BR112018005652B1 - SURGICAL STAPLER - Google Patents

Abstract

SURGICAL STAPLER HAVING MOTOR CONTROL BASED ON AN ELECTRICAL PARAMETER RELATED TO A MOTOR CURRENT. The present invention relates to a surgical stapler. The surgical stapler includes a drive system, an electric motor, a battery and a control system. The electric motor is mechanically coupled to the drive system. The battery is electrically coupled to the electric motor. The control system is electrically connected to the electric motor and includes an H-bridge circuit, an electrically resistive element and an electrically inductive element. The H-bridge circuit includes a high side and a low side. The low side of the H-bridge circuit includes first and second switching devices. The electrically resistive element is electrically connected in series with the first switching device. The electrically inductive element is electrically connected to the electrically resistive element. The control system is configured to control a force applied to the drive system based on a current downstream of the electrically resistive element.

Description

BACKGROUND

[001] The invention described herein relates to surgical instruments and, in various embodiments, surgical stapling and cutting instruments, as well as staple cartridges for use therewith.

[002] A stapling instrument can include a pair of cooperating elongated claw members, each claw member adaptable to be inserted into a patient and positioned relative to the tissue to be stapled and/or cut. In various embodiments, one of the claw members can support a staple cartridge with at least two laterally spaced rows of staples contained therein, and the other claw member can support an anvil with staple forming pockets aligned with the rows of staples in the staple cartridge. In general, the stapling instrument may further include a pusher bar and knife blade that are slidable relative to the gripper member to sequentially eject staples from the staple cartridge through cam surfaces on the drive bar and/or cam surfaces over a wedge slider that is pushed by the drive bar. In at least one embodiment, the cam surfaces can be configured to activate a plurality of staple drivers carried by the cartridge and associated with the staples to push the staples against the anvil and form laterally spaced rows of deformed staples in the tissue trapped between the claw members. In at least one embodiment, the knife blade can follow the cam surfaces and cut the fabric along a line between the staple rows.

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

BRIEF DESCRIPTION OF THE DRAWINGS

[004] Several characteristics of the modalities described here, together with their advantages, can be understood according to the following description, considered in conjunction with the attached drawings, as shown below:

[005] Figure 1 is a perspective view of a surgical instrument having an interchangeable drive shaft assembly operatively coupled thereto;

[006] Figure 2 is an exploded view of the interchangeable drive shaft assembly and the surgical instrument of Figure 1;

[007] Figure 3 is another exploded assembly view showing portions of the interchangeable drive shaft and surgical instrument assembly of Figures 1 and 2;

[008] Figure 4 is an exploded assembly view of a portion of the surgical instrument of Figures 1 to 3;

[009] Figure 5 is a cross-sectional side view of a portion of the surgical instrument of Figure 4 with the firing trigger in a fully activated position;

[0010] Figure 6 is another cross-sectional view of a portion of the surgical instrument of Figure 5 with the firing trigger in a deactivated position;

[0011] Figure 7 is an exploded assembly view of one form of an interchangeable drive shaft assembly;

[0012] Figure 8 is a further exploded assembly view showing portions of the interchangeable driveshaft assembly of Figure 7;

[0013] Figure 9 is another exploded assembly view showing portions of the interchangeable drive shaft assembly of Figures 7 and 8;

[0014] Figure 10 is a cross-sectional view of a portion of the interchangeable drive shaft assembly of Figures 7 to 9;

[0015] Figure 11 is a perspective view of a portion of the driveshaft assembly of Figures 7 to 10 with the drum key omitted for clarity;

[0016] Figure 12 is another perspective view of the interchangeable drive shaft assembly portion of Figure 11, with the drum wrench mounted thereon;

[0017] Figure 13 is a perspective view of a portion of the interchangeable drive shaft assembly of Figure 11 operationally coupled to a portion of the surgical instrument of Figure 1, illustrated with the trigger closing the same in a non-actuated position;

[0018] Figure 14 is a right side elevation view of the interchangeable drive shaft assembly and the surgical instrument of Figure 13;

[0019] Figure 15 is a left side elevation view of the interchangeable drive shaft assembly and the surgical instrument of Figures 13 and 14;

[0020] Figure 16 is a perspective view of a portion of the interchangeable drive shaft assembly of Figure 11, operationally coupled to a portion of the surgical instrument of Figure 1, illustrated with its closing trigger in an activated position and a firing trigger thereof in a non-actuated position;

[0021] Figure 17 is a right side elevation view of the interchangeable drive shaft assembly and the surgical instrument of Figure 16;

[0022] Figure 18 is a left side elevation view of the interchangeable drive shaft assembly and the surgical instrument of Figures 16 and 17;

[0023] Figure 18A is a right side elevation view of the interchangeable drive shaft assembly of Figure 11, operatively coupled to a portion of the surgical instrument of Figure 1, illustrated with its closing trigger in an activated position and its firing trigger in an activated position;

[0024] Figure 19 is a schematic representation of a system for de-energizing an electrical connector of a surgical instrument cable, when a shaft assembly is not coupled to it;

[0025] Figure 20 is an exploded view of an aspect of an end actuator of the surgical instrument of Figure 1;

[0026] Figures 21A and 21B are a circuit diagram of the surgical instrument of Figure 1 spanning two sheets of drawings;

[0027] Figure 22 illustrates an instance of a power pack comprising a usage cycle circuit configured to generate a battery reserve usage cycle count;

[0028] Figure 23 illustrates an aspect of a process for sequentially energizing a segmented circuit;

[0029] Figure 24 illustrates an aspect of a power segment comprising a plurality of series-chained power converters;

[0030] Figure 25 illustrates an aspect of a segmented circuit configured to maximize available power for critically important and/or power intensive functions;

[0031] Figure 26 illustrates an aspect of a power system comprising a plurality of series-chained power converters configured to be energized sequentially;

[0032] Figure 27 illustrates an aspect of a segmented circuit comprising an isolated control section;

[0033] Figure 28, which is divided into Figures 28A and 28B, is a circuit diagram of the surgical instrument of Figure 1;

[0034] Figure 29 is a block diagram of the surgical instrument of Figure 1 illustrating interfaces between the handle assembly 14 and the feeding assembly, and between the handle assembly 14 and the interchangeable drive shaft assembly;

[0035] Figure 30 illustrates a simplified representation of various embodiments of a surgical stapler;

[0036] Figure 31 illustrates a simplified representation of various embodiments of a surgical stapler;

[0037] Figure 32 illustrates a simplified representation of various embodiments of a surgical stapler;

[0038] Figure 33 illustrates exemplary waveforms of battery current and recirculation current of a surgical stapler, according to various embodiments; It is

[0039] Figure 34 illustrates an exemplary sampling of battery current from various embodiments of a surgical stapler, over multiple periods of a PWM duty cycle.

[0040] Matching reference characters indicate matching parts across the various views. The exemplifications described herein illustrate various embodiments of the invention, in one form, and these exemplifications are not to be considered as limiting the scope of the invention in any way.

DETAILED DESCRIPTION

[0041] The applicant for this application holds the following patent applications that were filed on the same date as this application and which are each incorporated herein by reference in their respective entireties:

[0042] US Patent Application Serial No. entitled "SURGICAL STAPLER HAVING CURRENT MIRROR-BASED MOTOR CONTROL"; attorney document no. END7660USNP/150095;

[0043] US Patent Application Serial No. entitled "SURGICAL STAPLER HAVING MOTOR CONTROL BASED ON A DRIVE SYSTEM COMPONENT"; attorney document no. END7661USNP/150096;

[0044] US Patent Application Serial No. entitled "SURGICAL STAPLER HAVING FORCE-BASED MOTOR CONTROL"; attorney document no. END7662USNP/150097;

[0045] US Patent Application Serial No. entitled "SURGICAL STAPLER HAVING MAGNETIC FIELD-BASED MOTOR CONTROL"; attorney document no. END7663USNP/150098;

[0046] US Patent Application Serial No. entitled "SURGICAL STAPLER HAVING FORCE-BASED MOTOR CONTROL"; attorney document no. END7664USNP/150099; It is

[0047] US Patent Application Serial No. entitled "SURGICAL STAPLER HAVING CURRENT MIRROR-BASED MOTOR CONTROL"; attorney document no. END7665USNP/150100.

[0048] The applicant for this application holds the following patent applications that were filed on March 6, 2015 and which are each incorporated herein by reference in their respective entireties:

[0049] US Patent Application Serial No. 14/640,746 entitled "POWERED SURGICAL INSTRUMENT";

[0050] US Patent Application Serial No. 14/640,765, entitled "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER";

[0051] US Patent Application Serial No. 14/640,780, entitled "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING";

[0052] US Patent Application Serial No. 14/640,795, entitled "MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS";

[0053] US Patent Application Serial No. 14/640,799, entitled "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT";

[0054] US Patent Application Serial No. 14/640,817, entitled "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS";

[0055] US Patent Application Serial No. 14/640,831, entitled "MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICAL INSTRUMENTS";

[0056] US Patent Application Serial No. 14/640,832, entitled "ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPES";

[0057] US Patent Application Serial No. 14/640,837, entitled "SMART SENSORS WITH LOCAL SIGNAL PROCESSING";

[0058] US Patent Application Serial No. 14/640,844, entitled "CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE";

[0059] US Patent Application Serial No. 14/640,859, entitled "TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES"; It is

[0060] US Patent Application Serial No. 14/640,935, entitled "OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION".

[0061] The applicant for this application holds the following patent applications that were filed on February 27, 2015 and which are each incorporated herein by reference in their respective entireties:

[0062] US Patent Application Serial No. 14/633,526 entitled "ADAPTABLE SURGICAL INSTRUMENT HANDLE";

[0063] US Patent Application Serial No. 14/633,541 entitled "MODULAR STAPLING ASSEMBLY";

[0064] US Patent Application Serial No. 14/633,542, entitled "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT";

[0065] US Patent Application Serial No. 14/633,546, entitled "SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND";

[0066] US Patent Application Serial No. 14/633,548, entitled "POWER ADAPTER FOR A SURGICAL INSTRUMENT";

[0067] US Patent Application Serial No. 14/633,555, entitled "SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED";

[0068] US Patent Application Serial No. 14/633,560, entitled "SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE BATTERIES";

[0069] US Patent Application Serial No. 14/633,562, entitled "SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER";

[0070] US Patent Application Serial No. 14/633,566, entitled "CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY"; It is

[0071] US Patent Application Serial No. 14/633,576, entitled "SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION".

[0072] The applicant for this application holds the following patent applications that were filed on December 18, 2014 and which are each incorporated herein by reference in their respective entireties:

[0073] US Patent Application Serial No. 14/574,478, entitled "SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING";

[0074] US Patent Application Serial No. 14/574,483, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS";

[0075] US Patent Application Serial No. 14/574,493, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM";

[0076] US Patent Application Serial No. 14/574,500, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM";

[0077] US Patent Application Serial No. 14/575,117, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS";

[0078] US Patent Application Serial No. 14/575,130, entitled "SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE";

[0079] US Patent Application Serial No. 14/575,139, entitled "DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INS-TRUMENTS";

[0080] US Patent Application Serial No. 14/575,143, entitled "SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRAN-GEMENTS";

[0081] US Patent Application Serial No. 14/575,148, entitled "LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS"; It is

[0082] US Patent Application Serial No. 14/575,154, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS".

[0083] The applicant for this application also holds the following patent applications that were filed on September 5, 2014 and which are each incorporated herein by reference in their respective entireties:

[0084] US Patent Application Serial No. 14/478,895, entitled "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION";

[0085] US Patent Application Serial No. 14/478,908, entitled "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION";

[0086] US Patent Application Serial No. 14/479,098, entitled "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION";

[0087] US Patent Application Serial No. 14/479,103, entitled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE";

[0088] US Patent Application Serial No. 14/479,108, entitled "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION";

[0089] US Patent Application Serial No. 14/479,110, entitled "USE OF POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE";

[0090] US Patent Application Serial No. 14/479,115, entitled "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE"; It is

[0091] US Patent Application Serial No. 14/479,119, entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION";

[0092] The applicant for this application also holds the following patent applications that were filed on April 9, 2014 and which are each incorporated herein by reference in their respective entireties:

[0093] US Patent Application Serial No. 14/248,581, entitled "SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT", now US Patent Application Publication No. 2014/0305989;

[0094] US Patent Application Serial No. 14/248,584, entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS", now US Patent Application Publication No. 2014/0305994;

[0095] US Patent Application Serial No. 14/248,586, entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0305990;

[0096] US Patent Application Serial No. 14/248,587, entitled "POWERED SURGICAL STAPLER", now US Patent Application Publication No. 2014/0309665;

[0097] US Patent Application Serial No. 14/248,588, entitled "POWERED LINEAR SURGICAL STAPLER", now US Patent Application Publication No. 2014/0309666;

[0098] US Patent Application Serial No. 14/248,590, entitled "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS", now US Patent Application Publication No. 2014/0305987;

[0099] US Patent Application Serial No. 14/248,591, entitled "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0305991;

[00100] US Patent Application Serial No. 14/248,595, entitled "SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0305988; It is

[00101] US Patent Application Serial No. 14/248,607, titled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS", now US Patent Application Publication No. 2014/0305992.

[00102] The applicant for this application also holds the following patent applications that were filed on March 26, 2014 and which are each incorporated herein by reference in their respective entireties:

[00103] US Patent Application Serial No. 14/226,071, entitled "SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR";

[00104] US Patent Application Serial No. 14/226,075, entitled "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES";

[00105] US Patent Application Serial No. 14/226,076, entitled "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION";

[00106] US Patent Application Serial No. 14/226,081, entitled "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT";

[00107] US Patent Application Serial No. 14/226,093, entitled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS";

[00108] US Patent Application Serial No. 14/226,094, entitled "VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT";

[00109] US Patent Application Serial No. 14/226,097, entitled "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS";

[00110] US Patent Application Serial No. 14/226,099, entitled "STERILIZATION VERIFICATION CIRCUIT";

[00111] US Patent Application Serial No. 14/226,106, entitled "POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS";

[00112] US Patent Application Serial No. 14/226,111, entitled "SURGICAL STAPLING INSTRUMENT SYSTEM";

[00113] US Patent Application Serial No. 14/226,116, entitled "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION";

[00114] US Patent Application Serial No. 14/226,117, entitled "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL";

[00115] US Patent Application Serial No. 14/226,125, entitled "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT";

[00116] US Patent Application Serial No. 14/226,126, entitled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS"; It is

[00117] US Patent Application Serial No. 14/226,133 entitled "MODULAR SURGICAL INSTRUMENT SYSTEM".

[00118] The applicant for this application also holds the following patent application which was filed on March 7, 2014 and is incorporated herein by reference in its entirety:

[00119] US Patent Application Serial No. 14/200,111, entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263539.

[00120] The applicant for this application also holds the following patent applications that were filed on Tuesday, April 16, 2013 and which are each incorporated herein by reference in their respective entireties:

[00121] US Provisional Patent Application Serial No. 61/812,365, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR";

[00122] US Provisional Patent Application Serial No. 61/812,372, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR";

[00123] US Provisional Patent Application Serial No. 61/812,376, entitled "LINEAR CUTTER WITH POWER";

[00124] US Provisional Patent Application Serial No. 61/812,382, entitled "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP"; It is

[00125] US Provisional Patent Application Serial No. 61/812,385, entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL".

[00126] The applicant for this application also holds the following patent applications that were filed on March 14, 2013 and which are each incorporated herein by reference in their respective entireties:

[00127] US Patent Application Serial No. 13/803,053, entitled "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0263564;

[00128] US Patent Application Serial No. 13/803,066, entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263565;

[00129] US Patent Application Serial No. 13/803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN AR-TICULATION LOCK", now US Patent Application Publication No. 2014/0263541;

[00130] US Patent Application Serial No. 13/803,097, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE", now US Patent Application Publication No. 2014/0263542;

[00131] US Patent Application Serial No. 13/803,117, entitled "ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263553;

[00132] US Patent Application Serial No. 13/803,130, entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263543;

[00133] US Patent Application Serial No. 13/803,148, entitled "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0263554;

[00134] US Patent Application Serial No. 13/803,159, entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0277017;

[00135] US Patent Application Serial No. 13/803,193, entitled "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0263537; It is

[00136] US Patent Application Serial No. 13/803,210, entitled "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263538.

[00137] The applicant for this application holds the following patent applications that were filed on March 1, 2013 and which are each incorporated herein by reference in their respective entireties:

[00138] US Patent Application Serial No. 13/782,295 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION", now US Patent Application Publication No. 2014/0246471;

[00139] US Patent Application Serial No. 13/782,323, entitled "ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0246472;

[00140] US Patent Application Serial No. 13/782,338, entitled "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INS-TRUMENTS", now US Patent Application Publication No. 2014/0249557;

[00141] US Patent Application Serial No. 13/782,358, entitled "JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0246477;

[00142] US Patent Application Serial No. 13/782,375, entitled "ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM", now US Patent Application Publication No. 2014/0246473;

[00143] US Patent Application Serial No. 13/782,460, ENTITLED "MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS", NOW PUBLICATION OF US PATENT APPLICATION No. 2014/0246478;

[00144] US Patent Application Serial No. 13/782,481, titled "SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR", now US Patent Application Publication No. 2014/0246479;

[00145] US Patent Application Serial No. 13/782,499, entitled "ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT", now US Patent Application Publication No. 2014/0246474;

[00146] US Patent Application Serial No. 13/782,518, entitled "CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS", now US Patent Application Publication No. 2014/0246475; It is

[00147] US Patent Application Serial No. 13/782,536, entitled "SURGICAL INSTRUMENT SOFT STOP", now US Patent Application Publication No. 2014/0246476.

[00148] Numerous specific details are presented to provide a complete understanding of the structure, function, fabrication and general use of the modalities as described in the descriptive report and illustrated in the attached drawings. Well-known operations, components and elements have not been described in detail so as not to obscure the modalities described in the specification. The reader will understand that the embodiments described and illustrated in the present invention are non-limiting examples and, therefore, it is to be understood that the specific structural and functional details described in the present invention may be representative and illustrative. Variations and alterations may be made thereto without deviating from the scope of the claims.

[00149] The terms "comprises" (and any form of comprises, such as "comprises" and "which comprises"), "has" (and any form of has, such as "has" and "which 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 apparatus 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 apparatus 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.

[00150] The terms "proximal" and "distal" are used in the present invention with reference to a physician manipulating the handle portion of the surgical instrument. The term "proximal" refers to the portion closest to the practitioner, and the term "distal" refers to the portion located away from the practitioner. It will also be understood that, for the sake of convenience and clarity, spatial terms such as "vertical", "horizontal", "up" and "down" 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.

[00151] Several exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily understand that the various methods and devices described in the present invention can be used in a number of surgical procedures and applications, including, for example, in relation to open surgical procedures. As this Detailed Description advances, the reader will further understand that the various instruments described herein may 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 drive shaft of a surgical instrument may be advanced.

[00152] The surgical stapling system may comprise a drive shaft and an end actuator that extends from the drive shaft. The end actuator comprises a first jaw and a second jaw. The first gripper comprises a staple cartridge. The staple cartridge is insertable into and removable from the first jaw; however, other embodiments are envisaged in which a staple cartridge is not removable, or at least readily replaceable, from the first jaw. The second gripper comprises an anvil configured to deform staples ejected from the staple cartridge. The second claw pivots with respect to the first claw around a geometric axis of the lid; however, other embodiments are envisaged in which the first claw is pivotal with respect to the second claw. The surgical stapling system further comprises a pivot joint configured to allow the end actuator to be pivoted or pivoted relative to the drive shaft. The end actuator is rotatable about a pivot axis that extends through the pivot joint. Other embodiments are envisaged which do not include a pivot joint.

[00153] The staple cartridge comprises a cartridge body. The cartridge body includes a proximal end, a distal end, and a platform extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of the tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved towards the staple cartridge to compress and secure the tissue against the platform. Thereafter, the staples removablely stored in the cartridge body can be delivered to the tissue. The cartridge body includes staple cavities defined therein, the staples being removablely stored in the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a longitudinal slot and three rows of staple pockets are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may be possible.

[00154] The staples are supported by staple drivers in the cartridge body. The actuators are movable between a first position, or unfired position, and a second position, or fired position, for ejecting staples from staple cavities. The actuators are retained in the cartridge body by a retainer that extends around the bottom of the cartridge body and includes resilient members configured to grip the cartridge body and retain the retainer in the cartridge body. Triggers are movable between their non-triggered positions and their positions triggered by a slider. The slider is movable between a proximal position adjacent to the proximal end and a distal position adjacent to the distal end. The slider comprises a plurality of inclined surfaces configured to slide under the drivers and lift the drivers, and the clamps supported thereon, towards the anvil.

[00155] In addition to the above, the slider is moved distally by a trigger member. The triggering member is configured to contact the slider and push the slider toward the distal end. The longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The trigger member further comprises a first cam that engages the first jaw and a second cam that engages the second claw. As the firing member is advanced distally, the first cam and second cam can control the distance, or tissue gap, between the staple cartridge platform and the anvil. The trigger member also comprises a knife configured to make an incision in tissue captured between the anvil and the staple cartridge. It is desirable that the knife be positioned at least partially proximal to the inclined surfaces so that the staples are ejected ahead of the knife.

