BR112016003674B1 - SURGICAL INSTRUMENT - Google Patents

Abstract

surgical instrument. A motor-driven surgical instrument is disclosed, which includes a surgical end actuator configured to perform at least one surgical procedure in response to triggering motions applied thereto from a triggering system. the surgical instrument additionally includes an articulation system which is configured to facilitate articulation of the end actuator with respect to an elongate axis of the tool. the instrument additionally includes a coupler assembly configured to enable the motor to selectively energize the firing system and linkage system.

Description

FIELD OF THE INVENTION

[001] The present invention relates to surgical instruments and, in various arrangements, to surgical cutting and stapling instruments equipped with motor and staple cartridges therefor, which are designed for cutting and stapling tissue.

BACKGROUND

[002] Surgical staplers are often used to implant staples into soft tissue in order to reduce or eliminate soft tissue bleeding, especially when tissue is being transected, for example. Surgical staplers, such as an endocutter, for example, may comprise an end actuator that can be moved, or pivoted, with respect to an elongate shank assembly. End actuators are often configured to grip soft tissue between the first and second jaw members, wherein the first jaw member often includes a staple cartridge that is configured to detachably store staples therein. and wherein the second claw member often includes an anvil. These surgical staplers may include a closure system to pivot the anvil to the staple cartridge.

[003] Surgical staplers, as described above, can be configured to pivot the end actuator anvil with respect to the staple cartridge so as to capture soft tissue between them. In various circumstances, the anvil can be configured to apply a clamping force to the soft tissue so as to hold it firmly between the anvil and the staple cartridge. If a surgeon is not satisfied with the position of the end actuator, however, he typically needs to activate a release mechanism on the surgical stapler to rotate the anvil to an open position and then reposition the end actuator. Thereafter, the staples are typically applied from the staple cartridge via a driver that traverses a channel within the staple cartridge, and causes the staples to deform against the anvil and secure the soft tissue layers together. Often, as is known in the art, staples are positioned in multiple rows or rows of staples to securely hold fabric layers. The end actuator also includes a cutting element, such as a knife for example, which is advanced between two rows of staples to sever the soft tissue after the soft tissue layers have been stapled together.

[004] These surgical staplers and actuators can be sized and configured to be inserted into a body cavity through a trocar or other access opening. The end actuator is typically coupled to an elongated rod that is sized to pass through the trocar or opening. The elongated stem assembly is often operatively coupled to a cable that supports control systems and/or triggers to control end actuator operation. To facilitate proper orientation and location of the end actuator within the body, many surgical instruments are configured to facilitate articulation of the end actuator with respect to an elongated stem portion.

[005] Motor-equipped surgical instruments are disclosed in US patent application publication No. 2009/0090763 A1 entitled POWERED SURGICAL STAPLING DEVICE to Zemlok et al. (hereinafter "Zemlok '763"), the entire description of which is incorporated herein by reference. Motor-equipped surgical instruments are also disclosed in US patent application publication No. 2011/0278344 A1 entitled POWERED SURGICAL INSTRUMENT to Zemlok et al. (hereinafter "Zemlok '344"), now US Patent No. 8,201,721, the entire disclosure of which is incorporated herein by reference.

[006] The aforementioned discussion is only intended to illustrate various aspects of the related art in the field of the invention at the time, and should not be taken as a denial of the scope of the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

[007] The features and advantages of this invention, and the manner of obtaining them, will become more evident, and the invention itself will be better understood, by referring to the description of the embodiments of the invention presented below, considered in conjunction with the drawings in attachment, in which:

[008] Figure 1 is a perspective view of a surgical instrument employing a form of retraction arrangement;

[009] Figure 2 is a perspective view of an exemplary loading unit that may be employed in connection with various surgical instruments disclosed herein;

[0010] Figure 3 is an exploded perspective view of a portion of the charging unit shown in Figure 2;

[0011] Figure 4 is a top view of a portion of the surgical instrument of Figure 1;

[0012] Figure 5 is a partial side view of a portion of the surgical instrument shown in Figure 4 with the clutch assembly in a disengaged position;

[0013] Figure 6 is a top view of a portion of an embodiment of a retraction assembly and the retraction lever arrangement thereof;

[0014] Figure 7 is a partial exploded view of a form of a drive unit with portions thereof shown in cross section;

[0015] Figure 8 is another top view of a portion of the surgical instrument with the drive unit locking system in the locked position;

[0016] Figure 9 is a top view of a form of a locking tongue assembly;

[0017] Figure 10 is a side elevation view of the locking tongue assembly of Figure 9;

[0018] Figure 11 is a bottom view of the latching pawl assembly of Figures 9 and 10;

[0019] Figure 12 is a front view of a gearbox housing embodiment;

[0020] Figure 13 is a partial side cross-sectional view of an embodiment of a surgical instrument with portions thereof shown in cross-section and with the drive unit locking system in a locked orientation;

[0021] Figure 14 is another partial side cross-sectional view of the surgical instrument of Figure 13 with the drive unit locking system in an unlocked orientation;

[0022] Figure 15 is a top view of another embodiment of surgical instrument with a portion of the housing removed to expose a portion of the instrument's drive unit locking arrangement arrangement;

[0023] Figure 16 is a side cross-sectional view of the surgical instrument embodiment of Figure 15 with portions thereof shown in cross-section and with solid lines illustrating the drive unit locking system in a locked orientation and with dashed lines illustrating the drive unit locking system in a non-locked orientation;

[0024] Figure 17 is another partial top view of the surgical instrument embodiment of Figures 15 and 16 with solid lines illustrating the position of the retraction lever prior to activation and dashed lines illustrating the position of the retraction lever after initial activation;

[0025] Figure 18 is another partial top view of the surgical instrument embodiment of Figures 15 to 17 with dashed lines illustrating the retraction lever in a fully activated position;

[0026] Figure 19 is a partial top view of a portion of another embodiment of surgical instrument with a portion of the housing omitted to expose the instrument's drive unit locking system and with solid lines representing the retraction lever on a non-activated position and dashed lines illustrating the retract lever after initial activation;

[0027] Figure 20 is a partial top view of another embodiment of surgical instrument with a portion of the housing omitted to expose the drive unit locking system thereof in a locked orientation;

[0028] Figure 21 is another partial top view of the surgical instrument embodiment of Figure 20 with the drive unit locking system in an unlocked orientation;

[0029] Figure 22 is a partial cross-sectional side view of a portion of the surgical instrument and end actuator with the retraction assembly thereof in a non-activated orientation;

[0030] Figure 23 is another partial cross-sectional side view of the surgical instrument and end actuator of Figure 22 after the firing rod assembly has been fired;

[0031] Figure 24 is another partial cross-sectional side view of the surgical instrument and end actuator of Figure 23 and after the retraction assembly has been activated to retract the drive beam back to its initial position within the actuator end.

[0032] Figure 25 is a partial cross-sectional side view of a portion of another surgical instrument and the end actuator in a pre-trigger condition and with the retraction assembly thereof in a non-activated orientation;

[0033] Figure 26 is another partial cross-sectional side view of the surgical instrument and end actuator of Figure 25 after firing;

[0034] Figure 27 is another partial cross-sectional side view of the surgical instrument and end actuator of Figure 26 with the retraction assembly latched thereto in an unlocked orientation;

[0035] Figure 28 is another partial cross-sectional side view of the surgical instrument and end actuator of Figure 27 with the distal firing rod portion in a retracted orientation;

[0036] Figure 29 is a partial cross-sectional view of a portion of another embodiment of surgical instrument with the coupler assembly driving the same in a hinged orientation;

[0037] Figure 30 is a partial cross-sectional view of a portion of the surgical instrument embodiment of Figure 29 with the coupler drive assembly therefor in a firing orientation;

[0038] Figure 31 is an enlarged cross-sectional view of the surgical instrument drive coupler assembly of Figures 29 and 30 with the coupler selector element shown in solid lines in joint orientation and with the coupler selector element shown in dashed lines in a shooting orientation;

[0039] Figure 32 is a partial cross-sectional view of a portion of another embodiment of surgical instrument;

[0040] Figure 33 is an enlarged partial cross-sectional view of a portion of the surgical instrument of Figure 32;

[0041] Figure 34 is another enlarged partial cross-sectional view of a portion of the surgical instrument of Figures 32 and 33 with the path limiter thereof in its most distal orientation;

[0042] Figure 35 is another enlarged partial cross-sectional view of a portion of the surgical instrument of Figures 32 to 34 with the path limiter thereof in its most proximal orientation;

[0043] Figure 36 is a partial cross-sectional view of the surgical instrument of Figure 33 taken along line 36-36 in Figure 33;

[0044] Figure 37 is a partial perspective view of a portion of the surgical instrument of Figures 32 to 36;

[0045] Figure 38 is a partial perspective view of a surgical instrument shaft, a collar, and a disposable charging unit not attached to the shaft in accordance with various embodiments of the present disclosure;

[0046] Figure 39 is a partial perspective view of the rod, collar and disposable charging unit of Figure 38 depicting the disposable charging unit attached to the rod;

[0047] Figure 40 is a partial exploded perspective view of the rod, collar and disposable charging unit of Figure 38;

[0048] Figure 41 is another partial exploded perspective view of the rod, collar and disposable charging unit of Figure 38;

[0049] Figure 42 is a perspective view of a distal attachment portion of the disposable charging unit of Figure 38;

[0050] Figure 43 is another perspective view of the distal attachment portion of the disposable charging unit of Figure 38;

[0051] Figure 44 is a perspective view of a proximal attachment portion of the stem of Figure 38;

[0052] Figure 45 is another perspective view of the proximal attachment portion of the stem of Figure 38;

[0053] Figure 46 is a perspective view of the collar and trigger rod of the surgical instrument of Figure 38;

[0054] Figure 47 is a partial perspective cross-sectional view of the disposable charging unit, collar and rod of Figure 38, depicting the disposable charging unit attached to the rod;

[0055] Figure 48 is an elevational cross-sectional view of the disposable charging unit, collar and rod of Figure 38, depicting the disposable charging unit not attached to the rod;

[0056] Figure 49 is a partial elevation cross-sectional view of the disposable charging unit, collar and rod of Figure 38, representing the disposable charging unit attached to the rod;

[0057] Figure 50 is an elevation view of the collar and stem of Figure 38 taken along the plane indicated in Figure 48;

[0058] Figure 51 is a partial perspective cross-sectional view of the disposable charging unit, collar and rod of Figure 38, depicting the disposable charging unit not attached to the rod and additionally depicting the collar in its initial orientation in relation to the stem;

[0059] Figure 52 is a perspective cross-sectional view of the disposable charging unit, collar and rod of Figure 38, depicting the disposable charging unit not attached to the rod and additionally depicting the collar in initial orientation relative to the rod. stem;

[0060] Figure 53 is a partial perspective cross-sectional view of the disposable charging unit, collar and rod of Figure 38, depicting the disposable charging unit entering the rod and additionally depicting the collar in the initial orientation relative to the rod. stem;

[0061] Figure 54 is a partial perspective cross-sectional view of the disposable charging unit, collar, and stem of Figure 38, depicting the disposable charging unit entering the stem and further depicting the collar in a secondary rotated orientation in relation to the stem;

[0062] Figure 55 is a partial perspective cross-sectional view of the disposable loading unit, collar and stem of Figure 38, depicting the disposable loading unit entering the stem and further depicting the collar in the secondary rotated orientation with respect to to the stem;

[0063] Figure 56 is a partial perspective cross-sectional view of the disposable charging unit, collar and rod of Figure 38, depicting the disposable charging unit fully inserted into the rod and additionally depicting the collar in the secondary rotated orientation in relation to the stem;

[0064] Figure 57 is a partial perspective cross-sectional view of the disposable charging unit, collar and stem of Figure 38, depicting the disposable charging unit fully inserted into the stem and additionally representing the collar in the initial orientation with respect to to the stem;

[0065] Figure 58 is a partial perspective cross-sectional view of the disposable charging unit, collar and stem of Figure 38, depicting the disposable charging unit fully inserted into the stem and additionally representing the collar in the initial orientation with respect to to the stem;

[0066] Figure 59 is a partial perspective cross-sectional view of a surgical instrument stem and a disposable charging unit not attached to the stem, in accordance with various embodiments of the present disclosure;

[0067] Figure 60 is a partial perspective cross-sectional view of the rod and the disposable charging unit of Figure 59, depicting the disposable charging unit partially inserted into the rod and additionally representing a latch in an unlocked position;

[0068] Figure 61 is a partial perspective cross-sectional view of the rod and disposable charging unit of Figure 59, depicting the disposable charging unit fully inserted into the rod and additionally depicting a latch in a locked position;

[0069] Figure 62 is a partial elevation cross-sectional view of the rod and the disposable charging unit of Figure 59, depicting the disposable charging unit fully inserted into the rod and additionally representing a latch in the locked position;

[0070] Figure 63 is a schematic of a torque-voltage curve, in accordance with various embodiments of the present disclosure;

[0071] Figure 64(a) is a schematic of high duty cycle pulses provided by a pulse width modulation circuit, in accordance with various embodiments of the present disclosure;

[0072] Figure 64(b) is a schematic of low duty cycle pulses provided by a pulse width modulation circuit, in accordance with various embodiments of the present disclosure;

[0073] Figure 65(a) is a schematic of a triggering element driven by the high duty cycle pulses of the pulse width modulation circuit of Figure 64(a);

[0074] Figure 65(b) is a schematic of a triggering element driven by the low duty cycle pulses of the pulse width modulation circuit of Figure 64(b);

[0075] Figures 66(a) to 66(c) are schematics of pulse width demodulation circuits having a primary set of coils and a secondary set of coils in accordance with various embodiments of the present disclosure;

[0076] Figure 67 is a graph depicting velocity and torque over an entire firing course, in accordance with various embodiments of the present disclosure;

[0077] Figure 68 is a graph depicting the speed limit test segment during a firing stroke, in accordance with various embodiments of the present disclosure;

[0078] Figures 69 and 70 are schematics of a simplified stepper motor, in accordance with various embodiments of the present disclosure;

[0079] Figures 71 to 73 are schematics of a hybrid stepper motor, in accordance with various embodiments of the present disclosure;

[0080] Figures 74(a) to 74(c) are schematics of the hybrid stepper motor of Figures 71 to 73 illustrating changing polarities;

[0081] Figure 75 is a perspective view of a display including a touch screen for use with an endoscope, in accordance with various embodiments of the present disclosure;

[0082] Figure 76 is an elevation view of a first layer of information for representation in the display of Figure 75, wherein the first layer of information includes video feedback from a disposable charging unit (UCD) attached to a surgical instrument as seen by the endoscope;

[0083] Figure 77 is an elevation view of a second layer of information for representation on the display of Figure 75, wherein the second layer of information includes a control panel for accepting input via the touch screen;

[0084] Figure 78 is an elevation view of the second information layer of Figure 77 overlaying the first information layer of Figure 76;

[0085] Figure 79 is an elevation view of the second layer of information of Figure 77 overlaying the first layer of information of Figure 76, wherein the second layer of information includes numerical data regarding knife progression and a visual representation of the progression of the knife when the knife is near the beginning of a course of fire;

[0086] Figure 80 is an elevation view of the second layer of information of Figure 77 overlaying the first layer of information of Figure 76, wherein the second layer of information includes numerical data regarding knife progression and a visual representation of the progression of the knife when the knife is near the distal end of the firing course;

[0087] Figure 81 is an elevation view of the second layer of information of Figure 77 overlaying the first layer of information of Figure 76, wherein the second layer of information includes a symbolic representation of the knife overlaying the detected position of the knife in the represented UCD in the first layer of information;

[0088] Figure 82 is an elevation view of the second information layer of Figure 77 overlaying the first information layer of Figure 76, wherein the second information layer includes a graphical representation of the knife speed advancing distally during a stroke. trigger;

[0089] Figure 83 is an elevation view of the second information layer of Figure 77 overlaying the first information layer of Figure 76, wherein the second information layer includes a graphic representation of the clamping force exerted by the UCD grips on the fabric along the length of the UCD grips;

[0090] Figure 84 is an elevation view of the second information layer of Figure 77 overlaying the first information layer of Figure 76, where the second information layer includes numerical data with respect to the UCD orientation and where the represented UCD in the first layer of information is in an unhinged orientation;

[0091] Figure 85 is an elevation view of the second information layer of Figure 77 overlaying the first information layer of Figure 76, where the second information layer includes non-numeric data related to the UCD's orientation and a visual representation of the orientation. of the UCD and wherein the UCD represented in the first information layer is in a hinged orientation;

[0092] Figure 86 is an elevation view of the second layer of information of Figure 77 overlaying the first layer of information of Figure 76 illustrating a user's input to adjust the UCD articulation through the touch screen of Figure 75;

[0093] Figure 87 is an elevation view of the second information layer of Figure 77 overlaying the first information layer of Figure 76 illustrating a schematic for controlling the UCD and further illustrating a user's input to adjust the UCD's articulation by manipulation the schematic through the touch screen of Figure 75;

[0094] Figure 88 is an elevation view of the second layer of information of Figure 77 overlaying the first layer of information of Figure 76 illustrating the UCD in an orientation hinged to the first layer of information in response to user input illustrated in Figures 86 and 87.

[0095] Figure 89 is an elevation view of the second layer of information of Figure 77 overlaying the first layer of information of Figure 76 illustrating a user's input to control the closing of the movable jaw through the touch screen of Figure 75;

[0096] Figure 90 is an elevation view of the second information layer of Figure 77 overlaying the first information layer of Figure 76 illustrating the UCD's movable jaw in an orientation locked into the first information layer in response to user input represented in the Figure 89;

[0097] Figure 91 is an elevation view of a controller interface for the secondary information layer of Figure 77;

[0098] Figure 92 is an elevation view of the second information layer of Figure 77 overlaying the first information layer of Figure 76, wherein the second information layer includes the controller interface of Figure 91 and a progress bar;

[0099] Figure 93 is a schematic illustrating a communication system for a feedback controller and the endoscope, surgical instrument and display of Figure 75;

[00100] Figure 94 is an exploded view of a surgical instrument system including a handle and an end actuator including a plurality of indicators according to at least one embodiment;

[00101] Figure 95 is a partial elevation view of a handle of a surgical instrument system including a plurality of indicators according to at least one embodiment;

[00102] Figure 96 is a partial cross-sectional view of a handle of a surgical instrument system including a trigger lock in accordance with at least one illustrated embodiment with the trigger lock in an unlatched condition;

[00103] Figure 97 is a partial cross-sectional view of the handle of Figure 96 illustrating the trigger lock in a locked condition;

[00104] Figure 98 is a cross-sectional view of the trigger latch of Figure 96 illustrating the trigger latch in its unlatched condition;

[00105] Figure 99 is a cross-sectional view of the trigger lock of Figure 96 illustrating the trigger lock in its locked condition;

[00106] Figure 99A is a flowchart outlining a surgical instrument controller operating program to assess whether the surgical instrument has been exposed to a temperature that exceeds its threshold temperature and determining how to notify the surgical instrument user that the threshold temperature has been exceeded;

[00107] Figure 100 is a cross-sectional view of a handle of a surgical instrument system including a trigger lock in a locked condition in accordance with at least one embodiment;

[00108] Figure 101 is a cross-sectional detail view of the handle of Figure 100 illustrating the trigger lock in its locked condition;

[00109] Figure 102 is another cross-sectional detail view of the handle of Figure 100 illustrating the trigger latch in an unlatched condition;

[00110] Figure 103 is a perspective view of the trigger lock of Figure 100 illustrated in its locked condition;

[00111] Figure 104 is a perspective view in partial cross-section of a handle of a surgical instrument including a trigger lock in a locked condition in accordance with at least one embodiment;

[00112] Figure 105 is a perspective view in partial cross-section of the cable of Figure 104 illustrated in an unlatched condition;

[00113] Figure 106 is a left side view in partial cross-section of the cable of Figure 104 illustrated in its locked condition;

[00114] Figure 107 is a right side view in partial cross-section of the cable of Figure 104 illustrated in its locked condition;

[00115] Figure 108 is a left side view in partial cross-section of the handle of Figure 104 illustrated in its unlocked condition;

[00116] Figure 109 is a partial cross-sectional right side view of the handle of Figure 104 illustrated in its unlocked condition;

[00117] Figure 110 is a process flow diagram illustrating the steps that a surgical instrument controller can use to process a signal received from an end actuator attached to the surgical instrument;

[00118] Figure 110A is a schematic representing a parameter matrix that can be supplied by an end actuator to a surgical instrument;

[00119] Figure 111 is a process flow diagram illustrating the steps for using the end actuator and surgical instrument of Figure 110;

[00120] Figure 112 is a schematic illustrating an interconnection between an end actuator and a stem of a surgical instrument according to at least one embodiment;

[00121] Figure 113 is a plan view of a printed circuit board of the interconnect of Figure 112;

[00122] Figure 114 is a partial perspective view of an end actuator of a surgical instrument according to at least one embodiment;

[00123] Figure 115 is a partial perspective view of the end actuator of Figure 114 and a stem of a surgical instrument;

[00124] Figure 116 is a cross-sectional view of the end actuator of Figure 114 attached to the rod of Figure 115;

[00125] Figure 117 is a cross-sectional view of an interconnection between an end actuator and a stem according to at least one embodiment;

[00126] Figure 118 is a cross-sectional view of an interconnection between an end actuator and a stem according to at least one embodiment;

[00127] Figure 119 is a cross-sectional view of an interconnection between an end actuator and a stem according to at least one embodiment;

[00128] Figure 120 is a detailed view of the interconnection of Figure 119;

[00129] Figure 121 is a side view of an end actuator comprising an anvil and an anvil position indicator according to at least one embodiment illustrating the anvil in an open position;

[00130] Figure 122 is a side view of the end actuator of Figure 121 illustrating the anvil in a partially closed position;

[00131] Figure 123 is another side view of the end actuator of Figure 121 illustrating the anvil in a partially closed position;

[00132] Figure 124 is another side view of the end actuator of Figure 121 illustrating the anvil in a partially closed position;

[00133] Figure 125 is a detailed view of the anvil position indicator of Figure 121 depicting the anvil in the position illustrated in Figure 121;

[00134] Figure 126 is a detailed view of the anvil position indicator of Figure 121 depicting the anvil in the position illustrated in Figure 122;

[00135] Figure 127 is a detail view of the anvil position indicator of Figure 121 depicting the anvil in the position illustrated in Figure 123;

[00136] Figure 128 is a detailed view of the anvil position indicator of Figure 121 depicting the anvil in the position illustrated in Figure 124;

[00137] Figure 129 illustrates a cross-sectional side view of a surgical instrument in accordance with certain embodiments described herein;

[00138] Figure 130 illustrates a power system for powering the surgical instrument of Figure 129, wherein the power system is in communication with a control system for the surgical instrument of Figure 129;

[00139] Figure 131 illustrates a battery pack of the power system of Figure 130 connected to a charging base;

[00140] Figure 132 illustrates a power management circuit of the power system of Figure 130;

[00141] Figure 133 illustrates a schematic block diagram that exemplifies the operating parameters of the power system of Figure 130;

[00142] Figure 134 illustrates a perspective view of a surgical instrument power supply, according to various embodiments described herein;

[00143] Figure 135 illustrates a perspective view of the power supply of Figure 134 disassembled, according to various embodiments described herein;

[00144] Figure 136 illustrates a circuit diagram of the power supply of Figure 134 including an intact tearable portion, in accordance with various embodiments described herein;

[00145] Figure 137 illustrates a circuit diagram of the circuit of Figure 136 with the breakable portion broken, in accordance with various embodiments described herein;

[00146] Figure 138 illustrates a block diagram of a system for protecting data stored in a memory from unauthorized access, according to various embodiments described herein;

[00147] Figure 139 illustrates a perspective view of a surgical instrument power supply including a covered data access portal;

[00148] Figure 140 illustrates the data access portal of Figure 139 in an uncovered configuration;

[00149] Figure 141 illustrates a perspective view of a surgical instrument power supply including an internal data access portal;

[00150] Figure 142 illustrates a block diagram of a system for protecting data stored in a memory from unauthorized access, according to various embodiments described herein;

[00151] Figure 143 illustrates a perspective view of a power supply for a surgical instrument, according to various embodiments described herein;

[00152] Figure 144 illustrates a perspective view of the power supply of Figure 143 coupled to the surgical instrument;

[00153] Figure 145 illustrates the power supply LEDs of Figure 143 in different configurations, according to various embodiments described herein;

[00154] Figure 146 illustrates a side view of a surgical instrument including a housing, in accordance with various embodiments described herein;

[00155] Figure 147 illustrates a side view of the housing of Figure 146 with an outer casing removed to expose detachable components secured to the housing by fasteners;

[00156] Figure 148 illustrates a side view of the compartment of Figure 147 with the separable components removed from the compartment;

[00157] Figure 149 is a schematic depicting the notches, grooves or detectable impressions of a bar code defined on a surface of an end actuator;

[00158] Figure 150 is a schematic of an exemplary barcode usable with a barcode reader;

[00159] Figure 151 is a partial side view of an end actuator stem including a bar code, according to at least one embodiment;

[00160] Figure 152 is a partial elevation view of an end actuator of a surgical instrument including a bar code, according to at least one embodiment;

[00161] Figure 153 is a partial perspective view of a surgical instrument handle including a bar code reader, according to at least one embodiment;

[00162] Figure 154 is a cross-sectional view of the barcode reader of Figure 153 illustrated with an end actuator positioned thereon;

[00163] Figure 155 is an exploded perspective view of an end actuator and a stem of a surgical instrument, according to at least one embodiment;

[00164] Figure 156 is an exploded perspective view of an end actuator and a stem of a surgical instrument, according to at least one embodiment, wherein the end actuator comprises releasably locked portions of a trigger element ;

[00165] Figure 157 is a partial perspective view of the firing element portions of Figure 156 locked by a locking element;

[00166] Figure 158 is a partial perspective view of the portions of the triggering elements and the locking elements of Figure 156 illustrated with a portion of the triggering elements removed to illustrate the locking element releasably locking the portions of the triggering elements. shooting;

[00167] Figure 159 is an exploded view of the trigger elements of Figure 156 and a release actuator configured to move the locking element into an unlocked condition and unlock portions of the trigger elements;

[00168] Figure 160 is a partial exploded view of an interconnection between the release actuator of Figure 159 and a corresponding stem release actuator;

[00169] Figure 161 is a cross-sectional view of the interconnection of Figure 160;

[00170] Figure 162 is an exploded perspective view of an assembly comprising a motor, a drive rod and a slip clutch configured to selectively transmit rotation between the motor and the drive rod;

[00171] Figure 163 is a cross-sectional view of the assembly of Figure 162;

[00172] Figure 164 is a perspective view of a tilting member of the slip clutch of Figure 162;

[00173] Figure 165 is a cross-sectional view of the assembly of Figure 162 illustrating a slip clutch clutch element in a neutral position;

[00174] Figure 166 is a cross-sectional view of the assembly of Figure 162 illustrating the clutch element of Figure 165 in a forward position;

[00175] Figure 167 is a cross-sectional view of the assembly of Figure 162 illustrating the clutch element of Figure 165 in a reversed position;

[00176] Figure 168 is a perspective view of an engine and a gear set, in accordance with various embodiments of the present disclosure;

[00177] Figure 169 is a perspective view of an engine, gear set, and audio feedback generator, in accordance with various embodiments of the present disclosure;

[00178] Figure 170 is an elevation view of a detector on a disk of the gear set of Figure 169, depicting the disk rotating in a clockwise direction and the detector engaging an acoustic indicator of the feedback generator in a clockwise direction. audio of Figure 169, in accordance with various embodiments of the present disclosure;

[00179] Figure 171 is an elevational view of a detector on a disk of the gear set of Figure 169, depicting the disk rotating counterclockwise and the detector engaging an acoustic indicator of the feedback generator in audio of Figure 169, in accordance with various embodiments of the present disclosure;

[00180] Figure 172 is a perspective view of an engine, a gear set having multiple discs, and an audio feedback generator, in accordance with various embodiments of the present disclosure;

[00181] Figure 173 is a graphical representation of feedback generated near the end of a trigger course by the audio feedback generator of Figure 172, in accordance with various embodiments of the present disclosure;

[00182] Figures 174 and 175 are graphical representations of the feedback generated near the joint boundary of a charging unit by the audio feedback generator of Figure 172, in accordance with various embodiments of the present disclosure;

[00183] Fig. 176 is a schematic depicting an algorithm for operating a surgical instrument;

[00184] Figure 177 is another schematic depicting an algorithm for operating a surgical instrument;

[00185] Figure 178 is a schematic depicting an algorithm for operating a surgical instrument;

[00186] Figure 179 is a circuit configured to indicate the voltage of a battery;

[00187] Figure 180 is a flashing scheme configured to indicate that the battery is charged;

[00188] Figure 181 is a schematic of a diagnostic check for use with a surgical instrument, according to at least one embodiment;

[00189] Figure 182 is a schematic illustrating the discharge of a battery and a power cut as soon as the battery charge is below a minimum charge level;

[00190] Figure 183 is a maintainable table of information that records the operation and/or performance of a battery;

[00191] Figure 184 is a schematic of a battery diagnostic circuit;

[00192] Figure 185 is a perspective view of a sealed motor and gear set for use with the surgical instrument in accordance with various embodiments of the present disclosure; and

[00193] Figure 186 is an exploded elevational cross-sectional view of the sealed motor and gear set of Figure 185 in accordance with various embodiments of the present disclosure.

DETAILED DESCRIPTION

[00194] The applicant of the present application is also the author of the following patent applications that were filed on the same date as the present application and which are all incorporated herein by reference in their entirety:

[00195] - US patent application entitled FIRING MEMBER RETRACTION DEVICES FOR POWERED SURGICAL INSTRUMENTS, attorney's document no. END7293USNP/130016;

[00196] - US patent application entitled SECONDARY BATTERYARRANGEMENTS FOR POWERED SURGICAL INSTRUMENTS, attorney's document no. END7294USNP/130017;

[00197] - US patent application entitled ERROR DETECTIONARRANGEMENTS FOR SURGICAL INSTRUMENT ASSEMBLIES, attorney's document no. END7295USNP/130018;

[00198] - US patent application entitled ATTACHMENT PORTIONS FOR SURGICAL INSTRUMENT ASSEMBLIES, attorney's document no. END7296USNP/130019;

[00199] - US patent application entitled TAMPER PROOF CIRCUIT FOR SURGICAL INSTRUMENT BATTERY PACK, attorney document no. END7297USNP/130020;

[00200] - US patent application entitled CLOSURE INDICATORSYSTEMS FOR SURGICAL INSTRUMENTS, attorney's document no. END7298USNP/130021;

[00201] - US patent application entitled TORQUE OPTIMIZATIONFOR SURGICAL INSTRUMENTS, attorney's document no. END7299USNP/130022;

[00202] - US patent application entitled SHROUD RETENTIONARRANGEMENT FOR STERILIZABLE SURGICAL INSTRUMENTS, attorney's document no. END7300USNP/130023;

[00203] - US patent application entitled CONDUCTOR ARRANGEMENTS FOR ELECTRICALLY POWERED SURGICAL INSTRUMENTS WITH ROTATABLE END EFFECTORS, attorney's document no. END7301USNP/130024;

[00204] - US patent application entitled END EFFECTOR DETECTION SYSTEMS FOR SURGICAL INSTRUMENTS, attorney's document no. END7302USNP/130025;

[00205] - US patent application entitled FIRING TRIGGERLOCKOUT ARRANGEMENTS FOR SURGICAL INSTRUMENTS, attorney's document no. END7303USNP/130026; and

[00206] - US patent application entitled INTERACTIVE DISPLAYS, attorney's document no. END7304USNP/130027.

[00207] Certain exemplifying modalities will now be described to provide a general understanding of the principles of structure, function, fabrication and use of the devices and methods disclosed herein. One or more examples of such embodiments are illustrated in the accompanying drawings. Those skilled in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are exemplary, non-limiting embodiments, and that the scope of the various embodiments of the present invention is defined solely by the claims. Features illustrated or described in connection with one exemplary embodiment may be combined with features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention.

[00208] The terms "comprises" (and any form of comprises, such as "comprises" and "which comprises"), "has" (and any form of has, such as "has" and "has"), "includes" (and any form of includes, such as "includes" and "which includes") and "contains" (and any form of contains, such as "contains" and "which contains") are unrestricted linking verbs. As a result, a system, device or surgical device that "comprises", "has", "includes" or "contains" one or more elements has those one or more elements, but is not limited to having only those one or more elements. . Likewise, an element of a system, device or surgical device that "comprises", "has", "includes" or "contains" one or more features has those one or more features, but is not limited to having only those one or more features. or more resources.

[00209] The terms "proximal" and "distal" are used in the present invention with reference to a physician who manipulates the handle portion of the surgical instrument. The term "proximal" refers to the portion closest to the physician, and the term "distal" refers to the portion located away from the physician. It will also be understood that, for the sake of convenience and clarity, spatial terms such as "vertical", "horizontal", "upwards" and "downwards" may be used in the present invention in connection with the drawings. However, surgical instruments can be used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

[00210] Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, one of skill in the art will readily understand that the various methods and devices disclosed herein can be used in numerous surgical procedures and applications including, for example, those in conjunction with open surgical procedures. As the present Detailed Description advances, those of ordinary skill in the art will further appreciate that the various instruments disclosed herein can be inserted into a body in any manner, such as through a natural orifice, through an incision or perforation formed in tissue, etc. . The functional portions or end actuator portions of instruments may be inserted directly into a patient's body or may be inserted through an access device having a working channel through which the end actuator and elongated stem of a surgical instrument can be advanced.

[00211] Figure 1 illustrates a surgical instrument equipped with a motor 10 which in many ways may be similar to the surgical instruments (including various features, components and subcomponents thereof) disclosed in, for example, Zemlok '763 and/or Zemlok '344, which are each incorporated in their entirety herein by reference. The surgical instrument 10 shown in Figure 1 includes a housing 12 that has a handle portion 14 to facilitate manual manipulation and operation of the instrument. Accordingly, the term "compartment" as used herein may encompass a portable or otherwise manually manipulated arrangement. However, the term "compartment" can also encompass portions of an automated surgical instrument system such as a robotically controlled system that is not designed to be portable, but is otherwise manipulated and activated by various components, portions, and/or components. or system enablers.

[00212] An elongated rod assembly 16 in the form of an endoscopic portion emerges from the housing 12 and is configured for operable attachment to a surgical end actuator that is constructed to perform at least one surgical procedure in response to applications of triggering motions thereon. . Such surgical end actuators may comprise, for example, endo cutters, grippers, or other devices that may include a pair of jaws, where one jaw is selectively movable relative to the other jaw, or in some configurations, both jaws are movable relative to each other. to each other. By way of further example, the surgical end actuator may comprise a device configured to cut and staple tissue as a "loading unit" 20 as shown in Figures 2 and 3. Surgical end actuators, such as the loading unit 20, for example, can be releasably attached to the elongate stem assembly 16 of the motor-equipped surgical instrument 10, as described in more detail herein.

[00213] Figures 2 and 3 illustrate an exemplary form of a loading unit 20 that may be employed with the surgical instrument 10. Such a loading unit 20 may be similar to those loading units disclosed in the aforementioned US patent application publications. , which have been incorporated herein by reference in their entirety, as well as those charging units disclosed, for example, in US patent application publication No. US 2012-0298719-A1 entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, the disclosure of which is incorporated herein by reference in its entirety.

[00214] As can be seen in Figure 2, the loading unit 20 includes an anvil assembly 22 that is supported for pivotal displacement relative to a support 24 that operatively supports a staple cartridge 26 therein. A mounting assembly 28 is pivotally coupled to cartridge support 24 to form a hinge joint 27 which enables support 24 to pivot about pivot axis "EA-EA", which is transverse to a longitudinal axis "EL -EL" of the tool. Referring to Figure 3, the mounting assembly 28 may include, for example, upper and lower mounting portions, 30 and 32. Each mounting portion, 30 and 32, may include a threaded hole 34 on each side thereof, which is sized to receive threaded screws (not shown) intended to secure the proximal end of bracket 24 thereto. A pair of centrally located pivot elements 36 may extend between the upper and lower mounting portions via a pair of pivot elements 36. coupling 38, which engages a distal end of a housing portion 40. The coupling elements 38 include an interlocking proximal portion 39 that is configured to be inserted into grooves 42 formed in the proximal end of housing portion 40 to retain the assembly. mounting bracket 30 and housing portion 40 in a longitudinally fixed position.

[00215] As can be further seen in Figure 3, the bay portion 40 of the loading unit 20 may include an upper bay half 44 and a lower bay half 46 which are each configured to be received within a outer housing 50. The proximal end of housing half 44 may include engaging protuberances 48 to releasably engage a distal end of an elongated shank assembly 16. The protuberances 48 may form a "bayonet-like" coupling with the distal end of the elongate rod assembly 16, for example. Various coupling arrangements are described in more detail here. The housing halves 44, 46 may define a channel 47 for slidably receiving the axially movable drive beam assembly 60. A second pivot link 70 is sized to be slidably positioned within a slot 72 formed between housing halves 44, 46. A pair of "expansion" plates 74 may be positioned adjacent the distal end of housing portion 40 adjacent the distal end of axial drive beam 60 to prevent outward expansion of drive beam 60 during articulation of the support 24.

[00216] The drive beam 60 may include a distal working head 62 and a proximal engagement section 64. The drive beam 60 may be constructed from a single sheet of material or, preferably, multiple sheets stacked. Engagement section 64 may include a pair of engagement fingers which are sized and configured to mountably engage a pair of corresponding retaining slots formed in drive member 66. Drive member 66 may include porthole 67 which is configured to receive a distal end of a firing rod when the proximal end of the loading unit 20 is engaged with the elongated rod assembly of the surgical instrument 10. The distal working head 62 may have a tissue cutting portion 63 formed therein. Distal working head 62 may additionally include a pair of pins 65 which are configured to engage the anvil assembly 22 to pivot it into a closed position to secure tissue between the anvil 22 and staple cartridge 26 as the working head 62 is driven distally through staple cartridge 26. A tissue cutting portion 63 on distal working head 62 serves to cut trapped tissue as surgical staples (not shown) resting on staple cartridge 26 are driven. by making contact with the anvil 22 in a known manner. For example, distal working head 62 is configured to axially engage and advance a carriage (not shown) which is movably supported on staple cartridge 26. As the carriage is driven in the distal direction by drive element 66, the carriage contacts the impellers (not shown) which are associated with the clamps and causes the impellers to drive the clamps out of the cartridge 26 forming engagement with the anvil 22 on the loading unit 20.

[00217] As can be seen in Figure 1, the surgical instrument 10 includes a motor 100 that is configured to generate rotary activation motions that can be employed, for example, to apply trigger motions to the loading unit 20 as will be discussed with more details below. In at least one way, for example, the motor 100 is configured to apply rotary activation motions to the triggering element assembly, generally designated as 82. In one embodiment, for example, the triggering element assembly 82 includes a trigger tube. drive 102 which is pivotally supported within housing 12 and has an internal thread (not shown) formed therein. A threaded proximal portion of a triggering rod 104 is supported in threaded engagement with the triggering tube 102 so that rotation of the triggering tube 102 results in axial movement of the triggering rod 104. The triggering rod 104 can threadedly interface with the inside of the drive beam 60 on the loading unit 20. As discussed in more detail in the above-mentioned Zemlok '763 and Zemlok '344 incorporated herein, rotation of the drive tube 102 in a first direction (e.g. counterclockwise) causes firing rod 104 to advance drive element 60 in the distal direction. The initial advance of the drive element 60 in the distal direction within the loading unit 20 causes the anvil 22 to pivot the staple cartridge 26 forward. The anvil 22 is activated by pins 65 on the drive element 60 which serve to placing the anvil 22 in a closed position as the drive element 60 is initially activated in the distal "DD" direction. Further distal translation of the firing rod 104 and finally of the actuation element 60 through the loading unit 20 causes the clamps to be activated forming contact with the lower surface that forms the clamp on the anvil 22.

[00218] As can be seen in Figure 1, the surgical instrument 10 may include a hinge system generally designated as 109. However, the surgical instrument 10 may include various other hinge system arrangements disclosed in detail herein. In at least one form, the articulation system 109 may include a articulation mechanism 110 that includes a articulation motor 112 and a manual articulation button 114. The articulation motor 112 may be activated by a motor-equipped articulation switch 116. or by pivoting the manual pivot knob 114. Activation of pivot motor 112 serves to rotate a pivot gear 118 of pivot mechanism 110. Activation of pivot mechanism 110 may cause the end actuator (e.g. example, the cartridge/anvil portion of the loading unit 20) moves from its first position, where its axis is substantially aligned with the longitudinal tool axis "EL-EL" of the elongated shank assembly 16 to a position where the The end actuator shaft is arranged at an angle to the longitudinal tool axis "EL-EL" of the elongated rod assembly around, for example, the pivot axis "EA-EA". Further discussion of the various aspects of the linkage mechanism 110 can be found in Zemlok '763 which has been hereby incorporated in full by reference. In addition, US Patent No. 7,431,188 entitled SURGICAL STAPLING APPARATUS WITH POWERED ARTICULATION, the disclosure of which is incorporated herein in its entirety by way of reference, discloses motor-equipped pivoting end actuators which may be employed in connection with a surgical instrument 10 .

