abstract |
The surgical instrument may comprise a drive system configured to electrically generate a plurality of discrete rotational control movements. In at least one form, the surgical instrument is operably coupled to the drive system to receive the first rotational control motion from the drive system for rotating the elongated shaft assembly about the axis centerline. May include an elongate shaft assembly. The elongate shaft assembly receives a second rotational control motion from the drive system and transmits it to a surgical end effector operably coupled to the elongate shaft assembly for the elongate shaft assembly about the axis centerline. It may be further configured to rotate the surgical end effector. The elongate shaft assembly receives a third rotational control motion from the drive system and transmits it to an articulation joint and a surgical end effector in communication with the elongate shaft assembly to produce an articulation axis substantially transverse to the axis centerline. It may be further configured to articulate the surgical end effector about the center. |