Articulation subsystems for robotic stapling and cutting systems

An articulation subsystem for a surgical instrument comprising:

• a rotatable shaft having a longitudinal axis;
• an articulation rod extending along the rotatable shaft and rotationally coupled to the rotatable shaft;
• an articulation bushing slidable from a first position to a second position along the longitudinal axis of the rotatable shaft, the articulation bushing being rotationally coupled to the rotatable shaft;
• a first rack movable with respect to the longitudinal axis of the rotatable shaft, the first rack being rotationally independent of the rotatable shaft and the articulation bushing;
• a second rack movable with respect to the longitudinal axis of the rotatable shaft, the second rack being rotationally independent of the rotatable shaft and the articulation bushing;
• and
• a rack gear engaged with at least one of the first rack or the second rack,
• wherein the first rack or the second rack is positioned at least partially between the rack gear and the rotatable shaft,
• wherein rotation of the rack gear moves the first rack with respect to the longitudinal axis, and
• wherein movement of the first rack with respect to the longitudinal axis imparts an axial force onto the articulation bushing moving the articulation bushing from the first position to the second position.

A system for a surgical instrument comprising:

• a rotatable shaft having a longitudinal axis;
• a rack movable with respect to the longitudinal axis of the rotatable shaft, the rack being rotationally independent of the rotatable shaft;
• an articulation bushing slidable from a first position to a second position along the longitudinal axis of the rotatable shaft, the articulation bushing being rotationally coupled to the rotatable shaft;
• and
• a rack gear engaged with the rack, and
• wherein the rack is positioned at least partially between the rack gear and the rotatable shaft,
• wherein rotation of the rack gear moves the rack with respect to the longitudinal axis, and
• wherein movement of the rack with respect to the longitudinal axis imparts an axial force onto the articulation bushing moving the articulation bushing from the first position to the second position.