[00219] In various embodiments, the surgical instrument may include at least one motor, which may apply triggering motions to the loading unit 20 and/or pivoting motions to the hinge system 109, as described in more detail herein. The motor 100 may, for example, be powered by a power supply 200 of the type described in more detail in Zemlok '763. For example, the power supply 200 may comprise a rechargeable battery (e.g., lead, nickel, or lithium-ion, etc.). It is also envisioned that the power supply 200 may include at least one disposable battery. The disposable battery can, for example, be between about 9 volts and about 30 volts. However, other power sources can be used. Figure 1 illustrates an example where the power supply 200 includes a plurality of battery cells 202. The number of battery cells 202 employed may depend on the current load requirements of the instrument 10.

[00220] In certain embodiments, the surgical instrument 10 may include a secondary power supply to power the at least one motor of the surgical instrument 10. For example, with reference now to Figure 129, the surgical instrument 10 may include a power supply system. 2000 which may be configured to provide power for operating the surgical instrument 10. The power system 2000, as illustrated in Figure 129, may be placed, for example, in the cable portion 14 of compartment 12 and may include a primary power supply. 2002 and a secondary or standby power supply 2004. The primary power supply 2002 may be configured to provide power for operation of the surgical instrument 10 during normal operation and the secondary power supply 2004 may be configured to provide power for operation of the surgical instrument 10, at least with limited capacity, when the primary power supply 2002 is not working available to provide power for the operation of the surgical instrument 10, for example, when the primary power supply 2002 is depleted and/or when it is disconnected from the surgical instrument 10. For example, the secondary power supply 2002 may be configured to supply power to restore the surgical instrument 10 to a default status in the event that the primary power supply 2002 is depleted and/or disconnected from the surgical instrument 10 during a surgical procedure.

[00221] With reference to Figure 1, as described in more detail here, a power supply such as the power supply 200 can supply power for operating the surgical instrument 10. For example, the power supply 200 can supply feed to a motor such as motor 100 to cause drive tube 102 to rotate in a first direction and finally axial advance of firing rod 104 which drives drive beam 60 distally through loading unit 20. Alternatively, power supply 200 can supply power to motor 100 to cause drive tube 102 to rotate in a second direction opposite to the first direction and finally axial retraction of firing rod 104 which can move drive beam 60 proximally. to its home and/or default position. Similarly, primary power supply 2002 may be configured to supply power to motor 100 to advance and/or retract firing rod 104 during warm operation of surgical instrument 10. Additionally, secondary power supply 2004 may be configured to supply the power needed to retract the firing rod 104 to the default position in the event that the primary power supply 2002 becomes unavailable to supply the necessary power, such as when the primary power supply 2002 is depleted and/or disconnected of the surgical instrument 10.

[00222] In addition to the above, as described here in greater detail, the surgical instrument 10 may be configured to record and store a variety of information about the operation of the surgical instrument 10 during a surgical procedure, such as, for example, an angle of articulation 20 end actuator (see Figure 2), an end actuator 20 activation status, sensor readings, number of trips, tissue thickness, and/or position of the 104 trip rod. In certain examples, such information may be recorded and stored in volatile or temporary memory, such as a random access memory (RAM) unit that may require power to maintain stored information. During normal operation of the surgical instrument 10, the primary power supply 2002, similar to other power supplies described here in more detail, can provide the necessary power to maintain information stored within the volatile or temporary memory units of the surgical instrument 10 In addition, the 2004 Secondary Power Supply can provide the power needed to temporarily hold the stored information in the event that the 2002 Primary Power Supply becomes unavailable to provide the required power, such as when the 2002 Primary Power Supply is exhausted and/or disconnected from the surgical instrument 10.

[00223] In certain aspects, the surgical instrument 10 may include a control system 2005 of the type and construction disclosed in Zemlok '763, which is incorporated herein by reference in its entirety. Additional details regarding the construction and operation of such a 2005 control system can be found in this publication. For example, the 2005 control system may be configured to generate or provide information, such as attention or instrument status, to a user through a visual or audio user interface. The signals or inputs generated by the 2005 control system may be, for example, in response to other user-supplied signals or inputs, instrument components, or may be a function of one or more measurements associated with the instrument 10. During normal operation of the surgical instrument 10, as described here in more detail, a power supply such as the 2002 Primary Power Supply (see Figure 129) can provide the necessary power to allow the 2005 control system to perform its functions including interactions with a user through the user interface. In addition, the 2004 secondary power supply can provide, at least with limited capacity, the power needed to temporarily interact with a user through the user interface in the event that the 2002 primary power supply becomes unavailable to provide the required power such as when the primary power supply 2002 is depleted and/or disconnected from the surgical instrument 10.

[00224] Now referring to Figure 130, the power system 2000 may comprise a power management circuit 2006 which may be connected to the primary power supply 2002 and the secondary power supply 2004. The power management circuit 2006 may include or may be selectively associated with a semiconductor, computer chip, or memory. The 2006 power management circuit can be configured to send or receive analog or digital inputs or signals to or from various components of the surgical instrument 10 including, but not limited to, the 2005 control system, the primary power supply 2002 and/or the 2004 secondary power supply. In various respects, the 2006 power management circuit may utilize software that may employ one or more algorithms to further formulate input signals to control and monitor various components of the surgical instrument 10, including the 2002 primary power supply and/or the 2004 secondary power supply. These formulated input signals may be a function of criteria measured and/or calculated by the 2006 power management system or, in some cases, supplied to the management circuit 2006 power supply by another instrument component, a user, or a separate communicating system operative with the 2006 power management circuit.

[00225] Referring again to Figure 129, the primary power supply 2002 may comprise one or more battery cells depending on the current load requirements of the instrument 10. In various respects, as illustrated in Figure 129, the primary power supply 2002 may include a battery pack 2008 which may include a plurality of battery cells 2010 which may be connected in series with each other, for example. The 2008 battery pack is replaceable. In other words, the battery pack 2008 can be disconnected or removed from the surgical instrument 10 and replaced with another similar battery pack. In certain aspects, the primary power supply 2002 may comprise a rechargeable battery (eg, lead, nickel, or lithium-ion, etc.). The 2008 battery cells can be, for example, 3 volt lithium battery cells, such as CR 123A battery cells, although, for example, in other embodiments, different types of battery cells could be used as battery cells with different voltage levels and/or different chemistry, for example. A user can disconnect and remove a depleted or used battery pack 2008 from a surgical instrument 10 and connect a charged battery pack 2008 to power the surgical instrument 10. The depleted battery pack 2008 can then be charged and reused. It is also envisioned that the primary power supply 2002 may include at least one disposable battery. In many respects, the disposable battery can be between about 9 volts and about 30 volts, for example. A user can disconnect and remove a depleted 2008 Disposable Battery Pack and connect a new 2008 Disposable Battery Pack to power the Surgical Instrument 10.

[00226] As described above, battery pack 2008 may include rechargeable battery cells and may be removably replaceable within the cable portion 14 of compartment 12, for example. In such circumstances, the 2008 battery pack can be charged using a charging base. For example, as illustrated in Figure 131, the charger base 2012 can be connected to the battery pack 2008 by removing the battery pack 2008 from its location on the cable portion 14 and connecting it to the charging base 2012. As shown in Figure 131, the charger base 2012 may comprise a power supply 2014 for charging the battery pack 2008. The power source 2014 of the charger base 2012 may be, for example, a battery (or several batteries connected in series), or a AC/DC converter that converts AC power, such as from the utility power grid, into DC power, or any other power source suitable for charging the 2008 battery pack. The 2012 charger base may also comprise indicating devices, such as LEDs, an LCD display, etc., to show the state of charge of the 2008 battery pack.

[00227] Furthermore, as shown in Figure 131, the charger base 2012 may comprise one or more processors 2016, one or more memory units 2018 and i/o interfaces 2020, 2022, for example. Through the first I/O interface 2020, the charger base 2012 can communicate with the power pack 2008 (via the I/O interface of the power pack) to allow, for example, the data stored in the memory of the 2008 power supply are downloaded to memory 2020 of the 2012 charger base. In various circumstances, the downloaded data can then be downloaded to another computer device via the 2022 second i/o interface for evaluation and analysis by the hospital system where the operation involving the instrument 10 is performed by the surgeon's office, the instrument distributor, the instrument manufacturer, etc.

[00228] The charger base 2012 may also comprise a load gauge 2024 for measuring the charge in the cells of the battery pack 2008. The load gauge 2024 may be in communication with the 2016 processor so that the 2016 processor can determine in real-time the suitability of the 2008 battery pack for use to ensure the battery performs as expected.

[00229] Referring again to Figure 129, the primary power supply 2004 may comprise one or more battery cells 2026 which may be disposed, for example, within the cable portion 14. The battery cell 2026 may be rechargeable (e.g. (e.g. lead-based, nickel-based, lithium-ion, etc.). For example, the 2026 battery cell could be a 3 volt lithium battery cell, such as the CR 123A battery cell. In addition, battery cell 2026 may be configured to be rechargeable without being removed from instrument 10. For example, primary power supply 2002 may be used to charge battery cell 2026 when primary power supply 2002 is connected to the instrument 10.

[00230] Referring to Figure 132, an exemplary embodiment of the 2006 power management circuit is illustrated. Among other things, the 2006 power management circuit may be configured to monitor electrical parameters associated with the operation of the 2002 primary power supply. and/or the 2004 secondary power supply. For example, the 2006 power management circuit may be configured to monitor the power levels on the 2002 primary power supply and/or the 2004 secondary power supply. 2006, as shown in Figure 132, may comprise a load meter 2028 which may be configured to measure the load on the primary power supply 2002 and/or the secondary power supply 2004. The load management circuit 2006 may also comprise a 2030 non-volatile memory, such as flash memory or ROM, for example, and one or more 2032 processors. The proc 2032 can be connected to and can control the memory 2030. In addition, the processor 2032 can be connected to the load meter 2028 to read readings from and otherwise control the load meter 2028. Additionally, the processor 2032 can control 2006 power management circuit output devices such as LEDs.

[00231] The reader will understand that the 2024 and/or 2028 load meters may be configured to measure voltage, load, resistance, and/or current. In certain examples, load meters 2024 and/or 2028 may comprise a battery capacity measurement circuit that may be configured to measure the state of voltage under a predetermined load.

[00232] In addition to the above, the processor 2032 may store information about the primary power supply 2002 and/or the secondary power supply 2004 in the memory 2030. The information may include, among other things, the total available load, the number of uses and/or performance. Additionally, information stored in memory 2030 may comprise ID values for primary power supply 2002 that power management circuit 2006 can read and store. Such IDs can be, for example, RFIDs that the power management circuit 2006 reads through an RFID transponder 2034. The RFID transponder 2034 can read RFIDs from power supplies that include RFID tags. ID values may be read, stored in memory 2030, and compared by processor 2032 to a list of acceptable ID values stored in memory 2030 or other storage associated with power management circuit 2006, to determine, for example, whether the 2002 removable/replaceable primary power supply associated with the Read ID value is authentic and/or appropriate. In such circumstances, if the 2032 processor determines that the removable/replaceable component associated with the Read ID value is not authentic, the 2006 power management circuit may be configured to prevent use of instrument 10, such as when opening a switch ( not shown) that would prevent battery power from being delivered to the instrument 10. Various parameters that the 2032 processor can evaluate to determine if the component is authentic and/or appropriate include date code, component model/type, manufacturer, regional information , and previous error codes, for example.

[00233] In addition to the above, the power management circuit 2006 may also comprise an I/O interface 2036 for communicating with another device, for example a computer, to allow data stored in memory 2030 to be downloaded in another device for evaluation and analysis, such as by the hospital system where the operation involving the instrument 10 is performed, by the surgeon's office, by the instrument distributor and/or by the instrument manufacturer, for example. The I/O interface 2036 can be, for example, a wired or wireless interface.

[00234] With reference to the block diagram illustrated in Figure 133, the power management circuit 2006 can selectively transmit power to the surgical instrument 10 from the primary power supply 2002 and the secondary power supply 2004. For example, the 2032 processor can be programmed to allow power to be transmitted to the instrument 10 from the 2002 primary power supply when the 2002 primary power supply is available to power the 10 instrument and from the 2004 secondary power supply when the 2002 primary power supply is not available available to power the instrument 10.

[00235] During normal operation of instrument 10, processor 2032 upon detection and authentication of primary battery supply 2002 as described above may allow primary power supply 2002 to power instrument 10. Primary power supply 2002 may continue to power the instrument 10 until the primary power supply 2002 reaches or falls below a predetermined minimum load level, such as when the primary power supply 2002 is disconnected and/or depleted. The 2006 power management circuit could be employed to determine when the 2002 primary power supply reaches or drops below a predetermined minimum load level. For example, the 2032 processor may be configured to employ the 2028 load meter or another similar load meter to monitor the load level of the 2002 primary power supply and detect when the load level reaches or drops below a minimum level. which can be stored in the memory 2030 of the power management circuit 2006. At this point, the processor 2032 may alert the user to replace the primary power supply 2002. The power management circuit 2006 may include an indicator such as one or more LEDs, an LCD display, for example, which is activated to alert an instrument user 10 to replace the 2002 primary power supply. In addition, the 2032 processor can be configured to switch instrument 10 power from the power supply 2002 Primary Power Supply to the 2004 Secondary Power Supply upon detection that the load level of the 2002 Primary Power Supply has reached or is below the predetermined minimum level. The reader will understand that additional indicators may be used to provide a user with additional feedback. For example, an indicator can be used to alert the user that the instrument 10 is switching from the 2002 primary power supply to the 2004 secondary power supply, and vice versa.

[00236] In addition to the above, the processor 2032 may be programmed to allow the primary power supply 2002 to charge the secondary power supply 2004 when the primary power supply 2002 is connected to the surgical instrument 10. In certain instances, the supply secondary power supply 2004 may remain inactive once it is fully charged by the primary power supply 2002 to a predetermined maximum power level as long as the primary power supply 2002 remains available to power the instrument 10. In addition, the power management circuit 2006 could be used to determine when the secondary power supply 2004 is sufficiently charged. For example, the 2032 processor may be configured to employ the 2028 load meter to monitor the load level of the 2004 secondary power supply until the load level reaches a predetermined maximum level that can be stored in the 2030 management circuit memory. power supply 2006 at the point where the processor 2032 can stop the primary power supply 2002 from charging the secondary power supply 2004. The power management circuit 2006 may include an indicator such as one or more LEDs, an LCD display, etc., which can be activated to alert an instrument user 10 when the 2004 secondary power supply is sufficiently charged.

[00237] Referring again to Figure 129, the primary power supply 2002 may be housed within a chamber 2038 of the cable portion 14 of the instrument 10. To replace the primary power supply 2002, an outer housing of the cable portion 14 may be removed to expose chamber 2038. In certain examples, a trigger or switch may be associated with the outer casing of the cable portion 14 so that the attempt to remove the outer casing of the cable portion 14 can be understood by the processor 2032 as a trigger case to switch from 2002 primary power supply to 2004 secondary power supply.

[00238] Upon replacement of the primary power supply 2002 of the surgical instrument 10 with a new primary power supply 2002, the power management circuit 2006 can verify the authenticity of the new primary power supply 2002 as described above, and by confirmation of such authenticity, the 2006 power management circuit can allow the new 2002 primary power supply to transmit power to the instrument 10. In addition, the 2002 primary power supply can charge the 2004 secondary power supply, such as described above.

[00239] Surgical end actuators, such as the loading unit 20 (Figures 2 and 3), for example, can be operatively coupled to the elongated stem assembly 16 of the motor-equipped surgical instrument 10 (Figure 1). For example, now referring to Figures 38 through 58, a surgical end actuator such as a 5502 Disposable Loading Unit (UCD) for example can be releasably attached to the surgical instrument such as the motor-equipped surgical instrument 10 (Figure 1), for example. In various embodiments, the surgical instrument may include a stem 5520, which may engage the UCD 5502, for example. In various embodiments, a collar, such as a swivel collar 5580, for example, can releasably lock the UCD 5502 with respect to the shank 5520. Additionally, in various embodiments, rotation of collar 5580 can facilitate attachment and/or the alignment of a trigger assembly and/or a linkage assembly, as described herein.

[00240] In various embodiments, the UCD 5502 may include a distal attachment portion 5504 and the stem 5520 may include an outer tube 5554 and a proximal attachment portion 5522. The distal attachment portion 5504 of the UCD 5502 may receive the proximal attachment 5522 of stem 5520 when UCD 5502 is attached to stem 5520 (Figure 39). In addition, the swivel collar 5580 may be positioned around the proximal attachment portion 5522 of the stem 5520, so that the distal attachment portion 5504 of the UCD 5502 may also be positioned within the swivel collar 5580. The swivel collar 5580 may be secured to stem 5502 and/or proximal attachment portion 5504 and, in certain embodiments, pivotally attached to proximal attachment portion 5504 of shaft 5502, for example. In certain embodiments, a proximal attachment portion of the stem 5520 may receive a distal attachment portion of the UCD 5502 when the UCD 5502 is secured to the stem 5520. Also, in certain embodiments, a collar 5580 may be pivotally secured. to UCD 5502.

[00241] Still referring to Figures 38 to 58, as the UCD 5502 moves between an unfixed position and a fixed position with respect to the shank 5520 of the surgical instrument, the UCD 5502 can translate along a longitudinal axis defined by stem 5520. The distal attachment portion 5504 of the UCD 5502 may be inserted into the proximal attachment portion 5522 of the stem 5520 as the UCD 5502 moves from the unattached to the secured position. For example, the UCD 5502 can translate in the A direction (Figure 39) when the UCD 5502 is moved between the unfixed position and the fixed position. In certain embodiments, a groove and slot engagement between the distal attachment portion 5504 and the proximal attachment portion 5522 can guide the UCD 5502 along the longitudinal axis defined by the stem 5520. Referring primarily to Figure 42, the distal attachment portion 5504 may include a guide rail 5514. Further, referring primarily to Figure 44, the proximal attachment portion 5522 may include a guide slot 5534. Guide slot 5534 may be sized and structured to receive and guide guide rail 5514 as required. that the proximal attachment portion 5504 of the UCD 5502 is inserted into the distal attachment portion 5522 of the stem 5520. For example, the guide slot 5534 may comprise a longitudinal slot and the guide rail 5514 may comprise a longitudinal ridge, for example. In certain embodiments, guide slot 5534 and guide rail 5514 can prevent twisting and/or turning of UCD 5502 with respect to the longitudinal axis defined by rod 5520.

[00242] Referring primarily to Figure 38, distal attachment portion 5504 may include a first alignment symbol 5510, such as a first arrow, for example, and stem 5520 and/or collar 5580 may include a second alignment symbol 5590, like a second arrow, for example. The alignment of the first and second alignment symbols 5510, 5590 may align the guide rail 5514 and the guide slot 5534, which may facilitate attachment of the distal attachment portion 5504 to the proximal attachment portion 5522. As described herein, translation of the UCD 5502 along a longitudinal path towards the stem 5520 can releasably lock the UCD 5502 with respect to the stem 5520. In such embodiments, turning the UCD 5502 with respect to the stem 5520 may not be required to secure the UCD 5502 relative to shank 5520. Indeed, rotation of the UCD 5502 relative to shank 5520 can be restricted and/or prevented by a groove and slot engagement between the proximal attachment portion 5522 and the attachment portion 5504, as described herein. . In various embodiments, collar 5580 can pivot with respect to UCD 5502 and/or rod 5520 to releasably lock UCD 5502 to rod 5520. For example, as described herein, collar 5580 can pivot from an initial orientation (Fig. 53) towards a secondary orientation (Figure 54) and then back towards the initial orientation (Figure 57) to lock the UCD 5502 to the shank 5520.

[00243] Referring primarily to Figures 42 and 43, the proximal portion 5504 of the UCD 5502 may include a key or rotation rib 5506. As the UCD 5502 is moved in the A direction (Figure 39) between an unfixed position ( Figure 38) and a fixed position (Figure 39), the rotation key 5506 can affect the rotation of the collar 5580. For example, the rotation switch 5506 can rotate and/or tilt the collar 5580 in the B direction (Figure 39) of the initial orientation to secondary orientation. Distal attachment portion 5504 may be inserted into proximal attachment portion 5522 when collar 5580 is tilted in secondary orientation. In addition, when the distal attachment portion 5504 is fully inserted into the proximal attachment portion 5522, the rotation key 5506 may allow the collar 5580 to rotate in the C direction (Figure 39) from the secondary orientation towards the initial orientation. Direction C can be opposite direction B, for example. As described herein, when collar 5580 returns to the initial orientation, collar 5580 may lock distal attachment portion 5504 with respect to proximal attachment portion 5522. Still referring to Figures 42 and 43, rotation key 5506 may include a rotation ramp 5508 at the proximal end thereof. Rotation ramp 5508 may engage a rod member 5520 to effect rotation of rotation collar 5580, for example.

[00244] In various embodiments, the rotation ramp 5508 can affect the rotation of a firing rod 5540 positioned within the rod 5520. For example, with reference primarily to Figures 47 through 50, the firing rod 5540 may include a rotor 5544 trigger rod that can extend radially away from the 5540 trigger rod. The rotation ramp 5508 of the 5506 rotation switch can engage the rotor of the 5544 trigger rod when the 5502 UCD is inserted into the 5520 rod. modes, rotation ramp 5508 can rotate firing rod rotor 5544, which can turn firing rod 5540. For example, firing rod 5540 and firing rod rotor 5544 can rotate in direction B (Figure 54 ) between a first orientation (Figure 53) and a second orientation (Figure 54). Still referring to Figures 47 through 50, firing rod 5540 can be engaged with swivel collar 5580. For example, swivel collar 5580 can include a rotor groove 5584, which can be structured and sized to receive and/or hold the 5544 Firing Rod Rotor. The 5544 Firing Rod Rotor can be held by the 5584 Rotor Groove, so that the rotation of the 5544 Firing Rod rotor rotates the 5580 swivel collar. In such embodiments, the UCD insertion 5502 on rod 5520 can affect rotation of swivel collar 5580 in direction B (Figure 54) by rotating the rotor of firing rod 5544 in direction B, for example.

[00245] Referring primarily to Figures 44 and 45, the proximal attachment portion 5522 may include a rotation key slot 5524 which may receive the rotation key 5506 when the distal attachment portion 5504 is inserted into the proximal attachment portion 5522 In various embodiments, the rotation key slot 5524 may include a clearance notch 5526 to receive the firing rod rotor 5544. For example, the rotation ramp 5508 at the proximal end of the rotation key 5506 may rotate the rotor of the trigger 5508. trigger rod 5544 for the second orientation and clearance notch 5526 (Figure 54). The rotation key 5506 can continue to move along the rotation key slot 5524 when the UCD 5502 is inserted into the shank 5520. Also, when the distal end 5509 of the rotation key 5506 moves past the rotor of the firing rod 5544, the firing rod rotor 5544 can rotate back to the first orientation (Figure 58), which can correspondingly turn the swivel collar 5580 back to the initial orientation thereof.

[00246] In various embodiments, the swivel collar 5580 can be biased in the initial orientation with respect to the axis 5520 and/or the proximal attachment portion 5522. For example, a spring 5592 can bias the locking collar 5580 in the initial orientation. Spring 5592 can include a proximal end 5594 that can be clamped with respect to rod 5520 and a distal end 5596 that can be clamped with respect to collar 5580. For example, the proximal end 5594 of spring 5592 can be retained in a slot of proximal spring 5538 (Figure 51) of stem 5520 and the distal end 5596 of spring 5592 may be retained in a distal spring slot 5588 (Figure 46) of swivel collar 5580, for example. In such embodiments, rotation of collar 5580 can displace distal end 5596 of spring 5592 relative to proximal end 5594 of spring 5592, which can generate a torsional force. Consequently, the collar 5580 can resist rotation from the initial orientation to the secondary orientation, and when the collar is rotated to the secondary orientation, the spring 5592 can tilt the collar 5580 back to the initial orientation. As the firing rod rotor 5544 is engaged with the collar 5580, the spring 5592 can also tilt the firing rod 5540 towards its first orientation.

[00247] In various embodiments, the swivel collar 5580 may include a locking detent 5582 that releasably locks the UCD 5502 to the shank 5520. Referring primarily to Figure 46, the locking detent 5582 may extend radially into the internal perimeter of swivel collar 5580. In various embodiments, locking detent 5582 may extend into detent slot 5536 (Figure 44) in proximal attachment portion 5522. Referring primarily to Figure 44, detent slot 5536 may form a notch in guide slot 5534. In various embodiments, detent slot 5536 may extend from guide slot 5534 and may be perpendicular or substantially perpendicular to guide slot 5534, for example. Additionally, the locking detent 5582 can move along the detent slot 5536 when the swivel collar 5580 rotates between the initial orientation and the secondary orientation with respect to the shank 5520.

[00248] In various embodiments, the locking detent 5582 may engage the distal attachment portion 5504 of the UCD 5502 to lock the UCD 5502 with respect to the stem 5520. For example, with reference again to Figure 42, the distal attachment portion 5504 may include guide rail 5514, which may have a locking notch 5516 defined therein. The locking notch 5516 can be structured and sized to receive the locking detent 5582 of the swivel collar 5580 when the UCD 5502 is fully inserted into the proximal attachment portion 5522. For example, when the distal attachment portion 5504 is fully inserted in the proximal attachment portion 5522, the locking notch 5516 of the distal attachment portion 5504 can be aligned with the detent slot 5536 of the proximal attachment portion 5522. Accordingly, the locking detent 5582 can slide along the detent slot 5536 in the proximal attachment portion 5522 and in the locking notch 5516 in the distal attachment portion. In addition, the locking detent 5582 can be tilted towards engagement with the locking notch 5516 by the torsion spring 5592. For example, after the trigger rod rotor 5544 releases the distal end 5509 of the rotation key 5506, the firing rod 5540 can be tilted back to the first orientation and the swivel collar 5580 can be tilted in the direction of the initial orientation by the torsion spring 5592. Also, when the collar 5580 is rotated from the secondary orientation back to the initial orientation , the locking detent 5582 thereof can be aligned and engaged with the locking notch 5516 on the guide rail 5514.

[00249] In various embodiments, rotation of the 5580 collar can facilitate the attachment and/or alignment of a trigger assembly. For example, the trigger rod 5540 can extend between a proximal end 5546 and a distal end 5542. The proximal end 5546 can have a pivot joint, which can allow the rotation of the trigger rod 5540 between the first configuration and the second configuration. second configuration. In addition, the distal end 5542 may have a coupler for securing a cutting element of the UCD 5502. Rotation of the firing rod 5540 may facilitate attachment of the cutting element. For example, as the coupler at the distal end 5542 of the firing rod 5540 rotates, the coupler may engage and connect to the cutting element on the UCD 5502. In certain embodiments, the coupler may include a bayonet mount, which can engage a corresponding bayonet receiver of the cutting element on the UCD 5502. Referring primarily to Figures 40 and 41, the firing assembly may additionally include a sleeve 5550 positioned around the firing rod 5540 between the proximal end 5546 and the distal end 5542, for example.

[00250] In various embodiments, when the firing rod 5540 rotates within the rod 5520, the firing rod 5540 can rotate in alignment with a firing rod slot 5518 on the UCD 5502. For example, the rotor of the firing rod 5544 can be aligned with the slot of the trigger rod 5518 when the UCD 5502 is fully inserted and secured to the rod 5520. However, in various embodiments, when the UCD 5502 is only partially inserted into the rod 5520, the rotor of the trigger rod 5544 may be rotated, by turning wrench 5506, out of alignment with the slot of the trigger rod 5518. In other words, the rotor of the trigger rod 5544 can be aligned with the slot of the trigger rod 5514 when the trigger rod 5540 is in the first orientation and may not be aligned with the slot of the trigger rod 5514 when the trigger rod 5540 rotates towards the second orientation. In such embodiments, when the UCD 5502 is only partially inserted into the rod 5520 and/or before the UCD 5502 is releasably locked to the rod 5520 by the swivel collar 5580, the firing path of the rotor of the firing rod 5544 may be blocked. by the distal attachment portion 5504. The integration of the firing rod 5540 and the collar 5580 can ensure that the UCD 5502 is securely attached to the rod 5520 before the firing rod 5540 can fire and/or advance. For example, the surgical instrument may be unable to fire until the cutting element on the UCD 5502 is coupled to the firing rod 5540 and/or until the firing rod 5540 is properly aligned within the rod 5520, for example.

[00251] In certain embodiments, rotation of collar 5580 can facilitate attachment and/or alignment of a pivot assembly 5559. Referring primarily to Figures 40 and 41, pivot assembly 5559 may include a proximal pivot bar 5560, a distal pivot bar 5562, and a pivot connector 5566. Additionally, the stem 5520 can include a proximal pivot bar slot 5528 and the UCD 5502 can include a distal pivot bar slot 5512, for example. In certain embodiments, the proximal pivot bar 5560 can be aligned with the slot of the proximal pivot bar 5528 and the distal pivot bar 5562 can be aligned with the slot of the distal pivot bar 5512. Now referring to Figures 46, the pivot connector 5566 can be housed in swivel collar 5580. For example, pivot collar 5580 can include a pivot connector slot 5586 and pivot connector 5566 can be movably positioned therein.

[00252] In various embodiments, again with reference to Figures 40 and 41, the proximal pivot notch 5560 may have a proximal notch 5572 and the distal articulation bar 5562 may have a distal notch 5574. In addition, the articulation connector 5566 may include a proximal pivot boss 5568 and a distal pivot boss 5572. The proximal pivot boss 5568 may be retained in the proximal notch 5572 of the proximal pivot bar 5560. In certain embodiments, the distal pivot boss 5570 may operatively engage the distal notch 5574 of the distal pivot bar 5562. As described herein, the swivel collar 5580 can pivot between the initial configuration and the secondary configuration. As collar 5580 rotates, hinge connector 5566 housed therein may also rotate with respect to the longitudinal axis defined by stem 5520. In various embodiments, the proximal hinge shoulder 5568 of hinge connector 5566 may remain positioned in the notch. 5572 of the proximal pivot bar 5560 as the pivot connector 5566 rotates. In addition, the distal joint shoulder 5570 of the joint connector 5566 may move in engagement with the distal notch 5574 of the distal pivot bar 5562 as the joint connector 5566 rotates with the collar 5580 from the secondary orientation to the initial. For example, when the UCD 5502 is fully inserted into the stem 5508, the distal notch 5574 of the distal pivot bar 5562 may be aligned with the distal pivot shoulder 5568 of the pivot connector 5566. In such embodiments, when the swivel collar 5580 rotates back to the initial configuration, the distal pivot boss 5568 can slide into the distal notch 5574 of the distal pivot bar 5562. When the distal pivot boss 5568 is positioned in the distal notch 5574, the pivot assembly 5559 can be fully assembled.

[00253] Referring primarily to Figure 45, in various embodiments, the proximal hinge bar slot 5528 may include a first clearance 5530 and a second clearance 5532. The proximal and distal hinge shoulders 5568, 5570 of the hinge connector 5566 may extend to the first and second gaps 5530, 5532, respectively. In certain embodiments, the first and second clearances 5530, 5532 may provide space for the proximal and distal hinge lugs 5568, 5570 to move as the collar 5580 rotates and/or as the hinge assembly 5559 pivots. , for example.

[00254] Now referring to Figures 51 to 58, to connect the UCD 5502 to the stem 5520 of the surgical instrument, a user can align the alignment symbols 5510 of the UCD 5502 with the alignment symbols 5590 of the stem 5520 and/or the paste 5580 (Figure 51). While maintaining alignment of alignment symbols 5510, 5590, the user can move the UCD 5502 relative to the shank 5520 along the longitudinal axis defined by the shank 5520. The user can move the UCD 5502 along a straight path or substantially straight and, in many embodiments, does not need to rotate the UCD with respect to the 5520 stem, for example. Referring primarily to Figure 53, the UCD 5502 may continue to translate relative to the stem 5520 and the guide rail 5514 of the distal attachment portion 5504 may fit into the guide slot 5534 (Figure 44) at the proximal attachment portion 5522 of the shaft. 5520. As distal attachment portion 5504 moves to proximal attachment portion 5522, guide slot 5534 may guide guide rail 5514 and may maintain alignment of alignment symbols 5510, 5590, for example. In other words, the guide slot 5534 and the guide rail 5514 can prevent rotation of the UCD 5502 with respect to the longitudinal axis of the rod 5520. Referring primarily to Figure 52, the proximal hinge shoulder 5568 of the hinge connector 5522 can extend for the first gap 5530 and may be positioned in the proximal groove 5572 of the proximal hinge bar 5562 and the distal hinge shoulder 5570 of the hinge connector 5522 may extend through the second clearance 5532, for example.

[00255] Referring primarily to Figure 54, when the distal attachment portion 5504 is inserted into the proximal attachment portion 5522, the rotation key ramp 5508 of the rotation key 5506 may be in contiguity with the firing rod rotor 5544 Rotation key ramp 5508 can guide and/or direct the trigger rod rotor 5544 to clearance notch 5526 extending from the rotation key slot 5524. Further, as the trigger rod rotor 5544 moves to clearance notch 5526, trigger rod 5540 can rotate in direction B. Firing rod 5540 can rotate from first orientation to second orientation. Such rotation of the firing rod 5540 can facilitate attachment of the distal end 5542 of the firing rod 5540 with a cutting element to the UCD 5502. In addition, rotation of the rotor of the firing rod 5544 can rotate the collar 5580 in the direction B through of the engagement between the 5544 firing rod rotor and the 5584 firing rod rotor groove (Figure 46) on the 5580 collar. The 5580 collar can rotate from the initial orientation to the secondary orientation, for example. Additionally, the locking detent 5582 can move along the detent slot 5536 in the shank 5520 as the collar 5580 rotates. Additionally, rotation of collar 5580 can rotate distal end 5596 of spring 5592 because distal end 5596 of spring 5592 can be retained in the slot of distal spring 5588 (Figure 46) in collar 5580. Displacement of distal end 5596 relative to distal end 5594 can generate a torsional elastic return force that can tilt the collar 5580 from the secondary orientation towards the initial orientation, for example, and can tilt the firing rod 5540 from the second orientation towards the first orientation, for example.

[00256] Referring primarily to Figure 55, as the collar 5580 rotates toward the secondary orientation, the proximal pivot shoulder 5568 may remain engaged with the proximal notch 5572 on the proximal pivot bar 5560. In addition, the shoulder of the distal joint 5570 can rotate so that the distal joint boss 5570 provides clearance for the distal pivot bar 5562 of the UCD 5502. Referring to Figure 56, the UCD 5502 can be fully inserted into the stem 5520 when the collar 5580 and the pivot connector 5566 positioned therein are rotated to the secondary orientation. In various embodiments, the distal hinge bar 5562 can release the shoulder of the distal hinge 5570 from the hinge connector 5566 when the hinge connector 5566 is rotated to the secondary orientation. In addition, the distal joint boss 5570 can be pivotally aligned with the distal notch 5574 on the joint connector 5566. Still referring to Figure 56, when the UCD 5502 is fully inserted into the rod 5520, the trigger rod rotor 5544 can release the distal end 5509 from the 5506 rotation key.

[00257] Now referring to Figure 57, the trigger rod rotor 5544 can rotate in the C direction when the distal end 5509 of the rotation key 5506 passes past the trigger rod rotor 5544. For example, the rod rotor trigger 5544 can rotate in the C direction of the second orientation towards the first orientation. Also, the rotation of the firing rod rotor 5544 can affect the rotation of the collar 5580 in the C-direction from the secondary orientation towards the initial orientation. In various embodiments, spring 5592 may bias firing rod 5540 toward its first orientation and collar 5580 toward its initial orientation. For example, the 5544 firing rod rotor may be positioned in the 5584 firing rod rotor groove (Figure 46) in the 5580 collar so that the rotation of the 5544 firing rod rotor rotates the 5580 collar. shoulder of the distal joint 5570 of the joint connector 5566 and the distal notch 5574 of the distal joint bar 5562, the joint connector 5566 can rotate as the collar 5580 rotates and the shoulder of the distal joint 5570 can rotate to engage with the distal notch 5574. The linkage assembly 5559 can be assembled when the shoulder of the distal linkage 5570 engages the distal notch 5574. Also, as the rotor of the firing rod 5544 rotates in the C direction, the distal end 5542 of the firing rod trigger 5540 can rotate in the C direction, which can facilitate attachment of a cutting element on the UCD 5502 to the distal end 5542 of trigger rod 5540.

[00258] Now referring to Figure 58, rotation of collar 5580 can also rotate locking detent 5582 of collar 5580 to locking notch 5516 on guide rail 5514 of distal attachment portion 5504. For example, when UCD 5502 is fully inserted into shank 5520, locking notch 5516 may be aligned with detent slot 5536 so that locking detent 5582 can pivot through detent slot 5536 and into locking notch 5516. As described herein , the spring 5592 can bias the collar 5580 to rotate in the C direction (Figure 57) after the firing rod rotor 5544 releases the distal end 5509 of the rotation key 5506. Still referring to Figure 58, when the firing rod rotor 5544 5544 trigger rotates in the C direction, the 5544 trigger rod rotor can move into alignment with the 5518 trigger rod slot on the 5502 UCD. The 5544 trigger rod rotor aligns with the 5518 trigger rod slot can allow the firing rod 5540 is advanced distally to fire the UCD 5502, for example.

[00259] As described herein, the swivel collar 5580 can releasably lock the UCD 5502 with respect to the shank 5520. In addition, rotation of the collar 5580 can facilitate attachment and/or alignment of the pivot assembly 5559, as well as fixing and/or aligning the firing rod 5540 with the cutting element on the UCD 5502, for example. In addition, rotating the collar can also unlock the UCD 5502 from the rod, disconnect the pivot assembly 5559, and/or disconnect the trigger rod 5540 from the cutting element on the UCD 5502. For example, when the collar 5580 is rotated again from the initial orientation toward secondary orientation, locking detent 5582 may disengage locking notch 5516 in distal attachment portion 5504. Accordingly, distal attachment portion 5504 may be withdrawn from proximal attachment portion 5522 along the axis longitudinal defined by rod 5520, for example. In various embodiments, the UCD 5502 can be released from the stem 5520 without rotating the UCD 5502 with respect to the stem 5520. However, the collar 5580 can rotate with respect to the stem 5520, which can disconnect the distal pivot bar 5562 from the pivot connector. 5566 on the collar 5580 and can disconnect the trigger rod 5540 from the cutting element on the UCD 5502, for example.

[00260] Now referring to Figures 59 through 62, a Disposable Loading Unit (UCD) or End Actuator 5602 may be releasably attached to a stem 5620 of a surgical instrument. In various embodiments, a spring or a plurality of springs, for example, can bias the UCD 5602 into a locked position with respect to the rod 5620. For example, the UCD 5602 can be releasably attached to the rod 5620 by means of a mounting. bayonet type and a spring can rotate the UCD 5602 to connect the UCD 5602 to the rod 5620 in the bayonet connection. The UCD 5602 may include a distal attachment portion 5604 and the stem 5620 may include a proximal attachment portion 5622, for example. The distal attachment portion 5604 of the UCD 5602 may receive the proximal attachment portion 5622 of the stem 5620 when the UCD 5602 is secured to the shaft 5620. In other embodiments, a proximal attachment portion of the shaft 5620 may receive a distal attachment portion of the shaft 5620. UCD 5602 when the UCD 5602 is attached to rod 5620.

[00261] In various embodiments, the distal attachment portion 5604 of the UCD 5602 may include a detent 5606, which may extend radially outward from a portion of the distal attachment portion 5604. In addition, the detent 5606 may include a ramped surface 5608. As described herein, ramped surface 5608 of detent 5606 may engage a spring, such as spring 5636b, for example, and may deform spring 5636b when distal attachment portion 5604 is inserted into attachment portion 5622. In addition, the detent 5606 may be held by the proximal attachment portion 5622 to releasably lock the UCD 5602 onto the stem 5622. Referring primarily to Figure 59, the proximal attachment portion 5622 of the stem 5620 may define a cavity 5624. In various embodiments, the cavity 5624 may be structured and sized to receive the distal attachment portion 5604 of the UCD 5602. In addition, a spring 5636a, 5636b may be positioned within the cavity 5624. For example For example, a first spring 5636a may be positioned on a first side of cavity 5624 and a second spring 5636b may be positioned on a second side of cavity 5624. Springs 5636a, 5636b may be symmetrical or non-symmetrical with respect to cavity 5624. In various embodiments, at least a portion of a spring 5636a, 5636b may extend into cavity 5624. For example, one leg 5637 of second spring 5636b may extend into cavity 5624 and another leg 5637 of second spring 5636 may be retained in the proximal attachment portion 5622, for example.

