CPC A61B 17/07207 (2013.01) [A61B 17/00234 (2013.01); A61B 17/068 (2013.01); A61B 17/295 (2013.01); A61B 17/32 (2013.01); A61B 17/320092 (2013.01); A61B 2017/00022 (2013.01); A61B 2017/00039 (2013.01); A61B 2017/00212 (2013.01); A61B 2017/00221 (2013.01); A61B 2017/00362 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00473 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/00685 (2013.01); A61B 2017/00734 (2013.01); A61B 17/072 (2013.01); A61B 2017/07214 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07278 (2013.01); A61B 2017/07285 (2013.01); A61B 17/105 (2013.01); A61B 17/1222 (2013.01); A61B 2017/2927 (2013.01); A61B 2017/2943 (2013.01); A61B 2017/320093 (2017.08); A61B 2017/320094 (2017.08); A61B 2017/320095 (2017.08); A61B 2017/320097 (2017.08); A61B 2034/2053 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2072 (2016.02); A61B 34/30 (2016.02); A61B 2034/302 (2016.02); A61B 34/71 (2016.02); A61B 50/36 (2016.02); A61B 2090/065 (2016.02); A61B 2090/0811 (2016.02); A61B 2090/0814 (2016.02); A61B 90/98 (2016.02); A61B 2562/028 (2013.01); B65B 5/04 (2013.01); B65B 55/16 (2013.01); B65B 55/18 (2013.01)] | 14 Claims |
1. A surgical instrument for use with a robotic system, including:
a drive assembly operatively coupleable to a control unit of the robotic system, the drive assembly comprising:
a first rotatable driver; and
a second rotatable driver;
a shaft comprising an articulation joint;
a rotatable closure driver operably coupleable with and operably decoupleable from the first rotatable driver;
a drive shaft operably coupleable with and operably decoupleable from the first rotatable driver, wherein the drive shaft is rotatable to drive a firing motion;
a shifter, shiftable between:
a first state in which the first rotatable driver is operably coupled with the rotatable closure driver and operably decoupled from the drive shaft; and
a second state in which the first rotatable driver is operably coupled with the drive shaft and operably decoupled from the rotatable closure driver;
an end effector rotatable about the articulation joint, comprising:
a first jaw; and
a second jaw rotatable relative to the first jaw;
a translatable closure driver configured to move the second jaw into a closed position during a full closure stroke, wherein the translatable closure driver is threadably coupled to the rotatable closure driver, wherein the rotatable driver is rotated a first number of rotations to move the translatable closure driver through the full closure stroke, wherein the rotatable driver is rotated a second number of rotations to drive the firing motion, and wherein the second number of rotations is more than the first number of rotations; and
an articulation driver operably coupled to the second rotatable driver, wherein the articulation driver is operable to rotate the end effector about the articulation joint.
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