Surgical instrument
A surgical stapling system comprising an actuator system operable to generate independent motions and a stapling end effector responsive to the independent motions generated by the actuator system is disclosed. The stapling end effector comprises a staple cartridge jaw comprising a plurality of staples removably stored therein, an anvil jaw, and a firing member. The firing member comprises an anvil-engaging portion and a cartridge jaw-engaging portion configured to engage the staple cartridge jaw.
1. A surgical stapling system, comprising:
a housing attachable to and detachable from a surgical robot, the housing comprising:
a first rotatable input drive configured to rotate about a first axis and couplable to a first motor-driven output upon attachment of the housing to the surgical robot;
a second rotatable input drive configured to rotate about a second axis and couplable to a second motor-driven output upon attachment of the housing to the surgical robot;
a third rotatable input drive configured to rotate about a third axis and couplable to a third motor-driven output upon attachment of the housing to the surgical robot; and
a fourth rotatable input drive configured to rotate about a fourth axis and couplable to a fourth motor-driven output upon attachment of the housing to the surgical robot;
a closure drive operable to generate an end effector closing motion;
a firing drive operable independently of the closure drive to generate a staple firing motion;
a shifter assembly coupled to the first rotatable input drive, wherein the shifter assembly is configured to shift between a first configuration where the first rotatable input drive is drivingly coupled with the closure drive and a second configuration where the first rotatable input drive is drivingly coupled with the firing drive; and
a stapling end effector responsive to the independent motions generated by the closure drive and the firing drive, wherein the stapling end effector comprises:
a staple cartridge jaw; and
an anvil jaw comprising a plurality of staple forming pockets.
2. The surgical stapling system of claim 1 , further comprising:
a shaft;
an articulation joint; and
a plurality of cables actuatable to articulate the stapling end effector relative to the shaft by way of the articulation joint.
3. The surgical stapling system of claim 2 , further comprising a flexible firing shaft extending through the articulation joint.
4. The surgical stapling system of claim 2 , wherein the plurality of cables are actuatable by the third rotatable input.
5. The surgical stapling system of claim 2 , further comprising a staple cartridge positioned within the staple cartridge jaw.
6. The surgical stapling system of claim 2 , wherein the closure drive comprises a threaded shaft configured to transfer the end effector closing motion to the anvil jaw.
7. The surgical stapling system of claim 2 , wherein the firing drive comprises a threaded firing screw positioned within the stapling end effector.
8. The surgical stapling system of claim 2 , wherein the second rotatable input drive is configured to shift the shifter assembly between the first configuration and the second configuration.
9. A surgical stapling system, comprising:
a housing attachable to and detachable from a surgical robot, wherein the housing comprises:
a first rotatable input drive configured to rotate about a first axis and couplable to a first motor-driven output upon attachment of the housing to the surgical robot;
a second rotatable input drive configured to rotate about a second axis and couplable to a second motor-driven output upon attachment of the housing to the surgical robot;
a third rotatable input drive configured to rotate about a third axis and couplable to a third motor-driven output upon attachment of the housing to the surgical robot; and
a fourth rotatable input drive configured to rotate about a fourth axis and couplable to a fourth motor-driven output upon attachment of the housing to the surgical robot;
a closure drive to transfer an end effector closing motion;
a firing drive to transfer an end effector firing motion independent of the end effector closing motion; and
a shifter coupled to the first rotatable input drive, wherein the shifter is shiftable between a first configuration where the first rotatable input drive is drivingly coupled with the closure drive and a second configuration where the first rotatable input drive is drivingly coupled with the firing drive; and
a stapling end effector responsive to the end effector closing motion and the end effector firing motion, wherein the stapling end effector comprises:
a first jaw configured to removably receive a staple cartridge; and
a second jaw comprising a plurality of staple forming pockets.
10. The surgical stapling system of claim 9 , further comprising:
a shaft;
an articulation joint; and
a plurality of cables actuatable to articulate the stapling end effector relative to the shaft by way of the articulation joint.
11. The surgical stapling system of claim 10 , further comprising a flexible firing shaft extending through the articulation joint.
12. The surgical stapling system of claim 10 , wherein the plurality of cables are actuatable by the third rotatable input.
13. The surgical stapling system of claim 10 , further comprising the staple cartridge.
14. The surgical stapling system of claim 10 , wherein the closure drive comprises a threaded shaft configured to transfer the end effector closing motion to the second jaw.
15. The surgical stapling system of claim 10 , wherein the firing drive comprises a threaded firing screw positioned within the stapling end effector.
16. The surgical stapling system of claim 10 , wherein the second rotatable input drive is configured to shift the shifter between the first configuration and the second configuration.