[00262] Still referring to Figure 59, the proximal attachment portion 5622 may also include a locking slot 5638, which may be defined in cavity 5624 and/or may also be accessible through cavity 5624, for example. Locking slot 5638 may be structured and sized to receive detent 5606, for example. In various embodiments, locking slot 5638 may hold detent 5606 to releasably lock UCD 5602 with respect to stem 5620. Further, in various embodiments, proximal attachment portion 5622 may include a lock 5630. Lock 5630 can be moved between an unlocked position (Figures 59 and 60) and a locked position (Figures 61 and 62). In various embodiments, latch 5630 can be spring loaded and spring 5634 can tilt latch 5630 to the locked position. For example, latch 5630 may include a latch spring 5634, which can tilt latch 5630 toward and/or into the locked position. The locked position can be distal to the unlocked position, for example. In certain embodiments, latch 5630 may include a thumb grip and/or ridges 5632 to facilitate movement of latch 5630 from the latched to the unlocked position. For example, a user can engage thumb grip 5632 and extend latch 5630 proximally to unlock latch 5630.

[00263] In various embodiments, the latch 5630 can operationally lock or at least partially block the locking slot 5638. For example, when the latch 5630 is in the locked position (Figures 61 and 62), an arm 5635 of the latch 5630 may extend over at least a portion of lock slot 5638. Lock 5630 may cover or partially cover lock slot 5638 and may prevent and/or limit access to lock slot 5638. In certain embodiments, arm 5635 of latch 5630 can prevent detent 5606 from moving and/or sliding into lock slot 5638. Furthermore, when latch 5630 is in the locked position, latch 5630 can engage spring 5636a, 5636b. For example, with reference to Figures 61 and 62, latch 5630 may support spring 5636b so that deformation of spring 5636b is limited and/or avoided. In addition, latch 5630 can support spring 5636b so that cavity 5624 cannot receive distal attachment portion 5604 of UCD 5602. For example, at least a portion of spring 5636b can block cavity 5624, which can prevent the complete insertion of the distal attachment portion 5604 into the proximal attachment portion 5622. In certain embodiments, the proximal attachment portion 5622 may include a plurality of springs, which may exert a rotational force on the distal attachment portion 5604 to rotate the locking portion 5604. distal attachment 5604 relative to proximal attachment portion 5622. For example, proximal attachment portion 5622 may include a pair of springs or more than three springs. In other embodiments, a single spring in the proximal attachment portion 5622 may seek to rotate the distal attachment portion 5604 with respect to the proximal attachment portion 5622. Additionally or alternatively, in various embodiments, the distal attachment portion 5602 of the UCD 5602 may include at least one spring, which can rotate the distal attachment portion 5602 relative to the proximal attachment portion 5622, for example.

[00264] In various embodiments, when latch 5630 is in an unlocked position (Figures 59 and 60), locking slot 5638 may be unlocked and/or less blocked by arm 5635 of latch 5630. For example, detent 5606 may snapping past the unlocked latch 5630 to engage the locking slot 5638. In addition, the detent 5606 can be tilted past the unlocked lock 5630 and into the locking slot 5638 as described herein. Furthermore, in various embodiments, when latch 5630 is in the unlocked position, latch 5630 may disengage spring 5636a, 5636b. For example, latch 5630 may not protect and/or limit deformation of spring 5636a, 5636b when latch 5630 is unlocked.

[00265] Referring primarily to Figure 59, when latch 5630 is moved and held in a proximal and/or unlocked position, for example, spring 5636b may not be supported by latch 5630. In such embodiments, UCD 5602 may be moved in direction A so that distal attachment portion 5604 is moved relative to proximal attachment portion 5622. Referring primarily to Figure 60, detent 5606 of distal attachment portion 5604 may engage spring 5636b and may compress and/or or deform spring 5636b, for example. In certain embodiments, ramped surface 5608 of detent 5606 can slide along spring 5636b and can move first leg 5637 of spring 5636b. Deformation of spring 5636b can generate an elastic return force, which spring 5636 can exert on detent 5606. Now referring to Figure 61, the elastic return force can affect rotation of detent 5606. For example, detent 5606 can rotate in direction B into lock slot 5638 defined in cavity 5624. In various embodiments, lock spring 5634 can return lock 5630 to the unlocked position when user releases lock 5630. Also, when lock 5630 returns to the unlocked position, arm 5635 of latch 5630 may lock or partially block locking slot 5638. In such embodiments, detent 5606 of distal attachment portion 5604 may be releasably locked relative to proximal attachment portion 5622 when detent 5606 is held in lock slot 5638. Also, in certain embodiments, latch 5630 may hold and/or support spring 5636b against detent 5606 until latch is moved again p for the unlocked position. In various embodiments, to release the UCD 5602 from the stem 5620, a user can move the latch 5630 back from the locked position to the unlocked position so that the detent 5606 can be rotated out of the locking slot 5638. In such embodiments, rotation of detent 5606 again compresses and/or deforms spring 5636b until distal attachment portion 5604 is withdrawn from proximal attachment portion 5622.

[00266] In addition to the above, the surgical instrument may be configured to identify or at least attempt to identify the end actuator that has been mounted on the surgical instrument. In certain embodiments, as described in more detail below, the end actuator may include electrical contacts that can engage corresponding electrical contacts on the stem of the surgical instrument when the end actuator is mounted on the stem. In such embodiments, the controller of the surgical instrument can establish a wired connection with the end actuator and signal communication between the controller and end actuator can take place via electrical contacts. As described in more detail below, the end actuator can include at least one data stored in it that can be accessed by the controller to identify the end actuator. The at least one data may include one bit, more than one bit, one byte or more than one byte of information, for example. In certain other embodiments, the end actuator may include a transmitter which may be in wireless signal communication with the surgical instrument controller. Similar to the above, the end actuator may include at least one data stored therein that can be transmitted to the controller to identify the end actuator. In such embodiments, the surgical instrument controller may include a receiver or utilize a receiver which may receive transmission from the end actuator. Such a receiver may be positioned on the stem and/or handle of the surgical instrument, for example.

[00267] As the reader will understand, an end actuator that communicates wirelessly with the controller, for example, may be configured to output a wireless signal. In various circumstances, the end actuator may be configured to emit this signal once or more than once. In certain circumstances, the end actuator may be required to output the signal at a desired time and/or repeatedly output the signal in a continuous manner. In some circumstances, the end actuator may include a switch that can be operated by the user of the surgical instrument before, during and/or after the end actuator of the surgical instrument is mounted on the surgical instrument. In various embodiments, the end actuator switch may comprise an on/off or power switch that can be closed or operated to activate the end actuator. In at least one such embodiment, the end actuator may include at least one power source, such as a battery, for example, which may be used by the transmitter to output the signal when the on/off switch is turned on. closed. Upon activation of the end actuator, in various circumstances the end actuator controller can be configured to generate the signal and output the signal through the transmitter. In some circumstances, the end actuator may not output the signal until the end actuator is activated. Such an arrangement can conserve battery power, for example. In certain embodiments, the surgical instrument may be placed in an operating mode where it can wait for the signal from the end actuator before the end actuator switch is activated. In various circumstances, the surgical instrument may be in standby or low power operating mode, where once the signal has been received by the controller, the controller can put the surgical instrument into its fully powered operating mode. In some embodiments, the end actuator switch may instruct an end actuator controller to output the signal to the surgical instrument controller. Such a switch may or may not comprise a power switch; however, such a switch could not be selectively activated by the user to request the end actuator to output the signal at a desired time and/or continuously from a desired time onwards.

[00268] Going now to Figure 114, an end actuator, such as the 9560 end actuator, for example, may include one or more electrical contacts, such as the 9561 contacts, for example, which can be used to activate the end actuator. end 9560. For example, moving now to Figure 112, the stem 9040 of the surgical instrument may include a contact bridge 9562 that can be configured to short-circuit or electrically connect two or more contacts 9561 when the end actuator 9560 is mounted on rod 9040. Bridge 9562 can complete the circuit including two contacts 9561, a battery 9564 and at least one integrated circuit 9566 defined on a printed circuit board 9565. Once the circuit is completed, in addition to the above, the battery 9564 can power the 9566 integrated circuit or circuits and the 9560 end actuator can be activated. In various circumstances, the integrated circuit or circuits 9566 and an antenna 9567 defined on the printed circuit board 9565 may comprise the controller and transmitter discussed above. In certain embodiments, rod 9040 may include a tilting element, such as a spring 9563, for example, which may be configured to tilt bridge 9562 to contact electrical contacts 9561. Before bridge 9562 connect electrical contacts 9561 and/or after the 9560 end actuator has been separated from the 9040 stem, the circuit may be opened, power from the 9564 battery may not be supplied to the 9566 IC and/or the power supplied to the 9566 IC may be reduced by an inactivated condition. As a result of the foregoing, in such embodiments, the end actuator assembly may be activated as a result of mounting the end actuator to the surgical instrument. In various instances, in addition to the above, the end actuator and the surgical instrument may be constructed and arranged so that only the complete and appropriate assembly of the end actuator for the surgical instrument will activate the end actuator.

[00269] As discussed above, with reference now to Figure 111, an end actuator can be attached to the surgical instrument, indicated by step 9600, activated, indicated by step 9602, and then evaluated by the surgical instrument, indicated by step 9604. When the surgical instrument is trying to evaluate a wireless signal from an activated end actuator, in addition to the above, the surgical instrument may be configured to evaluate whether the signal is complete. In various embodiments, asynchronous serial communication between the end actuator and the surgical instrument can be used to assess whether the signal received by the surgical instrument is complete. For example, the end actuator may output a signal comprising a start bit that precedes a data structure, such as an information byte, for example, and/or a stop bit that follows the data structure. In such cases, the start bit, the data byte and the stop bit may comprise a 10-bit character structure or bit pattern, for example. When the surgical instrument controller can identify the start bit and the stop bit of a bit pattern, in such cases the controller can assume that the data byte or data bits received between the start bit and the stop bit is correct and/or otherwise complete. In various circumstances, the start bit and/or the stop bit may comprise a stop period before the next information byte is transmitted and/or before the previous information byte is communicated once more.

[00270] In addition to the above, moving now to Figure 110, the surgical instrument controller can compare the bit pattern or certain bits of the data to determine whether the data it has received is correct and/or otherwise complete. In various circumstances, data may be transmitted in such a way that the controller can evaluate the data and compare it to data from a bit pattern model or models it was expecting to receive the data. For example, such a template may be configured and arranged so that the most significant bit of data, such as the leftmost data bit, for example, comprises a 1, for example. In case the controller is able to identify that the most significant data bit is equal to 1, with reference to step 9700 in Figure 110, the controller can perform an XOR operation on the data and compare the data to the data model or models. bit pattern available to the controller, as indicated in step 9702. An XOR operation is known and a detailed description of it is not provided here for the sake of brevity. In the event that the bit pattern received by the surgical instrument matches a bit pattern template available to the controller, the controller will have identified the end actuator. By identifying the end actuator, the controller can access information stored about the end actuator on a memory chip accessible by the controller, for example. In the case where the controller determines that the most significant data bit in the received bit pattern is not equal to 1, with reference again to step 9700, the controller may perform a bit shift operation. Many bit shift operations are known, such as arithmetic shifts, logical shifts and/or circular shifts, for example, which can be used to eliminate bad data bits that were received before the desired bit pattern. In various circumstances the 0, leading zero or leftmost data bits can be eliminated, now referring to step 9704 in Figure 110 and the bit pattern can be shifted to the left, for example up to the main bit be a 1. At such a point, in addition to the above, the shifted bit pattern can be compared with the bit pattern patterns to identify the end actuator. In the event that the shifted bit pattern does not match a bit pattern pattern, the controller can shift the bit pattern one more time until the next 1 in the bit pattern becomes the main bit and the new bit pattern. bit shifted can be compared to bit pattern models. Such a displacement and comparison operation may be performed any number of appropriate times until the end actuator is identified and/or the surgical instrument considers that the end actuator has not been identified.

[00271] As the reader will understand, a surgical instrument can include information related to any suitable number of end actuators. When the end actuator is identified by the surgical instrument, in addition to the above, the surgical instrument can access the stored information regarding the end actuator. For example, such stored information may instruct the surgical instrument as to, one, the distance the trigger element in the end actuator needs to be advanced to complete a trigger stroke and/or, two, the maximum amount of power or torque that the surgical instrument motor must apply to the trigger elements, for example. Such information, or a set of information, may be unique to each end actuator and consequently identify the end actuator in some way, which allows the surgical instrument to operate in the desired manner. Without such information, the surgical instrument may not be able to discern the length of stroke required to fully utilize the end actuator and/or properly limit the power it applies to the trigger. In various circumstances, the surgical instrument may rely on sensors configured to detect when the trigger stroke has been completed and/or if the power being applied to the trigger element is excessive. Such sensors can prevent the surgical instrument motor from being overcharged and damaging the trigger element, for example, of the end actuator.

[00272] In addition to the above, certain end actuators may be more robust than others e. as a result, certain end actuators may be able to withstand greater forces from the surgical instrument motor. Consequently, other end actuators may be less robust and, as a result, may only be able to withstand minor motor forces. In order for the surgical instrument to determine the proper forces to be applied to any specific end actuator, in addition to the above, the surgical instrument needs to identify the end actuator attached to the surgical instrument. In the event that the end actuator cannot identify the end actuator, the surgical instrument can use a standard program or operating mode. In standard operating mode, the surgical instrument controller can limit the power that the motor can apply to the trigger element of the end actuator, for example, to a minimum or standard power. Minimum power can be selected so that the motor will not damage an end actuator regardless of the end actuator being used. In some circumstances, the parameters for using the weakest or least robust end actuator that can be used with the surgical instrument may be used by the standard operating mode, so that the surgical instrument will not overfeed the end actuator independently of the actuator. end being used. In several examples, it is the advent of motor-equipped surgical instruments that can cause an end actuator to be supercharged. Put another way, end actuators that were formerly used by hand-operated surgical instruments and essentially unbreakable by such hand-operated surgical instruments can be easily broken by a motor-equipped surgical instrument. Furthermore, such front end actuators cannot include the technology to be identified by the motor-powered surgical instruments and, as a result of the standard operating program described herein, such front end actuators can still be used even with the motor-powered surgical instruments. That said, the default operating program can also use other default parameters. For example, the standard operating program may use a minimum or standard trigger stroke length. In several examples, the standard operating program may use the shortest stroke length of the end actuator that can be used with the surgical instrument. In such examples, the trigger element will not collide or impact the distal end of the end actuator unless the end actuator is being used.

[00273] As the reader will understand, a surgical instrument that includes stored information regarding the end actuators that can be used with the surgical instrument may need the information available for the surgical instrument to be updated. For example, if the preferred operating parameters with respect to a certain end actuator change over time, the information stored within the surgical instrument needs to be updated. Also, for example, surgical instruments may need updating when a new end actuator is developed for use with surgical instruments. As the surgical instrument is not updated in a timely manner, the surgical instrument may not be able to identify the end actuator and, as a result, may use the standard operating program described here. In various embodiments, a surgical instrument may not include stored information related to end actuators, or at least certain end actuators, that may be used with the surgical instrument. In such embodiments, an end actuator may include stored information or parameters related to the end actuator. Such parameters can be accessed by and/or communicated to the surgical instrument. In various circumstances, in addition to the above, the assembly of an end actuator for the surgical instrument may cause the end actuator to emit a signal which can be received by the surgical instrument. Also similarly to above, the end actuator can be asked to output the signal. This signal, in various circumstances, can be transmitted to the surgical instrument via a wired and/or wireless connection. In certain embodiments, the surgical instrument may prompt the end actuator to transmit the signal.

[00274] In addition to the above, an end actuator may include one or more end actuator related parameters stored in it. Such parameters can be stored in one or more memory devices, for example. In various examples, such parameters may include the desired firing speed of the firing element, the desired retraction speed of the firing element, the distance or stroke that the firing element has to follow, the maximum torque to be applied to the firing element. triggering by the surgical instrument motor and/or the maximum angle at which the end actuator must be pivoted if it is, in fact, a pivoting end actuator, for example. Certain articulating end actuators are disclosed in US Patent Application No. 13/803,097 entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, the entire disclosure being incorporated herein by reference in its entirety. Regarding the parameter related to maximum pivot angle, the controller can use this parameter to limit the degree to which the pivot portion of the end actuator pivots. In some examples, the maximum articulation angle may be 45 degrees, for example, as measured on the longitudinal axis of the surgical instrument shank. As for the parameter related to the triggering speed and/or the retraction speed of the triggering element, for example, the parameter can communicate a desired speed for the triggering element and/or a percentage or fraction of the maximum motor speed, for example . For example, a trigger speed value of 3 could communicate that the controller must run the motor at 30% of its maximum speed, for example when advancing the trigger element. Also, for example, a value of 5 for the retract speed could communicate that the controller must run the motor at 50% of its maximum speed, for example when advancing the trigger element. As for the parameter related to the maximum torque of the motor, for example, the parameter can communicate a maximum torque value and/or a percentage or fraction of the maximum torque of the motor, for example. Also, as for the parameter related to the stroke length of the trigger element, for example, the parameter can communicate the desired distance the trigger element should be advanced and/or retracted and/or a percentage or fraction of the stroke length maximum of the surgical instrument. For example, the value of 60 indicates that the firing stroke should be 60 mm, for example. In various examples, parameter values may be reported in any suitable format, including a binary format comprising bits and/or bytes of data, for example. An exemplary embodiment of a parameter matrix is shown in Figure 110A.

[00275] In various embodiments, in addition to the above, the surgical instrument can be configured to obtain the end actuator parameters in a specific order. For example, a signal emitted from the end actuator may comprise a start bit, a first bit pattern for a first parameter such as maximum pivot angle, a second bit pattern for a second parameter such as firing rate, a third bit pattern for a third parameter such as retraction speed, a fourth bit pattern for a fourth parameter such as maximum motor torque, a fifth bit pattern for a fifth parameter such as stroke length, and a stop bit, for example. This is just an example. Any suitable number of parameters can be communicated as part of the signal. In addition, any suitable number of start bits and/or stop bits can be used. For example, a start bit can precede each parameter bit pattern and/or a stop bit can follow each parameter bit pattern. As discussed above, the use of at least one start bit and/or at least one stop bit can facilitate the surgical instrument controller's analysis of whether the signal from the end actuator is complete. In certain embodiments, a start bit and/or a stop bit may not be used. Furthermore, a plurality of signals may be output from the end actuator to communicate the end actuator parameters to the surgical instrument.

[00276] In various circumstances, in addition to the above, the surgical instrument controller may use a checksum to assess whether the signal it has received from an end actuator is complete and/or whether the signal it has received is authentic, that is, from a recognized end actuator. A checksum may comprise a value used to ensure that data is stored, transmitted and/or received without error. It can be created by calculating binary values, for example from data, and combining the binary values using some algorithm. For example, binary data values can be added, although various other algorithms could be used. In embodiments where parameters related to certain end actuators are stored in the surgical instrument, as discussed above, a checksum value can also be stored for each end actuator. In use, the surgical instrument controller can access the parameter data and checksum value, and after computing a checksum value from the parameter data, i.e. computing a calculated checksum value, the controller can compare the calculated checksum value with the stored checksum value. In the event that the calculated checksum value is equal to the stored checksum value, the controller can assume that all data retrieved from the surgical instrument memory is correct. At that point, the controller can then operate the surgical instrument according to the data loaded from memory. In the event that the calculated checksum value is not equal to the stored checksum value, the controller can assume that at least one data of the retrieved data is not correct. In various examples, the controller may then operate the surgical instrument under the standard operating program, in addition to the above, latch the trigger of the surgical instrument and/or otherwise communicate the case to the user of the surgical instrument, for example. In certain examples, the controller may retry loading data from the surgical instrument's memory and re-perform the checksum computation and comparison discussed above. If the recalculated checksum value and the stored checksum value match, the controller can then operate the surgical instrument according to the data loaded from memory. In case the recalculated checksum value and the stored checksum value are not the same, the controller can then operate the surgical instrument under the standard operating program, in addition to the above mentioned, lock the trigger of the surgical instrument and/or otherwise communicate the case to the user of the surgical instrument, for example.

[00277] In embodiments where parameters related to an end actuator are stored in the end actuator memory, as discussed above, a checksum value can also be stored in the end actuator memory, for example. In use, the surgical instrument controller can access the parameter data and stored checksum value. In various examples, in addition to the above, the end actuator may emit one or more signals that communicate the parameters and checksum value to the surgical instrument. As a result of the above, the checksum value and parameters can be transmitted together, and for the purposes of this discussion, the checksum value received by the surgical instrument can be referred to as the received checksum value. Once the parameter data is received, similarly to the above, the controller can compute a checksum value from the parameter data, i.e. compute a calculated checksum value and compare the calculated checksum value with the received checksum value. In the case where the calculated checksum value is equal to the received checksum value, the controller can assume that all parameter data retrieved from the end actuator is correct. At that point, the controller can then operate the surgical instrument according to the data loaded from the end actuator. In the event that the calculated checksum value is not equal to the received checksum value, the controller can assume that at least one piece of the retrieved data is not correct. In various examples, the controller may then operate the surgical instrument under the standard operating program, in addition to the above, latch the trigger of the surgical instrument and/or otherwise communicate the case to the user of the surgical instrument, for example. Such occurrences may be more frequent when parameter data is communicated from the end actuator to the surgical instrument via one or more wireless transmissions, for example. In any case, in certain examples, the controller may retry loading the end actuator data and re-perform the checksum computation and comparison discussed above. If the recalculated checksum value and the received checksum value match, the controller can then operate the surgical instrument according to the data loaded from the end actuator. In case the recalculated checksum value and the received checksum value are not the same, the controller can then, in addition to the above mentioned, operate the surgical instrument under the standard operating program, lock the trigger of the surgical instrument and/or or otherwise communicate the case to the user of the surgical instrument, for example. In several examples, as a result of the above, the surgical instrument need not store any information about the end actuators used to operate the surgical instrument when the end actuator is being used. In such examples, data related to end actuator parameters and the checksum value used to confirm data integrity can be fully stored in the end actuator. The surgical instrument may include an operating program that only requires sufficient input from the end actuator for it to be used. A specific operating program for each end actuator that can be used with the surgical instrument may not be required. A single operating program can be used with all end actuators. Thus, the surgical instrument may not need to be updated to include additional end actuator operating programs and/or modified programs for existing end actuators, for example.

[00278] In addition to or in place of the wireless communication systems used to identify the end actuator attached to the surgical instrument discussed herein, turning now to Figures 149 to 154, a surgical instrument, according to at least one embodiment, may include means of scanning and identifying the end actuator. Figure 153 illustrates a cable 11020 including a barcode reader 11022 that may be configured to scan a barcode, illustrated in Figures 149 and 150, on an end actuator 11060, illustrated in Figures 151, 152 and 154. Similar to the other embodiments disclosed herein, the end actuator 11060 may include a stem portion, an anvil 11062 and/or a staple cartridge 11064, for example, wherein one or more portions of the end actuator 11060 may include a barcode in them. In some embodiments, the end actuator 11060 may include a removable member 11063 intermediate between the anvil 11062 and the staple cartridge 11064 that may be removed before or after the end actuator 11060 has been mounted on the surgical instrument. In Figure 151, a bar code 11065 is depicted as being positioned on the stem portion of end actuator 11060. In Figure 152, a bar code 11065 is depicted as being positioned on the removable component 11063. In various embodiments, the The surgical instrument cable 11020 may include a barcode reader so that the barcode reader 11024, for example, is configured to read a barcode on an end actuator. For example, with reference primarily to Figure 154, cable 11020 may include an internal barcode reader portion 11022 configured to read barcode 11065 set on end actuator stem 11060. In at least one of these examples, the barcode reader portion 11022 may include a chute 11026 sized and configured to receive end actuator stem 11060 wherein barcode reader 11024 may be mounted in and/or relative to an opening 11027 defined in the chute 11026 so that the 11024 barcode reader can read the 11065 barcode. As the reader will understand, a wide variety of barcode readers and barcode protocols are known and any suitable one can be used. In some examples, a barcode may include bi-directional information that allows the barcode to be read in two different directions, for example. In some examples, a barcode may use multiple layers of information. In some examples, the barcode protocol may include input information preceding the information that will identify the end actuator and/or otherwise provide information for the surgical instrument that will allow the surgical instrument to operate using a specific operating program. In some examples, a barcode reader may emit one or more beams of light that can contact a plurality of peaks and troughs comprising the barcode. In some examples, bar code basses may extend and/or be defined within the end actuator stem housing. The emitted light beams can be reflected back to the barcode reader where they can be interpreted. That said, barcode reader 11024 of cable 11020 is positioned and disposed within trough 11026 such that emitted and reflected light beams are confined, or at least substantially confined, within the barcode reader portion. 11022. In this way, the 11024 barcode scanner cannot accidentally or unintentionally scan a different end actuator, that is, a different end actuator than the one that will be mounted on the surgical instrument, which may be present in the operating room.

[00279] In several examples, in addition to the above, an end actuator may be passed through the barcode reader of a surgical instrument before the end actuator is mounted on the surgical instrument. In various alternative embodiments, the surgical instrument may include a mobile bar code reader that can be used to scan the end actuator bar code after it has been mounted on the surgical instrument. In any case, once the end actuator has been identified, in at least some circumstances the controller can access an operating program configured to use the identified end actuator. In one way, the barcode may comprise a bootloader. In other circumstances, as outlined here, the barcode may provide the controller with the information or parameters needed to utilize a common operating system. In some circumstances, each end actuator can be identified with a serial number so that any two end actuators, even if they are of the same type, can have two different barcodes on them. In such circumstances, the controller may be configured to refuse to use an end actuator that has previously been swept by the surgical instrument. Such a system could prevent an at least partially expanded end actuator from being used again, for example.

[00280] As discussed above, an end actuator can be configured to communicate with a surgical instrument via a wired and/or wireless connection. With respect to a wired connection, turning now to Figure 115, the proximal end of an end actuator such as the proximal end 9969 of the end actuator 9960, for example, may comprise a plurality of electrical contacts 9968 which can be placed in electrical communication with a plurality of electrical contacts 9948 disposed on and/or within a distal end 9942 of a stem 9940 of a surgical instrument. Referring primarily to Figure 116, each electrical contact 9968 may include a contact element 9967 at least partially positioned within an element cavity 9965. Each electrical contact 9968 may additionally include a tilting element, such as a spring 9966, for example, positioned intermediately between contact element 9967 and an inner side wall of element cavity 9965. Spring 9966 may be configured to tilt the contact element radially outward. Contact element 9967 may comprise a stop 9964 emerging therefrom which is movably tiltable in engagement with another inner side wall of element cavity 9965 by spring 9966, at least before end actuator 9960 is mounted. on stem 9940. Interaction between stop 9964 and the cavity side wall of element 9965 can stop the outward movement of contact element 9967. When end actuator 9960 is mounted on stem 9940, contact elements 9967 of the contacts electrical contacts 9968 can be pushed inward by the electrical contacts of rod 9948 against the tilting force applied by springs 9966, as illustrated in Figure 116. Under various circumstances, each pair of contacts 9948 and 9968 can complete a 9950 communication circuit or channel. Although three contact pairs are illustrated, any suitable number of contacts and/or communication channels could be used. In various embodiments, with reference to Figure 117, the stem contacts 10048 may each comprise a movable element 10047 and a bias spring 10046 configured to push movable elements 10047 against corresponding end actuator contacts 10068. In certain embodiments, turning now to Figure 118, one or both of the end actuator contacts and the stem contacts may comprise a flexible portion. For example, an end actuator may comprise flexible contacts 10168 which may resiliently engage the corresponding stem contacts 9948.

[00281] With respect to the modalities described above, in various circumstances, the end actuator can be mounted on the rod along the longitudinal axis. In such circumstances, with reference primarily to Figure 115, the contact of the most proximal end actuator 9968 will first make electrical contact with the contact of the most distal stem 9948. As the reader will understand, the end actuator 9960 has not been completely secured to the stem 9940 when such contacts engage. Although such engagement between these contacts may be temporary, that is, until the 9960 End Actuator is seated deeper into the 9940 Stem, the Surgical Instrument Controller may become confused and misinterpret one or more signals from the 9960 End Actuator. A similar situation may arise when the longitudinal array of end actuator contacts 9968 progressively contact the longitudinal array of stem contacts 9948 until end actuator 9940 is fully seated. In various embodiments, the surgical instrument controller can be configured to ignore signals transmitted through the contacts until the most proximal end actuator contact 9968 is engaged with the most proximal stem contact 9948. Going now to Figures 119 and 120, one of the contact pairs can be different from the other contact pairs so that the controller can identify when the contact pair has matched and, as a result, the end actuator has been fully seated. For example, an end actuator and a stem of a surgical instrument may include a first pair of contacts 10248a, 10268a, a second pair of contacts 10248b, 10268b, and a third pair of contacts 10248c, 10268c where the third pair of contacts may be different from the first pair of contacts and the second pair of contacts. When the first pair of contacts 10248a, 10268a are combined, a contact element 19267a can be pushed inward so that a first connecting portion 10263a of the contact element 10267a contacts a first path portion 9951a of a path of contact. communication 9950a of a second connecting portion 10264a of contact element 10267a contacts a second portion of path 9952a of communication path 9950a. In such a position of the contact element 10267a, the first path portion 9951a and the second path portion 9952a can both transmit a signal through the contact element 10267a. When the second pair of contacts 10248b, 10268b are combined, a contact element 19267b can be pushed inward so that a first connecting portion 10263b of the contact element 10267b contacts a first path portion 9951b of a path of contact. communication path 9950b and a second connecting portion 10264b of the contact element 10267b contacts a second path portion 9952b of the communication path 9950b. In such a position of the contact element 10267b, the first path portion 9951b and the second path portion 9952b can both transmit a signal through the contact element 10267b. When the third pair of contacts 10248c, 10268c are combined, a contact element 19267c can be pushed inward so that a first connecting portion 10263c of the contact element 10467c contacts a first path portion 9951c of a communication path 9950c and a second connecting portion 10264c of contact element 10267c contact a second path portion 9952c of communication path 9950c and contact the first portion of path 9951c. In such a position of the contact element 10267a, the first path portion 9951c can transmit a signal through the contact element 10267c. As a result of the above, the first, second and third assemblies may have a specific connectivity arrangement with their respective channel paths when the end actuator is fully seated and the controller may be configured to assess whether this fully engaged arrangement is at the place. For example, when the end actuator is initially inserted into the stem, the third contact 10264c may initially contact the first contact of the stem 10248a. In such a position, only two path portions, i.e. 9951a and 9952a, may be able to communicate a signal from the end actuator to the controller, and as such, the controller may be configured to detect a different voltage drop across the interconnection compared to the voltage drop that occurs when five portions of the path, ie 9951a, 9952a, 9951b, 9952b and 9951c are able to communicate the signal when the end actuator is fully seated. Similarly, the end actuator may be further inserted into the stem until the third contact element 10267c contacts the second stem contact 10248b and the second contact element 10267b contacts the first stem contact 10248a. In such a position, only four portions of the path, i.e. 9951a and 9952a, 9951b and 9952b may be able to communicate a signal from the end actuator to the controller and as such the controller may be configured to detect a different one. voltage drop across the interconnect compared to the voltage drop that occurs when five portions of the path, i.e. 9951a, 9952a, 9951b, 9952b, and 9951c, are able to communicate the signal when the end actuator is fully seated.

[00282] In certain examples, when an end actuator is mounted on an elongated stem of a surgical instrument, the operator may engage the actuator system and/or the end actuator linkage system to initiate closing, firing, and /or the end actuator linkage, for example. An end actuator may include a first jaw, a second jaw, and one or more sensors configured to sense the position of the first jaw relative to the second jaw. Referring now to Figures 121 to 124, an end actuator 10360 may comprise a first jaw, or anvil, 10362 and a second jaw, or staple cartridge, 10364, wherein the anvil 10362 is movable in the opposite direction and on the opposite side. of the 10364 staple cartridge. Often, the 10360 End Actuator is inserted through a trocar into a patient where the 10360 End Actuator may not be readily visible even with the assistance of an endoscope. As a result, the user of the surgical instrument may not be able to readily assess the position of the anvil 10362 in relation to the second jaw 10364. To facilitate the use of the end actuator, as mentioned above, the end actuator 10360 may include a sensor for detect the position of the anvil 10362. In various circumstances, such a sensor may be configured to detect the gap between the anvil 10362 and the staple cartridge 10364. Certain sensors may be configured to detect the rotational position of the anvil 10362 relative to the staple cartridge 10364. The sensors are disclosed in US Patent Application Serial No. 13/800,025 entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, which was filed March 13, 2013 and US Patent Application Serial No. 13/800,067 entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, which was filed on March 13, 2013. The full disclosures of US Patent Application Serial No. 13/800,025 entitled STAPL AND CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, which was filed on March 13, 2013 and US Patent Application Serial No. 13/800,067, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, which was filed on March 13, 2013, are here incorporated in their entirety. Regardless of the sensor or sensors used, the position of the 10362 anvil can be communicated to the surgical instrument user via a display. Such a display may be located on the end actuator 10360 and/or on a stem of the surgical instrument, such as a stem 10340 for example. When the display is located on the end actuator, the display can be viewed using an endoscope, for example. In such examples, the display may be positioned on the end actuator so that it is not obscured by the trocar that allowed the end actuator to enter the surgical site. In other words, the display can be located so that it is distal to the distal end of the trocar when in use. When the display is located on the nail, the display can be positioned on the nail so that it is not obscured by the trocar. In other words, the display can be located so that it is proximal to the proximal end of the trocar when in use. With reference to the embodiment shown in Figures 121 to 124, a display 10399 is located on the rod 10340.

[00283] Continuing with reference to Figure 121, anvil 10362 of end actuator 10360 is represented in a fully open position. In this position of the anvil 10362, a trigger element 10330 of the end actuator 10360 is in a proximal position and has not yet been advanced distally. As will be discussed in more detail below, firing element 10330 is advanced distally to move anvil 10362 toward staple cartridge 10364. The position of firing element 10330 illustrated in Figure 121 may represent a more proximal unfired position of the element. trigger 10300. When anvil 10362 is in its fully open position, referring primarily to Figure 125, the anvil display 10390 may not be illuminated. As the reader will understand, the anvil display 10390 can represent the position of anvil 10362 in one of several different positions. The anvil 10390 display is capable of representing five potential anvil positions 10362; however, other modalities are considered that may include an anvil display using more than five indicators or fewer than five indicators. When anvil 10362 is moved from its open position to its closed position, display 10390 can sequentially represent the position of anvil 10362 using indicators 10391 to 10395. Indicator 10391 shows anvil 10362 in a slightly closed position. Indicators 10392, 10393 and 10394 show anvil 10362 in partially closed positions. Indicator 10395 shows anvil 10362 in a fully closed or parallel position. By comparing Figures 121 and 122, the reader will understand that the trigger element 10330 has been advanced distally to at least partially close the anvil 10362. When the anvil 10362 is in the position shown in Figure 122, the anvil position sensor can detect the reposition of the anvil 10362 and the indicator 10391 of the display of the anvil 10390 can be illuminated, as illustrated in Figure 126. When comparing Figures 122 and 123, the trigger element 10330 has been advanced distally to close further, though not completely, the anvil 10362. When the anvil 10362 is in the position shown in Figure 123, the anvil position sensor can detect the new position of the anvil 10362 and the indicator 10393 can be illuminated, as illustrated in Figure 127. Upon further comparison of Figure 122 and Figure 123, the reader will understand that anvil 10362 was rotated about 10 degrees, for example, and that if anvil 10362 was only rotated about 5 degrees, for example, this indicates pain 10392 of the anvil display 10390 would be illuminated. When comparing Figures 123 and 124, the trigger element 10330 has been advanced distally to completely close the anvil 10362. When the anvil 10362 is in the position shown in Figure 124, the anvil position sensor can detect the new position of the anvil 10362 and indicator 10395 can be illuminated, as illustrated in Figure 128. By further comparing Figure 123 and Figure 124, the reader will understand that anvil 10362 has been rotated about 10 degrees, for example, and that if anvil 10362 has been rotated only about 5 degrees, for example, indicator 10394 of anvil display 10390 would be illuminated.

[00284] In addition to the above, the end actuator and/or the surgical instrument may include a controller that may be configured to control the anvil display 10390. For example, when the end actuator includes the anvil display 10390, the controller can be positioned inside the end actuator. When the stem of the surgical instrument includes the anvil display 10390 and/or any other portion of the surgical instrument includes the anvil display 10390, the surgical instrument may include the controller. In other examples, one of the end actuator and the surgical instrument may include the anvil display 10390 while another of the end actuator and the surgical instrument may include the controller. In either case, the anvil position sensor or sensors may be in signal communication with the controller. The controller may be configured to interpret one or more signals from the sensor or sensors to determine the position of the anvil 10362. The controller may be in communication with the anvil display 10390 to illuminate indicators 10391 through 10395 as outlined above. In various circumstances, each indicator from 10391 to 10395 may comprise a light emitting diode, for example. In such circumstances, each LED can be brought into electrical communication with an output channel of a microprocessor of the controller so that the controller can selectively illuminate one LED independently of other LEDs. In various examples, the controller can continuously assess the position of the anvil 10362 based on data from the anvil sensor and, using that data, continuously update which indicator is illuminated. For example, when the anvil 10362 is being closed or opened, the controller can track the position of the anvil 10362 and promptly display this information to the user of the surgical instrument via indicators 10391 to 10395. Such examples can provide the user with real-time feedback. or near real-time on the position of anvil 10362. In other examples, the controller may wait to display the position of anvil 10362 until after anvil 10362 has stopped moving or at least has substantially stopped moving for a certain period of time, for example. As the reader will understand, the indicators from 10391 to 10395 can represent different positions of the anvil 10362; however, it is likely that anvil 10362 can only momentarily pass through each of these distinct positions when it is closed, for example. In various circumstances, the controller may use an algorithm to decide which indicator to illuminate. For example, the controller can apply an algorithm that determines which indicator most accurately represents the position of anvil 10362 even if anvil 10362 may not be aligned with any of the distinct positions that can be represented by the display of indicator 10390. In various circumstances , the controller can illuminate two adjacent indicators on the 10390 indicator display when the 10362 anvil is positioned midway between two distinct positions represented by two adjacent indicators.

[00285] In various examples, in addition to the above, indicators 10391 to 10395 may each comprise a light emitting diode that emits light of the same color or substantially the same color. In other examples, one or more indicators from 10391 to 10395 may emit a color that is different from other indicators from 10391 to 10395. For example, indicator 10391 could be configured to emit a yellow color while indicators from 10392 to 10395 may be configured to emit a green color, for example. As the reader will understand, with reference to Figure 122, tissue T positioned between anvil 10362 and cartridge 10364 may not be properly secured by anvil 10362 when anvil 10362 is in a partially closed position illustrated in Figure 122, and when the indicator 10391 associated with this anvil position 10362 is illuminated yellow, the surgical instrument user can be reminded to take precautions before moving the 10360 End Actuator and/or proceeding with the triggering process. In some examples, one or more of the indicators 10361 to 10365 may each be configured to emit more than one color. For example, each indicator from 10361 to 10365 may comprise an LED configured to emit a green color and a red color. In such examples, indicators 10361 to 10365 may emit a green color when indicating the position of anvil 10362 as shown above, or alternatively emit a red color when there is an error with the end actuator 10360 and/or the surgical instrument. .

[00286] As discussed above, an anvil of an end actuator may be movable relative to a staple cartridge between an open position and a closed position, and the surgical instrument system may be configured to sense the movement of the anvil and communicate the movement of the anvil to the user. That said, the embodiments are designed so that the staple cartridge is movable relative to the anvil. In at least one such embodiment, the anvil may be fixed or non-hingable. When fixed or not pivotable, the anvil may rigidly extend from a portion of the end actuator frame; however, that portion of the end actuator structure, the anvil extending therefrom, and the staple cartridge may be pivotable with respect to another portion of the end actuator or surgical instrument stem. Whether the end actuator is pivotable or not, in such embodiments the staple cartridge may be pivotable with respect to the anvil. The systems and methods described herein for detecting anvil movement may be adapted to detect staple cartridge movement. In addition, the systems and methods described herein for displaying anvil movement may be adapted to display staple cartridge movement.

[00287] In several examples, an operator may wish to retract the drive element during a tripping stroke. The surgical instrument disclosed in Zemlok '763 employs a retraction assembly comprising a manually actuated mechanical interface with the drive tube that is activated by the ratcheting motion of a handle mounted retraction lever. Such an arrangement is intended to make it possible for the physician to retract the firing rod and finally the drive element of the charging unit in case the power supply is interrupted or the motor or control system fails during firing. However, such a retraction assembly can be difficult to operate effectively due to the fact that the motor and motor gearbox remain engaged during the ratchet (activation) process. Therefore, the retraction assembly of that device needs to be able to develop enough torque to turn the gears in the gearbox and the motor rod to enable the drive tube to be turned manually. The generation of such forces can place extreme stress on the components of the retraction assembly that can lead to catastrophic failure of the retraction assembly. The surgical instruments 10 depicted in Figures 1 to 28 may be configured with unique and novel retraction assembly arrangements that can avoid this problem and others.

