US 12,433,584 B2
Robotically-controlled end effector
Frederick E. Shelton, IV, Hillsboro, OH (US); Jerome R. Morgan, Cincinnati, OH (US); Jeffrey S. Swayze, West Chester, OH (US); and James R. Giordano, Milford, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Jun. 10, 2020, as Appl. No. 16/897,868.
Application 16/897,868 is a continuation in part of application No. 15/066,196, filed on Mar. 10, 2016, abandoned.
Application 16/897,868 is a continuation in part of application No. 15/062,593, filed on Mar. 7, 2016, abandoned.
Application 15/066,196 is a continuation of application No. 14/830,202, filed on Aug. 19, 2015, granted, now 9,320,520, issued on Apr. 26, 2016.
Application 14/830,202 is a continuation of application No. 14/312,808, filed on Jun. 24, 2014, granted, now 9,113,874, issued on Aug. 25, 2015.
Application 15/062,593 is a continuation of application No. 13/372,195, filed on Feb. 13, 2012, abandoned.
Application 13/372,195 is a continuation in part of application No. 13/118,272, filed on May 27, 2011, abandoned.
Application 14/312,808 is a continuation of application No. 13/037,515, filed on Mar. 1, 2011, granted, now 8,820,603, issued on Sep. 4, 2014.
Prior Publication US 2020/0367886 A1, Nov. 26, 2020
Int. Cl. A61B 17/072 (2006.01); A61B 17/068 (2006.01); A61B 17/10 (2006.01); A61B 17/32 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 90/00 (2016.01)
CPC A61B 17/068 (2013.01) [A61B 17/072 (2013.01); A61B 17/07207 (2013.01); A61B 17/105 (2013.01); A61B 17/32 (2013.01); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/71 (2016.02); A61B 34/73 (2016.02); A61B 34/76 (2016.02); A61B 2017/00017 (2013.01); A61B 2017/00115 (2013.01); A61B 2017/00199 (2013.01); A61B 2017/00221 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00685 (2013.01); A61B 2017/00734 (2013.01); A61B 2017/07214 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07278 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/2903 (2013.01); A61B 2017/2943 (2013.01); A61B 2034/302 (2016.02); A61B 2034/303 (2016.02); A61B 2090/064 (2016.02); A61B 2090/065 (2016.02); A61B 2090/0803 (2016.02); A61B 2090/0811 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical instrument usable with a robotic surgical system comprising a motorized system, the surgical instrument comprising:
a housing, comprising:
a staple firing driver driveable by the motorized system of the robotic surgical system;
a jaw closure driver driveable by the motorized system of the robotic surgical system; and
a mounting plate rotatably supporting the staple firing driver and the jaw closure driver in a mounting plane for alignment with rotary outputs from the motorized system, the mounting plate releasably mountable to a robotic arm of the robotic surgical system;
an elongate shaft extending distally from said housing, wherein said elongate shaft defines a longitudinal axis, and wherein said elongate shaft is rotatable about said longitudinal axis relative to said housing;
an end effector extending from said elongate shaft, wherein said end effector comprises:
a first jaw; and
a second jaw rotatable relative to said first jaw between an open position and a closed position;
wherein said staple firing driver is configured to transmit a firing motion into said end effector;
an articulation joint, wherein said end effector is rotatable relative to said elongate shaft about said articulation joint;
a closure drive configured to move said second jaw toward said closed position based on actuation of said jaw closure driver by the motorized system, wherein said closure drive comprises a longitudinally translatable closure driver;
a jaw assessment circuit configured to determine if said second jaw is in said closed position; and
a cartridge assessment circuit configured to determine a status of a staple cartridge;
wherein said jaw assessment circuit is configured to prevent the firing motion from being transmitted into said end effector absent said second jaw being in said closed position; and
wherein said cartridge assessment circuit is configured to prevent the firing motion from being transmitted into said end effector based on a determination of said status.