CN105636527B

CN105636527B - interactive display for surgical instruments

Info

Publication number: CN105636527B
Application number: CN201480057557.7A
Authority: CN
Inventors: J·R·摩根; F·E·谢尔顿四世; E·A·谢林
Original assignee: Ethicon Endo Surgery Inc
Current assignee: Ethicon Endo Surgery Inc
Priority date: 2013-08-23
Filing date: 2014-08-12
Publication date: 2018-07-13
Anticipated expiration: 2034-08-12
Also published as: JP2016528010A; BR112016003663B1; CN105636527A; JP6526670B2; RU2016110415A; MX2016002329A; RU2695598C2; BR112016003663A2; RU2016110415A3

Abstract

The invention discloses a kind of interactive displays.The interactive display may include first information layer and the second Information Level.The first information layer may include the video feed of the surgical instruments by endoscopic observation.Second Information Level may include control panel, the feedback for being measured and/or being sensed by the surgical instruments, and/or the control for controlling the surgical instruments.User can interact via screen is touched with the interactive display.

Description

Interactive display for surgical instruments

Technical field

The present invention relates to a kind of surgical instruments, and in various constructions, the present invention relates to be designed to cutting and Suture powered surgical cutting and suture instruments and its nail bin of tissue.

Background technology

Surgical stapling device is deployed to commonly used in that will follow closely in soft tissue, for example especially to reduce or disappear when tissue is crosscut Except the bleeding of soft tissue.The surgical stapling device of such as inner cutter may include end effector, which can be opposite In elongated shaft assembly movement or joint motions.End effector is often configured to soft tissue being fixed on the first jaw structure Between part and the second jaw member, wherein the first jaw member includes often being configured to removedly store nail wherein Nail bin, the second jaw member often include anvil block.This kind of surgical stapling device may include for making anvil block be pivoted relative to nail bin Closed system.

As described above, surgical stapling device is configured to so that the anvil block of end effector is relative to nail bin pivot Turn, so that soft tissue to be trapped between them.In all cases, anvil block is configured to apply soft tissue and be clamped Power, so that soft tissue to be firmly held between anvil block and nail bin.However, if surgeon is unsatisfied with end effector Position, then surgeon generally have to enable surgical stapling device on relieving mechanism by anvil block be pivoted into open position and with After reposition end effector.Then, for nail usually by driver from cartridge deployment, which traverses the channel in nail bin, So that nail is deformed against anvil block, and soft tissue layer is fixed together.As it is known in the art, nail often with several staple lines or Capable deployment is discharged into, organized layer is more reliably fixed together.End effector may also include the cutting element of such as knife, After soft tissue layer has been stitched together, which advances between two nails to cut soft tissue.

The size and construction of such surgical stapling device and actuator are designed to through trochar or other entrance openings Insertion body intracavitary.End effector is typically coupled to be dimensioned so as to the elongated shaft across trochar or opening.Elongated shaft group Part is typically operatively connected to shank, which is used to control the control system of the operation of end effector and/or touches Send out device.In order to be conducive to end effector being properly positioned and being orientated in vivo, many surgical instruments are configured to favorably In end effector joint motions are carried out relative to a part for elongated shaft.

The U.S. of powered surgical instrument in the entitled POWERED SURGICAL STAPLING DEVICE of Zemlok et al. There is disclosed, the patent application publication in state patent application publication US 2009/0090763A1 (hereinafter, " Zemlok ' 763 ") Complete disclosure be hereby incorporated by reference.Powered surgical instrument is also in the entitled of Zemlok et al. U.S. Patent Application Publication US 2011/0278344A1 (the hereinafter, " Zemlok of POWERED SURGICAL INSTRUMENT ' 344 ") have in (now be United States Patent (USP) 8,201,721) it is disclosed, the complete disclosure of the patent application publication accordingly with Way of reference is incorporated herein.

The current each aspect of the relevant technologies in technical field only for the purpose of illustration discussed above, without answering When being considered as the negative to right.

Description of the drawings

Refer to the following explanation of the embodiment of the present invention in conjunction with the accompanying drawings, the features and advantages of the present invention and its acquisition Method will become more apparent, and be better understood invention itself, wherein：

Fig. 1 is the perspective view using a form of surgical instruments of retraction construction；

Fig. 2 is the perspective view of the exemplary loading unit used in combination with various surgical instruments disclosed herein；

Fig. 3 is the decomposition perspective view of a part for loading unit shown in Fig. 2；

Fig. 4 is the top view of a part for the surgical instruments of Fig. 1；

Fig. 5 is the partial side view of a part for surgical instruments shown in Fig. 4, and wherein clutch pack, which is in, is detached from position It sets；

Fig. 6 is the top view of retraction assemblies embodiment and its a part for the lever structure that bounces back；

Fig. 7 is a form of partial exploded view of driving unit, and wherein its part is shown with section；

Fig. 8 is another top view of a part for surgical instruments, and wherein driving unit locking system is in the locked position；

Fig. 9 is a form of top view for locking pawl component；

The side front view for the locking pawl component that Figure 10 is Fig. 9；

The bottom view for the locking pawl component that Figure 11 is Fig. 9 and Figure 10；

Figure 12 is the front view of gearbox-case embodiment；

Figure 13 is the partial side sectional view of surgical instrument embodiment, and wherein its part is shown with section and driving unit is locked Determine system and is in locking orientation；

Figure 14 is another partial side sectional view of the surgical instruments of Figure 13, and wherein driving unit locking system is in unlock It is orientated；

Figure 15 is the top view of another surgical instrument embodiment, and a wherein part for shell is removed to expose instrument A part for driving unit locking system construction；

Figure 16 is the partial side sectional view of the surgical instrument embodiment of Figure 15, and wherein its part shows that solid line shows with section The driving unit locking system that source is orientated in locking, and dotted line shows the driving unit locking system being orientated in unlock；

Figure 17 is another partial top view of the surgical instrument embodiment of Figure 15 and Figure 16, and wherein solid line shows to activate it The position of preceding retraction lever and dotted line show the position of the retraction lever after initial activation；

Figure 18 is another partial top view of the surgical instrument embodiment of Figure 15-17, and wherein dotted line is shown in complete The retraction lever of actuated position；

Figure 19 is the partial top view of a part for another surgical instrument embodiment, and a part for wherein shell is removed To expose the driving unit locking system of instrument, solid line shows the retraction lever in unactuated position, and dotted line is shown just The retraction lever to begin after activating；

Figure 20 is the partial top view of another surgical instrument embodiment, and a part for wherein shell is removed to expose it The driving unit locking system being orientated in locking；

Figure 21 is another partial top view of the surgical instrument embodiment of Figure 20, and wherein driving unit locking system is in Unlock is orientated；

Figure 22 is the partial cut away side views of a part for surgical instruments and end effector, and wherein its retraction assemblies are in Orientation is not activated；

Figure 23 is another part of the surgical instruments and end effector that fire Figure 22 after bar assembly is fired Cross sectional side view；

Figure 24 is that retraction assemblies have been activated so that driving beam retraction returns to its initial position in end effector The surgical instruments of Figure 23 later and another partial cut away side views of end effector；

Figure 25 is the partial cutaway surface side of the part of another surgical instruments and end effector in pre- cock View, wherein its retraction assemblies are in and do not activate orientation；

Figure 26 is another partial cut away side views of the surgical instruments and end effector of Figure 25 after percussion；

Figure 27 is another partial cut away side views of the surgical instruments and end effector of Figure 26, wherein its retraction member Latch be in unlatched state；

Figure 28 is another partial cut away side views of the surgical instruments and end effector of Figure 27, wherein distal side trigger shaft Retraction is partially in be orientated；

Figure 29 is the partial cutaway view of a part for another surgical instrument embodiment, and wherein it drives at coupler assembly In joint motions orientation；

Figure 30 is the partial cutaway view of a part for the surgical instrument embodiment of Figure 29, and wherein it drives at coupler assembly It is orientated in percussion；

Figure 31 is that view is broken in the amplification of the driving coupler assembly of the surgical instruments of Figure 29 and Figure 30, wherein being shown in solid Connector selector component be in joint motions orientation and connector selector component shown in dotted line be in percussion take To；

Figure 32 is the partial cutaway view of a part for another surgical instrument embodiment；

Figure 33 is the amplification partial cutaway view of a part for the surgical instruments of Figure 32；

Figure 34 is another amplification partial cutaway view of a part for the surgical instruments of Figure 32 and Figure 33, wherein its limit of advancing Device processed is in its farthest side orientation；

Figure 35 is another amplification partial cutaway view of the surgical instruments of Figure 32-34, and wherein its travel restrictor is in it Recent side is orientated；

Figure 36 is the partial cutaway view of the surgical instruments of Figure 33 of the line 36-36 interceptions in Figure 33；

Figure 37 is the local perspective view of a part for the surgical instruments of Figure 32-36；

Figure 38 is according to the axis of the surgical instruments of the various embodiments of the disclosure, lining ring and to be not attached to the disposable of axis The local perspective view of loading unit；

Figure 39 is the local perspective view of the axis of Figure 38, lining ring and disposable loading unit, and there is shown be attached to the one of axis Secondary property loading unit；

Figure 40 is the partially exploded perspective view of the axis of Figure 38, lining ring and disposable loading unit；

Figure 41 is another partially exploded perspective view of the axis of Figure 38, lining ring and disposable loading unit；

Figure 42 is the perspective view of the distal side attachment part of the disposable loading unit of Figure 38；

Figure 43 is another perspective view of the distal side attachment part of the disposable loading unit of Figure 38；

Figure 44 is the perspective view of the proximal attachment part of the axis of Figure 38；

Figure 45 is another perspective view of the proximal attachment part of the axis of Figure 38；

Figure 46 is the perspective view of the lining ring and beating shaft of the surgical instruments of Figure 38；

Figure 47 be the disposable loading unit of Figure 38, lining ring and axis partial perspective sectional view, there is shown be attached to axis Disposable loading unit；

Figure 48 is disposable loading unit, the partial cross-sectional front view of lining ring and axis of Figure 38, and there is shown be not attached to The disposable loading unit of axis；

Figure 49 is disposable loading unit, the partial cross-sectional front view of lining ring and axis of Figure 38, and there is shown be attached to axis Disposable loading unit；

Figure 50 is the front view of the lining ring and axis of Figure 38 of plane interception shown in Figure 48；

Figure 51 is the disposable loading unit of Figure 38, the perspective of lining ring and axis, partial cutaway view, and there is shown be not attached To the disposable loading unit of axis, and the lining ring that initial orientation is in relative to axis is also shown；

Figure 52 is the disposable loading unit of Figure 38, the perspective of lining ring and axis, partial cutaway view, and there is shown be not attached To the disposable loading unit of axis, and the lining ring that initial orientation is in relative to axis is also shown；

Figure 53 is the disposable loading unit of Figure 38, the perspective of lining ring and axis, partial cutaway view, and there is shown with into axis Disposable loading unit, and the lining ring that initial orientation is in relative to axis is also shown；

Figure 54 is the disposable loading unit of Figure 38, the perspective of lining ring and axis, partial cutaway view, and there is shown with into axis Disposable loading unit, and be also shown and be in the second, lining ring that is rotationally oriented relative to axis；

Figure 55 is the disposable loading unit of Figure 38, the perspective of lining ring and axis, partial cutaway view, and there is shown with into axis Disposable loading unit, and be also shown and be in the second, lining ring that is rotationally oriented relative to axis；

Figure 56 is the disposable loading unit of Figure 38, the perspective of lining ring and axis, partial cutaway view, and there is shown with insert completely The lining ring for entering the disposable loading unit in axis, and being also shown and be in second relative to axis, being rotationally oriented；

Figure 57 is the disposable loading unit of Figure 38, the perspective of lining ring and axis, partial cutaway view, and there is shown with insert completely Enter the disposable loading unit in axis, and the lining ring for being in initial orientation relative to axis is also shown；

Figure 58 is the disposable loading unit of Figure 38, the perspective of lining ring and axis, partial cutaway view, and there is shown with insert completely Enter the disposable loading unit in axis, and the lining ring for being in initial orientation relative to axis is also shown；

Figure 59 is the axis according to the surgical instruments of the various embodiments of the disclosure and is not attached to the disposable load list of axis The part of member, perspective, sectional view；

Figure 60 is the axis and the part of disposable loading unit, perspective, sectional view of Figure 59, and there is shown be fully inserted into axis Disposable loading unit, and the latch in unlatched position is also shown；

Figure 61 is the axis and the part of disposable loading unit, perspective, sectional view of Figure 59, and there is shown be fully inserted into axis Disposable loading unit, and the latch in latch position is also shown；

The part of axis and disposable loading unit that Figure 62 is Figure 59 is faced, sectional view, and there is shown be fully inserted into axis Disposable loading unit, and the latch in latch position is also shown；

Figure 63 is the schematic diagram according to torque-voltage curve of the various embodiments of the disclosure；

Figure 64 (a) is the high duty ratio recurrent pulse delivered by pulse-width modulation circuit according to the various embodiments of the disclosure Schematic diagram；

Figure 64 (b) is the low duty ratio recurrent pulse delivered by pulse-width modulation circuit according to the various embodiments of the disclosure Schematic diagram；

Figure 65 (a) is showing by the percussion element of the high duty ratio recurrent pulse driving of the pulse-width modulation circuit of Figure 64 (a) It is intended to；

Figure 65 (b) is showing by the percussion element of the low duty ratio recurrent pulse driving of the pulse-width modulation circuit of Figure 64 (b) It is intended to；

Figure 66 (a) -66 (c) is the pulsewidth with set of main coils and ancillary coil group according to the various embodiments of the disclosure The schematic diagram of modulation circuit；

Figure 67 is the curve graph for showing speed and torque in entire firing schedule according to the various embodiments of the disclosure；

Figure 68 is the curve for showing the rate limitation test section during firing schedule according to the various embodiments of the disclosure Figure；

Figure 69 and Figure 70 is the schematic diagram according to the simplification stepper motor of the various embodiments of the disclosure；

Figure 71-73 is the schematic diagram according to the mixing stepper motor of the various embodiments of the disclosure；

The schematic diagram for the mixing stepper motor that Figure 74 (a)-74 (c) is Figure 71-73, there is shown with the polarity of variation；

Figure 75 is the display including touching screen being used together with endoscope according to the various embodiments of the disclosure Perspective view；

Figure 76 is the front view for the first information layer being shown on the display of Figure 75, and wherein first information layer includes by interior The video feed of the disposable loading unit (DLU) for being attached to surgical instruments of sight glass observation；

Figure 77 is the front view for the second Information Level being shown on the display of Figure 75, wherein the second Information Level includes being used for The control panel inputted is received via screen is touched；

The front view for the second Information Level that Figure 78 is the Figure 77 being superimposed upon on the first information layer of Figure 76；

The front view for the second Information Level that Figure 79 is the Figure 77 being superimposed upon on the first information layer of Figure 76, wherein the second information Layer includes when cutter spacing is near firing schedule section start and the visual representation of knife progress relevant numerical data and knife progress；

The front view for the second Information Level that Figure 80 is the Figure 77 being superimposed upon on the first information layer of Figure 76, wherein the second information Layer includes when cutter spacing is near the distal end of firing schedule and the vision table of the relevant numerical data of knife progress and knife progress Show；

The front view for the second Information Level that Figure 81 is the Figure 77 being superimposed upon on the first information layer of Figure 76, wherein the second information Layer includes the symbolic indication for the knife being superimposed upon in the test position of the knife in DLU shown in first information layer；

The front view for the second Information Level that Figure 82 is the Figure 77 being superimposed upon on the first information layer of Figure 76, wherein the second information Distal side promotes the graphical representation of the speed of knife during layer includes firing schedule；

The front view for the second Information Level that Figure 83 is the Figure 77 being superimposed upon on the first information layer of Figure 76, wherein the second information Layer includes the graphical representation for being applied to structural chucking power by DLU jaws along the length of DLU jaws；

The front view for the second Information Level that Figure 84 is the Figure 77 being superimposed upon on the first information layer of Figure 76, wherein the second information Layer include with the relevant numerical data of the orientation of DLU, and wherein DLU shown in first information layer is in non-joint motions and takes To；

The front view for the second Information Level that Figure 85 is the Figure 77 being superimposed upon on the first information layer of Figure 76, wherein the second information Layer includes the visual representation with the relevant numerical data of orientation of DLU and the orientation of DLU, and wherein shown in first information layer DLU is in joint motions orientation；

The front view for the second Information Level that Figure 86 is the Figure 77 being superimposed upon on the first information layer of Figure 76, there is shown with from User's is used for the touch screen via Figure 75 to adjust the input of the joint motions of DLU；

The front view for the second Information Level that Figure 87 is the Figure 77 being superimposed upon on the first information layer of Figure 76, there is shown with for It controls the schematic diagram of DLU and is also shown and be used to manipulate schematic diagram via the touch screen of Figure 75 to adjust from user The input of the joint motions of DLU；

The front view for the second Information Level that Figure 88 is the Figure 77 being superimposed upon on the first information layer of Figure 76, there is shown with responses The DLU in joint motions orientation in the first information layer that the user shown in Figure 86 and Figure 87 inputs；

The front view for the second Information Level that Figure 89 is the Figure 77 being superimposed upon on the first information layer of Figure 76, there is shown with from User's is used for the touch screen via Figure 75 to control the input of the closure of movable jaw；

The front view for the second Information Level that Figure 90 is the Figure 77 being superimposed upon on the first information layer of Figure 76, there is shown with responses The movable jaw of the DLU being orientated in clamping in the first information layer that the user shown in Figure 89 inputs；

Figure 91 is the front view at the controller interface of the second Information Level for Figure 77；

The front view for the second Information Level that Figure 92 is the Figure 77 being superimposed upon on the first information layer of Figure 76, wherein the second information Controller interface and progress bar of the layer including Figure 91；

Figure 93 is the communication system for showing the display for feedback controller Yu endoscope, surgical instruments and Figure 75 Schematic diagram；

Figure 94 be according at least one embodiment include shank and end effector surgical instrument system exploded view, The surgical instrument system includes multiple indicators；

Figure 95 be according to the part of the shank of the surgical instrument system including multiple indicators of at least one embodiment just View；

Figure 96 is the part section according to the shank of the surgical instrument system including trigger lock of at least one embodiment Figure, there is shown with trigger locks in the unlocked state；

Figure 97 is the partial cutaway view of the shank of Figure 96, and there is shown with the trigger locks being in the lock state；

Figure 98 is the sectional view of the trigger lock of Figure 96, and there is shown with trigger locks to be in its unlocked state；