[00288] For example, the surgical instrument 10 may include a retraction assembly 120 that includes a retraction chassis 124 that has an upper position 126 and a lower portion 128. In various forms, the retraction assembly 120 mechanically interfaces with the drive tube 102 through a drive gear 130 and a retract gear 132. See Figure 5. Drive gear 130 is non-rotatically attached to drive tube 102 such that rotation of drive gear 130 imparts rotation to drive tube. drive 102. Drive gear 130 and retract gear 132 may comprise bevel gears or the like to allow interleaved engagement therebetween, as shown in Figure 5. Retract gear 132 may be coupled to a first spindle 134 (Figures 4 and 5) which is substantially perpendicular to the upper and lower portions 126 and 128 of the retract chassis 124 and extends therebetween. Spindle 134 may be supported for rotational path around a spindle axis "EH-EH" which is substantially perpendicular to the longitudinal axis "EL-EL" of surgical instrument 10. See Figure 5. retract 132 may have a first sprocket 136 attached thereto. The first sprocket 136 interfaces with the second sprocket 138 which is operatively supported on a second spindle 137 which is also disposed substantially perpendicularly between the upper and lower portions 126 and 128 of the retraction chassis 124 and can rotate around a second rod axis "EH'-EH'" so defined. The second sprocket 138 is supported by engagement in mesh with a third sprocket 140 which is supported on the first spindle 134. The third sprocket 140 is attached to a first clutch portion 144 of a one-way clutch assembly 142. clutch 142 further includes a second clutch portion 146 which is rotatably arranged on the first spindle 134 above the first clutch portion 144. A spring or springs (not shown) may be disposed between the first and second clutch portions 144 and 146, thereby maintaining the first and second clutch portions 144 and 146 in an elevated "non-interlocking" orientation, as illustrated in Figure 5.

[00289] It will be understood that as the drive tube 102 is rotated, the drive gear 130 will impart rotation to the first, second and third sprockets 136, 138, 140, as well as the first clutch portion 144, and the respective spindles. 134, 137. As the second clutch portion 146 can rotate around the spindle 134 and is forced out of arrangement with the first clutch portion 144 by the arrangement of the spring disposed therebetween (not shown), rotation of the first clutch portion 144 clutch 144 is not translated to the second clutch portion 146. As can be seen in Figure 5, the first and second clutch portions 144 and 146 include a plurality of interlocking teeth 148 each of which has a flat interlocking surface. and an inclined sliding surface. As will be discussed in more detail below, the second clutch portion 146 may be forced into mesh engagement with the first clutch portion 144 by the retraction lever 150. The sliding surfaces on the teeth 148 allow the interlocking surfaces to contact each other. so that rotation of the second clutch portion 146 causes the first clutch portion 144 to rotate. Rotation of the first clutch portion 144 also causes all of the interface gears to rotate, as well as finally imparting rotational motion to the drive tube 102 around the longitudinal tool axis EL-EL.

[00290] Referring now to Figure 6, the retraction lever 150 may include an elongate rod portion 152 that includes a cam portion 154. The cam portion 154 may include an opening that may house a one-way needle clutch (not shown) which is supported in mechanical cooperation with a socket (not shown) which can be attached to the first spindle 134 to enable the retraction lever 150 to rotate around the first spindle 134. Zemlok '763 further describes an operation of such a clutch of unidirectional needle and mortise arrangement and is incorporated herein by reference in its entirety. In various forms, the retraction lever 150 includes one or more cam elements 156 each of which has a cam surface 158 thereon. In a first orientation, the retraction lever 150 is arranged along the lever pocket 14 of the housing 12, as shown in Figure 1. The spring disposed between the first and second clutch portions 144, 146 serves to force the lever to retraction 150 against the upper portion 126 of the retraction chassis 124. As can be seen in Figure 6, the cam elements 156 are disposed within corresponding cam slots or pockets 160 in the upper portion 126 of the retraction chassis 124. Retraction 150 is maintained in a first orientation by return spring 162 which is mounted between upper portion 126 of retraction frame 124 and cam portion 154 of retraction lever 150. Cam elements 156 and cam slots 160 prevent additional rotation of the retract lever 150.

[00291] In use, when the retraction lever 150 is moved out of the lever pocket 14 (Figure 1) in the housing 12, the cam elements 156 interface with the corresponding cam slots 160 to force the cam portion 154 of the retraction lever 150 in a downward direction against the biasing force of the one or more springs positioned between the first and second clutch portions 144, 146. Such a downward movement compresses the one or more springs and pushes the first and second second clutch portions 144, 146 for interlocking engagement. Rotation of cam portion 154 in a counterclockwise direction activates the needle clutch which interfaces with the socket and first spindle 134. Continuous activation of retraction lever 150 rotates clutch assembly 142 which, in turn, rotates sprockets 136, 138, 140 and drive gears 132 and 130. This, in turn, rotates drive tube 102 around the axis of the longitudinal tool "EL-EL". As the trigger rod 104 is in threaded engagement with the trigger tube 102, rotation of the trigger tube 102 in the manner described above results in the retraction (or proximal axial path) of the trigger tube 104 to the trigger tube 102.

[00292] In operation, the drive tube 102 may be configured to be rotated in a direction that is opposite the direction of retraction (e.g., in a clockwise direction) around the longitudinal tool axis "EL-EL" by the motor 100. Such rotation of the drive tube 102 causes the firing rod 104 to move axially in the distal direction "DD". This advance of the firing rod 104 and the actuation element 60 of the loading unit 20 may be referred to herein as a "firing" action. As can be seen in Figure 5, for example, a gear set 170 is employed to establish an amount of drive torque required to drive the firing rod 104 in the distal "DD" direction to activate the loading unit 20. The gearbox housing 170 may include a gearbox housing 172 which is coupled to the motor 100. For example, the gearbox housing 172 may be coupled to the engine housing 101 by means of screws 103 or other mechanical latches and/or arrangements. of clasps. Gear set 170 and motor 100 may collectively be referred to as the "drive unit", commonly referred to as 186.

[00293] Gear box housing 172 may be pivotally supported on a motor retainer portion 190 that is integrally formed or otherwise non-rotationally supported by housing 12. Such an arrangement allows drive unit 186 to pivot. inside housing 12 around the longitudinal axis "EL-EL" of the tool, but prevents axial movement of the same within housing 12. Motor 100 can, for example, be powered by power supply 200 of the type described in more detail in Zemlok '763 and/or 2000 power system (Figure 129).

[00294] To facilitate the supply of electrical current to the drive unit 180, and more particularly to the motor 100, a single contact arrangement 210 may be employed. For example, the contact arrangement 210 may include an annular negative motor contact 212 and an annular positive motor contact 114 supported in the engine compartment 101, as can be seen in Figure 4. A fixed negative contact 216 can be supported within the compartment 12 for sliding contact with the negative contact of the motor 112. Similarly, a fixed positive contact 218 may be supported for sliding contact with the positive contact of the motor 214 when the drive unit 180 rotates within the compartment 12. The negative and fixed positive contact 216, 218 may comprise flexible spring-type contacts to facilitate mounting and adjustment of the drive unit 186 within the housing 12. The fixed negative contact 216 may be electrically coupled to the power supply 200 by a negative lead 220 and the positive contact fixed 218 may be electrically coupled to the power supply 200 by a positive conductor 222. Such a contact arrangement allows the electrical power is supplied from the power supply 200 to the motor 100 while facilitating the rotation of the drive unit 186 within the cable compartment around the longitudinal axis "EL-EL" of the tool.

[00295] Referring to Figure 5, the gear set 170 may comprise a planetary gear arrangement that is operatively coupled to the motor shaft 107. In one arrangement, for example, an annular gear 173 may be formed on the inner surface of the housing. of the gearbox 172. A main center gear 171 may be coupled to the motor shaft 107. The main center gear 171 may be supported in meshing engagement with a plurality of first planetary gears 175 which are supported on a first planetary gear holder 174 so that they are also in meshed engagement with the annular gear 173. A first center gear 176 may be formed on or otherwise secured to the first planetary gear holder 174, and may be supported in the meshed engagement with a plurality of of second planetary gears 178 which are supported on a second planetary gear support 177. planetary gears 178 are also supported in engagement meshing with annular gear 173. A second center gear 179 may be formed on or otherwise secured to second planetary gear holder 177 and may be supported in engagement engaged with a plurality of third planetary gears. 181. Third planetary gears 181 may be supported on a third planetary gear support 180 in mesh engagement with annular gear 173. A third center gear 183 may be formed on or otherwise secured to third planetary gear support 180 and it is in meshed engagement with a plurality of fourth planetary gears 187 which may be attached to an output rod assembly 184 which is rotationally supported within the gearbox housing 172 by a bearing. Fourth planetary gears 187 are also supported in engagement with annular gear 173.

[00296] Figure 7 illustrates an arrangement for pivotally supporting the drive unit 186 within the housing 12. As can be seen in that figure, a motor mounting bracket 192 of the motor retainer 190 may include a housing segment. gearbox 196 which is pivotally supported thereon. In one arrangement, for example, the gear assembly 170 is pivotally supported in the gearbox housing segment 196 by bearing 185. Similarly, the motor 100 is pivotally supported within a mounting housing portion. motor 13 by a bearing 198. Other methods of pivoting the drive unit 186 within the housing 12 may also be employed.

[00297] Output rod assembly 184 may be operatively coupler to a clutch 230 (Figure 5) of the type and construction disclosed in Zemlok '763 which is incorporated herein by reference in its entirety. Additional details as to the construction and operation of such a 230 clutch can be found in this publication. In an alternative embodiment, however, the clutch 230 may be replaced with a rod-to-rod or sleeve coupler arrangement that serves to facilitate coupling of the output rod assembly 184 directly to the drive tube 102.

[00298] When the axially movable drive beam of the surgical instrument disclosed in Zemlok '763 becomes jammed or the instrument loses power, the user had to employ the retraction assembly to retract the drive beam back to an initial position to facilitate removing the charging unit. However, effective retraction was difficult because the retraction system had to generate a sufficient amount of torque required to reverse the plurality of gear arrangements in the gear set. Thus, it could be extremely difficult to effectively operate such a retraction system.

[00299] At least one embodiment of surgical instrument disclosed herein employs a new, unique releasable drive unit locking system, generally designated as 240, to deal with such a problem. As will be discussed in more detail below, for example, when the releasable drive unit locking system 240 is in a "locked" position, the drive unit 186 is prevented from rotating within the cable compartment 12. The drive unit 186 is retained in the locked position when the surgical instrument is "fired" to facilitate the transfer of motor torque from the motor 100 through the gear assembly 170 and finally to the drive tube 102. When it is desired to activate the retraction assembly 120, drive unit locking system 240 is moved to an "unlocked" position to enable drive unit 186 to rotate freely within housing 12 to thereby avoid the need to generate sufficient retraction torque to reverse the provisions of the gears in gear set 170. Gear set 170 may remain operatively coupled between motor 100 and drive tube. 102 during operation of retraction assembly 120. In such embodiments, while gear assembly 170 remains operatively coupled to motor 100 and drive tube 102, free rotation of drive unit 186 can reduce the torque required to drive the engine. gear assembly 170 when the gear arrangements reverse to retract drive tube 102. Such a reduction in required torque can optimize the effectiveness of the retraction system.

[00300] As can be seen in Figure 8, for example, the third sprocket 140 of the retraction assembly 120 may include an unlocking cam 141 which is configured to activate a locking pawl assembly 250 of the locking system of the retraction unit. drive 240. One form of pawl assembly 250 is illustrated in Figures 9 through 11. As can be seen in Figure 10, for example, pawl assembly 250 may include a pawl member 252 that has a locking notch 254 formed therein. Locking notch 254 is sized to allow a series of spaced first locking wedges 256 formed around the outer circumference of gearbox housing 172 to pass freely therethrough. See, for example, Figures 12 and 13. A pawl locking wedge 258 is formed in the locking pawl 252 for locking engagement with any of the first locking wedges 256, as will be discussed in more detail below. As can also be seen in Figures 8 through 11, the pawl assembly 250 may additionally include a pawl guide rod 260 which is configured to be slidably received within a passage 194 in the motor mounting bracket 192. A pawl spring 262 is disposed on pawl guide rod 260 and is positioned between pawl member 252 and motor mounting bracket 192 to force a cam engaging portion 264 of pawl member 252 into engagement with the third wheel. bite 140.

[00301] A method of operating the retraction assembly 120 and drive unit locking system 240 will now be described with reference to Figures 8, 13 and 14. Figure 13 illustrates the drive unit locking system 240 in position locked. As can be seen in that Figure, the pawl member 252 is forced into the distal locking position by the pawl spring 262. When in that locked position, the pawl locking wedge 258 on the pawl member 252 is in locking engagement with a corresponding of the first locking wedges 256 in the gearbox housing 172. When in that position, the retraction assembly 120 has not been activated and the gear assembly 170 is prevented from rotating within the housing 12. Operation of the motor 110 by pressing the switch 80 (Figure 1) results in rotation of drive tube 102 and finally axial advancement of firing rod 104 which drives drive beam 60 distally through loading unit 20.

[00302] If, for example, the drive beam 60 becomes jammed in the fabric attached to the loading unit 20 or the motor 100 loses power and is unable to reverse rotation of the drive tube 102 to finally retract the trigger rod 104, the clinician may employ the retraction assembly 120 to manually retract the triggering rod 104 and drive beam 60. Figure 8 illustrates the retraction assembly 120 in the disabled position (for example, when the drive unit's locking system is used). 240 is in the locked position). To begin the manual retraction process, the clinician pulls the retraction lever 150 out of the lever pocket 14 in the cable compartment 12 (in the "R" direction - see Figure 6). Movement of the retract lever 150 in the "R" direction results in rotation of the cam portion 154 of the retract lever 150 within the retract frame 124. Such initial rotation of the retract lever 150 in the "R" direction causes the cam to unlock. 141 to engage the cam engaging portion 264 of the pawl member 252 to force the pawl member 252 into the unlocked position, thereby enabling the drive unit 186 to rotate freely within the cable housing 12. cam 160 on the retraction frame are located and of sufficient length to facilitate this rotational path of the cam portion 154 of the retraction lever 150 without initially disengaging the clutch assembly 142. In this way, the cam slots 160 can be longer than that the cam slots located in the front retract chassis arrangements to facilitate unlocking of the drive unit assembly 186 prior to applying the activation movements not resulting in rotation of drive tube 102. For example, in at least one arrangement, cam slots 160 may be elongated to facilitate rotation of retraction lever 150 to approximately fifteen degrees. As the clinician continues to rotate the retraction lever 150 in the "R" direction, the cam engaging portion 264 will run along the outer circumference of the unlocking cam 141 on the third sprocket 140. Continued rotation of the lever retraction 150 in the "R" direction results in the cam elements 156 engaging the cam portion 154 with the ends of their respective cam slots 160 to force the cam portion 154 in the downward direction. This downward movement compresses the one or more springs positioned between the first and second clutch portions 144 and 146 so as to bring the teeth 148 thereof into meshed engagement with one another. Continued rotation of cam portion 154 in a counterclockwise direction can activate the needle clutch that interfaces with the socket and the first spindle. Continuous activation of retraction lever 150 rotates clutch assembly 142 which in turn rotates sprockets 136, 138, 140 and drive gears 132 and 130. This, in turn, rotates drive tube 102 and retracts the firing rod 104.

[00303] The retract lever 150 can be activated for a predetermined amount of travel to a portion of the retract lever 150 that is contiguous to the compartment portion 12. Thereafter, the retract lever 150 returns to its first position by the return spring 162. This action raises the cam portion 152 allowing the second clutch portion 146 to also move up and disengage the first clutch portion 144. The needle clutch may release the socket to thereby allow the lever to release the clutch. retraction 150 to return to the first position without affecting the movement of the drive tube 102. As soon as the retraction lever 150 returns to the first position, the drive unit 186 is again retained in a locked position. The ratcheting or rotation process of the retraction lever 150 can be repeated again until the firing rod has returned to a desired position.

[00304] As the gearbox housing 172 is free to rotate during the application of this rotational motion, the amount of torque required to rotate the drive tube 102 and the gears within the gear set 170 is greatly reduced compared to torque required to operate before retraction assemblies. Such arrangements also serve advantageously to prevent the transfer of torque forces generated by the retraction assembly to the motor shaft 107 while the gear set 170 remains drive coupled to the motor shaft 107. In other words, the gear set 170 may remain engaged in drive between motor rod 107 and drive tube 102 during operation of retraction assembly 120. Such arrangements differ from retraction arrangements disclosed, for example, in US Patent No. 7,959,050, which is here incorporated by way of reference in its entirety, but which results in physical decoupling or physical interruption of portions of the transmission during activation of the retraction system.

[00305] Figures 15 to 18 illustrate another surgical instrument 310 that is substantially similar to the surgical instrument 10 described above, except for the differences discussed below. As can be seen in Figure 16, instrument 310 includes a gear set 470 comprising a gearbox housing 472 that can be coupled to motor 100 in the manner described above, for example. Gearbox assembly 470 and motor 100 may be collectively referred to as the "drive unit", commonly referred to as 486. Gear assembly 470 may be identical to gear assembly 170 described above, except for the differences discussed below. .

[00306] In at least one arrangement, the gearbox housing 472 may be non-rotatably supported on or integrally formed with a portion of the motor retainer 190 that is integrally formed or otherwise non-rotatably secured within the compartment 12 in the various ways discussed here. As the 486 drive unit does not rotate in this arrangement, it can be directly wired to the power supply. For example, motor 100 may be powered in the manner described in Zemlok '763 or other suitable ways. As can be seen in Figure 16, the gear set 470 may comprise a planetary gear arrangement that is operatively coupled to the motor shaft 107. In one arrangement, for example, a fixed annular gear 473 may be formed on the inner surface of the housing. of the gearbox 472. A main center gear 471 may be attached to the motor shaft 107. The main center gear 471 may be supported in meshing with a plurality of first planetary gears 475 which are supported on a first planetary gear holder 474 The first planetary gears 475 may also be supported in the engagement mesh with the fixed annular gear 473. A first center gear 476 may be formed on the first planetary gear holder 474 and be in engagement with a plurality of second planetary gears. 478 which are supported on a second planetary gear holder 477. Second planetary gears 478 may also be supported in engagement with the fixed annular gear 473. A second center gear 479 may be formed on or secured to second planetary gear holder 477 and may be supported in engagement with a plurality of third planetary gears. 481 which are supported on a third planetary gear support 480. The third planetary gears 481 are in meshed engagement with the fixed annual gear 473. A third center gear 483 may be formed on or otherwise secured to the third planetary gear support. 480. A third center gear 483 may be supported and, in engagement with, a plurality of fourth planetary gears 487 which are attached to an output rod assembly 484 which is rotatably supported within the gearbox housing 472 by a bearing 185. The plurality of fourth planetary gears 487 may be in en gate mesh with a locked annual gear 485 that is rotatably mounted in the gearbox housing 472. Gears 471, 473, 475, 476, 478, 479, 481, and 483 may be collectively referred to herein as gear train assembly 460.

[00307] Lockable annular gear 485 may be pivotally mounted within annular cavity 490 in retainer portion of motor 190 (Figure 16). The cavity 490 is dimensioned to allow free rotation of the lockable annular gear 485 therein about the longitudinal axis "EL-EL" of the tool. Lockable annular gear 485 may be installed in annular passage 490 and then held in position by a plug member 492 which is pressed into or otherwise retained in annular passage 490.

[00308] Surgical instrument 310 may additionally include a drive unit locking system 540 that includes a movable shift ring assembly 542. In at least one form, shift ring assembly 542 may include, for example, a shift ring 543 having at least one and preferably a plurality of locking elements in the form of, for example, pins 544. Pins 544 emerge from shift ring 543 and are configured for selective locking engagement with the Lockable annular gear 485. Each of the locking pins 544 can be slidably received within a corresponding passage 546 in the plug member 492. The displacement ring 542 is supported for axial movement by means of the reverse link 550 which is attached to a clutch jaw 560. As can be seen in Figure 15, the clutch jaw 560 may comprise a spring jaw that is secured around a portion of the outer circumference of the third. sprocket 140. Clutch jaw 560 may have a shoulder 562 thereon which is attached to shifter rod 564. Shifter rod 564 may be somewhat flexible and pivotally coupled to shift ring 542. During use (i.e., when the motor 100 is driving the firing rod 104), the locking pins 544 are in locking engagement with the lockable annular gear 475 to prevent the lockable annular gear 475 from rotating so that the rotational torque is transferred to output rod unit 484 and finally to drive tube 102.

[00309] When the clinician wishes to employ the retraction assembly 120 to retract the firing rod 104, the retraction lever 150 is rotated from the initial position shown in Figure 15 in the "R" direction. As the retract lever 150 is rotated, the clutch jaw 560 rotates with the third sprocket 140 to thereby cause the displacer rod 564 to move to the shift ring 542 in the distal "DD" direction. . As the shift ring moves in the distal "DD" direction, the locking pins 544 move out of the locking engagement with the lockable annular clutch 485 to allow the lockable annular gear 485 to rotate with respect to the clutch housing. gearbox 472. The clinician proceeds to ratchet the retraction lever 150 to the end position shown in Figure 18. In at least one arrangement, for example, the retraction lever 150 need only be rotated approximately fifteen degrees to disengage the locking pins 544 from the lockable annular gear 485. After the clinician releases the retract lever 150, the return spring 162 will return the retract lever 150 to the initial position and the clinician can repeat the procedure until the trigger rod 104 be retracted to a desired position. As lockable annular gear 485 is free to rotate within bearing housing 472, rotation of drive tube 102 and output rod assembly 484 will not be resisted by the other gear arrangements in gear set 470. As such, the The amount of torque to the ratchet required to retract the firing rod 104 is reduced compared to the retraction arrangements that remain operationally engaged with the gear arrangements in the gear set during the retraction process. Also, although the torque required is reduced, the trigger rod 104 can remain operationally engaged with the gear set 470. In other words, the trip rod 104 can remain operationally coupled with the motor 100. When the shift ring 542 enters into bearing 185 in motor mounting bracket 192, locking pins 544 engagingly engaging lockable annular gear 485. Clutch jaw 560 may be configured to slide relative to third sprocket 140 after ring gear. displacement contacts bearing 185 or other portion of motor mounting bracket 192. In this way, drive unit locking system 540 serves to facilitate rotation of at least a portion of the drive unit within the cable compartment. while applying retraction motions to drive tube 102 to reduce the amount of retraction torque required to retract the rod trigger 104.

[00310] The surgical instrument 610 in Figure 19 is substantially identical to the surgical instrument 310, except that the clutch jaw 560 is attached to the third sprocket 140 in order to eliminate the reversal linkage 550 employed in the surgical instrument 310. seen in Figure 18, for example, the displacer rod 564 is directly connected to the displacement ring 542. Ratchet movement of the retaining lever 150 in the manner mentioned above results in the movement of the displacement ring 542 and the engagement and disengagement of the pins. locking gear 544 with lockable annular gear 485.

[00311] Figures 20 and 21 illustrate another surgical instrument 610' which is substantially identical to the surgical instrument 610, except for the following differences. In this arrangement, for example, at least two "leaf-like" locking springs 620 and annular gear locking elements 622 are supported over the gearbox housing 472' of the gear set 470'. As can be seen in Figure 20, each locking spring 620 and the corresponding locking element 622 is supported in a slot 624 in the gearbox housing 472'. In this arrangement, the locking pins 544' which are attached to the displacement ring 542 are configured to contact and compress the corresponding locking spring 622 in locking engagement with the lockable annular gear 485. When in this position (shown in Figure 20). ), lockable annular gear 485 is prevented from rotating with respect to gearbox housing 472'. When displacer rod 564 pulls displacement ring 542 in the distal "DD" direction, locking pins 544' disengage their corresponding locking spring 620 which enables spring 620 to flex to an initial position to enable the locking elements of annular gear 622 disengage lockable annual gear 485 to allow it to rotate with respect to gearbox housing 472'. In this way, when the retraction assembly 120 is activated, the lockable annular gear 485 is free to rotate with respect to the gearbox housing 472' to thereby reduce the amount of retraction torque required to cause the firing rod 104 is retracted in the proximal direction "DP".

[00312] Figures 22 through 24 illustrate another retraction assembly arrangement for manually and selectively retracting a distal portion of the triggering rod of a surgical instrument 710 if the distal portion of the triggering rod or other component of the surgical instrument to which is operationally secured becomes stuck during operation or operational power to advance the firing rod assembly is interrupted. Except for the differences discussed below, the surgical instrument 710 may be similar in design and operation to the surgical instruments described above and/or disclosed in Zemlok '763, which is incorporated herein by reference in its entirety.

[00313] As can be seen from Figures 22 to 24, the surgical instrument 710 includes a housing 712 that operatively supports a firing rod assembly 720. The housing 712 may, for example, operatively support a motor and gear assembly ( not shown) to apply rotary motions to a drive tube, which can result in axial movement of the firing rod assembly 720 in the various ways described herein. In at least one arrangement, the firing rod assembly 720 may include a proximal firing element or portion of the rod 722 that operatively interfaces with the actuation tube in the various ways disclosed herein. In still other arrangements of the surgical instrument, the proximal firing rod portion 722 may operatively interface with other actuator arrangements and systems that are configured to apply axial motion to the proximal firing rod portion 722.

[00314] As can be further seen in Figures 22 through 24, the trigger rod assembly 720 may additionally include a distal trigger element or portion of the rod 724 that is operatively coupled to a proximal end of the axially movable drive beam 60 of a charging unit 20 coupled thereto in the various ways described herein. A retraction assembly 730 in the form of a retraction linkage assembly 732 may be pivotally coupled between the proximal firing rod portion 722 and the distal firing rod portion 724. In the illustrated arrangement, the retraction connector assembly 732 includes an activating linkage 734 which has a connecting cable portion 736 that is secured to the proximal firing rod portion 722. Retraction linkage assembly 732 additionally includes a distal retraction linkage 738 which is secured to the triggering linkage. 734 and the distal firing rod portion 724 as shown. In the illustrated embodiment, housing 712 includes a distally extending hinge housing portion 714 which may also include a distally extending rod housing segment 716. Rod housing segment 716 may serve to axially support the assembly of retraction linkage 732 as it moves axially in the distal and proximal directions in response to axial movement of firing rod assembly 720. To facilitate axial movement of retraction linkage assembly 732 with respect to rod housing segment 716, actuator connection 734 extends outwardly through a slot 718 formed in stem housing segment 716, as shown.

[00315] Figure 22 illustrates the position of the firing rod assembly 720 and the retraction assembly 730 before firing. Figure 23 illustrates the position of the firing rod assembly 720 and the retraction assembly 730 after firing in the distal "DD" direction. If, during the triggering process, the clinician wishes to retract the drive beam 60 back to an initial position, the clinician simply needs to take the link cable portion 736 of the actuator linkage 734 and pivot it in the "R" direction. , as shown in Figure 24 which shows the portion of the distal trigger rod 724 and the trigger beam 60 in the proximal "DP" direction. As illustrated in Figures 22 and 23, during firing, the proximal end 725 of the distal firing rod portion 724 may normally be axially spaced from the distal end 735 of the proximal firing rod portion 734 by a distance designated "RD". The distance "RD" can remain, for example, unchanged during the firing and normal retraction of the firing rod assembly 720 by the drive unit. However, when the clinician activates the retraction assembly, the distance between the proximal end 725 of the distal firing rod portion 724 and the distal end 735 of the proximal firing rod portion 734 ("RD") will be less than the distance "RD". Also, as can be seen in Figure 22, the distance between the starting position of the distal working head 62 of the drive beam 60 and the ending position of the distal working head 62 (i.e. after a full firing stroke) is represented as the distance "FD". If desired, the distance "RD" may be large enough to enable the distal firing rod portion 724 to be sufficiently retracted (i.e., moved closer to the distal end 735 of the proximal firing rod portion 722) to return the work head 62 from the end position back to its start position. In other words, the distal firing rod portion 724 can be retracted a retract distance that is at least equal to or greater than the firing distance "FD". In such an arrangement, for example, if the workhead 65 becomes stuck or otherwise stalled in its final position, activation of the retraction assembly can fully retract the drive beam 60 to bring the workhead 62 to its initial position. , wherein the distal working head 62 can allow the anvil 22 to pivotally open and release tissue.

[00316] Figures 25 to 28 illustrate an alternate firing rod assembly 720' that can be selectively retractable manually. The firing rod assembly 720' as shown may include a proximal firing rod portion 722' which can operably interface with the drive tube in the various ways disclosed herein; In still other arrangements of the surgical instrument, the proximal firing rod portion 722' may operatively interface with other actuator arrangements and systems that are configured to apply control movements to the proximal firing rod portion 722'. The firing rod assembly 720' may additionally include the distal firing rod portion 724' which is partially hollow and operatively coupled to the axially movable drive beam end 60 of a loading unit 20 coupled thereto in the various ways described herein. . For example, the distal firing rod portion 724' may have a passage 725 therein which is sized to enable the distal firing rod portion 724' to slide axially on the proximal firing rod portion 722' by a retraction distance" RDD". The retract distance may be equal to or greater than the firing distance "FD" to enable a retract assembly 730' to retract the drive beam 60 a sufficient distance to move the workhead 62 from its final position" PF" to the home position "PI". See Figure 25. The retraction assembly 730' may comprise a retraction latch 732'. Retention latch 732' may include a latch cable 735 that is movable between a locked position (Figures 25 and 26) and an unlocked position (Figures 27 and 28). When in the locked position, retraction latch 732' secures the distal firing rod portion 724' so as to prevent axial sliding by the proximal firing rod portion 722' and the axial firing rod portion 724'. When in this orientation, the proximal firing rod portion 722' essentially moves as a unit. Thus, when in the locked orientation, the trigger rod assembly 720' can be triggered in the distal direction "DD" to its end position "PF" as shown in Figure 26. If the trigger beam 60 becomes jammed or the instrument has power is interrupted or lost during the firing stroke (or for other reasons), the clinician can simply move the retraction latch handle 735 to unlock position (Figure 27) and then manually pull the retraction latch 732' in the proximal direction "DP" as shown in Figure 28.

[00317] The various retract systems and arrangements disclosed herein may address certain deficiencies commonly encountered by the earlier retract arrangements used to retract the motor-equipped drive elements employed by surgical end actuators. For example, various retraction arrangements disclosed herein may facilitate the manual application of retraction movements to the drive element and/or associated drive arrangements without encountering resistance normally provided by the gear/transmission arrangements associated with the engine, while enabling the gear/transmission arrangements to remain “driven” or physically coupled to the engine.

[00318] Thus, at least one example comprises a surgical instrument that may include a triggering element assembly that may comprise a portion that is supported by selective axial movement in a distal direction and a proximal direction. The instrument may additionally include a drive unit comprising a motor that includes a motor rod. A gear assembly that can be drive coupled to the motor rod and includes an output rod assembly that is configured to interface with the motor trigger element assembly that when the motor rod is rotated in a first direction swivel, the triggering element assembly portion is axially driven in the distal direction and when the motor rod is rotated in a second rotating direction, the triggering element portion is axially driven in the proximal direction. The surgical instrument may further comprise a retraction assembly that interfaces with the triggering element assembly to manually apply other rotary motions to the triggering element assembly in the second rotational direction when the motor is deactivated. The surgical instrument may additionally comprise locking means which interface with the retraction assembly and the drive unit to prevent transfer of the other rotary motions to the motor shaft while the gear set remains drive coupled to the motor shaft. motor.

[00319] According to yet another example, the surgical instrument may comprise a drive unit to generate the firing and retraction movements. The instrument may further comprise a surgical end actuator that is configured to perform at least one surgical function in response to an application of at least one of firing and retracting motions thereto. The surgical instrument may further comprise a trigger assembly which may include a proximal trigger portion operatively interfaced with the drive unit and is configured to operatively receive rotary activation motions therefrom. The firing element assembly may further comprise a distal firing element portion that is supported distally to the proximal firing element portion and configured to transmit firing and retraction motions to the surgical end actuator. A retraction assembly may be operatively coupled to the proximal trigger portion and the distal trigger portion. The retraction assembly may be selectively movable between a non-activated position in which the retraction assembly is configured to transfer firing and retraction movements from the proximal firing element portion to the distal firing element portion and an activated position in which the distal triggering member portion is axially moved with respect to the proximal triggering member portion.

[00320] Another example of a surgical instrument may comprise a handle housing that includes an elongated shaft assembly that is operatively coupled thereto. The elongate rod assembly can support an axially movable firing rod thereon. A charging unit may be operatively attached to the elongated rod and configured to interface with the firing rod. A trigger tube can be pivotally supported within the cable housing and operationally interfaces with the trigger rod. The surgical instrument may additionally comprise a motor having a motor rod. The motor can be operationally supported within the cable compartment and operationally coupled to a power supply. A gear assembly that can be coupled in drive to the motor rod and includes an output rod assembly that is configured to interface with the drive tube so that when the motor rod is rotated in the first rotating direction, the drive tube drives the trigger rod in a distal direction and when the motor rod is rotated in a second rotating direction, the drive tube drives the trigger rod in a proximal direction. The retraction assembly can interface with the drive tube to manually apply other rotary motions to it in the second rotary direction when the motor is off. A locking means may interface with the retraction assembly and gear assembly to prevent transfer of further rotary motion to the motor rod while the gear assembly remains in drive engagement with the motor rod.

[00321] Referring again to Figures 1 to 3, in various embodiments, the motor 100 of the surgical instrument 10 can be operatively coupled to a trigger element, such as the trigger element 60, and can drive the trigger element 60 via of the end actuator or UCD 20 during a tripping stroke. For example, trigger element 60 can cut tissue and/or trigger tissue staples during the firing stroke. A battery may supply current to motor 100, for example, and current supplied to motor 100 may refer to the torque generated by motor 100. Furthermore, torque generated by motor 100 may refer to the firing force exerted by the element. trigger 60. The voltage across the motor can be related to the angular speed of the motor 100, for example, which can be related to the speed of the trigger element 60. Now referring to Figure 63, the motor can define a torque- 5802 voltage. In various embodiments, the 5802 torque-voltage curve can have a maximum torque T1 at the optimized voltage V. At voltages greater than and/or less than the optimized voltage V, for example, the torque generated by the motor can be less than the maximum torque T1. For example, at a voltage of 1/2 V, the torque-voltage curve 5802 might have a torque T2, which might be less than T1, which might be less than T1, for example.

[00322] In various embodiments, a control system in signal communication with the engine can supply current from the battery to the engine. In some embodiments, the control system may include speed management control, which can control the speed of the trigger element, for example. The control system may include a variable resistance circuit and/or a voltage regulation circuit, for example, which may control the current supplied to and/or voltage across the motor. In such embodiments, the control system can control the torque and/or angular speed of the motor, and thus the firing force and/or speed of the firing element coupled to the motor. For example, a voltage regulation circuit can regulate the voltage across the motor to affect the speed of the triggering element. Referring to Figure 63, if a voltage regulation circuit reduces the voltage from the ideal voltage V to 1/2 V, for example, the torque can be reduced to T2, which can be less than the maximum torque T1, and the speed can be reduced. be set to speed S2, for example.

[00323] In various embodiments, the control system may include a pulse width modulation circuit and the control system may supply current pulses to the motor. Referring primarily to Figures 64(a)-65(b), the current can be pulsed at a constant voltage. In various embodiments, the duty cycle of the pulses, that is, the duration of the pulses per interval or period, can affect the speed of a 5804 trigger element. When the duty cycle is longer (Figure 64(a)), each pulse can be a longer portion of the range and as a result the motor can drive the 5804 trigger at a faster speed S1, for example. When the duty cycle is shorter (Figure 64(b)), each pulse may be a shorter portion of the range, and as a result, the motor may drive the triggering element 5804 at a slower speed S3, for example. In various embodiments, the pulse width modulation circuit can supply pulses of current to the motor at the optimized voltage V (Figure 63) of the motor. In such embodiments, the speed of the 5804 trigger can be controlled without reducing the torque generated by the motor. For example, the motor can operate at optimized voltage V, to generate maximum torque T1, for example, and the trigger element 5804 can be driven through the end actuator at a reduced speed, such as speed S3, for example, and /or any suitable speed by changing the width of the voltage pulses.

[00324] In various embodiments, the battery may have a voltage and current limit or power limit. In other words, the battery can supply a limited amount of energy per unit time. Battery power limit may be related to battery and/or circuit design. For example, thermal limits on the battery and/or circuit, such as heat capacity and/or wire insulation, for example, can affect the power limit. Also, battery power limit can limit the amount of current supplied to the motor. In many embodiments, a motor using speed management control, such as pulse width modulation, for example, may not require maximum battery voltage and current. For example, when the battery provides pulses of current at maximum or optimized voltage to drive the trigger at desired speed and maximum or optimized torque, the excess current may not be used to drive the trigger element. In such embodiments, excess current can be used to produce additional torque. Referring to Figures 66(a)-66(c), a motor can include a set of additional or secondary coils, for example, and the excess current can be selectively directed to the set of additional coils to generate additional torque. In such modes, the engine can produce more torque at lower speeds, for example. In various embodiments, the control system can maximize the excess current supplied to the secondary set of coils based on battery voltage and current threshold, for example. Also, in certain embodiments, the control system may optimize the torque generated by the motor during at least a portion of the firing stroke.

[00325] Still referring to Figures 66(a)-66(c), a battery 6002 may selectively supply current to a motor 6004. The motor 6004 may include a primary set of coils 6006 and a secondary set of coils 6008, for example. In various embodiments, a control system 6020 in signal communication with the motor 6004 can selectively direct current to the primary coil assembly 6006 and/or the secondary coil assembly 6008. For example, the control system 6020 can supply current to the primary coil assembly 6006 during a first operating state and may supply current to the primary coil assembly 6006 and the secondary coil assembly 6008 during a second operating state, for example. In various embodiments, a switch, such as switch 6010, for example, may move between an open position and a closed position to selectively supply current to the secondary set of coils 6008, for example. In various embodiments, coil sets 6006, 6008 can be separately activated. In addition, control system 6020 may include pulse width modulation circuit 6022 and battery 6002 may supply pulses of current to at least one of coil sets 6006, 6008, for example. In various embodiments, the primary set of coils 6006 may be coupled to a first circuit 6030 (Figure 66(a)) and the second set of coils may be coupled to a second circuit 6032 (Figure 66(a)) that is independent of the first circuit 6030. In other embodiments, the primary and secondary set of coils 6006, 6008 may be arranged in parallel (Figure 66(b)) or in series (Figure 66(c)), for example. In certain embodiments, motor 6004 may include at least one additional set of primary coils and/or at least one additional set of secondary coils, for example.

[00326] In various embodiments, the motor can generate a first amount of torque during the first operating state and a second amount of torque during the second operating state. The second amount of torque can be greater than the first amount of torque, for example. In addition, the additional torque generated by the secondary coil assembly 6006 during the second operating state can prevent and/or limit tripping of the tripping element during a tripping stroke. For example, with claim 67, the motor can distally drive the trigger during the first operational state, and can proximally drive the trigger during the second operational state. In many modes, the motor can generate more torque when retracting the trigger element than when advancing the trigger element. In such embodiments, the retraction of the trigger element can be improved. If the trigger element becomes jammed, for example, the fabric is too thick and/or stiff for the trigger element to cut and/or staple, the additional torque can be used to retract the trigger, for example. Still referring to Figure 66, the torque generated by the motor can be gradually increased during an initial "soft" phase 5902 of the firing stroke and/or may be gradually decreased during a "soft" stopping phase 5904, 5906 of the firing stroke . For example, when advancing the tripping element, the motor may incrementally or slowly increase the tripping speed at the beginning of the tripping stroke and may incrementally or slowly decrease the tripping speed when the tripping element completes the forward portion of the trip. shooting course. Furthermore, in various embodiments, the motor can immediately or substantially immediately generate maximum torque and/or speed when retracting the trigger. The motor can use the additional set of coils 6008 (Figures 65(a)-(c)) to maximize the torque generated at the start of retraction, for example.

[00327] Referring to Figure 68, the control system can control the trigger element to move it at a slower speed during test segment 5912 of the trigger stroke. For example, when the triggering element advances, the triggering element may initially move at a slower speed to ensure that the selection and/or placement of the end actuator is suitable for the target tissue. Also, as described in more detail here, a surgeon can engage an actuator, such as a switch or a button, for example, to activate the motor and initiate the opening and closing of the end actuator jaws, movement of the trigger element. and/or articulation of the loading unit, for example. The start of the test segment, such as the test segment 5912 indicated in Figure 68, for example, when the actuator is engaged at the beginning of a motor-driven action can allow the surgeon to "rehearse" the surgical action, to ensure that the intended and/or appropriate surgical action has been initiated. For example, in certain embodiments, a first button can initiate power-driven linkage in a first direction and a second button may initiate motor-driven linkage in a second direction. When the surgical instrument is rotated and/or oriented "upside down", the placement of the first and second knobs may rotate and/or reverse from standard placements as viewed from the operator's perspective. If the first intended direction is the hinge direction, it may be desirable to ensure that the loading unit is being hinged in the first direction, i.e. that the first button was actually activated during the test segment. Similarly, if the second intended direction is the pivot direction, it may be desirable to ensure that the loading unit is being pivoted in the second direction, i.e., that the second button was activated during the test segment. In certain embodiments, a trial segment during the initial portion of a surgical action may provide time for the surgeon to change and/or modify the surgical action if an unintended surgical action has been initiated. As described in more detail herein, a pulse width modulation circuit, such as pulse width modulation circuit 6022, for example, may perform the test segment during an initial portion of a surgical action.

