Patent ID: 11931032
Assignee: CILAG GMBH INTERNATIONAL
Field: Medical technology (Instruments)
Classification: CPC A  B | IPC A  B

Claim 10:
11. A surgical instrument for use with a robotic system, including:
a drive assembly operatively coupled to a control unit of the robotic system, the drive assembly comprising:
a rotatable driver; and
a second rotatable driver;

a shaft comprising an articulation joint;
a rotatable closure driver operably coupleable with and operably decoupleable from the rotatable driver;
a drive shaft operably coupleable with and operably decoupleable from the rotatable driver, wherein the drive shaft is rotatable to drive a sled through a firing stroke;
a shifter, shiftable between:
a first state in which the rotatable driver is operably coupled with the rotatable closure driver and operably decoupled from the drive shaft; and
a second state in which the rotatable driver is operably coupled with the drive shaft and operably decoupled from the rotatable closure driver;
wherein the second rotatable driver is configured to shift the shifter between the first state and the second state; and

an end effector rotatable about the articulation joint, comprising:
a first jaw; and
a second jaw rotatable relative to the first jaw;

a closure driver configured to move the second jaw into a closed position during a full closure stroke, wherein the closure driver is threadably coupled to the rotatable closure driver, wherein the rotatable driver is rotated a first number of rotations to move the closure driver through the full closure stroke, wherein the rotatable driver is rotated a second number of rotations to drive the sled through the firing stroke, and wherein the second number of rotations is more than the first number of rotations.