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

Claim 0:
1. A surgical instrument for use with a robotic surgical system, the robotic surgical system comprising a robotic arm including motor-driven 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 configured to operably support a staple cartridge;
an anvil; and
a firing member configured to pass through the elongate channel and the anvil, wherein the firing member is movable longitudinally in response to a longitudinal pulling motion of the drive cable;

an articulation system, 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 operably supported within the elongate shaft assembly, wherein the actuating member is operatively coupled to the firing member, wherein, when the drive system is driven by the motor-driven outputs, a first actuation advances the actuating member a first distance and a second actuation retracts the actuating member a second distance.