[00328] As discussed above, the motor controller may be configured to use pulse width modulation to operate the 6004 motor. In several examples, the motor controller may use the same pulse width modulation for the primary set of coils 6006 and the secondary set of coils 6008, for example. In other examples, the motor controller may use a first pulse width modulation signal for the primary set of coils 6006 and a second or different pulse width modulation signal for the secondary set of coils 6008. In some For example, the motor controller may use a pulse width modulated signal for one of coil sets 6006, 6008 but not the other. Furthermore, the teachings discussed here can be adapted for engines that have more than two sets of coils. For example, the motor controller may use a plurality of pulse width modulation signals to operate a plurality of sets of coils.

[00329] In various embodiments, the motor can be a brushed DC motor or an unbrushed DC motor, for example. In certain embodiments, the motor may be a stepper motor, such as a hybrid stepper motor, for example. Stepper motors can provide speed control, so an encoder is not needed. Eliminating the encoder can reduce engine cost and/or complexity, for example. Referring to Figures 69 and 70, the motor may be a simplified stepper motor. For example, the motor may comprise four electromagnetic poles spaced around the perimeter. Now referring to Figures 71 to 74(c), the motor may be a hybrid stepper motor. The hybrid stepper motor can comprise permanent magnets and electromagnets, for example.

[00330] Previous surgical instrument arrangements revealed in, for example, Zemlok '763 and Zemlok '344 employ two separate engines. A motor is employed, for example, to advance the drive element distally through the loading unit which results in closing the anvil, cutting the tissue and firing the cartridge staples from the staple resting on the loading unit. The other motor is employed to pivot the loading unit around the pivot joint. Additional details relating to the motors used for articulating the charging unit arrangements are also disclosed in US Patent No. 7,431,188, the disclosure of which is incorporated herein by reference in its entirety. The use of two motors in such devices can add to the complexity and add to the overall expense of the surgical instrument. For example, such provisions can double the number of retraction systems and other mechanisms that could fail during use. Surgical instrument 810 depicted in Figures 29 to 31 employs a single motor that can be selectively employed to trigger and pivot a surgical end actuator configured to perform at least one surgical procedure in response to triggering motions applied thereto.

[00331] In at least one form, for example, the surgical instrument 810 may employ many of the same components employed in the various surgical instruments described in detail herein. For example, the surgical instrument 810 includes a housing 12 that operatively supports a motor 100 therein that is configured to generate the rotary activation movements. The motor 100 is operatively coupled to a gear assembly 820 which has a positionally selective drive coupler assembly 840 associated with it which will be described in more detail below. Surgical instrument 810 may additionally include a linkage system, generally designated as 859, that operatively interfaces with the elongate stem assembly to apply linkage movements to the end actuator. In one form, for example, the linkage system 859 may include a linkage activation mechanism, generally designated as 860 which may be substantially similar to the linkage activation mechanisms disclosed in Zemlok '763 and/or Zemlok '344 and/or or US Patent No. 7,431,188 except for the differences discussed below. For example, housing 12 may include a cylinder portion 90 that has a swivel member 92 mounted thereon. Swivel member 92 may interface with a proximal end of the elongate rod assembly to facilitate rotation of the elongate rod assembly with respect to housing 12. Swivel member 92 may operatively support a toggle button and slip clutch arrangement, as disclosed in US Patent No. 7,431,188. A main pivot gear 94 of that arrangement is represented by dashed lines in Figures 29 and 30. The main pivot gear 94 may be connected to a main rod 95 by a slip clutch as described in US Patent No. 7,431,188, mentioned above. , so that rotation of the main pivot gear 94 will cause corresponding rotation of the main rod 95. As further described herein, the pivot knob can serve as a pivot position indicator. The main rod 95 operatively interfaces with a channel element J 96 that operatively interfaces with the proximal end of a pivot linkage assembly 97. In one form, the pivot linkage assembly 97 may comprise a proximal pivot linkage 98 which interfaces with pivot link 70 (Figure 3) on loading unit 20.

[00332] The linkage mechanism 860 may additionally include a linkage drive train arrangement 870 that operatively interfaces with the main linkage gear 94 and the drive coupler assembly 840. As can be seen in Figures 29 and 30, the The linkage drive train arrangement 870 may include a linkage drive rod 872 that is attached to an output of the drive coupler assembly 840 as will be discussed in more detail below. A first articulation drive gear 873 is attached to the articulation drive rod and is in meshed engagement with a sort of center gear 875 on a second articulation transfer gear 874 which is pivotally supported within the swivel member 92. rotation of the first pivot drive gear 873 results in rotation of the second center pivot transfer gear 874. As can be seen in Figures 29 and 30 a "third" pivot rod gear 877 is mounted on a second pivot rod 876 which has a "fourth" pivot worm gear 878. The third pivot rod gear 877 is in meshed engagement with the second pivot pivot transfer gear 875 so that rotation of the first pivot drive gear 873 ultimately results in the rotation of third pivot rod gear 877 and second pivot rod. The fourth pivot helical gear 878 is in meshed engagement with the main pivot gear 94 such that rotation of the fourth pivot worm gear 878 results in rotation of the pivot drive gear 94 and finally application of the pivot movements to the pivot assembly. pivot link 97. As will be discussed in more detail below, pivot drive rod 872 is rotated by motor 100 when drive coupler assembly 840 is in a control orientation.

[00333] As can be seen in Figure 31, the motor 100 is operatively coupled to the gear assembly 820. The gear assembly 820 may include a gearbox housing 822 which is coupled to the motor 100. For example, the gearbox 822 may be coupled to engine compartment 101 by means of screws 103 or other mechanical latches and/or latch arrangements. Gear set 820 may comprise a planetary gear arrangement 821 that is operatively coupled to motor shaft 107. In one arrangement, for example, an annular gear 823 may be formed on the inner surface of gearbox housing 822. A main center gear 821 is coupled to the motor shaft 107. The main center gear 821 may be in meshed engagement with a plurality of first planetary gears 825 that are supported on a first planetary gear holder 824 so that they are also in meshed engagement. with the annular gear 823. A first center gear 826 is formed on or otherwise secured to the first planetary gear holder 824 and is in meshed engagement with a plurality of second planetary gears 828 that are supported on a second gear holder. planetary gears 827. The second planetary gears 828 are also supported in the engagement geared with annular gear 823. A second center gear 829 is formed on or otherwise attached to the second planetary gear holder 827 and is in meshed engagement with a plurality of third planetary gears 831. The third planetary gears 831 are supported on a third planetary gear carrier 830 and are supported in meshed engagement with annular gear 823. A third center gear 833 may be formed on or is otherwise attached to rod extension 832 on third planetary carrier 830 and is in meshed engagement with a a plurality of fourth planetary gears 835 which are attached to a coupling gear comprising a fourth planetary gear support 834 which is pivotally supported in the extension of the rod 832. In addition, a thrust bearing 836 may be in the extension of the rod 832 between the fourth planetary gear holder 834. Fourth planetary gears 835 can be in meshed engagement with an output rod unit 850 which is pivotally supported by the gearbox housing 822. A second thrust bearing 836 may be supported between the fourth planetary gears and the output rod unit 859 as can be seen in Figure 30. The fourth planetary gears 835 are supported in the mesh with a sort of internal gear 854.

[00334] In the illustrated embodiment, the output rod assembly 850 is operatively coupled to a clutch 230 of the type and construction disclosed in Zemlok '763 which has been incorporated herein by reference in its entirety. Additional details as to the construction and operation of such a 230 clutch can be found in this publication. In an alternative embodiment, however, the clutch 230 may be replaced with a rod-to-rod or sleeve coupler arrangement that serves to facilitate coupling of the output rod unit 850 directly to the drive tube 102.

[00335] Again with reference to Figure 31, a primary pivot drive gear 837 is attached to the pivot drive rod 872 and is in meshed engagement with an outer gear ring 838 on the fourth planetary gear bracket 834. In various forms , drive coupler assembly 840 may additionally include a coupler selector element 842 that is movably coupled to or otherwise movably supported by gearbox housing 822 or other portion of housing 812. In at least one arrangement, the coupler selector member 842 may be formed with a first drive rod retainer position 844 and a first pivot and rod retainer portion 846. The first drive rod retainer portion 844 comprises a roughened, grooved area. etc., which is configured to non-movably engage a second drive rod retainer portion 845 with the output rod assembly 850. Similarly, the first retainer portion of the pivot rod comprises a grooved, roughened, etc. area. which is configured to non-movably engage a second pivot rod retainer portion 847 with the fourth planetary gear support 834.

[00336] The operation of the coupler assembly 840 can be understood from reference to Figures 29 and 30. As can be seen in Figure 29, the coupler selector element 842 is pivoted to the pivot position where the first portion of the retainer pivot rod assembly 846 is in non-movable engagement with second pivot rod retainer portion 847 on output rod assembly 850. When in that position, output rod assembly 850 is prevented from rotating about longitudinal axis EL -EL. Thus, when in that position, the operation of the motor 100 will result in the rotation of the third center gear 833 which is in meshed engagement with the fourth planetary gears 835. The rotation of the fourth planetary gears 835 will result in the rotation of the fourth planetary gear carrier 834 which can rotate freely. Such rotation of the fourth planetary gear bracket 8334 will also result in the rotation of the primary pivot gear 837 which is coupled to the pivot drive rod 872. Rotation of the pivot drive rod 872 will cause the first pivot gear 873 to rotate and drive the second linkage transfer gear 874. Rotation of second linkage transfer gear 874 results in rotation of third transfer gear and fourth linkage worm gear 878. Rotation of fourth linkage worm gear 878 will drive the main linkage gear 94 which will result in the application of axial pivot movements to the pivot links 97,70 which ultimately result in the loading unit 20 pivoting around the pivot joint. Rotation of the motor drive rod 107 in a first pivotal direction will result in the loading unit pivoting in a first pivot direction and rotation of the motor drive rod 107 in an opposite pivotal direction will result in the loading unit pivoting in a first pivot direction. a second hinge direction that is opposite to the first hinge direction.

[00337] Referring to Figure 30, the coupler selector element 842 is pivoted to the actuating or firing position where the first portion of the actuating rod retainer 844 is in non-movable engagement with the second portion of the stem retainer. 845 on the fourth planetary gear carrier 834. When in that position, the fourth planetary gear carrier 834 is prevented from rotating about the longitudinal axis "EL-EL". Thus, when in that position, operation of the motor 100 will result in the third center gear 833 rotating. The third center gear 833 is in meshed engagement with the fourth planetary gears 835 supported on the fourth planetary gear support 834. As the fourth planetary gear support 834. planetary gears 834 is prevented from rotating due to non-movable engagement between the first portion of the pivot rod retainer 846 and the second portion of the pivot rod retainer 847 in the fourth planetary gear holder 834, rotation of the fourth planetary gears 835 will result in rotation of output rod unit 850. Output rod unit 850 may be coupled to drive tube 102 by clutch assembly 230 or direct coupling. Thus, rotation of output rod unit 850 results in rotation of drive tube 102. As discussed above, rotation of drive tube 102 results in axial movement of firing rod (not shown in Figure 31). Rotation of motor drive rod 107 in a first rotational direction will result in distal advancement of the trigger rod and rotation of motor drive rod 107 in an opposite rotational direction will result in proximal movement of the trigger rod. In various embodiments, closing the jaws of the loading unit 20, for example the articulation of the anvil assembly 22 with respect to the support 24, can couple and/or decouple the motor 100 from the articulation system and/or the system trigger of the surgical instrument 10. For example, closing the anvil assembly 22 with respect to the support 24 may decouple the motor 100 from the articulation system, e.g. from the articulation drive rod 872 and may couple the motor 100 to the system. for example, to the output rod unit 850. Furthermore, opening the anvil assembly 22 with respect to the support 24 can decouple the motor 100 from the firing system and can couple the motor 100 to the linkage system. In such embodiments, the motor 100 can affect the linkage of the loading unit 20 when the loading unit 20 is open and the motor 100 can affect the firing of the coupling rod when the loading unit 20 is closed. Surgical instrument 10 may include a sensor and/or selector, for example. In certain embodiments, the sensor may detect the closing of the jaws of the loading unit 20. In addition, the sensor may be in signal communication with the selector, such as the selector element of the coupler 842. The selector may engage and/or disengage. coupling the motor 100 to the articulation system and/or the triggering system when the anvil assembly 22 opens and/or closes with respect to the support 24, for example. Various motor-equipped surgical instruments that employ the various coupler arrangements disclosed herein may represent vast improvements over earlier motor-equipped surgical instruments that employ multiple motors to pivot the end actuator and trigger the end actuator element and drive.

[00338] For example, at least one surgical instrument comprises an elongated shank assembly that defines a longitudinal tool axis. A surgical end actuator may be operatively coupled to the elongated stem assembly for selective articulation therewith. The surgical end actuator can be configured to perform at least one surgical procedure in response to triggering motions applied to it. A linkage system may operatively interface with the elongated stem assembly to apply linkage movements to the surgical end actuator. A triggering element assembly may operatively interface with the elongate stem assembly to apply the triggering motions to the surgical end actuator. The surgical instrument may additionally comprise a motor which is configured to generate rotary activation movements. A drive coupler assembly can interface with the engine and linkage system so that when the drive coupler package is in a first configuration, engine operation will result in the activation movements being applied to the linkage system resulting in linkage. of the surgical end actuator relative to the longitudinal tool axis and when the coupler drive assembly is in a second configuration, motor operation will result in activating motions being applied to the firing element assembly to apply at least one of the triggering motions. trigger to the surgical end actuator.

[00339] Another example of a surgical instrument may comprise a handle that has an elongate shank assembly that is operatively coupled thereto that defines an axis and longitudinal tool. A loading unit may be operatively coupled to the elongate rod assembly and configured to separate and staple tissue in response to firing motions applied thereto. The load unit may be configured to be selectively pivoted with respect to the longitudinal tool axis around a pivot joint; The surgical instrument may further comprise a hinge system that includes a hinge link assembly that is supported by the elongate stem assembly that is configured to operatively interface with a hinged joint portion in one of the elongate stem assembly and the charging unit. A linkage activation mechanism can be supported by the cable and interface with the linkage linkage assembly to apply the linkage activation movements to it. The surgical instrument may further comprise a triggering element assembly that operatively interfaces with the loading unit to apply triggering motions thereto. The motor can be operationally supported by the cable and configured to generate rotary activation movements. A drive coupler assembly can interface with the motor and linkage activation mechanism so that when the drive coupler assembly is in a first configuration, motor operation will result in the activation motions being applied to the system. of articulation resulting in articulation of the loading unit with respect to the longitudinal tool axis and when the coupler drive assembly is in a second configuration, motor operation will result in the activation motions being applied to the firing element assembly causing the assembly of triggering element apply at least one of the triggering motions to the loading unit.

[00340] Yet another example of a surgical instrument may comprise an elongated shank assembly that defines a longitudinal tool axis. A surgical end actuator may be operatively coupled to the elongated stem assembly for selective articulation therewith. The surgical end actuator can be configured to perform at least one surgical procedure in response to triggering motions applied to it. A linkage system may operatively interface with the elongated stem assembly to apply linkage movements to the surgical end actuator. A triggering element assembly can operationally interface with the elongated stem assembly to apply the triggering motions to the surgical end actuator. A motor may be configured to generate rotary activation motions. The surgical instrument may further comprise means for selectively applying an output movement of the motor to each of the linkage system and the triggering element assembly.

[00341] In certain surgical instruments, a motor may provide tactile feedback to the surgical instrument operator. For example, engine rotation can generate vibrating motion or noise, which may depend on the direction and/or speed of engine rotation, for example. However, multiple motors can generate minimal noise and, therefore, tactile feedback to the surgeon may be limited and/or may not be understood by the surgeon. For example, various modifications and/or improvements to the engine and/or transmission design can reduce tactile noise generated by the engine and/or transmission. In such embodiments, it may be advantageous to modify the motor and/or gear set operably coupled to the motor to generate artificial or intentional tactile feedback and/or other sensory feedback. In certain embodiments, the surgical instrument can communicate feedback to the surgeon without requiring the surgeon to look at the operating site. For example, the motor and/or gears can generate tactile and/or audible feedback to communicate with the surgeon. In such modalities, the operator does not need to look at the display screen, for example, to determine an operating state or condition of the surgical instrument. As described in more detail here, the surgical instrument may communicate the motor's rotational direction, for example, which may correspond to the firing direction of the firing element and/or the loading unit's pivoting direction, for example. Additionally or alternatively, the surgical instrument may communicate the speed and/or position of the trigger during a trigger stroke, for example, and/or the speed and/or degree of articulation of the loading unit, for example.

[00342] In various embodiments, as described in more detail here, a motor may be operatively coupled to a firing assembly and/or a linkage assembly. Referring to Figure 168, motor 7010 can drive a motor rod 7014, which can engage a gear assembly 7020, for example. In various embodiments, a key, such as a key 7016 on motor shaft 7014, may engage a gear set portion 7020. In certain embodiments, gear set 7020 may include discs 7022, 7024, for example, which may be structured to rotate or rotate together with the 7014 engine rod when engaged with it via the key. For example, the first disk 7022 may include a groove (not shown). In addition, a first key (not shown) extending from the motor rod 7014 may engage the groove in the first disc 7022 so that the first disc 7022 rotates clockwise (SH) as the motor rod 7014 rotates. in the SH, and rotate counterclockwise (SAH) when the 7014 motor rod rotates in the SAH direction. In at least one embodiment, the first key may remain engaged in the groove in the first disc 7022 throughout the operation of the surgical instrument and/or motor thereof.

[00343] In certain embodiments, the first disc 7022 may be balanced with respect to its axis of rotation along the motor shaft 7014. Still referring to Figure 168, a mass, such as mass 7026, for example, may extend of the first disk 7022 and may shift the center of mass of the first disk 7022 away from the axis of rotation of the first disk 7022. For example, the mass 7026 may extend from the engine rod 7014 and/or the outer perimeter of the first disk 7022. In other words, the mass 7025 can upset the balance of the first disk 7022, resulting in a rotational imbalance of the first disk 7022 and thus generate a centrifugal force when the first disk 7022 rotates with the rod of the motor 7014. Consequently, the rotation of the first disk 7022 and the mass 7026 can generate tactile feedback, such as a vibration or oscillation of the surgical instrument housing and/or handle, for example. The tactile feedback may correspond to an operational state or condition of the surgical instrument. In addition, the tactile feedback generated by the rotation of the first disc 7022 and the mass 7026 may depend on the rotational speed of the motor shaft 7014. In such embodiments, the firing speed and/or the articulation speed may also be communicated to the surgeon, for example. For example, the first disk 7022 can generate tactile feedback having a higher frequency when the motor rod 7014 is rotated more quickly and a lower frequency when the motor rod 7014 is rotated more slowly.

[00344] Similar to the first disc 7022, in certain embodiments, the second disc 7024 can be balanced with respect to its axis of rotation on the motor rod 7014. Still referring to Figure 168, however, a mass, such as mass 7028, for example, it may extend from the second disk 7024 and may change the center of mass thereof. For example, the mass 7028 can extend from the motor rod 7014 and/or the outer perimeter of the second disc 7024. In other words, the mass 7028 can upset the balance of the second disc 7024, resulting in a rotational imbalance of the second disc. 7024 and thus generates a centrifugal force when the second disc 7024 rotates with the motor rod 7014. Consequently, the rotation of the second disc 7024 and the mass 7028 can generate tactile feedback such as vibration or oscillation of the engine compartment. surgical instrument and/or cable, for example. The tactile feedback may correspond to an operating state or condition of the surgical instrument. In addition, the tactile feedback generated by the rotation of the second disc 7024 and the mass 7028 may depend on the rotational speed of the motor rod 7014. In such embodiments, the firing speed and/or the pivot speed may also be communicated. the surgeon, for example. In various embodiments, the first and/or second discs 7022, 7024 may include additional masses similar to masses 7026 and/or 7028, for example, which may additionally contribute to a tactile response of the surgical instrument compartment and/or handle, for example . Furthermore, in some embodiments, the motor rod 7014 may operatively engage additional and/or different discs from the gear set 7120 to selectively generate additional and/or different tactile feedback.

[00345] Referring further to Figure 168, the second disc 7024 may include an inner perimeter 7026. In various embodiments, a second key 7016 may extend from the motor shaft 7014 and may operatively engage the second disc 7024 through the inner perimeter 7030. Inner perimeter 7030 may include a plurality of planar surfaces 7032 and a plurality of arcuate surfaces 7034 between adjacent planar surfaces 7032, for example. Each pair of planar and arcuate surfaces 7032, 7034 may define a groove, which may be structured to receive the second key 7016. In certain embodiments, when key 7016 rotates in a first direction, key 7016 may be in contiguity with a surface planar 7032 and becomes trapped and/or retained in a groove of the second disk 7024. In such an arrangement, the second disk 7024 may rotate in the first direction along with the motor rod 7014. Also, in certain embodiments, when the key 7016 rotates in a second direction opposite to the first direction, key 7016 may rotate beyond arcuate surfaces 7034 and may become trapped and/or retained in grooves on inner perimeter 7030. In other words, key 7016 may rotate relative to second disk 7024 In such an arrangement, the motor rod 7014 can rotate in the second direction with respect to the second disc 7024. Consequently, the key 7016 can only engage the second disc 7024 and cause the second disc 7024 to rotate when the rod 7024 of the 7014 motor rotates in the first direction. In certain embodiments, the first direction may correspond to a rotation in the SH direction and in other embodiments, the first direction may correspond to a rotation in the SAH direction.

[00346] As described here, as the engagement of the second disc 7024 may depend on the rotational direction of the motor rod 7014, the second disc 7024 can only rotate when the motor rod 7014 rotates in one direction, so that when the motor 7010 triggers the trigger in one direction and/or rotates the charging unit in one direction. For example, the second disk 7024 can only rotate when the motor 7010 retracts the trigger element or rotates the loading unit in the SH direction, for example. Such relative engagement of the second disc 7024 can affect the tactile feedback generated by the surgical instrument. In other words, different and/or greater feedback may result based on the selective engagement of the second disc 7024. For example, in embodiments where the second disc 7024 only rotates when the motor 7010 rotates to retract the trigger, a feedback Larger tactile can be generated during retraction than during advance of the triggering element. During retraction, the second disk 7024 can also contribute to the generation of tactile feedback that can result in a greater or greater sum of feedback forces. In such embodiments, the greater tactile feedback generated by the first and second discs 7022, 7924 can communicate to the surgeon that the trigger element is being retracted by the motor 7010. In various embodiments, in view of the above, only the first disc 7022 can be rotated when the 7014 motor rod can be rotated in one direction and both discs 7022, 7024 can be rotated when the 7014 motor rod is rotated in the opposite direction. As such, disks 7022, 7024 can generate different feedback when the motor rod 7014 is rotated in different directions.

[00347] Referring now to Figure 169, in certain embodiments the motor 7010 can drive a motor rod 7014, which can engage a gear assembly 7120. In various embodiments, a key, such as a key 7016 on the motor rod 7014, for example, may engage gear set 7120. Similar to gear set 7020, gear set 7120 may include a plurality of discs, such as a first disc 7122 and a second disc 7124. The first and second discs 7122, 7124 may be structured to rotate or rotate with the 7014 engine rod when selectively engaged with it by means of a key. For example, the first disk 7122 may include a groove (not shown). In addition, a first key (not shown) extending from motor stem 7014 may engage the groove of first disc 7122 so that first disc 7122 rotates with motor stem 7014. In certain embodiments, the first key may be non-engaging from the groove of the first 7122 disc during use. The second disc 7124 may include an inner perimeter 7130, similar to the inner perimeter 7030 of the second disc 7024, for example. The inner perimeter 7130 may comprise a plurality of planar surfaces 7132 and a plurality of arcuate surfaces 7134. As described herein with reference to Figure 168, the key 7016 may selectively engage and disengage the inner perimeter 7130 of the second disc 7124 depending on the rotational direction. motor stem 7014. For example, when motor stem 7014 rotates in a first direction, key 7016 may engage second disc 7124 causing second disc 7124 to rotate with motor stem 7014. Also, when the motor rod 7014 rotates in a second direction, the key 7016 may remain disengaged from the second disc so that the key 7016 can rotate with respect to the second disc 7024 within the inner perimeter 7130 thereof.

[00348] In various embodiments, the first disk 7122 may include at least one detector 7126 and a second disk 7124 may also include at least one detector 7128. When the disks 7122, 7124 rotate, the detectors 7126, 7128 may strike the elements of an audio feedback generator 7140. For example, detectors 7126, 7128 can reach the acoustic indicators 7142, 7144 of the audio feedback generator 7140. In various embodiments, the detector or detectors 7126 of the first disk 7122 can reach and de- deflecting the first acoustic indicator 7142 when the first disk 7122 rotates and the detector or detectors 7128 of the second disk 7124 can reach and deflect the second acoustic indicator 7144 when the second disk 7124 rotates. Impact and deflection of the acoustic indicators 7142, 7144 can cause the acoustic indicators 7142, 7144 to resonate and generate an audible signal. In other words, the rotation of the first and second disks 7122 can generate audio feedback. In addition, the rotational speed of the rotating disks 7122, 7124 and/or the number and arrangement of detectors extending from the first and second disks 7122, 7124 can affect the frequency of the auditory signals. In such embodiments, the speed of the motor and the corresponding triggering speed of the triggering element and/or linking the speed of the loading unit can be communicated to the surgeon, for example.

[00349] Referring primarily to Figures 170 and 171, in various embodiments, the geometry of detectors 7126, 7128 may affect the auditory signals generated by the audio feedback generator 7140. For example, detectors 7126, 7128 may include a surface without 7150 damping and a damped surface. Undamped surface 7152 can include a flat surface, for example, and a damped surface 7152 can include an arched surface, for example. In various embodiments, where the undamped surface 7150 of the detector 7126 rotationally leads to the damped surface 7152 of the detector 7126 (Figure 170), resonance of the acoustic indicators 7142 may be damped and/or interrupted by the damping surface of the edge 7152 of the detector 7126 For example, the arcuate geometry of the damping surface 7152 may contact the deflected acoustic indicator 7126 to prevent and/or restrict vibration or resonance of the acoustic indicator 7126. On the other hand, where the damped surface 7152 of the detector 7126 leads rotationally to the damped surface 7150 of the toothpick 7126 (Figure 171), resonance of the acoustic indicator 7142 cannot be damped by the non-damped surface 7150 of the detector 7126. For example, the planar geometry of the non-damped surface 7150 can prevent e/ or limit contact with the deflected acoustic indicator 7126 and so that the resonance of the ac indicator 7126 is allowed and/or less restricted. In other words, the rotational direction of discs 7122, 1724 and associated detectors 7126, 7128 can affect the auditory feedback generated by the surgical instrument. Consequently, the operator of the surgical instrument can be informed of the operational status of the surgical instrument during its use and without requiring the surgeon to look outside the surgical site. For example, audio signals can be damped when the trigger is retracted and cannot be damped when the trigger is advanced. In other embodiments, the audio signals may be muted when the trigger is advanced and cannot be muted when the trigger is advanced. Furthermore, in some embodiments, the damped audible signals may correspond with the charging unit pivoting in one direction and the undamped audible signals may correspond with the charging unit pivoting in the direction of the engine, for example. In various embodiments, at least one audio feedback generator may be used alone and/or in combination with at least one tactile feedback system. Furthermore, in some embodiments, at least one tactile feedback system may be used alone and/or in combination with at least one audio feedback generator. Audio feedback and tactile feedback can communicate different operating conditions to the surgeon and/or can provide duplicate feedback to the surgeon regarding the same operating conditions, for example.

[00350] In various embodiments, the surgical instrument can generate feedback when the triggering element approaches and/or reaches the end of the triggering stroke and/or when the loading unit approaches and/or reaches the articulation limit. In various embodiments, such feedback may be different from and/or additional to the feedback generated through a course of fire and/or when the loading unit is pivoted. Consequently, the surgical instrument may notify the operator that the firing stroke is nearly complete and/or completed, for example, and/or may notify the operator that the loading unit is close to the articulation limit and/or has reached the articulation limit. articulation.

[00351] Referring now to Figure 172, the motor 7010 may be operationally engaged with the gear assembly 7120, as described in more detail above. In addition, gear set disks 7122, 7124 can contact a 7240 audio feedback generator which may be similar to the 7140 audio feedback generator, for example. For example, detectors 7126, 7128 on disks 7122, 7124 can deflect the acoustic indicators 7242, 7244 from the audio feedback generator 7240 causing the acoustic indicators 7242, 7244 to resonate and generate auditory feedback. In addition, the 7240 audio feedback generator can move or translate with respect to the 7120 gear assembly. As described in more detail below, the 7240 audio feedback generator can selectively move in and/or out. of engagement with acoustic indicators 7242, 7244 on discs 7122, 7124 to selectively generate auditory signals. In other embodiments, the motor, gear set and/or discs thereof may move such that disc detectors are selectively moved in and/or out of engagement with the acoustic indicators of a generator. audio feedback to selectively generate auditory signals.

[00352] In various embodiments, the 7240 audio generator and feedback can translate into the surgical instrument when the trigger element moves during a trigger stroke. For example, at the beginning of the trigger stroke, the audio feedback generator 7240 may become misaligned with the detectors 7126, 7128 of the disks 7122, 7124. Furthermore, as the trigger element moves distally and/or near the end of travel, the audio feedback generator 7240 may move toward and/or in alignment with the detectors 7126, 7128 of the disks 7122, 7124. In such embodiments, the audio feedback generator 7240 may generate auditory feedback when the trigger is near and/or at the end of the triggering course. Referring to Fig. 173, for example, the feedback generator can generate feedback when the trigger is within a range of positions near and/or at the end of the trigger stroke, e.g. to communicate the position of the trigger element. for the surgeon. In certain embodiments, the surgical instrument can communicate the end of the firing stroke to the operator. For example, again referring to Fig. 172, at least one detector 7126, 7128 may be aligned with at least one acoustic indicator 7242, 7244 when the triggering element approaches the distal end of the triggering stroke. At this time, the surgical instrument can generate feedback to communicate the position of the trigger element to the surgeon. When each detector 7126, 7128 is aligned with one of the acoustic indicators 7242, 7242, greater and/or different feedback can be communicated to the surgeon. Furthermore, as the trigger element is retracted, at least one detector 7126, 7128 may again become misaligned with an acoustic indicator 7242, 7244 so that reduced and/or different feedback is communicated to the surgeon. Consequently, as the feedback generator moves through the trigger stroke, the feedback generator may communicate varying feedback to the operator based on the position of the trigger. In addition, the 7120 gear assembly may include additional disks and/or detectors, which may move in and/or out of engagement with the 7240 Audio Feedback Generator, and/or the Audio Feedback Generator. may include additional acoustic indicators, which may move in and/or out of engagement with the detectors. In various embodiments, an audio feedback generator can communicate alternate and/or additional trigger element positions to the surgeon. For example, an audio feedback generator can communicate auditory feedback at the midpoint and/or incremental points along the length of the firing and/or retracting trajectory.

[00353] Referring now to Figures 174 and 175, a mobile feedback generator can also be used to communicate the loading unit's articulation limit to the surgeon. For example, the audio feedback generator 7240 shown in Figure 172, for example, can translate as the charging unit pivots. For example, when the charging unit is in an unhinged configuration, the 7240 audio feedback generator may be misaligned with the 7126, 7128 detectors 7122, 7124 disks. Furthermore, as the charging unit articulates, the audio feedback generator 7240 can move towards and/or into alignment with the detectors 7126, 7128 of the disks 7122, 7124. In such embodiments, the audio feedback generator 7240 can generate auditory feedback. when the charging unit is close to and/or at the limit of the joint. For example, referring again to Figures 174 and 175, the generator may generate feedback when the trigger is within a range of positions near and/or at the end of the trigger stroke to communicate the trigger element position to the surgeon. . In certain embodiments, the surgical instrument may communicate the joint limit to the operator. For example, again with reference to Figure 172, at least one detector 7126, 7128 can be aligned with at least one acoustic indicator 7242, 7244 when the loading unit approaches its pivot limit, e.g. approaches forty-five degrees. At this time, the surgical instrument can generate feedback to communicate the position of the trigger element to the surgeon. When each loading unit is closer and/or at the edge of the joint, each detector 7126, 7128 can be aligned with an acoustic indicators 7242, 7244 and feedback can be communicated to the surgeon. In addition, as the loading unit is pivoted back toward the non-pivoted neutral position, at least one canopy 7126, 7128 may again become misaligned with the acoustic indicator 7242, 7244, so feedback reduced and/or different are communicated to the surgeon. Consequently, as the feedback generator moves through the firing stroke, the feedback generator may communicate varying feedback to the operator based on the configuration of the charging unit.

[00354] In various embodiments, it may be advantageous to protect certain components of a surgical instrument from fluid contact. For example, unintentional contact with a bodily fluid during use can damage the surgical instrument and may limit and/or shorten the life of the surgical instrument. In addition, it may be advantageous to protect certain components of a surgical instrument from fluid contact during sterilization. For example, unintentional contact with a sterilizing and/or cleaning fluid can damage the surgical instrument and may prevent and/or limit the reusability of a surgical instrument. In various embodiments, certain components of a surgical instrument may be sealed and/or protected from fluid contact. For example, electronics in the surgical instrument can be sealed in epoxy to protect from fluids. Moving components of the surgical instrument, such as motor portions and/or gear assembly, for example, can also be sealed and/or protected from fluid contact. Such a seal can accommodate the rotation of the various moving components, for example. Furthermore, in various embodiments, such a seal may also facilitate heat transfer so that heat generated during operation of the surgical instrument is more effectively dissipated.

[00355] Referring now to Figures 185 and 186, in certain embodiments, a motor 7510 and/or a gear set 7520 may be sealed and/or protected from fluids during use and/or during sterilization treatments. Motor 7510 can be similar to motor 100, for example, and gear set 7520 can be similar to gear set 170, for example. To seal and protect the 7510 engine, an engine compartment, such as a rubber sleeve, for example, can be positioned around the 7510 engine inside compartment 12 (Figure 1) of surgical instrument 10 (Figure 1). Such a rubber sleeve may limit heat transfer from the 7510 engine and the 7510 engine may be prone to overheating. In other embodiments, referring again to Figures 185 and 186, the engine compartment may comprise a clamshell cover 7516, for example, which may be positioned around the engine 7510. In various embodiments, the clamshell cover 7516 may include at least at least two portions, which can be hinged and/or closed together, for example. The 7516 clamshell cover can allow rotation of the 7510 engine and/or an engine rod. Additionally, in certain embodiments, the clamshell cover 7516 may facilitate heat transfer from the engine 7510 held therein. A contact arrangement 7512 (Figure 186), similar to contact arrangement 210, for example, may be employed to supply electrical current to the motor 7510. Contact arrangement 7512 may include positive and negative annular contacts 7514a, 7514b (Figure 186) , for example, that can operatively connect to the fixed positive and negative contacts 7518a, 7518b (Figure 186) held by the shell cover 7516, for example. In addition, the clamshell cover 7516 may include an annular seal or trim 7519, which may adjoin the perimeter of the engine 7510 and the engine seal 7510 and contact arrangement 7512 within the shell cover 7516, for example. In certain embodiments, the clamshell cover 7516 may comprise a metallic material, which may facilitate heat transfer from the engine 7510, for example, and may prevent overheating and/or damage to the engine 7410.

[00356] Referring further to Figures 185 and 186, the gear assembly 7520 can also be sealed and/or protected from fluids during use and/or sterilization. For example, a 7522 gasket may be positioned between the 7510 engine and the 7520 gear assembly housing so that the 7510 engine and 7520 gear assembly form a fluid-tight seal. In addition, a sealing sleeve 7550 may be positioned around the housing of the 7520 gear assembly. The sealing sleeve 7530 may include a tab 7536, which may be adjacent to the clamshell 7526 and/or the 7510 motor to provide a fluid-tight seal between them. The sealing sleeve 7530 may also include an opening 7532 for an output rod 7524. For example, the output rod 7524 of the gear assembly 7520 can extend through the opening 7532 and fins 7534 can extend toward the rod. outlet 7524 to provide a fluid-tight seal while allowing rotation of outlet rod 7524 within opening 7532. In various embodiments, sealing sleeve 7530 and/or tabs 7536, gaskets and/or fins 7534 thereof may comprise rubber and/or another suitable material to form the fluid-tight seal. In various embodiments, a mounting bracket or motor retainer 7540, similar to retainer 190, for example, can hold the sealed gear assembly 7520 and motor 7510 within compartment 12 (Figure 1) of surgical instrument 10 (Figure 1) .

[00357] Figures 32 through 37 illustrate another surgical instrument 910 that may include many of the features of the other surgical instruments disclosed herein. In at least one form, surgical instrument 910 may include a joint activation mechanism generally designated as 860, which may be substantially similar to the hinge mechanisms disclosed in Zemlok '763, Zemlok '344 and/or US Patent No. 7,431,188 except for those differences discussed below. In other arrangements, the surgical instrument may include various forms of the other joint activation mechanisms as described herein. As can be seen in Figure 32, the instrument 910 includes a housing 12 which may include a cylinder-shaped mounting portion 90 which has a swivel member 92 mounted thereon. Swivel member 92 may interface with a proximal end of elongate stem assembly 16 to facilitate rotation of elongate stem assembly 15 with respect to housing 12. Such an arrangement allows the clinician to selectively rotate elongate stem assembly 16 and unit. load 20 (or other form of surgical end actuator) coupled thereto around the longitudinal axis "EL-EL" of the tool. Swivel member 92 may be non-removably mounted in cylinder position 90 or may be designed to be selectively detached therefrom.

[00358] As disclosed herein, depending on the type and/or construction of the surgical end actuator employed, it may be desired to supply electrical current to the end actuator; For example, the end actuator may employ sensor(s), light(s), activator(s), etc. which requires electricity for activation. In such arrangements, however, the ability to rotate the surgical end actuator about the longitudinal axis "EL-EL" of the tool can be severely limited because the conductive system carrying the feed to the surgical end actuator or charging unit through the stem length of an electrical power source can become tangled and severely damaged - particularly in cases where the elongated shaft has been rotated by more than one revolution. Various surgical instruments disclosed here may employ a management and driver system commonly referred to as the 930 which can avoid these problems.

[00359] Referring again to Figure 32, the surgical instrument 910 may be powered by an electrical power supply 200. The electrical power supply may, for example, be of the type described in more detail in Zemlok '763. For example, the electrical power supply 200 may comprise a rechargeable battery (e.g., lead-, nickel-, or lithium-ion-based, etc.). It is also envisioned that the electrical power supply 200 may include at least one disposable battery. In at least one arrangement, for example, the disposable battery can be between about 9 volts and about 30 volts. Figure 32 illustrates an example where the electrical power supply 200 includes a plurality of battery cells 202. The number of battery cells 202 employed may depend on the current load requirements of the instrument 910. It is also envisioned that the power supply electrical supply may comprise an alternating current source available at the surgical site. For example, an external power cord and plug (not shown) may be employed to carry alternating current from an outlet at the surgical site to various components, conductors, sensors, switches, circuits, etc. far end. In other applications, surgical instrument 910 may obtain power from, for example, a robotic system to which it is attached or otherwise associated.

[00360] As can be further seen in Figure 32, the conductor management system 930 may include a primary conductor element or wire 932 that is coupled to or otherwise interfaces with the electrical power supply 200 to receive power. her. Primary conductor element 932 is coupled to a spiral, and/or wound conductor assembly 934 that is supported within swivel element 92. In one arrangement, for example, spiral conductor assembly 934 may be formed or otherwise comprise a conductor type tape 936 which is spirally wound in the manner shown, for example, in Figures 36 and 37. For example, spiral conductor assembly 934 may be manufactured from spiral wound conductor which may have similar attributes to that spiral wound spring such as a torsion spring. In one form, for example, conductor 936 may be wound in successive revolutions or winding as shown in Figures 36 and 37. In various arrangements, conductor 936 may be wound for one or more complete revolutions. For example, conductor 936 illustrated in Figures 36 and 37 is configured in more than four full revolutions.