[00156] Figures 1 to 6 represent a surgical cutting and fixing instrument driven by motor 10 that may or may not be reused. In the illustrated examples, instrument 10 includes a housing 12 comprising a handle assembly 14 that is configured to be picked up, manipulated and operated by the clinician. Housing 12 is configured for operative attachment to an interchangeable drive shaft assembly 200 having a surgical end actuator 300 operatively coupled thereto which is configured to perform one or more surgical tasks or procedures. As the present detailed description proceeds, it will be understood that various unique and innovative arrangements of the various forms of interchangeable drive shaft assemblies presented herein can also be effectively employed in connection with robotically controlled surgical systems. Accordingly, the term "enclosure" may also encompass a compartment or similar portion of a robotic system that houses or otherwise operatively supports at least one drive system configured to generate and apply at least one control motion that can be used to drive the interchangeable drive shaft assemblies described in the present invention and their respective equivalents. The term "frame" may refer to a portion of a handheld surgical instrument. The term "structure" can also represent a portion of a robotically controlled surgical instrument and/or a portion of the robotic system that can be used to operationally control the surgical instrument. For example, the interchangeable drive shaft assemblies shown herein can be employed with various robotic systems, instruments, components and methods described in US Patent Application Serial No. 13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now published as US Patent No. 9,072,535. US Patent Application Serial No. 13/118,241 entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now published as US Patent No. 9,072,535, is incorporated herein in its entirety by reference.

[00157] The compartment 12 illustrated in Figures 1 to 3 is shown in connection with an interchangeable drive shaft assembly 200 that includes an end actuator 300 that comprises a surgical device for cutting and fixing that is configured to operably support a cartridge of surgical staples 304 inside it. Housing 12 can be configured for use in conjunction with interchangeable driveshaft assemblies that include end actuators that are adapted to support different sizes and types of staple cartridges, and that have different lengths, sizes and types of driveshaft, etc. In addition, housing 12 can also be effectively employed with a variety of other interchangeable shaft assemblies, including those assemblies that are configured to apply other motion and forms of energy, such as radio frequency (RF) energy, ultrasonic energy and/or motion to end actuator arrangements adapted for use in connection with various surgical applications and procedures. In addition, end actuators, drive shaft assemblies, cables, surgical instruments and/or surgical instrument systems may use any one or more suitable fasteners to secure tissues. For example, a fastener cartridge comprising a plurality of fasteners stored therein removablely may be removablely inserted into and/or attached to the end actuator of a driveshaft assembly.

[00158] Figure 1 illustrates the surgical instrument 10 with an interchangeable drive shaft assembly 200 operably coupled thereto. Figures 2 and 3 illustrate attachment of the interchangeable driveshaft assembly 200 to housing 12 or handle assembly 14. As shown in Figure 4, handle assembly 14 may comprise a pair of interconnectable cable housing segments 16 and 18 which may be interconnected by screws, press fit elements, adhesive, etc. In the illustrated arrangement, the grip housing segments 16, 18 cooperate to form a grip portion of the pistol 19 which can be gripped and manipulated by the clinician. As will be discussed in more detail below, the manipulator assembly 14 operatively supports within it a plurality of drive systems which are configured to generate and apply various control motions to corresponding portions of the interchangeable drive shaft assembly which is operatively attached thereto.

[00159] Now referring to Figure 4, the handle assembly 14 may also include a structure 20 that operatively supports a plurality of drive systems. For example, frame 20 may operatively support a "first" drive system or closing drive system, generally designated 30, which may be employed to apply closing and opening motions to the interchangeable drive shaft assembly 200 which is attached or operatively coupled thereto. In at least one form, the closure trigger system 30 may include an actuator in the form of a closure trigger 32 pivotally supported by the frame 20. More specifically, as illustrated in Figure 4, the closure trigger 32 is pivotally coupled to the housing 14 by a pin 33. 14, the closing trigger 32 can be easily rotated from an initial or "non-actuated" position to an "actuated" position, and more particularly to a fully compressed or fully actuated position. Closing trigger 32 can be displaced to the unloaded position by a spring or other displacement arrangement (not shown). In various forms, the lock drive system 30 further includes a set of lock links 34 that are pivotally coupled to the lock trigger 32. As shown in Figure 4, the hinged lock system 34 can include a first lock link 36 and a second lock link 38 that are pivotally coupled to the lock trigger 32 by a pin 35. fixation" and include a transverse fixation pin 37.

[00160] Still referring to Figure 4, it can be seen that the first lock link 36 may have a locking wall or end 39 thereon that is configured to cooperate with a lock release assembly 60 that is pivotally coupled to the frame 20. In at least one form, the lock release assembly 60 may comprise a release button assembly 62 that has a distally projecting locking tongue 64 formed thereon. Release knob assembly 62 can be rotated counterclockwise by a release spring (not shown). When the clinician presses the closure trigger 32 from its non-actuated position toward the pistol grip portion 19 of the handle assembly 14, the first closure link 36 pivots upward to a point where the locking pawl 64 falls into retaining engagement with the locking wall 39 on the first closure link 36 thereby preventing the closure trigger 32 from returning to the non-actuated position. See Figure 18. In this way, the closure release assembly 60 serves to lock the closure trigger 32 in the fully actuated position. When the clinician wishes to unlock the closing trigger 32 to allow it to be forced into the non-actuated position, he simply rotates the closing release knob assembly 62 so that the locking tab 64 is moved out of engagement with the locking wall 39 at the first closing link 36. When the locking tab 64 has been moved out of engagement with the first closing link 36, the closing trigger 32 can rotate back to the non-actuated position. Other arrangements for locking and releasing the closing trigger may also be employed.

[00161] In addition to the above, Figures 13 to 15 illustrate the closing trigger 32 in its non-actuated position that is associated with an open or non-clamped configuration of the drive shaft assembly 200 in which the tissue can be positioned between the claws of the driving shaft assembly 200. Figures 16 to 18 illustrate the closing trigger 32 in its activated position that is associated with a closed or clamped configuration of the driving shaft assembly 200 in which tissue is stapled between the jaws of the drive shaft assembly 200. When Figures 14 and 17 are compared, the reader observes that when the closure trigger 32 is moved from its non-activated position (Figure 14) to its activated position (Figure 17), the closure release button 62 is pivoted between a first position (Figure 14) and a second position (Figure 17). Rotation of closure release button 62 may be designated as an upward rotation; however, at least a portion of the closure release knob 62 is being rotated toward the circuit board 100. Referring to Figure 4, the closure release knob 62 may include an arm 61 extending therefrom and a magnetic element 63, such as a permanent magnet, mounted on the arm 61. When the closure release knob 62 is rotated from its first position to its second position, the magnetic element 63 can move toward the circuit board 100. Circuit board 100 may include at least one sensor configured to detect movement of magnetic element 63. In at least one aspect, a magnetic field sensor 65, for example, may be mounted on the bottom surface of circuit board 100. Magnetic field sensor 65 may be configured to detect changes in a magnetic field surrounding magnetic field sensor 65 caused by movement of magnetic element 63. Magnetic field sensor 65 may be in signal communication with a microcontroller 1500 (Figure 19), for example, which can determine whether the close release button 62 is in its first position, which is associated with the deactivated position of the close trigger 32 and the open configuration of the end actuator, its second position, which is associated with the activated position of the close trigger 32 and the closed configuration of the end actuator, and/or any position between the first position and the second position.

[00162] As used in the present invention, the magnetic field sensor can be a Hall effect sensor, exploratory coil, flowmeter, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive/piezoelectric compounds, magnetodiode, magnetic transistor, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems , among others.

[00163] In at least one form, the handle assembly 14 and structure 20 can operatively support another drive system, called, in the present invention, a trigger drive system 80, which is configured to apply trigger movements to corresponding portions of the interchangeable drive shaft assembly attached thereto. The trigger drive system 80 may also be called, in the present invention, the "second drive system". The trigger drive system 80 may employ an electric motor 82 located in the gun grip portion 19 of the handle assembly 14. In various forms, the motor 82 may be a brushed DC drive motor with a maximum speed of approximately 25,000 RPM, for example. In other arrangements, motor 82 may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 82 may be powered by a power supply 90 which, in one form, may comprise a removable power source 92. As shown in Figure 4, for example, the power source 92 may comprise a proximal compartment portion 94 that is configured for attachment to a distal compartment portion 96. The proximal compartment portion 94 and the distal compartment portion 96 are configured to operationally support a plurality of batteries 98. The batteries 98 may each comprise, for example, a Lithium Ion ("LI") battery or other suitable battery. The distal compartment portion 96 is configured for removable operative attachment to a control circuit board assembly 100 that is also operatively coupled to the motor 82. Various batteries 98, which may be connected in series, may be used as the power supply for the surgical instrument 10. In addition, the power supply 90 may be replaceable and/or rechargeable.

[00164] As described above in connection with various other forms, the electric motor 82 may include a rotatable drive shaft (not shown), which operationally interfaces with a gear reducer assembly 84, which is mounted in mating engagement with a set, or rack, of drive teeth 122 on a longitudinally movable drive member 120. In use, a voltage polarity supplied by the power supply 90 can operate the electric motor 82 clockwise, wherein the polarity of voltage applied to the electric motor by the battery can be reversed so as to operate the electric motor 82 counterclockwise. When the electric motor 82 is rotated in one direction, the drive member 120 will be axially activated in the distal "DD" direction. When motor 82 is driven in an opposite rotational direction, drive member 120 will be axially driven in the proximal "PD" direction. The handle assembly 14 can include a switch that can be configured to reverse the polarity applied to the electric motor 82 by the power supply 90. As with the other forms described in the present invention, the handle assembly 14 can also include a sensor that is configured to detect the position of the drive member 120 and/or the direction in which the drive member 120 is being moved.

[00165] The triggering of the motor 82 can be controlled by a trigger trigger 130 pivotally supported on the handle assembly 14. The trigger trigger 130 can be rotated between a non-triggered position and a triggered position. The firing trigger 130 can be forced into the unactuated position by a spring 132 or other displacement arrangement so that when the clinician releases the firing trigger 130, it can be rotated or otherwise returned to the unactuated position by the spring 132 or displacement arrangement. In at least one form, the firing trigger 130 can be positioned "distant" from the closing trigger 32, as discussed above. In at least one form, a trigger safety button 134 can be pivotally mounted to the closure trigger 32 by pin 35. The safety button 134 can be positioned between the trigger 130 and the closure trigger 32 and have a pivot arm 136 projecting therefrom. See Figure 4. When the closing trigger 32 is in the non-actuated position, the safety button 134 is contained within the handle assembly 14 where the clinician cannot readily access and move it between a safety position, which prevents actuation of the trigger 130, and a trigger position in which the trigger 130 can be fired. When the physician presses the closing trigger 32, the safety button 134 and the firing trigger 130 pivot downwards to a position where they can then be manipulated by the physician.

[00166] As discussed above, the handle assembly 14 can include a closing trigger 32 and a firing trigger 130. With reference to Figures 14 to 18A, the firing trigger 130 can be pivotally mounted to the closing trigger 32. The closing trigger 32 can include an arm 31 that extends therefrom and the firing trigger 130 can be pivotally mounted to the arm 31 around a pivot pin 33. When closing trigger 32 is moved from its non-activated position (Figure 14) to its activated position (Figure 17), firing trigger 130 can move downwards as described above. After the safety button 134 has been moved to its firing position, with reference primarily to Figure 18A, the firing trigger 130 can be pressed to operate the motor of the surgical instrument's firing system. In various circumstances, the handle assembly 14 may include a tracking system, such as system 800, for example, configured to determine the position of closing trigger 32 and/or the position of firing trigger 130. Referring primarily to Figures 14, 17 and 18A, tracking system 800 may include a magnetic element, such as a permanent magnet 802, for example, that is mounted on an arm 801 extending from trigger trigger 1 30. Tracking system 800 may comprise one or more sensors, such as a first magnetic field sensor 803 and a second magnetic field sensor 804, for example, which may be configured to track the position of magnet 802.

[00167] When Figures 14 and 17 are compared, the reader observes that when the closing trigger 32 is moved from its deactivated position to its activated position, the magnet 802 can move between a first position adjacent to the first magnetic field sensor 803 and a second position adjacent to the second magnetic field sensor 804.

[00168] When Figures 17 and 18A are compared, the reader observes that when the trigger trigger 130 is moved from a non-triggered position (Figure 17) to a triggered position (Figure 18A), the magnet 802 can move relative to the second magnetic field sensor 804. The sensors 803 and 804 can track the movement of the magnet 802 and can be in signal communication with a microcontroller Using the data from the first sensor 803 and/or the second sensor 804, the microcontroller can determine the position of the magnet 802 along a predefined path, and based on that position, the microcontroller can determine whether the closing trigger 32 is in its unactivated position, in its activated position, or in a position in between. Similarly, with data from the first sensor 803 and/or the second sensor 804, the microcontroller can determine the position of the magnet 802 along a predefined path, and based on that position, the microcontroller can determine whether the trigger trigger 130 is in its unfired position, its fully fired position, or a position in between.

[00169] As indicated above, in at least one form, the longitudinally movable drive member 120 has a rack of teeth 122 formed therein for meshing engagement with the corresponding drive gear 86 of the gear reducer assembly 84. At least one form also includes a manually actuable "rescue" assembly 140, which is configured to enable the clinician to manually retract the longitudinally movable drive member 120 should the engine 82 is disabled. The rescue assembly 140 may include a lever or a rescue handle assembly 142 that is configured to be manually rotated into ratchet engagement with the teeth 124 also provided on the drive member 120. In this way, the clinician can manually retract the drive member 120 using the rescue handle assembly 142 to engage the drive member 120 in the proximal "DP" direction. Patent Application Publication No. US 2010/0089970, now US Patent No. 8,608,045, discloses rescue arrangements and other components, arrangements and systems that may also be employed with the various instruments described herein. US Pat.

[00170] Now referring to Figures 1 and 7, the interchangeable drive shaft assembly 200 includes a surgical end actuator 300 comprising an elongated groove 302 that is configured to operatively support a staple cartridge 304 therein. Interchangeable drive 200 may additionally include a pivot joint 270 and a pivot latch 350 (Figure 8) that may be configured to releasably secure end actuator 300 in a desired position relative to an SA-SA axis of the drive shaft. Details regarding the construction and operation of the end actuator 300, pivot joint 270, and pivot lock 350 are set forth in U.S. Patent Application Serial No. 13/803,086, filed March 14, 2013, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK," now U.S. Patent Application Publication No. 2014/02635 41. The full disclosure of US Patent Application No. 13/803,086, filed March 14, 2013, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now US Patent Application Publication No. 2014/0263541, is incorporated by reference into this report. As shown in Figures 7 and 8, the interchangeable drive shaft assembly 200 can additionally include a housing or proximal nozzle 201 comprised of mouthpiece portions 202 and 203. The interchangeable drive shaft assembly 200 can additionally include a closure tube 260 that can be used to close and/or open the anvil 306 of the end actuator 300. Referring primarily to Figures 8 and 9, the driveshaft assembly 200 may include a post 210 that may be configured to fixedly support the driveshaft frame portion 212 of the pivot latch 350. See Figure 8. The center post 210 may be configured to, firstly, slideably support a firing member 220 therein and, secondly, slideably support the closure tube 260 that extends around the center post 210. The post Pivot actuator 210 may also be configured to slideably support a proximal pivot actuator 230. Pivot actuator 230 has a distal end 231 that is configured to operably engage pivot latch 350. Pivot latch 350 interfaces with a pivot structure 352 adapted to operably engage a drive pin (not shown) in the end actuator structure (not shown). As indicated above, additional details regarding the operation of the pivot latch 350 and pivot structure can be found in US Patent Application Serial No. 13/803,086, now US Patent Application Publication No. 2014/0263541. In various circumstances, the center column 210 may comprise a proximal end 211 that is pivotally supported in a chassis 240. In one arrangement, for example, the proximal end 211 of the center column 210 has a thread 214 formed therein for threaded attachment to a center column bearing 216 configured to be supported within the chassis 240. See Figure 7. This arrangement facilitates pivotal attachment of the column 210 to the chassis 240, such that column 210 can be selectively rotated about an axis of drive shaft SA-SA with respect to frame 240.

[00171] Referring mainly to Figure 7, the interchangeable drive shaft assembly 200 includes a closing transport element 250 that is slidably supported within the chassis 240, so that it can be moved axially with respect to it. As shown in Figures 3 and 7, the closure carrier 250 includes a pair of proximally projecting hooks 252 configured to attach to the attachment pin 37 which is attached to the second closure connection 38, as will be discussed in more detail below. A proximal end 261 of closure tube 260 is coupled to closure carrier 250 for relative rotation therewith. For example, a U-shaped connector 263 is inserted into an annular slot 262 at the proximal end 261 of the closure tube 260 and is retained within the vertical slots 253 in the closure carrier 250. See Figure 7. This arrangement serves to secure the closure tube 260 to the closure carrier 250 for axial displacement therewith, while allowing the closure tube 260 to rotate in with respect to the closing transport member 250 about the axis of the drive shaft SA-SA. A closure spring 268 is seated over the closure tube 260 and serves to bias the closure tube 260 in the proximal "DP" direction, which may serve to rotate the closure trigger to the non-actuated position when the drive shaft assembly is operatively coupled to the handle assembly 14.

[00172] In at least one form, the interchangeable drive shaft assembly 200 may also include an articulated joint 270. Other interchangeable drive shaft assemblies, however, may not be capable of articulation. As shown in Figure 7, for example, the pivot joint 270 includes a double pivot closure sleeve assembly 271. According to various forms, the double pivot closure sleeve assembly 271 includes an end actuator closure sleeve assembly 272 having upper and lower distally projecting connecting lugs 273, 274. An end actuator closure sleeve assembly 272 includes an iron-shaped opening. 275 and a tab 276 for engaging an opening tab on the anvil 306, in the various ways described in U.S. Patent Application Serial No. 13/803,086, filed March 14, 2013, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", now U.S. Patent Application Publication No. 2014/0263541, which is incorporated herein reference title. As described in more detail herein, the horseshoe opening 275 and the tab 276 engage a tab on the anvil when the anvil 306 is opened. An upper dual pivot link 277 includes upwardly projecting distal and proximal pivot pins that engage, respectively, an upper distal hole in the proximally projecting upper connecting lug 273 and an upper proximal hole in a distally projecting upper connecting lug 264 at closure tube 260. protruding proximally 274 and a lower proximal hole in the distally projecting lower connection terminal 265. See also Figure 8.

[00173] In use, the closing tube 260 is moved distally ("DD" direction) to close the anvil 306, for example, in response to actuation of the closing trigger 32. The anvil 306 is closed by distally moving the closing tube 260 and, thus, the drive shaft closing sleeve assembly 272, causing it to reach a proximal surface on the anvil 360, in the manner described in the aforementioned reference of US Patent Application Serial No. 13/803,086, now US Patent Application Publication 2014/0263541. As also described in detail in this reference, the anvil 306 is opened by proximally translating the closure tube 260 and the drive shaft closure sleeve assembly 272, causing the tab 276 and the horseshoe aperture 275 to contact and push against the anvil flange to lift the anvil 306. In the open position of the anvil, the drive shaft closure tube 260 is moved to its proximal position.

[00174] As noted above, the surgical instrument 10 may additionally include a pivot lock 350 of the types and construction described in more detail in US Patent Application Serial No. 13/803,086, now US Patent Application Publication No. 2014/0263541, which can be configured and operated to selectively lock the end actuator 300 in position. 00 is rotated, or pivoted, with respect to the driveshaft closure tube 260 when pivot latch 350 is in its unlocked state. In this unlocked state, the end actuator 300 can be positioned and forced against the soft tissue and/or bone, for example, surrounding the surgical site on the patient, in order to cause the end actuator 300 to pivot relative to the closure tube 260. The end actuator 300 can also be pivoted relative to the closure tube 260 via a pivot actuator 230.

[00175] As indicated above, the interchangeable drive shaft assembly 200 further includes a trigger member 220 that is supported to effect axial displacement on the drive shaft column 210. The trigger member 220 includes a trigger drive shaft intermediate portion 222, which is configured to connect to a distal cutting portion or cutter bar 280. The trigger member 220 may also be referred to in the present invention as a "" second driveshaft" and/or a "second driveshaft assembly". As shown in Figures 8 and 9, the intermediate portion of the firing drive shaft 222 may include a longitudinal slot 223 at its distal end which may be configured to receive a tab 284 on the proximal end 282 of the distal cutter bar 280. The longitudinal slot 223 and the proximal end 282 may be sized and configured to allow relative movement therebetween and may comprise a sliding joint 286. 86 can allow an intermediate portion of the trigger shaft 222 of the trigger drive 220 to be moved to pivot the end actuator 300 without moving, or at least without substantially moving, the cutter bar 280. When the end actuator 300 has been properly oriented, the intermediate portion of the trigger shaft 222 can be advanced distally until a proximal side wall of the longitudinal slot 223 contacts the tab 284 in such a way as to advance 8 and 9, the drive shaft column 210 has an elongated opening or window 213 on its interior to facilitate assembly and insertion of the intermediate portion of the trigger drive shaft 222 into the drive shaft structure 210. When the intermediate portion of the trigger drive shaft 222 has been inserted therein, an upper segment of the structure 215 can be engaged with the drive shaft frame 212 to enclose the intermediate portion of the firing drive shaft 222 and cutter bar 280 within it.

[00176] In addition to the foregoing, the drive shaft assembly 200 may include a clutch assembly 400, which may be configured to selectively and releasably couple the proximal pivot driver 230 to the trigger member 220. In one form, the clutch assembly 400 comprises a locking ring or sleeve 402 positioned around the trigger member 220, the locking sleeve 402 being rotatable between an engaged position, in which the locking sleeve 402 couples the pivot driver 360 to the triggering member 220, and a disengaged position, in which the pivot driver 360 is not operably coupled to the triggering member 200. When the locking sleeve 402 is in its engaged position, distal movement of the triggering member 220 can move the pivot driver 360 distally and, accordingly, - correspondingly, proximal movement of trigger member 220 can move pivot driver 230 proximally. When locking sleeve 402 is in its disengaged position, movement of trigger member 220 is not transmitted to pivot driver 230 and, as a result, trigger member 220 can move independently of pivot driver 230. In various circumstances, proximal pivot driver 230 can be moved. held in position by pivot latch 350 when pivot driver 230 is not being moved in proximal or distal directions by trigger member 220.