Figure 99 is the sectional view of the trigger lock of Figure 96, and there is shown with trigger locks to be in its lock-out state；

Figure 99 A are the flow chart for the operation sequence for summarizing surgical instruments, and the operation sequence is for evaluating surgical instruments No be exposed to more than the user of the temperature of its threshold temperature and true orientation of surgical instruments notice has been more than threshold temperature Mode；

Figure 100 is the surgical instrument system including the trigger lock being in the lock state according at least one embodiment The sectional view of shank；

Figure 101 is the cross-sectional details figure of the shank of Figure 100, and there is shown with the trigger locks in its lock-out state；

Figure 102 is another cross-sectional details figure of the shank of Figure 100, and there is shown with the triggers in its unlocked state Lock；

Figure 103 is the perspective view of the trigger lock for the Figure 100 for being shown at its lock-out state；

Figure 104 is the surgical instrument system including the trigger lock being in the lock state according at least one embodiment The partial perspective cutaway view of shank；

Figure 105 is the partial perspective cutaway view of the shank for the Figure 104 for being shown at unlocked state；

Figure 106 is the part section left side view of the shank for the Figure 104 for being shown at its lock-out state；

Figure 107 is the part section right side view of the shank for the Figure 104 for being shown at its lock-out state；

Figure 108 is the part section left side view of the shank for the Figure 104 for being shown at its unlocked state；

Figure 109 is the part section right side view of the shank for the Figure 104 for being shown at its unlocked state；

Figure 110 is to show that the controller of surgical instruments can be used to connect to handle from the end effector for being attached to surgical instruments The process chart of the step of signal of receipts；

Figure 110 A is show that the schematic diagram to the parameter array of surgical instruments can be provided from end effector；

Figure 111 is process chart the step of showing the end effector and surgical instruments for using Figure 110；

Figure 112 is the connectors shown between the end effector of surgical instruments and axis according at least one embodiment Schematic diagram；

Figure 113 is the plan view of the printed circuit board of the connectors of Figure 112；

Figure 114 is the local perspective view according to the end effector of the surgical instruments of at least one embodiment；

Figure 115 is the local perspective view of the axis of surgical instruments and the end effector of Figure 114；

Figure 116 is the sectional view of the end effector of the Figure 114 for the axis for being attached to Figure 115；

Figure 117 is the sectional view according to the connectors between the end effector and axis of at least one embodiment；

Figure 118 is the sectional view according to the connectors between the end effector and axis of at least one embodiment；

Figure 119 is the sectional view according to the connectors between the end effector and axis of at least one embodiment；

Figure 120 is the detail drawing of the connectors of Figure 119；

Figure 121 is the side view according to the end effector including anvil block and anvil position indicator of at least one embodiment Figure, there is shown with anvil blocks in an open position；

Figure 122 is the side view of the end effector of Figure 121, and there is shown with the anvil blocks in partial closed position；

Figure 123 is another side view of the end effector of Figure 121, and there is shown with the anvils in partial closed position Seat；

Figure 124 is another side view of the end effector of Figure 121, and there is shown with the anvils in partial closed position Seat；

Figure 125 is the detail drawing of the anvil position indicator of Figure 121, and there is shown with the anvils of the position shown in Figure 121 Seat；

Figure 126 is the detail drawing of the anvil position indicator of Figure 121, and there is shown with the anvils of the position shown in Figure 122 Seat；

Figure 127 is the detail drawing of the anvil position indicator of Figure 121, and there is shown with the anvils of the position shown in Figure 123 Seat；

Figure 128 is the detail drawing of the anvil position indicator of Figure 121, and there is shown with the anvils of the position shown in Figure 124 Seat；

Figure 129 shows the cross sectional side view of the surgical instruments according to certain embodiments disclosed herein；

Figure 130 shows the power system for providing the surgical instruments of Figure 129 power, wherein power system and figure The control system of 129 surgical instruments is connected to；

Figure 131 shows the battery pack of the power system for the Figure 130 for being connected to charger seat；

Figure 132 shows the management circuit of the power system of Figure 130；

Figure 133 shows the schematic block diagram of the operating parameter for the power system for illustrating Figure 130；

Figure 134 shows the perspective view of the power source of the surgical instruments according to various embodiments described herein；

Figure 135 shows the perspective view of the power source of Figure 134 of the dismounting according to various embodiments described herein；

Figure 136 show according to various embodiments described herein include completely can breaking part Figure 134 power The circuit diagram of the circuit in source；

Figure 137 show according to various embodiments described herein wherein can the electricity of Figure 136 that has disconnected of breaking part The circuit diagram on road；

Figure 138 show according to various embodiments described herein for protect data stored in memory to prevent The block diagram of the system of unauthorized access；

Figure 139 shows the perspective view of the power source of the surgical instruments of the data access entrance including covering；

Figure 140 shows the data access entrance in the Figure 139 for not covering configuration；

Figure 141 shows the perspective view of the power source of the surgical instruments including internal data access entrance；

Figure 142 show according to various embodiments described herein for protect data stored in memory to prevent The block diagram of the system of unauthorized access；

Figure 143 shows the perspective view of the power source of the surgical instruments according to various embodiments described herein；

Figure 144 shows the perspective view of the power source for the Figure 143 for being connected to surgical instruments；

Figure 145 shows the power source of Figure 143 in various configuration according to various embodiments described herein LED；

Figure 146 shows the side view of the surgical instruments including shell according to various embodiments described herein；

Figure 147 shows that the side view of the shell of Figure 146, wherein external shell are removed solid by fixing component with exposure Surely the detachable part of shell is arrived；

Figure 148 shows that the side view of the shell of Figure 147, wherein detachable part are removed from shell；

Figure 149 is detectable impression, recess or the bar code marking for showing to be limited in the surface of end effector Schematic diagram；

Figure 150 is the schematic diagram for the exemplary bar codes that can be used together with barcode reader；

Figure 151 is the partial side view according to the axis of the end effector including bar code of at least one embodiment；

Figure 152 is the part according to the axis of the end effector of the surgical instruments including bar code of at least one embodiment Front view；

Figure 153 is the partial perspective according to the shank of the surgical instruments including barcode reader of at least one embodiment Figure；

Figure 154 is the sectional view for showing wherein to be located the barcode reader of Figure 153 of end effector；

Figure 155 is the decomposition perspective view according to the end effector and axis of the surgical instruments of at least one embodiment；

Figure 156 be according to the decomposition perspective view of the end effector and axis of the surgical instruments of at least one embodiment, wherein End effector includes the part for the firing member being releasably locked together；

Figure 157 is the local perspective view of the firing member part of the Figure 156 locked together by locking component；

Figure 158 is the local perspective view of the firing member part and locking component of Figure 156, and there is shown with the one of firing member Part is removed to show the locking component for being releasably locked together firing member part；

Figure 159 is the exploded view of the firing member for the Figure 156 for discharging actuator, and the release actuator is configured to Locking component is moved to unlocked state and unlocks firing member part；

The partial exploded view of connectors between the release actuator that Figure 160 is Figure 159 and corresponding axis release actuator；

Figure 161 is the sectional view of the connectors of Figure 160；

Figure 162 is the decomposition perspective view for the component for including motor, drive shaft and slip-clutch, the slip-clutch Selectively transmission rotation is configured between motor and drive shaft；

Figure 163 is the sectional view of the component of Figure 162；

Figure 164 is the perspective view of the biasing element of the slip-clutch of Figure 162；

Figure 165 is the sectional view of the component of Figure 162, and there is shown with the clutch of slip-clutch in an intermediate position members Part；

Figure 166 is the sectional view of the component of Figure 162, and there is shown with the clutch elements of Figure 165 in forward location；

Figure 167 is the sectional view of the component of Figure 162, and there is shown with the clutch elements of Figure 165 in reverse position；

Figure 168 is the perspective view according to the motor and gear assembly of the various embodiments of the disclosure；

Figure 169 is according to the perspective of the motor of the various embodiments of the disclosure, gear assembly and audible feedback generator Figure；

Figure 170 is the front view of the pick on the disk according to the gear assembly of Figure 169 of the various embodiments of the disclosure, In show the disk being rotated in a clockwise direction and engage Figure 169 audible feedback generator clicker pick；

Figure 171 is the front view of the pick on the disk according to the gear assembly of Figure 169 of the various embodiments of the disclosure, In show the disk being rotated in the counterclockwise direction and engage Figure 169 audible feedback generator clicker pick；

Figure 172 is to be sent out according to the motor, the gear assembly with multiple disks and audible feedback of the various embodiments of the disclosure The perspective view of raw device；

Figure 173 is the audible feedback generator by Figure 172 according to the various embodiments of the disclosure at firing schedule end The graphical representation for the feedback that end nearby generates；

Figure 174 and Figure 175 is being loaded by the audible feedback generator of Figure 172 according to the various embodiments of the disclosure The graphical representation for the feedback that the joint motions limit of unit nearby generates；

Figure 176 is the schematic diagram for showing the algorithm for operating surgical instruments；

Figure 177 is another schematic diagram for showing the algorithm for operating surgical instruments；

Figure 178 is the schematic diagram for showing the algorithm for operating surgical instruments；

Figure 179 is the circuit for being configured to instruction cell voltage；

Figure 180 is the scintillator circuit diagram for being configured to instruction battery and being electrically charged；

Figure 181 is the schematic diagram according to the deagnostic test of at least one embodiment being used together with surgical instruments；

Figure 182 be the electric discharge and battery for showing battery electricity be less than minimum charge level when power shutoff signal Figure；

Figure 183 is the operation of retainable record battery and/or the information table of performance；

Figure 184 is the schematic diagram of Battery Diagnostic circuit；

Figure 185 is the sealing motor being used together with surgical instruments and gear assembly according to the various embodiments of the disclosure Perspective view；And

Figure 186 be according to the decomposition of the sealing motor and gear assembly of Figure 185 of the various embodiments of the disclosure, face, Sectional view.

Specific implementation mode

Present applicant also possesses following patent application, and the patent application is submitted and entirely on the same day with the application Text is respectively herein incorporated by reference：

Entitled Firing Member Retraction Devices For Powered Surgical The U.S. Patent application of Instruments, attorney number END7293USNP/130016；

Entitled SECONDARY BATTERY ARRANGEMENTS FOR POWERED SURGICAL The U.S. Patent application of Instruments, attorney number END7294USNP/130017；

Entitled ERROR DETECTION ARRANGEMENTS FOR SURGICAL INSTRUMENT The U.S. Patent application of assemblies, attorney number END7295USNP/130018；

The U.S. of entitled ATTACHMENT PORTIONS FOR SURGICAL INSTRUMENT ASSEMBLIES is special Profit application, attorney number END7296USNP/130019；

U.S. of entitled Tamper PROOF CIRCUIT FOR SURGICAL INSTRUMENT BATTERY PACK State's patent application, attorney number END7297USNP/130020；

The United States Patent (USP) Shen of entitled CLOSURE INDICATOR SYSTEMS FOR SURGICAL INSTRUMENTS Please, attorney number END7298USNP/130021；

The U.S. Patent application of entitled Torque OPTIMIZATION FOR SURGICAL INSTRUMENTS, generation Manage people's file number END7299USNP/130022；

Entitled SHROUD RETENTION ARRANGEMENT FOR STERILIZABLE SURGICAL The U.S. Patent application of INSTRUMENTS, attorney number END7300USNP/130023；

Entitled CONDUCTOR ARRANGEMENTS FOR ELECTRICALLY POWERED Surgical The U.S. Patent application of INSTRUMENTS WITH ROTATABLE END EFFECTORS, attorney number END7301USNP/130024；

The U.S. of entitled END EFFECTOR DETECTION SYSTEMS FOR SURGICAL INSTRUMENTS Patent application, attorney number END7302USNP/130025；

Entitled FIRING TRIGGER LOCKOUT ARRANGEMENTS FOR SURGICAL INSTRUMENTS's U.S. Patent application, attorney number END7303USNP/130026；

The United States Patent (USP) Shen of entitled MOTOR-POWERED ARTICULATABLE SURGICAL INSTRUMENTS Please, attorney number END7305USNP/130028.

Certain exemplary embodiments will now be described, to understand the knot of apparatus and method as disclosed herein on the whole Structure, function, manufacture and purposes principle.One or more examples of these embodiments have been shown in the accompanying drawings.This field it is common Technical staff will be understood that it is unrestricted exemplary to specifically describe herein and be illustrated in the device and method in attached drawing Embodiment, and the range of multiple embodiments of the present invention is limited only by the appended claims.In conjunction with an exemplary embodiment into Row illustrates or the feature of description can be combined with the feature of other embodiment.These modifications and version are intended to It is included within the scope of the present invention.

Term " comprising " (and including any form, such as " including (comprises) " and " including (comprising) "), " there is " (and any form having, such as " with (has) " and " with (having) "), " packet Containing " (and comprising any form, such as " comprising (includes) and " (and contain comprising (including) and " containing " Any form, such as " contain (contains) " and " containing (containing) ") for open link-verb.Therefore, " packet Include ", " having ", "comprising" or " containing " one or more elements surgery system, device or equipment there is these or more A element, but it is not limited to that only there are these one or more elements.Equally, " comprising ", " having ", "comprising" or " containing " one Or the element of the systems of multiple features, device or equipment has these one or more features, but be not limited to only to have these one A or multiple features.

Term " nearside " and " distal side " are herein defined as coming relative to the clinician for the handle portions for manipulating surgical instruments It uses.Term " nearside " refers near the part of clinician, and term " distal side " refers to the portion far from clinician Point.It is also understood that for the sake of succinct and is clear, such as "vertical", "horizontal", "up" and "down" are used in combination with attached drawing herein Etc spatial terminology.However, surgical operating instrument uses in many directions and position, and these terms and non-limiting And/or it is absolute.

Various exemplary means and method are provided to execute laparoscopic type and minimally invasive surgical procedures.However, this field Those of ordinary skill it will be readily understood that various method and apparatus disclosed herein can be used for many surgical operations and application In, including be for example combined with open surgery.With continued reference to present embodiment, person skilled in the art Member will be further understood that, various instruments disclosed herein can in any way in insertion body, such as by natural cavity, pass through Notch or puncturing hole for being formed in tissue etc..The working portion or end effector portion of instrument can be plugged directly into patient's body It is interior or can by with service aisle enter device be inserted into, the end effector and elongated shaft of surgical instruments can pass through the work Make channel and promotes.

Fig. 1 shows powered surgical instrument 10, can be similar to such as Zemlok ' 763 and/or Zemlok in many aspects ' surgical instruments disclosed in 344 (including various feature structures, component and its subassembly), the full text of these patents is respectively to draw It is incorporated herein with mode.Surgical instruments 10 shown in FIG. 1 includes shell 12, and the shell 12 has handle portions 14 to be conducive to The manipulation and operation of instrument.Therefore, the term as used herein " shell " can cover handheld configuration or can otherwise manually The construction of manipulation.However, term " shell " can also cover automation surgical instruments system (for example, system of robot control) Part, the automation surgical instruments system are not intended to be hand-held, and can by all parts of the system, part, And/or actuator is otherwise manipulated and is activated.

Form is that the elongated shaft assembly 16 of endoscopic portion is stretched out and is configured to operationally attached from shell 12 Be connected to surgical end-effector, the surgical end-effector be configured to the firing action in response to applying to it execute to A few surgical operation.Such surgical end-effector may include such as linear cutter, grasper or other devices, it is described its His device may include that a pair of of jaw, one of jaw can selectively move or in some configurations relative to another jaw In two jaws can be movable with respect to each other.In such a way that another is exemplary, surgical end-effector may include being configured to The device of tissue can be cut and suture, for example, " loading unit " 20 as shown in Figures 2 and 3.Surgical end-effector (such as loading unit 20) can for example be releasably attached to the elongated shaft assembly 16 of powered surgical instrument 10, such as herein more in detail It is thin described.

Fig. 2 and Fig. 3 show a kind of exemplary forms for the loading unit 20 that can be used together with surgical instruments 10.It is such Loading unit 20, which can be similar to be incorporated by reference, loads list disclosed in the above-mentioned U.S. Patent Application Publication being incorporated herein The entitled SURGICAL STAPLING INSTRUMENTS that member and such as disclosure are herein incorporated by reference The U.S. Patent Application Publication US 2012- of WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS Loading unit disclosed in 0298719-A1.

As seen in Figure 2, loading unit 20 includes anvil assembly 22, the anvil assembly 22 be supported for relative to It is operatively supported the carrier 24 of nail bin 26 therein and pivots and advance.Mounting assembly 28 is pivotally coupled to warehouse carrier 24 with shape At actuated articulation joints 27, the actuated articulation joints 27 allow carrier 24 to surround transverse to longitudinal tool axis " LA-LA " Joint motions axis " AA-AA " pivots.Referring to Fig. 3, mounting assembly 28 may include such as top installation section 30 and lower part installation Part 32.Each installation section 30,32 may include threaded bore 34 on either side of it, the size quilt of the threaded bore 34 It is designed to receive bolt (not shown) the proximal end of carrier 24 to be fixed to the upper.The pivot member 36 of a pair of of centralized positioning It can be extended between top installation section and lower mounting part through a pair of of coupling member 38, the coupling member 38 engages outer The distal end of shell parts 40.Coupling member 38 can include respectively interlocking portions of proximal 39, and the interlocking portions of proximal 39 is by structure It causes to be contained in the groove 42 being formed in the proximal end of casing part 40, by mounting assembly 30 and casing part 40 are maintained at longitudinally fixed position.

As in figure 3 furthermore, it can be seen that the casing part 40 of loading unit 20 may include respectively being configured to accommodate Upper case half portion 44 in external shell 50 and lower case half portion 46.The proximal end of shell half portion 44 may include being used for It is releasably engaged the junction piece 48 of the distal end of elongated shaft assembly 16.Block 48 can for example with elongated shaft assembly 16 distal end portion Portion forms " bayonet type " connection.Various coupling configurations are described in greater detail herein.Shell half portion 44,46 can be limited for that can slide The channel 47 for the driving beam 60 being axially movable is accommodated dynamicly.The size of second joint motion couplings 70 can be set to slidably Ground is located in the slit 72 between being formed in shell half portion 44,46.A pair of " explosion-proof " plate 74 can be positioned on neighbouring and driving beam The distal end of the 60 adjacent casing part 40 of distal end, to prevent driving beam 60 during the joint motions of carrier 24 It outwardly protrudes.