[00361] In various forms, the conductor 936 has a first end 938 which can be attached, for example, to the cylinder portion 90 of the housing 12. In addition, the conductor 936 additionally has a second end 940 which is attached to or from otherwise supported by the swivel element 92 to pivotally pass therewith. Thus, when the rotating element 92 is rotated in a first direction of rotation around the cylinder portion 90, the spiral wound conductor 936 is wound more tightly. Conversely, when rotating element 92 is rotated in a second rotating direction, the degree of tightness of spiral wound conductor 936 may be decreased. In those configurations where the rotating member 92 is removably supported on the cylinder portion 90, the first end 938 of the spiral wound conductor 936 may be removably supported in a slot or other mounting cavity 942 in the cylinder portion 90. See, for example, Figures 36 and 37. In addition, the primary conductor element 932 may be detachably coupled to the spiral conductor assembly 934 by a connector assembly 933. In particular, a detachable connector assembly 933 may be employed to coupling the primary conductor element 932 to the first end of 938 of the spiral wound conductor 936 to facilitate removal of the rotating element 92 from the cylinder portion 90. In other arrangements where it is not intended to remove the rotating portion 92 from the cylinder portion, the first end 938 of spiral wound conductor 936 may be non-removably affixed to cylinder portion 90 and primary conductor element 932 may be permanently affixed (e.g. welded) to the first end of spiral wound conductor 936.

[00362] The second end 940 of the spiral wound conductor 936 may be non-removably secured to the rotating member 92 by adhesive, mechanical retainers, pressure features, etc. In alternative arrangements, the second end 940 of the spiral wound conductor 936 may be removably supported in a slot or other mounting feature provided on the swivel member 92 to facilitate separation of the spiral wound conductor 936 from the swivel portion 92. As seen in Figures 32 and 33, a secondary rod driver element 944 is attached to the second end 940 of the spiral cable assembly 934. The secondary rod driver element 944 can be supported within the swivel element 92 and extend through the hollow elongate rod assembly 16. For example, secondary rod driver element 944 may extend through elongate rod assembly 16 to its distal end to interface with other drivers, sensors, motor-equipped components, and the like. associated with surgical end actuator, charging unit, etc. fixed on it. In this way, when the physician rotates the rotating element 92 with respect to the compartment 12, the spiral conductor assembly 934 and more particularly the spiral wound conductor 936 will be wound in a slightly firmer spiral while facilitating the application of the feed. from power supply 200 to surgical end actuator, charging unit, etc. If the clinician rotates the rotating element 92 with respect to the housing 12 in an opposite direction, the spiral wound cable 936 will unwind slightly while still facilitating the application of power from the electrical power supply 200 to the various components, sensors, etc. on surgical end actuator, charging unit, etc.

[00363] As can be further seen in Figures 34 and 35, the driver management system 930 may additionally include a roll-limiter assembly generally designated as 950. In at least one arrangement, for example, the roll-limiter assembly 950 includes a stop member 952 that is movably attached to swivel member 92 and is configured to threadedly engage a threaded portion 99 on cylinder 90 of housing 12. Stopper 952 may include a pair of opposing tabs 954 that are on each side. of an axial fin portion 958 formed in the swivel element 92 as shown in Figure 33. Such an arrangement allows the stopper 952 to move axially within the swivel element 92 as the swivel element 92 is rotated in the cylinder portion 90 of the housing 12 Opposite end 960 of stopper 952 is configured to threadably engage threaded portion 99 of cylinder 90. A proximal stop wall inwardly extending 962 of swivel member 92 and an inwardly extending distal stop wall 964 serve to define a travel distance "DT" that stop 942 can make axially when swivel member 92 is rotated in cylinder 90.

[00364] Figure 33 illustrates the stopper 952 approximately midway between the proximal stop wall 952 and the distal stop wall 954. When in that position, rotation of the rotating member 92 in a first direction with respect to the cylinder portion 90 will result in the stopper traveling axially in the distal direction "DD" until the stopper 952 contacts the distal stop wall 964, as shown in Figure 34. Likewise, rotation of swivel member 92 in an opposite direction relative to cylinder portion 90 results in axial travel of stopper 952 in the proximal "DP" direction until it contacts proximal stop wall 962 of swivel member 92. Such an arrangement, therefore, limits the number of times the swivel member 92 may be rotated completely around cylinder portion 90 to prevent inadvertent damage to spiral conductor assembly 934. For example, stopper assembly 950 may enable the clinician to rotate rod assembly 934. elongated, and more particularly, the rotating element 92 for at least one complete revolution, but not more than, for example, three complete revolutions around the cylinder portion 90 in either direction. However, the number of revolutions or, more particularly, the amount of rotational path of the rotating element 92 in the cylinder 90 can be adjusted by adjusting the magnitude of the path distance "DT".

[00365] Figure 33 illustrates the stop 952 in a "neutral" or "center" position where the stop is centrally disposed between the distal stop wall 954 and the proximal stop wall 952. In at least one form, the elements 980 can be employed to tilt the stopper 952 to a neutral position when the elongated rod assembly 16 and the pivot member 92 are in a corresponding neutral position. When the clinician applies a pivoting motion to the pivot portion 92, the rod assembly The elongate rod 16 will rotate in the manner described above.However, when the application of rotating motion to the rotating element 92 and the elongated rod assembly 16 is discontinued, the tilting elements 980 will return the stopper 952 to the neutral position.

[00366] For example, at least one surgical instrument may comprise a housing which may include a swivel element that is supported on a mounting portion of the housing for rotation around it through a rotation band. An elongated shank assembly defining a longitudinal tool axis may be operatively coupled to the rotating element for rotational path therewith around the longitudinal tool axis. The surgical instrument may additionally comprise an electrical power supply and include a conductor management system. The conductor management system may comprise a spool conductor assembly that can be supported on the swivel element and may include a first conductor end that is attached to the housing mounting portion and a second conductor end that is attached to the swivel element to rotation with it through the rotation range; The conductor management system may further comprise a primary conductor which may be supported within the compartment and configured to transmit electrical power from the electrical power supply to the spool conductor assembly. A rod conductor may be coupled to the spool lead assembly to transmit electrical power to a distal end of the elongate rod assembly.

[00367] Another example of a surgical instrument may comprise a housing that includes a swivel element that is supported on a mounting portion of the housing. The surgical instrument may further comprise an elongate shank assembly that defines a longitudinal tool axis and which is operatively coupled to the rotatable element for rotational path therewith about the longitudinal tool axis. The surgical instrument may further comprise an electrical power source and means for transferring energy from the electrical power source through a conductor extending through the elongate rod assembly. The surgical instrument may further comprise means for limiting an amount of rotational path of the rotating element around the mounting portion to a range of rotating path comprising at least one complete revolution and not more than three complete revolutions around the mounting portion. .

[00368] As outlined here, an end actuator can be attached to a surgical instrument. As also outlined herein, the surgical instrument may comprise a triggering driver configured to trigger staples from an end actuator including a staple cartridge. Turning now to the exemplary embodiment shown in Figure 94, for example, a surgical instrument 9000 may comprise a handle 9010 including a housing, a gripping portion 9012, a triggering trigger 9014, and a motor positioned within the housing. Surgical instrument 9000 may further comprise a rod 9040 including a trigger rod 9020 which can be advanced distally and/or retracted proximally by the motor. In certain circumstances, an end actuator may comprise a distal portion that can pivot with respect to a proximal portion around an articulated joint. In other circumstances, an end actuator may not have a swivel joint; The surgical instrument may further comprise a pivot drive configured to pivot at least a portion of the end actuator. Again with reference to the exemplary embodiment shown in Figure 94, for example, the surgical instrument 9000 may comprise a hinge actuator 9070 which may be configured to drive a distal portion of an end actuator around a hinge joint. The end actuator shown in Figure 94, that is, the 9060 end actuator, is not a swivel end actuator; however, a swivel-end actuator could be used with the 9000 surgical instrument. In the case where a non-pivoting-end actuator, such as the 9060-end actuator, for example, is used with the 9000 surgical instrument, the operation of the 9070 linkage actuator may not affect the operation of the 9060 end actuator.

[00369] In addition to the above, an end actuator may include surgical instrument systems. For example, end actuator 9060 may include a trigger element that may be operatively engaged with trigger rod 9020 of surgical instrument 9000 when end actuator 9060 is mounted to the surgical instrument. Similarly, an end actuator may comprise an actuator which may be operatively engaged with the pivot rod of the surgical instrument when the end actuator is mounted to the surgical instrument. In addition, end actuator 9060, for example, may comprise a proximal connection portion 9069 that can be mounted to a distal connection portion 9042 of stem 9040 of surgical instrument 9000 when end actuator 9060 is attached to the instrument. 9000. In various circumstances, the proper set of connecting portions, drive system and linkage system of an end actuator and a surgical instrument may be required before the end actuator can be properly used.

[00370] Referring again to Figure 94, handle 9010 may comprise a trigger trigger 904 which, when activated by the user of surgical instrument 9000, may be configured to operate the motor on handle 9010. In various circumstances handle 9010 may include a controller that can be configured to detect the activation of the 9014 trigger. In some examples, the activation of the 9014 trigger can close an electrical circuit in signal communication with the controller. In such cases, the controller may be configured to then operate the motor to advance the trigger rod 9020 distally and move a jaw 9062 of the end actuator 9060 toward the jaw. In some circumstances, cable 9010 may include at least one sensor which may be configured to sense the force applied to trigger trigger 9014 and/or the degree to which trigger trigger 9014 is moved. The sensor or sensors may be in signal communication with the controller, where the controller may be configured to adjust engine speed based on one or more input signals from the sensors. The 9010 cable may comprise a 9015 safety switch that may need to be pressed before the controller operates the motor in response to trigger trigger 9014 input. In various circumstances, the 9015 safety switch may be in signal communication with the controller in that the controller can electronically lock out the use of the motor until safety switch 9015 is pressed. Cable 9010 may also comprise a retract activator 9074 which, when activated, can cause the motor to be operated in an opposite direction to retract firing rod 9020 and allow jaw 9062 to move away from jaw 9064 In various circumstances, activating the 9074 retract activator can close an electrical circuit in signal communication with the controller. In some examples, safety switch 9015 may need to be pressed before the controller operates the motor in its reverse direction in response to input from retraction activator 9074.

[00371] Prior to and/or during use of the Surgical Instrument 9000, the Surgical Instrument 9000 and/or certain systems of the Surgical Instrument 9000 may become inoperative, malfunction and/or malfunction. In certain circumstances, such deficiencies and/or the manner in which to resolve them may not be readily apparent to the user of the surgical instrument which may frustrate the user. Furthermore, such uncertainties can increase the time needed to deal with the deficiency or "error". The 9000 surgical instrument is an improvement over the previous one. Again with reference to the Fugira 94, the surgical instrument 9000 controller can be configured to detect a surgical instrument 9000 error and communicate this error to the user of the surgical instrument 9000 through one or more indicators. The surgical instrument 9000 may comprise one or more indicators which, when activated by the controller, may indicate the nature of the error and/or otherwise direct your attention to the surgical instrument system 9000 that is defective in some way. For example, the surgical instrument 9000 may comprise an end actuator indicator 9086 which may be, for example, configured to indicate that an end actuator is not mounted on the stem 9040 of the surgical instrument 9010. In various circumstances, the instrument 9000 may comprise a sensor which may be configured to detect when an end actuator has been mounted to stem 9040 and/or, correspondingly, when an end actuator has not been mounted to stem 9040. The sensor may be in signal communication with the controller so that the controller can receive a signal from the sensor and set whether an end actuator is mounted to the 9040 stem or not. In the event that the controller defines that an end actuator has not been mounted to stem 9040, the controller may activate the end indicator 9086. In various embodiments, the end actuator 9086 may comprise a light, such as a red light, for example . In various circumstances, the end actuator indicator 9086 may comprise a light emitting diode, such as a red light emitting diode, for example. In addition to or in lieu of the above, the surgical instrument 9000 may comprise a sensor in signal communication with the controller which may be configured to detect when the end actuator attached to the stem 9040 has previously been used. For example, such a sensor could be configured to define if at least some of the staples stored within the end actuator have been triggered and/or if a staple trigger element within the end actuator has been previously advanced. In such cases, the controller can activate the 9086 end actuator indicator. In this way, the activation of the 9086 end actuator indicator can signal to the user of the 9000 surgical instrument that there is an error regarding the end actuator and that such an error must be, or needs to be, resolved before operating the surgical instrument 9000. The reader will understand from Figure 94 that the end actuator indicator 9086 is adjacent to the distal end of the stem 9040 and, in various circumstances, may be located in or near the 9042 distal connection portion of the 9040 stem. In various circumstances, the 9086 end actuator indicator could be located on the 9060 end actuator. In any case, when the 9086 end actuator indicator is illuminated, as a result of the mentioned above, the 9000 surgical instrument user can quickly define that an error exists and that the error is somehow in the end actuator . The 9086 End Actuator Indicator Illumination may indicate to the user that the 9040 End Actuator to Stem Assembly may be incomplete and/or that the End Actuator needs to be replaced.

[00372] In addition to or in place of the 9086 end actuator indicator, a surgical instrument may comprise one or more indicators. For example, the surgical instrument 9000 may comprise a trigger trigger indicator 9081. The trigger trigger indicator 9081 may be in signal communication with the surgical instrument controller 9000 so that when the controller detects an error related to triggering of the trigger of surgical instrument 9000, for example, the controller may activate trigger trigger indicator 9081. As illustrated in Figure 94, trigger trigger indicator 9081 may be positioned adjacent to trigger trigger 9014. In such circumstances, the trigger The user of the 9000 Surgical Instrument, by observing the activation of the 9081 trigger trigger indicator, can deduce that an error has occurred in relation to triggering the trigger and can begin to diagnose the source of the error. In some circumstances, the controller may activate the trigger trigger indicator 9081 when the battery of the surgical instrument 9000 becomes defective, for example. For example, if the battery voltage is below a desired level, the battery may not be able to operate the engine in the desired manner and the trigger trigger indicator 9081 may indicate the need to replace the battery, for example. In various circumstances, the controller may actually render one or more operating systems of the surgical instrument 9000 inoperative when the controller illuminates an indicator, such as the end actuator indicator 9086 and/or trigger trigger indicator 9081, for example. For example, the controller may be configured to operationally decouple the trigger trigger 9014 from the motor so that activating the trigger trigger 9014 does not operate the motor when the end actuator indicator 9086 and/or trigger trigger indicator 9081 is lit, for example. Such operational decoupling of the trigger trigger 9014 from the motor may also indicate to the user of the surgical instrument 9000 that the surgical instrument may have experienced an error and that the user must analyze the indicators of the surgical instrument 9000 to define the nature of the error.

[00373] Referring again to the exemplary embodiment of Figure 94, the surgical instrument 9000 may comprise a retraction activator indicator 9085 positioned adjacent to the retraction activator 9074. Similar to the above, the retraction activator indicator 9085 may be in signal communication with the controller where, in the event the controller detects an error in connection with the retract drive, for example, the controller may illuminate the 9085 retract actuator indicator. In various circumstances, the controller may illuminate the indicator of the 9085 Retract Actuator in the event that the 9015 Safety Switch is not pressed before the 00974 Retract Activator is activated. In such circumstances, the 9085 Retract Activator indicator can serve as a reminder to press the 9015 Safety Switch. In certain circumstances, the surgical instrument 9000 may comprise a safety switch indicator 9015. In some Under circumstances, the 9000 surgical instrument controller can illuminate the 9082 safety switch indicator when the user activates the 9074 retraction activator before actuating the 9015 safety switch. The 9082 safety switch indicator can be in signal communication with the controller where, in the event that the controller detects that the trigger system cannot be switched between a trigger mode and a retract mode, for example, the controller can illuminate the safety switch indicator 9082. The surgical instrument 9000 may comprise a linkage activator indicator 9084 positioned adjacent to the linkage activator 9070. Similar to the above, the linkage activator indicator 9084 may be in signal communication with the controller where, in the event the controller detects an error in connection with the linkage drive, for example, the controller can illuminate the indicator of the linkage actuator 9084. The surgical instrument 9000 may comprise a stem indicator 9083 positioned adjacent a stem connection configured to secure stem 9040 to handle 9010. Similar to the above, stem indicator 9083 may be in signal communication with the controller where , in the event the controller detects an error in connection with stem 9040, for example, the controller can illuminate the indicator on stem 9083.

[00374] Turning now to Figure 95, a surgical instrument 9100 may include a handle 9110 including an array of indicators 9190 configured and operated to indicate to the user of the surgical instrument 9100 that one or more errors may exist with respect to the surgical instrument 9100 and /or end actuator attached to it. The 9190 indicator matrix can be arranged in any suitable way. In various circumstances, the array of indicators 9190 may be arranged in the shape or approximate shape of the surgical instrument 9100 and/or an end actuator attached thereto, for example. In at least one example, the outer surface of handle 9100, for example, may include a representation of the surgical instrument 9100 and/or the end actuator attached to the surgical instrument. The array of indicators 9190 may be arranged with respect to an outline of the surgical instrument and the end actuator in a manner configured to represent the portion of the surgical instrument 9100 and/or end actuator that is in error, has failed, and/or may need to be evaluated to handle an error, for example. For example, the outline can be cleared to represent End Actuator 9060, Stem 9040, Cable 9010, Trigger Trigger 9014, Safety Switch 9015, Reverse Activator 9074, and/or Linkage Activator 9070. In various circumstances, an end actuator indicator 9192 may be positioned adjacent to the end actuator representation 9060, a stem indicator 9193 may be positioned adjacent to the stem description 9040, a trigger trigger indicator 9191 may be positioned adjacent to the representation of the trigger trigger 9014, a safety switch indicator 9195 may be positioned adjacent the representation of the safety switch 9015, a reverse activator indicator 9196 may be positioned adjacent the representation of the reverse activator 9074 and/or the trigger trigger indicator 9074. hinge 9194 may be positioned adjacent to representation of hinge activator 9070, for example. In various circumstances, each of indicators 9191, 9192, 9193, 9194, 9195 and/or 9196 may comprise a light-emitting diode. In some circumstances, each LED may comprise a red LED that can be illuminated by the controller to indicate the presence of an error. In various circumstances, the controller may be configured to pulse the illumination of an LED which can decrease the time it takes for the user to notice that an indicator has been illuminated. In certain circumstances, each indicator may include a light emitting diode that can emit more than one color. In some circumstances, each such light-emitting diode can be configured to selectively emit a blue color and a green color, for example. The controller may be configured to illuminate the LED light green if no errors are detected with respect to the associated portion of the 9100 surgical instrument and/or end actuator attached to it, or alternatively, color red if a error is detected with respect to the associated portion of the 9100 surgical instrument and/or end actuator attached thereto.

[00375] In some circumstances, as described in more detail below, the Surgical Instrument Controller 9000 may lock one or more of the Surgical Instrument Activators, such as Trigger Trigger 9014, Retract Activator 9074, and/or Knuckle Activator 9070, e.g. for example, when the controller illuminates an indicator associated with that trigger. For example, the controller can lock the trigger trigger 9014 when it illuminates the trigger trigger 9081, the retract activator 9074 when it illuminates the trigger trigger 9085, and/or the link activator 9070 when the indicator illuminates. of articulation activator 9084. The handle 9010 of the surgical instrument 9000, for example, may comprise a trigger trigger lock which may be configured to selectively 'latch' the trigger trigger 9014 and prevent the trigger trigger 9014 from being activated. Trigger trigger lock can prevent trigger trigger 9014 from being sufficiently activated to operate the surgical instrument motor. In at least one such circumstance, the trigger trigger 9014 can be avoided by closing a trigger trigger switch. In certain circumstances, the 9000 Surgical Instrument Controller may be configured so that it electronically locks the 9014 trigger, i.e., prevents battery power from being supplied to the motor, in addition to activating the trigger lock. In such circumstances, the electronic lock and the mechanical lock may be redundant; however, the mechanical latch can provide feedback to the 9000 Surgical Instrument user that the triggering of the trigger has been operationally disabled. As mentioned above, the 9000 surgical instrument controller can also provide feedback via the trigger trigger indicator 9081, for example. In such a way, a user of the 9000 surgical instrument can be provided with tactile feedback and/or visual feedback that an error has occurred. In some circumstances, tactile feedback may prompt the user of the 9000 Surgical Instrument to begin searching for visual feedback. For example, the user can try to activate the trigger trigger 9014, and when he cannot activate the trigger trigger 9014, the user can then analyze the instrument when the indicators are illuminated. In either case, once the error has been resolved, the controller can unlock the trigger trigger 9014 by disabling the trigger trigger lock.

[00376] Turning now to Figure 100, the surgical instrument 9000 may include a trigger trigger lock 9390 which may be configured to lock the trigger trigger 9014. The trigger trigger lock 9390 may be movable between a locked condition, illustrated in Figures 100, 101 and 103, and an unlocked condition, illustrated in Figure 102. When an end actuator is not mounted to the stem 9040 of the surgical instrument 9000, the trigger lock 9390 can be tilted to its locked condition. In this condition, the trigger lock 9330 may block or at least substantially block the activation of the trigger trigger 9014. More particularly, the trigger trigger lock 9300 may include a rack of rod 9391, a pinion 9392 and a cable rack 9393 and a tilting member, such as a spring, for example, which may be configured to tilt the rod rack 9301 to a proximal position and the cable rack 9393 to a downward position. The proximal position of the rod rack 9391 and the downward position of the cable rack 9393 are illustrated in Figure 101. Referring primarily to Figure 101, the cable rack 9393 may include apertures 9396 and the trigger trigger 9014 may include projections 9395 which, when the cable rack is in the down position, are not aligned with the openings 9396. More specifically, the trigger trigger 9014 may comprise an oscillator switch that includes a fulcrum 9397 in which, when the cable rack 9393 is in its down position, swinging the trigger trigger 9014 will cause at least one of the projections 9395 extending from the trigger trigger 9014 to contact the cable rack 9393 and prevent the trigger trigger 9014 from being fully activated .

[00377] When an end actuator is not mounted to the 9040 stem, in addition to the above, the 9390 trigger lock can be moved between its latched configuration and its unlocked configuration. In the unlocked configuration of the trigger lock 9390, referring primarily to Figure 102, the cable rack 9393 may be in its up position. In the up position of wire rack 9393, openings 9396 defined in wire rack 9393 are aligned with projections 9395 extending from trigger trigger 9014. In such circumstances, trigger trigger 9014 can be swung to activate trigger 9014. More specifically, projections 9395 may pass through openings 9396 to allow the swing of trigger trigger 9014 around fulcrum 9397. Thus, in view of the above, movement of cable rack 9393 between its down and up positions, respectively, locks and unlocks the 9014 trigger. Various mechanisms can be used to move the 9393 cable rack between its down position and its up position. In at least such an embodiment, with reference again to Figure 100, stem 9040 may include a trigger lock actuator 9399 which may be displaced proximally by an end actuator when the end actuator is mounted to stem 9040. The rod rack 939 may be mounted and/or extend proximally from the trigger lock trigger 9399 and may include teeth 9391a defined therein. Teeth 9391a may be in mesh with teeth 9392a set on pinion gear 9392 so that when trigger lock activator 9399 and rod rack 9391 are displaced proximally, pinion gear 9392 may be rotated around. of an axis. Correspondingly, the cable rack 00303 may comprise rack teeth 9393a defined therein, which are also meshedly engaged with the teeth of the pinion gear 9392a, and thus when the rod rack 9391 is driven proximally, the cable rack 9393 can be operated from its down position to its up position, thereby unlocking the trigger 9014. To return the cable rack 9393 to its down position, the stem rack 9391 can be moved distally to rotate the 9392 pinion gear in the opposite direction. In various circumstances, the stem rack 9391 may move distally as a result of an end actuator being disassembled from the stem 9040.

[00378] Turning now to Figures 96 through 97, handle 9010, for example, may include a trigger lock 92990. Trigger lock 9290 may comprise a housing 9291, a positionable locking pin 9292, a retainer 9293 and a tilting member 9294 configured to move the locking pin 9294 between a non-positionable position shown in Figures 96 and 98 and a positionable position in Figures 97 and 99. retainer 9293 may consist of a temperature sensitive material that is affected by heat. In at least such an example, the temperature sensitive material may be configured to transition between a solid and a fluid, such as a liquid suspension and/or gas, for example, and/or between a solid material and a semi-solid material, for example. . When the temperature sensitive material transitions or at least partially transitions between a solid and a fluid, the retainer 9293 can release the locking pin 9294 to lock the trigger and/or any other suitable trigger of the handle 9010. In several examples, the 9294 locking pin, when positioned, can slide back and otherwise engage the trigger. A cable may include any suitable number of 9290 or similar trigger locks, to selectively lock any suitable number of triggers and/or buttons, for example. As the reader will understand, the 9290 trigger lock may not be reset. In such cases, an activated trigger lock 9290 can permanently lock the trigger trigger, for example, from the handle so that the instrument can no longer be used. A permanent latch of the trigger and/or any other trigger on the instrument may mean that the instrument can no longer be used in any way, whereas in other circumstances, the permanent latch may not be readily reset and may be necessary. send the instrument to a qualified technician or location, for example, who can assess whether the instrument should be reconditioned and reused or if it should be discarded. When the heat sensitive material of retainer 9293 has been at least partially converted to a fluid, the technician can assume that the instrument has been exposed to a temperature that exceeds the transition temperature of the heat sensitive material. In various examples, the transition temperature of the heat sensitive material may be the temperature at which the solid material, for example, liquefies, evaporates and/or sublimes, for example. In either case, the heat sensitive material, and consequently the transition temperature of retainer 9293, can be selected so that the release of locking pin 9294 may indicate that the surgical instrument has been exposed to a temperature that exceeds a certain temperature, or limit. In several examples, a surgical instrument can be damaged if it is exposed to excessive temperature. For example, the surgical instrument may include solid-state electronics, for example, which may be damaged when exposed to such excessive temperature. In such examples, the instrument threshold temperature and the 9293 retainer transition temperature may be equal or at least substantially equal, whereby, as a result, it can be assumed that the instrument has not been exposed to a temperature that exceeds the threshold temperature when the 9290 trigger lock has not been activated and correspondingly that the instrument has been exposed to a temperature that exceeds the threshold temperature when the 9290 trigger lock was activated and as such the surgical instrument may have been damaged or may at least require an assessment as to whether it has been damaged or not.

[00379] In addition to the above, a surgical instrument may be exposed to temperatures that exceed the threshold temperature and/or transition temperature when the surgical instrument is sterilized. Many sterilization procedures are known, several of which include the step of exposing the surgical instrument to heat. In addition to or in place of the latch and trigger 3290, a surgical instrument may include at least one temperature sensor that can assess the temperature to which the surgical instrument is exposed. In various examples, the temperature sensor or sensors may be in signal communication with a surgical instrument controller which may be configured to assess whether the surgical instrument has been exposed to a temperature that exceeds the threshold temperature. In at least one such example, the controller may include a microprocessor and an algorithm that can evaluate signals received from the temperature sensor or sensors. In the event that the controller determines that the threshold temperature has been reached and/or exceeded, the controller can permanently prevent the instrument from being operated. In other words, the controller can apply an electronic lock to the surgical instrument. Similar to the above, a permanent lock-up of the instrument may mean that the instrument can no longer be used in any way, while in other circumstances, the permanent lock-up may not be readily reset and the instrument may need to be sent to a technician or location. qualified, for example, that can assess whether the instrument should be refurbished and reused or whether it should be discarded. As the reader will understand, a power supply may be required to operate the controller and/or sensors of the surgical instrument while the surgical instrument is being sterilized. Various embodiments of surgical instruments include a battery or removable power supply that is removed prior to sterilization of the surgical instrument wherein, in such examples, the removable battery is separately sterilized and/or reprocessed. Once the removable power supply is removed from these earlier instruments, as the reader will understand, the controller and/or sensors may not have enough power to monitor the temperature of the surgical instrument. The surgical instrument modalities disclosed herein may include a battery or power supply, which is not removed from the surgical instrument when it is reprocessed. Such a battery may be referred to as a permanent battery as it can supply power to the controller and/or temperature sensors while the instrument is being sterilized. In various examples, an instrument including a permanent battery may also include a removable and/or rechargeable battery. In any case, the instrument may have sufficient power to detect and record the temperature to which the instrument has been exposed. In at least one example, the instrument's controller may include a memory chip configured to store temperature readings as a temperature record, for example. In various circumstances, the controller may record sensor readings intermittently, i.e. at an appropriate sample rate. In some examples, the controller may be configured so that it records a temperature reading above a certain temperature, although below the threshold temperature, the controller may increase the sample rate. Correspondingly, the controller can be configured so that when it subsequently records a temperature reading below a certain temperature, the controller can decrease the sample rate, such as back to its original sample rate, for example.

[00380] Going now to Figure 99A, an algorithm for the controller is represented. In certain examples, this algorithm may comprise an initialization procedure for the surgical instrument such as when the surgical instrument is used for the first time after having undergone a sterilization process, for example. The start-up procedure can start after the instrument has been turned on. The instrument can be automatically switched on when an end actuator is mounted to the instrument. In at least such an example, mounting the end actuator to the surgical instrument may close a switch in signal communication with the controller. In addition to or in place of the above, the instrument can be turned on when a button and/or switch is pressed on the handle, for example. In either case, the controller can then evaluate the temperature readings stored in the memory chip discussed above. For example, the controller can assess whether any of the stored temperature readings are equal to or greater than the threshold temperature. If the controller determines that all stored temperature readings are below the threshold temperature, the controller can proceed with its normal startup procedure. If the controller determines that one or more of the stored temperature readings equal or exceed the threshold temperature, the controller can proceed with an alternate procedure. In at least one instance, the controller can permanently disable the instrument such as by implementing an electronic lock and/or a mechanical lock, as discussed in this application. In certain other examples, the controller may allow the instrument to be used even though the controller has determined that one or more of the stored temperature readings equals or exceeds the threshold temperature. The controller can store this determination in its memory and/or indicate to the user through a display, such as a light emitting diode, for example, that the threshold temperature has been previously exceeded and then proceed with its normal start-up procedure. In several examples, the controller may treat the threshold temperature as an absolute maximum, that is, a single temperature reading at or above the threshold temperature is sufficient to trigger an alternate startup program or permanently crash the instrument. In other examples, the controller may be configured to assess whether a pattern of temperature readings at or above the threshold temperature is sufficient to trigger an alternate startup program or permanently crash the instrument since both time and temperature can be factors. to consider whether an instrument was compromised in the sterilization procedure or not, for example.

[00381] Turning now to Figures 104 to 109, a surgical instrument such as the medical instrument 9000, for example, may include a handle 9410 including a trigger lock and trigger 9490. Handle 9410 may be similar to handle 9110 in many respects and such aspects are not repeated here for brevity. Similar to the above, the 9490 fire trigger lock system can be configured to lock and unlock a 9414 fire trigger. Also similar to the above, the 9490 fire trigger lock system can be tilted in a condition locked when an end actuator is not mounted to stem 9040 of the surgical instrument as illustrated in Figures 104 through 107 and moved to an unlocked condition when an end actuator is fully mounted to stem 9040 as illustrated in Figures 108 and 109. When an end actuator is mounted to stem 9040, in addition to the above, with reference primarily to Figures 108 and 109, the end actuator may push sensor element 9490 proximally. Sensor element 9499 may extend through stem 9040 from a distal end of stem 9040 to a proximal end thereof. In use, the end actuator may adjoin the distal end of the sensing element 9499 when the end actuator is mounted on the stem 9040 and pulls the sensing element 9499 proximally, as outlined above. When the sensing element 9499 is pushed proximally, as illustrated in Figures 108 and 109, the sensing element 9499 can contact a swing arm 9486 of the trigger lock system 9490 and rotate the swing arm 9486 upwards. Swingarm 9486 may comprise an end pivotally mounted to the cable housing via a pin 9487 which is configured to allow swingarm 9486 to pivot about an axis. Swingarm 9486 may additionally comprise a cam follower portion 9488 that may be contacted via sensor element 9499. In use, sensor element 9499 may move swingarm 9486 between a down position and a down position. up to move the 9490 fire trigger lock system between a locked position and an unlocked position, respectively. The firing trigger lock system 9490 may additionally include a locking pin 9485 mounted to the swingarm 9486 which can be pulled up when the swingarm 9486 is rotated up and correspondingly pushed down when the swingarm 9486 is turned down. Locking pin 9485 may comprise an upper end pivotally mounted to swingarm 9486 and a lower end extending through an opening 9483 defined in firing trigger 9481 when locking pin 9485 is in its down position. . In various circumstances, aperture 9483 may be defined on an arm 9482 that extends from trigger 9414. When locking pin 9485 is positioned inside aperture 9483, trigger trigger 9414 may not pivot around its 9484 fulcrum and as a result the 9414 trigger trigger may not be activated by the user. When locking pin 9485 is in its up position, locking pin 9485 may not be positioned within opening 9483 and as a result trigger trigger 9414 may be activated by the user. When the end actuator is dismounted from the stem 9040, the sensing element 9499 can be moved from its proximal position to its distal position. In other words, without an end actuator attached to rod 9040, a tilt element, such as a spring 9480, for example, can tilt the swingarm 9486 downwards and, consequently, tilt the firing trigger lock system 9490 in its locked condition. Furthermore, spring 9489 can apply a tilting force to sensor element 9499 through arm 9482 and push sensor element 9499 distally when an end actuator is not mounted to stem 9040.

[00382] In addition to the above, the operation of the sensor element 9499 and the trigger lock system 9490 can serve to communicate with the user of the surgical instrument. For example, when an end actuator is not mounted to stem 9040, the sensing element 9499 is tilted distally and the trigger trigger 9414 is locked, so that if the user tries to activate the trigger trigger 9414, they will quickly notice that something may be wrong with the triggering system of the surgical instrument. In this example, the user would quickly realize that an end actuator needs to be mounted to the 9040 stem in order for the surgical instrument to be used. In various circumstances, the trigger trigger could be latched if an end actuator, although attached to rod 9040, had been used. In at least one such circumstance, the end actuator could include a trigger element which, when positioned in its most proximal position, could push a sensing element proximally when the end actuator is mounted to stem 9040; however, if such a trigger element is already at least partially advanced when the end actuator is mounted to stem 9040, the sensing element may not be pushed proximally and, as a result, the trigger trigger may remain locked. Again, such a trigger lock can communicate to the user that there is a problem with the trigger; namely, in this circumstance, that the end actuator has already been used. If there is no tactile lock, the user would experience circumstances where they would be able to press an activator without the surgical instrument responding to the activator pressed in this way possibly leading to user confusion.

[00383] As discussed above, mounting a previously unfired end actuator to rod 9040 can push a sensing element proximally to unlock the fire trigger. In various circumstances, the sensing element and trigger trigger locking system can be configured so that the trigger trigger is not unlocked until the end actuator is fully mounted on the 9040 stem. end cap is only partially mounted to the 9040 rod, the sensing element may not be moved far enough to unlock the trigger. Again, such a trigger latch can communicate to the user that a problem exists with the triggering of the trigger; namely, in these circumstances, that the end actuator has not been fully mounted on the 9040 stem.

[00384] As described herein, an end actuator may be mounted to the surgical instrument which may include a controller configured to identify the end actuator. In some examples, the controller may be configured to evaluate the identity of the end actuator when the controller is activated. In certain examples, turning now to Figure 176, the controller can be activated when a battery is inserted in the cable. In addition to or in place of the above, the controller may be configured to assess the condition of the surgical instrument when the controller is activated. For example, the controller may be configured to evaluate the position of the locking element of the locking system, the position of the triggering element of the triggering system and/or the position of the linking element of the linking system. In certain examples, the surgical instrument may include an absolute positioning sensor to detect the position of the trigger. Such a sensor is disclosed in US Patent Application Serial No. 13/803,097, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, which was filed March 14, 2013, the disclosure of which is incorporated herein by reference in its entirety. In some examples, the surgical instrument may include an end-of-course record. Such limit switch may comprise a mechanical switch, counter and/or lever and/or an electronic switch, counter and/or lever including data stored in non-volatile memory. In such mode, the controller can assess whether the previous firing course has been completed or not. Such modalities can be useful in multiple situations. For example, the controller may be accidentally turned off or otherwise lose power during a surgical procedure, and when the controller is reactivated, the controller may not be able to assess whether the instrument is initializing for the first time or whether the instrument is was in the middle of the previous firing course. The end of stroke register can help the controller to discern between these two cases. In addition, a register limit switch that has not been lost or reset by a loss or interruption of power to the instrument can allow the controller to assess whether the surgical instrument has lost power during a trigger stroke. If the controller determines that the previous trip course has not been completed, the controller can be configured to, one, allow power to be supplied to the motor to complete the trip, and/or, two, allow power to be supplied to the motor to retract the trigger element, the closing element and/or the articulation element to its initial or deactivated position. In several instances, the controller may provide the surgical instrument user with the option of proceeding with the firing stroke or returning the instrument's mechanical and/or electrical systems to their original or non-activated positions. In such modalities, the surgical instrument cannot automatically return these systems to their original or non-activated positions. In any case, once the surgical instrument is in its initial or non-activated condition, a previously fired end actuator can be dismantled from the surgical instrument and/or a non-fired end actuator can be mounted to the surgical instrument. In various examples, as outlined herein, the surgical instrument may then identify or at least attempt to identify the unfired end actuator.

[00385] Going now to Figure 177, a controller of a surgical instrument can perform a diagnostic check of the instrument and/or battery. For example, upon activating the controller, the surgical instrument can assess whether the surgical instrument has been exposed to a temperature beyond the threshold temperature of the surgical instrument or not, as described herein. Also, for example, the surgical instrument can assess available power, voltage and/or battery current, as also described herein. If the instrument fails one or more of these diagnostic tests, the controller may not supply power to the motor, physically locking up the instrument and/or indicating such failure to the user of the surgical instrument. In such circumstances, the instrument may record such failures in its memory so that the test data can assist a technician in further evaluating the instrument. Assuming the instrument passes these diagnostic tests, the instrument, similar to the above, can also record test data associated with successful diagnostic tests. In either case, the instrument can then proceed to assess whether the instrument is in an initial or non-activated condition and assess the identity of the end actuator. As outlined herein, a procedure for identifying the end actuator is disclosed. Also a procedure is disclosed herein for assessing whether a 'smart' end actuator or a 'dumb' end actuator is attached to the surgical instrument. In various examples, a 'smart' end actuator may be an end actuator that can provide parameters and/or at least a portion of an operating program for the surgical instrument as part of the identification process. A 'smart' end actuator may be an end actuator that somehow identifies the way in which the end actuator is to be used by the surgical instrument. In certain examples, a 'dumb' end actuator is an end actuator that does not identify the manner in which it is to be used with the surgical instrument in any way. An exemplary operating procedure according to the above is outlined in Figure 178.

[00386] As discussed here, a battery can be used to power a surgical instrument. In various examples, the surgical instrument and/or battery may be configured to assess whether the battery can provide sufficient power for the surgical instrument to perform one or more functions. In certain examples, the surgical instrument and/or battery may be configured to indicate to the user of the surgical instrument that the battery has sufficient power to perform one or more functions. Figure 179 is a circuit configured to indicate the voltage of a battery. Such a circuit may be present in the surgical instrument and/or battery. In any event, a circuit may include a plurality of indicators which may be indicative of the load, voltage and/or power that may be supplied by the battery. For example, the circuit may include three indicators including a first indicator configured to indicate that the battery includes at least a first voltage, a second indicator configured to indicate that the battery includes at least a second voltage, and a third indicator configured to indicate that the battery includes at least a third voltage. As illustrated in Figure 179, a circuit 12100 may include a first indicator circuit 12110, a second indicator circuit 12120 and a third indicator circuit 12130 that are arranged in parallel with each other. When switch 12101 is closed, a potential battery voltage may be applied across indicator circuits 12110, 12120, and 12130. The first indicator circuit 12110 may include a zener diode 12111, a light emitting diode, 12112, and a resistor R1 12113 Similarly, the second indicator circuit 12120 may include a zener diode 12121, a light emitting diode 12122 and a resistor R2 12123 and the third indicator circuit 12130 may include a zener diode 12131, a light emitting diode 1232 and a resistor R3 12133. Zener diodes 12111, 12121 and 12131 can each have a different breakdown voltage. For example, the first zener diode 12111 can have a breakdown voltage of 11.5 V, for example, the second zener diode 12121 can have a breakdown voltage of 10 V, for example, and the third zener diode 12131 can have a breakdown voltage of 8 V, for example. In such mode, if the battery voltage is greater than or equal to 11.5 V, LEDs 12112, 12122 and 12132 will be illuminated. Illumination of all LEDs can indicate to the surgical instrument user that the battery has a full charge and/or at least sufficient charge to perform any function required by the surgical instrument. If the battery voltage is greater than or equal to 10V but less than 11.5V, LEDs 12112 and 12122 will be illuminated; however, the 12132 LED will not be illuminated. The illumination of LEDs 12112 and 12122, but not LED 12132, can indicate to the surgical instrument user that the battery is less than fully charged, but at least sufficient charge to perform any function required by the surgical instrument. If the battery voltage is greater than or equal to 8V but less than 10V, the 12112 LEDs will be illuminated; however, LEDs 12122 and 12132 will not be illuminated. Illumination of the 12112 LED, but not the 12122 and 12132 LEDs, may indicate to the surgical instrument user that the battery is nearing the end of its charge and may or may not have sufficient charge to perform certain functions required by the surgical instrument. Such an LED display may indicate that the battery may need to be replaced. If the battery voltage is less than or equal to 8 V, LEDs 12112, 12122 and 12132 will be illuminated. Such an LED display may indicate that the battery may not be usable to reliably perform any function of the surgical instrument. While circuit 12100 uses three indicator circuits 12110, 12120 and 12130, a circuit may include more than three indicator circuits having zener diodes with different decay voltages. Such a mode can provide a finer-graded indication of battery voltage, for example. Other modalities are considered to use only two indicator circuits.

