US Patent 10130361 Robotically-controller motorized surgical tool with an end effector

A surgical tool for use with a robotic system is disclosed. The surgical tool comprises a housing, a shaft extending distally from the housing, an end effector extending distally from the shaft, a motor configured to generate at least one rotational motion, a modular adapter coupled to the housing and the robotic system, and a motion conversion assembly. The end effector comprises a circular stapler configured to support an interchangeable staple cartridge. The motor comprises at least two windings. The modular adapter comprises at least three rotary shaft interfaces. The at least three rotary shaft interfaces are configured to actuate a closing motion and a firing motion of the circular stapler. The motion conversion assembly is operably coupled to the motor and the circular stapler. The motion conversion assembly is configured to convert the at least one rotational motion to at least one axial motion.