Driving beam 60 may include distal side work head 62 and nearside bonding part 64.Driving beam 60 can be by single material piece or excellent Selection of land is made of the sheet material of multiple stackings.Bonding part 64 may include a pair of engaging finger-shaped material, the size of the engagement finger It is designed to engage the corresponding holding slit of a pair formed in drive member 66 with mounting means with construction.Drive member 66 can Including nearside aperture 67, the nearside aperture 67 is configured to proximal end and surgical instruments 10 in loading unit 20 The distal end of trigger shaft is received when elongated shaft assembly engages.Distal side work head 62 can have tissue cutting part formed thereon Divide 63.Distal side work head 62 may also include a pair of pin 65, and the pin 65 is configured to drive towards distal side in distal side work head 62 Engagement anvil assembly 22 when moving across nail bin 26 is so that it is pivoted to closed position, to organize to be clamped in anvil block 22 and nail bin Between 26.Tissue cutting section 63 in distal side work head 62 is used for when the surgical staples (not shown) being supported in nail bin 26 is with Know that mode is driven into form the when of contacting with anvil block 22 and cut through clamped tissue.For example, distal side work head 62 is adapted to It is enough axially to engage and promote the sliding part (not shown) being movably supported in nail bin 26.When drive member 66 is along distal side side When to driving sliding part, sliding part contacts and follows closely relevant pusher (not shown) and make pusher driving is followed closely to leave storehouse 26 To be engaged with the formation of the anvil block 22 of loading unit 20.

As seen in Figure 1, surgical instruments 10 includes being configured to generate the motor 100 of rotary-actuated action, institute It states rotary-actuated action to can be used for that firing action is for example applied to loading unit 20, such as will be discussed in greater detail below. In at least one form, for example, motor 100 is configured to be applied to be generally designated by rotary-actuated action to hit for 82 Send out component assembly.In a kind of construction, for example, firing member component 82 includes driving tube 102, the driving tube 102 is rotatable Ground support is in shell 12 and has internal thread (not shown) formed therein.The proximal threaded portion quilt of trigger shaft 104 Support with driving tube 102 to be threadedly engaged so that the rotation of driving tube 102 leads to the axial movement of trigger shaft 104.Trigger shaft 104 can join with the internal whorl of the driving beam 60 in loading unit 20.Such as the Zemlok ' 763 and Zemlok of above-mentioned reference ' detail in 344, rotation of the driving tube 102 along first direction (for example, counterclockwise) cause trigger shaft 104 along distal side Direction promotes drive member 60.Drive member 60 causes anvil block 22 towards nail in loading unit 20 along the initial propulsion of distal direction Storehouse 26 pivots.Anvil block 22 is activated by the pin 65 in drive member 60, and the pin 65 is used in drive member 60 along distal direction " DD " carries out making anvil block 22 with cam mode movement to closed position when initially driving.Trigger shaft 104 and final drive member 60 Cause nail to be driven into across the additional distal translation of loading unit 20 to contact with the nail shaped lower face formation on anvil block 22.

As in Fig. 1 furthermore, it can be seen that surgical instruments 10 may include being generally designated the articulation system for 109.However, Surgical instruments 10 may include that the various other articulation systems being disclosed in detail herein construct.In at least one form, joint Kinematic system 109 may include articulation mechanism 110, and the articulation mechanism 110 is including joint motions motor 112 and manually Joint motions button 114.Joint motions motor 112 can be transported by power joint motions switch 116 or by pivoting manual joint Button 114 is moved to activate.Joint motions gear 118 of the actuating of joint motions motor 112 for rotary joint motion 110. The actuating of articulation mechanism 110 can cause end effector (for example, storehouse/anvil portion of loading unit 20) from its first It sets (wherein longitudinal tool axis " LA-LA " substantial registration of its axis and elongated shaft assembly 16) and moves to following position, The axis of end effector surrounds such as longitudinal tool axis of the joint motions axis " AA-AA " relative to elongated shaft assembly " LA-LA " setting is at an angle.Other discussions of various aspects in relation to articulation mechanism 110 may be present in before this full text with In the Zemlok ' 763 that way of reference is incorporated herein.In addition, entire disclosure be herein incorporated by reference it is entitled 7,431,188 disclosure of United States Patent (USP) of SURGICAL STAPLING APPARATUS WITH POWERED ARTICULATION In combination with the end effector of being capable of joint motions for the motor power that surgical instruments 10 uses.

In various embodiments, surgical instruments may include that at least one motor, at least one motor can be dynamic by percussion It is applied to loading unit 20 and/or joint motions action can be applied to articulation system 109, such as elsewhere more in detail It is thin described.Motor 100 for example can provide power by the power source 200 with the types in greater detail of Zemlok ' 763.Example Such as, power source 200 may include rechargeable battery (for example, lead base, Ni-based, lithium ion base etc.).It is also contemplated that power source 200 may include at least one disposable battery.Disposable battery may be, for example, about 9 volts to about 30 volts.However, other work(can be used Rate source.Fig. 1 is shown in which that power source 200 includes an example of multiple battery units 202.Used battery unit 202 Quantity may depend on the current load requirements of instrument 10.

In certain embodiments, surgical instruments 10 may include supplemental power source for at least one of surgical instruments 10 Motor provides power.For example, referring now to Figure 129, surgical instruments 10 may include power system 2000, the power system 2000 It is configured to provide operation of the energy for surgical instruments 10.As shown in Figure 129, power system 2000 may be arranged at Such as in the handle portions 14 of shell 12 and it may include main power source 2002 and auxiliary or backup power source 2004.Main power source 2002 are configured to provide operation of the energy for surgical instruments 10 in the normal operation period, and supplemental power source 2004 be configured to when main power source 2002 cannot provide operation of the energy for surgical instruments 10 (for example, When main power source 2002 is exhausted and/or is disconnected with surgical instruments 10) at least energy is provided for surgery device with limited capacity The operation of tool 10.For example, supplemental power source 2002 is configured to exhaust in main power source 2002 during surgery And/or energy is provided in the case of being disconnected with surgical instruments 10 so that surgical instruments 10 is restored to default conditions.

Referring to Fig. 1, such as described in more detail elsewhere, power source (such as power source 200) can provide power for surgery The operation of instrument 10.For example, power source 200 can provide motor (such as motor 100) power to cause driving tube 102 along first Thus it is single to be driven distally through load by the rotation in direction and the axial propulsion for eventually leading to trigger shaft 104 for driving beam 60 Member 20.Alternatively, power source 200 can provide motor 100 power to cause driving tube 102 along opposite with first direction second The rotation in direction and the axial retraction for eventually leading to trigger shaft 104, thus can make driving beam 60 proximally move to its starting And/or default location.Similarly, main power source 2002 is configured to during the normal operating of surgical instruments 10 to horse Power is provided with the trigger shaft 104 that promotes and/or bounce back up to 100.In addition, supplemental power source 2004 is configured in main work( Rate source 2002 required power cannot be provided in the case of (for example, main power source 2002 exhaust and/or with surgical instruments 10 disconnect When) required power is provided so that trigger shaft 104 retracts to default location.

Further described above, as described in more detail elsewhere, surgical instruments 10 is configured to record With storage surgical operation during the much information in relation to surgical instruments 10, for example, end effector 20 (referring to Fig. 2) joint transport Dynamic angle, the actuating state of end effector 20, sensor reading, the position for firing number, tissue thickness, and/or trigger shaft 104 It sets.In some examples, this type of information is recordable and is stored in volatibility or provisional memory cell, for example, depositing at random Access to memory (RAM) unit, the volatibility or provisional memory cell can need power to keep the information of storage.Outside During the normal operating of section's instrument 10, main power source 2002 (being similar to elsewhere other power sources in greater detail) can provide Required power is to keep the storage information in the volatibility or provisional memory cell of surgical instruments 10.In addition, auxiliary work( Rate source 2004 can in the case where main power source 2002 cannot provide required power (for example, exhaust in main power source 2002 and/or When being disconnected with surgical instruments 10) required power is provided temporarily to keep stored information.

In some aspects, surgical instruments 10 may include the control system of the type and construction that have disclosed in Zemlok ' 763 2005, which is herein incorporated by reference.The other details of construction and operation in relation to such control system 2005 It is available from the announcement.For example, control system 2005 is configured to through user interface (for example, vision or audio are aobvious Show device) that information, such as warning or instrument state are generated or provided to user.Signal or defeated caused by control system 2005 Enter can for example in response to by user, device element offer other signals or input, or can be and instrument 10 relevant one The function of a or multiple measurement results.During the normal operating of surgical instruments 10, such as described in more detail elsewhere, power source (such as main power source 2002 (referring to Figure 129)) can provide required power to allow control system 2005 to execute its function, packet It includes and is interacted with user by user interface.In addition, supplemental power source 2004 can cannot be provided in main power source 2002 (for example, when main power source 2002 exhausts and/or is disconnected with surgical instruments 10) is at least with limited in the case of required power Capacity provides required power temporarily to be interacted with user by user interface.

Referring now to Figure 130, power system 2000 may include may be connected to main power source 2002 and supplemental power source 2004 Management circuit 2006.Management circuit 2006 may include semiconductor, computer chip or memory, or can be with They are selectively connected.Management circuit 2006 is configured to analog or digital input or signal being sent to outer The all parts of section's instrument 10 (include but not limited to control system 2005, main power source 2002, and/or supplemental power source 2004), or the analog or digital of all parts of the reception from surgical instruments 10 inputs or signal.In all fields, power Management circuit 2006 software (one or more algorithms can be used in the software) can be used come further modulate input signal with The all parts of control and monitoring surgical instruments 10, including main power source 2002 and/or supplemental power source 2004.Such modulation Input signal can be the function of criterion for being measured and/or being calculated by management circuit 2006, or in some cases, can be by Another device element, user or the autonomous system that is operationally communicated with management circuit 2006 are supplied to power tube Manage circuit 2006.

Referring again to Figure 129, main power source 2002 may include one or more battery unit, this depends on the electricity of instrument 10 Current load demand.In all fields, as shown in Figure 129, main power source 2002 may include battery pack 2008, the battery pack 2008 It may include the multiple battery units 2010 that can be for example connected in series with each other.Battery pack 2008 can be interchangeable.In other words, electric Pond group 2008 can disconnect and remove from surgical instruments 10, and can be replaced similar to battery pack by another.In some aspects, main Power source 2002 may include rechargeable battery (for example, lead base, Ni-based, lithium ion base etc.).Battery unit 2008 can for Such as 3 volts of lithium cells, such as CR 123A battery units, but for example in other embodiments, different types of battery can be used Unit, such as the battery unit with different voltages level and/or different chemical product.User can disconnect simultaneously from surgical instruments 10 And the battery pack 2008 for exhausting or using up is removed, and the battery pack 2008 to have charged is connected to provide work(to surgical instruments 10 Rate.The battery pack 2008 exhausted then can be charged and be recycled.It is also contemplated that main power source 2002 may include at least one A disposable battery.In all fields, disposable battery can be for example, about 9 volts to about 30 volts.User can disconnect and remove The disposable battery group 2008 exhausted, and new disposable battery group 2008 is connected to provide power to surgical instruments 10.

As described above, battery pack 2008 may include rechargeable battery cells and can for example may be removably disposed in shell In 12 handle portions 14.In such cases, battery pack 2008 can be charged using charger seat.For example, such as Figure 131 institutes Show, charger seat 2012 can be connected to battery pack 2008 in the following manner：By battery pack 2008 from it in handle portions 14 Position remove and be connected to charger seat 2012.As shown in Figure 131, charger seat 2012 may include for battery The power source 2014 of 2008 charging of group.The power source 2014 of charger seat 2012 can for example battery (or multiple be connected in series with Battery) or the alternating current for example from power main is converted into the AC/DC converters of direct current or for for battery pack Any other suitable power source of 2008 chargings.Charger seat 2012 may also include device indicating, such as LED, LCD are shown Device etc., to show the charged state of battery pack 2008.

In addition, as shown in Figure 131, charger seat 2012 may include such as one or more processors 2016, one or more A memory cell 2018 and i/o interfaces 2020,2022.Charger seat 2012 can pass through the first i/o interfaces 2020 and power packages 2008 connections (via the i/o interfaces of power packages) are to allow for example to download the data being stored in the memory of power packages 2008 To the memory 2020 of charger seat 2012.It in all cases, then can be via the 2nd i/o interfaces 2022 by the data of download Download to another computer installation, for such as hospital system operation of instrument 10 (executed in the hospital system be related to), Outer section office, instrument dealer, equipment manufacturers etc. are assessed and are analyzed.

Charger seat 2012 may also include on battery unit of the voltameter 2024 for measuring entire battery pack 2008 Electricity.Voltameter 2024 can be connected to processor 2016 so that processor 2016 can determine being applicable in for battery pack 2008 in real time Property, for ensuring that battery carrys out work in desired manner.

Referring again to Figure 129, supplemental power source 2004 may include may be provided at one or more in such as handle portions 14 A battery unit 2026.Battery unit 2026 can be rechargeable (for example, lead base, Ni-based, lithium ion base etc.).For example, Battery unit 2026 can be 3 volts of lithium cells, for example, CR 123A battery units.In addition, battery unit 2026 can be constructed At can be recharged in the case where not removed from instrument 10.For example, when main power source 2002 is connected to instrument 10, it can It is charged to battery unit 2026 using main power source 2002.

Referring to Figure 132, the exemplary embodiment of management circuit 2006 is shown.Inter alia, power management Circuit 2006 is configured to monitoring and the relevant electricity of operation of main power source 2002 and/or supplemental power source 2004 is joined Number.For example, management circuit 2006 is configured to monitor in main power source 2002 and/or supplemental power source 2004 Power level.As shown in Figure 132, management circuit 2006 may include that voltameter 2028, the voltameter 2028 can be constructed At the electricity that can be measured in entire main power source 2002 and/or supplemental power source 2004.Management circuit 2006 can also wrap Include nonvolatile memory 2030 (for example, flash memory or ROM memory) and one or more processors 2032.Processor 2032 can It is connected to and can control memory 2030.In addition, processor 2032 may be connected to voltameter 2028 to read voltameter 2028 Reading and otherwise control voltameter 2028.In addition, processor 2032 can control the defeated of management circuit 2006 Go out device, such as LED.

Reader will be appreciated that, voltameter 2024 and/or 2028 be configured to measure voltage, electricity, resistance and/ Or electric current.In some examples, voltameter 2024 and/or 2028 may include that circuit for measuring capacity of battery, the battery capacity are surveyed Amount circuit is configured to measure the voltage status under predetermined load.

Further described above, processor 2032 can be by related main power source 2002 and/or supplemental power source 2004 information storage is in memory 2030.Described information may include (inter alia) available total electricity, using secondary Number, and/or performance.In addition, the information being stored in memory 2030 may include that management circuit 2006 can be read and store Main power source 2002 ID values.Such ID can for example management circuit 2006 be read by RFID transponder 2034 RFID.RFID transponder 2034 can read RFID from the power source including RFID tag.ID values can be read, be stored in memory In 2030 and by processor 2032 come to be stored in memory 2030 or be stored in it is related with management circuit 2006 Acceptable ID value lists in another memory of connection are compared, for example relevant removable with the ID values of reading with determination Unload/alternatively main power source 2002 whether be authorized to and/or appropriate.In such cases, if processor 2032 determine with Relevant detachable/interchangeable component of ID values of reading is uncommitted, then management circuit 2006 is configured to The use of instrument 10 is prevented, such as (not shown) is switched to prevent power from being delivered to instrument 10 by disconnection.It can be by processor 2032 for assess with determine component whether be authorized to and/or various parameters appropriate include such as date code, number of element types/ Type, manufacturer, regional information, and/or error code in the early time.

Further described above, management circuit 2006 may also include i/o interfaces 2036 for it is another The connection of a device (such as computer), to allow the data being stored in memory 2030 be downloaded to another device for Such as hospital system (operation for being related to instrument 10 is executed in the hospital system), outer section office, instrument dealer, and/or instrument Manufacturer is assessed and is analyzed.I/o interfaces 2036 can be for example wired or wireless interface.

Referring to block diagram shown in Figure 133, management circuit 2006 can be by power from main power source 2002 and auxiliary power Source 2004 is selectively transmitted to surgical instruments 10.For example, processor 2032 can be programmed to can be used in main power source 2002 To instrument 10 provide power when allow power from main power source 2002 be transferred to instrument 10 and main power source 2002 cannot be right Power is allowed to be transferred to instrument 10 from supplemental power source 2004 when instrument 10 provides power.

During the normal operating of instrument 10, (institute as above after processor 2032 is detected and authorizes in main battery source 2002 State) allow main power source 2002 to provide power to instrument 10.Main power source 2002 is sustainable to provide power to instrument 10, until Main power source 2002 reaches or drops below scheduled minimum charge level, for example, when main power source 2002 disconnects and/or consumes When to the greatest extent.Management circuit 2006 can be used for determining when main power source 2002 reaches or drop below scheduled minimum electricity It is horizontal.For example, processor 2032 be configured to using voltameter 2028 or another monitor main work(similar to voltameter It the charge level in rate source 2002 and detects charge level and when reaches or drop below and be stored in management circuit 2006 Memory 2030 in predetermined minimum level.At this point, processor 2032 can prompt user to replace main power source 2002.Work( Rate management circuit 2006 may include indicator, for example, LCD display, one or more LED, the indicator are actuated to carry Show the user of instrument 10 to replace main power source 2002.In addition, processor 2032 is configured to detecting main work( By the energy supply of instrument 10 from main power source when the charge level in rate source 2002 has reached or drops below predetermined minimum level 2002 are switched to supplemental power source 2004.Reader will be appreciated that, auxiliary pointer can be used to provide additional feedback to user. For example, indicator can be used for prompting instrument 10 being just switched to supplemental power source 2004 from main power source 2002 to user, it is on the contrary It is as the same.

Further described above, processor 2032 can be programmed to be connected to surgical instruments in main power source 2002 Main power source 2002 is allowed to charge supplemental power source 2004 when 10.In some examples, supplemental power source 2004 is once led Power source 2002, which is fully charged to predetermined highest, can keep idle, and precondition is that main power source 2002 keeps energy It is enough to provide power to instrument 10.In addition, management circuit 2006 can be used for determining when supplemental power source 2004 is fully filled Electricity.For example, processor 2032 is configured to monitor the charge level of supplemental power source 2004 using voltameter 2028, directly Reach the predetermined maximum level being storable in the memory 2030 of management circuit 2006 to charge level, at this time processor 2032, which can stop main power source 2002, charges to supplemental power source 2004.Management circuit 2006 may include indicator, for example, LCD display, one or more LED etc., the indicator can be actuated to carry when supplemental power source 2004 is fully charged Show the user of instrument 10.

