Patent ID: 11911028
Assignee: CILAG GMBH INTERNATIONAL
Field: Medical technology (Instruments)
Classification: CPC A  Y | IPC A

Claim 5:
6. A surgical instrument for use with a robotic surgical system, the robotic surgical system comprising a robotic arm including motor-driven control outputs, the surgical instrument comprising:
a housing attachable to the robotic arm;
a drive system including a first rotatable drive disc, a second rotatable drive disc, and a drive cable driven by the first rotatable drive disc;
an elongate shaft assembly;
an articulation joint comprising a first articulation axis and a second articulation axis;
an end effector coupled to the elongate shaft assembly via the articulation joint, wherein the end effector comprises:
an elongate channel;
a staple cartridge seated in the elongate channel, wherein the staple cartridge comprises:
a cartridge body comprising a distal end and longitudinal rows of staple cavities;
staples removably stored in the staple cavities; and
a sled comprising at least one ramp configured to drive the staples out of the staple cavities during a staple firing stroke;

an anvil comprising forming pockets configured to deform the staples; and
a firing member configured to pass through the elongate channel and the anvil during the staple firing stroke, wherein the firing member is movable longitudinally in response to a longitudinal pulling motion of the drive cable; and

an articulation system drivable by the motor-driven control outputs, comprising:
a first articulation actuator;
a first articulation cable driven by the first articulation actuator to articulate the end effector about the first articulation axis;
a second articulation actuator; and
a second articulation cable driven by the second articulation actuator to articulate the end effector about the second articulation axis; and

an actuating member movably supported within the elongate shaft assembly, wherein the actuating member is operatively coupled to the firing member, and wherein, when the drive system is driven by the motor-driven control outputs:
a drive actuation advances the firing member distally a first distance to push the sled distally through the staple firing stroke; and, a subsequent actuation that is subsequent to the drive actuation retracts the firing member a second distance.