[00177] Referring primarily to Figure 9, the locking sleeve 402 may comprise a cylindrical, or at least substantially cylindrical, body including a longitudinal opening 403 defined therein, configured to receive the trigger member 220. The locking sleeve 402 may comprise diametrically opposite inwardly facing locking protrusions 404 and an outwardly facing locking element 406. locking lugs 404 may be configured to be selectively engaged with triggering member 220. More particularly, when locking sleeve 402 is in its engaged position, locking protrusions 404 are positioned in a drive notch 224 defined in triggering member 220 such that a distal compressive force and/or a proximal pulling force can be transmitted from trigger member 220 to the locking sleeve 402. When the locking sleeve 402 is in its engaged position, the second locking element 406 is received within a drive notch 232 defined in the pivot driver 230 such that the distal compressive force and/or the proximal pulling force applied to the locking sleeve 402 can be transmitted to the pivot driver 230. In effect, the trigger member 220, the lu locking sleeve 402 and linkage driver 230 will move together when locking sleeve 402 is in its engaged position. On the other hand, when the locking sleeve 402 is in its disengaged position, the locking protrusions 404 may not be positioned within the driving notch 224 of the triggering member 220 and, as a result, a distal compressive force and/or a proximal pulling force may not be transmitted from the triggering member 220 to the locking sleeve 402. may not be transmitted to the pivot driver 230. In these circumstances, the trigger member 220 can be slid proximally and/or distally relative to the locking sleeve 402 and the proximal pivot driver 230.

[00178] As shown in figures 8 to 12, the activation shaft 200 includes an additionally a 500 switching cylinder that is girantly received in the closing tube 260. The 500 switching cylinder comprises a 502 drive axle axle segment that has a 504 drive axle formed, intended to receive an interior pine 410 that projects outwards. In various circumstances, the actuation pin 410 extends through a slot 267 into a longitudinal slot 408 provided in the locking sleeve 402 to facilitate axial movement of the locking sleeve 402 when it is engaged with the pivot actuator 230. A rotatable torsion spring 420 is configured to engage the projection 504 on the switching cylinder 500 and a portion of the mouthpiece housing 20 3, as shown in Figure 10, to apply a displacement force to the switching cylinder 500. The switching cylinder 500 may further comprise at least partially circumferential openings 506 defined therein, which, with reference to Figures 5 and 6, may be configured to receive circumferential crimps 204, 205 that extend from the nozzle halves 202, 203, and allow rotation. relative, but not translational, between the switching cylinder 500 and the proximal nozzle 201. As shown in those Figures, the crimps 204 and 205 also extend through the openings 266 in the closure tube 260 to be seated in the recesses 209 present in the post of the drive shaft 210. However, rotation of the nozzle 201 to a point at which the crimps 204, 2 05 reach the end of their respective slots 506 in the shift cylinder 500 will result in the shift cylinder 500 rotating around the axis of the drive shaft SA-SA. Rotation of keying drum 500 will ultimately result in rotation of actuation pin 410 and locking sleeve 402 between their engaged and disengaged positions. Thus, in essence, the mouthpiece 201 can be employed to operationally engage and disengage the linkage drive system with the firing drive system in the various ways described more fully in U.S. Patent Application Serial No. 13/803,086, now U.S. Patent Application Publication No. 2014/0263541.

[00179] Also as illustrated in Figures 8 to 12, the drive shaft assembly 200 can comprise a slip ring assembly 600 that can be configured to conduct electrical power to the end actuator 300 and/or from it and/or communicate signals to the end actuator 300 and/or from it, for example. The slip ring assembly 600 may comprise a proximal connector flange 604 mounted to a chassis flange 242 extending from the chassis 240 and a distal connector flange 601 positioned within a slot defined in the drive shaft housings 202, 203. The proximal connector flange 604 may comprise a first face and the distal connector flange 601 may comprise a second face which is positioned adjacent to and is movable with respect to the first face. The distal connector flange 601 is rotatable relative to the proximal connector flange 604 about the axis of the SA-SA driveshaft. Proximal connector flange 604 may comprise a plurality of concentric or at least substantially concentric conductors 602 defined on its first face. A connector 607 may be mounted on the proximal side of the connector flange 601 and may have a plurality of contacts (not shown), each contact corresponding to and in electrical contact with one of the conductors 602. This arrangement allows for relative rotation between the proximal connector flange 604 and the distal connector flange 601 while maintaining electrical contact therebetween. Proximal connector flange 604 can include an electrical connector 606 that can place conductors 602 in signal communication with a driveshaft circuit board 610 mounted on driveshaft chassis 240, for example. In at least one instance, an electrical harness comprising a plurality of conductors may extend between the electrical connector 606 and the driveshaft circuit board 610. The electrical connector 606 may extend proximally through a connector opening 243 defined in the chassis mounting flange 242. ENSOR SYSTEM", filed March 13, 2013, now US Patent Application Publication No. 2014/0263552, is incorporated by reference in its entirety. US Patent Application Serial No. 13/800,025, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", filed March 13, 2013, now US Patent Application Publication No. 2014/0263551, is incorporated herein by reference in its entirety. Additional details regarding slip ring assembly 600 can be found in US Patent Application Publication Serial No. 13/803,086, now US Patent Application Publication No. 2014/0263541.

[00180] As discussed above, the drive shaft assembly 200 may include a proximal portion that is attachably mounted to the handle assembly 14, and a distal portion that is rotatable about a longitudinal axis. The distal pivoting portion of the drive shaft can be rotated relative to the proximal portion around slip ring assembly 600 as discussed above. The distal connector flange 601 of the slip ring assembly 600 can be positioned on the distal rotary drive shaft portion. Furthermore, in addition to the above, the keying drum 500 may also be positioned within the distal rotating portion of the drive shaft. When the distal rotatable drive shaft portion is rotated, the distal connector flange 601 and the drum wrench 500 can be rotated synchronously with each other. In addition, the key drum 500 can be rotated between a first position and a second position with respect to the distal connector flange 601. When the keying drum 500 is in its first position, the linkage drive system can be operationally disengaged from the firing drive system and, therefore, the operation of the firing drive system may not pivot the end actuator 300 of the drive shaft assembly 200. When the keying drum 500 is in the in its second position, the pivot drive system can be operatively engaged with the trigger drive system, and in this way, the operation of the trigger drive system can pivot the end actuator 300 of the drive shaft assembly 200. When the drum key 500 is moved between its first position and its second position, the drum key 500 is moved relative to the distal connector flange 601. In various cases, the drive shaft assembly 200 may comprise at least one sensor configured to detect the position of the switching drum 500. Returning now to Figures 11 and 12, the distal connector flange 601 may comprise a magnetic field sensor 605, for example, and the switching drum 500 may comprise a magnetic element, such as a permanent magnet 505, for example. The magnetic field sensor 605 can be configured to sense the position of the permanent magnet 505. When the switching drum 500 is rotated between its first position and its second position, the permanent magnet 505 can move relative to the magnetic field sensor 605. In various circumstances, the magnetic field sensor 605 can detect changes in a magnetic field created when the permanent magnet 505 is moved. Magnetic field sensor 605 may be in signal communication with driveshaft circuit board 610 and/or cable circuit board 100, for example. Based on the signal from the magnetic field sensor 605, a microcontroller on the drive shaft circuit board 610 and/or the cable circuit board 100 can determine whether the linkage drive system is engaged or disengaged from the firing drive system.

[00181] With reference again to Figures 3 and 7, the chassis 240 includes at least one and preferably two conical fixing portions 244 formed therein and which are adapted to be received in the dovetail slots 702 formed in a distal fixing flange portion 700 of the frame 20. Each fitting slot 702 can be tapered or, in other words, have an approximate V-shape to seatly receive the fastening portions 244. As can also be seen in Figures 3 and 7, a drive shaft retaining pin 226 is formed at the proximal end of the intermediate firing drive shaft 222. As will be discussed in more detail below, when the interchangeable shaft assembly 200 is coupled to the cable assembly 14, the driving shaft retaining pin 226 is received in a firing drive shaft retaining cradle 126 , formed at the distal end 125 of the longitudinal drive member 120, as shown in Figures 3 and 6, for example.

[00182] Various drive shaft assemblies employ a latch system 710 to removablely couple the drive shaft set 200 to the housing 12 and more specifically to the frame 20. As shown in Figure 7, for example, in at least one form, the locking system 710 includes a locking member or locking fork 712 that is movably coupled to the chassis 240. In the illustrated example, for example, the locking fork 712 is U-shaped with two spaced apart extending downwardly extending legs 714. The legs 714 each have a pivot pin 715 formed therein which are adapted to be received in corresponding holes 245 formed in frame 240. This arrangement facilitates pivotal attachment of locking fork 712 to frame 240. Locking fork 712 may include two locking forks 712 proximally projecting locking yoke 716, which are configured to releasably engage with corresponding detents or locking grooves 704 on the distal attachment flange 700 of frame 20. See Figure 3. In various forms, the locking yoke 712 is biased in the proximal direction by the spring or displacement member (not shown). Actuation of locking fork 712 may be effected by a locking knob 722 that is slidably mounted to a lock actuator assembly 720 that is mounted to chassis 240. Locking knob 722 is biased in a proximal direction relative to locking fork 712. As will be discussed in more detail below, locking fork 712 can be moved to an unlocked position by forcing the knob. in the distal direction, which also causes the locking fork 712 to rotate out of retention engagement with the distal attachment flange 700 of the frame 20. When the locking fork 712 is in "retention engagement" with the distal attachment flange 700 of the frame 20, the locking pins 716 are seated with retention within the corresponding detents or locking grooves 704 in the distal attachment flange 70 0.

[00183] When using an interchangeable drive shaft assembly that includes an end actuator of the type described here that is adapted to cut and clamp tissue, as well as other types of end actuators, it may be desirable to prevent inadvertent detachment of the interchangeable drive shaft assembly from the housing during actuation of the end actuator. For example, in use, the practitioner can actuate the closing trigger 32 to grasp and manipulate target tissue into a desired position. When target tissue is positioned within tip actuator 300 in a desired orientation, the practitioner can then fully actuate closing trigger 32 to close anvil 306 and secure target tissue in position for cutting and stapling. In this case, the first drive system 30 has been fully actuated. After target tissue has been clamped onto tip actuator 300, it may be desirable to prevent drive shaft assembly 200 from inadvertently disengaging from compartment 12. A form of locking system 710 is configured to prevent this inadvertent detachment.

[00184] As can be seen more particularly in Figure 7, the locking fork 712 includes at least one and preferably two locking hooks 718 that are adapted to come into contact with the corresponding locking pin contact portions 256 that are formed on the closing carriage element 250. the first drive system 30 is disabled and the anvil 306 is open), the locking jaw 712 can be rotated in a distal direction to unlock the interchangeable drive shaft assembly 200 from the housing 12. When in this position, the locking hooks 718 do not contact the locking pin portions 256 on the closing carrier 250. However, when the closing carrier 2 50 is moved to an actuated position (ie, the first drive system 30 is actuated and the anvil 306 is in the closed position), the locking fork 712 is prevented from being rotated to an unlocked position. See Figures 16 through 18. In other words, if the clinician were to attempt to rotate the locking fork 712 to an unlocked position or, for example, if the locking fork 712 were inadvertently protruded or brought into contact in a way that would otherwise cause it to rotate distally, the locking hooks 718 on the locking fork 712 would come into contact with the locking pin portions 2 56 on the locking carriage 250 and would prevent movement of the locking fork 712 to an unlocked position.

[00185] The fixation of the interchangeary activation axis set 200 to cable 14 will now be described with reference to Figure 3. To start the coupling process, the doctor can position the chassis 240 of the interchangeable axle set 200 or adjacent to the fixation flange portion 700 of structure 20 so that the fastening portions of 244 formed in the chassis 240 are aligned with the 240. 702 fittings to structure 20. The doctor can then move the activation shaft 200 along a geometric installation axis that is perpendicular to the SA-SA-SA-SA-SAI geometric axis to settle the 244 fixing portions with the corresponding receptor slits in the swallow tail format 702. When doing this, the trigger axle fixation pin 226 Intermediate firing 222 will also be settled in the crib 126 on the moving member Longitudinally 120 and the portions of pin 37 in the second closing link 38 will be based on corresponding hooks 252 in the closing force 250. As used in the present invention, the term "Operable Coupling" in reference to two components means that the two components are engaged in such a way that, by means of an application of action to them. The components can perform the intended action, function and/or procedure.

[00186] As discussed above, at least five systems of the interchangeable drive shaft assembly 200 can be operatively coupled to at least five corresponding systems of the cable assembly 14. A first system may comprise a structure system that couples and/or aligns the structure or central column of the drive shaft assembly 200 with the structure 20 of the handle assembly 14. Another system may comprise a closing drive system 30 that can operatively connect the trigger trigger closure 32 of the handle assembly 14 and the closure tube 260 and anvil 306 of the drive shaft assembly 200. As described above, the clamping yoke of the closure tube 250 of the drive shaft assembly 200 is engageable with the pin 37 on the second closure link 38. 14 with the intermediate firing drive shaft 222 of the drive shaft assembly 200.

[00187] As outlined above, the drive shaft attachment pin (226) can be operatively connected to the bed 126 of the longitudinal drive member 120. Another system may comprise an electrical system that can signal a controller in the handle assembly 14, such as the microcontroller, for example, that a drive shaft assembly, such as the drive shaft assembly 200, for example, has been operationally engaged with the handle assembly 14 and/or or, two, conduct power and/or communication signals between the driveshaft assembly 200 and the handle assembly 14. For example, the driveshaft assembly 200 may include an electrical connector 1410 that is operatively mounted to the driveshaft circuit board 610. The electrical connector 1410 is configured for mating engagement with a corresponding electrical connector 1400 on the cable control board 100. of control can be found in US Patent Application Serial No. 13/803,086, and US Patent Application Publication No. 2014/0263541, the disclosure of which is hereby incorporated by reference in its entirety. The fifth system may consist of the locking system for releasably locking the driveshaft assembly 200 to the handle assembly 14.

[00188] With reference again to Figures 2 and 3, the handle assembly 14 may include an electrical connector 1400 comprising a plurality of electrical contacts. Returning now to Figure 19, electrical connector 1400 may comprise a first contact 1401a, a second contact 1401b, a third contact 1401c, a fourth contact 1401d, a fifth contact 1401e and a sixth contact 1401f, for example. Although the illustrated example uses six contacts, other examples are devised that may use more than six contacts or less than six contacts.

[00189] As illustrated in Figure 19, the first contact 1401a can be in electrical communication with a transistor 1408, the contacts 1401b to 1401e can be in electrical communication with a microcontroller 1500, and the sixth contact 1401f can be in electrical communication with a ground. In certain instances, one or more of the electrical contacts 1401b to 1401e may be in electrical communication with one or more output channels of the microcontroller 1500 and may be energized or have a potential difference applied thereto when the handle assembly 14 is in an energized state. In some circumstances, one or more of the electrical contacts 1401b to 1401e may be in electrical communication with one or more input channels of the microcontroller 1500 and, when the handle assembly 14 is in an energized state, the microcontroller 1500 may be configured to detect when a potential difference is applied to these electrical contacts. When a drive shaft assembly, such as drive shaft assembly 200, for example, is arranged together in the handle assembly 14, the electrical contacts 1401a to 1401f cannot communicate. When a driveshaft assembly is not mounted in the handle assembly 14, however, electrical contacts 1401a to 1401f of electrical connector 1400 may be exposed and, in some circumstances, one or more of contacts 1401a to 1401f may be accidentally placed in electrical communication. Such circumstances may arise when one or more of the contacts 1401a to 1401f come into contact with an electrically conductive material, for example. When this occurs, microcontroller 1500 may receive the wrong input and/or drive shaft assembly 200 may receive the wrong output, for example. To deal with this problem, under various circumstances, the handle assembly 14 can be de-energized when a drive shaft assembly, such as drive shaft assembly 200, for example, is not attached to the handle assembly 14.

[00190] In other circumstances, the handle assembly 14 can be energized when a drive shaft assembly, such as the drive shaft assembly 200, for example, is not attached to it. Under these circumstances, the microcontroller 1500 can be configured to ignore inputs or potential differences applied to contacts in electrical communication with the microcontroller 1500, i.e., contacts 1401b to 1401e, for example, until a drive shaft assembly is attached to the handle assembly 14. Although the microcontroller 1500 may be supplied with power to operate other functionality of the handle assembly 14 under these circumstances, the handle assembly 14 may be in a de-energized state. erected. In a sense, electrical connector 1400 can be in a de-energized state since voltage differences applied to electrical contacts 1401b to 1401e do not affect the operation of handle assembly 14. The reader will understand that while contacts 1401b to 1401e can be in a de-energized state, electrical contacts 1401a and 1401f, which are not in electrical communication with microcontroller 1500, can or not be in a de-energized state. For example, the sixth contact 1401f can remain in electrical communication with a ground regardless of whether handle assembly 14 is in an energized or de-energized state.

[00191] Furthermore, transistor 1408 and/or any other suitable arrangement of transistors, such as transistor 1410, for example, and/or switches, may be configured to control the supply of power from a power source 1404, such as a battery 90, within the handle assembly 14, for example, to the first electrical contact 1401a, regardless of whether the handle assembly 14 is in an energized or de-energized state. In various circumstances, the drive shaft assembly 200, for example, can be configured to change the state of transistor 1408 when the drive shaft assembly 200 is engaged with handle assembly 14. In certain circumstances, in addition to what is mentioned below, a magnetic field sensor 1402 can be configured to switch the state of transistor 1410, which, as a result, can switch the state of transistor 1408 and ultimately supply the power from it. from power supply 1404 to first contact 1401a. In this way, both the power and signal circuits for the connector 1400 can be de-energized when a drive shaft assembly is not installed in the handle assembly 14 and energized when a shaft assembly is installed in the handle assembly 14.

[00192] In various circumstances, again referring to Figure 19, the handle assembly 14 may include the magnetic field sensor 1402, for example, which may be configured to detect a detectable element, such as a magnetic element 1407 (Figure 3), for example, in a drive shaft assembly, such as the drive shaft assembly 200, for example, when the drive shaft assembly is coupled to the handle assembly 14. The magnetic field sensor sensor 1402 may be powered by a power source 1406, such as a battery, for example, which may actually amplify the detection signal from the magnetic field sensor sensor 1402 and communicate with an input channel of the microcontroller 1500 via the circuit illustrated in Figure 19. 1401a to 1401f are no longer exposed, the microcontroller 1500 can enter its normal, or energized, state. In this operational state, microcontroller 1500 will evaluate signals transmitted to one or more of contacts 1401b to 1401e from the drive shaft assembly and/or transmit signals to the drive shaft assembly through one or more of contacts 1401b to 1401e in normal use. In various circumstances, the driveshaft assembly 200 may need to be fully seated before the magnetic field sensor 1402 can detect the magnetic element 1407. While a magnetic field sensor 1402 can be used to detect the presence of the driveshaft assembly 200, any suitable system of sensors and/or switches can be used to detect whether a driveshaft assembly has been mounted to the handle assembly 14, for example. Thus, in addition to the above, both the power and signal circuits for connector 1400 can be de-energized when a drive shaft assembly is not installed in the handle assembly 14 and energized when a shaft assembly is installed in the handle assembly 14.

[00193] In several examples, as can be used throughout the present description, any suitable magnetic field sensor can be employed to detect whether a drive shaft assembly has been mounted on the handle assembly 14, for example. For example, technologies used for magnetic field detection include a hall effect sensor, exploratory coil, flux meter, optical pumping, nuclear precession, squid, hall effect, anisotropic magnet, giant magnets, magnetic tunnel junctions, giant magnets, magnetosthitric compounds/pieseletrics, Magnetodiode, magnetic transistor, optical fiber, magneto-optic and magnetic sensors based on microe-letromechanical systems, among others.

[00194] With reference to Figure 19, the microcontroller 1500 may generally comprise a microprocessor ("processor") and one or more memory units operatively coupled to the processor. By executing the instruction code stored in memory, the processor can control various components of the surgical instrument, such as the motor, various drive systems, and/or a user screen, for example. Microcontroller 1500 can be implemented using integrated and/or discrete hardware elements, software elements, and/or a combination of both. Examples of integrated hardware elements may include processors, microprocessors, microcontrollers, integrated circuits, application specific integrated circuits (ASICs), programmable logic devices (PLDs), digital signal processors (DSPs), field programmable gate arrays (FPGAs), logic gates, registers, semiconductor devices, chips, microcircuits , chipsets, microcontrollers, systems on a chip (SoC, or "system-on-chip") and/or systems in a package (SiP, or "system-in-package"). Examples of discrete hardware elements might include circuits and/or circuit elements such as logic gates, field-effect transistors, bipolar transistors, resistors, capacitors, inductors, and/or relays. In certain embodiments, microcontroller 1500 can include a hybrid circuit comprising discrete and integrated circuit elements or components on one or more substrates, for example.

[00195] With reference to Figure 19, the microcontroller 1500 can be an LM 4F230H5QR, available from Texas Instruments, for example. In certain instances, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F processor core comprising 256 KB single-cycle flash memory or other non-volatile memory up to 40 MHz, a prefetch buffer to optimize performance above 40 MHz, 32 KB single-cycle serial random access memory (SRAM), or read-only memory (ROM). "read only memory") loaded with StellarisWare® software, 2 KB electrically erasable programmable read-only memory (EEPROM), one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder inputs (QEI), one or more analog-to-digital converters (ADC) Digital Converters") with 12 analog input channels, among other features that are readily available. Other microcontrollers can be readily substituted for use with the present disclosure. Consequently, the present description should not be limited in that context.

