Interchangeable surgical tool assembly with a surgical end effector that is selectively rotatable about a shaft axis
A surgical instrument is disclosed. In one form, the surgical instrument comprises an elongate shaft assembly and an end effector that is configured for selective rotation relative to the axis of the elongate shaft assembly. The surgical instrument can include a rotary locking system for locking the surgical end effector in rotary orientations about the shaft axis upon application of axial locking and axial unlocking motions to the rotary locking system. The surgical instrument may further comprise a rotary drive system that is configured to apply rotary control motions to a firing member as well as to apply rotary positioning motions to the surgical end effector.
1. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis;
a surgical end effector operably coupled to said elongate shaft assembly by a mounting fixture configured to permit said surgical end effector to selectively rotate about said shaft axis upon application of at least one rotary positioning motion thereto, said surgical end effector comprising a firing member configured for selective axial movement therein in response to an application of at least one rotary control motion thereto;
an end effector rotary locking system interfacing with said surgical end effector and configured to lock said surgical end effector in rotary orientations about said shaft axis upon application of an axial locking motion to said end effector rotary locking system and to unlock said surgical end effector for selective rotation about said shaft axis upon application of an axial unlocking motion to said end effector rotary locking system, said end effector rotary locking system comprising a rotation locking disc coupled to said surgical end effector for rotational travel therewith upon said application of said at least one rotary positioning motion to said surgical end effector, said rotation locking disc further configured to frictionally engage said mounting fixture to prevent rotation of said surgical end effector about said shaft axis upon application of said axial locking motion to said end effector rotary locking system; and
a rotary drive system configured to apply said at least one rotary control motion to said firing member, said rotary drive system configured to apply at least one said rotary positioning motion to said surgical end effector when said end effector rotary locking system is in an unlocked configuration to position said surgical end effector in a selected one of said rotary orientations about said shaft axis.
2. The surgical instrument of claim 1 , wherein said elongate shaft assembly further comprises an articulation joint operably coupling said surgical end effector to said elongate shaft assembly to facilitate selective articulation of said surgical end effector about an articulation axis that is transverse to said shaft axis upon application of articulation motions thereto.
3. The surgical instrument of claim 1 , wherein said rotation locking disc comprises a plurality of locking detents radially arranged thereon wherein each of said locking detents corresponds to one of said rotary orientations and wherein said end effector rotary locking system further comprises a lock member supported for selective movement into locking engagement with a corresponding one of said locking detents upon said application of said axial locking motion thereto.
4. The surgical instrument of claim 3 , wherein said end effector rotary locking system further comprises an axially movable locking control rod configured to apply said axial locking motion to said lock member.
5. The surgical instrument of claim 4 , wherein said lock member comprises:
a locking gear assembly rotatably supported in meshing engagement with a gear rack on said locking control rod;
a lock gear supported in meshing engagement with said locking gear assembly; and
a lock lug formed on said lock gear for selective locking engagement with said corresponding one of said locking detents.
6. The surgical instrument of claim 5 , wherein when said lock lug is in locking engagement with said corresponding one of said locking detents, said rotation locking disc frictionally engages said mounting fixture to prevent rotation of said surgical end effector about said shaft axis.
7. A surgical instrument, comprising:
an elongate shaft assembly defining a shaft axis;
a surgical end effector operably interfacing with said elongate shaft assembly for selective rotation relative to said elongate shaft assembly about said shaft axis upon application of at least one rotary positioning motion thereto, said surgical end effector comprising a firing member configured for selective axial movement therein in response to an application of at least one rotary control motion thereto;
an articulation joint operably coupling said surgical end effector to said elongate shaft assembly to facilitate selective articulation of said surgical end effector about an articulation axis that is transverse to said shaft axis upon application of articulation motions thereto, said articulation joint comprising:
an articulation shaft coupled to said elongate shaft assembly, said articulation shaft defining said articulation axis; and
a mounting fixture pivotally iournaled on said articulation shaft for selective articulation about said articulation axis, said mounting fixture operably interfacing with said surgical end effector to permit said surgical end effector to selectively rotate about said shaft axis upon application of said at least one rotary positioning motion thereto;
an end effector rotary locking system interfacing with said surgical end effector and being configured to lock said surgical end effector in rotary orientations about said shaft axis upon application of an axial locking motion to said end effector rotary locking system and to unlock said surgical end effector for selective rotation about said shaft axis upon application of an axial unlocking motion to said end effector rotary locking system, said end effector rotary locking system comprising a rotation locking disc coupled to said surgical end effector for rotational travel therewith upon said application of said at least one rotary positioning motion to said surgical end effector, said rotation locking disc further configured to frictionally engage said mounting fixture to prevent rotation of said surgical end effector about said shaft axis upon application of said axial locking motion to said end effector rotary locking system; and
a rotary drive system configured to apply said at least one rotary control motion to said firing member, said rotary drive system configured to apply said at least one rotary positioning motion to said surgical end effector when said end effector rotary locking system is in an unlocked configuration to position said surgical end effector in a selected one of said rotary orientations about said shaft axis.
