Robotically-controlled shaft based rotary drive systems for surgical instruments

A surgical stapling system, comprising:

• a housing comprising a first rotary input disc and a second rotary input disc configured to be driven by a rotary motion generator;
• an elongate shaft extending from said housing, wherein said elongate shaft defines a longitudinal axis;
• an end effector, comprising:
• a jaw configured to support a staple cartridge;
• and
• an anvil rotatable relative to said jaw between an open position and a clamped position, wherein said anvil comprises a cam surface;
• a closure cam operably coupled with said first rotary input disc, wherein said closure cam is configured to move longitudinally to engage said cam surface and transmit a clamping motion to said anvil to move said anvil toward said clamped position in response to an input motion from said first rotary input disc;
• and
• an opening member configured to move longitudinally to apply an opening force to said anvil at a location other than said cam surface to move said anvil toward said open position in response to an input motion from said second rotary input disc.

A surgical stapling system, comprising:

• A housing comprising a first rotary member and a second rotary member configured to be driven by a rotary motion generator;
• an elongate shaft extending from said housing, wherein said elongate shaft defines a longitudinal axis;
• an end effector, comprising:
• a first jaw;
• and
• a second jaw rotatable relative to said first jaw between an open position and a closed position, wherein said second jaw comprises a wedge surface;
• a closure member operably coupled with said first rotary member, wherein said closure member is configured to move longitudinally to engage said wedge surface and transmit a closing motion to said second jaw to move said second jaw toward said closed position in response to an input motion from said first rotary member;
• and
• an opening system configured to move longitudinally to apply an opening force to said second jaw at a location other than said wedge surface to move said second jaw toward said open position in response to an input motion from said second rotary member.

A surgical stapling system, comprising:

• a housing comprising a first rotary input disc and a second rotary input disc configured to be driven by a rotary motion generating system;
• an elongate shaft extending from said housing, wherein said elongate shaft comprises a longitudinally-extending tube;
• an end effector, comprising:
• a staple cartridge jaw comprising staples removably stored therein;
• and
• an anvil rotatable relative to said staple cartridge jaw between a fully-open position and a fully-clamped position, wherein said anvil comprises a cam surface;
• a clamping cam operably coupled with said first rotary input disc, wherein said clamping cam is configured to move longitudinally to engage said cam surface and transmit a clamping force to said anvil to move said anvil toward said fully-clamped position in response to an input motion from said first rotary member;
• and
• an opening member configured to move longitudinally to apply a force to said anvil at a location other than said cam surface to move said anvil toward said fully-open position in response to an input motion from said second rotary member.