FIELD: medicine.
SUBSTANCE: invention relates to medical equipment. Surgical instrument comprises a drive system that is configured to electrically generate a plurality of discrete rotary control motions. Surgical instrument includes an elongate shaft assembly that is operably couplable to the drive system for receiving a first rotary control motion therefrom for rotating the elongate shaft assembly about a shaft axis. End effector is operably coupled to the elongate shaft assembly to rotate about the shaft axis. Elongate shaft assembly is configured to receive and transmit a second rotary control motion from the drive system to the surgical end effector and to transmit a third rotary control motion from the drive system to an articulation joint that communicates with the elongate shaft assembly and the surgical end effector to change the position of the surgical end effector by an articulation axis that is transverse to the shaft axis.
EFFECT: invention can be used for stapling.
8 cl, 117 dwg
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