Referring again to Figure 129, main power source 2002 may be housed in the chamber 2038 of the handle portions 14 of instrument 10.In order to Main power source 2002 is replaced, the external shell of handle portions 14 can be removed to expose chamber 2038.In some examples, trigger Or switch can be associated with the external shell of handle portions 14 so that the external shell for attempting to remove handle portions 14 can be handled Device 2032 is interpreted as trigger event to be switched to supplemental power source 2004 from main power source 2002.

When replacing the main power source 2002 of surgical instruments 10 using new main power source 2002, management circuit 2006 The mandate of new main power source 2002 can be checked, as described above, and after confirming this mandate, management circuit 2006 can permit The main power source 2002 of Xu Xin is to 10 transimission power of instrument.In addition, main power source 2002 can charge to supplemental power source 2004, such as It is upper described.

Surgical end-effector (such as loading unit 20 (Fig. 2 and Fig. 3)) is operably linked to powered surgical instrument 10 The elongated shaft assembly 16 of (Fig. 1).For example, referring now to Figure 38-58, surgical end-effector (such as disposable loading unit (DLU) it can 5502) be releasably attached to surgical instruments, for example, powered surgical instrument 10 (Fig. 1).In various embodiments, Surgical instruments may include axis 5520, the engageable such as DLU of the axis 5,520 5502.In various embodiments, lining ring is (for example, can Rotation lining ring 5580) it can releasedly lock DLU 5502 relative to axis 5520.In addition, in various embodiments, lining ring 5580 Rotation can be conducive to fire the attachment and/or alignment of component and/or joint motions component, as described herein.

In various embodiments, DLU 5502 may include distal side attachment part 5504, and axis 5520 may include outer tube 5554 and proximal attachment part 5522.When DLU 5502 is fixed to axis 5520 (Figure 39), the distal side attachment part of DLU 5502 5504 can receive the proximal attachment part 5522 of axis 5520.In addition, the nearside that rotatable lining ring 5580 can be positioned on axis 5520 is attached Around socket part point 5522 so that the distal side attachment part 5504 of DLU 5502 is alternatively positioned in rotatable lining ring 5580.It can revolve Axis 5502 and/or proximal attachment part 5504 can be fixed to by turning lining ring 5580, and is rotatably fixed in certain embodiments To the proximal attachment part 5504 of such as axis 5502.In certain embodiments, when DLU 5502 is fixed to axis 5520, axis 5520 Proximal attachment part can receive the distal side attachment part of DLU 5502.In addition, in certain embodiments, lining ring 5580 is rotatable Ground is fixed to DLU 5502.

Referring also to Figure 38-58, when DLU 5502 between non-attachment location and attachment location relative to the axis of surgical instruments When 5520 movement, DLU 5502 can be translated along the longitudinal axis limited by axis 5520.When DLU 5502 is transported from non-attachment location When moving attachment location, the distal side attachment part 5504 of DLU 5502 can be inserted into the proximal attachment part 5522 of axis 5520.Example Such as, when DLU 5502 is moved between non-attachment location and attachment location, DLU 5502 can be translated along direction A (Figure 39). In certain embodiments, the engagement of the groove between distal side attachment part 5504 and proximal attachment part 5522-slit can along by The longitudinal axis that axis 5520 limits guides DLU 5502.Referring primarily to Figure 42, distal side attachment part 5504 may include guide rail 5514. In addition, referring primarily to Figure 44, proximal attachment part 5522 may include guide groove 5534.The size and construction of guide groove 5534 can be designed It receives and guides when in the distal side attachment part 5522 that axis 5520 is inserted into the proximal attachment part 5504 of DLU 5502 and lead Rail 5514.For example, guide groove 5534 may include longitudinal slit, and guide rail 5514 may include such as longitudinal ridge.In some embodiments In, guide groove 5534 and guide rail 5514 can prevent torsion and/or rotation of the DLU 5502 relative to the longitudinal axis limited by axis 5520 Turn.

Referring primarily to Figure 38, distal side attachment part 5504 may include the first alignment mark 5510 (for example, first arrow), and And axis 5520 and/or lining ring 5580 may include the second alignment mark 5590 (for example, second arrow).First alignment mark, 5510 He Second alignment mark 5590 to guide rail 5514 and guide groove 5534 will definitely be made to be aligned, it is attached that this can be conducive to distal side attachment part 5504 It is connected to proximal attachment part 5522.As described herein, DLU 5502 can be relative to axis along the translation of longitudinal path towards axis 5520 5520 releasedly lock DLU 5502.In such embodiments, it may be unnecessary to rotations of the LU 5502 relative to axis 5520, with It is attached DLU 5502 relative to axis 5520.In fact, can be by between proximal attachment part 5522 and distal side attachment part 5504 Groove-slit engagement limit and/or prevent the DLU 5502 relative to the rotation of axis 5520, as described herein.In various realities It applies in example, lining ring 5580 can be relative to LU 5502 and/or the rotation of axis 5520 DLU 5502 is releasably locked to axis 5520.For example, as described herein, lining ring 5580 can rotate to second orientation (Figure 54) from initial orientation (Figure 53) and then return Initial orientation (Figure 57) is returned to so that DLU 5502 is locked to axis 5520.

Referring primarily to figure Figure 42 and Figure 43, the portions of proximal 5504 of DLU 5502 may include rotation key or rib 5506.Work as DLU 5502 between non-attachment location (Figure 38) and attachment location (Figure 39) along direction A (Figure 39) when moving, and rotation key 5506 can Influence the rotation of lining ring 5580.For example, rotation key 5506 can be such that lining ring 5580 is rotated from initial orientation along direction B (Figure 39) And/or it is biased to second orientation.When lining ring 5580 is biased to second orientation, distal side attachment part 5504 can be inserted into proximal attachment In part 5522.In addition, when distal side attachment part 5504 is fully inserted into proximal attachment part 5522, rotation key 5506 can be permitted Perhaps lining ring 5580 rotates to initial orientation along direction C (Figure 39) from second orientation.Direction C can be for example opposite with direction B.Such as this Described in text, when lining ring 5580 returns to initial orientation, it is attached that lining ring 5580 can lock distal side relative to proximal attachment part 5522 Socket part point 5504.Referring also to Figure 42 and Figure 43, rotation key 5506 may include positioned at the rotation ramp 5508 of its proximal end.Rotation The element of 5508 engageable axis 5520 of ramp is to influence the rotation of such as rotation lining ring 5580.

In various embodiments, rotation ramp 5508 can influence the rotation of the beating shaft being located in axis 5,520 5540.Example Such as, referring primarily to Figure 47-50, beating shaft 5540 may include the beating shaft circulator that can be extended radially outwardly from beating shaft 5540 5544.When DLU 5502 is inserted into axis 5520, the 5508 engageable beating shaft circulator 5544 of rotation ramp of rotation key 5506. In various embodiments, 5508 rotatable beating shaft circulator 5544 of ramp is rotated, the beating shaft circulator 5544 is rotatable Beating shaft 5540.For example, beating shaft 5540 and beating shaft circulator 5544 can be in first orientations (Figure 53) and second orientation (figure 54) it is rotated along direction B (Figure 54) between.Referring also to Figure 47-50, beating shaft 5540 can be engaged with rotatable lining ring 5580.Example Such as, rotatable lining ring 5580 may include that circulator groove 5584, the construction and size of the circulator groove 5584 can be designed At receiving and/or keep beating shaft circulator 5544.Beating shaft circulator 5544 can be kept by circulator groove 5584, be made Obtaining the rotation of beating shaft circulator 5544 causes to rotate the rotation of lining ring 5580.In such embodiments, DLU 5502 is inserted into axis For example rotatable lining ring 5580 can be caused along the rotation of direction B along the rotation of direction B by beating shaft circulator 5544 in 5520 Turn (Figure 54).

Referring primarily to Figure 44 and Figure 45, proximal attachment part 5522 may include that rotation key slit 5524, the rotation key are narrow Slot 5524 can receive rotation key 5506 when distal side attachment part 5504 is inserted into proximal attachment part 5522.In various embodiments In, rotation key slit 5524 may include clearance notches 5526 for receiving beating shaft circulator 5544.For example, rotation key 5506 Proximal end at rotation ramp 5508 can make that beating shaft circulator 5544 rotates to second orientation and to rotate to gap recessed In 5526 (Figure 54) of mouth.When DLU 5502 is inserted into axis 5520, rotation key 5506 can continue on the fortune of rotation key slit 5524 It is dynamic.In addition, when the movement of the distal end 5509 of rotation key 5506 is by beating shaft circulator 5544, beating shaft circulator 5544 First orientation (Figure 58) can be reversely rotated, this can correspondingly be such that rotatable lining ring 5580 reversely rotates to its initial orientation.

In various embodiments, rotatable lining ring 5580 can be biased relative to axis 5520 and/or proximal attachment part 5522 At initial orientation.For example, locking lining ring 5580 can be biased to initial orientation by spring 5592.Spring 5592 may include can be relative to Proximal end 5594 that axis 5520 is fixed and can be relative to the distal end 5596 that lining ring 5580 is fixed.For example, bullet The proximal end 5594 of spring 5592 is positively retained in the nearside Spring slot 5538 (Figure 51) of axis 5520, and spring 5592 is remote Side end 5596 is positively retained in the distal side Spring slot 5588 (Figure 46) of for example rotatable lining ring 5580.In such embodiment In, the rotation of lining ring 5580 can be relative to the distal end 5596 of 5594 mobile spring 5592 of proximal end of spring 5592, this Twisting resistance can be generated.Therefore, lining ring 5580 can prevent the rotation from initial orientation to second orientation, and when lining ring rotates to When two orientations, spring 5592 can be by 5580 reverse bias of lining ring to initial orientation.Due to beating shaft circulator 5544 and lining ring Beating shaft 5540 can be also biased to its first orientation by 5580 engagements, spring 5592.

In various embodiments, rotatable lining ring 5580 may include the locking pawl that DLU 5502 is locked to axis 5520 5582.Referring primarily to Figure 46, locking pawl 5582 can be extended radially inwardly from the inner periphery of rotatable lining ring 5580.In various realities It applies in example, locking pawl 5582 may extend into the pawl slit 5536 (Figure 44) in proximal attachment part 5522.Referring primarily to Figure 44, pawl slit 5536 can form the recess in guide groove 5534.In various embodiments, pawl slit 5536 can be from guide groove 5534 extend, and can perpendicular to or be substantially perpendicular to such as guide groove 5534.In addition, when rotatable lining ring 5580 is relative to axis 5520 between initial orientation and second orientation when rotating, and locking pawl 5582 can be moved along pawl slit 5536.

In various embodiments, the distal side attachment part 5504 of 5582 engageable DLU 5502 of locking pawl is with relative to axis 5520 locking DLU 5502.For example, referring again to Figure 42, distal side attachment part 5504 may include guide rail 5514, the guide rail 5514 can have be defined in locking recess 5516 therein.The construction and size of locking recess 5516 are designed in DLU 5502 receive the locking pawl 5582 of rotatable lining ring 5580 when being fully inserted into proximal attachment part 5522.For example, working as distal side When attachment part 5504 is fully inserted into proximal attachment part 5522, the locking recess 5516 of distal side attachment part 5504 can with it is close The pawl slit 5536 of side attachment part 5522 is aligned.Therefore, locking pawl 5582 can be along in proximal attachment part 5522 Pawl slit 5536 is slided and is slided into the locking recess 5516 in the attachment part of distal side.In addition, locking pawl 5582 can It is biased to engage with locking recess 5516 by torsionspring 5592.For example, leaving rotation key in beating shaft circulator 5544 After 5506 distal end 5509, beating shaft 5540 can reverse bias can pass through to first orientation and rotatable lining ring 5580 5592 reverse bias of torsionspring is to initial orientation.In addition, when lining ring 5580 is reversely rotated from second orientation to initial orientation, Its locking pawl 5582 can be aligned and engage with the locking recess 5516 in guide rail 5514.

In various embodiments, the rotation of lining ring 5580 can be conducive to fire the attachment and/or alignment of component.For example, hitting Hair axis 5540 can extend between proximal end 5546 and distal end 5542.Proximal end 5546 can have rotary joint, institute It states rotary joint and allows rotation of the beating shaft 5540 between the first configuration and the second configuration.In addition, distal end 5542 can Connector with the element for being attached DLU 5502.The rotation of beating shaft 5540 can be conducive to the attachment of cutting element.Example Such as, when the connector at the distal end 5542 of beating shaft 5540 rotates, connector is engageable and is connected to DLU 5502 In cutting element.In certain embodiments, connector may include bayonet mount, cutting in the engageable DLU of the bayonet mount 5502 Cut the correspondence bayonet receiver of element.Referring primarily to Figure 40 and Figure 41, percussion component may also include for example around beating shaft 5540 Casing 5550 between proximally positioned end 5546 and distal end 5542.

In various embodiments, when the rotation in axis 5520 of beating shaft 5540, beating shaft 5540 may rotate to and DLU Beating shaft slit 5518 in 5502 is aligned.For example, when DLU 5502 is fully inserted into and is attached to axis 5520, beating shaft rotation Turning device 5544 can be aligned with beating shaft slit 5518.However, in various embodiments, when DLU 5502 is only partially inserted into axis 5520 When interior, beating shaft circulator 5544 can be rotated by rotation key 5506 and is not aligned with beating shaft slit 5518.In other words, it hits Hair axis circulator 5544 can be aligned when beating shaft 5540 is in first orientation with beating shaft slit 5514, and can be in beating shaft 5540 when rotating to second orientation with 5514 misalignment of beating shaft slit.In such embodiments, when the only parts DLU 5502 are inserted When entering in axis 5520 and/or before DLU 5502 is releasably locked to axis 5520 by rotatable lining ring 5580, hit The percussion path of hair axis circulator 5544 can be stopped by distal side attachment part 5504.The integration of beating shaft 5540 and lining ring 5580 can Ensure that DLU 5502 is fixedly attached to axis 5520 before beating shaft 5540 can be fired and/or be promoted.For example, surgical instruments is not It can fire, until the cutting element in DLU 5502 is connected to beating shaft 5540 and/or until beating shaft 5540 for example exists It is appropriately aligned in axis 5520.

In certain embodiments, the rotation of lining ring 5580 can be conducive to the attachment and/or alignment of joint motions component 5559. Referring primarily to Figure 40 and Figure 41, joint motions component 5559 may include proximal joint moving lever 5560, distal joint movement bar 5562 and joint motions connector 5566.In addition, axis 5520 may include proximal joint moving lever slit 5528, and DLU 5502 may include such as distal joint movement bar slit 5512.In certain embodiments, proximal joint moving lever 5560 can with it is close Lateral joint moving lever slit 5528 is aligned, and distal joint movement bar 5562 can be right with distal joint movement bar slit 5512 It is accurate.Referring now to Figure 46, joint motions connector 5566 may be housed in rotatable lining ring 5580.For example, rotatable lining ring 5580 may include joint motions connector slit 5586, and joint motions connector 5566 can be movably positioned in it In.

In various embodiments, referring again to Figure 40 and Figure 41, proximal joint moving lever 5560 can have nearside recess 5572, and distal joint movement bar 5562 can have distal side recess 5574.In addition, joint motions connector 5566 may include closely Lateral joint moves lug 5568 and distal joint movement lug 5572.Proximal joint movement lug 5568 is positively retained at proximal joint In the nearside recess 5572 of moving lever 5560.In certain embodiments, distal joint movement lug 5570 can operationally connect Close the distal side recess 5574 of distal joint movement bar 5562.As described herein, rotatable lining ring 5580 can be in initial configuration and It is rotated between two configurations.When lining ring 5580 rotates, being contained in joint motions connector 5566 therein also can be relative to by axis The 5520 longitudinal axis rotations limited.In various embodiments, when joint motions connector 5566 rotates, joint motions connection The proximal joint movement lug 5568 of device 5566 can remain positioned in the nearside recess 5572 of proximal joint moving lever 5560.This Outside, when joint motions connector 5566 and lining ring 5580 rotate to initial orientation from second orientation, joint motions connector The 5566 movable distal side recess 5574 at distal joint movement bar 5562 of distal joint movement lug 5570 engages.Example Such as, when DLU 5502 is fully inserted into axis 5508, the distal side recess 5574 of distal joint movement bar 5562 can be with joint motions The distal joint movement lug 5568 of connector 5566 is aligned.In such embodiments, when rotatable lining ring 5580 reversely rotates When to initial configuration, distal joint movement lug 5568 is slid into the distal side recess 5574 of distal joint movement bar 5562. When distal joint movement lug 5568 is located in distal side recess 5574, joint motions component 5559 can be to have assembled completely 's.

Referring primarily to Figure 45, in various embodiments, proximal joint moving lever slit 5528 may include the first gap 5530 With the second gap 5532.The proximal joint movement lug 5568 and distal joint movement lug 5570 of joint motions connector 5566 It can extend respectively into the first gap 5530 and the second gap 5532.In certain embodiments, when lining ring 5580 rotates and/ Or when joint motions component 5559 for example carries out joint motions, the first gap 5530 and the second gap 5532 can provide space So that proximal joint moves lug 5568 and the movement of distal joint movement lug 5570.

Referring now to Figure 51-58, in order to which DLU 5502 to be connected to the axis 5520 of surgical instruments, user can make DLU 5502 alignment mark 5510 is aligned with the alignment mark 5590 of axis 5520 and/or lining ring 5580 (Figure 51).It is keeping to fiducial mark During the alignment of note 5510,5590, user can move DLU relative to axis 5520 along the longitudinal axis limited by axis 5520 5502.User can move DLU 5502 along the path of straight line or substantially straight line, and in various embodiments, it is not necessary to phase DLU is rotated for such as axis 5520.Referring primarily to Figure 53, DLU 5502 can continue to translate relative to axis 5520, and distal side is attached The guide rail 5514 of socket part point 5504 may fitted in the guide groove 5534 (Figure 44) in the proximal attachment part 5522 of axis 5520.When remote When side attachment part 5504 is moved in proximal attachment part 5522,5534 bootable guide rail 5514 of guide groove and it can keep for example The alignment of alignment mark 5510,5590.In other words, guide groove 5534 and guide rail 5514 can prevent DLU 5502 relative to axis 5520 Longitudinal axis rotation.Referring primarily to Figure 52, the proximal joint movement lug 5568 of joint motions connector 5522 is extensible It in the first gap 5530 and can be positioned in the nearside recess 5572 of proximal joint moving lever 5562, and joint motions connect The distal joint movement lug 5570 for connecing device 5522 can extend across such as the second gap 5532.

