Robotically-controlled shaft based rotary drive systems for surgical instruments
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:
an end effector having a selectively reciprocatable implement movably supported therein, said implement being 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 coupled to said end effector and configured to transmit said rotary actuation motion and said rotary retraction motion to said reciprocatable implement from a robotic system configured to generate said rotary actuation motion and said rotary retraction motion; and
a firing drive comprising:
a first rotary drive assembly operably interfacing with a first corresponding drive portion of said robotic system, said first rotary drive assembly selectively interfacing with said elongate shaft assembly and configured to apply said rotary actuation motion thereto when activated; and
a second rotary drive assembly operably interfacing with a second corresponding drive portion of said robotic system, said second rotary drive assembly interfacing with said elongate shaft assembly and configured to apply said rotary retraction motion thereto when said first rotary drive assembly is deactivated and said second rotary drive assembly is activated.
2. The surgical instrument of claim 1 wherein said end effector comprises:
an elongate channel configured to operably support a staple cartridge therein; and
an anvil movably coupled to said elongate channel and wherein said reciprocatable implement comprises a cutting member operably supported within said elongate channel.
3. The surgical instrument of claim 2 further comprising a closure drive assembly operably interfacing with a third corresponding portion of said robotic system configured to selectively generate a closing motion and an opening motion, wherein said anvil is operably engaged with said closure assembly and is movably responsive to said opening motion and said closing motion.
4. The surgical instrument of claim 2 wherein upon activation of said first rotary drive assembly, said cutting member is advanced a first distance and upon activation of said second rotary drive assembly, said cutting member is retracted a second distance that is greater than said first distance.
5. The surgical instrument of claim 1 , wherein said first rotary drive assembly includes a plurality of first gear teeth, wherein said second rotary drive member includes a plurality of second gear teeth, wherein said elongate shaft assembly includes a rotatable drive shaft operably engaged with said reciprocatable implement, and wherein said drive shaft includes a first gear operably engaged with said first gear teeth and a second gear operably engaged with said second gear teeth.
6. The surgical instrument of claim 5 , wherein said drive shaft defines an axis, wherein a portion of said first rotary drive assembly is positioned on a first side of said axis and is configured to rotate said drive shaft about said axis in a first direction, and wherein a portion of said second rotary assembly member is positioned on a second side of said axis to rotate said drive shaft about said axis in a second direction, wherein said second direction is opposite said first direction.