Robotically-controlled motorized surgical instrument with an end effector

Abstract

A surgical tool configured for operation in connection with a robotic system. The surgical tool includes a shaft and an end effector extending distally from the shaft. The end effector comprises a first jaw member and a second jaw member movable relative to the first jaw member from a closed position to an open position in response to at least one axial motion. In addition, the surgical tool includes a motor configured to generate at least one rotational motion and a motion conversion assembly operably coupled to the motor and the second jaw member, wherein the motion conversion assembly is configured to convert the at least one rotational motion to the at least one axial motion.

What is claimed is: 
     
         1 . A surgical end effector, comprising:
 a first jaw member;   a second jaw member movable relative to the first jaw member between and open position and a closed position;   camming means for camming the second jaw member relative to the first jaw member from the open position to the closed position and for camming the second jaw member relative to the first jaw member from the closed position to the open position, wherein the camming means is configured to apply actuation forces onto the first jaw member and the second jaw member simultaneously to move the second jaw member relative to the first jaw member from the open position to the closed position; and   rotary input means for driving the camming means.   
     
     
         2 . The surgical end effector of  claim 1 , wherein the rotary input means comprises a motor configured to drive the camming means. 
     
     
         3 . The surgical end effector of  claim 2 , wherein the motor is coupled to a battery configured to provide power to the motor. 
     
     
         4 . The surgical end effector of  claim 2 , wherein the motor is configured to generate at least one rotational motion, and wherein the at least one rotational motion causes the camming means to move the second jaw member from the closed position to the open position. 
     
     
         5 . The surgical end effector of  claim 4 , wherein the motor is configured to generate at least one opposite rotational motion, and wherein the at least one opposite rotational motion causes the camming means to move the second jaw member from the open position to the closed position. 
     
     
         6 . The surgical end effector of  claim 1 , wherein the rotary input means comprises a rotary drive shaft. 
     
     
         7 . The surgical end effector of  claim 1 , wherein the camming means comprises a camming member, wherein the second jaw member comprises a slot, and wherein the rotary input means is configured to move the camming member relative to the slot. 
     
     
         8 . The surgical end effector of  claim 1  further comprising a staple cartridge. 
     
     
         9 . A surgical instrument, comprising:
 a housing comprising a motor;   a shaft extending distally from the housing;   an end effector extending distally from the shaft, the end effector comprising:
 a first jaw member; and 
 a second jaw member movable relative to the first jaw member between an open position and a closed position; 
   an axially movable drive member in operable communication with the second jaw member; and   a rotary drive shaft in operable communication with the motor, wherein the rotary drive shaft is in operable engagement with the axially movable drive member, wherein at least one rotational motion of the rotary drive shaft causes the axially movable drive member to move the second jaw member relative to the first jaw member from the closed position to the open position.   
     
     
         10 . The surgical instrument of  claim 9 , wherein at least one opposite rotational motion of the rotary drive shaft causes the axially movable drive member to move the second jaw member relative to the first jaw member from the open position to the closed position. 
     
     
         11 . The surgical instrument of  claim 9 , wherein the second jaw member comprises a slot, and wherein the axially movable drive member comprises a camming member movable through the slot to move the second jaw member relative to the first jaw member from the closed position to the open position. 
     
     
         12 . The surgical instrument of  claim 9 , wherein the wherein the axially movable drive member is configured to apply actuation forces onto the first jaw member and the second jaw member simultaneously. 
     
     
         13 . The surgical instrument of  claim 12 , wherein the housing comprises a power source configured to provide power to the motor. 
     
     
         14 . The surgical instrument of  claim 9 , wherein the rotary drive shaft is in threaded engagement with the axially movable drive member. 
     
     
         15 . The surgical instrument of  claim 9 , wherein the end effector further comprises a staple cartridge. 
     
     
         16 . A surgical tool for use with a robotic system, the surgical tool comprising:
 a shaft;   an end effector extending distally from the shaft, the end effector comprising:
 a first jaw member; and 
 a second jaw member movable relative to the first jaw member from a closed position to an open position in response to at least one axial motion; 
   a motor configured to generate at least one rotational motion; and   a motion conversion assembly operably coupled to the motor and the second jaw member, wherein the motion conversion assembly is configured to convert the at least one rotational motion to the at least one axial motion.   
     
     
         17 . The surgical tool of  claim 16 , wherein the second jaw member is movable relative to the first jaw member from the open position to the closed position in response to at least one opposite axial motion, wherein the motor is configured to generate at least one opposite rotational motion, and wherein the motion conversion assembly is configured to convert the at least one opposite rotational motion to the at least one opposite axial motion. 
     
     
         18 . The surgical tool of  claim 16 , wherein the motion conversion assembly comprises:
 an actuation member in operable communication with the second jaw member; and   a rotary input in operable communication with the motor, wherein the rotary input is configured to receive the at least one rotational motion from the motor, and wherein the actuation member is configured to transmit the at least one axial motion to the second jaw member.   
     
     
         19 . The surgical tool of  claim 16 , wherein the actuation member is in threaded engagement with the rotary input. 
     
     
         20 . The surgical tool of  claim 16  further comprising a power source configured to provide power for the motor. 
     
     
         21 . The surgical instrument of  claim 16 , wherein the end effector further comprises a staple cartridge. 
     
     
         22 . A surgical tool for use with a robotic system, the surgical tool comprising:
 a shaft;   an end effector extending distally from the shaft, the end effector comprising:
 a first jaw member; and 
 a second jaw member movable relative to the first jaw member from the open position to the closed position; 
   camming means for camming the second jaw member relative to the first jaw member from the open position to the closed position;   rotary input means for driving the camming means; and   firing means distinct and independent from the camming means.