Stitching instrument comprising control system to control length of firing stroke

The invention discloses a surgical stapling instrument. The surgical stapling instrument includes an articulatable end effector having a staple cartridge. The stapling instrument also includes an articulation driver configured to articulate the end effector and a staple firing driver configured to fire staples from the staple cartridge during a staple firing stroke. The articulation driver is selectively engageable with the staple firing driver to articulate the end effector and disengage from the staple firing driver during a staple firing stroke. The stapling instrument also includes a control system configured to compensate for net displacement of the staple firing drive that occurs upon articulating the end effector. 本发明公开了一种外科缝合器械，该外科缝合器械包括具有钉仓的可关节运动端部执行器。缝合器械还包括能够使端部执行器进行关节运动的关节运动驱动器和能够在钉击发行程期间从钉仓击发钉的钉击发驱动器。关节运动驱动器能够选择性地与钉击发驱动器接合以使端部执行器进行关节运动，并且在钉击发行程期间与钉击发驱动器脱离。缝合器械还包括控制系统，该控制系统被配置成能够补偿在使端部执行器进行关节运动时发生的钉击发驱动装置的净位移。