Referring primarily to Figure 54, when distal side attachment part 5504 is inserted into proximal attachment part 5522, rotation key 5506 Rotation key ramp 5508 can abut beating shaft circulator 5544.Rotation key ramp 5508 can guide beating shaft circulator 5544 simultaneously And/or person is directed to out of, rotation key slit 5524 extends clearance notches 5526.In addition, when beating shaft circulator 5544 moves When in clearance notches 5526, beating shaft 5540 can be rotated along direction B.Beating shaft 5540 can rotate to second from first orientation It is orientated.Such rotation of beating shaft 5540 can be conducive to the cutting member in the distal end 5542 and DLU 5502 of beating shaft 5540 The attachment of part.In addition, the rotation of beating shaft circulator 5544 can pass through the percussion in beating shaft circulator 5544 and lining ring 5580 The engagement of axis circulator groove 5584 (Figure 46) makes lining ring 5580 be rotated along direction B.Lining ring 5580 can be for example from initial orientation Rotate to second orientation.In addition, when lining ring 5580 rotates, locking pawl 5582 can be along the pawl slit 5536 in axis 5520 Movement.In addition, the rotation of lining ring 5580 can be such that the distal end 5596 of spring 5592 rotates, because of the distal end of spring 5592 5596 are positively retained in the distal side Spring slot 5588 (Figure 46) in lining ring 5580.Distal end 5596 is relative to proximal end 5594 displacement can generate torsion screen resilience, and the torsion screen resilience can for example deflect into lining ring 5580 initially from second orientation It is orientated and for example can deflect into first orientation from second orientation by beating shaft 5540.

Referring primarily to Figure 55, when lining ring 5580 is rotated towards second orientation, proximal joint moves lug 5568 can be with nearside Nearside recess 5572 in joint motions bar 5560 remains engaged with.In addition, distal joint movement lug 5570 it is rotatable so that Distal joint movement lug 5570 provides the gap of the distal joint movement bar 5562 for DLU 5502.Referring to Figure 56, work as lining When circle 5580 and the joint motions connector 5566 being positioned in rotate to second orientation, DLU 5502 can be fully inserted into axis In 5520.In various embodiments, when joint motions connector 5566 rotates to second orientation, distal joint movement bar 5562 The distal joint movement lug 5570 of joint motions connector 5566 can be left.In addition, distal joint movement lug 5570 can It is rotatably aligned with the distal side recess 5574 in joint motions connector 5566.Referring also to Figure 56, when DLU 5502 is inserted completely When entering in axis 5520, trigger shaft circulator 5544 can leave the distal end 5509 of rotation key 5506.

Referring now to Figure 57, when the distal end 5509 of rotation key 5506 is by beating shaft circulator 5544, beating shaft Circulator 5544 can be rotated along direction C.For example, beating shaft circulator 5544 can rotate to along direction C from second orientation One is orientated.In addition, the rotation of beating shaft circulator 5544 can cause lining ring 5580 to be rotated to initially from second orientation along direction C It is orientated.In various embodiments, trigger shaft 5540 can be biased to its first orientation by spring 5592, and can be inclined by lining ring 5580 Set its initial orientation.For example, beating shaft circulator 5544 can be positioned on the beating shaft circulator groove 5584 in lining ring 5580 In (Figure 46) so that the rotation of beating shaft circulator 5544 makes lining ring 5580 rotate.It is remote due to joint motions connector 5566 Lateral joint moves the alignment of the distal side recess 5574 of lug 5570 and distal joint movement bar 5562, joint motions connector 5566 It can be rotated with the rotation of lining ring 5580, and distal joint movement lug 5570 may rotate to and be connect with distal side recess 5574 It closes.When distal joint movement lug 5570 engages distal side recess 5574, joint motions component 5559 can be assembled.This Outside, when beating shaft circulator 5544 is rotated along direction C, the distal end 5542 of beating shaft 5540 can be rotated along direction C, this can Be conducive to the distal end 5542 that the cutting element in DLU 5502 is attached to beating shaft 5540.

Referring now to Figure 58, the rotation of lining ring 5580 can also make the locking pawl 5582 of lining ring 5580 rotate to distal side attachment In locking recess 5516 in the guide rail 5514 of part 5504.For example, when DLU 5502 is fully inserted into axis 5520, locking is recessed Mouth 5516 can be aligned with pawl slit 5536 so that locking pawl 5582 can rotate to locking recess by pawl slit 5536 In 5516.As described herein, after beating shaft circulator 5544 leaves the distal end 5509 of rotation key 5506, spring 5592 Lining ring 5580 can be biased to be rotated along direction C (Figure 57).Referring also to Figure 58, when beating shaft circulator 5544 is rotated along direction C, Beating shaft circulator 5544 is movable to be aligned at the beating shaft slit 5518 in DLU 5502.Beating shaft circulator 5544 with hit The alignment for sending out axis slit 5518 allows such as beating shaft 5540 to be promoted towards distal side to fire DLU 5502.

As described herein, rotatable lining ring 5580 can releasedly lock DLU 5502 relative to axis 5520.In addition, lining ring 5580 rotation can be conducive to attachment and/or alignment and beating shaft 5540 and the DLU of such as joint motions component 5559 The attachment and/or alignment of cutting element in 5502.In addition, the rotation of lining ring can also unlock DLU 5502 from axis, disconnect joint Cutting element in moving parts 5559, and/or DLU 5502 disconnects beating shaft 5540.For example, when lining ring 5580 is again from first When the orientation that begins rotates to second orientation, locking pawl 5582 can be detached from the locking recess 5516 in distal side attachment part 5504.Cause This, distal side attachment part 5504 can for example along the longitudinal axis limited by axis 5520, proximally attachment part 5522 exits. In various embodiments, DLU 5502 can be detached from from axis 5520, without rotating DLU 5502 relative to axis 5520.However, lining ring 5580 can rotate relative to axis 5520, this for example can be such that distal joint movement bar 5562 is connect with the joint motions in lining ring 5580 Device 5566 disconnects and the cutting element in beating shaft 5540 and DLU 5502 can be made to disconnect.

Referring now to Figure 59-62, disposable loading unit (DLU) or end effector 5602 can be releasably attached to The axis 5620 of surgical instruments.In various embodiments, spring or multiple springs for example can be inclined relative to axis 5620 by DLU 5602 It is set to latched position.For example, DLU 5602 can be releasably attached to axis 5620 by bayonet mount, and spring is rotatable DLU 5602 by DLU 5602 by bayonet coupling so that be connected to axis 5620.DLU 5602 may include distal side attachment part 5604, and axis 5620 may include such as proximal attachment part 5622.When DLU 5602 is fixed to axis 5620, DLU's 5602 Distal side attachment part 5604 can receive the proximal attachment part 5622 of axis 5620.In other embodiments, when DLU 5602 is fixed When to axis 5620, the proximal attachment part of axis 5620 can receive the distal side attachment part of DLU 5602.

In various embodiments, the distal side attachment part 5604 of DLU 5602 may include pawl 5606, the pawl 5606 It can extend radially outwardly from a part for distal side attachment part 5604.In addition, pawl 5606 may include inclined surface 5608.Such as this Described in text, when distal side attachment part 5604 is inserted into proximal attachment part 5622, the inclined surface 5608 of pawl 5606 can connect It closes spring (such as spring 5636b) and spring 5636b can be made to deform.In addition, pawl 5606 can be by proximal attachment part 5622 It keeps so that DLU 5602 is releasably locked to axis 5622.Referring primarily to Figure 59, the proximal attachment part 5622 of axis 5620 can Limit cavity 5624.In various embodiments, the construction of cavity 5624 and size are designed to receive the distal side of DLU 5602 Attachment part 5604.In addition, spring 5636a, 5636b can be positioned in cavity 5624.For example, the first spring 5636a can be positioned In the first side of cavity 5624, and second spring 5636b can be positioned on the second side of cavity 5624.Spring 5636a, 5636b It can be relative to cavity 5624 symmetrically or non-symmetrically.In various embodiments, at least part of spring 5636a, 5636b is extensible Into cavity 5624.For example, the leg 5637 of second spring 5636b may extend into cavity 5624, and second spring 5636 Another leg 5637 can for example be maintained in proximal attachment part 5622.

Referring also to Figure 59, proximal attachment part 5622 may also include locking slit 5638, and the locking slit 5638 is for example It can be limited in cavity 5624 and/or can be touched via cavity 5624.The construction and size for locking slit 5638 can be set It counts into and receives such as pawl 5606.In various embodiments, locking slit 5638 can keep pawl 5606 with relative to axis 5620 Releasedly lock DLU 5602.In addition, in various embodiments, proximal attachment part 5622 may include latch 5630.Latch 5630 can move between unlatched position (Figure 59 and Figure 60) and latch position (Figure 61 and Figure 62).In various embodiments, Latch 5630 can be spring-loaded, and latch 5630 can be biased to latch position by spring 5634.For example, latch 5630 can Including late spring 5634, latch 5630 can be biased to and/or be biased to latch position by the late spring 5634.Latch position Setting can be for example positioned at the distal side of unlatched position.In certain embodiments, latch 5630 may include thumb grip part and/or ridge 5632 move to unlatched position to be conducive to latch 5630 from latch position.For example, the engageable thumb grip part of user 5632 and proximally drawing latch 5630 with to latch 5630 unlock.

In various embodiments, latch 5630 can operationally stop or stop at least partly locking slit 5638. For example, when latch 5630 is in latch position (Figure 61 and Figure 62), the arm 5635 of latch 5630 may extend into locking slit In 5638 at least part.Latch 5630 can cover or cover at least partly locking slit 5638, and can prevent and/or Limitation enters locking slit 5638.In certain embodiments, the arm 5635 of latch 5630 can prevent pawl 5606 from moving and/or slide It moves in locking slit 5638.In addition, when latch 5630 is in latch position, 5630 engageable spring 5636a of latch, 5636b.For example, with reference to Figure 61 and Figure 62, latch 5630 can support spring 5636b so that the deformation of spring 5636b is limited And/or it prevents.In addition, latch 5630 can support spring 5636b so that cavity 5624 cannot receive the distal side of DLU 5602 to be attached Part 5604.For example, at least part of spring 5636b can stop cavity 5624, this can prevent distal side attachment part 5604 complete It is fully inserted into proximal attachment part 5622.In certain embodiments, proximal attachment part 5622 may include multiple springs, described more Rotary force can be applied in distal side attachment part 5604 by a spring so that distal side attachment part 5604 is relative to proximal attachment portion Divide 5622 rotations.For example, proximal attachment part 5622 may include a pair of of spring or more than three spring.In other embodiments, Single spring in proximal attachment part 5622 can attempt to that distal side attachment part 5604 is made to revolve relative to proximal attachment part 5622 Turn.In addition to this or alternatively, in various embodiments, the distal side attachment part 5602 of DLU 5602 may include for example, at least one A spring, at least one spring can be such that distal side attachment part 5602 is rotated relative to proximal attachment part 5622.

In various embodiments, when latch 5630 is in unlatched position (Figure 59 and Figure 60), the arm of latch 5630 5635 can not stop and/or less stop locking slit 5638.For example, pawl 5606 can fit through unlatched latch 5630 to be assembled in locking slit 5638.In addition, pawl 5606, which may pass through unlatched latch 5630, is biased to locking slit In 5638, as described herein.In addition, in various embodiments, when latch 5630 is in unlatched position, latch 5630 can take off From spring 5636a, 5636b.For example, when latch 5630 is unlatched, latch 5630 can not protect and/or limited spring 5636a, The deformation of 5636b.

Referring primarily to Figure 59, when latch 5630 moves and is maintained at such as nearside and/or unlatched position, spring 5636b can not be latched 5630 supports.In such embodiments, DLU 5602 can be moved along direction A so that distal side attachment 5604 are divided to be moved relative to proximal attachment part 5622.Referring primarily to Figure 60, the pawl 5606 of distal side attachment part 5604 can connect Spring 5636b is closed, and spring 5636b can for example be made to compress and/or deform.In certain embodiments, the inclination of pawl 5606 Surface 5608 can be slided along spring 5636b, and the free leg 5637 of removable spring 5636b.The deformation of spring 5636b Screen resilience can be generated so that screen resilience can be applied on pawl 5606 by spring 5636b.Referring now to Figure 61, screen resilience can be led Cause the rotation of pawl 5606.For example, pawl 5606 can rotate to the locking slit 5638 being defined in cavity 5624 along direction B It is interior.In various embodiments, when user discharges latch 5630, it is unlatched that late spring 5634 can be such that latch 5630 returns to Position.In addition, when latch 5630 returns to unlatched position, the arm 5635 of latch 5630 can stop or be partially blocked by locking Slit 5638.In such embodiments, when pawl 5606 is maintained in locking slit 5638, the spine of distal side attachment part 5604 Pawl 5606 can releasedly be locked relative to proximal attachment part 5622.In addition, in certain embodiments, latch 5630 can Against the holding of pawl 5606 and/or support spring 5636b, until latch is re-moved to unlatched position.In various embodiments In, in order to discharge DLU 5602 from axis 5620, user can make latch 5630 move to unlatched position from latch position again, So that pawl 5606 is rotatable to leave locking slit 5638.In such embodiments, the rotation of pawl 5606 makes spring again 5636b compresses and/or deformation, and up to distal side attachment part 5604, proximally attachment part 5622 exits.

Further described above, surgical instruments is configured to identification or at least attempts to identify be installed to The end effector of surgical instruments.In certain embodiments, following article is further described in more detail, and end effector may include electricity Contact, the electric contact can engage the correspondence electric contact on the axis of surgical instruments when end effector is installed to axis.Such In embodiment, the controller of surgical instruments can establish wired connection with end effector, and controller and end effector it Between signal communication can be carried out by electric contact.As described in more detail below, end effector may include being stored thereon At least one data, at least one data can be accessed by controller to identify end effector.At least one data It may include the information of such as a bit, more than one bit, a byte or more than one byte.In other certain implementations In example, end effector may include that transmitter, the transmitter can carry out communicating wireless signals with the controller of surgical instruments.Class It is similar to described above, end effector may include that at least one data being stored thereon, at least one data can be sent out Controller is mapped to identify end effector.In such embodiments, the controller of surgical instruments may include receiver or use Receiver, the receiver can receive the transmitting from end effector.Such receiver can be positioned on such as surgical instruments In axis and/or shank.

Reader will be appreciated that, transmitting wireless communication is for example configured to the end effector of controller wireless communication Number.In all cases, end effector is configured to emit primary or more than one signal.In certain situations Under, end effector can be prompted to emit signal at the required moment and/or continuously repeatedly emit signal.One In the case of a little, end effector may include switching, and the switch can be assembled into surgical instruments in the end effector of surgical instruments Before, it period, and/or is operated later by the user of surgical instruments.In various embodiments, end effector Kai Kebao On/off or power switch are included, the switch can be closed or be operated to start end effector.In at least one such embodiment In, end effector may include that at least one power source, such as battery, at least one power source can be closed in ON/ Device is launched when conjunction to use to emit signal.When end effector starts, in all cases, the controller of end effector It is configured to generate signal and signal is emitted by transmitter.In some cases, end effector can not emit Signal, until end effector is activated.Such construct can for example save the power of battery.In certain embodiments, in end Before actuator switch is activated, surgical instruments, which may be arranged at it, can wait until the operation mode of the signal from end effector. In all cases, surgical instruments can be at spare or low-power operating mode, once wherein signal has been received by a controller, control Surgical instruments can be arranged in full power operation pattern by device processed.In some embodiments, end effector switch may indicate that end Portion's actuator controller is to transmit signals to surgical instruments controller.Such switch may include or may not include power switch, However, such being selected by the user property of switch activate to prompt end effector at the required moment and/or needed for follow-up Moment is continually transmitted signal.

Turning now to Figure 114, end effector (such as end effector 9560) may include that can be used for starting end executes One or more electric contacts of device 9560, such as contact 9561.For example, turning now to Figure 112, the axis 9040 of surgical instruments can wrap Contact carriage 9562 is included, the contact carriage 9562 is configured to make contact when end effector 9560 is assembled into axis 9040 Two or more short circuits in 9561 or electrical connection.Bridge 9562 can connect circuit, and the circuit includes two contacts 9561, electricity Pond 9564 and at least one integrated circuit 9566 being limited on printed circuit board 9565.Further described above, one Denier circuit is switched on, and battery 9564 can provide power to integrated circuit 9566 and end effector 9560 can be activated. In the case of various, the integrated circuit 9566 and antenna 9567 that are limited on printed circuit board 9565 may include control discussed above Device and transmitter.In certain embodiments, axis 9040 may include biasing member, for example, spring 9563, the biasing member can quilt It is constructed to be permeable to be biased to contact with electric contact 9561 by bridge 9562.Before bridge 9562 connects electric contact 9561 and/or holding After portion's actuator 9560 has disengaged from axis 9040, circuit can be to open, and the power from battery 9564 can not be provided to collection At circuit 9566 and/or provide to the power of integrated circuit 9566 and can reduce, and end effector 9560 can be at it is not actuated State.Due to described above, in such embodiments, the assembling of end effector can be assembled into surgical instruments because of end effector And it is activated.In all cases, further described above, end effector and surgical instruments can be constructed and arranged At making the only complete of end effector and surgical instruments and suitably assemble that end effector will be started.

As described above, referring now to Figure 111, end effector could attach to surgical instruments (shown in step 9600), quilt Start (shown in step 9602) and is then assessed (shown in step 9604) by surgical instruments.Work as surgical instruments When the positive wireless signal for attempting the end effector that assessment carrys out self-starting, further described above, surgical instruments can quilt Whether complete it is constructed to be permeable to evaluation signal.In various embodiments, the asynchronous serial between end effector and surgical instruments Whether communication can be used for evaluating complete by surgical instruments received signal.For example, end effector can emit including start bit and/ Or the signal of stop position, the start bit is before data frame (for example, information byte), and the stop position is after data frame. In such cases, start bit, data byte and stop position may include such as 10 character frames or bit pattern.In such situation Under, when the controller of surgical instruments can recognize that the start bit and stop position of bit pattern, controller can be assumed that in start bit and stop The data byte or data bit received between stop bit is correctly and/or in other words complete.In all cases, start bit And/or stop position may include before next information byte is transmitted and/or previous information byte is by the stopping before transmitting again Period.

