Surgical instrument comprising a rapid closure mechanism
A surgical instrument comprising a first jaw, a second jaw rotatable relative to the first jaw, and a closure system for closing the second jaw is disclosed. The closure system comprises a multi-stage closure system. In at least one instance, the closure system comprises a first closure member which closes the second jaw quickly, but with low force, and a second closure member which closes the second jaw more slowly, but with a higher force.
1. A surgical instrument, comprising:
a first jaw;
a second jaw, wherein said second jaw is movable relative to said first jaw between an open position and a closed position, and wherein said second jaw comprises:
a proximal end;
a distal end;
a pivot rotatably connecting said proximal end to said first jaw;
a tissue compression surface extending between said proximal end and said distal end;
a first cam surface positioned proximally with respect to said pivot, wherein said first cam surface extends at a first angle relative to said tissue compression surface; and
a second cam surface positioned proximally with respect to said first cam surface, wherein said second cam surface extends at a second angle relative to said tissue compression surface, and wherein said second angle is different than said first angle; and
a closure drive configured to move said second jaw into said closed position, wherein said closure drive comprises a rotary drive screw and a closure cam operably coupled to said rotary drive screw, wherein said closure cam is driven proximally by said rotary drive screw when said rotary drive screw is rotated in a first direction, wherein said closure cam is driven distally by said rotary drive screw when said rotary drive screw is rotated in a second direction, wherein said closure cam configured to contact said first cam surface during a first portion of a closure stroke and then said second cam surface during a second portion of said closure stroke to move said second jaw into said closed position, and wherein, for a given speed of said closure cam, said closure cam drives said second jaw toward said first jaw at a faster rate during said first portion of said closure stroke than said second portion.
2. The surgical instrument of claim 1 , wherein said closure drive comprises an electric motor configured to rotate said rotary drive screw, wherein said closure cam applies a first clamping force to said second jaw when said closure cam is engaged with said first cam surface and a second clamping force to said second jaw when said closure cam is engaged with said second cam surface for a given torque output of said electric motor, and wherein said second clamping force is larger than said first clamping force.
3. The surgical instrument of claim 1 , wherein said second jaw comprises a staple cartridge and said first jaw comprises an anvil.
4. The surgical instrument of claim 1 , wherein said first cam surface comprises a first linear ramp and said second cam surface comprises a second linear ramp.
5. The surgical instrument of claim 1 , wherein said closure drive further comprises an electric motor operably coupled to said rotary drive screw, and wherein said electric motor is operable to rotate said rotary drive screw.
6. The surgical instrument of claim 1 , wherein said closure drive further comprises an input operably coupled to said rotary drive screw, and wherein said input is operably engageable with an electric motor.
7. The surgical instrument of claim 1 , further comprising a handle.
8. The surgical instrument of claim 1 , further comprising a housing operably engageable with a robotic surgical system.
9. A surgical instrument, comprising:
a first jaw;
a second jaw, wherein said second jaw is movable relative to said first jaw between an open position and a closed position, and wherein said second jaw comprises:
a proximal end;
a distal end;
a pivot rotatably connecting said proximal end to said first jaw;
a first cam surface positioned proximally with respect to said pivot; and
a second cam surface positioned proximally with respect to said pivot; and
a closure drive configured to move said second jaw into said closed position, wherein said closure drive comprises:
a rotary drive screw;
a first closure cam threadably coupled to said rotary drive screw, wherein said first closure cam is driven proximally by said rotary drive screw when said rotary drive screw is rotated in a first direction, wherein said first closure cam engages said first cam surface to move said second jaw toward said first jaw when said first closure cam is driven proximally, and wherein said first closure cam is driven distally by said rotary drive screw when said rotary drive screw is rotated in a second direction; and
a second closure cam rotatably coupled to said first closure cam, wherein said second closure cam engages said second cam surface to move said second jaw toward said first jaw when said first closure cam is driven proximally.
10. The surgical instrument of claim 9 , wherein said second closure cam engages said second cam surface before said first closure cam engages said first cam surface.
11. The surgical instrument of claim 9 , wherein said second closure cam disengages from said second cam surface when said first closure cam is engaged with said first cam surface.
12. The surgical instrument of claim 9 , wherein said second closure cam disengages from said second cam surface before said first closure cam is engaged with said first cam surface.
13. The surgical instrument of claim 9 , wherein said first closure cam applies a larger clamping load to tissue captured between said first jaw and said second jaw than said second closure cam.
14. The surgical instrument of claim 9 , wherein said second closure cam moves said second jaw toward said first jaw faster than said first closure cam for a given speed of said closure drive.
15. The surgical instrument of claim 9 , wherein said first jaw comprises a closure slot defined therein, wherein said second closure cam comprises a pin extending into said closure slot, and wherein a sidewall of said closure slot cams said second closure cam downwardly out of engagement with said second cam surface as said first closure cam is moved proximally.
16. A surgical instrument, comprising:
a first jaw;
a second jaw rotatably coupled to said first jaw about a pivot; and
a closure system, comprising:
a rotatable drive screw;
a wedge cam threadably engaged with said drive screw, wherein said wedge cam moves proximally when said drive screw is rotated in a first direction, and wherein said wedge cam moves distally when said drive screw is rotated in a second direction which is opposite said first direction;
a pull cam slidably positioned in said first jaw, wherein said pull cam is engaged with said second jaw; and
a spring positioned intermediate said wedge cam and said pull cam, wherein said wedge cam pushes said pull cam proximally through said spring when said wedge cam is moved proximally, wherein said pull cam pulls said second jaw toward said first jaw as said pull cam is pushed proximally by said wedge cam, and wherein said wedge cam then cams said second jaw into a fully clamped position as said wedge cam is driven further proximally by said drive screw.
17. The surgical instrument of claim 16 , wherein said first jaw comprises a staple cartridge.
18. The surgical instrument of claim 16 , wherein said second jaw comprises a staple cartridge.
19. The surgical instrument of claim 16 , wherein said wedge cam contacts said pull cam and pushes said pull cam distally when said drive screw is rotated in said second direction to push open said second jaw.
20. The surgical instrument of claim 16 , wherein said pull cam closes said second jaw faster than said wedge cam.
21. The surgical instrument of claim 16 , wherein said wedge cam applies a larger force to patient tissue captured between said first jaw and said second jaw than said pull cam.
22. The surgical instrument of claim 16 , wherein said pull cam applies a closing force to said second jaw at a first location, and wherein said wedge cam applies a closing force to said second jaw at a second location which is different than said first location.