Robotically-controlled motorized surgical end effector system with rotary actuated closure systems having variable actuation speeds

A surgical tool for use with a robotic system that has a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly, said surgical tool comprising:

• a surgical end effector comprising at least one component portion that is selectively movable between first and second positions relative to at least one other component portion thereof;
• and
• an elongated shaft assembly operably coupled to said surgical end effector, said elongated shaft assembly comprising:
• an axially movable portion in operable communication with said at least one selectively movable component portion of said surgical end effector;
• and
• a rotatably movable portion in operable engagement with said axially movable portion wherein an initial rotation of said rotatably movable portion causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said first position into an intermediate position at a first rate, wherein subsequent rotation of said rotatably movable portion in a same direction causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said intermediate position to said second position at a second rate, wherein said surgical tool further comprises a transmission arrangement in operable engagement with said at least one rotatable body portion supported on the tool drive assembly and in operable engagement with said rotatably movable portion of said elongated shaft assembly to apply said rotary output motions thereto from said at least one rotatable body portion to cause said axially movable portion of said elongated shaft assembly to move said selectively movable component portion between said first and second positions, and wherein said first rate is greater than said second rate.

A surgical tool for use with a robotic system that has a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly, said surgical tool comprising:

• a surgical end effector comprising at least one component portion that is selectively movable between first and second positions relative to at least one other component portion thereof;
• and
• an elongated shaft assembly operably coupled to said surgical end effector, said elongated shaft assembly comprising:
• an axially movable portion in operable communication with said at least one selectively movable component portion of said surgical end effector;
• and
• a rotatably movable portion in operable engagement with said axially movable portion wherein an initial rotation of said rotatably movable portion causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said first position into an intermediate position at a first rate, wherein subsequent rotation of said rotatably movable portion in a same direction causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said intermediate position to said second position at a second rate, wherein said surgical tool further comprises a transmission arrangement in operable engagement with said at least one rotatable body portions supported on the tool drive assembly and in operable engagement with said rotatably movable portion of said elongated shaft assembly to apply said rotary output motions thereto from said at least one rotatable body portion to cause said axially movable portion of said elongated shaft assembly to move said selectively movable component portion between said first and second positions, wherein said another component portion of said end effector comprises a surgical staple cartridge and wherein one of said at least one component portion that is selectively movable comprises an anvil that is selectively movable between a first open position, said intermediate position, and a second closed position relative to said surgical staple cartridge, and wherein said rotatably movable portion comprises a closure member in threaded engagement with said axially movable portion.

A surgical tool for use with a robotic system that has a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator, said surgical tool comprising:

• a surgical end effector comprising at least one component portion that is selectively movable between first and second positions relative to at least one other component portion thereof;
• and
• an elongated shaft assembly operably coupled to said surgical end effector, said elongated shaft assembly comprising:
• an axially movable portion in operable communication with said at least one selectively movable component portion of said surgical end effector;
• and
• a rotatably movable portion in operable engagement with said axially movable portion wherein an initial rotation of said rotatably movable portion causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said first position into an intermediate position at a first rate, wherein a subsequent rotation of said rotatably movable portion in a same direction causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said intermediate position to said second position at a second rate, and wherein said first rate is greater than said second rate.

A surgical tool for use with a robotic system that has a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator, said surgical tool comprising:

• a surgical end effector comprising at least one component portion that is selectively movable between first and second positions relative to at least one other component portion thereof;
• and
• an elongated shaft assembly operably coupled to said surgical end effector, said elongated shaft assembly comprising:
• an axially movable portion in operable communication with said at least one selectively movable component portion of said surgical end effector;
• and
• a rotatably movable portion in operable engagement with said axially movable portion wherein an initial rotation of said rotatably movable portion causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said first position into an intermediate position at a first rate, wherein a subsequent rotation of said rotatably movable portion in a same direction causes said axially movable portion to move said selectively movable component portion of said surgical end effector from said intermediate position to said second position at a second rate, and wherein said rotatably movable portion comprises a closure member in threaded engagement with said axially movable portion.