Further described above, turning now to Figure 110, the controller of surgical instruments may compare the bit pattern of data Or certain positions are to determine whether the plasticiser that it is received is correct and/or in other words complete.In all cases, data can be passed It is defeated, so that controller can assess data and be compared data with the expected bit pattern template for receiving data.For example, this Class template can be constructed and arranged to so that most visible data position (for example, leftmost side data bit) includes such as 1.If controller It can recognize that most visible data position is equal to 1, referring to the step 9700 in Figure 110, then controller can be to data progress xor operation And data are compared with the bit pattern template that can be used for controller, as shown in step 9702.Xor operation be it is known, And it for simplicity, is discussed in detail and does not provide in this article.If the bit pattern matching received by surgical instruments can be used for The bit pattern template of controller, then controller will identify end effector.When identifying end effector, controller can Access the storage information in relation to end effector in the memory chip that can be for example accessed by controller.If the controller determine that institute Most visible data position in the bit pattern of reception is not equal to 1, referring again to step 9700, the then executable shifting function of controller. Many shifting functions are known, for example, arithmetic shift, logical shift and/or cyclic shift, the shifting function can be used for removing Go to the abnormal data position received before required bit pattern.In all cases, guiding or 0 data bit of the leftmost side can be removed, Referring now to the step 9704 in Figure 110, and bit pattern can be shifted for example to the left, until guiding position is 1.At this point, to upper Text is described further, and the bit pattern of displacement and bit pattern template can be compared to identification end effector.If The bit pattern of displacement mismatches bit pattern template, then controller can again shift bit pattern, until under in bit pattern Become guiding position for one 1 and the bit pattern newly shifted can be compared with bit pattern template.It is such to shift and compare operation It can be performed any suitable number, until end effector is identified and/or surgical instruments assert that end effector cannot be by Identification.

Reader will be appreciated that surgical instruments may include the information of any appropriate digital in relation to end effector.Work as end When actuator is identified by surgical instruments, further described above, surgical instruments may have access to related end effector Storage information.For example, such storage information can be indicated for example to surgical instruments：1) in order to complete firing schedule, end executes The distance that firing member in device must promote and/or the maximum power that 2) motor of surgical instruments should apply to firing member Amount or torque.This type of information or information collection can be unique for each end effector, therefore identify in some way End effector allows surgical instruments to operate in desired manner.If there is no this type of information, then surgical instruments can cannot Identification, which is fully utilized the stroke length needed for end effector and/or cannot suitably limit it, is applied to firing member Power.In all cases, surgical instruments can be dependent on sensor, and how the sensor is configured to detection firing schedule When be completed and/or be applied to firing member power it is whether excessive.Sensors with auxiliary electrode can prevent the motor of surgical instruments that from surpassing Cross the firing member that rate provides and damages such as end effector.

Further described above, certain end effectors can be more strong compared to other end effectors, because This certain end effector be resistant to the motor from surgical instruments more energetically.Accordingly, other end effectors can not It is too strong, therefore can only be resistant to the low-force from motor.In order to make surgical instruments determination be applied to any specific end The appropriate forces of actuator, further described above, surgical instruments must identify that the end for being attached to surgical instruments executes Device.If end effector cannot identify that the operation sequence or pattern of acquiescence can be used in end effector, surgical instruments.Silent In the operation mode recognized, motor can be applied to the power limit of the firing member of end effector by the controller of surgical instruments In minimum or default power.Minimum power can be selected so that the end effector regardless of used in, motor will not Damage end effector.In some cases, for can be executed with the most weak or least strong end that surgical instruments is used together The parameter of device can be used by default mode of operation so that the end effector regardless of used in, surgical instruments will not surpass Rate is crossed to provide to end effector.In all cases, the appearance of motor power surgical instruments can cause end effector to be carried For overpower.In other words, it is previously used by manually driven surgical instrument and substantially cannot be by such manually driven surgical The end effector of instrument damage can be easy to be damaged by motor power surgical instruments.In addition, such previous end effector can not Technology including surgical instruments identification will be driven by a motor, and due to default operating program as described herein, such elder generation front end Portion's actuator still can be even used together with motor driving surgical instruments.That is, other can also be used in default operating program Default parameters.For example, minimum or acquiescence firing schedule length can be used in default operating program.In all cases, acquiescence behaviour The shortest route length for the end effector that can be used together with surgical instruments can be used as program.In such cases, no matter How is used end effector, and firing member will not be collided or be hit with the distal end of end effector.

Reader will be appreciated that surgical instruments includes the storage letter in relation to the end effector that can be used together with surgical instruments Breath, can be used for the information of surgical instruments can need to be updated.For example, if the preferred operations ginseng in relation to specific end effector Number changes over time, then the information being stored in each surgical instruments can need to be updated.In addition, for example, when new End effector developed for when surgical instruments is used together, surgical instruments can need to be updated.With regard to surgery device For the case where tool is updated not in time, surgical instruments can cannot identify end effector, and this paper institutes therefore can be used The default operating program stated.In various embodiments, surgical instruments may not include the end in relation to that can be used together with surgical instruments The storage information of portion's actuator or at least some of end effector.In such embodiments, end effector may include and end The relevant storage information of actuator or parameter.Such parameter can access and/or may pass to surgical instruments by surgical instruments. In the case of various, further described above, the assembling of end effector and surgical instruments can cause end effector to be sent out Penetrating can be by surgical instruments received signal.Otherwise similar to described above, end effector can be prompted to emit signal.Each In the case of kind, which can be emitted to surgical instruments by wiredly and/or wirelessly connecting.In certain embodiments, surgical instruments End effector can be prompted to emit signal.

Further described above, end effector may include being stored in one in relation to end effector therein Or multiple parameters.Such parameter is storable on for example one or more memory devices.In all cases, such parameter can The required retraction speed of required percussion speed, firing member including such as firing member, firing member by the distance of traveling or Stroke, the peak torque that firing member is applied to by the motor of surgical instruments, and/or end effector in fact be joint transport End effector will carry out the maximum angle of joint motions in the case of dynamic formula end effector.It holds certain joint motions formulas end Row device is disclosed in entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE's In U.S. Patent application 13/803,097, the complete disclosure of the patent application is herein incorporated by reference.Just in relation to most For the parameter of large joint movement angle, controller can using this parameter come limit the articulating part of end effector into The angle of row joint motions.In some cases, maximum articulation angle can be such as 45 degree, such as from the vertical of surgical instrument shaft It is measured to axis.For the parameter of percussion speed and/or retraction speed in relation to such as firing member, this parameter can convey example Such as it is used for the percentage or score of the required speed of firing member and/or the maximum speed of motor.For example, when promoting firing member When, the value 3 for firing speed can convey controller that should make motor for example in 30% time operation of its maximum speed.In addition, example Such as, when bounce back firing member when, the value 5 for retraction speed can convey controller that motor should be made for example in its maximum speed 50% time operation.For the parameter of the peak torque in relation to such as motor, this parameter can convey the peak torque of such as motor The percentage or score of value and/or peak torque.In addition, for the parameter of the stroke length in relation to such as firing member, this Parameter can convey firing member by the hundred of the required distance for being pushed into and/or bouncing back, and/or the maximum length of stroke of surgical instruments Divide ratio or score.For example, value 60 may indicate that firing schedule should be such as 60mm.In all cases, parameter value any can close Suitable format is transmitted, including such as binary format (including data bit and/or byte).The exemplary implementation of parameter array It is illustrated in Figure 110 A.

In various embodiments, further described above, surgical instruments is configured to according to specific Sequence gets parms from end effector.For example, the signal emitted from end effector may include such as start bit, be used for first First bit pattern of parameter (such as maximum articulation angle), the second mould for being used for the second parameter (such as firing speed) Formula, the third bit pattern for third parameter (such as retraction speed), for the 4th parameter (such as maximum motor torsional moment) Four bit patterns, the 5th bit pattern and stop position for being used for the 5th parameter (such as stroke length).But it is only for an example.Appoint The part what appropriate number of parameter can be used as signal is transmitted.In addition, can be used any appropriate number of start bit and/ Or stop position.For example, start bit can before each parameter bit pattern and/or stop position can each parameter bit pattern it Afterwards.As described above, the use of at least one start bit and/or at least one stop position can be conducive to the controller point of surgical instruments Whether complete analyse the signal from end effector.In certain embodiments, start bit and/or stop position can not used.In addition, Multiple signals can be emitted from end effector, so that the parameter of end effector is transmitted to surgical instruments.

In all cases, further described above, the controller of surgical instruments can be using inspection and to evaluate Its from end effector received signal it is whether complete and/or its whether received signal has been to authorize, that is, carry out self-identifying End effector.Examine and may include the value for free from errors being stored, emitting, and/or being received for ensuring data.It can lead to Following manner is crossed to generate：The binary value of calculated example such as data and binary value is combined using some algorithm. For example, the binary value of data can be added together, but various other algorithms can be used.Wherein in relation to certain end effectors Parameter be stored in the embodiment of surgical instruments, as described above, can also store each such end effector inspection and. In use, surgical instruments controller may have access to supplemental characteristic and examine and value, and by supplemental characteristic calculate examine and After value (that is, calculating inspection calculated and value), controller can by the inspection of the inspection of calculating and value and storage and be worth into Row compares.If the inspection of inspection and value equal to storage calculated and value, controller can be assumed that the memory from surgical instruments The total data of retrieval is correct.At this point, controller then can operate surgical instruments according to the data uploaded from memory. If the inspection of inspection and value not equal to storage calculated and value, controller can be assumed that at least one of retrieved data number According to being incorrect.In all cases, further described above, controller then can be for example in default operating program Lower operation surgical instruments locks the firing trigger of surgical instruments, and/or otherwise by event transmission to surgical instruments User.In some cases, controller can reattempt to from the memory of surgical instruments and upload data and re-execute Inspection and calculating described in text and compare.If the inspection and value matching of the inspection recalculated and value and storage, controller Surgical instruments then can be operated according to the data uploaded from memory.If the inspection of the inspection recalculated and value and storage It is unequal with being worth, then further described above, controller then can operate surgery device for example under default operating program Tool, lock surgical instruments firing trigger, and/or otherwise by event transmission to the user of surgical instruments.

It is stored in the embodiment in the memory of end effector in the parameter wherein in relation to end effector, as above It is described, it examines and value may also be stored in the memory in such as end effector.In use, the controller of surgical instruments can Access inspection and the value of supplemental characteristic and storage.In all cases, further described above, end effector can be sent out One or more signals are penetrated, parameter and inspection and value are transmitted to surgical instruments by one or more of signals.By institute above It states, the inspection of storage and value and parameter can be emitted together, and for the discussion purpose of this paper, be received by surgical instruments Surgical instruments can be described as the inspection received and value.Once supplemental characteristic has been received, similarly as described above, controller can be by Supplemental characteristic, which calculates, to be examined and value (that is, calculating inspection calculated and value) and by the inspection of the inspection of calculating and value and reception It tests and value is compared.If the inspection calculated and value, equal to the inspection and value received, controller can be assumed that be executed from end Whole supplemental characteristics of device retrieval are correct.At this point, controller then can be grasped according to the data uploaded from end effector Make surgical instruments.If the inspection and value that calculate can be assumed that not equal to the inspection and value, controller received in retrieved data At least one data be it is incorrect.In all cases, further described above, controller then can for example exist Surgical instruments is operated under default operating program, locks the firing trigger of surgical instruments, and/or otherwise by event transmission To the user of surgical instruments.When supplemental characteristic is transmitted to for example, by one or more wireless transmitting systems from end effector When surgical instruments, such event can be more frequently.Under any circumstance, in some cases, controller can reattempt to from End effector uploads data and re-executes inspection described above and calculating and compare.If the inspection recalculated and Value and the inspection received and value matching, then controller then can operate surgery device according to the data uploaded from end effector Tool.If the inspection and value of the inspection recalculated and value and reception are unequal, further described above, controller Surgical instruments then can be operated for example under default operating program, lock the firing trigger of surgical instruments, and/or with its other party Formula is by event transmission to the user of surgical instruments.In all cases, due to described above, surgical instruments need not be stored with Any information for closing end effector, described information is for operating surgical instruments when using end effector.In such situation Under, the data in relation to end effector parameter and inspection and value for confirming data integrity can be completely stored in end and execute On device.Surgical instruments may include that operation sequence, the operation sequence only need enough inputs from end effector to make Use end effector.The particular operational program of each end effector for that can be used together with surgical instruments can be not need 's.Single operation program can be used together with each end effector.Surgical instruments can need not be updated to include as a result, Such as the operation sequence for attached ends actuator and/or the modification program for existing end effector.

In addition to or the substitution end effector as described herein for being attached to surgical instruments for identification wireless communication system, Turning now to Figure 149-154, surgical instruments may include for scanning and identifying end effector according at least one embodiment Device.Figure 153 shows that the shank 11020 including barcode reader 11022, the barcode reader 11022 can quilts It is constructed to be permeable to shown in Figure 149 and Figure 150 that scanning is located on end effector 11060 shown in Figure 151, Figure 152 and Figure 154 Bar code.Similar to other embodiment disclosed herein, end effector 11060 may include such as shaft portion, anvil block 11062, and/or nail bin 11064, one or more parts of end effector 11060 may include bar codes thereon. In some embodiments, end effector 11060 may include being located in the removable member among anvil block 11062 and nail bin 11064 11063, the removable member 11063 can be removed before or after end effector 11060 has been assembled to surgical instruments. In Figure 151, bar code 11065 is illustrated as on the shaft portion for being located in end effector 11060.In Figure 152, bar code 11065 are illustrated as being located on removable member 11063.In various embodiments, the shank 11020 of surgical instruments may include by It is constructed to be permeable to read the barcode reader of the bar code on end effector, such as barcode reader 11024.For example, Referring primarily to Figure 154, shank 11020 may include internal barcode reader part 11022, the internal barcode reader portion 11022 are divided to be configured to read the bar code 11065 being limited on the axis of end effector 11060.It is at least one this In the case of class, barcode reader part 11022 may include that slot 11026, the slot 11026 are dimensioned and configured to connect Receive the axis of end effector 11060, wherein barcode reader 11024 can be mounted on the opening 11027 being defined in slot 11026 Interior and/or opposite its is installed so that 11024 readable bar code 11065 of barcode reader.Reader will be appreciated that, perhaps Multiple barcode reader and bar code agreement are known, and any suitable bar code can be used.In some cases, item Shape code may include that such as bidirectional information, the bidirectional information allow bar code to be read out in two different directions.At some In the case of, multiple Information Levels can be used in bar code.In some cases, bar code agreement may include preface information, described leading It is following information after information, described information will identify end effector and/or otherwise provide information to outer Section's instrument is to allow surgical instruments to operate or operated using particular operational program.In some cases, barcode reader can be sent out Penetrate one or more light beams, the accessible multiple peak and valleys for constituting bar code of one or more of light beams.In some cases, The paddy of bar code may extend into and/or be limited in the shaft housing of end effector.The light beam of transmitting can be reflected back it and can be solved The barcode reader translated.That is, the barcode reader 11024 of shank 11020 is positioned and is arranged in slot 11026, So that the light beam of transmitting and reflection is limited in or is at least substantially limited in barcode reader part 11022.In this way, bar shaped Code reader 11024 can be unlikely to unintentionally or unintentionally scan the different end effectors that may be present in surgical kit, that is, simultaneously The end effector of the non-end effector that will be assembled into surgical instruments.

In all cases, further described above, can make before end effector is assembled into surgical instruments End effector passes through the barcode reader of surgical instruments.In various alternative embodiments, surgical instruments may include removable Dynamic barcode reader, the removable barcode reader can be used for having been assembled to surgical instruments in end effector later Scan the bar code of end effector.Under any circumstance, once end effector has been identified, at least some cases, Controller just may have access to the operation sequence for being configured to the end effector using identification.In some respect, bar code can Including boot loader.In other cases, as described in herein elsewhere, bar code can submit necessary information to controller or Parameter is to use general operating system.In some cases, each end effector can be identified using sequence number so that appoint What two end effector has that there are two different bar codes on it can be the end effector of same type. In the case of such, controller is configured to refusal and uses the end effector previously scanned by surgical instruments.It is such System can for example prevent the end effector at least partly consumed from being used again.

As described above, end effector is configured to through wired connection and/or wireless connection and surgical instruments Communication.For wired connection, turning now to Figure 115, the proximal end of end effector (such as end effector 9960 is close Side end 9969) it may include that multiple electric contacts 9968, the multiple electric contact 9968 can be arranged to and be arranged in surgical instruments Axis 9940 distal end 9942 on and/or internal multiple electric contacts 9948 be electrically connected.Referring primarily to Figure 116, each Electric contact 9968 may include the contact element being positioned at least partially in element cavity 9,965 9967.Each electric contact 9968 is also It may include the biasing member being located among the madial wall of contact element 9967 and element cavity 9965, for example, spring 9966.Bullet Spring 9966 is configured to radially outward bias contacts element.Contact element 9967 is from the stop part 9964 of its protrusion, institute State stop part 9964 can at least before end effector 9960 is installed to axis 9940 by spring 9966 be movably biased to Another madial wall of element cavity 9965 engages.Interaction between stop part 9964 and the side wall of element cavity 9965 can Prevent moving out for contact element 9967.When end effector 9960 is installed to axis 9940, axis electric contact 9948 can be fought The bias force applied by spring 9966 is Lai the inside contact element 9967 for pushing electric contact 9968, as shown in Figure 116.In various feelings Under condition, each pair of contact 9948 can connect circuit or communicating passage 9950 with 9968.Although showing three pairs of contacts, it can be used and appoint What appropriate number of contact and/or communicating passage.In various embodiments, referring to Figure 117, axis contact 10048 can include respectively Moveable element 10047 and bias spring 10046, the bias spring 10046 are configured to push moveable element 10047 with against corresponding end effector contact 10068.In certain embodiments, turning now to Figure 118, end effector One or both of contact and axis contact may include flexible portion.For example, end effector may include flexible contacts 10168, The flexible contacts 10168 can the corresponding axis contact of resilient engagement 9948.

