Patent ID: 11918208
Assignee: CILAG GMBH INTERNATIONAL
Field: Medical technology (Instruments)
Classification: CPC A  Y | IPC A

Claim 8:
9. A robotic surgical stapling device for use with a surgical robot, the robotic surgical stapling device comprising:
an end effector, comprising:
a first jaw;
a second jaw movable relative to the first jaw from an open configuration to a closed configuration; and
a staple cartridge comprising staples deployable from the end effector into tissue between the first jaw and the second jaw;

a shaft extending proximally from the end effector;
a first rotary interface releasably coupleable to the surgical robot;
a first cable coupled to the first rotary interface, wherein the first cable is movable by the first rotary interface to articulate the end effector relative to the shaft about a first axis;
a second rotary interface releasably coupleable to the surgical robot;
a second cable coupled to the second rotary interface, wherein the second cable is movable by the second rotary interface to articulate the end effector relative to the shaft about a second axis;
a third rotary interface releasably coupleable to the surgical robot;
a firing assembly operatively coupled to the third rotary interface, the firing assembly comprising:
a firing member, comprising:
a first camming portion configured to engage the first jaw; and
a second camming portion configured to engage the second jaw; and

a composite drive extending proximally from the firing member, wherein the composite drive is driveable by the third rotary interface, and wherein the composite drive comprises:
a cable portion; and
a connector, wherein the cable portion is coupled to the connector proximal to the firing member, wherein the cable portion and the connector are configured to cooperatively advance the firing member during a firing stroke to deploy the staples in response to a first rotary motion applied to the third rotary interface, and wherein the cable portion and the connector are configured to cooperatively retract the firing member to permit a transition of the second jaw toward the open configuration in response to a second rotary motion applied to the third rotary interface;

a gear mechanism selectively engageable with the firing assembly intermediate the firing member and the third rotary interface to enable a retraction of the firing member; and
a control circuit comprising a processor configured to:
detect an end of the firing stroke; and
discontinue the application of the first rotary motion based on detecting the end of the firing stroke.