Patent ID: 11857181
Assignee: CILAG GMBH INTERNATIONAL
Field: Medical technology (Instruments)
Classification: CPC A  Y | IPC A

Claim 9:
10. A robotic surgical stapling device for use with a surgical robot, the robotic surgical stapling device comprising:
an end effector, comprising:
a first jaw; and
a second jaw movable relative to the first jaw from an open configuration to a closed configuration;

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, wherein the third rotary interface is configured to drive the end effector from the open configuration to the closed configuration;
a 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, 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; and

a gear mechanism selectively engageable with the firing assembly intermediate the firing member and the third rotary interface.