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

Claim 0:
1. A surgical robotic system, comprising:
a robotic arm, comprising:
a tool holder, wherein the tool holder comprises a rotary drive; and
a motor that applies a first rotary motion in a first direction and a second rotary motion in a second direction to the rotary drive;

an end effector, comprising:
a first jaw;
a second jaw movable relative to the first jaw from an open configuration toward 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;
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;
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 that releasably couples to the rotary drive;
a firing assembly drivable by the third rotary interface during a firing stroke and a retraction stroke, wherein the firing assembly comprises:
a firing member advanceable during the firing stroke toward an end position within the staple cartridge by applying the first rotary motion, and retractable away from the end position during the retraction stroke by applying the second rotary motion, the 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 driven by the third rotary interface, and wherein the composite drive comprises:
a cable portion; and
a firing bar, wherein the cable portion is coupled to the firing bar proximal to the firing member, wherein the cable portion and the firing bar are configured to cooperatively advance the firing member to deploy the staples, and wherein the cable portion and the firing bar are configured to cooperatively retract the firing member to permit a transition of the end effector toward the open configuration;

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 when the cooperative advancement of the firing member is not actively driven by the third rotary interface; 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.