A surgical stapling system comprising an end effector, a shaft, a drive member, a first cable, a second cable, and a third cable is disclosed. The end effector comprises a first jaw, a second jaw rotatable relative to the first jaw between an open position and a closed position, and a staple cartridge comprising staples. The shaft defines first and second articulation joints. The end effector is movable about the first articulation joint in a first articulation plane and about the second articulation joint in a second articulation plane. The drive member traverses the first articulation joint and the second articulation joint and is configured to space the second jaw relative to the first jaw. Actuation of the first and second cables moves the end effector within the first articulation plane. Actuation of the second and third cables moves the end effector within the second articulation plane.

A surgical stapling instrument. Various embodiments include an actuation system for selectively generating a plurality of control motions. A surgical end effector is operably coupled to the actuation system. The actuation system interfaces with an actuation member configured to operably engage rotatable camming members to fire staples within the end effector into forming contact with an anvil portion of the end effector.

Aspects of the disclosure relate to methods, apparatus, and systems for replacing a drive assembly of a turntable load station. A system includes a structural pier, a track formed on a top surface of the structural pier, a turntable, a bogie assembly detachably coupled to an underside of the turntable, the bogie assembly including a wheeled drive assembly, a swap rail mounted to a radial side surface of the structural pier, and a translating cartridge movably mounted to the swap rail in a serviceable orientation. The translating cartridge is configured to move along the radial side surface of the structural pier via the swap rail while in the serviceable orientation to an unloading position underneath the bogie assembly, pivot from the serviceable orientation to an upright functional orientation to couple with the wheeled drive assembly, and decouple the wheeled drive assembly from the bogie assembly.

A surgical stapling instrument. Various embodiments include an actuation system for selectively generating a plurality of control motions. A surgical end effector is operably coupled to the actuation system. The actuation system interfaces with an actuation member configured to operably engage rotatable camming members to fire staples within the end effector into forming contact with an anvil portion of the end effector.

A surgical device for use with a robotic system is disclosed. The surgical device includes an elongate shaft including a first interface, an enclosure, a first control system, a second control system, and a firing system. A loading unit is operably couplable to the first interface. The enclosure includes a second interface that includes a first rotary driven element, a second rotary driven element, and a third rotary driven element. The first control system is configured to effect a first control motion based on rotation of the first rotary driven element. The second control system is configured to effect a second control motion based on rotation of the second rotary driven element. The second control motion includes a decoupling motion. The firing system is configured to provide a firing motion to a firing member of the loading unit based on rotation of the third rotary driven element.

A surgical stapling system comprising a robotic interface and a surgical stapling attachment assembly configured to be attached to the robotic interface is disclosed. The robotic interface comprises motor-driven output drives. The surgical stapling attachment assembly comprises a closure member configured to be actuated by one of the motor-driven output drives, a firing bar configured to be actuated by another one of the motor-driven output drives, an end effector, and a shaft comprising an articulation joint. The end effector comprises a first jaw, a second jaw, and a pivot pin coupling the first jaw and the second jaw and defining a pivot axis. The closure member is actuatable through a closure stroke to move the second jaw relative to the first jaw.

A surgical stapling instrument. Various embodiments include an actuation system for selectively generating a plurality of control motions. A surgical end effector is operably coupled to the actuation system. The actuation system interfaces with an actuation member configured to operably engage rotatable camming members to fire staples within the end effector into forming contact with an anvil portion of the end effector.

Aspects of the disclosure relate to methods, apparatus, and systems for replacing a drive assembly of a turntable load station. A system includes a structural pier, a track formed on a top surface of the structural pier, a turntable, a bogie assembly detachably coupled to an underside of the turntable, the bogie assembly including a wheeled drive assembly, a swap rail mounted to a radial side surface of the structural pier, and a translating cartridge movably mounted to the swap rail in a serviceable orientation. The translating cartridge is configured to move along the radial side surface of the structural pier via the swap rail while in the serviceable orientation to an unloading position underneath the bogie assembly, pivot from the serviceable orientation to an upright functional orientation to couple with the wheeled drive assembly, and decouple the wheeled drive assembly from the bogie assembly.

A surgical stapling instrument. Various embodiments include an actuation system for selectively generating a plurality of control motions. A surgical end effector is operably coupled to the actuation system. The actuation system interfaces with an actuation member configured to operably engage rotatable camming members to fire staples within the end effector into forming contact with an anvil portion of the end effector.

A surgical assembly configured to be operably attached to a surgical robot is disclosed. The surgical assembly comprises a housing and a stapling assembly. The housing comprises a first, a second, and a third drive system. The stapling assembly comprises an end effector including a staple cartridge, a distal shaft assembly, a proximal shaft assembly, and an interface. The distal shaft assembly comprises a first driver configured to rotate the end effector, a second driver configured to articulate the end effector, and a third driver configured to move axially within the end effector. The proximal shaft assembly comprises a first drive train operably responsive to the first drive system, a second drive train operably responsive to the second drive system, and a third drive train operably responsive to the third drive system. The interface is configured to operably couple the distal shaft assembly to the proximal shaft assembly.