Robotically-controlled surgical instrument with force-feedback capabilities

Abstract

A surgical instrument. Various embodiments of the surgical instrument include an end effector that has a moveable cutting implement. A main drive shaft assembly operably interfaces with the end effector for transmitting an actuation motion to the movable cutting implement therein. A gear drive train is connected to the main drive shaft assembly. The gear drive train is actuated by a motor that is configured to receive control signals from a robotic system. Various embodiments include a sensor arrangement that operably interfaces the end effector to communicate forces experienced by the end effector to the robotic system.

1 . A surgical cutting and fastening instrument comprising:
 an end effector having a moveable cutting implement operably supported therein;   a main drive shaft assembly operably interfacing with the end effector for transmitting an actuation motion to the movable cutting implement therein;   a gear drive train connected to the main drive shaft assembly;   a motor for actuating the gear drive train, said motor configured to receive control signals from a robotic system; and   a sensor arrangement operably interfacing with said end effector and said robotic system to communicate forces experienced by said end effector to said robotic system.   
     
     
         2 . The surgical cutting and fastening instrument of  claim 1 , further comprising:
 a reverse motor sensor for sensing an end of a cutting stroke of the cutting implement such that when the reverse motor sensor senses the end of the cutting stroke, the motor is signaled to reverse rotate to retract the cutting implement;   a stop motor sensor for sensing retraction of the cutting implement such that when the stop motor sensor senses retraction of the cutting implement, the motor is signaled to stop rotating.   
     
     
         3 . The surgical cutting and fastening instrument of  claim 1 , wherein the end effector includes a staple cartridge. 
     
     
         4 . The surgical cutting and fastening instrument of  claim 1 , wherein the end effector includes a helical drive screw, such that forward rotation of the helical drive screw causes the cutting implement to undertake the cutting stroke, and reverse rotation of the helical drive screw causes the cutting implement to retract. 
     
     
         5 . The surgical cutting and fastening instrument of  claim 1 , wherein the main drive shaft includes articulation means for articulating the end effector. 
     
     
         6 . The surgical cutting and fastening instrument of  claim 1 , wherein said end effector has an anvil movably supported thereon. 
     
     
         7 . The surgical cutting and fastening instrument of  claim 6  further comprising a closure actuator interfacing with said main drive shaft assembly to selectively apply opening and closing motions to said anvil. 
     
     
         8 . The surgical cutting and fastening instrument of  claim 1 , wherein the end effector comprises:
 an elongate channel for carrying the cutting instrument; and   a clamping member pivotably connected to the elongate channel.   
     
     
         9 . The surgical cutting and fastening instrument of  claim 7  wherein said main drive shaft assembly further comprises a closure tube movably interfacing with said anvil such that movement of said closure tube in a distal direction causes said anvil to move to a closed position and movement of said closure tube in a proximal direction, said closure tube causes said anvil to open. 
     
     
         10 . The surgical cutting and fastening instrument of  claim 1 , wherein the motor comprises a DC brushed motor. 
     
     
         11 . The surgical cutting and fastening instrument of  claim 1  wherein said robotic system has a manually actuatable portion that communicates with said sensor arrangement to provide a person actuating said manually actuatable portion with an indication of at least one of said forces experienced by the end effector. 
     
     
         12 . The surgical cutting and fastening instrument of  claim 11  wherein said indication of at least one of said forces experienced by the end effector comprises a haptic indication. 
     
     
         13 . The surgical cutting and fastening instrument of  claim 11  wherein said indication of at least one of said forces experienced by the end effector comprises a visual indication on a controller portion of said robotic system. 
     
     
         14 . A surgical instrument, comprising:
 an end effector comprising:
 an elongated channel configured to operably support a staple cartridge therein; 
 an anvil movably supported relative to said elongated channel and being movable to an open position relative to a staple cartridge within said elongated channel upon application of an opening motion thereto, said anvil being movable to a closed position relative to the staple cartridge upon application of a closing motion to said anvil; and 
 a tissue cutting implement operably supported for reciprocatable movement within said elongated channel upon application of actuation and retraction motions thereto and wherein said surgical instrument further comprises: 
   a shaft assembly connected to the end effector, said shaft assembly comprising:
 a drive shaft operably interfacing with said tissue cutting implement for transmitting said actuation and retraction motions thereto; 
 a gear drive train operably interfacing with said drive shaft; 
 a motor for actuating the gear drive train, said motor configured to receive control signals from a robotic system; and 
 means for communicating forces experienced by said end effector to said robotic system. 
   
     
     
         15 . The surgical cutting and fastening instrument of  claim 14  wherein said shaft assembly further comprises a closure tube movably interfacing with said anvil such that movement of said closure tube in a distal direction causes said anvil to move to a closed position and movement of said closure tube in a proximal direction, said closure tube causes said anvil to open. 
     
     
         16 . The surgical cutting and fastening instrument of  claim 15  further comprising means for applying closure control motions to said closure tube. 
     
     
         17 . The surgical cutting and fastening instrument of  claim 16  wherein said means for applying closure control motions comprises a second motor operably interfacing with said robotic system and said closure tube to apply said closure control motions thereto.