Closure subsystems for robotic stapling and cutting systems

A closure subsystem for a surgical instrument comprising:

• a first closure input puck engageable with a first closure robotic output;
• a cam gear rotatably engaged with the first closure input puck;
• and
• a yoke pin coupled to a closure tube and movable from a first position to a second position in response to a rotation of the cam gear,
• wherein movement of the yoke pin from the first position to the second position translates the closure tube distally onto an anvil ramp of an anvil.

A closure subsystem comprising:

• a cam gear comprising a cam track;
• and
• a yoke pin coupled to a closure tube and movable from a first position to a second position in response to a rotation of the cam gear, the yoke pin extending into the cam track, wherein the cam track is shaped to provide a non-linear movement profile of the yoke pin and comprises an open position, a high-speed compression region, a high-force region, and a constant-force region,
• wherein the high-speed compression region, the high-force region, and the constant-force region each have different curvatures, and
• wherein the constant force region is shaped such that the yoke pin remains stationary when tracking through the constant force region as the cam gear rotates.