[00196] As discussed above, the handle assembly 14 and/or the drive shaft assembly 200 may include systems and configurations configured to prevent, or at least reduce, the possibility that the electrical cable connector contacts 1400 and/or the drive shaft electrical connector contacts 1410 enter into a short circuit when the shaft assembly 200 is not assembled, or completely assembled, in the handle assembly 14. cable 1400 can be at least partially recessed into cavity 1409 defined in cable structure 20. The six contacts 1401a to 1401f of electrical connector 1400 can be completely recessed into cavity 1409. These arrangements can reduce the possibility of an object accidentally coming into contact with one or more of contacts 1401a to 1401f. Similarly, the driveshaft electrical connector 1410 can be positioned within a recess defined in the driveshaft chassis 240 which can reduce the possibility of an object accidentally coming into contact with one or more contacts 1411a to 1411f of the driveshaft electrical connector 1410. Referring to the specific example shown in Figure 3, the driveshaft contacts 1411a to 1411f can comprise contacts male. In at least one example, each drive shaft contact 1411a to 1411f may comprise a flexible projection extending therefrom and which may be configured to engage a corresponding cable contact 1401a to 1401f, for example. Driveshaft contacts 1401a to 1401f may comprise female contacts. In at least one example, each drive shaft contact 1401a to 1401f can comprise a flat surface, for example, against which the male shaft contacts 1401a to 1401f can touch or slide and maintain an electrically conductive interface therebetween. In various cases, the direction in which the drive shaft assembly 200 is mounted on the handle assembly 14 may be parallel to, or at least substantially parallel to, the cable contacts 1401a - 1401f such that the drive shaft contacts 1411a - 1411f slide against the cable contacts 1401a - 1401f when the shaft assembly 200 is mounted on the handle assembly 14. several alternative examples, cable contacts 1401a to 1401f may comprise male contacts, and drive shaft contacts 1411a to 1411f may comprise female contacts. In certain alternative examples, cable contacts 1401a to 1401f and drive shaft contacts 1411a to 1411f may comprise any suitable arrangement of contacts.

[00197] In various circumstances, the handle assembly 14 may comprise a connector shield configured to at least partially cover the electrical connector of the cable 1400 and/or a connector shield configured to at least partially cover the electrical connector of the drive shaft 1410. A connector shield can prevent, or at least reduce, the possibility of an object accidentally touching the contacts of an electrical connector when the drive shaft assembly is not mounted, or is only partially mounted, on the cable. A connector bulkhead may be movable. For example, the connector shield can be moved between a protected position, in which it at least partially protects a connector, and an unprotected position, in which it does not, or at least less, protects the connector. In at least one example, a connector bulkhead can be displaced as the driveshaft assembly is being mounted on the cable. For example, if the cable comprises a cable connector bulkhead, the drive shaft assembly can contact the cable connector bulkhead and displace it as the drive shaft assembly is being mounted on the cable. Similarly, if the drive shaft assembly comprises a drive shaft connector bulkhead, the cable may contact the drive shaft connector bulkhead and displace it as the drive shaft assembly is being mounted on the cable. In many cases, a connector bulkhead may comprise a port, for example. In at least one case, the door may comprise a chamfered surface which, when placed in contact with the cable or drive shaft, may facilitate movement of the door in a given direction. In many cases, the connector bulkhead can be translated and/or rotated, for example. In certain cases, a connector shield may comprise at least one film that coats the contacts of an electrical connector. When the driveshaft assembly is mounted on the cable, the film can break. In at least one case, the male contacts of a connector can penetrate the film before the mating contacts positioned under the film engage.

[00198] As described above, the surgical instrument may include a system that can selectively energize or activate the contacts of an electrical connector, such as the electrical connector 1400, for example. In many cases, contacts can transition between a non-activated condition and an activated condition. In certain cases, contacts can transition between a monitored condition, a non-activated condition, and an activated condition. For example, the microcontroller 1500 can, for example, monitor the electrical contacts 1401a to 1401f when a drive shaft assembly has not been mounted in the handle assembly 14, to determine if one or more of the electrical contacts 1401a to 1401f may have shorted out. The microcontroller 1500 can be configured to apply a low voltage potential to each of the contacts 1401a to 1401f and judge that only minimal resistance is present across each of the contacts. This operational state may comprise a monitored condition. If the resistance detected on a contact is high or above a threshold resistance, the microcontroller 1500 can deactivate that contact, it can deactivate more than one contact or, alternatively, it can deactivate all contacts. This operational state may comprise a disabled condition. If a drive shaft assembly is mounted on the handle assembly 14 and is sensed by the microcontroller 1500, as discussed above, the microcontroller 1500 can increase the voltage potential to the electrical contacts 1401a to 1401f. This operational state may comprise an activated condition.

[00199] The various drive shaft assemblies described in the present invention can employ sensors and various other components that require electrical communication with the controller in the compartment. These drive shaft assemblies are generically configured so that they can rotate in relation to the housing, requiring a connection that facilitates this electrical communication between two or more components that can rotate with each other. When end actuators of the types described in the present invention are employed, the connector arrangements need to be relatively robust in nature while also needing to be somewhat compact to fit the connector portion of the driveshaft assembly.

[00200] With reference to Figure 20, a non-limiting form of the end actuator 300 is illustrated. As described above, the end actuator 300 can include the anvil 306 and the staple cartridge 304. In this non-limiting example, the anvil 306 is coupled to an elongated channel 198. For example, openings 199 can be defined in the elongated channel 198, which can be receiving pins 152 extending from the anvil 306 and enabling the anvil 306 to pivot from an open position to a closed position with respect to the elongated raceway 198 and staple cartridge 304. Furthermore, Figure 20 shows a firing bar 172 configured to translate longitudinally into the end actuator 300. The firing bar 172 may be constructed in one solid section or, in various examples, may include a laminated material comprising, for example, a stack of steel plates. One end of the distally projecting firing bar 172 can be attached to an E-profile beam 178 which can, among other things, assist in spacing the anvil 306 from a staple cartridge 304 positioned in the elongated groove 198 when the anvil 306 is in the closed position. The E-profile beam 178 may also include a sharp cutting edge 182, which may be used to separate tissue, as the E-profile beam 178 is advanced distally by the firing bar 172. In operation, the E-profile beam 178 may also actuate, or fire, the staple cartridge 304. The staple cartridge 304 may include a molded cartridge body 194 that holds a plurality of staples 1 91 that rest on the staple drivers 192 within respective upwardly open staple cavities 195. A wedge slider 190 can be driven distally by the "E" profile beam 178, sliding over a cartridge tray 196 that holds the various components of the replaceable staple cartridge 304 together. 191 in deformation contact with the anvil 306, while a cut surface 182 of the E-profile beam 178 separates the pinched tissue.

[00201] In addition to the above, the "E" profile beam 178 may include upper pins 180 that engage the anvil 306 during firing. The "E" profile beam 178 can further include middle pins 184 and a base 186 that can engage various portions of the cartridge body 194, the cartridge tray 196 and the elongated channel 198. When a staple cartridge 304 is positioned within the elongated channel 198, a slot 193 defined in the cartridge body 194 can be aligned with a slot 197 defined in the cartridge tray 196 and a slot 189 defined in the elongated channel 198. In use, the E-profile beam 178 can slide through the aligned slots 193, 197 and 189, whereby, as shown in Figure 20, the base 186 of the E-profile beam 178 can engage a groove positioned along the bottom surface of the slot 198 along the length of the slot 189, the middle pins 1 84 can engage the upper surfaces of the cartridge tray 196 along the length of the longitudinal slot 197, and the upper pins 180 can engage the anvil 306. In these circumstances, the E-profile beam 178 can space or limit the relative movement between the anvil 306 and the staple cartridge 304, while the firing bar 172 is moved distally to fire the clips of the cartridge. staples 304 and/or make an incision in the captured tissue between the anvil 306 and the staple cartridge 304. Thereafter, the firing bar 172 and the "E" profile beam 178 can be proximally retracted allowing the anvil 306 to be opened to release the two separate stapled portions of tissue (not shown).

[00202] Having described a surgical instrument 10 (Figures 1 to 4) in general terms, the description now turns to a detailed description of various electrical/electronic components of the surgical instrument 10. Reference is now made to Figures 21A and 21B, where an example of a segmented circuit 2000 comprising a plurality of circuit segments 2002a to 2002g is illustrated. The segmented circuit 2000 comprising the plurality of circuit segments 2002a to 2002g is configured to control a powered surgical instrument, such as the surgical instrument 10 illustrated in Figures 1 to 18A, without limitation. The plurality of circuit segments 2002a to 2002g are configured to control one or more operations of the powered surgical instrument 10. A backup processor segment 2002a (segment 1) comprises a backup processor 2004. A primary processor segment 2002b (segment 2) comprises a primary or main processor 2006. The backup processor 2004 and/or the primary processor 2006 are configured to interact with one or more additional circuit segments 2002c to 2002g for controlling the operation of the powered surgical instrument 10. The primary processor 2006 comprises a plurality of inputs coupled to, for example, one or more circuit segments 2002c to 2002g, a battery 2008, and/or a plurality of switches 2056 to 2070. The segmented circuit 2000 may be implemented by any suitable circuit such as, for example, a printed circuit board assembly (PCBA) inside a powered surgical instrument 10. It should be understood that the term processor, as used herein, includes any microprocessor, microcontroller, or other basic computing device that embodies the functions of a computer's central processing unit (CPU) on an integrated circuit or at most some integrated circuits. The processor is a multipurpose programmable device that accepts digital data as input, processes it according to instructions stored in its memory, and provides results as output. This is an example of sequential digital logic, as it has internal memory. Processors operate on numbers and symbols represented in the binary numeral system.

[00203] In one aspect, the 2006 flagship processor may be any single-core or multi-core processor, such as those known under the tradename ARM Cortex by Texas Instruments. In one example, the security processor 2004 may be a security microcontroller platform comprising two microcontroller based families such as TMS570 and RM4x known under the tradename Hercules ARM Cortex R4, also by Texas Instruments. However, other suitable replacements for microcontrollers and security processors may be employed without limitation. In one example, the 2004 security processor can be configured specifically for IEC 61508 and ISO 26262 security critical applications, among others, to provide advanced built-in security features while providing scalable performance, connectivity and memory options.

[00204] In certain cases, the 2006 main processor may be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F processor core comprising 256 KB single-cycle flash memory or other non-volatile memory up to 40 MHz, a prefetch buffer to optimize performance above 40 MHz, a 32 KB single-cycle SRAM, internal ROM loaded with StellarisWare® software, 2 KB EEPROM, one or more modules of PWM, one or more QEI analogs, one or more 12-bit ADCs with 12 analog input channels, among other resources that are readily available for the product data sheet. Other processors can easily be substituted and, accordingly, the present description should not be limited in this context.

[00205] In one aspect, the segmented circuit 2000 comprises an acceleration segment 2002c (segment 3). Acceleration segment 2002c comprises an acceleration sensor 2022. Acceleration sensor 2022 may comprise, for example, an accelerometer. Acceleration sensor 2022 is configured to detect movement or acceleration of the powered-up surgical instrument 10. In some examples, input from acceleration sensor 2022 is used, for example, to transition to and from a sleep mode, identify the orientation of the powered-up surgical instrument, and/or identify when the surgical instrument was dropped. In some examples, acceleration thread 2002c is coupled to security processor 2004 and/or primary processor 2006.

[00206] In some aspects, the segmented circuit 2000 comprises a display segment 2002d (Segment 4). According to various embodiments, the display segment 2002d comprises a screen connector (not shown) that is coupled to the primary processor 2006, one or more screen driver integrated circuits (not shown) that are coupled to the screen connector, and a screen 2028 that is coupled to the one or more screen driver integrated circuits. The display connector and the one or more display driver integrated circuits are shown, for example, in Figure 4B of US Patent Application Serial No. 14/226,076, the contents of which are incorporated herein by reference in their entirety. The display driver integrated circuits may be integrated with the display 2028 and/or may be located separately from the display 2028. The display 2028 may comprise any suitable display, such as, for example, an organic light-emitting diode (OLED) display, a liquid crystal display (LCD), and/or any other suitable display. In some examples, display thread 2002d is coupled to security processor 2004.

[00207] In some aspects, the segmented circuit 2000 comprises a driveshaft segment 2002e (segment 5). The drive shaft segment 2002e comprises one or more controls for a drive shaft (e.g., the drive shaft 200) coupled to the surgical instrument 10 and/or one or more controls for an end actuator (e.g., the end actuator 300) coupled to the drive shaft 200. In accordance with various embodiments, the shaft segment 2002e comprises a shaft connector 2030 and a drive shaft printed circuit board assembly (PCBA) 2031. Driveshaft connector 2030 is configured to couple PCBA 2031 to primary processor 2006. According to various embodiments, driveshaft PCBA 2031 comprises a first toggle switch (not shown), a second toggle switch (not shown), and a driveshaft EEPROM PCBA (not shown). In some examples, the driveshaft EEPROM PCBA comprises one or more parameters, routines, and/or programs specific to the driveshaft 200 and/or the driveshaft PCBA 2031. The driveshaft PCBA 2031 may be coupled to the driveshaft assembly 200 and/or integral with the surgical instrument 10. In some examples, the driveshaft segment 2002e comprises a second driveshaft EEPROM. drive shaft (not shown) The second drive shaft EEPROM comprises a plurality of algorithms, routines, parameters, and/or other data that correspond to one or more sets of drive shafts 200 and/or end actuators 300 that can interface with the powered surgical instrument 10. The first pivot key, the second pivot key, and the EEPROM PCBAs of the drive shafts are shown, for example, in Figure 4A of US Patent Application Serial No. 14/226,076, the contents of which are hereby incorporated by reference, in their entirety. According to other embodiments, as shown in Figure 21A, the driveshaft segment 2002e comprises the driveshaft PCBA 2031, a Hall effect sensor 2070, and the driveshaft connector 2025. The driveshaft PCBA 2031 comprises a low-power microprocessor 2090 with ferroelectric random access memory (FRAM) technology, a mechanical pivot key 2092, a Hall effect driveshaft release 2094 and flash memory 2034. Hall effect sensor 2070 is used to indicate engagement of drive shaft assembly 200 and as such can be considered a shaft engaged switch.

[00208] In some aspects, the segmented circuit 2000 comprises a position encoder segment 2002f (segment 6). Position encoder segment 2002f comprises one or more rotary magnetic position encoders 2040a to 2040b. The one or more rotary magnetic position encoders 2040a to 2040b are configured to identify the rotational position of a motor 2048, a drive shaft assembly 200 and/or an end actuator 300 of the surgical instrument 10. In some examples, the rotary magnetic position encoders 2040a to 2040b may be coupled to the security processor 2004 and/or the primary processor 200 6.

[00209] In some aspects, the segmented circuit 2000 comprises a motor segment 2002g (segment 7). Motor segment 2002g comprises a motor 2048, such as a brushed DC motor, configured to control one or more movements of powered surgical instrument 10. Motor 2048 is coupled to primary processor 2006 via a motor controller 2043, a plurality of H-bridge drivers 2042, and a plurality of H-bridge field-effect transistors (not shown). According to various embodiments, H-bridge field-effect transistors (FETs) are coupled to safety processor 2004. H-bridge FETs are shown, for example, in Figure 4B of U.S. Patent Application Serial No. 14/226,076, the contents of which are incorporated herein by reference in their entirety. Motor controller 2043 controls a first motor indicator 2074a and a second motor indicator 2074b to indicate the state and position of motor 2048 to primary processor 2006. Primary processor 2006 provides a pulse-width modulation (PWM) high signal 2076a, a PWM low signal 2076b, a direction signal 2078, a sync signal 2080 and a reset signal from motor 2082 to the controller of motor 2043 through a buffer 2084. A current sensor from motor 2046 is coupled in series with motor 2048 to measure current drain from motor 2048. Current sensor from motor 2046 is in signal communication with primary processor 2006 and/or safety processor 2004. 2048 engine is coupled to an engine electromagnetic interference (EMI) filter (not shown). The EMI filter is shown, for example, in Figure 3B of US Patent Application Serial No. 14/226,076, the contents of which are incorporated herein by reference in their entirety.

[00210] In some aspects, the segmented circuit 2000 comprises a power segment 2002h (Segment 8) configured to supply a segment voltage for each of the circuit segments 1102a to 1102g. A battery 2008 is coupled to backup processor 2004, primary processor 2006, and one or more of additional circuit segments 2002c to 2002g. The battery 2008 is coupled to the segmented circuit 2000 by a battery connector 2010 and a current sensor 2012. The current sensor 2012 is configured to measure the total current draw of the segmented circuit 2000. In some examples, one or more voltage converters 2014a, 2014b, 2016 are configured to supply predetermined voltage values to one or more circuit segments 2002 a to 2002g. For example, in some examples, the segmented circuit 2000 may comprise 3.3V voltage converters 2014a to 2014b and/or 5V voltage converters 2016. A boost converter 2018 is configured to provide a voltage boost up to a predetermined amount, such as up to 13V. The boost converter 2018 is configured to provide additional voltage and/or current during power intensive operations. , and to avoid brownouts or low power conditions. A transistor switch (e.g., N-channel MOSFET) 2015 is coupled to power converters 2014B, 2016.

[00211] In some aspects, the security segment 2002a comprises a motor power switch 2020. The motor power switch 2020 is coupled between the power segment 2002h and the motor segment 2002g. A transistor switch (e.g., N-channel MOSFET) 2057 is coupled to the power interrupt for motor 2020. Safety segment 2002a is configured to interrupt power to motor segment 2002g when an error or fault condition is detected by safety processor 2004 and/or primary processor 2006, as discussed in further detail in the present invention. Although circuit segments 2002a-2002g are illustrated with all components of circuit segments 2002a-2002h located in close physical proximity, one skilled in the art will understand that a circuit segment 2002a-2002h may comprise components that are physically and/or electrically separate from other components of the same circuit segment 2002a-2002g. In some examples, one or more components may be shared between two or more circuit segments 2002a to 2002g.

[00212] In some aspects, a plurality of switches 2056 to 2070 are coupled to the security processor 2004 and/or to the primary processor 2006. The plurality of switches 2056 to 2070 can be configured to control one or more operations of the surgical instrument 10, control one or more operations of the segmented circuit 2000, and/or indicate a status of the surgical instrument 10. tion 2056 is configured to indicate the state of the eject port. A plurality of pivot switches, such as a left pivot left switch 2058a, a left pivot right switch 2060a, a left pivot center switch 2062a, a right pivot left switch 2058b, a right right pivot switch 2060b, and a right pivot pivot switch 2062b are configured to control the pivot of a driveshaft assembly 200 and/or an end actuator 300. A left side reverse switch 2064a and a right side reverse switch 2064b are coupled to the primary processor 2006. In some examples, the left side switches comprising the left side pivot key 2058a, the right side pivot key 2060a, the center pivot key for the Left side switch 2062a and left side reverse switch 2064a are coupled to primary processor 2006 by a left flexion connector (not shown). The right-hand switches comprising the right-hand pivot left-side switch 2058b, the right-hand pivot right-side switch 2060b, the right-hand pivot center switch 2062b, and the right-hand reverse switch 2064b are coupled to the primary processor 2006 by a right-hand flex connector (not shown). of US Patent Serial No. 14/226,076, the contents of which are incorporated herein by reference in their entirety. In some examples, a trigger switch 2066, a clamp release switch 2068, and a driveshaft-engaged switch/Hall effect sensor 2070 are coupled to the primary processor 2006.

[00213] In some aspects, the plurality of switches 2056 to 2070 may comprise, for example, a plurality of handle controls mounted on a surgical instrument handle 10, a plurality of indicator switches, and/or any combination thereof. In various examples, the plurality of switches 2056 to 2070 allow a surgeon to manipulate the surgical instrument, provide feedback to the segmented circuit 2000 regarding the position and/or operation of the surgical instrument, and/or indicate unsafe operation of the surgical instrument 10. In some examples, additional keys or fewer keys can be coupled to the segmented circuit 2000, one or more of the keys 2056 to 2070 can be combined into a single key, and/or expand trips to multiple keys. For example, in one example, one or more of the left and/or right pivot keys 2058a through 2064b can be combined into a single multiposition key.

[00214] In one aspect, the 2004 security processor is configured to implement a surveillance function, among other security operations. The security processor 2004 and the primary processor 2006 of the segment circuit 2000 are in signal communication. Primary processor 2006 is also coupled to flash memory 2086. A microprocessor operating signal is provided at output 2096. Acceleration segment 2002c comprises an accelerometer 2022 configured to monitor movement of surgical instrument 10. In various examples, accelerometer 2022 may be a single, dual, or triple axis accelerometer. The accelerometer 2022 can be employed to measure proper acceleration which is not necessarily coordinate acceleration (rate of change of velocity). Instead, the accelerometer sees the acceleration associated with the weight phenomenon experienced by a test mass at rest in the 2022 accelerometer's reference frame. For example, the 2022 accelerometer at rest on the Earth's surface will measure an acceleration g=9.8 m/s2 (gravity) straight up due to its weight. Another type of acceleration that the accelerometer 2022 can measure is g-force acceleration. In various other examples, the accelerometer 2022 can comprise a single, dual, or triple axis accelerometer. Additionally, acceleration segment 2002c may comprise one or more inertial sensors for detecting and measuring acceleration, pitch, impact, vibration, rotation, and multiple degrees-of-freedom (DoF). A suitable inertial sensor may comprise an accelerometer (single, dual or triple axis), a magnetometer for measuring a magnetic field in space such as Earth's magnetic field, and/or a gyroscope for measuring angular velocity.

