US 11,812,954 B2
Robotically-controlled motorized surgical instrument with an end effector
David C. Yates, Morrow, OH (US); Frederick E. Shelton, IV, Hillsboro, OH (US); and Jerome R. Morgan, Cincinnati, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Apr. 28, 2021, as Appl. No. 17/242,766.
Application 17/242,766 is a continuation of application No. 16/903,803, filed on Jun. 17, 2020, granted, now 11,045,189.
Application 16/903,803 is a continuation of application No. 16/146,335, filed on Sep. 28, 2018, granted, now 10,765,425, issued on Sep. 8, 2020.
Application 16/146,335 is a continuation of application No. 15/274,826, filed on Sep. 23, 2016, granted, now 10,130,361, issued on Nov. 20, 2018.
Application 15/274,826 is a continuation of application No. 13/792,263, filed on Mar. 11, 2013, granted, now 9,655,614, issued on May 23, 2017.
Application 13/792,263 is a continuation of application No. 13/118,253, filed on May 27, 2011, granted, now 9,386,983, issued on Jul. 12, 2016.
Application 13/118,253 is a continuation in part of application No. 12/235,972, filed on Sep. 23, 2008, granted, now 9,050,083, issued on Jun. 9, 2015.
Prior Publication US 2021/0315566 A1, Oct. 14, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 17/068 (2006.01); A61B 17/072 (2006.01); A61B 34/00 (2016.01); A61B 50/36 (2016.01); A61B 90/98 (2016.01); A61B 34/30 (2016.01); A61B 17/32 (2006.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 50/30 (2016.01); A61B 90/00 (2016.01); H02J 7/00 (2006.01)
CPC A61B 17/068 (2013.01) [A61B 17/07207 (2013.01); A61B 34/30 (2016.02); A61B 34/70 (2016.02); A61B 34/71 (2016.02); A61B 34/76 (2016.02); A61B 50/36 (2016.02); A61B 90/98 (2016.02); A61B 50/30 (2016.02); A61B 2017/00075 (2013.01); A61B 2017/00314 (2013.01); A61B 2017/00323 (2013.01); A61B 2017/00362 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/00685 (2013.01); A61B 2017/00734 (2013.01); A61B 2017/0688 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07278 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/2923 (2013.01); A61B 2017/2927 (2013.01); A61B 2017/2929 (2013.01); A61B 2017/2943 (2013.01); A61B 2017/320093 (2017.08); A61B 2017/320094 (2017.08); A61B 2017/320095 (2017.08); A61B 2017/320097 (2017.08); A61B 2090/065 (2016.02); A61B 2090/0803 (2016.02); A61B 2090/0811 (2016.02); A61B 2090/0814 (2016.02); H02J 7/0031 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical tool for use with a robotic system, the surgical tool comprising:
a shaft;
an 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,
wherein the end effector is rotatable relative to the shaft;
a motor;
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, and 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.