[00387] In various examples, a battery may include circuitry configured to indicate that the battery is charged and/or has sufficient charge that it can be used with the surgical instrument. In certain examples, a surgical instrument may include circuitry configured to indicate that the battery attached to it is charged and/or has a sufficient charge that it can be used with the surgical instrument. In any case, turning now to Figure 180, a circuit 12200 may include a microprocessor 12201 that includes one or more ports in communication with the battery, which may be a 9V battery, for example. Circuit 12200 may further comprise a capacitor 12202, such as a 10 microFarad capacitor, for example, which may receive power from a circuit including diode 12203 and resistor 12204; Circuit 12200 may additionally comprise an LED 12205 and a resistor 12206 in the discharge path of capacitor 12202. Such a circuit may cause LED 12205 to pulse intermittently as long as the battery can supply sufficient power to circuit 12200. In such examples, a user could identify the pulsing 12205 LED and would know that the battery had at least some power, if not enough power, to be used with the surgical instrument. If the user does not identify that the 12205 LED is pulsing, the user can assume that the battery does not have enough power to be used.

[00388] In various circumstances, as discussed herein and with reference to Figure 284, a battery and/or a surgical instrument configured for use with the battery may include a diagnostic circuit configured to assess power, voltage, and/or current. that the battery can provide. Turning now to Figure 184, a diagnostic circuit for the 12300 battery is revealed. Such a circuit may be configured to evaluate the battery before it is used with a surgical instrument, while it is being used with a surgical instrument, and/or after it has been used with a surgical instrument. In several instances, the battery may be used more than once, and in several instances, the battery may be rechargeable or non-rechargeable. Battery usage and information obtained during the diagnostic evaluation of the battery can be stored on a memory chip in the battery and/or the surgical instrument. Figure 183 represents a table of information 12400 that is representative of the type of information that could be recorded on the memory chip. For example, the number of uses can be recorded. For each use, the maximum voltage and/or the maximum current with which the battery is charged or recharged can be recorded, for example. For each use, the current capacity, the current used in mA, the current used in Ah and/or the minimum voltage experienced during use can be recorded, for example. For each use, the time the battery is charged, the time the battery is used, the temperature of the battery while it is being charged and/or the temperature of the battery while it is being used can be recorded, for example. These are merely some examples of information that may be stored. In various instances, such information may be used by the surgical instrument and/or a technician to assess the battery's previous performance and/or battery suitability for further use, for example.

[00389] In several examples, turning now to Figure 182, a battery and/or a surgical instrument used with the battery may include a circuit to shut off the battery once the battery charge has dropped below the minimum charge level. In some examples, a lithium-ion debate cell may have a thermal incident if it is used below the minimum charge level and a circuit closure inhibiting battery usage below this minimum charge level may inhibit the occurrence of such a thermal incident.

[00390] In various examples, turning now to Figure 181, a surgical instrument may include a controller configured to perform a diagnostic check of the instrument and/or the battery mounted thereon. For example, the controller might include a clock and a memory chip configured to evaluate and record when the instrument and/or battery was in use. In certain examples, the controller may be configured to disable the instrument and/or battery if it has been too long since the instrument and/or battery was last used. In certain examples, the instrument and/or battery may include one or more sensors that may be configured to assess various conditions of the instrument and/or battery, such as temperature, humidity, and/or the time the instrument and/or the battery are exposed to temperature and/or humidity, for example. The controller may be configured to assess whether the sensors are operating correctly, and if not, the controller may disable the instrument and/or battery. The controller may also be configured to evaluate the number of times the instrument and/or battery has been used and, if uses exceed a certain amount, disable the instrument and/or battery. The controller may also be configured to assess the power the battery can provide, as outlined here, and if insufficient power is available, disable the instrument and/or battery.

[00391] As described herein, a surgical instrument may include multiple sensors to gather feedback and/or other instrument status information. In addition, the surgical instrument may include sensory indicators to provide feedback and/or instrument status information to the user. In certain instances, an endoscope may be used in connection with the surgical instrument to provide additional feedback and/or instrument status information to the user. As described herein, the endoscope and the surgical instrument may be in signal communication with a display, which may represent feedback from the endoscope and/or the sensors of the surgical instrument, for example. Referring to Figures 75 through 93, a 5018 endoscope (Figure 93) may be in signal communication with a 5002 display (Figure 75). In certain embodiments, display 5002 may comprise a warning display (HUD) and/or a video monitor, for example. In addition, the 5002 display can be a plasma screen, an LCD screen or an electroluminescence screen, for example. In various embodiments, the display 5002 may transmit a first layer of information 5010, which may include video feedback, for example. Feedback can be feedback from images seen by a 5018 endoscope (Figure 93) at a surgical site, for example, and can represent at least a portion of a 5020 surgical instrument as seen by the 5018 endoscope, for example. .

[00392] In various embodiments, the display 5002 may include a touch-sensitive key 5004. Referring primarily to Figure 75, a user may interact with the touch-sensitive display 5004 to interface with the display 5002 and/or the surgical instrument 5020. For example, the touchscreen 5004 can communicate with the display 5002 and the inputs on the touchscreen 5004 can adjust and/or modify the information represented on the display 5002. In such modes, the user can communicate with each other. with the 5002 display without using an additional display input, such as a computer keyboard and/or mouse, for example. In other words, add additional input tools and/or modify the information represented on the 5002 display. Furthermore, in various embodiments, the 5004 touchscreen can be easily cleaned and/or sterilized. For example, the 5004 touchscreen may include a flat surface that can be easily cleaned within a surgical site and/or operating room. Additionally or alternatively, the 5004 touchscreen can directly and/or indirectly communicate with the 5020 surgical instrument, so that input to the 5004 touchscreen provides input to the 5020 surgical instrument. The user may be a surgeon, operator and/or assistant, for example.

[00393] In various embodiments, touch screen 5004 may be positioned over at least a portion of display 5002 and may be detachably attached to display 5002, for example. For example, the 5004 touch screen can be compatible with multiple displays and can be releasably attached and not attached to at least one display. Also, in certain embodiments, the 5004 touchscreen may be a standalone display, which can operate independently of the 5002 display. For example, a detachable LCD screen may comprise the 5004 touchscreen, and the detachable LCD screen may overlap. at least a portion of the 5002 display. In other embodiments, the 5004 touchscreen may be integrated into the 5002 display. The 5004 touchscreen may utilize resistive technology, capacitive technology, ultrasonic beam technology and/or near-field imaging technology, for example.

[00394] Referring to Figure 93, in various embodiments, a feedback controller 5016 may be in signal communication with the surgical instrument 5020, the endoscope 5018, and/or display 5002. In certain embodiments, a wired or childless connection 5017 between the 5016 feedback controller and the 5018 endoscope can provide video feedback from the 5018 endoscope to the 5016 feedback controller. In addition, a wired and/or wireless 5019 connection between the 5016 feedback controller and the surgical instrument 5020 and/or the surgical instrument microcontroller 5020 can provide the feedback data measured and/or sensed by the surgical instrument 5020 to the feedback controller 5016. For example, various sensors are described here, as well as in Zemlock '263 and Zemlok '344, all disclosures of which have been incorporated herein and the various sensors can detect feedback and/or instrument status information. Additionally, a wired and/or wireless 5015 connection between the 5016 feedback controller and the 5002 display can provide 5020 surgical instrument feedback data and/or video feedback from the 5018 endoscope to the 5002 display. In at least one embodiment, video feedback may be represented on the first layer of information 5010 on the display 5002 and the feedback data may be represented on a second layer of information 5012 on the display 5004. In embodiments where a detachable LCD display comprising the 5004 touchscreen is positioned on the 5002 display, a wired and/or wireless connection between the 5016 feedback controller and the detachable LCD display can provide the feedback data to the detachable LCD display and/or the display from LCD to the 5010 feedback controller, for example.

[00395] Referring primarily to Figure 76, the display 5002 may transmit the first layer of feedback 5010, which may comprise the video feedback of the endoscope 5018 (Figure 93), for example. In various examples, the video feedback 5010 may include a representation of the surgical instrument 5020 affecting tissue T. In various embodiments, the surgical instrument 5020 may be similar to the surgical instrument 10 (Figure 1), for example, and the loading unit disposable device (UCD) and/or a 5022 end actuator attached to the surgical instrument may be similar to the charging unit (Figure 2), for example. The UCD 5022 of the surgical instrument 5020 can pivot with respect to the T tissue, grasp and/or clamp the T tissue between a pair of jaws, staple the T tissue, and/or cut the T tissue with a cutting element, as described herein. In addition, the endoscope 5018, which may be positioned at and/or close to the surgical site, can view the UCD 5022 and can transmit the signal and/or video recording to the feedback controller 5016 (Figure 93). In various embodiments, video feedback on the first layer of information 5010 on display 5002 can provide live visual feedback from the surgical site to the operator of the surgical instrument 5020.

[00396] Referring primarily to Figure 77, the display 5002 can present a second layer of information 5012. In addition, a user can select, move, resize, minimize, expand, modify and/or otherwise manipulate the second layer 5012. For example, the user may manipulate the second layer of information 5012 by interfacing with the touch screen 5004. As described here, the second layer of information 5012 may include feedback data from the surgical instrument 5020 and/or controls to control the surgical instrument 5020. In various embodiments, the second layer of information 5012 may include a control panel 5030, and the touch screen 5004 may be used to select and/or use features of the control panel 5030. 5030 control panel may be collapsible, resizable, movable and/or otherwise manipulated via the 5004 touch screen. For example, a user may minimize or collapse the 5030 control panel by selecting the minimize/maximize icon 5032, and can maximize or expand the 5030 control panel by again selecting the minimize/maximize icon 5032. Also, the user can move the control panel 5030 on the 5002 display by "dragging and dropping" the 5030 control panel through the 5002 display, for example. Additionally, a user may resize the 5030 control panel relative to the 5002 display by "zooming in" and/or "reducing" multiple contact points on the 5004 touch screen. One skilled in the art will understand that various conventional and /or intuitive touchscreen 5004 can be used to, for example, modify and/or manipulate the second layer of information 5012 and/or the control panel 5030 thereof.

[00397] Still referring to Figure 77, the control panel 5030 may include a plurality of menus, categories and/or classifications. For example, the 5030 control panel may include a 5036 instrument feedback menu, a 5060 display menu, and/or a 5070 instrument controller menu. A user may use the 5030 control panel to select a menu and /or to switch between operating states of the 5004 touchscreen. For example, the 5004 touchscreen can communicate directives and/or controls to the 5016 instrument controller (Figure 93) and/or the microcontroller when a user selects the 5070 instrument controller menu from the 5030 control panel/ In these modes, as described here, the 5004 touchscreen can operate in an instrument control state; In addition, settings related to the 5012 secondary information layer and/or the 5002 display, for example, can be modified by the user when the 5060 display menu is selected from the 5030 control panel. In these modes, the 5004 touchscreen can operate in a settings modification state. Additionally or alternatively, the feedback data included in the secondary information layer 5012 may be modified by a user when the instrument feedback menu 5036 is selected. In these embodiments, the touch screen 5004 may operate in a feedback manipulation state. . In various embodiments, the 5030 control panel may include more and/or fewer menus, categories, and/or ratings. In addition, the various menus, categories and/or classifications of the 5030 control panel can be modified according to user preferences, for example. Menus, categories and/or classifications can be indicated verbally and/or symbolically in the second layer of information 5012. In various embodiments, the categories under which the menu 5036, 5060, 5070 can be selectively represented in the second layer of information 5012. For example, the categories under each menu 5036, 5060, 5070 can only be represented in the second information layer 5012 when the respective overlay menu 5036, 5060, 5070 is selected by the user. In other modes, the user can minimize and/or maximize the categories and/or subcategories corresponding to each menu 5036, 5060 and/or 5070, for example.

[00398] Still referring to Figure 77, the feedback menu of the instrument 5036 can include a plurality of categories of feedback and can relate the feedback data measured and/or detected by the surgical instrument 5020 (Figure 93) during a procedure surgical. As described herein, the surgical instrument 5020 can detect and/or measure the position of a movable jaw between an open orientation and a closed orientation, the thickness of the trapped tissue, the gripping force on the trapped tissue, the articulation of the UCD 5022 and/or or the position, speed and/or force of the triggering element, for example. In addition, the feedback controller 5016 (Figure 93) in signal communication with the surgical instrument 5020 can provide the detected feedback to the display 5002, which can present the feedback in the second layer of information 5012. As described herein, the selection, placement , and/or form of feedback data presented in second information layer 5012 may be modified based on user input to touch screen 5004, for example.

[00399] In various embodiments, the displayed menu 5060 of the control panel 5030 may relate to a plurality of categories, such as unitary systems 5062 and/or data modes 5064, for example. In certain embodiments, a user can select the 5062 unitary systems category to switch between unitary systems, such as between metric and US common units, for example. Additionally, a user can select the data mode category 5064 to switch between the types of numerical representations (Figures 79-81) of the feedback data and types of graphical representations (Figures 82-83) of the feedback data. , for example. Numerical representations of feedback data can be presented as numeric values and/or percentages, for example. In addition, graphical representations of feedback data can be presented as a function of time (Figure 82) and/or distance (Figure 83), for example. As described here, a user can select the 5070 instrument controller menu from the 5030 control panel to place directives to the 5020 surgical instrument (Figure 93), which can be implemented via the 5016 instrument controller (Figure 93) and/or microcontroller, for example.

[00400] Now referring to Figure 78, the second information layer 5012 can overlay at least a portion of the first information layer 5010 on the display 5002. In addition, the touch screen 5004 can allow the user to manipulate the second layer of information 5012 in relation to the video feedback on the underlying first layer of information 5010 on the display 5002. For example, a user may operate the touch screen 5004 to select, manipulate, reformat, resize and/or otherwise modify the information presented in the second layer of information 5012. In certain embodiments, the user may use the touch screen 5004 to manipulate the second layer of information 5012 in relation to the surgical instrument 5020 represented in the first layer of information 5010 on the display 5002. A user can select a menu, category and/or rating from the control panel 5030 of it, for example, and the second layer of information 5012 and/or the 5030 control panel can be adjusted to reflect the user's selection. In various embodiments, a user can select a category from the category of instrument feedback 5036 that corresponds to a specific feature or features of the surgical instrument 5020 represented in the first layer of information 5010. Feedback corresponding to the category selected by the user may move , locate and/or "fit" into a position on the 5002 display in relation to the specific feature or features of the 5020 surgical instrument. For example, selected feedback may move to a position near and/or overlapping to the specific resource or resources of the 5020 surgical instrument represented in the first layer of information 5010.

[00401] Referring to Figures 79 and 80, if a user selects the 5040 knife progression category from the 5036 instrument feedback menu, for example, the sensed data and/or information related to knife progression may move and /or "retract" to a position in the second information layer 5012 with respect to the UCD knife 5022 represented in the first information layer 5010, for example. In addition, the 5030 control panel can be collapsed and/or collapsed after the user selects the desired category or categories from the 5036 instrument's feedback menu. The 5052 feedback data related to knife progression can be represented on the 5002 display near the detected knife of the UCD 5022 represented in the first layer of information 5010 and can move between a first position (Figure 79) when the knife is near the beginning of the firing stroke and a second position (Figure 80) when the knife is close to the distal end of the firing stroke, for example, as the knife translates and/or moves through the UC 5022. For example, when the knife has moved a distance of X mm, the 5052 data related to knife progression may be positioned in the first position (Figure 79), and when the knife has moved a distance of Y mm, the data 5052 related to the knife's progression may be positioned in the second position (Figure 80). In such embodiments, the operator can track knife progression during the firing stroke by viewing the 5052 feedback data on the 5002 screen. For example, when the knife view of the UCD 5022 is blocked by the end actuator jaws 5024 and /or T-tissue, for example, operator can track and/or approximate knife position on UCD 5020 based on changing value of feedback data 5052 relative to UCD 5022 represented in the underlying first layer of information 5010 . In addition, the display 5002 may incorporate a numerical representation of knife progression, as well as a pictorial and/or symbolic representation of knife progression. For example, a 5054 symbol such as an arrow can move and/or extend in relation to the UCD 5022 represented in the first underlying information layer 5010 to show knife progression through the UCD 5022. Referring to Figures 79 and 80, for example, symbol 5054 may extend distally as the knife advances distally from a position near the start of the firing course (Figure 79) to a position near the distal end of the firing course (Figure 80). ), for example.

[00402] In various embodiments, a user can select one or more different categories of feedback data from the feedback menu of the instrument 5036, and the different categories of feedback data can be displayed in the second layer of feedback data 5012 on the display 5002. In these embodiments, when a user selects a different category of feedback data from the 5036 instrument's feedback menu, a numerical and/or symbolic representation of the feedback data may move to an appropriate position on the 5002 display in relation to the UCD. 5022 represented in the first underlying 5010 information layer. For example, if a user selects the jaw position category 5038 from the 5036 instrument's feedback menu, feedback data related to the position of a movable jaw between an open position and a clamped position can be presented in the second layer of information 5012 and may move to a position near the one or more movable jaws 5024 of surgical instrument 5020 on display 5002, for example. Also, if the machine speed category 5042 is selected, the feedback data 5058 (Figure 82) related to knife speed can be presented in the second layer of information 5012 and can move to a position close to the knife in the UCD 5022 on display 5002, similar to numeric data 5052 and/or symbol 5054 discussed above. If the fabric thickness category 5044 is selected by a user, feedback data related to the detected fabric thickness can be presented in the second information layer 5012 and can move to a position close to the fabric T measured in the display 5002, for example. Furthermore, in at least one embodiment, the second information layer 5012 may include a scale and/or a ruler, which may illustrate the detected tissue thickness. The user can move the ruler via the touch screen 5004 in relation to the underlying tissue T, represented in the first information layer 5010, which can, for example, facilitate the user's understanding of tissue thickness variations. If a user selects the linkage category of the 5046 end actuator, the 5252 feedback data (Figures 84-88) related to the linkage of the UCD 4022 can be presented in the second layer of information 5012 and can move to a position near the hinge joint 5026 (Figures 84 and 85) of the UCD 5022 in the display 5002, for example. If a user selects the trigger force category 5048, feedback data related to the trigger force exerted on the tissue by the knife can be presented in the second layer of information 5012 and can be positioned close to the knife in the UCD 5022 in the display 5002, for example. Additionally, feedback data related to the firing force exerted by the knife may move in the second information layer 5012 as the knife moves relative to the UCD 5022, for example during a first firing stroke. Also, if the clamping force category 5050 is selected, the feedback data 5158 (Figure 83) related to the clamping force on the fabric T can be represented in the second layer of information 5012 and can move close to the represented UCD 5022 in the first layer of underlying 5010 information. In such embodiments, feedback data 5158 related to gripping force may show variations in gripping pressure along the length and/or width of the UCD 5022 during gripping and/or throughout the firing stroke, for example.

[00403] In various embodiments, the feedback represented in the second layer of information 5012 can move with the corresponding feature of the surgical instrument 5020 in the first layer of information 5010. For example, as the UCD 5022 is manipulated around the surgical site, the UCD 5022 can move around the display 5002. In such embodiments, feedback related to the UCD 5022, such as grip position and/or articulation data, for example, can move along with the UCD 5022. Moving the relevant feedback can ensure that the feedback remains in the operator's field of view without requiring the operator to look away from the corresponding feature of the 5020 surgical instrument represented in the first layer of information 5010 on the 5002 display. the movement of relevant feedback can ensure that the feedback does not block the one or more features of the 5020 surgical instrument represented in the first layer information 5010, which the operator wants to see on the 5002 display.

[00404] In certain embodiments, a user can select multiple categories of feedback to view simultaneously on the display 5002. In addition, the one or more selected feedbacks can be automatically arranged on the display 5002 so as to present the relevant data in a non-discriminatory arrangement. superimposed on the second layer of information 5012. In other words, the feedback on the second layer of information 5021 may not overlay other feedback presented on the second layer of information 5012; however, such feedback may overlay the video feedback of the first layer of information 5010 displayed on the display 5002, for example. In various embodiments, when the feedback data moves and/or "retracts" to a position on the screen relative to the surgical instrument 5020 represented in the first layer of underlying information 5010, the user can take precedence over the default "drag and drop" position. the feedback data elsewhere in the second 5012 information layer.

[00405] Referring now to Figure 81, a symbolic representation 5056 of the knife's progression, such as a cross, target, and/or pictorial representation of the knife and/or knife blade, for example, can move to a position on the second layer of information 5012 that overlays the knife position represented in the first layer of information 5010. In certain embodiments, even when the knife is not visible on the display 5002, for example, if the knife view is obstructed, the symbolic representation 5056 of the knife can move and/or follow the detected position of the knife in the UCD 5022 on the screen 5002. For example, the symbolic representation 5056 can be in a first position with respect to the UCD 5022 near the beginning of the firing stroke and the representation token 5056 moves to a second position relative to UCD 5022 near the end of the firing stroke.

[00406] In various embodiments, user-selected feedback via the touch screen 5004 may "retract" to a corner, edge, and/or other predetermined location on the display 5002. For example, still referring to Figure 81, 5052 numeric data related to knife progression can move to a corner of the 5002 display. Additionally or alternatively, a user can interface the 5004 touchscreen to move the 5052 numeric data to a different position on the 5004 touchscreen. touch 5004. Based on the position of the underlying surgical instrument 5020 in the first information layer 5010, the user can move the numeric data 5052 to a position in the second information layer 5012 so that a corresponding and/or specific feature of the UCD 5022 does not be blocked and/or obstructed by the 5052 numeric data. Additionally or alternatively, the user can move the 5052 numeric data to a position close to the corresponding U feature CD 5022, so that the user can easily see the corresponding UCD resource 5022 and 5052 numeric data at the same time.

[00407] Referring to Figures 84 and 85, a symbolic representation 5254 (Figure 85) of the feedback data from the feedback controller 5016 (Figure 93) may be included in the second layer of information 5012. For example, a symbolic representation 5254 of the UCD articulation 5022, such as a subtended angle and/or arc, for example can be represented in the second information layer 5012 and can move to a position on the display 5002 near and/or superimposed on the articulated joint 5026 of the shown surgical instrument 5020 in the first information layer 5010. For example, a subtended arc may extend between an axis A defined by the non-hinged UCD 5022 (Figure 84) and an axis A' defined by the articulated UCD 5022 (Figure 85). In certain embodiments, even when the hinge joint 5026 is not visible on the screen, the symbolic representation 5254 of the hinge angle may be visible in the second layer of information 5012. For example, if the hinge joint 5026 is not positioned within the field of view of the endoscope and/or is obstructed or blocked, the symbolic representation 5254 of the articulation angle can provide a visible indication of the articulation to the user. In various embodiments, the symbolic representation 5252 may adjust and/or change as the UCD 5022 moves and/or pivots. For example, the symbolic representation 5254 can be in an arc or line in an arrow or line, which can extend from the initial and/or unhinged position of the UCD 5022 (Figure 84) towards the articulated position of the UCD 5022 (Figure 85 ) as detected by the 5020 instrument. Also, in various embodiments, the 5254 symbolic representation can "snap" into a position with respect to the 5022 UCD represented in the first information layer, so that the 5254 symbolic representation overlaps with each other. if and/or is aligned with the UCD 5022. For example, with reference primarily to Figure 85, the symbolic representation 5254 of the pivot angle may move at and/or close to the pivot joint 5026 depicted in the first layer of the information 5010 in the display 5002 and can travel between the A axis defined by the UCD 5022 in the home and/or non-hinged position and the A' axis defined by the UCD 5022 when the UCD 5022 articulates.

[00408] Also, in various embodiments, the numerical data 5255 related to the articulation of the UCD 5022 can be presented in the second layer of the information 5012 in the display 5002. Also, the data 5252 can change as the UCD 5022 articulates. For example, the second layer of information 5012 can represent an X° joint before the UCD 5022 articulates (Figure 84) and can represent a Y° joint after the UCD 5022 articulates (Figure 85). In various embodiments, feedback data 5252 related to the UCD joint 5022 may be presented in the second information layer 5012 at and/or near the joint 5026 of the surgical instrument 5020 represented in the first information layer 5010, for example. A user can use the touch screen 5004 to move, resize, minimize and/or otherwise manipulate the articulation data 5252 presented in the second layer of information 5012 in relation to the video feedback presented in the first layer of information 5010 , for example. Additionally or alternatively, a user can interface with the touch screen 5004 to move the symbolic representation 5254 and/or the numerical data 5252 to a different position on the touch screen 5004. Based on the position of the underlying surgical instrument 5020 in the first information layer 5010, the user can move the numeric data 5252 to a position in the second information layer 5012 so that the one or more specific UCD 5022 features are not blocked and/or obstructed by the numeric data 5252. Additionally or alternatively , the user can move the numeric data 5252 to a position close to the one or more corresponding features of the UCD 5022, so that the user can easily see the one or more corresponding UCD features 5022 and the numeric data 5252 at the same time.

[00409] Now referring to Figure 82, a graphical representation can be selected from the 5060 display menu of the 5030 control panel, for example via the 5004 touch screen. In such embodiments, the graphical representation of the 5058 feedback can be displayed on the second layer of information 5012 on the display 5002. A user can select the graphical representation to view the measured and/or sensed data from the surgical instrument 5020 and/or its controller over time and/or space. For example, a user may wish to observe the speed of the triggering element throughout the entire triggering stroke, and thus can select knife speed category 5042 (Figure 78) from the instrument feedback menu 5036 (Figure 78). In such embodiments, the graphical representation 5058 of knife velocity may continue to gain data points and increase during the course of fire, for example. In various embodiments, at the completion of the firing stroke, the graphical representation 5058 may represent a "soft" start period 5057 and/or a "soft" stop period 5059 of the knife. Additionally, the 5058 graphical representation can be positioned on the 5002 display so that the knife speed at a specific location along the length of the 5024 end actuator jaws matches the specific location along the length of the 5022 end actuator jaws represented in the first information layer 5010. For example, the graphic representation 5058 may start at and/or be near the beginning of the knife path through the UCD 5022 represented in the first information layer 5010 and may end at and/or near the end of the knife path through the UCD 5022 represented in the first information layer 5010, for example. Furthermore, as described herein, the graphical representation 5058 can "snap" into a suitable position on the screen and a user can utilize the touch screen 5004 to move and/or resize the 5058 graphic as desired. In certain embodiments, the numerical representation of the firing rate may be represented in the second information layer 5012 along the graphical representation.

[00410] Now referring to Figure 83, in various embodiments, a user may wish to observe the gripping force exerted on the T fabric along the length and/or width of the 5024 End Actuator jaws and, in this way, can select the grip strength category 5050 (Figure 78) in the feedback menu of the 5036 instrument (Figure 78). In such embodiments, the graphic representation 5148 of gripping force may be represented on the second information layer 5012. In some embodiments, the graphic representation 5158 may be disposed on the second information layer 5012 with respect to the trapped tissue represented in the first information layer. 5010. For example, the graphic representation 5158 may start at and/or be near the proximal end of the claws 5024 represented in the first layer of information 5010 and may end at and/or close to the distal end of the claws 5024 represented in the first layer of information. 5020, for example. Furthermore, as described herein, the graphical representation 5158 can "snap" into a suitable position on the screen and a user can use the touch screen 5004 to move and/or resize the 5158 graphic for example. In certain embodiments, the graphical representation may change during use to reflect variations in grip pressure during a firing stroke, for example.

[00411] Referring to Figures 86 through 88, in various modes, a user can interface with the 5004 touchscreen to enter controls and/or directives on the 5020 surgical instrument through the 5016 instrument controller and/or microcontroller. For example, a user can enter controls aimed at the UCD 5022 linkage, gripping the end actuator jaws, advancing and/or retracting the cutting element, and/or ejecting the UCD 5022 clamps. In various embodiments, a user can select instrument controller category 5070 from 5030 control panel through 5004 touch screen to activate instrument control state, so that user can control 5020 surgical instrument through 5004 touch screen. 5004 touchscreen is enabled for instrument control, a user can interface with the 5004 touchscreen to control the 5020 surgical instrument. For example, a user can interface with buttons and/or control icons. control on the second layer of information 5012 and/or can interface with locations on the touch screen 5004 corresponding to the underlying surgical instrument 5020 to enter the directives vas on the 5020 surgical instrument, for example.

[00412] For example, with reference to Figure 86, a user can interface with the 5004 touchscreen to indicate the desired direction and degree of articulation of the UCD 5022, for example. In certain embodiments, a user can drag a point of contact across the touchscreen 5004 from and/or near the UCD 5022 towards the desired pivot location of the end actuator 5002. Referring to Figure 86, a user can track a line or arc 5352 from and/or near UCD 5022 depicted in first information layer 5010 toward the desired pivot location of UCD 5022. For example, arc 5352 may extend from and/or approximately the A-axis defined by UCD 5022 and arc 5352 can extend to axis A' defined by the desired pivot position of UCD 5022. In addition, arc 5352 can extend in the direction indicated by arrow 5354, for example. In certain embodiments, an arc 5352 may not appear on the second layer of information 5010 when the user enters the desired articulation through the touch screen 5004. In various embodiments, the touch screen 5004 may communicate the desired articulation angle to the 5016 instrument controller (Figure 93) and/or microcontroller, which can pivot the UCD 5022 to the desired pivot angle. Now referring to Figure 88, the instrument controller 5016 (Figure 93) and/or the microcontroller can pivot the UCD 5022 to the A' axis based on user input via the 5004 touch screen, for example.

[00413] Referring mainly to Figure 87, in various modalities, a user can interface with control buttons, schematics and/or icons in the first information layer 5012 to enter directives to the surgical instrument 5020. For example, the first information layer 5012 may include a symbol or icon 5356, and the user may move and/or manipulate icon 5356 to articulate UCD 5022. In various embodiments, icon 5356 may include a schematic of UCD 5022, for example. In addition, the user can drag the 5356 icon into a pivoted and/or rotated orientation to pivot the UCD 5022. In various embodiments, a line and/or arc 5358 can indicate the direction and/or degree of pivot desired by the 5358. user. For example, arc 5358 may extend from the non-hinged orientation of icon 5356 to the hinged orientation of icon 5356'. Hinged icon 5356' can correspond to the desired articulation of UCD 5022, for example. Now referring to Figure 88, the instrument controller 5016 and/or the microcontroller can pivot the UCD 5022 to the A' axis based on user input via the 5004 touch screen, for example. For example, the UCD 5022 can be hinged to the subtended angle defined by the arc 5358 between the unhinged icon 5356 and the hinged icon 5356' shown in Figure 87.

[00414] Referring primarily to Figures 89 and 90, in various embodiments, a user can interface with the touch screen 5004 to enter directives on the surgical instrument 5020 regarding the closure of the jaws 5024. In certain embodiments, a A user can drag a point of contact across the touchscreen 5004 of and/or close to the movable jaw 5024 towards the closed orientation of the 5024 movable jaw to initiate the closing of the 5024 jaw. For example, a user can trace a line or arc 5362 (Figure 89) of and/or near the movable jaw 5024 depicted in the first information layer 5010 towards the desired closed orientation of the movable jaw 5024. In various embodiments, the touch screen 5004 may communicate the closing motion to the instrument controller 5016 and/or the microcontroller, which may affect the closing of one or more movable jaws 5024. In certain embodiments, the arc 5362 traced by the user on the touchscreen which 5004 can extend from and/or approximately axis A defined by movable jaw 5024 and arc 5362 may extend to axis A' (Figure 90) defined by desired grip orientation of movable jaw 5024. arc 5362 may extend in the direction indicated by arrow 5364, for example. Now referring to Figure 90, the instrument controller 5016 and/or the microcontroller can affect the closing of the movable jaw 5024 to the A' axis based on user input via the touch screen 5004, for example.

[00415] Referring now to Figures 91 and 92, in various modes, a user can interface with the control buttons and/or icons in the first layer of information 5012 to enter directives to the surgical instrument 5020. For example, the first information layer 5012 may include a control interface 5072, which may include buttons 5074, 5075, 5076, 5077, 5078 for entering directives to the instrument controller 5016 and/or microcontroller, for example. Buttons for entering directives to the 5016 instrument controller (Figure 93) and/or microcontroller can be related to the UCD 5022 pivot, closing and/or holding the 5024 jaws, triggering and/or retracting the cutting element and/or ejecting clamps from the UCD 5922, for example. The user can interface with the 5004 touchscreen to select a 5072 control interface button or buttons. Mainly referring to Figure 91, the 5072 control interface can include a 5474 stop/retract button, a pause 5475, a start button 5476, an acceleration button 5477 and/or a deceleration button 5478, for example. The user can contact the start button 5476 to start the firing course and/or advance the firing element, the pause button 5474 to pause the firing course and/or the stop/retract button 5474 to stop the firing stroke and retract the firing element, for example. In addition, the user can interface with the 5072 control interface to adjust the trigger element speed during the entire trigger stroke. For example, the user can contact the speed up button 5477 to increase the speed of the trigger element and the user can contact the slow down button 5478 to decrease the speed of the trigger element. A user may speed up the trigger element after and/or during a "soft" start phase of the trigger stroke, for example, and/or may slow the trigger element down to a "soft" stop phase of the trigger. course of fire towards one end of the course of fire, for example. In other embodiments, the control interface 5072 may include buttons and/or controls to modify the closing of the jaws 5024 and/or the articulation of the UCD 5022, for example. In various embodiments, the 5072 control interface may "snap" into a position in the 5012 second layer of information when the 5070 instrument controller menu is selected from the 5030 control panel and/or when the instrument's control state is , otherwise selected by the user. The user can move, adjust and/or manipulate the control interface 5072 in relation to the first layer of information 5010 and/or the display 5002, for example.

[00416] In various embodiments, with reference to Fig. 92, the secondary information layer 5012 may include a progress bar 5480, which may indicate the position of the trigger element in the UCD 5022, for example. Progress bar 5480 can extend between a proximal end 5482 and a distal end 5488 and can define a closer position and a more distal position of the trigger during a firing stroke. In various embodiments, the position of the trigger element can be indicated along with the progress bar 5480, for example. In certain embodiments, the user can use the controls on the 5072 control interface to adjust the firing course. For example, the user can interface with the 5072 control interface to start and/or end the "soft" start and/or "soft" stop phases of the tripping stroke based on the indicated position of the tripping element along with with the progress bar 5480. In addition, the progress bar 5480 may include measurement symbols and/or guides 5484, 5486, which can be adjusted to positions along the progress bar 5480 where the "soft start" phases " and/or "soft" stop can start and/or end, for example. The 5485, 5486 guides can provide a visual cue to the user to start and/or end the "soft" start period with the 5077 acceleration button and/or the "soft" stop phase with the 5078 deceleration button during the course trigger, for example. In various embodiments, the position of guides 5484, 5486 can be preset by the user.

[00417] Still referring to Figure 92, in various embodiments, the instrument controller 5016 and/or microcontroller can automatically affect variations in trigger element speed based on the position of the guides 5484, 5486 along with the trigger bar. 5480 progress. In addition, the user can interface with the 5004 touchscreen to move and/or manipulate the 5480 progress bar and thereby modify the "soft start" and "soft" stop phases of the course of shot. For example, the "soft" start and/or "soft" stop phases can be set at predetermined positions along the progress bar 5480 between the proximal end 5482 and the distal end 5488. In certain embodiments, the user can make the interface with touch screen 5004 to move and/or adjust the position of tabs 5484, 5486 along the length of progress bar 5480. For example, user can toggle tabs 5484, 5486 between a plurality of positions on the progress bar 5480 by dragging and releasing the guides 5484, 5486 to lengthen and/or shorten the "soft" start and/or "soft" stop phases of the firing stroke. In certain embodiments, the user may interface with touch screen 5004 to move and/or adjust the position of distal end 5488 of progress bar 5480 to lengthen and/or shorten a firing stroke. For example, the user can drag the distal end 5488 proximally to shorten the firing course and/or can drag the distal end 5488 distally to lengthen the firing course, for example. In various embodiments, the instrument controller 5016 and/or the microcontroller may adjust the trigger element speed and/or the length of the trigger stroke based on the modified positions of the guides 5484, 5486 and/or the distal end 5488 along with the 5480 progress bar, for example.

[00418] In various embodiments, the surgical instrument 10 may include at least one deactivation mechanism. As described in more detail here, such a deactivation mechanism can discourage an end user from tampering with the surgical instrument. For example, referring now to Figure 134, a power supply 2500 is illustrated. The 2500 power supply can be used to supply power to a surgical instrument such as Surgical Instrument 10 (see Figure 1) and is similar in many respects to other power supplies described in this document such as the power supply 200 (see Figure 1) and other power supplies of the type described in more detail in Zemlok '763, which is incorporated herein by reference in its entirety. To protect the 2500 power supply from tampering, the 2500 power supply can be configured to be inoperative or inactive if tampered with. For example, the power supply 2500 can become idle when it stops receiving, storing and/or transmitting power, for example. Tamper protection can ensure proper operation of the 2500 power supply during use with the surgical instrument 10.

[00419] Referring to Figures 134 and 135, the power supply 2500 may include an external housing 2502 which may contain various components of the power supply 2500 such as, for example, a battery pack 2510. The housing 2502 may include a first housing and a second housing 2506 that can be separately coupled to the first housing 2504, as illustrated in Figure 135. In certain examples, housings 2504 and 2506 may be formed from a thermoplastic material such as polycarbonate. Alternatively, other materials having suitable characteristics can be used. In addition, housings 2504 and 2506 may be coupled together by one or more attachment techniques such as adhesives, soldering, interlocking structures and/or screws. In one example, housings 2504 and 2506 can be secured together via a snap-on type hitch. In another example, housings 2504 and 2506 can be held together by fasteners 2508, as illustrated in Figure 135.

[00420] Referring to Figures 135 through 137, the power supply 2500 may include a disablement mechanism 2512 that can render the power supply 2500 inoperative if the power supply 2500 is compromised. For example, the disablement mechanism 2512 can render the power supply 2500 inoperative if the housing 2502 is tampered with. As illustrated in Figures 135 through 137, the disablement mechanism 2512 may comprise a circuit 2514 which may include a tearable portion 2516 (see Figure 136). In certain examples, the tearable portion 2516 may comprise a conductive material that may be easily broken. As illustrated in Figure 136 , circuit 2514 may be coupled to battery pack 2510 and may allow current to flow as long as the tearable portion 2516 remains intact. Breaking the breakable portion 2516, as illustrated in Figure 137, can interrupt the circuit 2514, thereby stopping the flow of current through it. In addition to the above, as illustrated in Figure 135, the circuit 2514 may be positioned such that the tearable portion 2516 may be ruptured when the first shell 2504 and the second shell 2506 are separated from each other which may render the source of power 2500 unable to receive, store and/or supply power to the surgical instrument 10 without significant effort to repair the broken circuit 2514.

[00421] Referring to Figure 135, the power supply 2500 may comprise one or more battery cells depending on the current load requirements of the instrument 10. In various aspects, the power supply 2500 may include a battery pack such as, for example, battery pack 2510 which may include a plurality of battery cells which may be connected in series with each other. The 2500 power supply is replaceable. In certain aspects, the power supply 2500 may comprise a rechargeable battery (e.g., lead, nickel, or lithium-ion, etc.). The battery cells could be, for example, 3 volt lithium battery cells, such as CR 123A battery cells, although in other embodiments, different types of battery cells could be used (including battery cells with different voltage levels and/or different chemicals). A user may disconnect and remove a depleted power supply 2500 from the surgical instrument 10 and connect a charged power supply 2500 in its place; The depleted power supply 2500 can then be charged and reused. It is also envisioned that the 2500 power supply may include at least one disposable battery. In many respects, the disposable battery can be between about 9 volts and about 30 volts. A user can disconnect and remove a depleted 2500 disposable power supply and connect a new 2500 disposable power supply to power the surgical instrument 10.

[00422] As described above, the 2500 power supply may include rechargeable battery cells and may be removably replaceable within the cable portion 14 of compartment 12, for example (see Figure 1). In such circumstances, the power supply 2500 may be charged using a charging base which may comprise a power supply for charging the power supply 2500. A deactivation mechanism such as the deactivation mechanism 2512 may be used to prevent the 2500 power supply from being recharged by a charging base if the 2500 power supply is tampered with as described above. For example, circuit 2514 may be coupled to battery pack 2510 and may be coupled to charger base to allow charging base to recharge battery pack 2510. As described above, breakable portion 2516 (see Figure 135) may be broken when the first frame 2504 is separated from the second frame 2506, thereby interrupting the flow of current through the circuit 2514 which can prevent the charging base from recharging the battery pack 2510. This can be advantageous in discouraging an end user from violating the 2500 power supply because tampering with the 2500 power supply may render it unable to be recharged for subsequent use with the surgical instrument 10.

