US 12,290,261 B2
Robotically-driven surgical instrument with E-beam driver
Michael E. Setser, Burlington, KY (US); Frederick E. Shelton, IV, Hillsboro, OH (US); Kevin R. Doll, Mason, OH (US); Jerome R. Morgan, Cincinnati, OH (US); and Richard W. Timm, Cincinnati, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Mar. 30, 2022, as Appl. No. 17/708,966.
Application 17/708,966 is a continuation of application No. 16/153,084, filed on Oct. 5, 2018, abandoned.
Application 16/153,084 is a continuation of application No. 14/745,858, filed on Jun. 22, 2015, granted, now 10,206,678, issued on Feb. 19, 2019.
Application 14/745,858 is a continuation of application No. 13/118,246, filed on May 27, 2011, granted, now 9,060,770, issued on Jun. 23, 2015.
Prior Publication US 2022/0225994 A1, Jul. 21, 2022
Int. Cl. A61B 17/068 (2006.01); A61B 17/064 (2006.01); A61B 17/072 (2006.01); A61B 17/10 (2006.01); A61B 34/30 (2016.01); A61B 50/20 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 17/32 (2006.01); A61B 18/00 (2006.01); A61B 18/14 (2006.01); A61B 34/37 (2016.01); A61B 50/36 (2016.01)
CPC A61B 17/105 (2013.01) [A61B 17/064 (2013.01); A61B 17/068 (2013.01); A61B 17/0682 (2013.01); A61B 17/072 (2013.01); A61B 17/07207 (2013.01); A61B 34/30 (2016.02); A61B 50/20 (2016.02); A61B 2017/00017 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00473 (2013.01); A61B 2017/00734 (2013.01); A61B 2017/0688 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07278 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/2923 (2013.01); A61B 2017/2927 (2013.01); A61B 2017/320052 (2013.01); A61B 17/320092 (2013.01); A61B 2017/320093 (2017.08); A61B 2017/320094 (2017.08); A61B 2017/320095 (2017.08); A61B 2017/320097 (2017.08); A61B 2018/0063 (2013.01); A61B 18/1445 (2013.01); A61B 2034/302 (2016.02); A61B 34/37 (2016.02); A61B 50/36 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical stapling system, comprising:
a housing;
a plurality of motor-driven inputs to independently drive end effector articulation motions, an end effector closing motion, and a proximal-to-distal staple firing motion;
an elongate shaft extending from the housing;
a first articulation joint defining a first articulation axis;
a second articulation joint defining a second articulation axis transverse to the first articulation axis;
a stapling end effector, wherein the first articulation joint and the second articulation joint are positioned intermediate the elongate shaft and the stapling end effector, and wherein the first articulation joint and the second articulation joint permit the stapling end effector to rotate relative to the elongate shaft about two different articulation axes in response to the end effector articulation motions, and wherein the stapling end effector comprises:
a staple cartridge jaw comprising a longitudinal cartridge slot;
an anvil jaw, comprising:
a longitudinal anvil slot; and
a longitudinal recess extending from the longitudinal anvil slot; and
a firing driver, comprising:
an anvil-engaging cam configured to slidingly engage a sidewall of the longitudinal recess; and
a cartridge jaw-engaging cam configured to engage the staple cartridge jaw, wherein the firing driver is configured to control the relative spacing between the staple cartridge jaw and the anvil jaw during the proximal-to-distal staple firing motion; and
a firing shaft coupled to the firing driver, wherein the firing shaft extends through the elongate shaft, the first articulation joint, and the second articulation joint into the stapling end effector, and wherein a pushing force is applied to the firing driver by way of the firing shaft to deploy staples and cut tissue clamped between the staple cartridge jaw and the anvil jaw during the proximal-to-distal staple firing motion.