For the above for the embodiment described, in all cases, end effector can be installed to axis along longitudinal axis. In such cases, referring primarily to Figure 115, recent side end effector contact 9968 will be electric with farthest side axle contact 9948 first Contact.Reader will be appreciated that, when these contacts, which are formed, to be engaged, end effector 9960 is not attached to axis 9940 completely yet.To the greatest extent It can be interim to manage such engagement between these contacts, that is, be placed in axis 9940 it deeper in end effector 9960 Before, but one or more signals from end effector 9960 can be obscured or be mistranslated to surgical instruments controller.It is executed in end Device 9940 by before disposing completely, with end effector contact 9968 longitudinal array progressively engagement shaft contact 9948 it is vertical To array, it can generate and such obscure.In various embodiments, the controller of surgical instruments is configured to ignore by touching The signal of transmission is put, side end actuator contact 9968 is engaged with nearest side axle contact 9948 as of late.Turning now to Figure 119 And Figure 120, a contact is to may differ from another contact pair so that controller can recognize that this when contact has been matched and Therefore when recognizable end effector is disposed completely.For example, the end effector and axis of surgical instruments may include first To contact 10248a, 10268a, second couple of contact 10248b, 10268b and third are to contact 10248c, 10268c, wherein Three pairs of contacts may differ from a pair of contact and second pair of contact.When a pair of contact 10248a, 10268a has matched clock synchronization, contact Element 10267a can be pressed inwardly so that the first pontes 10263a of contact element 10267a contacts communication path The second connecting portion of the first path part 9951a and contact element 10267a of 9950a divide 10264a to contact communication path The second path sections 9952a of 9950a.In the position of contact element 10267a, first path part 9951a and the second path Part 9952a can transmit signal by contact element 10267a.When second couple of contact 10248b, 10268b have matched clock synchronization, touch Point element 10267b can be pressed inwardly so that the first pontes 10263b of contact element 10267b contacts communication path The second connecting portion of the first path part 9951b and contact element 10267b of 9950b divide 10264b to contact communication path The second path sections 9952b of 9950b.In the position of contact element 10267b, first path part 9951b and the second path Part 9952b can transmit signal by contact element 10267b.When third has matched clock synchronization to contact 10248c, 10268c, touch Point element 10267c can be pressed inwardly so that the first pontes 10263c of contact element 10467c does not contact communication path The first path part 9951c of 9950c, the second connecting portion of contact element 10267c divide 10264c not contact communication path The second path sections 9952c of 9950c and contact first path part 9951c.In the position of contact element 10267a, One path sections 9951c can transmit signal by contact element 10267c.Due to described above, when end effector is pacified completely When setting first, second, and third group can its corresponding channel path there is specific connecting structure, and controller can be by structure Cause can this construction for being fully engaged it is whether appropriate.For example, when end effector is initially inserted into axis, third contact 10264c can initially contact first axle contact 10248a.In the position, only two path sections (that is, 9951a and 9952a) can Signal is transmitted to controller from end effector, thus controller is configured to detect the pressure drop between interconnection, The pressure drop be different from disposed completely when end effector and make five path sections (that is, 9951a, 9952a, 9951b, 9952b and 9951c) it can be transmitted the pressure drop generated when signal.Similarly, end effector can be inserted further into axis, directly The second axis contact 10248b and the second contact element 10267b contact first axles contact are contacted to third contact element 10267c 10248a.In the position, only four path sections (that is, 9951a, 9952a, 9951b and 9952b) can be by signal from end Actuator is transmitted to controller, and thus controller is configured to detect that the pressure drop between interconnection, the pressure drop are different Make five path sections (that is, 9951a, 9952a, 9951b, 9952b and 9951c) in being disposed completely when end effector It can be transmitted the pressure drop generated when signal.

In some cases, when end effector is assembled into the elongated shaft of surgical instruments, operator holds engageable end The drive system and/or articulation system of row device are transported with the closure, percussion, and/or the joint that are conducive to such as end effector It is dynamic.End effector may include the first jaw, the second jaw and one or more sensors, one or more of sensor quilts It is constructed to be permeable to position of the first jaw of detection relative to the second jaw.Referring now to Figure 121-124, end effector 10360 It may include the first jaw or anvil block 10362 and the second jaw or nail bin 10364, wherein anvil block 10362 can be toward and away from nail bin 10364 movements.In general, end effector 10360 is inserted into the patient by trochar, here, end effector 10360 can It is not easy to observe, even if being also such under the auxiliary of endoscope.Therefore, the user of surgical instruments cannot can easily comment Position of the valence anvil block 10362 relative to the second jaw 10364.In order to be conducive to the use of end effector, as described above, end Actuator 10360 may include the sensor of the position for detecting anvil block 10362.In all cases, sensors with auxiliary electrode can quilt It is constructed to be permeable to the gap between detection anvil block 10362 and nail bin 10364.Certain sensors are configured to detection anvil block 10362 rotation position relative to nail bin 10364.Sensor is disclosed in the entitled STAPLE submitted on March 13rd, 2013 The U.S. Patent Application Serial 13/800,025 of CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM and 2013 3 The United States Patent (USP) Shen for the entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM that the moon is submitted on the 13rd It please be in sequence 13/800,067.The entitled STAPLE CARTRIDGE TISSUE THICKNESS submitted on March 13rd, 2013 The entitled STAPLE that the U.S. Patent Application Serial 13/800,025 of SENSOR SYSTEM and on March 13rd, 2013 submit The entire public affairs of the U.S. Patent Application Serial 13/800,067 of CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM Content is opened to be herein incorporated by reference.Regardless of used sensor, the position of anvil block 10362 can be passed by display Give the user of surgical instruments.This class display can be located at the end effector 10360 and/or axis (such as axis of surgical instruments 10340) on.When display is located on end effector, display is observed using such as endoscope.In such situation Under, display can be positioned on end effector so that its not sleeve needle cover, described sleeve pipe needle allow end effector into Enter surgical kit.In other words, display, which can be positioned so that, makes it be located at during use relative to the distal end of trochar Distal side.When display is located on axis, display can be positioned on axis so that its not sleeve needle masking.In other words, it shows Device, which can be positioned so that, makes it be located at nearside relative to the proximal end of trochar during use.Shown in Figure 121-124 Embodiment, display 10390 are located on axis 10340.

With continued reference to Figure 121, the anvil block 10362 of end effector 10360 is shown as being in a fully open position.In anvil block The firing member 10330 of 10362 position, end effector 10360 is in proximal position and is not promoted towards distal side also.Such as Will be described in further detail below, firing member 10330 is promoted towards distal side so that anvil block 10362 is moved towards nail bin 10364.Figure The position of firing member 10330 shown in 121 can indicate not the firing of firing member 10300, nearest side position.Work as anvil block 10362 be in its fully open position when, referring primarily to Figure 125, anvil block display 10390 can not be lit.Reader will know Road, anvil block display 10390 can show the position of anvil block 10362 in one in several different locations.Anvil block display 10390 can show five possible positions of anvil block 10362 by chance；It is contemplated, however, that arriving other embodiment, the embodiment can It is more than the anvil block display of five indicators or less than five indicators including using.As anvil block 10362 is from its open position Its closed position is moved to, display 10390 can continuously show the position of anvil block 10362 using indicator 10391-10395. Indicator 10391 shows the anvil block 10362 in slight closed position.Indicator 10392,10393 and 10394 shows place In the anvil block 10362 of partial closed position.Indicator 10395 is shown in being closed completely or the anvil block of parallel position 10362. In relatively Figure 121 and Figure 122, reader will be appreciated that, firing member 10330 is promoted towards distal side to be closed anvil at least partly Seat 10362.When position shown in anvil block 10362 is in Figure 122, anvil position sensor can detect the new position of anvil block 10362 It sets and the indicator of anvil block display 10,390 10391 can be lit, as shown in Figure 126.In relatively Figure 122 and Figure 123, Firing member 10330 is promoted towards distal side to be further closed but not fully closed anvil block 10362.When anvil block 10362 is in Shown in Figure 123 when position, anvil position sensor can detect the new position of anvil block 10362 and indicator 10393 can be by point It is bright, as shown in Figure 127.In further relatively Figure 122 and Figure 123, reader will be appreciated that, anvil block 10362 is rotated for example About 10 degree and if anvil block 10362 is rotated such as only about 5 degree, the indicator 10392 of anvil block display 10390 will It is lit.In relatively Figure 123 and Figure 124, firing member 10330 is promoted towards distal side to be closed completely anvil block 10362.Work as anvil When seat 10362 is in position shown in Figure 124, anvil position sensor can detect the new position of anvil block 10362 and indicator 10395 can be lit, as shown in Figure 128.In further relatively Figure 123 and Figure 124, reader will be appreciated that, anvil block 10362 is Rotated for example, about 10 degree and if anvil block 10362 is rotated such as only about 5 degree, the instruction of anvil block display 10390 Device 10394 will be lit.

Further described above, end effector and/or surgical instruments may include being configured to control The controller of anvil block display 10390.For example, when end effector includes anvil block display 10390, controller can be positioned on end In portion's actuator.When the axis of surgical instruments includes any other part packet of anvil block display 10390 and/or surgical instruments When including anvil block display 10390, surgical instruments may include controller.In other cases, in end effector and surgical instruments One of may include anvil block display 10390, and the other of end effector and surgical instruments may include controller.It is in office In the case of what, anvil position sensor can carry out signal communication with controller.Controller is configured to interpretation and carrys out autobiography One or more signals of sensor are to determine the position of anvil block 10362.Controller can be communicated with anvil block display 10390, so as to Illuminating indicators 10391-10395, as described above.In all cases, each indicator 10391-10395 may include for example sending out Optical diode.In such cases, each light emitting diode can be arranged to and the output channel of the microprocessor of controller electricity Connection so that controller optionally lights light emitting diode, and this is independently of other light emitting diodes.In various situations Under, controller can continuously assess the position of anvil block 10362 based on the data from anvil block sensor, and be connected using this data The indicator being lit is updated continuously.For example, when anvil block 10362 just closes or opens, anvil block 10362 can be traced in controller Position and the user that this information is rapidly shown to surgical instruments by indicator 10391-10395.Such situation can The real-time or near real-time feedback of position in relation to anvil block 10362 is provided to user.In other cases, controller may wait for showing Show the position of anvil block 10362, until such as stop motion of anvil block 10362 or at least substantially stop motion certain period of time it Afterwards.Reader will be appreciated that indicator 10391-10395 can indicate the discrete positions of anvil block 10362；However, it is possible to which situation is anvil Seat 10362 for example only can instantaneously pass through each in these discrete positions when it is closed.In all cases, controller Using algorithm to determine which indicator will be lighted.For example, controller can apply algorithm, the algorithm to determine which is indicated Device relatively accurately indicates the position of anvil block 10362, though anvil block 10362 can not with can be indicated by indicator display 10390 Any one of discrete positions are aligned.In all cases, it is indicated by two adjacent indicators when anvil block 10362 is located in When among two discrete positions, two adjacent indicators that controller can be in illuminating indicators display 10390.

In all cases, further described above, indicator 10391-10395 can include respectively light-emitting diodes Pipe, the light of the light emitting diode transmitting same color or at least substantially light of same color.In other cases, indicator One or more of 10391-10395 can emit the color different from another indicator 10391-10395.For example, instruction Device 10391 is configured to transmitting yellow, and indicator 10392-10395 is configured to transmitting such as green. Reader will be appreciated that, referring to Figure 122, when partial closed position shown in anvil block 10362 is in Figure 122, be located in anvil block Tissue T between 10362 and storehouse 10364 can be clamped fully by anvil block 10362, and when the position with anvil block 10362 When relevant indicator 10391 is lit yellow, the user of surgical instruments can be alerted in mobile end effector 10360 And/or continue to keep careful before percussion process.In some cases, each in indicator 10361-10365 respectively may be used It is configured to emit more than one color.For example, each indicator 10361-10365 may include being configured to emit Green and red light emitting diode.In such cases, indicator 10361-10365 can be in the position of instruction anvil block 10362 Emit green when setting, as described above, and alternatively, can be sent out when end effector 10360 and/or surgical instruments have mistake Penetrate red.

As described above, the anvil block of end effector can between the open and the closed positions be moved relative to nail bin, and And surgical instrument system is configured to the movement of detection anvil block and sends the movement of anvil block to user.Namely It says, it is anticipated that the embodiment that wherein nail bin can be moved relative to anvil block.In at least one such embodiment, anvil block can be solid It is fixed or cannot pivot.When fixing or cannot pivot, anvil block can rigidly extend from a part for end effector frame； However, anvil block can be relative to the end effector of surgical instruments from the part of its end effector frame extended and nail bin Another part or axis carry out joint motions.No matter whether end effector can carry out joint motions, in such embodiments, Nail bin can be pivoted relative to anvil block.The system and method for movement as described herein for detecting anvil block are applicable to detection nail The movement in storehouse.In addition, the system and method as described herein for showing the movement of anvil block are applicable to the movement of display nail bin.

In all cases, operator can it is expected the drive member that bounces back during firing schedule.It is disclosed in Zemlok ' 763 In surgical instruments to use retraction assemblies, the retraction assemblies include the manual actuation machinery interface in conjunction with driving tube, the drive Dynamic pipe is started by making the retraction lever on shank carry out ratcheting motion.If during percussion power source interrupt or Person's motor or control system failure, such construct is it is said that allow surgeon's retraction trigger shaft and the finally drive of retraction loading unit Dynamic component.However, such retraction assemblies can be difficult to operate effectively, this is because following fact：Motor and motor gear roller box exist It is remained engaged with during ratcheting motion (startup).Therefore, the retraction assemblies of the device allow for being formed enough torques to rotate Gear in gear-box and motor drive shaft, to allow driving tube manually to be rotated.The generation of such power can be by overstress It is arranged on retraction assemblies component, so as to lead to the significant trouble of retraction assemblies.Surgical instruments 10 shown in Fig. 1-2 8 can quilt It is constructed to be permeable to construct with unique and novel retraction assemblies, thus can avoid the problem and other problems.

For example, surgical instruments 10 may include that retraction assemblies 120, the retraction assemblies 120 include having 126 He of top section The retraction pedestal 124 of bottom part 128.In various forms, retraction assemblies 120 are by driving gear 130 and retraction gear 132 Mechanically join with driving tube 102.Referring to Fig. 5.Driving gear 130 is non-rotatably attached to driving tube 102 so that sliding tooth The rotation of wheel 130, which applies driving tube 102, to rotate.Driving gear 130 and retraction gear 132 may include bevel gear etc. to allow it Between intermeshing engagement, as shown in Figure 5.Retraction gear 132 can be connected to the first mandrel 134 (Fig. 4 and Fig. 5), described First mandrel 134 substantially perpendicular to retraction pedestal 124 top section 126 and bottom part 128 and prolong between them It stretches.Mandrel 134 can be supported for advancing around the rotation of axis " SA-SA ", and the axis " SA-SA " is basic On perpendicular to surgical instruments 10 longitudinal axis " LA-LA ".Referring to Fig. 5.In various forms, retraction gear 132 can have with Its first spur gear 136 being attached.First spur gear 136 and the second spur gear 138 join, and second spur gear 138 can be grasped Make ground be supported in the second mandrel 137, second mandrel 137 namely be arranged in a substantially upright manner bounce back pedestal Between 124 top section 126 and bottom part 128 and the second axis axis " SA '-the SA ' " rotation limited by it can be surrounded. Second spur gear 138 is supported for being engaged with third spur gear 140, and the third spur gear 140 is arranged first In mandrel 134.Third spur gear 140 is attached to the first clutch part 144 of one-way clutch assembly 142.Clutch pack 142 further include the second clutch part that can be rotatably set in the first mandrel 134 of 144 top of first clutch part 146.Spring (not shown) may be provided between first clutch part 144 and second clutch part 146, thus by first from Clutch part 144 and second clutch part 146 are maintained at " non-interlocking " orientation of protrusion, as shown in Figure 5.

It should be appreciated that when driving tube 102 rotates, driving gear 130 will be to the first spur gear 136, the second spur gear 138 Apply rotation with third spur gear 140 and to first clutch part 144 and corresponding mandrel 134,137.Due to second from Clutch part 146 can surround the rotation of mandrel 134 and can construct (not shown) by the spring being disposed there between and be biased to It is not engaged with first clutch part 144, the rotation of first clutch part 144 is not converted into second clutch part 146. As seen in fig. 5, first clutch part 144 and second clutch part 146 include multiple interlockable teeths 148, the multiple Interlockable teeth respectively has flat interlocking surface and tilt sliding surface.As described in greater detail below, second clutch portion Divide 146 can be biased to be engaged with first clutch part 144 by retraction lever 150.The slidingsurface of tooth 148 allows to interlock Surface is in contact with each other so that the rotation of second clutch part 146 causes first clutch part 144 to rotate.First clutch The rotation of part 144 equally also results in handing-over gear rotation, and longitudinal tool axis is surrounded to finally apply to driving tube 102 The spinning movement of LA-LA.

Referring now to Fig. 6, retraction lever 150 may include that elongate shaft portion part 152, the elongate shaft portion part 152 include Cam portion 154.Cam portion 154 may include being open, and the opening can accommodate unidirectional needle roller clutch (not shown), the list The accessory (not shown) mechanical engagement of the first mandrel 134 is supported for and could attach to needle roller clutch, to allow to bounce back Lever 150 is rotated around the first mandrel 134.Zemlok ' 763 also describes the behaviour of such unidirectional needle roller clutch and ting element Make and it is incorporated by reference and is incorporated herein.In various forms, retraction lever 150 includes respectively having CAM table thereon One or more cam members 156 in face 158.In first orientation, retraction lever 150 along shell 12 lever pit 14 into Row setting, as shown in Figure 1.The spring being arranged between first clutch part 144 and second clutch part 146 is for biasing Bounce back lever 150 with against retraction pedestal 124 top section 126.As in figure 6 as it can be seen that the setting of cam member 156 is bouncing back In correspondence cam slot or pit 160 in the top section 126 of pedestal 124.Retraction lever 150 is protected by return spring 162 It holds in first orientation, the return spring 162 is mounted on the cam of the top section 126 and retraction lever 150 of retraction pedestal 124 Between part 154.Cam member 156 and cam slot 160 are also prevented from the rotation of retraction lever 150.

In use, when bounce back lever 150 remove shell 12 in lever pit 14 (Fig. 1) when, cam member 156 with it is right The cam slot 160 answered joins to fight the spring being located between first clutch part 144 and second clutch part 146 Bias force along the cam portion 154 for being always biased back to contracting lever 150 downwards.It is such to move downward compressed spring and incite somebody to action First clutch part 144 and second clutch part 146 are forced into interlocking engagement.Cam portion 154 is in the counterclockwise direction Rotary-actuated needle roller clutch, the needle roller clutch join with accessory and the first mandrel 134.The continuous cause of retraction lever 150 Dynamic that clutch pack 142 is made to rotate, the clutch pack 142 then makes spur gear 136,138,140 and retraction gear 132 It is rotated with driving gear 130.This then makes driving tube 102 be rotated around longitudinal tool axis " LA-LA ".Due to trigger shaft 104 It is threadedly engaged with driving tube 102, the rotation of driving tube 102 in a manner described leads to the retraction of trigger shaft 104 (nearside is axially advanced) Into driving tube 102.