8. The surgical instrument of claim 7 , wherein said elongate shaft assembly further comprising an articulation drive shaft configured to apply articulation motions to said mounting fixture upon application of rotary articulation drive motions to said articulation drive shaft.
9. The surgical instrument of claim 8 , wherein said rotary drive system comprises:
a distal power shaft operably supported by said surgical end effector and configured to apply said at least one rotary control motion to said firing member and said at least one rotary positioning motion to said surgical end effector when said end effector rotary locking system is in said unlocked configuration; and
a proximal rotary drive shaft in operable engagement with said distal power shaft.
10. A surgical cutting and fastening instrument, comprising:
an elongate shaft assembly defining a shaft axis;
a surgical end effector comprising:
an elongate channel configured to operably support a surgical staple cartridge therein, wherein said elongate channel is operably coupled to said elongate shaft assembly by a mounting fixture configured to permit said elongate channel to selectively rotate about said shaft axis upon application of at least one rotary positioning motion thereto;
an anvil supported relative to said elongate channel for selective movement between open and closed positions relative to said elongate channel; and
a cutting member configured for selective axial movement through said elongate channel and said anvil when said anvil is in said closed position in response to an application of at least one rotary control motion thereto and wherein said surgical cutting and fastening instrument further comprises:
an end effector rotary locking system interfacing with said elongate channel and said elongate shaft assembly and being configured to lock said elongate channel in rotary orientations about said shaft axis upon application of an axial locking motion to said end effector rotary locking system and to unlock said elongate channel for selective rotation about said shaft axis upon application of an axial unlocking motion to said end effector rotary locking system, said end effector rotary locking system comprising a rotation locking disc coupled to said elongate channel for rotational travel therewith upon said application of said at least one rotary positioning motion to said elongate channel, said rotation locking disc further configured to frictionally engage said mounting fixture to prevent rotation of said surgical end effector about said shaft axis upon application of said axial locking motion to said end effector rotary locking system; and
a rotary drive system configured to apply said at least one rotary control motion to said cutting member, said rotary drive system configured to apply said at least one rotary positioning motion to said elongate channel when said end effector rotary locking system is in an unlocked configuration to position said surgical end effector in a selected one of said rotary orientations about said shaft axis.
11. The surgical cutting and fastening instrument of claim 10 , wherein said rotary drive system comprises:
a distal power shaft operably supported by said surgical end effector and configured to apply said at least one rotary control motion to said cutting member and said at least one rotary positioning motion to said elongate channel when said end effector rotary locking system is in said unlocked configuration; and
a proximal rotary drive shaft in operable engagement with said distal power shaft.
12. The surgical cutting and fastening instrument of claim 11 , wherein said rotary drive system further comprises an anvil drive shaft rotatably supported in said anvil and in operable engagement with said distal power shaft, said proximal rotary drive shaft in operable engagement with said cutting member for axially driving said cutting member through said elongate channel and said anvil.
13. The surgical cutting and fastening instrument of claim 11 further comprising:
an articulation joint operably coupled to said elongate shaft assembly and said mounting fixture to facilitate selective articulation of said surgical end effector about an articulation axis that is transverse to said shaft axis and rotation of said surgical end effector about said shaft axis distal to said articulation joint; and
an articulation drive shaft configured to apply articulation motions to said mounting fixture upon application of rotary articulation drive motions to said articulation drive shaft.
14. The surgical cutting and fastening instrument of claim 13 , wherein said proximal rotary drive shaft is coaxially aligned on said shaft axis and wherein said articulation drive shaft comprises an articulation drive shaft axis that is offset from said shaft axis.
15. The surgical cutting and fasting instrument of claim 10 , further comprising an articulation joint operably coupled to said elongate shaft assembly and said mounting fixture to facilitate selective articulation of said surgical end effector about an articulation axis that is transverse to said shaft axis and rotation of said surgical end effector about said shaft axis distal to said articulation joint.