[00215] In one aspect, the security processor 2004 is configured to implement a watchdog function with respect to one or more circuit segments 2002c to 2002h, such as, for example, engine segment 2002g. In this regard, security processor 2004 employs the watchdog function to detect and recover from primary processor 2006 failures. During normal operation, security processor 2004 monitors primary processor 2006 hardware failures or program errors and initiates corrective action or actions. Corrective actions may include placing the 2006 primary processor in a safe state and restoring normal system operation. In one example, security processor 2004 is coupled to at least one first sensor. The first sensor measures a first property of the surgical instrument 10 (Figures 1 to 4). In some examples, security processor 2004 is configured to compare the measured property of surgical instrument 10 to a predetermined value. For example, in one example, a motor sensor 2040a (eg, a magnetic rotational position encoder) is coupled to safety processor 2004. Motor sensor 2040a provides motor speed and position information to safety processor 2004. Safety processor 2004 monitors motor sensor 2040a and compares the value to a maximum speed and/or position value and prevents operation of motor 2048 above preset values. determined. In some examples, predetermined values are calculated based on real-time speed and/or position of motor 2048, calculated from values provided by a second sensor of motor 2040b (e.g., a magnetic rotational position encoder) in communication with primary processor 2006, and/or provided to security processor 2004 from, for example, a memory module coupled to security processor 2004.

[00216] In some aspects, a second sensor is coupled to the primary processor 2006. The second sensor is configured to measure the first physical property. Security processor 2004 and primary processor 2006 are configured to provide a signal indicative of the value of the first sensor and the second sensor, respectively. When the backup processor 2004 or the primary processor 2006 indicates a value outside an acceptable range, the segmented circuit 2000 prevents operation of at least one of the circuit segments 2002c to 2002h, such as, for example, the engine segment 2002g. For example, in the example illustrated in Figures 21A and 21B, security processor 2004 is coupled to a first engine position sensor 2040a and primary processor 2006 is coupled to a second engine position sensor 2040b. The engine position sensors 2040a, 2040b may comprise any suitable engine position sensor, such as, for example, a rotary magnetic angle input comprising a sine and cosine output. Motor position sensors 2040a, 2040b provide respective signals to safety processor 2004 and primary processor 2006 indicative of the position of motor 2048.

[00217] The security processor 2004 and the primary processor 2006 generate an activation signal when the values of the first engine sensor 2040a and the second engine sensor 2040b are within a predetermined range. When the primary processor 2006 or the backup processor 2004 detects a value outside the predetermined range, the activation signal is interrupted and the operation of at least one circuit segment 2002c to 2002h, such as, for example, the motor segment 2002g, is stopped and/or prevented. For example, in some examples, the activation signal from the primary processor 2006 and the activation signal from the security processor 2004 are coupled to an AND gate 2059. The AND gate 2059 is coupled to a power switch of motor 2020. high, indicating a value from the motor sensors 2040a, 2040b within the predetermined range. When any one of the motor sensors 2040a, 2040b detects a value outside the predetermined range, the activation signal from that motor sensor 2040a, 2040b is low and the output of AND gate 2059 is low, opening the power switch of motor 2020. In some examples, the value of the first sensor 2040a and the second sensor 2040b are compared, for example, by the security processor 2004 and/or by the primary processor 2006. When the values of the first sensor and the second sensor are different, the security processor 2004 and/or the primary processor 2006 can prevent the engine segment 2002g from functioning.

[00218] In some aspects, the security processor 2004 receives a signal indicative of the value of the second sensor 2040b and compares the value of the second sensor to the value of the first sensor. For example, in one aspect, security processor 2004 is coupled directly to a first engine sensor 2040a. A second engine sensor 2040b is coupled to a primary processor 2006, which provides the value from the second engine sensor 2040b to the security processor 2004, and/or directly coupled to the security processor 2004. The security processor 2004 compares the value of the first engine sensor 2040 to the value of the second engine sensor 2040b. When security processor 2004 detects a mismatch between the first sensor of engine 2040a and the second sensor of engine 2040b, security processor 2004 may stop engine segment 2002g from operating, for example by cutting off power sent to engine segment 2002g.

[00219] In some aspects, the security processor 2004 and/or the primary processor 2006 is coupled to a first sensor 2040a configured to measure a first property of a surgical instrument and a second sensor 2040b configured to measure a second property of the surgical instrument. The first property and the second property comprise a predetermined relationship when the surgical instrument is operating normally. The 2004 security processor monitors the first property and the second property. When a value of the first property and/or the second property inconsistent with the predetermined relationship is detected, a failure occurs. When a fault occurs, the safety processor 2004 takes at least one action, such as, for example, preventing the operation of at least one of the circuit segments by performing a predetermined operation and/or resetting the primary processor 2006. For example, the safety processor 2004 can open the motor power switch 2020 to cut power to the motor circuit segment 2002g when a fault is detected.

[00220] In one aspect, the 2004 security processor is configured to perform an independent control algorithm. In operation, backup processor 2004 monitors segmented circuitry 2000 and is configured to independently control and/or override signals from other circuit components, such as primary processor 2006. Safety processor 2004 may execute a pre-programmed algorithm and/or may be updated or programmed instantaneously during operation based on one or more actions and/or positions of surgical instrument 10. For example, in one example, safety processor 2004 is reprogrammed with new parameters and/or safety algorithms each time a new drive shaft and/or extremity actuator is coupled to surgical instrument 10. In some examples, one or more safety values stored by the process security painor 2004 are replicated by the primary processor 2006. Bidirectional error detection is done to ensure that the values and/or parameters stored by any of the processors 2004, 2006 are correct.

[00221] In some aspects, security processor 2004 and primary processor 2006 implement a redundant security check. Backup processor 2004 and primary processor 2006 provide periodic signals that indicate normal operation. For example, during operation, security processor 2004 may indicate to primary processor 2006 that security processor 2004 is executing code and is functioning normally. Primary processor 2006 may similarly indicate to security processor 2004 that primary processor 2006 is executing code and functioning normally. In some examples, communication between security processor 2004 and primary processor 2006 occurs at a predetermined interval. The predetermined interval can be constant or it can be variable based on the state of the circuit and/or the operation of the surgical instrument 10.

[00222] Figure 22 illustrates an example of a power pack 2100 comprising a usage cycle circuit 2102 configured to monitor a usage cycle count of the power pack 2100. The power pack 2100 can be coupled to a surgical instrument 2110. The usage cycle circuit 2102 comprises a processor 2104 and a usage indicator 2106. The usage indicator 2106 is configured to provide a signal to processor 2104 to indicate use of battery 2100 and/or a surgical instrument 2110 coupled to power pack 2100. A "use" may comprise any suitable action, condition, and/or parameter, such as changing a modular component of a surgical instrument 2110, implanting or firing a disposable component coupled to surgical instrument 2110, releasing electrosurgical energy from surgical instrument 2110, reconditioning the surgical instrument 2110 and/or power pack 2100, exchange power pack 2100, recharge power pack 2100, and/or exceed a safety limit for the surgical instrument 2110 and/or battery 2100.

[00223] In some cases, a duty cycle, or usage, is defined by one or more parameters of power pack 2100. For example, in one case, a duty cycle comprises using more than 5% of the total available power of the power pack 2100 when the power pack 2100 is at a full charge level. In another case, a usage cycle comprises a continuous drain of power from power pack 2100 that exceeds a predetermined time limit. For example, one usage cycle may correspond to five continuous and/or total minutes of power draining power supply assembly 2100. In some instances, power supply assembly 2100 comprises a usage cycling circuit 2102 having a continuous power drain to maintain in an active state one or more components of usage cycling circuit 2102 such as, for example, usage indicator 2106 and/or a counter 2108.

[00224] Processor 2104 keeps a count of usage cycles. The usage cycle count indicates the number of uses detected by the usage indicator 2106 for the power pack 2100 and/or the surgical instrument 2110. The processor 2104 may increment and/or decrement the usage cycle count based on input from the usage indicator 2106. The usage cycle count is used to track one or more operations of the power pack 2100 and/or the surgical instrument 2110. For example, in some cases, a 2100 power pack shuts down when the usage cycle count exceeds a predetermined usage threshold. Although the cases discussed herein pertain to incrementing the usage cycle count above a predetermined usage threshold, those skilled in the art will recognize that the usage cycle count may start at a predetermined amount and may be decremented by processor 2104. In this case, processor 2104 initiates and/or prevents one or more operations of power pack 2100 when the usage cycle count drops below a predetermined usage threshold.

[00225] The usage cycle count is maintained by a counter 2108. The counter 2108 comprises any suitable circuit such as, for example, a memory module, an analog counter, and/or any circuit configured to maintain a usage cycle count. In some cases, counter 2108 is integrally formed with processor 2104. In other cases, counter 2108 comprises a separate component, such as a solid state memory module. In some cases, usage cycle counts are provided to a remote system, such as a central database. The usage cycle count is transmitted by a 2112 communications module to the remote system. The 2112 communications module is configured to use any suitable communication medium, such as wired and/or wireless communication. In some cases, the 2112 communication module is configured to receive one or more instructions from the remote system, such as a control signal, when the usage cycle count exceeds the predetermined usage threshold.

[00226] In some cases, the usage indicator 2106 is configured to monitor the number of modular components used with the surgical instrument 2110 coupled to the power supply set 2100. A modular component may comprise, for example, a modular drive shaft, a modular end actuator and/or any other modular component. In some cases, the usage indicator 2106 monitors the use of one or more disposable components, such as, for example, insertion and/or positioning of a staple cartridge inside an end actuator coupled to the surgical instrument 2110. The usage indicator 2106 comprises one or more sensors for detecting the exchange of one or more modular and/or disposable components of the surgical instrument 2110.

[00227] In some cases, the 2106 usage indicator is configured to monitor single-patient surgical procedures performed while the 2100 power pack is installed. For example, usage indicator 2106 may be configured to monitor triggers from surgical instrument 2110 while power set 2100 is coupled to surgical instrument 2110. A trigger can correspond to the placement of a staple cartridge, the application of electrosurgical energy, and/or any other suitable surgical event. Usage indicator 2106 may comprise one or more circuits for measuring the number of shots while power pack 2100 is installed. Usage indicator 2106 transmits a signal to processor 2104 when a single patient procedure is performed and processor 2104 increments the usage cycle count.

[00228] In some cases, the usage indicator 2106 comprises a circuit configured to monitor one or more parameters of the power supply 2114, such as, for example, a current drain from the power supply 2114. The one or more parameters of the power supply 2114 correspond to one or more operations that can be performed by the surgical instrument 2110, such as, for example, a cutting and sealing operation. Usage indicator 2106 supplies the one or more parameters to processor 2104, which increments the usage cycle count when the one or more parameters indicate that a procedure has been executed.

[00229] In some cases, the usage indicator 2106 comprises a timing circuit configured to increment a usage cycle count after a predetermined period of time. The predetermined time period corresponds to a single patient procedure time, which is the time required for an operator to perform a procedure, such as a cut and seal procedure. When power pack 2100 is attached to surgical instrument 2110, processor 2104 checks usage indicator 2106 to determine when the single patient procedure time has expired. After the predetermined period of time, processor 2104 increments the usage cycle count. After incrementing the usage cycle count, processor 2104 resets usage indicator timing circuit 2106.

[00230] In some cases, the usage indicator 2106 comprises a time constant that approximates the single patient procedure time. In one example, the duty cycle circuit 2102 comprises a resistor-capacitor (RC) timing circuit 2506. The RC timing circuit comprises a time constant defined by a resistor-capacitor pair. The time constant is defined by the resistor and capacitor values. In one example, duty cycle circuit 2552 comprises a rechargeable battery and a clock. When the 2100 Power Pack is installed in a surgical instrument, the rechargeable battery is charged by the power supply. The rechargeable battery comprises sufficient energy to run the watch for at least the duration of a single patient procedure. The clock may comprise a real-time clock, a processor configured to implement a timing function, or any other suitable timing circuit.

[00231] Referring further to Figure 22, in some cases, the usage indicator 2106 comprises a sensor configured to monitor one or more environmental conditions experienced by the power pack 2100. For example, the usage indicator 2106 may comprise an accelerometer. The accelerometer is configured to monitor the acceleration of the power pack 2100. The power pack 2100 comprises a maximum acceleration tolerance. An acceleration above a predetermined threshold indicates, for example, that power pack 2100 has been discarded. When usage indicator 2106 detects acceleration above the maximum throttle tolerance, processor 2104 increments a usage cycle count. In some cases, wear indicator 2106 comprises a humidity sensor. The humidity sensor is configured to indicate when the 2100 Power Pack has been exposed to moisture. The humidity sensor may comprise, for example, an immersion sensor configured to indicate when the power pack 2100 has been completely immersed in a cleaning fluid, a humidity sensor configured to indicate when moisture comes into contact with the power pack 2100 during use, and/or any other suitable humidity sensor.

[00232] In some cases, the usage indicator 2106 comprises a chemical exposure sensor. The chemical exposure sensor is configured to indicate when the 2100 Power Pack has come into contact with harmful and/or hazardous chemicals. For example, during a sterilization procedure an inappropriate chemical may be used, leading to degradation of the power pack 2100. The processor 2104 increments the usage cycle count when the usage indicator 2106 detects an inappropriate chemical.

[00233] In some cases, the usage cycle circuit 2102 is configured to monitor the number of reconditioning cycles experienced by the power set 2100. A reconditioning cycle may comprise, for example, a cleaning cycle, a sterilization cycle, a charging cycle, routine and/or preventive maintenance and/or any other suitable reconditioning cycle. Usage indicator 2106 is configured to detect a reconditioning cycle. For example, wear indicator 2106 may comprise a humidity sensor to detect a cleaning and/or sterilization cycle. In some cases, the duty cycle circuit 2102 monitors the number of reconditioning cycles experienced by the power pack 2100 and deactivates the power pack 2100 after the number of reconditioning cycles exceeds a predetermined threshold.

[00234] The duty cycle circuit 2102 can be configured to monitor the number of power pack changes 2100. The duty cycle circuit 2102 increments the usage cycle count each time the power pack 2100 is changed. When the maximum number of exchanges is exceeded, the duty cycle circuit 2102 locks the power pack 2100 and/or the surgical instrument 2110. In some cases, when the power pack 2100 is attached to the surgical instrument 2110, the duty cycle circuit 2102 identifies the serial number of the power pack 2100 and locks the power pack 2100 so that the power pack 2100 can be used only with the surgical instrument 2110. In some cases, the wear cycle circuit 2102 increments the wear cycle count each time the power pack 2100 is removed from and/or attached to the surgical instrument 2110.

[00235] In some cases, the count of use cycles corresponds to the sterilization of the supply set 2100. The use indicator 2106 comprises a sensor configured to detect one or more parameters of a sterilization cycle, such as, for example, a temperature parameter, a chemical parameter, a humidity parameter, and/or any other suitable parameter. Processor 2104 increments the usage cycle count when a sterilization parameter is detected. Use cycle circuit 2102 disables feeding set 2100 after a predetermined number of sterilizations. In some cases, the 2102 duty cycle circuit is reset during a sterilization cycle, a voltage sensor detects a recharge cycle, and/or any suitable sensor. Processor 2104 increments the usage cycle count when a reconditioning cycle is detected. The 2102 wear cycle circuit is disabled when a sterilization cycle is detected. The wear cycle circuit 2102 is reactivated and/or reset when the power pack 2100 is coupled to the surgical instrument 2110. In some cases, the wear indicator comprises a zero power indicator. The zero power indicator changes state during a sterilization cycle, and is checked by the processor 2104 when the power pack 2100 is attached to a surgical instrument 2110. When the zero power indicator indicates that a sterilization cycle has occurred, the processor 2104 increments the usage cycle count.

[00236] A counter 2108 keeps count of usage cycles. In some cases, counter 2108 comprises a non-volatile memory module. Processor 2104 increments the usage cycle count stored in the non-volatile memory module each time a usage cycle is detected. The memory module is accessible by processor 2104 and/or a control circuit such as control circuit 2000. When the usage cycle count exceeds a predetermined threshold, processor 2104 turns off power pack 2100. In some cases, the usage cycle count is maintained by a plurality of circuitry components. For example, in one example, counter 2108 comprises a set of resistors (or fuses). After each use of the 2100 Power Pack, a resistor (or fuse) is blown to an open position, changing the resistance of the resistor pack. Power pack 2100 and/or surgical instrument 2110 reads the remaining resistance. When the last resistor in the resistor array burns out, the resistor array has a predetermined resistance, such as infinite resistance corresponding to an open circuit, which indicates that the power assembly 2100 has reached its usage limit. In some cases, the resistance of the resistor array is used to derive the remaining number of uses.

[00237] In some cases, the usage cycle circuit 2102 prevents further use of the power supply set 2100 and/or the surgical instrument 2110, when the usage cycle count exceeds a predetermined usage limit. In one example, the usage cycle count associated with the power set 2100 is provided to an operator, for example, through use of a display integrally formed with the surgical instrument 2110. The surgical instrument 2110 provides the operator with an indication that the usage cycle count has exceeded a predetermined threshold for the power set 2100, and prevents further operation of the surgical instrument 2110.

[00238] In some cases, the duty cycle circuit 2102 is configured to physically prevent operation when the predetermined usage limit is reached. For example, power pack 2100 may comprise a guard configured to position over the contacts of power pack 2100 when the usage cycle count exceeds a predetermined usage limit. The guard prevents recharging and use of power pack 2100 by covering the electrical connections of power pack 2100.

[00239] In some cases, the usage cycle circuit 2102 is positioned, at least partially, inside the surgical instrument 2110 and is configured to maintain a usage cycle count for the surgical instrument 2110. Figure 22 illustrates one or more components of the usage cycle circuit 2102 inside the surgical instrument 2110 in dashed lines, illustrating the alternative placement of the usage cycle circuit 2102. When a usage limit The usage cycle count of the surgical instrument 2110 is exceeded, the usage cycle circuit 2102 disables and/or prevents the operation of the surgical instrument 2110. The usage cycle count is incremented by the usage cycle circuit 2102 when the usage indicator 2106 detects a specific event and/or need, such as, for example, triggering of the surgical instrument 2110, a predetermined period of time corresponding to a single patient procedure time, based on one or more motor parameters of the surgical instrument 2110, in response to a system diagnostic indicating that one or more predetermined thresholds have been met and/or any other appropriate requirement. As discussed above, in some cases, usage indicator 2106 comprises a timing circuit corresponding to a single patient procedure time. In other instances, wear indicator 2106 comprises one or more sensors configured to detect a specific event and/or condition of surgical instrument 2110.

[00240] In some cases, the usage cycle circuit 2102 is configured to prevent the operation of the surgical instrument 2110 after reaching the predetermined usage limit. In some cases, the surgical instrument 2110 comprises a visible indicator to indicate when the predetermined usage limit has been reached and/or exceeded. For example, a flag, such as a red flag, may be displayed on the surgical instrument 2110, such as from the handle, to provide the operator with a visual indication that the surgical instrument 2110 has exceeded the predetermined usage limit. As another example, the usage cycle circuit 2102 may be coupled to a screen formed integrally with the surgical instrument 2110. The usage cycle circuit 2102 displays a message indicating that the predetermined usage limit has been exceeded. The 2110 surgical instrument can provide an audible indication to the operator that the predetermined usage limit has been exceeded. For example, in one instance, the surgical instrument 2110 emits an audible tone when the predetermined usage limit is exceeded and the power pack 2100 is removed from the surgical instrument 2110. The audible tone indicates the last use of the surgical instrument 2110 and indicates that the surgical instrument 2110 needs to be discarded or reconditioned.

[00241] In some cases, the usage cycle circuit 2102 is configured to transmit the usage cycle count of the surgical instrument 2110 to a remote location, such as, for example, a central database. The usage cycle circuit 2102 comprises a communications module 2112 configured to transmit the usage cycle count to a remote location. The communications module 2112 can use any suitable communications system, such as a wired and/or wireless communications system. The remote location may comprise a central database configured to maintain usage information. In some cases, when the power set 2100 is attached to the surgical instrument 2110, the power set 2100 registers a serial number from the surgical instrument 2110. The serial number is transmitted to the central database, for example, when the power set 2100 is attached to a charger. In some cases, the central database maintains a count corresponding to each use of the surgical instrument 2110. For example, a barcode associated with the surgical instrument 2110 can be scanned optically each time the surgical instrument 2110 is used. When the usage count exceeds a predetermined usage threshold, the central database provides a signal to the surgical instrument 2110 indicating that the surgical instrument 2110 needs to be discarded.

[00242] The surgical instrument 2110 can be configured to lock and/or prevent the operation of the surgical instrument 2110 when the use cycle count exceeds a predetermined use limit. In some cases, the surgical instrument 2110 comprises a disposable instrument, and is discarded after the usage cycle count exceeds the predetermined usage limit. In other instances, surgical instrument 2110 comprises a reusable surgical instrument that can be reconditioned after the usage cycle count exceeds the predetermined usage limit. The 2110 surgical instrument initiates a reversible lockout after the predetermined usage limit is reached. A technician reconditions the surgical instrument 2110 and releases the lock, for example, using a specialized technical switch configured to reset the duty cycle circuit 2102.