[00423] Referring now to Figures 138 through 141, the power supply 2500 may include a data storage unit such as memory 2552 which can store data including information about the power supply 2500 such as example, total available load, number of uses and/or performance. Additionally, memory 2552 can store data about the surgical instrument 10, including a variety of information about the operation of the surgical instrument 10 during a surgical procedure, such as various sensor readings, number of shots, number of cartridges used. and/or information about treated patients. The 2552 memory may include any means for storing software, including, without limitation, for ROM (read-only memory), RAM (random access memory), PROM (programmable ROM), EEPROM (electrically erasable PROM) and/or other media. computer readable.

[00424] In addition to the above, with reference again to Figures 138 to 141, the power supply 2500 may include a data access portal, such as, for example, I/O interface 2550 provides access to data stored in memory 2552. For example, the 2550 I/O interface can allow data stored in the 2552 memory of the 2500 power supply to be downloaded to an external computer device for evaluation and analysis. In certain circumstances, the 2550 I/O interface may be a wired interface and may be operationally coupled to a 2512 disablement mechanism that may include a breakable connection that can be detached to prevent data transmission through the 2550 I/O interface. Similar to the tearable portion 2516 of the disablement mechanism 2512, the tearable connection of the disablement mechanism 2554 may be positioned so that it can be separated when the housing 2502 is breached such that, for example, when the first housing 2504 and the second 2506 housing are separate from each other.

[00425] In addition to the above, as illustrated in Figures 139 to 141, the I/O interface 2550 may include a connector 2555 which may be configured to receive a corresponding connector 2556 from the external computer device, for example, to allow data transfer between the 2552 memory and the computer device. In addition, the 2554 connector may be protected by a cover so that, for example, the hinged cover 2559 which may be configured to move between a locked position (see Figure 139), where the 2554 connector is not exposed to an unlocked position (see Figure 140), where the 2554 connector is exposed to receive the corresponding 2556 connector. In one example, a 2558 helical screw can be used to secure the hinged cover 2559 to the 2502 housing. reversibly connector 2556 is contemplated by the present disclosure. Additionally, in certain examples, connectors 2554 and 2556 may include a key and a latch-type engagement wherein connectors 2554 and 2556 may comprise, for example, unique complementary geometries that prevent connector 2554 from receiving other connectors to prevent or at least limit unauthorized access to data stored within memory 2552. In certain examples, connector 2554 may be positioned within housing 2502, as illustrated in Figure 141 to further limit unauthorized access to data stored in memory 2552. In such circumstances, the connector 2554 can be accessed by separating the first housing 2504 from the second housing 2506 of the housing 2502. However, as described above in more detail, the disablement mechanism 2512 can render the power supply 2500 inoperative by tampering with the housing 2502 which can further discourage Attempting to expose connector 2554 to gain access to data stored in memory ory 2552.

[00426] Referring to Figure 142, the 2500 power supply may include a 2560 processor that can manage data stored in the 2552 memory. To protect such data from unauthorized access, the 2560 processor may be coupled with a security detection mechanism. tamper 2562. For example, processor 2560 may couple to circuit 2514 and may be configured to detect breakage of breakable portion 2516. In one example, tamper detection mechanism 2562 may include one or more sensors configured to detect a breach. breach in housing 2502. In either case, upon detection of a breach, processor 2560 may be programmed to prevent unauthorized access to data stored in memory 2552, for example, by removing or encrypting the data.

[00427] Referring now to Figures 143 to 145, a surgical instrument 2600 is shown. The Surgical Instrument 2600 is similar to the Surgical Instrument 10 (see Figure 1) and/or the Surgical Instrument 2100 (see Figure 146) in many respects. For example, the surgical instrument 2600 may include a housing assembly 2602 that is similar to the housing assembly 2102 of the surgical instrument 2100 and/or the housing 12 of the surgical instrument 10. In addition, the power supply 2600 may include a power supply. 2500' power supply that can be used to supply power to the 2600 surgical instrument and is similar in many respects to other power supplies described in this document, such as the 2500 power supply (see Figure 134) and other power supplies for the type described in more detail in Zemlok '763, which is incorporated herein by reference in its entirety. In addition, as illustrated in Figure 143 , the power supply 2500' may include a charge level indicator 2660 which may be configured to provide feedback to a user about the charge level of the power supply 2500'. Feedback can be in the form of sound and/or light, for example. The 2500' power supply may include one or more light emitting diodes (LEDs). The 2560 processor, for example, can be programmed to control LEDs to provide feedback to a user about the load level of the power supply 2500' as measured by a load meter, for example.

[00428] As illustrated in Figures 143 to 145, the power supply 2500' may include a first LED 2662 and a second LED 2664. The processor 2560 may be coupled to LEDs 2662 and 2664 and may be programmed to illuminate both LEDs. 2662 and 2664 by receiving a signal from the load meter that the power supply is fully charged. In addition, the 2560 processor may be programmed to turn off both the 2662 and 2664 LEDs upon receiving a signal from the load meter that the power supply is empty. In addition, the 2560 processor can be programmed to illuminate only the first 2662 LED but not the second 2664 LED upon receiving a signal from the load meter that the power supply includes sufficient charge for only one full operation of the 2600 surgical instrument. Other means of alerting a user when the 2500' power supply is charged are contemplated by the present disclosure.

[00429] In certain embodiments, various components of the surgical instrument 10 may be reusable and various components may be replaced, for example. Furthermore, the surgical instrument 10 may be at least partially assembled, disassembled and/or reassembled. For example, the surgical instrument 10 may be at least partially disassembled and reassembled with reusable components and replacement components, for example. Additionally, the surgical instrument 10 may be at least partially disassembled, for cleaning, disinfection and/or reprocessing between surgical procedures. Subsequently, the surgical instrument 10 can be reassembled, for example. As described in more detail herein, various features, assemblies and/or systems of surgical instrument 10 may facilitate disassembly and assembly thereof. For example, referring now to Figures 146 to 148, a surgical instrument 2100 is depicted. The Surgical Instrument 2100 is similar to the Surgical Instrument 10 (see Figure 1) in many ways. For example, the surgical instrument 2100 may include a housing assembly 2102 that is similar to the housing 12 of the surgical instrument 10. In addition, the housing assembly 2102 may include a number of detachable components 2103 that can be detachably attached to a body of compartment 2104 as, for example, a working assembly 2106. Other components of the compartment assembly 2102 may be detachably attached to the housing body 2104. For example, the compartment assembly 2102 may include a replaceable power supply 2108 that can be detachably attached to a portion of the 2110 cable from the 2104 enclosure body. The 2108 power supply is similar in many respects to other power supplies described in this document, such as the 200 power supply (see Figure 1). ).

[00430] Referring again to Figure 147, the enclosure assembly 2102 or some or all of its components may be reusable. In other words, the compartment assembly 2102 or some or all of its components may be used in multiple surgical procedures that may require the compartment assembly 2102 to be cleaned, disinfected and/or reprocessed between surgical procedures. The ability to reversibly disassemble the 2102 Enclosure Assembly or remove some or all of its components such as the 2106 Working Assembly in a simple and reproducible manner can simplify the cleaning, disinfection and/or reprocessing steps of the assembly. magazine 2012 and/or can reduce the cost.

[00431] Referring to Figure 147, compartment assembly 2102 can be disassembled after a surgical procedure and components of compartment assembly 2102 disassembled, such as compartment body 2104, working set 2106 and/or 2110 power supply can be cleaned, disinfected and/or reprocessed each separately or in combination with other components depending on the characteristics and internals of each component. In certain instances, the behavior body 2104 may be disposable. In other words, the housing assembly 2102 can be disassembled after a surgical procedure and the housing body 2104 can be replaced with a new housing body 2104. The remaining components, however, can be cleaned, disinfected and/or reprocessed, then , attached to the new housing body 2104. The reader will understand that other components of housing assembly 2102 may also be disposable and may be replaced with new, similar components.

[00432] Referring again to Figures 146 to 148, housing body 2104 may be configured to allow assembly and disassembly of housing assembly 2102 in a simple, predictable, and reproducible manner. For example, housing body 2104 may include a first deflector portion 2112 (see Figure 147) and a second deflector portion 2114 (see Figure 146) that can be releasably attached to the first deflector portion 2112. In one example, baffle portions 2112 and 2114 may include a snap-on type engagement. The baffle portions 2112 and 2114 may be adapted for braided engagement with each other. In one example, the deflector portion 2112 may include a plurality of female elements 2116 (see Figure 147) which may be cylindrical in shape and configured to receive corresponding male elements (not shown) disposed in the deflector portion 2114 in a press fit. when the baffle portions 2112 and 2114 are assembled together.

[00433] In addition to the above, the working set 2106 can be nested in the first deflector portion 2112. As illustrated in Figure 147, the second deflector portion 2114 can be removed to expose the working set 2106 nested in the first deflector portion 2112 to allow a user to remove the working set 2106 from the housing body 2104. The working set 2106, as illustrated in Figure 147, may include a motor 2118 that can generate rotary motion to effect an end actuator (e.g., the of the cartridge/anvil of the loading unit 20 illustrated in Figure 2). The 2118 engine is similar in many respects to other engines described in this document, such as the 100 engine (see Figure 1). In addition, the working assembly 2106 may also include a transmission assembly 2120 which may be operatively coupled to the engine 2118 and is similar in many respects to other transmission assemblies described in this document, such as the gear assembly 170 (see Figure 5). In addition, the working set 2106 may also include a set of trigger elements 2122 which can transform the rotary motions generated by the motor 2118 into axial motions which can be transmitted to the end actuator via a trigger rod 2124. The set of trigger elements 2122 is similar in many respects to other trigger assemblies described in this document such as, for example, the trigger element assembly 82.

[00434] With reference to Figures 147 and 148, the first deflector portion 2112 may include a plurality of compartments designed and spaced to receive the working set 2106. For example, the deflector portion 2112, as illustrated in Figure 147, may include a 2126 engine nesting compartment that can be spaced to accommodate the 2128 engine. In certain examples, the 2126 engine nesting compartment may be designed to adapt the 2118 engine in a specific arrangement to ensure accurate mounting. In addition, the 2126 engine nesting compartment can include mounting instructions that can be, for example, molded into a wall of the 2126 engine nesting compartment to ensure correct mounting. For example, the side walls of the engine nesting compartment 2126 may be configured to receive the engine 2118 closedly. Furthermore, the side walls may be asymmetrically configured, at least in some respects, to receive the engine 2118 in only one orientation. , that is, the correct orientation.

[00435] Similarly, the deflector portion 2112, as illustrated in Figure 147, may include a drivetrain nesting compartment 2128 that can be spaced to accommodate the drivetrain 2128. Additionally, in certain examples, the drivetrain nesting compartment 2128 2128 drive train can be designed to adapt the 2120 drive train in a specific arrangement to ensure accurate mounting. For example, the side walls of the transmission assembly nesting compartment 2128 may be configured to receive the transmission assembly 2120 closedly. Furthermore, the side walls may be asymmetrically configured, at least in some respects, to receive the transmission assembly 2120. 2120 transmission assembly in only one orientation, that is, the correct orientation. In addition, the drivetrain nesting compartment 2128 may include assembly instructions which can be, for example, molded into a wall of the drivetrain nesting compartment 2128 to ensure correct assembly. Similarly, the deflector portion 2112, as illustrated in Figure 147, may include a firing element set nesting compartment 2130 that can be spaced to accommodate the firing element assembly 2122. Additionally, in certain examples, the nesting compartment of the trigger set 2130 can be designed to adapt the trigger set 2122 in a specific arrangement to ensure accurate assembly. For example, the side walls of the firing element assembly nesting compartment 2130 may be configured to closedly receive the firing element assembly 2122. Furthermore, the side walls may be asymmetrically configured, at least in some respects, to receive the set of triggering elements 2122 in only one orientation, i.e. the correct orientation. In addition, the firing element assembly nesting compartment 2130 may include assembly instructions which can be, for example, molded into a wall of the firing element assembly nesting compartment 2130 to ensure correct assembly. The reader will understand that other components of the working set 2106 may also have unique designated accommodation compartments without the baffle portion 2112. The reader will also understand that the electrical contacts for components of the working set 2106 may also have compartments provided for the baffle portion 2112. 2112 so that upon correct assembly, electrical connections can be established between the working assembly 2106, other components of the housing assembly 2102 so that, for example, the power supply 2108 and/or other components of the surgical instrument 2100 .

[00436] In addition to the above, the working set 2106 can be detachably coupled to the trigger rod 2124, as illustrated in Figure 147, which can allow a user to remove and reconnect the working set 2106 as a single unit to the surgical instrument 2100 to simplify disassembly and reassembly of working set 2106. In one example, as illustrated in Figure 147, firing element assembly 2122 may include a hollow tubular distal portion 2132 which may include a distal opening configured to receive and releasably latching onto a proximal portion 2134 of the firing rod 2124 in a snap-on type engagement, for example.

[00437] Again with reference to Figures 147 and 148, other components of compartment assembly 2102 may be nested in dedicated compartments in deflector portion 2112 in a similar manner to working assembly 2106. For example, deflector portion 2112 may include a deflector compartment 2112 power supply nesting 2136 that can be spaced to accommodate the power supply 2128. Additionally, in certain examples, the power supply nesting compartment 2136 may be designed to adapt the power supply 2108 in a specific arrangement to ensure a accurate assembly. For example, the side walls of the power supply nesting compartment 2136 may be configured to enclosedly receive the power supply 2108. Furthermore, the side walls may be asymmetrically configured, at least in some respects, to receive the power supply. 2108 power in only one orientation, that is, the correct orientation. In addition, the 2136 power supply nesting compartment can include mounting instructions that can be, for example, molded into a wall of the 2136 power supply nesting compartment to ensure correct mounting.

[00438] In addition to the above, as illustrated in Figures 147 and 148, certain user input mechanisms, such as the fire button 2138 and/or the closing switch 2140, can also be separated from the housing body. 2104 which may include a trigger switch nesting compartment 2138 and/or a close switch nesting compartment 2144 spaced to accommodate the close switch and switch 2140. Additionally, in certain examples, the trigger switch nesting compartment 2142 can be designed to adapt the 2138 fire button in a specific layout to ensure accurate mounting. For example, the side walls of the firing button nesting compartment 2142 may be configured to receive the fire button 2138 closedly. Furthermore, the side walls may be asymmetrically configured, at least in some respects, to receive the fire button 2138. 2138 firing button in only one orientation, i.e. the correct orientation. Similarly, the closing switch 2144 nesting compartment can be designed to adapt the closing switch 2140 in a specific arrangement to ensure accurate mounting. For example, the side walls of the close switch nesting compartment 2144 may be configured to closedly receive the close switch 2140. Furthermore, the side walls may be asymmetrically configured, at least in some respects, to receive the close switch 2140. 2118 engine in only one orientation, i.e. the correct orientation. In addition, the firing button 2142 nesting compartment and/or the closing switch 2144 can include assembly instructions which can be, for example, molded into a wall of the firing button nesting compartment 2142 and/or the magazine 2144 close switch nesting tool to ensure correct mounting.

[00439] Again with reference to Figures 147 and 148, in addition to the nesting compartment, the deflector portion 2112 may include one or more clamping mechanisms to secure some or all of the detachable components 2103 of the compartment assembly 2102 in their respective compartments, to ensure that the 2103 breakaway components remain nested in their respective compartments. Such fastening mechanisms may include fasteners that can be moved between an unlocked configuration (see Figure 148) and a locked configuration (see Figure 147) to lock the detachable components 2103 of the housing assembly 2102 in their respective housings in the deflector 2112. The reader will understand that fasteners, single or multiple, can be used to secure one or more separable components 2103 to the deflector portion 2112. In addition, the fastening mechanisms may also include security features that can prevent the fasteners move to the locked configuration in the event of incorrect assembly to ensure correct assembly of the separable components 2103 of the housing assembly 2102. As illustrated in the exemplary embodiment in Figure 147, the working assembly 2106 can be attached to the - deflector 2112 by several fasteners, e.g. a motor fastener or 2148, a drive assembly fastener 2150 and/or a drive assembly fastener 2152. In certain examples, as illustrated in Figure 147, a power supply fastener 2154, a button fastening 2156 and a closing switch fastening 2158 can be used to fasten power supply 2108, firing button 2138 and closing switch 2140, respectively.

[00440] Fasteners can catch on 2103 breakaway components moving from the unlocked configuration (see Figure 148) to the locked configuration (see Figure 147). For example, the 2148 motor fastener can lock onto the 2118 motor by moving from the unlocked configuration (see Figure 148) to the locked configuration (see Figure 147). In certain examples, some or all of the separable components 2103 may comprise tracks configured to receive the fasteners as they move from the unlocked configuration to the locked configuration. The tracks may be positioned so that they can be aligned to receive the movable fasteners only when the separable components 2103 are correctly nested within their respective compartments in the deflector portion 2112. For example, if the motor 2118 is not correctly nested in the compartment 2126 engine nesting element, the 2148 engine fastener may not be correctly aligned with its track, and as such, upon moving the 2148 engine fastener from the unlocked configuration to the locked configuration, the engine fastener 2148 may not enter the track and, for example, may be adjacent to an outer wall of the motor 2118. In certain examples, the motor fastener 2148 may be positioned so that it can prevent the first deflector portion 2112 from engaging. if braided to the second deflector portion 2114 if a user attempts to mount the deflector portions 2112 and 2114 while o The 2148 engine fastener is not in a locked configuration. This arrangement may alert the user to recheck the assembled components of the 2102 Enclosure Assembly for proper assembly.

[00441] Similar to the engine fasteners 2148, the drivetrain fastener 2150 may be received in a dedicated track on the drivetrain 2120 and the drivetrain fastener 2150 may be positioned so that it align with its respective track only if the drive assembly 2120 is correctly nested in the drive assembly nesting compartment 2128. In addition, the trigger element assembly fastener 2152 can be received on a dedicated track in the element assembly. trigger set 2122, for example, and trigger set fastener 2152 can be positioned so that it only lines up with its track if trigger set 2122 is correctly nested in the trigger set nesting compartment trigger 2130. Also similar to engine fastener 2148, transmission assembly fastener 21 50 and/or the firing element attachment member 2152 may be positioned such that either of them can prevent the first deflector portion 2112 from braided engagement with the second deflector portion 2114 if a user attempts to mount the deflector portions 2112 and 2114 at the same time that the drive assembly fastener 2150 and/or the firing element assembly fastener 2152 are not in the locked configuration. As described above, some of the detachable components 2103 can be detached and reattached to the deflector element 2112 together as an assembly and can be secured by a plurality of fasteners. For example, working assembly 2106 may be attached to deflector portion 2112 by motor attachment 2148, transmission assembly attachment 2150, and/or attachment assembly attachment 2152, as illustrated in Figure 147. Such an arrangement can provide an additional level of security of correct assembly since incorrect assembly of any of the components of the 2106 working set can prevent its corresponding fastener from reaching the locked configuration which can prevent the first baffle portion from 2112 of the braided engagement with the second deflector portion 2114 if a user attempts to mount the deflector portions 2112 and 2114 while at least one fastener remains near the locked configuration.

[00442] Again with reference to Figures 147 and 148, some or all of the fasteners may be pivotally attached to the first deflector portion 2112 and may be moved relative to the first deflector portion 2112 of the unlocked configuration (see Figure 148) to the locked configuration (see Figure 147) and vice versa. In certain examples, the second deflector portion 2114 may include projecting fasteners (not shown) configured to receive within the corresponding receiving element (not shown) on detachable components 2103 nested within the first deflector portion 2112 when the deflector portions 2112 and 2114 are aligned for braided engagement during assembly of housing assembly 2102. Projecting fasteners can ensure that detachable components 2103 remain secured to first baffle portion 2112. In addition, projecting fasteners can prevent the first deflector portion 2112 braidly engages the second deflector portion 2114 if a user attempts to move the deflector portions 2112 and 2114 at the same time that the protruding fasteners are not properly aligned with their corresponding receiving elements, for example, due to incorrect assembly of the separable components 2103, what which can alert the user to recheck the assembly of the separable components 2103 of the housing assembly 2102 for correct assembly. The reader will understand that the positions of the projecting fasteners and their respective receiving elements can be reversed so that the projecting fasteners can be configured to project from the separable components 2103 and be received in the support element. corresponding reception in the second deflector portion 2114. In any case, the projecting fasteners and their corresponding receiving elements may be releasably secured to each other with snap-in type engagement, for example. Other engagement mechanisms are contemplated by the present disclosure.

[00443] In addition to the above, some or all of the separable components 2103 may include cam surfaces configured to receive the fasteners of the first baffle portion 2112 as they are moved from the unlocked configuration (see Figure 148) to the locked configuration (see Figure 147). Cam surfaces may be disposed on an outer surface of some or all of the separable components 2103 and may allow corresponding fasteners to apply pressure to the separable components 2103 in the locked configuration. For example, the 2118 engine may include a cam surface along its track. As the 2148 engine fastener is moved from the unlocked configuration (see Figure 148) to the locked configuration (see Figure 147), the 2148 engine fastener may transit along the cam surface on the 2118 engine which may allow the 2148 engine fastener to apply increasing pressure to the 2118 engine with a maximum pressure, for example in the locked configuration. Pressure applied to the 2118 engine can assist in securing the engine in the 2126 engine nesting compartment.

[00444] As discussed above, an end actuator may include a trigger element that can be advanced distally to staple and/or incise tissue Now referring to Figure 155, an end actuator 11260 may comprise a first jaw including an anvil 11262 and a second jaw including a staple cartridge 11264. End actuator 11260 may additionally comprise, one, a housing and/or frame 11261 extending proximally from anvil 11262 and staple cartridge 11264, and two , a trigger element 11266 which is movable relative to the magazine 11261, the anvil 11262 and the cartridge 11264. The end actuator 11260 may further comprise a hinge joint 11230 configured to allow the anvil 11262 and cartridge 11264 to be hinged by a 11268 pivot actuator. In use, the 11260 end actuator may be mounted on a 11240 stem of a surgical instrument, for example For example, so that, one, the 11261 end actuator housing is coupled to a 11241 stem housing configured to support the 11261 end actuator housing, two, the 11266 end actuator triggering element is coupled to a 11246 rod trigger actuator configured to advance and retract the 11266 end actuator trigger element and/or, three, the 11268 end actuator pivot actuator is coupled to a 11248 rod pivot actuator configured to advance and retract the end actuator linkage driver 11268. In use, the trigger element 11266 can be advanced distally to move the anvil 11262 from an open position where tissue can be positioned midway to the anvil 11262 and cartridge 11264 to a closed position where anvil 11262 compresses tissue against cartridge 11264. In various circumstances, firing element 11266 may include a p first engaging member configured to engage the first jaw and a second engaging member configured to engage the second jaw when firing member 11266 is advanced distally so that anvil 11262 can be pivoted toward staple cartridge 11264 by the electronics. coupling ments. To reopen the end actuator and allow the anvil 11262 to return to its open position, the trigger element 11266 must be sufficiently retracted. In various circumstances, the trigger element 11266 may become stuck in an at least partially triggered position and, as a result, the anvil 11262 may not be reopened, thereby making it difficult to remove the surgical instrument from the surgical site.

[00445] Turning now to Figures 156 to 161, an end actuator, such as the end actuator 11360, for example, may include a trigger element that can allow the anvil 11262 of the end actuator 11360 to be reopened even if the trigger element of the 11360 End Actuator is stuck in an at least partially triggered position. More particularly, end actuator 11360 may include a trigger element 11366 comprising separable portions 11366a and 11366b which may be configured to allow relative movement between anvil 11262 and cartridge 11264 in various examples. Referring primarily to Figures 157 and 158, the separable portions 11366a and 11366b may be held together by a latch 11390 when latch 11390 is in a locked condition, as illustrated in Figure 158. Correspondingly, when latch 11390 is in a unlocked condition, the separable portions 11366a and 11366b can move relative to each other. Detachable portion 11366a of firing element 11366 may comprise a first side portion 11363a, a second side portion 11367a, and a cutting element portion 11365a positioned intermediate the side portions 11363a and 11367a. In various circumstances, side portions 11363a and 11367a may be retained to a portion of cutting element 11365a by one or more pins, not illustrated in Figures 157 and 158, extending through apertures 11396a defined herein. Detachable portion 11366b of firing element 11366 may comprise a first side portion 11363b, a second side portion 11367b, and a cutting element portion 11365b positioned intermediate the side portions 11363b and 11367b. In various circumstances, side portions 11363b and 11367b may be retained to a portion of cutting member 11365b by at least one retaining member, not shown in Figures 157 and 158, engaged with a foot 11396b extending therefrom. As the reader will understand, the aforementioned retaining pins secure the various components of the detachable portion 11363a together while the aforementioned retaining element secures the various components of the detachable portion 11363b together. As the reader will also understand, the latch 11390, when in its locked position, secures the separable portions 11363a and 11363b together. In various examples, referring primarily to Figure 158 , the blade 11390 may include a first locking member 11397a configured to engage a first locking portion 11361a of the first cutting portion 11365a and, in addition, a second locking member. lock 11397b configured to engage a second portion and lock 11361b of the second cutting element portion 11365b. The first locking portion 11361a and the second locking portion 11361b may be configured to cooperatively and releasably hold the cutting element portions 11365a and 11365b together. In various examples, the locking portions 11397a, 11397b may secure the cutting member portions 11365a and 11365b together so that the cutting surfaces 11395a and 11395b of the cutting member portions 11365a and 11365b, respectively, form a surface. continuous or at least substantially continuous cutting. Referring again to Figure 158 , the locking portions 11397a, 11397b of the lock 11390 may be configured to cooperatively engage and hold the keys 11361a and 11361b of the cutting member portions 11365a and 11365b, respectively. In various examples, the locking portions 11397a, 11397b may define a recess 11398 therebetween which is configured to receive keys 11361a and 11361b when the latch 11390 is in its locked position. When latch 11390 is pulled proximally, locking portions 11397a and 11397b can disengage keys 11361a and 11361b. At such a point, the latch 11390 may no longer hold the cutting member portions 11365a and 11365b together. In such circumstances, as a result, the separable portions 11366a and 11366b may move relative to each other. For example, the detachable portion 11366a can move with the jaw 11262 when the jaw 11262 is reopened and correspondingly the detachable portion 11366b can remain with the cartridge 11264. In view of the above, the latch 11390 can be pulled proximally to unlock the detachable portions 11266a and 11366b when the trigger element 11366 is locked in an at least partially triggered position, for example.

[00446] As discussed above, the latch 11390 can be pulled proximally to unlock the separable portions 11266a and 11266b of the trigger 11366. Turning now to Figure 159, the latch 11390 can be pulled proximally and/or pushed distally by the lock bar 11391. Lock bar 11391 may be positioned within end actuator 11360 and may include a proximal end 11392 and a distal end 11393. Distal end 11393 of lock bar 11391 may be engaged with lock 11390. More specifically, in at least one embodiment, distal end 1393 may include a projection extending therefrom that can be slidably positioned within an elongated slot 11399 defined in latch 11390. To pull latch 11390 proximally, locking bar 11391 can be pulled proximally until the projection contacts the proximal end 11394 of the elongated slot 11399 where the bar movement The latch 11391 can be transferred to the latch 11390. Correspondingly, the projection can be configured to contact a distal end 11395 of the elongated slot 11399 to push the latch 11390 distally. As the reader will understand, with reference again to Figure 156, the trigger element 11366 may include one or more longitudinal slots 11369 defined here which may be configured to allow the locking bar projection to extend thereafter and engage the lock 11390 as described above.

[00447] In addition to the above, with reference primarily to Figures 156 and 160, the proximal end 11392 of the locking bar 11391 may comprise an attachment portion configured to be engaged by a locking activator 11348 of a rod 11340 of an instrument. surgical. Referring primarily to Figure 160 , lock actuator 11348 may comprise a distal end 11349 including a notch, for example, which may be configured to receive proximal end 11392 of lock bar 11391. Lock actuator 11348 may additionally comprise a proximal end 11347 that can be pulled proximally and/or pushed distally by a user of the surgical instrument to move the Lock Activator 11348 and Locking Bar 11391 proximally and/or distally, respectively. In use, the proximal end 11392 of the locking bar 11391 may be mounted to the distal end 11349 of the locking actuator 11348 when the end actuator 11360 is mounted on the stem 11340.

[00448] As outlined above, a motor can be used to advance and/or retract a trigger element to position the fasteners of an end actuator and/or to incise captured tissue within the end actuator. In various examples, the motor may include a rotating drive rod, the rotation of which may be converted to translational motion and transmitted to a trigger element, such as a cutting element and/or clamp driver, for example. In at least one such example, the swivel drive rod may include a threaded portion that is threadedly engaged with a collar including a threaded opening defined herein wherein, in use, the collar may be confined to rotate so that rotation of the drive rod advance the collar distally and/or retract the collar proximally depending on the direction the drive rod is rotated. In certain examples, the trigger element may become stuck and/or otherwise receive a force or torque that exceeds the desired or predetermined maximum force or torque. Going now to Figures 162 through 167, a 12000 engine assembly may include a 12010 engine, a 12020 rod, and a 12030 slip clutch assembly, where the 12030 slip clutch assembly may limit the force or torque that the 12010 engine can transmit to rod 12020. In several examples, referring primarily to Figures 162 and 163, the slip clutch assembly 12030 can transmit torque between a rotary drive output 12012 of motor 12010 and rod 12020. Referring now to Figures of 165 to 167, drive output 12012 may include a substantially circular outer profile portion 12011 and a transition surface 12014 which may be flat or at least substantially flat in various examples. The external drive output profile 12012 may additionally include a first drive shield 12016 defined between the portion of the circular profile 12011 and the flat surface 12014 and, in addition, a second drive shield 12018 that is defined between the opposite end. and the flat surface 12014 and the circular profile portion 12011.

[00449] As also illustrated in Figures 165 through 167, the slip clutch assembly 12030 may include a drive element 12034 that is biased in engagement with drive output 12012 by a biasing element or spring 12036. The drive element 12034 may be at least positioned within a retention slot defined in a housing 12037 of the slip clutch assembly 12030 so that movement of actuation member 12034 with respect to housing 12037 may be defined along an axis. As the reader will understand, the housing 12037 of the slip clutch assembly can be mounted on the rod 12020 so that the housing 12037 and the rod 12020 rotate together synchronously. As the reader will also understand, drive element 12034 can transmit rotational motion from drive output 12012 to housing 12037 at least under certain circumstances. More specifically, when trigger output 12012 is rotated in a first direction, as indicated by arrow 12017, to advance the trigger element distally, trigger output 12012 can rotate relative to trigger element 12034 to the first trigger shield 12016 contact drive element 12034. As the reader will understand, the first drive shield 12016 can remain in contact with drive element 12034 as long as tilt element 12036 is able to resist, or at least resist sufficiently, to radially outward movement of the drive element 12034. As long as the drive element 12034 is in contact with the first drive shield 12016, the motor 12010 can rotate the rod 12020 in a direction that advances the trigger element distally. In various examples, the motor 12010 may apply a torque to the drive output 12012 that is large enough to move the drive element 12034 radially outward so that the first drive shield 12016 of the drive output 12012 slides into the drive element 12034. drive 12034 and, as a result, drive output 12012 rotates with respect to drive element 12034, slip clutch housing 12037, and rod 12020. In other words, drive element 12034 can be stopped and operatively disengaged from the drive. 12010 motor when the torque applied to the 12012 drive output exceeds a predetermined or maximum torque. When the torque applied to the drive output 12012 falls below this predetermined or maximum torque, the drive element 12034 can re-engage the first drive bulkhead 12016 and, as a result, the rod 12020 can operationally re-engage the motor 12010. so that rod 12020 is rotated by drive output 12012 of motor 12010.

[00450] In addition to the above, when trigger output 12012 is rotated in a second direction, as indicated by arrow 12019, to retract the trigger element proximally, trigger output 12012 may rotate relative to trigger element 12034 until the second drive shield 12018 makes contact with drive element 12034. As the reader will understand, second drive shield 12018 can remain in contact with drive element 12034 as long as tilt element 12036 is able to resist, or at least sufficiently resist radially outward movement of drive element 12034. As long as drive element 12034 is in contact with second drive shield 12018, motor 12010 can rotate rod 12020 in a direction that retracts the trigger element proximally. In various examples, the motor 12010 may apply a torque to the drive output 12012 that is large enough to move the drive element 12034 radially outward so that the second drive shield 12018 of the drive output 12012 slides into the drive element 12034. drive 12034 and as a result drive output 12012 rotates relative to drive element 12034, slip clutch housing 12037 and rod 12020. In other words, drive element 12034 can be stopped and operationally disengaged from motor 12010 when the torque applied to the 12012 drive output exceeds a predetermined or maximum torque. When the torque applied to the drive output 12012 falls below this predetermined or maximum torque, the drive element 12034 may re-engage the second drive bulkhead 12018 and, as a result, the rod 12020 may operationally re-engage the motor 12010. so that rod 12020 is rotated by drive output 12012 of motor 12010.

[00451] In various examples, in addition to the above mentioned, the first drive shield 12016 and the second drive shield 12018 may comprise the same configuration. In certain examples, the first drive shield 12016 can be defined by the first radius of curvature and the second drive shield 12018 can be defined by a second radius of curvature. In some examples, the first radius of curvature may be equal to the second radius of curvature. In such examples, the maximum torque, or slip, that the motor 12010 can apply when rotating drive output 12012 in the first direction 12017 may be equal to or substantially equal to the maximum torque, or slip, that the motor 12010 can apply when rotating the drive output 12012 in the second direction 12019. In some examples, the first radius of curvature may differ from the second radius of curvature. In such examples, the maximum torque, or slip, that the 12010 motor can apply when it rotates the 12012 drive output in the first direction 12017 may be different from the maximum torque, or slip, that the 12010 motor can apply when rotating the drive output. 12012 in the second direction 12019. In at least one such example, the first radius of curvature may be greater than the second radius of curvature whereby, as a result, the maximum torque, or slip, in the first direction 12017 may be less than than the maximum torque, or slip, in the second direction 12019. In other words, the motor 12010 can apply more torque to the rod 12020 when retracting the triggering element than when advancing the triggering element. Such examples may be advantageous when it may be desirable to retract the trigger element so that the end actuator of the surgical instrument can be reopened and released from tissue, for example. In at least one example, the first radius of curvature may be less than the second radius of curvature whereby, as a result, the maximum torque, or slip, in the first direction 12017 may be greater than the maximum torque, or slip, in the second direction 12019. In other words, the motor 12010 can apply greater torque to the rod 12020 when advancing the triggering element than when retracting the triggering element.

[00452] In addition to the above, with reference primarily to Figures 163 and 164, the tilt element 12035 may be resiliently supported by the spring collar 12032 positioned within a circumferential channel 12031 defined in the slip clutch housing 12037. In such examples, the spring collar 12032 and the biasing element 12036 may cooperate to apply a radially inward biasing force and/or to resist radially outward movement of the drive element 12034. The spring collar 12032, in various examples, may comprise an annular body including a first free end 12033 and a second free end 12034, wherein the annular body can resiliently expand when the radially outward force discussed above is applied to it and resiliently contract when this radially outward force ceases or decreases. In such examples, the first free end 12033 of the spring collar 12032 can move with respect to the second free end 12034.

[00453] The devices described here may be designed to be discarded after a single use, or they may be designed to be used multiple times. In either case, however, the device may be refurbished for reuse after at least one use. Overhaul can include any combination of the steps of disassembling the device, followed by cleaning or replacing specific parts and subsequent reassembly. In particular, the device can be dismantled and any number of specific parts or parts of the device can be selectively replaced or removed, in any combination. When cleaning and/or replacing specific parts, the device can be reassembled for subsequent use at the refurbishment facility, or by a surgical team, immediately prior to a surgical procedure. Those skilled in the art will understand that refurbishing a device can use a variety of techniques to disassemble, clean/replace, and reassemble. The use of such techniques and the resulting refurbished device are within the scope of this application.

[00454] Preferably, the invention described herein will be processed prior to surgery. First, a new or used instrument is obtained and, if necessary, cleaned. The instrument can then be sterilized. In a sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and instrument are then placed in a field of radiation that can penetrate the container, such as gamma radiation, X-rays, or high-energy electrons. Radiation kills bacteria on the instrument and container. The sterilized instrument can then be stored in a sterile container. The sealed container keeps the instrument sterile until it is opened in the medical facility.

[00455] Any patent, publication or other disclosure material, in whole or in part, which is deemed to be incorporated by reference to the present invention, is incorporated into the present invention only to the extent that the materials incorporated do not conflict. with definitions, statements, or other existing disclosure materials set forth in this disclosure. Accordingly, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, which is incorporated herein by reference, but which conflicts with the definitions, statements, or other existing disclosure materials presented herein, is incorporated herein only to the extent that there is no conflict between the embedded material and existing developing material.

[00456] While this invention has been described as having exemplary designs, the present invention may be further modified within the spirit and scope of the disclosure. This application is therefore intended to cover any variations, uses or adaptations of the invention using its general principles. Additionally, this application is intended to cover those deviations from the present disclosure that may occur with known or customary practice in the art to which this invention relates.

Claims (6)

1. Surgical instrument (810), comprising: an elongated rod assembly (16) defining a longitudinal axis of the tool: a surgical end actuator (20, 22) operatively coupled to the elongated rod assembly for selective articulation with respect to the same, wherein the surgical end actuator is configured to perform at least one surgical procedure in response to trigger movements applied thereto; a linkage system (859) in operational interface with the elongated rod assembly to apply linkage movements to the surgical end actuator; a triggering element assembly operationally interfacing with the elongated stem assembly to apply the triggering motions to the surgical end actuator; a motor (100) configured to generate rotary actuation motions; and a drive coupler assembly (840) interfaced with the motor and linkage system so that when the drive coupler assembly is in a first configuration, engine operation will result in the actuation motions being applied to the linkage system , resulting in the articulation of the surgical end actuator with respect to the longitudinal axis of the tool and, when the drive coupler assembly is in a second configuration, the motor operation will result in the application of actuation movements to the triggering element assembly, causing that the triggering element assembly applies at least one of the triggering motions to the surgical end actuator, wherein the linkage system (859) comprises: a linkage linkage assembly (97) supported by the elongated rod assembly and configured to be in operational interface with an articulated joint, facilitating the articulation of the surgical end actuator in relation to the longitudinal axis of the tool; a linkage actuation mechanism (860) interfaced with the drive coupler assembly and the linkage linkage assembly to apply linkage actuation movements to the linkage linkage assembly, where the motor is operationally coupled to a gear assembly (820) having the drive coupler assembly (840) associated therewith, comprising: a gearbox housing (822) coupled to a motor portion; a gear arrangement (821) operationally supported within the gearbox housing, and interfaced with an engine rod and linkage actuation mechanism; and an output rod unit (850) in operational interface with the gear arrangement and triggering element assembly, wherein the linkage system further comprises a linkage drive rod (872) in operational interface with the actuation mechanism and the gear arrangement, and the surgical instrument characterized in that the gear arrangement comprises: a planetary gear arrangement (821), operatively supported by the gearbox housing and interfaced with the motor shaft and the output rod unit; and a coupler gear assembly, in operational interface with the planetary gear arrangement and a linkage drive gear on the linkage drive rod. 2. Surgical instrument, according to claim 1, characterized in that the drive coupler assembly further comprises a coupler selector element selectively movable between a first selector position, wherein: the output rod unit is prevented from rotating when the motor rod is applying rotary actuating motions to portions of the planetary gear arrangement, and the coupling gear assembly may rotate in response to rotation of the portions of the planetary gear arrangement to apply rotary actuating motions to the linkage drive shaft , and a second selector position, wherein: the coupling gear assembly is prevented from rotating when the motor rod is applying rotary actuation motions to portions of the planetary gear arrangement, and the output rod unit can rotate in response the rotation of portions of the planetary gear arrangement to apply the rotary actuating motions to the trigger element set. 3. Surgical instrument according to claim 1, characterized in that the surgical end actuator comprises a loading unit, wherein the loading unit comprises: a support that operatively supports a cartridge of surgical staples, and which is selectively articulable with respect to the longitudinal axis of the tool, by means of the articulation system; an anvil movably supported with respect to the support; and an actuating element that can move axially through the support in response to an application at the same time of the triggering motions. 4. Surgical instrument according to claim 1 or claim 2, characterized in that the surgical end actuator comprises a charging unit. 5. Surgical instrument, according to claim 4, characterized in that the articulated joint comprises a portion of the loading unit. 6. Surgical instrument, according to claim 1 or claim 2, characterized in that the surgical end actuator comprises a pair of claws, in which at least one of the claws is selectively movable in relation to the other claw upon application, at the same time, of the shooting movement.

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