The surgical instrument of claim 9 , wherein said second electric motor is actuatable to apply a compressive firing actuation force through said firing drive to move said second jaw into said closed position.
12. The surgical instrument of claim 11 , wherein said closure drive is actuatable to apply a compressive closure actuation force to move said second jaw into said closed position.
13. The surgical instrument of claim 9 , wherein said end effector further comprises a staple cartridge, comprising:
a cartridge body;
a first staple cavity defined in said cartridge body;
a first staple is positioned in said first staple cavity, wherein said first staple is formed to a first formed height based on said firing driver being driven through said staple firing stroke; and
a second staple cavity defined in said cartridge body, wherein said second staple cavity is longitudinally offset from said first staple cavity; and
a second staple positioned in said second staple cavity, wherein said second staple is formed to a second formed height based on said firing driver being driven through said staple firing stroke, and wherein said second formed height is different than said first formed height.
14. The surgical instrument of claim 13 , wherein said firing driver is driven longitudinally by said second rotary drive from a starting position to an ending position during said staple firing stroke, wherein said first staple cavity is positioned closed to said starting position than said second staple cavity, and wherein said first formed height is smaller than said second formed height.
15. The surgical instrument of claim 9 , wherein said firing drive further comprises a firing bar extending from said firing beam head.
16. The surgical instrument of claim 9 , wherein said firing beam head further comprises a knife.
17. A surgical instrument, comprising:
a first rotary drive driveable by a first motor;
a second rotary drive driveable by a second motor;
an end effector, comprising:
a first jaw; and
a second jaw rotatable relative to said first jaw between an open position and a closed position;
a closure driver longitudinally driveable from a first position toward a second position based on rotation of said first rotary drive, wherein said second jaw is rotatable toward said first jaw based on said closure driver moving toward said second position; and
a firing beam head longitudinally driveable from a starting position toward an ending position to fire staples from a staple cartridge based on rotation of said second rotary drive, wherein said firing beam head comprises:
a first pin to engage said first jaw based on said firing beam head moving toward said ending position; and
a second pin to engage said second jaw based on said firing beam head moving toward said ending position.
18. The surgical instrument of claim 17 , wherein said end effector further comprises a staple cartridge, comprising:
a cartridge body;
a first staple cavity defined in said cartridge body;
a first staple is positioned in said first staple cavity, wherein said first staple is formed to a first formed height based on said firing beam head moving toward said ending position;
a second staple cavity defined in said cartridge body, wherein said second staple cavity is positioned closer to said ending position than said first staple cavity; and
a second staple positioned in said second staple cavity, wherein said second staple is formed to a second formed height based on said firing beam head moving toward said ending position, and wherein said second formed height is different than said first formed height.
19. The surgical instrument of claim 17 , further comprising a firing bar extending from said firing beam head.
20. The surgical instrument of claim 17 , wherein said firing beam head further comprises a knife.