[00243] In some aspects, segmented circuit 2000 is configured for sequential initialization. An error check is performed by each circuit segment 2002a to 2002g before powering up the next sequential circuit segment 2002a to 2002g. 23 illustrates one embodiment of a process for sequentially energizing a segmented circuit 2270, such as the segmented circuit 2000. When a battery 2008 is coupled to the segmented circuit 2000, the security processor 2004 is energized 2272. The security processor 2004 performs a self-error check 2274. When an error is detected 2276a, the security processor de-energizes. izar the segmented circuit 2000 and generates an error code 2278a. When no errors are detected 2276b, the security processor 2004 initiates 2278b the power-up of the primary processor 2006. The primary processor 2006 performs a self-error check. When no errors are detected, primary processor 2006 begins sequential power-up of each of the remaining circuit segments 2278b. Each circuit segment is powered up and checked for errors by primary processor 2006. When no errors are detected, the next circuit segment is powered up 2278b. When an error is detected, the 2004 security processor and/or the primary process stops powering the current segment and generates a 2278a error. Sequential initialization continues until all circuit segments 2002a to 2002g have been energized.

[00244] Figure 24 illustrates an aspect of a power supply segment 2302 comprising a plurality of series-chained power converters 2314, 2316, 2318. The power supply segment 2302 comprises a battery 2308. The battery 2308 is configured to supply a source voltage, such as 12 V. A current sensor 2312 is coupled to the battery 2308 to monitor draining current from a segmented circuit and/or from one or more circuit segments. The current sensor 2312 is coupled to a FET switch 2313. The battery 2308 is coupled to one or more voltage converters 2309, 2314, 2316. An always-on converter 2309 supplies a constant voltage to one or more circuit components, such as, for example, a motion sensor 2322. The always-on converter 2309 comprises, for example, a 3.3 V converter. 2309 can provide a constant voltage to additional circuitry components, such as a security processor (not shown). Battery 2308 is coupled to a boost converter 2318. Boost converter 2318 is configured to provide an amplified voltage above that supplied by battery 2308. For example, in the illustrated example, battery 2308 supplies a voltage of 12 V. Boost converter 2318 is configured to step the voltage up to 13 V. Boost converter 2318 is configured to maintain a minimum voltage during operation of a surgical instrument , for example, the surgical instrument 10 (Figures 1 to 4). The operation of a motor can result in the power supplied to the primary processor 2306 falling below a minimum threshold and creating a voltage dip or reset condition in the primary processor 2306. The boost converter 2318 ensures that sufficient power is available to the primary processor 2306 and/or other circuit components, such as the motor controller 2343, during operation of the surgical instrument 10. In some examples, the boost converter 2318 is coupled directly to a or more circuit components, such as a 2388 OLED screen.

[00245] The 2318 boost converter is coupled to one or more step-down converters to supply voltages below the boosted voltage level. A first voltage converter 2316 is coupled to the boost converter 2318 and supplies a first reduced voltage to one or more circuit components. In the illustrated example, the first voltage converter 2316 supplies a voltage of 5 V. The first voltage converter 2316 is coupled to a rotary position encoder 2340. A FET switch 2317 is coupled between the first voltage converter 2316 and the rotary position encoder 2340. The FET switch 2317 is controlled by the processor 2306. The processor 2306 opens the FET switch 2317 to disable the 2340 position encoder, for example, during power-intensive operations. The first voltage converter 2316 is coupled to a second voltage converter 2314 configured to provide a second reduced voltage. The reduced second voltage comprises, for example, 3.3 V. The second voltage converter 2314 is coupled to a processor 2306. In some examples, the boost converter 2318, the first voltage converter 2316, and the second voltage converter 2314 are coupled in a daisy-chain configuration. The daisy chain configuration allows the use of smaller and more efficient converters to generate voltage levels below the amplified voltage level. The examples, however, are not limited to the one or more specific voltage ranges described in the context of this specification.

[00246] Figure 25 illustrates an aspect of a segmented circuit 2400 configured to maximize the power available for critical and/or power intensive functions. The segmented circuit 2400 comprises a battery 2408. The battery 2408 is configured to supply a source voltage, such as 12V. The source voltage is supplied to a plurality of voltage converters 2409, 2418. An always-on voltage converter 2409 supplies a constant voltage to one or more circuit components, for example, a motion sensor 2422 and a security processor 2404. The always-on voltage converter 2409 The 2409 always-on converter is coupled directly to the 2408 battery. The 2409 always-on converter supplies a voltage of, for example, 3.3 V. The examples, however, are not limited to the one or more specific voltage ranges described in the context of this specification.

[00247] The segmented circuit 2400 comprises an amplification converter 2418. The amplification converter 2418 provides an amplified voltage greater than the source voltage supplied by the battery 2408, such as, for example, 13 V. An amplification converter 2418 provides an amplified voltage directly to one or more components of the circuit, for example, an OLED screen 2488 and a motor controller 2443. By coupling the OLED screen 2488 directly to the boost converter 2418, the segmented circuit 2400 eliminates the need for a dedicated power converter for the OLED screen 2488. The boost converter 2418 supplies an amplified voltage to the motor controller 2443 and the motor 2448 during one or more power-intensive operations of the motor 2448, such as a trimming operation. The boost converter 2418 is coupled to a downconverter 2416. The downconverter 2416 is configured to supply a voltage below the boosted voltage to one or more circuit components, such as 5V. The downconverter 2416 is coupled to, for example, a FET switch 2451 and a position encoder 2440. primary 2406 opens FET switch 2451 when transitioning from segmented circuit 2400 to standby mode and/or during power intensive functions that require additional voltage delivered to motor 2448. Opening FET switch 2451 disables position encoder 2440 and eliminates the power drain from position encoder 2440. The examples, however, are not limited to the one or more specific voltage ranges described in the context of this report described. ive.

[00248] The reduction converter 2416 is coupled to a linear converter 2414. The linear converter 2414 is configured to supply a voltage, for example, 3.3 V. The linear converter 2414 is coupled to the primary processor 2406. The linear converter 2414 provides an operating voltage to the primary processor 2406. The linear converter 2414 can be coupled to one or more additional circuit components. The examples, however, are not limited to the one or more specific voltage ranges described in the context of this specification.

[00249] The 2400 segmented circuit comprises a 2456 rescue key. The 2456 redemption key is coupled to a rescue port on the surgical instrument 10. The 2456 redemption key and the 2404 security processor are coupled to a port and 2419. The port and 2419 provides an entrance to a 2413 fet key. 2456 RESCUE KEY PROVIDE A SIGN OF DISCOVERNESS AND 2419. When the 2404 Safety Processor detects an insecure condition, such as a sensor toll, the 2404 safety processor provides a shutdown signal to the and 2419. a rescue condition or an insecure condition. When the output of AND gate 2419 is low, FET switch 2413 is opened and mechanism 2448 is prevented from functioning. In some examples, the safety processor 2404 uses the shutdown signal to transition the motor 2448 to an off state in the suspended mode. A third input to FET switch 2413 is provided by current sensor 2412 coupled to battery 2408. Current sensor 2412 monitors the current drawn by circuit 2400 and opens FET switch 2413 to turn off power to motor 2448 when an electrical current above a predetermined threshold is detected. FET switch 2413 and motor controller 2443 are coupled to a bank of FET switches 2445 configured to control the operation of motor 2448.

[00250] A motor current sensor 2446 is coupled in series with the motor 2448 to provide a reading from the motor current sensor to a current monitor 2447. The current monitor 2447 is coupled to the primary processor 2406. The current monitor 2447 provides a signal indicative of current drain from the motor 2448. The primary processor 2406 may use the current signal from motor 2447 to control the operation of the motor, for example, to ensure that the current drain of motor 2448 is within an acceptable range, to compare the current drain of motor 2448 to one or more parameters of circuit 2400 such as position encoder 2440, and/or to determine one or more parameters of a treatment site. In some examples, current monitor 2447 may be coupled to security processor 2404.

[00251] In some aspects, the actuation of one or more cable controls, such as, for example, a fire trigger, causes the primary processor 2406 to decrease power to one or more components while the cable control is actuated. For example, in one example, a firing trigger controls a firing path of a cutting member. The cutting member is driven by motor 2448. Activation of the firing trigger results in forward operation of motor 2448 and advancing of the cutting member. During triggering, primary processor 2406 opens FET switch 2451 to remove power from position encoder 2440. Disabling one or more components of the circuit allows more power to be released to motor 2448. When the trigger trigger is released, full power is restored to the disabled components, for example, closing FET switch 2451 and reactivating position encoder 2440.

[00252] In some aspects, the security processor 2404 controls the operation of the segmented circuit 2400. For example, the security processor 2404 can initiate a sequential power-up of the segmented circuit 2400, transition from the segmented circuit 2400 to the suspended mode and from the suspended mode, and/or can override one or more control signals from the primary processor 2406. For example, in the illustrated example, the security processor 2404 is coupled to the converter step-down converter 2416. Safety processor 2404 controls the operation of segment circuit 2400 by activating or deactivating step-down converter 2416 to supply power to the remainder of segment circuit 2400.

[00253] Figure 26 illustrates an aspect of a power supply system 2500 comprising a plurality of series-connected power converters 2514, 2516, 2518 configured to be energized sequentially. The plurality of series-connected power converters 2514, 2516, 2518 can be activated sequentially, for example, by a safety processor during initial power-up and/or transition from sleep mode. The safety processor can be powered by an independent power converter (not shown). For example, in one example, when a VBATT battery voltage is coupled to the power system 2500 and/or when an accelerometer detects motion in sleep mode, the safety processor initiates a sequential start of the series connected power converters 2514, 2516, 2518. The safety processor activates the 13V lift section 2518. The lift section 2518 powers up and performs a self check. In some examples, step-up section 2518 comprises an integrated circuit 2520 configured to step-up the source voltage and perform a self-check. A diode D prevents a 5V supply section 2516 from being energized until the lift section 2518 has completed a self-check and provided a signal to diode D indicating that the lift section 2518 has not identified any errors. In some examples, this signal is provided by the security processor. The examples, however, are not limited to the one or more specific voltage ranges described in the context of this specification.

[00254] The 5V supply section 2516 is energized sequentially after the lifting section 2518. The 5V supply section 2516 performs a self-check during power-up to identify any errors in the 5V supply section 2516. The 5V supply section 2516 comprises an integrated circuit 2515 configured to provide a reduced voltage in relation to the amplified voltage and to perform an error check . When no error is detected, the 5V supply section 2516 completes the sequential power-up and provides a wake-up signal to the 3.3V supply section 2514. In some examples, the safety processor provides a wake-up signal to the 3.3V supply section 2514. The 3.3V supply section comprises an integrated circuit 2513 configured to provide a reduced voltage relative to the 5V supply section 2516 and perform a self-check error during power-up. When no errors are detected during self-check, the 3.3V supply section 2514 supplies power to the primary processor. The primary processor is configured to sequentially power up each of the remaining circuit segments. By sequentially energizing the power system 2500 and/or the remainder of a segmented circuit, the power system 2500 reduces risks of error, allows voltage levels to stabilize before loads are applied, and prevents large current drains from all hardware that is turned on simultaneously in an uncontrolled manner. The examples, however, are not limited to the one or more specific voltage ranges described in the context of this specification.

[00255] In one aspect, the power supply system 2500 comprises an overvoltage identification and mitigation circuit. The surge identification and mitigation circuit is configured to detect a monopolar feedback current in the surgical instrument and interrupt power to the supply segment when the monopolar feedback current is detected. The surge identification and mitigation circuit is configured to identify power system ground fluctuation. The surge identification and mitigation circuit comprises a metal oxide varistor. The overvoltage identification and mitigation circuit comprises at least one temporary voltage suppression diode.

[00256] Figure 27 illustrates an aspect of a segmented circuit 2600 comprising an isolated control section 2602. The isolated control section 2602 isolates the segmented circuit control hardware 2600 from a power section (not shown) of the segmented circuit 2600. The control section 2602 comprises, for example, a primary processor 2606, a security processor (not shown) and/or additional control hardware, for example, a FET switch 2617. The power section comprises, for example, a motor, a motor driver and/or a plurality of motor MOSFETS. The isolated control section 2602 comprises a charging circuit 2603 and a rechargeable battery 2608 coupled to a 5V power converter 2616. The charging circuit 2603 and the rechargeable battery 2608 isolate the primary processor 2606 from the power section. In some examples, the 2608 rechargeable battery is coupled with a security processor and any additional supporting hardware. Isolating the control section 2602 from the power section enables the control section 2602, i.e., the primary processor 2606, to remain active even when main power is removed, provides a filter, through the rechargeable battery 2608, to keep noise out of the control section 2602, isolates the control section 2602 from large swings in battery voltage to ensure proper operation even during heavy engine loads, and/or enables the real-time operating system to (RTOS) is used by the segmented circuit 2600. In some examples, the rechargeable battery 2608 supplies a reduced voltage to the primary processor, such as 3.3 V. The examples, however, are not limited to the one or more specific voltage ranges described in the context of this specification.

[00257] Figures 28A and 28B illustrate another aspect of a control circuit 3000 configured to control the powered surgical instrument 10, illustrated in Figures 1 to 18A. As shown in Figures 18A and 28B, the handle assembly 14 can include a motor 3014, which can be controlled by a motor driver 3015 and can be employed by the triggering system of the surgical instrument 10. In various forms, the motor 3014 can be a brushed DC drive motor, with a maximum speed of approximately 25,000 RPM, for example. In other arrangements, motor 3014 may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable type of electric motor. In certain cases, motor driver 3015 may comprise an H-bridge field effect transistor (FET) 3019, as illustrated in Figure 28B, for example. The motor 3014 may be powered by a power pack 3006 which may be releasably mounted to the handle assembly 14. The power pack 3006 is configured to provide power control to the surgical instrument 10. The power pack 3006 may comprise a battery which may include a plurality of battery cells connected in series which may be used as the power source for powering the surgical instrument 10. In this configuration, the power pack 3006 may be called a battery pack. Under certain circumstances, the battery cells in power pack 3006 may be replaceable and/or rechargeable. In at least one example, the battery cells can be lithium ion batteries that are separably attachable to power pack 3006.

[00258] Examples of drive systems and closure systems suitable for use with the surgical instrument 10 are described in US Provisional Patent Application serial number 61/782,866, entitled CONTROL SYSTEM OF A SURGICAL INSTRUMENT, and filed on March 14, 2013, whose description is incorporated herein, by reference, in its entirety. For example, electric motor 3014 may include a rotatable drive shaft (not shown), which operationally interfaces with a gear reducer assembly which may be mounted in mating engagement with a set, or rack, of drive teeth on a longitudinally movable drive member. In use, a battery-supplied voltage polarity can operate the electric motor 3014 to drive the longitudinally movable drive member to drive the end actuator 300. For example, the motor 3014 can be configured to drive the longitudinally movable drive member 300 to advance a firing mechanism to fire staples into tissue captured by the end actuator 300 from a staple cartridge mounted with the end actuator 300 and/or to advance a cutting member for cutting. tissue captured by end actuator 300, for example.

[00259] As illustrated in Figures 28A and 28B, and as described in more detail below, the power supply assembly 3006 may include a power management controller 3016 that may be configured to modulate the output power of the power supply assembly 3006 to release a first output energy to energize the motor 3014 to advance the cutting member, while the interchangeable drive shaft assembly 200 is coupled to the handle assembly 14 and to release a second power output for energizing motor 3014 to advance the cutting member while interchangeable drive shaft assembly 200' is coupled to handle assembly 14, for example. Such modulation can have the benefit of avoiding excessive power transmission to the 3014 motor beyond the requirements of an interchangeable driveshaft assembly that is mated to the handle assembly 14.

[00260] The shaft assembly 200 may include the drive shaft PCBA 3031, which includes the shaft assembly controller 3022 that can communicate with the power management controller 3016 through an interface (for example, the interface 3024 of Figure 29), while the drive shaft assembly 200 and the power supply assembly 3006 are coupled to the handle assembly 14. For example, the interface may comprise a first interface portion 3025 that may include one or more electrical connectors for mating engagement with corresponding drive shaft assembly electrical connectors and a second interface portion 3027 that may include one or more connectors for mating engagement with corresponding power set electrical connectors to enable electrical communication between the 3022 shaft assembly controller and the 3016 power management controller while the drive shaft assembly 200 and power assembly 3006 are coupled to the handle assembly 14. One or more communication signals may be transmitted over the interface to communicate one or more of the power requirements of the fixed interchangeable driveshaft assembly 200 to the power management controller 3016. In response, the power management controller 3016 may modulate the battery power output of the power supply assembly 3006, as described in more detail below, in accordance with the power requirements of the fixed driveshaft assembly 200. In certain cases, one or more of the connections - electrical torques can comprise switches that can be activated after engagement by mechanical coupling of the handle assembly 14 to the drive shaft 200 and/or the power set 3006 to enable electrical communication between the drive set controller 3022 and the power management controller 3016.

[00261] In certain circumstances, the interface can facilitate the transmission of one or more communication signals between the power management controller 3016 and the drive shaft assembly controller 3022 by routing these communication signals through a main controller 3017 resident in the handle assembly 14, for example. In other cases, the interface may facilitate a direct line of communication between the power management controller 3016 and the drive shaft assembly controller 3022 through the handle assembly 14, while the drive shaft assembly 200 and power assembly 3006 are coupled to the handle assembly 14.

[00262] In one case, the main microcontroller 3017 may be any single-core or multi-core processor such as those known under the trade name ARM Cortex by Texas Instruments. In one case, the surgical instrument 10 (Figures 1 to 4) may comprise a power management controller 3016 such as, for example, a safety microcontroller platform comprising two families based on microcontrollers, such as TMS570 and RM4x known under the trade name Hercules ARM Cortex R4, also by Texas Instruments. However, other suitable replacements for microcontrollers and security processors may be employed without limitation. In one case, the 2004 security processor (Figure 21A) can be configured specifically for security critical IEC 61508 and ISO 26262 applications, among others, to provide advanced built-in security features while providing scalable performance, connectivity, and memory options.

[00263] In certain cases, the 3017 microcontroller may be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F processor core comprising 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a transfer buffer to optimize performance above 40 MHz, 32 KB single-cycle serial random access memory (SRAM), internal read-only memory (ROM) loaded with StellarisWare® software, program read-only memory 2 KB electrically erasable encoder (EEPROM), one or more pulse-width modulation (PWM) modules, one or more analog quadrature encoder (QEI) inputs, one or more 12-bit analog-to-digital converters (ADC) with 12 analog input channels, among other features that are readily available for the product data sheet. The present description is not to be limited in this context.

[00264] The power supply assembly 3006 may include a power management circuit that may comprise the power management controller 3016, a power modulator 3038 and a current sensor circuit 3036. The power management circuit may be configured to modulate the battery output power based on the power needs of the drive shaft assembly 200, while the drive shaft assembly 200 and the power supply assembly 3006 are coupled to the handle assembly 14. For example, the power management controller 3016 can be programmed to control the power modulator 3038 of the power output of the power pack 3006 and the current sensing circuit 3036 can be employed to monitor the power output of the power pack 3006 to provide feedback to the power management controller 3016 about the power output of the battery so that the power management controller 3016 can adjust the power output of power pack 3006 to maintain a desired output.

[00265] It is notable that the power management controller 3016 and/or the drive shaft assembly controller 3022 can each comprise one or more processors and/or memory units that can store various software modules. While certain modules and/or blocks of the surgical instrument 10 may be described by way of example, it should be understood that a greater or lesser number of modules and/or blocks may be used. Additionally, although many instances may be described in terms of modules and/or blocks for ease of description, these modules and/or blocks may be implemented by one or more hardware components, e.g. processors, digital signal processors (DSPs), programmable logic devices (PLDs), application-specific integrated circuits (ASICs), circuits, registers and/or software components, e.g. programs, subroutines, logic and/or combinations of hardware and software components.

[00266] In certain cases, the surgical instrument 10 may comprise an output device 3042 which may include one or more devices for providing sensory feedback to a user. These devices may comprise, for example, visual feedback devices (e.g., an LCD monitor, LED indicators), auditory feedback devices (e.g., a loudspeaker, a bell), or haptic feedback devices (e.g., haptic actuators). Under certain circumstances, the 3042 output device may comprise a 3043 screen that may be included in the handling of the 3022 and/or the 3016 power management controller 3016 may provide retroinformation to a surgical instrument user 10 through output device 3042. The interface (eg interface 3024 of Figure 29) can be configured to connect the controller of the controller 3022 and/or energy management controller 3016 to output device 3042. The reader will appreciate that the 3042 output device can instead be integrated with the power set 3006. Under these circumstances, the communication between the 3042 output device and the 3022 axis set controller can be done by the interface, while the drive axle set is coupled to manual assembly. jump 14.

[00267] Figure 29 is a block diagram of the surgical instrument of Figure 1 illustrating interfaces (collectively 3024) between the handle assembly 14 and the power supply assembly 3006 and between the handle assembly 14 and the interchangeable drive shaft assembly 200. As shown in Figure 29, the supply assembly 3006 may include a power management circuit 3034 that may comprise the power management controller 3016, a power modulator 3038, a current sensing circuit 3036, and a power assembly connector 3032. The power management circuit 3034 may be configured to modulate the output power of the battery 3007 based on the power needs of the driveshaft assembly 200, while the driveshaft assembly 200 and power assembly 3006 are coupled to the handle assembly 14. For example, the controller The power management controller 3016 may be programmed to control the power modulator 3038 of the power output of the power pack 3006 and the current sensing circuit 3036 may be employed to monitor the power output of the power pack 3006 to provide feedback to the power management controller 3016 about the power output of the battery 3007 so that the power management controller 3016 can adjust the power output of the power pack 3006 to maintain a desired output. Power pack connector 3032 is configured to connect to power pack connector 3030 of handle assembly 14 at interface 3027 for connecting power pack 3006 to handle assembly 14.

