Robotically-controlled end effector

Abstract

The present invention is directed to a surgical instrument with a robotics system, a memory device and an end effector having an elongate channel, knife position sensor(s) and a firing bar coupled to a knife. In response to drive motions initiated by the robotics system, the firing bar may translate within the elongate channel. As the firing bar translates, the sensor(s) transmit a signal to the memory device. The position of the knife may be determined from the output signals and may be communicated to the robotics system or instrument user. The sensors may be Hall Effect sensors.

1 - 17 . (canceled) 
     
     
         18 . A surgical fastening system, comprising:
 an end effector assembly, comprising:
 a first jaw; 
 a second jaw, wherein said first jaw is movable relative to said second jaw between an open position and a closed position; 
 a fastener cartridge body; and 
 a plurality of fasteners removably stored in said fastener cartridge body; 
   an electric motor;   a firing member, wherein said electric motor is configured to impart a firing motion to said firing member to eject said fasteners from said fastener cartridge body; and   a control system configured to:
 evaluate whether said end effector cartridge assembly is in a fire-ready condition; 
 allow said electric motor to apply said firing motion to said firing member when said end effector assembly is in said fire-ready condition; and 
 prevent said electric motor from applying said firing motion to said firing member when said end effector assembly is not in said fire-ready condition. 
   
     
     
         19 . The surgical fastening system of  claim 18 , further comprising a closure system configured to close said first jaw, wherein said closure system is operable independently of said electric motor. 
     
     
         20 . The surgical fastening system of  claim 19 , further comprising an elongate shaft and an articulation joint, wherein said articulation joint defines a fixed axis of rotation, and wherein said end effector assembly is rotatable relative to said elongate shaft about said articulation joint. 
     
     
         21 . The surgical fastening system of  claim 20 , wherein said closure system comprises a closure drive member, and wherein said closure drive member traverses said articulation joint. 
     
     
         22 . The surgical fastening system of  claim 18 , further comprising a tissue cutting knife and a knife position sensor system configured to track the position of said tissue cutting knife. 
     
     
         23 . The surgical fastening system of  claim 22 , further comprising a closure load sensing system configured to measure the clamping force applied by said first jaw. 
     
     
         24 . A surgical stapling system, comprising:
 an end effector assembly, comprising:
 a first jaw; 
 a second jaw, wherein said first jaw is movable relative to said second jaw between an open position and a closed position; 
 a cartridge body; and 
 a plurality of staples removably stored in said cartridge body; 
   an electric motor;   a firing member, wherein said electric motor is configured to impart a firing motion to said firing member to eject said staples from said cartridge body;   observing means for observing whether said end effector assembly is in a fire-ready condition;   permitting means for permitting said electric motor to apply said firing motion to said firing member when said end effector assembly is in said fire-ready condition; and   preventing means for preventing said electric motor from applying said firing motion to said firing member when said end effector assembly is not in said fire-ready condition.   
     
     
         25 . The surgical stapling system of  claim 24 , further comprising a closure system configured to close said first jaw, wherein said closure system is operable independently of said electric motor. 
     
     
         26 . The surgical stapling system of  claim 25 , further comprising an elongate shaft and an articulation joint, wherein said articulation joint defines a fixed axis of rotation, and wherein said end effector assembly is rotatable relative to said elongate shaft about said articulation joint. 
     
     
         27 . The surgical stapling system of  claim 26 , wherein said closure system comprises a closure drive member, and wherein said closure drive member traverses said articulation joint. 
     
     
         28 . The surgical stapling system of  claim 24 , further comprising a tissue cutting knife and a knife position sensor system configured to track the position of said tissue cutting knife. 
     
     
         29 . The surgical stapling system of  claim 28 , further comprising a closure load sensing system configured to measure the clamping force applied by said first jaw. 
     
     
         30 . A surgical stapling system, comprising:
 a surgical implement, comprising:
 a first jaw; 
 a second jaw, wherein said first jaw is movable relative to said second jaw between an open position and a closed position; and 
 a replaceable staple cartridge including a plurality of staples removably stored therein; 
   an electric motor;   a firing member, wherein said electric motor is configured to drive said firing member through a staple firing stroke to eject said staples from said replaceable staple cartridge;   observing means for observing whether said surgical implement is in a fire-ready condition;   permitting means for permitting said electric motor to perform said staple firing stroke when said surgical implement is in said fire-ready condition; and   preventing means for preventing said electric motor from performing said staple firing stroke when said surgical implement is not in said fire-ready condition.   
     
     
         31 . The surgical stapling system of  claim 30 , further comprising a closure system configured to close said first jaw, wherein said closure system is operable independently of said electric motor. 
     
     
         32 . The surgical stapling system of  claim 31 , further comprising an elongate shaft and an articulation joint, wherein said articulation joint defines a fixed axis of rotation. 
     
     
         33 . The surgical stapling system of  claim 32 , wherein said closure system comprises a closure drive member, and wherein said closure drive member traverses said articulation joint. 
     
     
         34 . The surgical stapling system of  claim 30 , further comprising a tissue cutting knife and a knife position sensor system configured to track the position of said tissue cutting knife. 
     
     
         35 . The surgical stapling system of  claim 34 , further comprising a closure load sensing system configured to measure the clamping force applied by said first jaw.