Robotically-controlled end effector
AssigneeCilag GmbH International
InventorsFrederick E. Shelton, IV, Jerome R. Morgan, Jeffrey S. Swayze, James R. Giordano
Life of this patent
Estimating the term…
Abstract
The present invention is directed to a surgical instrument with a robotics system, a memory device and an end effector having an elongate channel, knife position sensor(s) and a firing bar coupled to a knife. In response to drive motions initiated by the robotics system, the firing bar may translate within the elongate channel. As the firing bar translates, the sensor(s) transmit a signal to the memory device. The position of the knife may be determined from the output signals and may be communicated to the robotics system or instrument user. The sensors may be Hall Effect sensors.
Claims21
1-20. (canceled)
A robotic surgical tool, comprising:
- a plurality of rotatable drivers comprising a first driver;
- a mounting plate rotatably supporting the plurality of rotatable drivers in a mounting plane;
- an elongate shaft extending along a shaft axis, wherein the elongate shaft is rotatable about the shaft axis;
- an end effector extending from the elongate shaft, wherein the end effector is configurable between an open state and a clamped state, and wherein the end effector comprises:
- a staple forming anvil jaw;
- and
- an elongate channel dimensioned to receive a staple cartridge;
- an articulation joint, wherein the end effector is rotatable relative to the elongate shaft at the articulation joint;
- and
- a clamping drive comprising a longitudinally translatable driver, wherein the longitudinally translatable driver is translatable to move the end effector into the clamped state based on actuation of the first driver.
A robotic stapler, comprising:
- a mounting plate rotatably supporting a plurality of rotatable drivers in a mounting plane, wherein the plurality of rotatable drivers comprises a first driver;
- an elongate shaft extending along a shaft axis, wherein the elongate shaft is rotatable relative to the mounting plate about the shaft axis;
- an end effector extending from the elongate shaft, wherein the end effector is configurable between an open state and a clamped state, and wherein the end effector comprises:
- a first jaw;
- and
- a second jaw;
- an articulation joint, wherein the end effector is rotatable relative to the elongate shaft at the articulation joint;
- and
- a longitudinally translatable driver comprising a distal beam head, wherein the longitudinally translatable driver is translatable based on an actuation of the first driver to move the end effector into the clamped state.
Dependencies are inferred from the claim text.