[00268] The shaft assembly 200 includes the shaft assembly controller 3022 and a shaft assembly connector 3028. The drive shaft assembly connector 3028 is configured to connect to the drive shaft assembly connector 3026 of the handle assembly 14 at the interface 3025 to connect the drive shaft assembly 200 to the handle assembly 14. As shown in Figure 29, the handle assembly 1 4 may include the main microcontroller 3017 and the output device 3042 comprising the screen 3043.

[00269] As described earlier in this document, several components can cooperate to assist in controlling a motor of an energized surgical instrument. For example, for powered surgical instrument 10, current sensor from motor 2046 measures the current being supplied to motor 2048 and provides an input signal representative of the measured current to motor controller 2006 which, in turn, applies pulse-width modulation signals to motor controller 2043, which in turn provides control signals to the gate terminals of FETS 2044 to control the amount of current supplied to motor 2048 over time to from battery 2008, as well as the direction of rotation of motor 2048. A current sensor from motor 2046 can be used to measure current being applied to motor 2048 when the motor is rotating in a first direction, and another current sensor from motor 2046 can be used to measure current being applied to motor 2048 when motor is rotating in a second direction. Collectively, these components can be considered to form a portion of a control circuit/system or an engine control circuit/system. In various embodiments, to measure the current being supplied to motor 2048, the current sensor of motor 2046 is positioned to measure current flowing in the H-bridge circuit (the H-bridge circuit includes the FETS 2044 and enables a voltage to be applied across motor 2048 in either direction to enable motor 2048 to rotate in a first direction and a second direction) between motor 2048 and a FET 2044 that is upstream of the motor. 2048. The measured current can be used to control the motor 2048, and by extension, to control a force applied to the firing drive system 80 of the energized surgical instrument 10.

[00270] In practice, it is relatively difficult to position a current sensor of the motor 2046 to measure the current flowing in the H-bridge circuit between the motor 2048 and a FET 2044 that is upstream of the motor 2048. Therefore, according to various embodiments, it is desired that a current different from the current measured in the H-bridge circuit be used to control the motor 2048. present document, an out-of-phase current downstream of the H-bridge can be used to control the 2048 motor.

[00271] Figure 30 illustrates a simplified representation of various embodiments of a surgical stapler 3100. According to various embodiments, the surgical stapler 3100 includes a drive system, an electric motor 3102, a battery 3104 and a control system. The drive system, which is not shown in Figure 30 for simplicity, may be similar or identical to the trigger drive system 80. The electric motor 3102 is mechanically coupled to the drive system and may be similar or identical to the motor 2048. The battery 3104 is electrically attachable to the electric motor 3102, and may be similar or identical to the battery 2008. The control system is electrically connected to the electric motor 3 102 and includes an H-bridge circuit, a first inductive element 3120, a second inductive element 3122, a first resistive element 3124, a second resistive element 3126, a first sensor 3128, and a second sensor 3130. The H-bridge circuit includes a first switching device 3110, a second switching device 3112, a third switching device 3114, and a fourth device switching device 3116. The first, second, third, and fourth switching devices 3110 to 3116 may be any suitable type of switching devices and may be similar or identical to the FETS 2044. The H-bridge circuit also defines a high side and a low side with respect to the electric motor 3102. The high side includes the first and second legs, with the first switching device 3110 being part of the first leg and the second switching device 3112 is part of the second leg. The low side includes the third and fourth legs, with the third switch 3114 being part of the third leg and the fourth switch 316 being part of the fourth leg. The high side of the H-bridge circuit is considered the upstream side of the H-bridge circuit and the low side of the H-bridge circuit is considered the downstream side of the H-bridge circuit. Electric motor 3102 is electrically coupleable to battery 3104 through the H-bridge circuit.

[00272] The first inductive element 3120 is electrically connected in series to the fourth switching device 3116 downstream of the fourth switching device 3116. The first inductive element 3120 may be incorporated as any suitable type of inductive element. For example, according to various embodiments, the first inductive element 3120 can be incorporated as an inductive. Although the first inductive element 3120 is shown as a single inductive element, it will be recognized that the first inductive element 3120 can include any number of inductive elements. The second inductive element 3122 is electrically connected in series with the third switching device 3114 downstream of the third switching device 3114. The second inductive element 3122 may be incorporated as any suitable type of inductive element. For example, according to various embodiments, the second inductive element 3122 can be incorporated as an inductive one. Although second inductive element 3122 is shown as a single inductive element, it will be recognized that second inductive element 3122 may include any number of inductive elements. The first and second inductive elements 3120, 3122 may be the same or different, and may be incorporated as any suitable type of inductive element. For example, the first and second inductive elements 3120, 3122 can be incorporated as inductors and the inductors can have the same or different Henry values.

[00273] The first resistive element 3124 is electrically connected in series to the first inductive element 3120. The first resistive element 3124 can be incorporated as any suitable type of resistive element. For example, according to various embodiments, the first resistive element 3124 can be incorporated as a resistor. Although the first resistive element 3124 is shown as a single resistor, it will be recognized that the first resistive element 3124 can include any number of resistive elements. The second resistive element 3126 is electrically connected in series with the second inductive element 3122. The second resistive element 3126 may be incorporated as any suitable type of resistive element. For example, according to various embodiments, the second resistive element 3126 can be incorporated as a resistor. Although second resistive element 3126 is shown as a single resistor, it will be recognized that second resistive element 3126 may include any number of resistive elements. The first and second resistive elements 3124, 3126 may be the same or different, and may be incorporated as any suitable type of resistive element. For example, as shown in accordance with various embodiments, the first and second resistive elements 3124, 3126 may be incorporated as resistors, and the resistors may have the same or different ohm values.

[00274] The first sensor 3128 can be positioned close to the first resistive element 3124 and is configured to detect/measure a current entering, passing through, leaving or downstream of the first resistive element 3124. The first sensor 3124 can be any suitable type of sensor configured to detect/measure a current. Second sensor 3130 may be positioned adjacent to second resistive element 3126 and is configured to detect/measure a current entering, passing through, leaving or downstream of second resistive element 3126. Second sensor 3126 may be any suitable type of sensor configured to detect/measure a current.

[00275] In operation, when the first and fourth switching devices 3110, 3116 are "closed" and the second and third switching devices 3112, 3114 are "open", the electric motor 3102 is able to drain current from the battery 3104 and rotate in a first direction (for example, a direction that causes a component of the drive system to move distally). For this condition, the current path flows from the positive battery terminal 3104, through the first switching device 3110, through the electric motor 3102, through the fourth switching device 3116, through the first inductive element 3120, through the first resistive element 3124, and back to the negative battery terminal 3104. Initially, the current through the first inductive element 3120 is zero, and then , increases over time until it equals the battery voltage divided by the series resistance between the battery 3104 and the first inductive element 3120. In other words, the first inductive element 3120 initially resists any change in the current flowing through the first inductive element 3120. of time, initially starting at zero and then increasing over time until equal to the battery voltage divided by the resistance in series between the battery 3104 and the first resistive element 3124. The current flowing through the first resistive element 3124 can be detected/measured by the first sensor 3128. In response to the sensed current, the first sensor 3128 can emit a signal that is indicative of the magnitude of the sensed current. The output signal from the first sensor 3128 may be provided to the main processor 2006 to control the electric motor 3102 and, by extension, to control a force applied to the surgical stapler drive system 3100 when the electric motor 3102 is operating in the first direction.

[00276] Similarly, when the second and third switching devices 3112, 3114 are "closed" and the first and fourth switching devices 3110, 3116 are "open", the electric motor 3102 is able to draw current from the battery 3104 and rotate in a second direction (for example, a direction that causes a component of the drive system to retract proximally). of the current flows from the positive terminal of the battery 3104, through the second switching device 3112, through the electric motor 3102, through the third switching device 3114, through the second inductive element 3122, through the second resistive element 3126 and back to the negative terminal of the battery 3104. Initially, the current through the second inductive element 3122 is zero and then increases over time until it equals the voltage of the battery divided by the series resistance between the battery 3104 and the second inductive element 3122. In other words, the second inductive element 3122 initially resists any change in the current flowing through the second inductive element 3122. increasing over time until it equals the battery voltage divided by the series resistance between the battery 3104 and the second resistive element 3126. The current flowing through the second resistive element 3126 can be detected/measured by a second sensor 3130. In response to the sensed current, the second sensor 3130 can emit a signal that is indicative of the magnitude of the sensed current. The output signal from second sensor 3130 may be provided to main processor 2006 to control electric motor 3102 and, by extension, to control a force applied to the surgical stapler drive system 3100 when electric motor 3102 is operating in the first direction.

[00277] Although the surgical stapler 3100 is shown only in Figure 30 as having an inductive element and a resistive element downstream of each lower leg of the H-bridge circuit, it will be recognized that, in accordance with other embodiments, the surgical clamp 3100 may include a single pair of inductive element/resistive element electrically connected downstream of either the third leg or the fourth leg of the H-bridge circuit. Electrical components can be electrically connected downstream of the lower legs of the H-bridge circuit.

[00278] Figure 31 illustrates a simplified representation of various embodiments of a surgical stapler 3200. The surgical stapler 3200 is similar to the surgical stapler 3100, but is different in that the surgical stapler 3200 includes a different combination and arrangement of electrical components downstream of the lower legs of the H-bridge circuit. 3222, first and second resistive elements 3224, 3226, first and second sensors 3228, 3230 and first and second capacitive elements 3232, 3234. The first and second inductive elements 3220, 3222 may be similar or identical to the first and second inductive elements 3120, 3122. The first and second resistive elements 3224, 3226 may be similar or identical to the first and second resistive elements 3124, 3126. The first and second sensors 3228, 3230 may be similar or identical to the first and second sensors 3128, 3130. For example, according to various embodiments, the first and second sensors 3228, 3230 may be configured to detect/measure a current. According to other embodiments, the first and second sensors 3228, 3230 can be configured to detect a voltage. In still other embodiments, the first and second sensors 3228, 3230 can be configured to detect a current and/or a voltage.

[00279] The first capacitive element 3232 is electrically connected in series with the first inductive element 3220, and in parallel with the first resistive element 3224. The first capacitive element 3232 can be incorporated as any suitable type of capacitive element. For example, according to various embodiments, the first capacitive element 3232 can be incorporated as a capacitor. Although the first capacitive element 3232 is shown as a single capacitor, it will be recognized that the first capacitive element 3232 can include any number of capacitive elements. The second capacitive element 3234 is electrically connected in series with the second inductive element 3222, and in parallel with the second resistive element 3226. The second capacitive element 3234 may be incorporated as any suitable type of capacitive element. For example, according to various embodiments, the second capacitive element 3234 can be incorporated as a capacitor. Although the second capacitive element 3234 is shown as a single capacitor, it will be recognized that the second capacitive element 3234 can include any number of capacitive elements. The first and second capacitive elements 3232, 3234 may be the same or different, and may be incorporated as any suitable type of capacitive element. For example, according to various embodiments, the first and second capacitive elements 3232, 3234 can be incorporated as capacitors, and the capacitors can have the same or different farad values.

[00280] In operation, when the first and fourth switching devices 3110, 3116 are "closed" and the second and third switching devices 3112, 3114 are "open", the electric motor 3102 is able to drain current from the battery 3104 and rotate in a first direction (for example, a direction that causes a component of the drive system to move distally). For this condition, the current path flows from the positive battery terminal 3104, through the first switching device 3110, through the electric motor 3102, through the fourth switching device 3116, through both the first resistive element 3224 and the first inductive element pair 3220/first enabling element 3232, and back to the negative battery terminal 3104. across the first inductive element 3220 is zero and then increases over time until equal to the battery voltage divided by the series resistance between the battery 3104 and the first inductive element 3220. Due to the variation in the amount of current flowing through the first inductive element 3220 over time, the current flowing through the first capacitive element 3232 will also vary over time, initially starting at zero and then increasing over time until it is equal to the voltage of the battery divided by the series resistance between the battery 3104 and the first capacitive element 3232. The current downstream of the first capacitance element 3232 (or downstream of the first resistive element 3224) may be detected/measured by the first sensor 3228. In response to the sensed current, the first sensor 3228 may output a signal that is indicative of the magnitude of the sensed current. The output signal from the first sensor 3228 may be provided to the main processor 2006 to control the electric motor 3102 and, by extension, to control a force applied to the surgical stapler drive system 3100 when the electric motor 3102 is operating in the first direction.

[00281] Regarding the voltage, initially, the voltage across the first capacitive element 3232 is zero and then it increases over time until it is equal to the battery voltage less than any voltage that is reduced between the battery 3104 and the first capacitive element 3232. In other words, the first capacitive element 3232 initially resists any change in voltage across it. Thus, there is a change in the amount of voltage across the first capacitive element 3232 over time, initially starting at zero and then increasing over time until it is equal to the battery voltage less than whatever voltage is reduced between the battery 3104 and the first capacitive element 3232. of a magnitude of a voltage measured at the electric motor 3102. The voltage across the first capacitive element 3232 may be detected/measured by a first sensor 3228. In response to the detected voltage, the first sensor 3228 may output a signal that is indicative of the magnitude of the detected voltage. The output signal from the first sensor 3228 may be provided to the main processor 2006 to control the electric motor 3102 and, by extension, to control a force applied to the surgical stapler drive system 3100 when the electric motor 3102 is operating in the first direction.

[00282] Similarly, when the second and third switching devices 3112, 3114 are "closed" and the first and fourth switching devices 3110, 3116 are "open", the electric motor 3102 is able to draw current from the battery 3104 and rotate in a second direction (for example, a direction that causes a component of the drive system to retract proximally). For this condition, the current path flows from the positive battery terminal 3104, through the second switching device 3112, through the electric motor 3102, through the third switching device 3114, through both the second resistive element 3226 and the second inductive element pair 3222/second capacitance element 3234 and back to the negative battery terminal 3104. Initially, the current through the second inductive element 3222 is zero and then increases over time until it equals the battery voltage divided by the series resistance between the battery 3104 and the second inductive element 3222. Due to the variation in the amount of current flowing through the second inductive element 3222 over time, the current flowing through the second capacitive element 3234 will also vary over time, starting at zero initially and then increasing over time until it is equal to the battery voltage divided by the resistance in series between the battery 3104 and the second capacitive element 3234. The current downstream of the second capacitance element 3234 (or downstream of the second resistive element 3226) may be detected/measured by the second sensor 3230. In response to the sensed current, the second sensor 3230 may output a signal that is indicative of the magnitude of the sensed current. The output signal from second sensor 3230 may be provided to main processor 2006 to control electric motor 3102 and, by extension, to control a force applied to the surgical stapler drive system 3100 when electric motor 3102 is operating in the first direction.

[00283] Regarding the voltage, initially, the voltage across the second capacitive element 3234 is zero and then it increases over time until it is equal to the battery voltage less than any voltage that is reduced between the battery 3104 and the second capacitive element 3234. In other words, the second capacitive element 3234 initially resists any change in voltage across it. Thus, there is a change in the amount of voltage across the second capacitive element 3234 over time, initially starting at zero and then increasing over time until it is equal to the battery voltage less than whatever voltage is reduced between the battery 3104 and the second capacitive element 3234. By measuring a voltage across the second capacitive element 3234 while the electric motor 3102 is operating in the second direction, the measured voltage will have a magnitude that is different from one magnitude of a voltage measured across the electric motor 3102. The voltage across the second capacitive element 3234 may be detected/measured by the second sensor 3230. In response to the detected voltage, the second sensor 3230 may output a signal that is indicative of the magnitude of the detected voltage. The output signal from second sensor 3230 may be provided to main processor 2006 to control electric motor 3102 and, by extension, to control a force applied to the surgical stapler drive system 3100 when electric motor 3102 is operating in the first direction.

[00284] Although the surgical stapler 3200 is only shown in Figure 31 as having a resistive element and an inductive element/capacitive element pair downstream of each lower leg of the H-bridge circuit, it will be recognized that, in accordance with other embodiments, the surgical clamp 3200 may include a single resistive element/capacitive element pair electrically connected downstream of either the third leg or the fourth leg of the H-bridge circuit.

[00285] Figure 32 illustrates a simplified representation of a surgical stapler 3300 according to various embodiments. The surgical stapler 3300 is similar to the surgical stapler 3200, but is different in that the surgical stapler 3200 includes a different combination and arrangement of electrical components downstream of the lower legs of the H-bridge circuit. 3324, 3326, first and second sensors 3328, 3330 and first and second capacitive elements 3332, 3334. The first and second inductive elements 3320, 3322 may be similar or identical to the first and second inductive elements 3120, 3122. The first and second resistive elements 3324, 3326 may be similar or identical to the first and second resistive elements 3124, 3126. The first and second sensors 3328, 3330 may be similar or identical to the first and second sensors 3228, 3230. The first and second capacitive elements 3332, 3334 may be similar or identical to the first and second capacitive elements 3232, 3234.

[00286] The first inductive element 3320 is electrically connected in series with the fourth switching device 3116 and is magnetically coupled to the second inductive element 3336. The first and second inductive elements 3320, 3336 can be incorporated as coupled inductors or can collectively form a portion of a transformer. The first and second inductive elements 3320, 3336 may be the same or different, and may be incorporated as any suitable type of inductive element. For example, according to various embodiments, the first and second inductive elements 3320, 3336 can be incorporated as inductors and the inductors can have the same or different Henry values. Although the first inductive element 3320 is shown as a single inductor and the second inductive element 3336 is shown as a single inductor, it will be appreciated that the first inductive element 3320 and/or the second inductive element 3336 can each include any number of inductive elements.

[00287] Similarly, the third inductive element 3322 is electrically connected in series with the third switching device 3114, and is magnetically coupled to the fourth inductive element 3338. The third and fourth inductive elements 3332, 3338 can be incorporated as coupled inductors or can collectively form a portion of a transformer. The third and fourth inductive elements 3332, 3338 may be the same or different, and may be incorporated as any suitable type of inductive element. For example, according to various embodiments, the third and fourth inductive elements 3332, 3338 can be incorporated as inductors, and the inductors can have the same or different Henry values. Although the third inductive element 3322 is shown as a single inductor and the fourth inductive element 3338 is shown as a single inductor, it will be appreciated that the third inductive element 3322 and/or the fourth inductive element 3338 can each include any number of inductive elements.

[00288] The first resistive element 3324 is electrically connected in series with the second inductive element 3336. The second resistive element 3326 is electrically connected in series with the fourth inductive element 3338. The first capacitive element 3332 is electrically connected in series with the first resistive element 3324. The second capacitive element 3334 is electrically connected in series with the second resistive element 3326. Collectively, the second inductive element 3336, the first resistive element 3324, and the first capacitive element 3332 form an LRC circuit (e.g., a filter) that is magnetically coupled to the first inductive element 3320. The LRC circuit is configured to filter out some components (e.g., switching currents, harmonics, etc.) from the current flowing out of the fourth switching device 3116. Similarly, the fourth inductive element 3338, the second resistive element The second LRC circuit 3326 and the second capacitive element 3334 form a second LRC circuit (e.g., a filter) which is magnetically coupled to the second inductive element 3322. The second LRC circuit is configured to filter out some components (e.g., switching currents, harmonics, etc.) in a different order (for example, an RLC circuit) and one filter can be arranged differently than the other filter.

[00289] In operation, when the first and fourth switching devices 3110, 3116 are "closed" and the second and third switching devices 3112, 3114 are "open", the electric motor 3102 is able to drain current from the battery 3104 and rotate in a first direction (for example, a direction that causes a component of the drive system to move distally). For this condition, the current path flows from the positive terminal of battery 3104, through the first switching device 3110, through the electric motor 3102, through the fourth switching device 3116, through the first inductive element 3320 and back to the negative terminal of battery 3104. Initially, the current through the first inductive element 3320 is zero and then increases over time until it equals the battery voltage divided by resistance. in series between the battery 3104 and the first inductive element 3320. The varying current passing through the first inductive element 3320 induces a varying electromotive force (EMF) or voltage across the third inductive element 3336. The voltage induces a current in the LRC circuit. The current in the LRC loop is a "filtered" current compared to the current flowing out of the fourth switching device 3116 and has a magnitude that is different from the magnitude of the current flowing out of the fourth switching device 3116. The LRC current can be detected/measured by the first sensing device 3328. In response to the detected LRC current, the first sensor 3328 can output a signal that is indicative of the magnitude of the detected current. The output signal from the first sensor 3328 may be provided to the main processor 2006 to control the electric motor 3102 and, by extension, to control a force applied to the surgical stapler drive system 3100 when the electric motor 3102 is operating in the first direction. Additionally, the voltage across the first capacitive element 3332 will be different from the voltage across the electric motor 3102. The first sensor 3328 may be configured to detect/measure the voltage across the first capacitive element 3332. In response to the detected voltage, the first sensor 3328 may output a signal that is indicative of the magnitude of the detected voltage. The output signal from the first sensor 3328 may be provided to the main processor 2006 to control the electric motor 3102 and, by extension, to control a force applied to the surgical stapler drive system 3100 when the electric motor 3102 is operating in the first direction.

[00290] Similarly, when the second and third switching devices 3112, 3114 are "closed" and the first and fourth switching devices 3110, 3116 are "open", the electric motor 3102 is able to draw current from the battery 3104 and rotate in a second direction (for example, a direction that causes a component of the drive system to retract proximally). For this condition, the current path flows from the positive terminal of battery 3104, through the second switching device 3112, through the electric motor 3102, through the third switching device 3114, through the second inductive element 3322 and back to the negative terminal of battery 3104. Initially, the current through the second inductive element 3322 is zero and then increases over time until it equals the battery voltage divided by the resistance in series between battery 3104 and second inductive element 3322. The varying current passing through the second inductive element 3332 induces a varying electromotive force (EMF) or voltage across the fourth inductive element 3338. The voltage induces a current in the second LRC circuit. The current in the second LRC circuit is a "filtered" current compared to the current flowing out of the third switching device 3114 and has a magnitude that is different from the magnitude of the current flowing out of the third switching device 3114. The LRC current can be detected/measured by the second sensing device 3330. In response to the detected LRC current, the second sensor 3330 can output a signal that is indicative of the magnitude of the detected current. The output signal from second sensor 3330 may be provided to main processor 2006 to control electric motor 3102 and, by extension, to control a force applied to the surgical stapler drive system 3100 when electric motor 3102 is operating in the first direction. Additionally, the voltage across the second capacitive element 3334 will be different from the voltage across the electric motor 3102. The second sensor 3330 may be configured to detect/measure the voltage across the second capacitive element 3334. In response to the detected voltage, the second sensor 3330 may output a signal that is indicative of the magnitude of the detected voltage. The output signal from second sensor 3330 may be provided to main processor 2006 to control electric motor 3102 and, by extension, to control a force applied to the surgical stapler drive system 3100 when electric motor 3102 is operating in the first direction.

[00291] Although the surgical stapler 330 is shown in Figure 32 as having two LRC circuits, each coupled to inductive elements that are downstream of different legs on the downstream side of the H-bridge circuit, it will be understood that, in accordance with other embodiments, the surgical stapler 3300 may include a single LRC circuit coupled to a single inductive element that is downstream of either the third leg or the fourth leg of the H-bridge circuit.

[00292] For each of the staplers/surgical instruments previously described in this document, both battery current and recirculation current flow in the H-bridge circuit. An example of battery current and current recirculation waveforms are shown in Figure 33. In general, when a surgical stapler pulse width modulation circuit (for example, a main processor 2006 pulse width modulation circuit) provides a high voltage that is above a base value) to the motor controller 2043, the motor controller 2043 controls the switching devices in the H-bridge circuit so that a voltage is applied from the battery 3104 to the electric motor 3102. The electric motor 3102 draws an increasing amount of current from the battery 3104, causing the battery 3104 to eventually rotate. The increasing battery current is shown as the "A" portions of Figure 33. When the pulse width modulation circuit of the surgical stapler transitions from providing a high signal to providing a low signal (eg, a voltage signal that is not above a base value) to the motor controller 2043, the motor controller 2043 controls the switching devices on the H-bridge circuit voltage so that no voltage is applied to the electric motor 3102 of the battery 3104. the voltage applied by the battery 3104 is interrupted, the electric motor 3102 does not draw any current from the battery 3104. However, as the electric motor 3102 was rotating, the electric motor 3102 acts as a generator while the electric motor 3102 is still rotating. Although the electric motor 3102 is acting as a generator, the electric motor 3102 produces a recirculation current which gradually decreases to zero. The decrease in recirculation current is shown as the "B" portions of Figure 33. The shape of the recirculation curve can vary based on the inductance of the electric motor 3102 and the resistance of the recirculation circuit.

[00293] Therefore, to measure the total average current in the H bridge, both the battery current and the recirculation current are measured. Although battery current can be detected relatively easily by a current sensor (eg, current sensor 2012) positioned next to battery 3104, the current sensor positioned next to battery 3104 will not detect recirculation current. Although a current sensor positioned to detect a current in the H-bridge adjacent to electric motor 3102 could detect recirculation current, as indicated above herein, it is relatively difficult to position a current sensor in the H-bridge circuit.

[00294] According to various embodiments, each of the surgical staplers described above can be configured to use predicted recirculation current values to determine an average total current associated with the electric motor 3102, and the average total current can be used to control the electric motor 3102, and by extension, to control a force applied to the surgical stapler drive system when the motor is operating in the first or second direction. For these embodiments, the control system includes a battery current sensor positioned to sense battery current and the control system is configured to predict recirculation current values based on the detected battery current.

[00295] The recirculation current can be predicted from the measured battery current in any suitable way. For example, according to various embodiments, the recirculation current can be predicted based on a characterization of the battery current. For example, the recirculation current can be predicted as follows. First, the control system's battery current sensor takes a plurality of battery current measurements while a pulse signal generated by the pulse width modulation circuit is "high" (above a baseline value). These samples are indicated by the points shown in the "A" portions of Figure 33. Second, the control system (for example, the 2006 main processor) adjusts the battery current measurements to a first curve representative of the following equation:

[00296] where VB is the battery voltage, R is the resistance, t is the time and L is the inductance. The values for resistance R and inductance L are known and stored in the handle assembly 14. The above equation is representative of a load current curve for an inductor (eg motor). At t=0, the current I=0. As t approaches infinity, the current I = VB/R. Third, given the measured battery current I, the control system (eg main processor 2006) determines the value of VB. Fourth, the control system (for example, the 2006 main processor) uses the VB value as determined above in the following equation to PREDICT recirculation current values at various times while the pulse signal is not high:

[00297] where R is the resistance, t is the time and L is the inductance. The values for the resistance R and the inductance L are known and stored in the handle assembly 14. The above equation is representative of the discharge current curve for an inductor (eg motor). At t=0, the current I = VB/R. As t approaches infinity, the current I = 0.

[00298] Once the recirculation current values are predicted as described above, the control system (for example, the main processor 2006) adjusts the recirculation current values to a second curve representative of the following equation:

[00299] where R is the resistance, t is the time and L is the inductance. The values for resistance R and inductance L are known and stored in the handle assembly 14. Then the control system (eg main processor 2006) determines the intersection of the first and second curves. The intersection is representative of an inflection point of a curve that includes a battery current component and a recirculation curve component. From that point on, the control system (for example, the 2006 main processor) determines the area under the first curve up to the intersection and the area under the second curve after the intersection. Next, the control system (e.g., main processor 2006) adds the areas under the first and second curves to determine the average total current in motor 3102. Finally, the average total current determined in motor 3102 can be input or used by main processor 2006 to control electric motor 3102 and, by extension, to control a force applied to the surgical stapler drive system when the motor is operating in the first or second direction.

[00300] According to other arrangements, the recirculation current can be predicted based on a characterization of the peaks of the measured battery current. For example, the recirculation current can be predicted as follows. First, the control system's battery current sensor obtains a plurality of battery current measurements over multiple periods of the PWM duty cycle. An example of this sampling is shown in Figure 34, where the dots represent the sampled battery current. During recirculation, the battery current is zero. Second, the control system (for example, the 2006 main processor) pulls the maximum value from the samples (in Figure 34, the "M" sample has the highest value), assigns the maximum value as the final condition of a battery current curve representative of the following equation:

[00301] where VB is the battery voltage, R is the resistance, t is the time and L is the inductance, and generates the battery current curve based on the above equation. The values for resistance R and inductance L are known and stored in the handle assembly 14. The above equation is representative of a load current curve for an inductor (eg motor). At t=0, the current I=0. As t approaches infinity, the current I = VB/R. Third, given the measured battery current I, the control system (eg main processor 2006) determines the value of VB. Fourth, the control system (for example, the 2006 main processor) also assigns the maximum value of the samples as the initial condition of a current recirculation curve representative of the following equation:

[00302] where VB is the determined battery voltage value, R is the resistance, t is the time and L is the inductance, and generates the battery current curve based on the above equation. The values for the resistance R and the inductance L are known and stored in the handle assembly 14. From that point on, the control system (eg the 2006 main processor) determines the area under the battery current curve and the area under the recirculation current curve. Next, the control system (e.g., the main processor) adds the areas under the battery current curve and the recirculation current curves to determine the average total current in motor 3102. Finally, the average total current determined in motor 3102 can be input or used by main processor 2006 to control electric motor 3102 and, by extension, to control a force applied to the surgical stapler drive system when the motor is operating in the first or second direction.

[00303] According to still other embodiments, instead of using the measured battery current and the predicted recirculation current to control the electric motor, the measured battery current and a state of a work cycle associated with a pulse width modulation circuit can be used to control the electric motor, and by extension, to control a force applied to the surgical stapler drive system when the electric motor is operating in the first or second direction. For example, measured battery current and duty cycle status can be used as follows.

[00304] First, during manufacturing of the surgical stapler, the surgical stapler is operated at PWM duty cycle increments between 0% and 100%. At each increment of the PWM duty cycle test, a range of loads are applied to the surgical stapler and the current drawn from the 3104 battery is also measured. In addition, at each increment of the PWM duty cycle test, the measured current drain is plotted against the PWM duty cycle and associated load. Based on the tests, a PWM and look-up table of force versus force current is generated and stored in a memory (eg, non-volatile memory) of the surgical stapler. Second, during subsequent use of the surgical stapler, the surgical stapler control system utilizes pulse width modulation to modulate the voltage applied to the motor to achieve a target force applied by the surgical stapler. To achieve the target force, the PWM duty cycle state (eg 20%, 30%, etc.) and the measured battery current value are entered into the lookup table to obtain the actual force that is applied by the surgical stapler. Third, the control system compares the actual force to the target force and adjusts the PWM duty cycle to increase or decrease the actual force that is applied by the surgical stapler as needed to achieve the target force.

[00305] According to various embodiments, the PWM and force versus current lookup table are stored in the main processor 2006. For surgical staplers that also include the safety processor 2004, the PWM and the force versus current lookup table can be passed to both the main processor 2006 and the safety processor 2004 during manufacture. For these embodiments, the PWM duty cycle may be communicated from the main processor 2006 to the backup processor 2004 during use of the surgical stapler. According to other embodiments, the security processor 2004 could measure the PWM signal that is output from the main processor 2006 and decode it to access the appropriate power value in the PWM and the power versus current lookup table.

Examples

[00306] Example 1 - A surgical stapler is shown. The surgical stapler comprises a drive system, an electric motor mechanically coupled to the drive system, a battery electrically coupleable to the electric motor, and a control system electrically connected to the electric motor. The control system comprises an H-bridge circuit, an electrically resistive element, and an electrically inductive element electrically connected to the electrically resistive element. The H-bridge circuit comprises a high side and a low side, the low side of the H-bridge circuit comprising first and second switching devices. The electrically resistive element is electrically connected in series with the first switching device. The control system is configured to control a force applied to the drive system based on a current downstream of the electrically resistive element.

[00307] Example 2 - The surgical stapler of Example 1, in which the low side of the H-bridge circuit comprises a first and a second leg and the electrically resistive element and the electrically inductive element are electrically connected to one of the first and second legs of the H-bridge circuit.

[00308] Example 3 - The surgical stapler of Examples 1 or 2, in which the electrically inductive element is electrically connected in series to the electrically resistive element.

[00309] Example 4 - The surgical stapler of Examples 1 or 2, in which the electrically inductive element is electrically connected in parallel to the electrically resistive element.

[00310] Example 5 - The surgical stapler of Examples 1, 2 or 4, which further comprises an electrically capacitive element electrically connected in series to the electrically inductive element.

[00311] Example 6 - The surgical stapler of Examples 1, 2, 3, 4 or 5, further comprising a second electrically resistive element electrically connected in series to the second switching device, and a second electrically inductive element electrically connected to the second electrically resistive element, the control system being further configured to control a second force applied to the drive system based on a second current measured downstream of the second electrically resistive element.

[00312] Example 7 - The surgical stapler of Example 6, in which the second electrically inductive element is electrically connected in series to the second electrically resistive element.

[00313] Example 8 - The surgical stapler of Example 6, in which the second electrically inductive element is electrically connected in parallel to the second electrically resistive element.

[00314] Example 9 - The surgical stapler of Examples 6 or 8, which further comprises an electrically capacitive element electrically connected in series to the electrically inductive element.

[00315] Example 10 - A surgical stapler is shown. The surgical stapler comprises a drive system, an electric motor mechanically coupled to the drive system, a battery electrically coupleable to the electric motor, and a control system electrically connected to the electric motor. The control system comprises an H-bridge circuit, an electrically inductive element, and a filter magnetically coupled to the electrically inductive element. The H-bridge circuit comprises a high side and a low side, the low side of the H-bridge circuit comprising first and second switching devices. The electrically inductive element is electrically connected in series with the first switching device. The control system is configured to control a force applied to the drive system based on a current in the filter.

[00316] Example 11 - The surgical stapler of Example 10, in which the filter comprises a second electrically inductive element magnetically coupled to the first electrically inductive element, an electrically resistive element electrically connected to the second electrically inductive element and an electrically capacitive element electrically connected to the electrically resistive element.

[00317] Example 12 - The surgical stapler, according to Examples 10 or 11, further comprising a sensor configured to detect the current in the filter.

[00318] Example 13 - The surgical stapler of Examples 10, 11 or 12, which additionally comprises a third electrically inductive element electrically connected in series with the second switching device, and a second filter magnetically coupled to the third electrically inductive element, and the control system is additionally configured to control a second force applied to the drive system based on a second current in the second filter.

[00319] Example 14 - The surgical stapler of Example 13, wherein the second filter comprises a fourth electrically inductive element magnetically coupled to the third electrically inductive element, a second electrically resistive element electrically connected to the fourth electrically inductive element, and a second electrically capacitive element electrically connected to the second electrically resistive element.

[00320] Example 15 - The surgical stapler, according to Examples 12 or 13, further comprising a second sensor configured to detect the second current in the filter.

[00321] Example 16 - A surgical stapler is shown. The surgical stapler comprises a drive system, an electric motor mechanically coupled to the drive system, a battery electrically coupleable to the electric motor, and a control system electrically connected to the electric motor. The control system comprises a pulse width modulation circuit and is configured to control a force applied to the drive system based on, first, a plurality of battery current measurements taken while a pulse signal generated by the pulse width modulation circuit is above a baseline value and, second, a plurality of predicted recirculation current values based on at least one of the plurality of battery current measurements.

[00322] Example 17 - the surgical stapler according to Example 16, wherein the control system is further configured to adjust the plurality of battery current measurements to a first curve defined by a first mathematical equation, adjust the plurality of recirculating current values to a second curve defined by a second mathematical equation, determine an intersection between the first and second curves, and determine a total area under the first and second curves.

[00323] Example 18 - The surgical stapler, according to Example 17, in which the total area under the first and second curves is representative of an average current in the electric motor.

[00324] Example 19 - The surgical stapler, according to Examples 16, 17 or 18, in which the control system is additionally configured to predict the recirculation current values based on a maximum value of the plurality of battery current measurements taken.

[00325] Example 20 - The surgical stapler, according to claim 19, in which the control system is additionally configured to determine the maximum value, designate the maximum value as a final condition of a battery current curve and as an initial condition of a first mathematical equation, and generate the recirculation current curve based on a second mathematical equation, and determine a total area under the battery current curve and the recirculation current curve.

[00326] Example 21 - The surgical stapler, according to Example 20, in which the total area under the battery current curve and the recirculation current curve is representative of an average current in the electric motor.

[00327] Example 22 - A surgical stapler is shown. The surgical stapler comprises a drive system, an electric motor mechanically coupled to the drive system, a battery electrically coupleable to the electric motor, and a control system electrically connected to the electric motor. The control system comprises a pulse width modulation circuit and is configured to control a force applied to the drive system based on, first, a measurement of battery current taken while a pulse signal generated by the pulse width modulation circuit is above a baseline value and, second, a state of a duty cycle associated with the pulse width modulation circuit.

[00328] Example 23 - The surgical stapler of Example 22, in which the control system is additionally configured to read a force value from a lookup table of a surgical stapler memory based on the measured battery current and the state of the duty cycle, compare the reading force value to a target force value, and modify the duty cycle.

[00329] All descriptions of:

[00330] US Patent No. 5,403,312, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE", granted on April 4, 1995;

[00331] US Patent No. 7,000,818, entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS", granted on February 21, 2006;

[00332] US Patent No. 7,422,139, entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK", granted on September 9, 2008;

[00333] US Patent No. 7,464,849, entitled "ELECTROMECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS", granted on December 16, 2008;

[00334] US Patent No. 7,670,334, entitled "SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR", granted on March 2, 2010;

[00335] US Patent No. 7,753,245, entitled "SURGICAL STAPLING INSTRUMENTS", granted on July 13, 2010;

[00336] US Patent No. 8,393,514, entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE", granted on March 12, 2013;

[00337] US Patent Application Serial No. 11/343,803, entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES"; now US Patent No. 7,845,537;

[00338] US Patent Application Serial No. 12/031,573, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES", filed on February 14, 2008;

[00339] US Patent Application Serial No. 12/031,873, entitled "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT", filed on February 15, 2008, now US Patent No. 7,980,443;

[00340] US Patent Application Serial No. 12/235,782, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT", now US Patent 8,210,411;

[00341] US Patent Application Serial No. 12/249,117, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM", now US Patent No. 8,608,045;

[00342] US Patent Application Serial No. 12/647,100, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY", filed on December 24, 2009; now US Patent No. 8,220,688;

[00343] US Patent Application Serial No. 12/893,461, entitled "STAPLE CARTRIDGE", filed on September 29, 2012, now US Patent No. 8,733,613;

[00344] US Patent Application Serial No. 13/036,647, entitled "SURGICAL STAPLING INSTRUMENT", filed on February 28, 2011, now US Patent No. 8,561,870;

[00345] US Patent Application Serial No. 13/118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", now US Patent No. 9,072,535;

[00346] US Patent Application Serial No. 13/524,049, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE", filed on June 15, 2012; now US Patent No. 9,101,358;

[00347] US Patent Application Serial No. 13/800,025, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", filed on March 13, 2013, now US Patent Application Publication No. 2014/0263551;

[00348] US Patent Application Serial No. 13/800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", filed on March 13, 2013, now US Patent Application Publication No. 2014/0263552;

[00349] US Patent Application Publication No. 2007/0175955, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM", filed on January 31, 2006; It is

[00350] US Patent Application Publication No. 2010/0264194, entitled "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR", filed April 22, 2010, now US Patent No. 8,308,040, are incorporated herein by reference.

[00351] Although various embodiments of the devices have been described herein in connection with certain described embodiments, many modifications and variations of these embodiments can be implemented. In addition, where materials are described for certain components, other materials may be used. Furthermore, according to various embodiments, a single component can be replaced by multiple components and multiple components can be replaced by a single component to perform one or more specified functions. The aforementioned description and the following claims are intended to cover all such modifications and variations.

[00352] The devices described here can be designed so that they are discarded after a single use, or can be designed so that they are used multiple times. In either case, however, the device can be refurbished for reuse after at least one use. Reconditioning 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 disassembled and any number of parts or specific parts of the device can be selectively replaced or removed, in any combination. By cleaning and/or replacing specific parts, the device can be reassembled for subsequent use in 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 these techniques and the resulting refurbished device are within the scope of the present application.

[00353] As an example only, the aspects described here can be processed before surgery. First, a new or used instrument can be obtained and, if necessary, cleaned. The instrument can then be sterilized. In a sterilization technique, the instrument is placed in a closed, sealed container, such as a plastic bag or TYVEK (commercially available from E.I. Du Pont de Nemours and Company). The container and instrument can then be placed in a field of radiation that can penetrate the container, such as gamma radiation, X-rays or high-energy electrons. Radiation can kill bacteria in the instrument and container. The sterilized instrument can then be stored in a sterile container. The sealed container can keep the instrument sterile until it is opened in the medical facility. The device may also be sterilized using any other known technique, including, but not limited to, beta or gamma radiation, ethylene oxide, plasma peroxide, or water vapor.

[00354] Although this invention has been described as having exemplary designs, the present invention can be further modified within the spirit and scope of the description. It is therefore intended that this application cover any variations, uses or adaptations of the invention using its general principles.

[00355] Any patent, publication or other descriptive material, in whole or in part, which is believed to be incorporated by reference to the present invention, is incorporated into the present invention only to the extent that the incorporated materials do not conflict with existing definitions, statements or other descriptive materials presented in this description. Accordingly, and to the extent necessary, the description as explicitly set forth herein supersedes any conflicting material incorporated into the present invention by way of reference. Any material, or portion thereof, incorporated herein by reference but which conflicts with the existing definitions, statements, or other descriptive material presented herein, is incorporated herein only to the extent that there is no conflict between the incorporated material and the existing descriptive material.

Claims (6)

1. Surgical stapler (3200), comprising: a drive system; an electric motor (3102) mechanically coupled to the drive system; a battery (3104) electrically attachable to the electric motor (3102); and a control system electrically connected to the electric motor (3102), the control system being configured to control a force applied to the drive system based on a current, characterized in that the control system comprises: an H-bridge circuit comprising a high side and a low side, the low side of the H-bridge circuit comprising first and second switching devices (3114, 3116) and first and second legs; an electrically resistive element (3226) electrically connected in series with the first switching device (3114); and an electrically inductive element (3222) electrically connected in parallel to the electrically resistive element (3226), wherein the electrically resistive element (3226) and the electrically inductive element (3222) are electrically connected to one of the first and second legs of the H-bridge circuit, the control system being configured to control the force applied to the drive system based on the downstream current of the electrically resistive element (3226). 2. Surgical stapler (3200), according to claim 1, characterized in that it further comprises an electrically capacitive element (3234) electrically connected in series with the electrically inductive element (3222). 3. Surgical stapler (3200), according to claim 1 or 2, characterized in that it further comprises: a second electrically resistive element (3124; 3224) electrically connected in series with the second switching device (3116); and a second electrically inductive element (3120; 3220) electrically connected to the second electrically resistive element (3124; 3224), the control system being further configured to control a second force applied to the drive system based on a second current measured downstream of the second electrically resistive element (3124; 3224). 4. Surgical stapler (3200), according to claim 3, characterized in that the second electrically inductive element (3120) is electrically connected in series with the second electrically resistive element (3124). 5. Surgical stapler (3200), according to claim 3, characterized in that the second electrically inductive element (3220) is electrically connected in parallel with the second electrically resistive element (3224). 6. Surgical stapler (3200), according to claim 3 or 5, characterized in that it further comprises a second electrically capacitive element (3232) electrically connected in series with the second electrically inductive element (3220).