In operation, motor 100 is configured to make driving tube 102 along the direction (example opposite with retraction direction Such as, clockwise) longitudinal tool axis " LA-LA " is surrounded to rotate.Such rotation of driving tube 102 leads to trigger shaft 104 move axially along distal direction " DD ".This propulsion of the drive member 60 of trigger shaft 104 and loading unit 20 is at this It can be described as " firing " action in text.As seen in fig. 5, for example, gear assembly 170 for realizing required driving torque amount with Trigger shaft 104 is driven along distal direction " DD ", to activate loading unit 20.Gear assembly 170 may include being connected to motor 100 Gearbox-case 172.For example, gearbox-case 172 can pass through screw rod 103 or other machanical fasteners and/or fastener structure It makes and is connected to motor case 101.Gear assembly 170 and motor 100 can be collectively referred to as " driving unit ", and it is 186 to be generally designated.

Gearbox-case 172 is pivotally supported in motor holder part 190, the motor holder part 190 It is being formed as one or otherwise non-rotatably supported by shell 12.Such construct allows driving unit 186 outside It is rotated around longitudinal tool axis " LA-LA " in shell 12, but prevents its axial movement in shell 12.Motor 100 can be such as By with Zemlok ' 763, the power source 200 of type and/or power system 2000 (Figure 129) provide work(in greater detail Rate.

It is workable only in order to be conducive to provide electric current to driving unit 180 and more specifically provide motor 100 Special contact configuration 210.For example, contact configuration 210 may include being supported on the annular cathode motor contact on motor case 101 212 and the positive motor contact 114 of annular, as seen in Figure 4.Fixed cathode contact 216 may be supported in shell 12 with In the sliding contact with cathode motor contact 112.Similarly, when the rotation in shell 12 of driving unit 180, fixed anode Contact 218 can be supported for the sliding contact with positive motor contact 214.Fixed cathode contact 216 and cathode contact 218 may include flexure spring shape contact to be conducive to assembling and adjustment of the driving unit 186 in shell 12.Fixed cathode touches Point 216 can be electrically coupled to power source 200 by negative wire 220, and fixed cathode contact 218 can pass through positive wire 222 are electrically coupled to power source 200.Such contact configuration allows from power source 200 to provide electrical power to motor 100, has simultaneously The rotation of longitudinal tool axis " LA-LA " is surrounded in shank shell conducive to driving unit 186.

Referring to Fig. 5, gear assembly 170 may include the planetary gear structure for being operably linked to motor drive shaft 107.In one kind In construction, for example, ring gear 173 can be formed on the inner surface of gearbox-case 172.Main sun gear 171 can be connected to Motor drive shaft 107.Main sun gear 171 can be supported for and be supported on multiple first planet teeth on the first pinion frame 174 Wheel 175 is engaged so that they are also engaged with ring gear 173.First sun gear 176 can be formed in other words Be attached on the first pinion frame 174, and can be supported for and be supported on the second pinion frame 177 multiple second Planetary gear 178 is engaged.Second planetary gear 178 can also be supported for being engaged with ring gear 173.Second sun Gear 179 can be formed in or perhaps be attached on the second pinion frame 177, and can be supported for and multiple third planets Gear 181 is engaged.Third planet gear 181 may be supported on third planet tooth rest 180 to be engaged with ring gear 173 Engagement.Third sun gear 183 can be formed in or perhaps be attached on third planet tooth rest 180 and with multiple fourth lines Star gear 187 is engaged, and the multiple fourth planet gear 187 could attach to output axle unit 184, the output axle unit 184 are pivotally supported at by bearing 185 in gearbox-case 172.Fourth planet gear 187 can be also supported for and annular Gear 173 is engaged.

Fig. 7 shows a kind of construction for being pivotally supported at driving unit 186 in shell 12.As in the figure As it can be seen that the motor installation hub 192 of motor holder 190 may include being rotatably supported at gearbox-case section 196 therein. In a kind of construction, for example, gear assembly 170 is pivotally supported at by bearing 185 in gearbox-case section 196.Similarly, Motor 100 is pivotally supported at motor by bearing 198 and installs in casing part 13.Can also be used can by driving unit 186 The other methods being rotationally supported in shell 12.

Output axle unit 184 is operably linked to the clutch of the type and construction that have disclosed in Zemlok ' 763 230 (Fig. 5), the full patent texts are herein incorporated by reference.The other details of construction and operation in relation to such clutch 230 It is available from the announcement.However, in alternative embodiment, clutch 230 can be replaced by axis-axis connector or casing construction, institute It states axis-axis connector or casing is configured to be conducive to export axle unit 184 and is directly coupled to driving tube 102.

When the driving beam of the surgical instruments being disclosed in Zemlok ' 763 being axially movable is stuck or the work(of instrument When rate is lost, user has to that driving beam is retracted to initial position backward to be conducive to loading unit using retraction assemblies Removal.However, effective retraction is difficult, because retraction system has to generate required enough torque capacities to invert tooth Multiple gear configurations in wheel assembly.Therefore, such retraction system can be extremely hard to effectively operate.

At least one surgical instrument embodiment disclosed herein is locked using unique and novel releasable driving unit System (be generally designated is 240) is determined to solve the problems, such as this.As described in greater detail below, for example, working as releasable driving When unit locking system 240 is in " locking " position, driving unit 186 is stopped in rotation in shank shell 12.When surgery device When tool is " fired ", driving unit 186 is maintained at latched position, passes through gear set with the motor torsional moment favorably from motor 100 Part 170 is eventually transferred to driving tube 102.When it is expected to start retraction assemblies 120, driving unit locking system 240 is made to move to " unlock " position, to allow driving unit 186 to be rotated freely through in shell 12, therefore without the retraction torque that generation is enough Gear configurations in counter gear component 170.During the operation of retraction assemblies 120, gear assembly 170 can be kept operationally It is connected between motor 100 and driving tube 102.In such embodiments, although the holding of gear assembly 170 is operably linked to Motor 100 and driving tube 102, but rotating freely for driving unit 186 can reduce when gear configurations are inverted with the driving tube 102 that bounces back When drive gear assemblies 170 needed for torque.The reduction of torque needed for this can improve the validity of retraction system.

As in FIG. 8, it can be seen that for example, the third spur gear 140 of retraction assemblies 120 may include unlocking cam 141, the solution Lock cam 141 is configured to the locking pawl component 250 of actuating driving unit locking system 240.Lock pawl group A kind of form of part 250 is shown in Fig. 9-11.It is seen, for example, locking pawl component 250 may include pawl as in Fig. 10 Component 252, the pawl component 252 have locking recess 254 formed therein.The size of locking recess 254 can be set Count into a series of first locking wedges 256 spaced apart around the outer periphery for allowing to be formed in gearbox-case 172 from In pass freely through.See, for example, Figure 12 and Figure 13.Pawl locking wedge 258 be formed in locking pawl 252 on with It is engaged by locking in any one of the first locking wedge 256, as described in greater detail below.As separately in Fig. 8- As it can be seen that locking pawl component 250 may also include pawl guiding bar 260 in 11, the pawl guiding bar 260 is configured to It can be slidably received in the channel 194 in motor installation hub 192.262 axle journal of pawl spring is connected to pawl and draws On guide rod 260 and it is located between pawl component 252 and motor installation hub 192 to connect the cam of pawl component 252 Part 264 is closed to be biased to engage with third spur gear 140.

Operation retraction assemblies 120 and driving unit locking system 240 are described now with reference to Fig. 8, Figure 13 and Figure 14 A kind of method.Figure 13 shows the driving unit locking system 240 being in the locked position.As in this view, it may be seen that pawl structure Part 252 is biased to distal side latched position by pawl spring 262.When in the latched position, on pawl component 252 Pawl locking wedge 258 is engaged by locking to the corresponding one in the first locking wedge 256 on gearbox-case 172. When at that position, retraction assemblies 120 are not activated also and gear assembly 170 is stopped in the rotation of shell 12.Pass through pressure Lower master power switch 80 (Fig. 1) leads to the rotation of driving tube 102 to the operation of motor 100 and eventually leads to trigger shaft 104 It is axial to promote, driving beam 60 is thus driven distally through loading unit 20.

If such as driving beam 60 is stuck in the tissue being clamped in loading unit 20 or the power of motor 100 is lost It loses or since certain other reasons motor 100 cannot be driven reverse the rotation of pipe 102 with the trigger shaft 104 that finally bounces back, then faces Retraction assemblies 120 can be used come trigger shaft 104 and the driving beam 60 of manually bouncing back in bed doctor.Fig. 8, which shows to be in, does not activate position The retraction assemblies 120 (for example, when driving unit locking system 240 is in the locked position) set.In order to start manual retrieving process, Clinician pulls retraction lever 150 to leave the lever pit 14 in shank shell 12 (along the direction " R " --- referring to Fig. 6).It returns Contracting lever 150 leads to rotation of the cam portion 154 of retraction lever 150 in retraction pedestal 124 along the movement in the direction " R ".It returns Such initial rotation of the contracting lever 150 along the direction " R " causes to unlock the cam engaging portion that cam 141 engages pawl component 252 Points 264 by pawl component 252 to be biased to unlocked position, thus allow driving unit 186 in shank shell 12 freely Rotation.Cam slot 160 in retraction pedestal is set and is conducive to the cam of retraction lever 150 with enough length The initial disengaging that this rotation of part 154 is advanced without clutch pack 142.Therefore, cam slot 160 can be longer than positioning Cam slot in previously retraction base structure, to be conducive to applying actuation motion come before causing driving tube 102 to rotate Drive unit assembly 186 unlock.For example, at least one constructs, cam slot 160 can be elongated, to be conducive to Retraction lever 150 is set to rotate about 15 degree.When clinician continues to rotate retraction lever 150 along the direction " R ", cam engaging portion Divide 264 will be straddled on third spur gear 140 along the outer periphery of unlock cam 141.Bounce back lever 150 along the direction " R " after Continuous rotation causes the cam member 156 on cam portion 154 to be engaged with the end of its respective cams slit 160, with along downward Direction offset cam part 154.This moves downward compression set in first clutch part 144 and second clutch part 146 Between spring the engagement so that tooth 148 thereon is engaged with each other.Cam portion 154 in the counterclockwise direction continue rotation can cause Dynamic needle roller clutch, the needle roller clutch join with accessory and the first mandrel.The continuous actuating of retraction lever 150 makes clutch Component 142 rotates, and the clutch pack 142 then makes spur gear 136,138,140 and retraction gear 132 and driving gear 130 rotations.This then rotates driving tube 102 and drives trigger shaft 104.

Retraction lever 150 can activated scheduled amount of travel, until the one of a part of latch housing 12 of retraction lever 150 Part.Then, retraction lever 150 is made to return to its first position by return spring 162.This action increases cam portion 152, Thus second clutch part 146 is allowed also to move upwards and be detached from first clutch part 144.Needle roller clutch is releasable Thus accessory allows movement of the lever 150 back to first position without influencing driving tube 102 that bounce back.Once bounce back lever 150 Back to first position, driving unit 186 is just again maintained in latched position.The ratcheting motion of retraction lever 150 or rotation can It is iteratively repeated, until trigger shaft 104 has returned to required position.

It is previous compared to operation since gearbox-case 172 rotates freely through during the application of this spinning movement Torque needed for retraction assemblies, rotating the torque capacity needed for the gear in driving tube 102 and gear assembly 170 significantly reduces.This Class construction, which is also advantageously used in, to be prevented during the holding of gear assembly 170 is driveably connected to motor drive shaft 107 by retraction assemblies institute The torsional forces of generation is transmitted to motor drive shaft 107.In other words, during the operation of retraction assemblies 120, gear assembly 170 can be protected It holds drivingly coupled between motor drive shaft 107 and driving tube 102.Such construct is different from following retraction and constructs, the retraction structure It makes in the United States Patent (USP) 7,959,050 for being disclosed in and being for example incorporated by reference and being incorporated herein, but in the starting period of retraction system Between cause transmission section physics be detached from or physical discontinuity.

Figure 15-18 shows another that above-mentioned surgical instruments 10 is substantially similar to other than difference described below Surgical instruments 310.As it can be seen that instrument 310 includes gear assembly 470, the gear assembly 470 includes that can for example press in figure 16 Manner as described above is connected to the gearbox-case 472 of motor 100.Gear case assembly 470 and motor 100 can be collectively referred to as " driving Moving cell ", it is 486 to be generally designated.Other than difference described below, gear assembly 470 can be identical as gear assembly 170.

At least one construct in, gearbox-case 472 be non-rotatably supported in motor holder part 190 or It can be integrally formed therewith, the motor holder part 190 is formed as one interior with described herein in shell 12 in other words Mode be non-rotatably attached.Since driving unit 486 does not rotate in this configuration, can power be directly connected to line Source.For example, motor 100 can be in the way of described in Zemlok ' 763 or other suitable modes provide power.Such as in Figure 16 In as it can be seen that gear assembly 470 may include the planetary gear structure for being operably linked to motor drive shaft 107.In a kind of construction, example Such as, stationary annular gear 473 can be formed on the inner surface of gearbox-case 472.Main sun gear 471 could attach to motor drive shaft 107.Main sun gear 471 can be supported for and be supported on multiple first planetary gears 475 on the first pinion frame 474 and nibble Splice grafting closes.First planetary gear 475 can be also engaged with ring gear 473.First sun gear 476 can be formed in the first row It is engaged on gear rack 474 and with multiple second planetary gears 478 being supported on the second pinion frame 477.The Two planetary gears 478 can also be supported for being engaged with stationary annular gear 473.Secondary sun wheel 479 can be formed in or Person is attached on the second pinion frame 477, and can be supported for and be supported on third planet tooth rest 480 multiple Three planetary gears 481 are engaged.Third planet gear 481 is engaged with stationary annular gear 473.Third sun gear 483 can be formed in or perhaps be attached on third planet tooth rest 480.Third sun gear 483 can be supported for it is multiple Fourth planet gear 487 is engaged, and the multiple fourth planet gear 487 could attach to output axle unit 484, the output Axle unit 484 is pivotally supported at by bearing 185 in gearbox-case 472.The multiple fourth planet gear 487 can be with Lockable ring gear 485 is engaged, and the lockable ring gear 485 is rotatably installed in gearbox-case In 472.Gear 471,473,475,476,478,479,481 and 483 can be collectively referred to as gear train 460 herein.

Lockable ring gear 485 is rotatably installed in the annular housing in motor holder part 190 (Figure 16) In 490.Cavity 490 is dimensioned so as to allow lockable ring gear 485 to surround longitudinal tool axis " LA- wherein LA's " rotates freely.Lockable ring gear 485 can be mounted in circular passage 490 and then pass through plug member 492 It is kept fixed, the plug member 492 is pressed against or perhaps is maintained in circular passage 490.

Surgical instruments 310 may also include driving unit locking system 540, and the driving unit locking system 540 includes can The displacement ring assemblies 542 of movement.In at least one form, displacement ring assemblies 542 may include for example shifting ring 543, the shifting Position ring 543 has the locking component of at least one and preferably multiple 544 forms of such as pin.Pin 544 is protruded from displacement ring 543 And it is configured to selectively be engaged by locking with lockable ring gear 485.Each in locking pin 544 can be slided It is received in dynamicly in the respective channel 546 in plug member 492.Displacement ring 542 is supported for by being attached to clutch The reversion connector 550 of fixture 560 is axially moved.As in fig.15 as it can be seen that clutch fixture 560 may include spring perch, A part of the spring perch around the outer periphery of third spur gear 140 is clamped.Clutch fixture 560 can have on it There is the lug 562 for being attached to shift unit bar 564.Shift unit bar 564 can be slightly flexible and be pivotally coupled to shift Ring 542.(that is, when the just driving trigger shaft 104 of motor 100) during normal use, locking pin 544 and lockable annular tooth Wheel 475 is engaged by locking, to prevent lockable ring gear 475 from rotating so that rotation torque is passed to output axle unit 484 And it is eventually transferred to driving tube 102.

When clinician it is expected using retraction assemblies 120 come bounce back trigger shaft 104 when, make retraction lever 150 from Figure 15 institutes The initial position shown is rotated along the direction " R ".When the lever 150 that bounces back rotates, clutch fixture 560 and third spur gear 140 1 Rotation is played, so that shift unit bar 564 is along the mobile displacement ring 542 of distal direction " DD ".When displacement ring 542 is along distal direction When " DD " is moved, locking pin 544, which moves into, not to be engaged by locking with lockable ring gear 485, to allow lockable annular Gear 485 is rotated relative to gearbox-case 472.Clinician continues to make shown in 150 ratcheting motion to Figure 18 of retraction lever End position.In for example, at least a kind of construction, retraction lever 150 needs only to rotate about 15 degree, so that locking pin 544 is de- From lockable ring gear 485.After clinician discharges retraction lever 150, return spring 162 will make retraction lever 150 repeat the process back to initial position and clinician, until trigger shaft 104 retracts to desired position.Due to Lockable ring gear 485 rotates freely through in bearing case 472, therefore the rotation of driving tube 102 and output axle unit 484 Turn resisting other gear configurations not in by gear assembly 470.As a result, compared to holding and gear set in retraction process The retraction construction that gear configurations in part are operatively engaged, the ratcheting motion torque capacity needed for trigger shaft 104 that bounces back are subtracted It is small.In addition, although required torque is reduced, trigger shaft 104 can keep being operatively engaged with gear assembly 470.It changes Word says that trigger shaft 104 can keep being operably linked to motor 100.When displacement ring 542 contacts in motor installation hub 192 When bearing 185, locking pin 544 is engaged by locking lockable ring gear 485.The axis of hub 192 is installed in displacement ring contact motor After holding 185 or other parts, clutch fixture 560 is configured to slide relative to third spur gear 140.Therefore, Driving unit locking system 540 is used to be conducive at least the one of driving unit during retracting action is applied to driving tube 102 Rotation of the part in shank shell, to reduce the retraction torque capacity needed for retraction trigger shaft 104.

Surgical instruments 610 in Figure 19 is substantially the same with surgical instruments 310, the difference is that clutch fixture 560 is attached To third spur gear 140 so that removing for the reversion connector 550 in surgical instruments 310.As in figure 18 as it can be seen that example Such as, shift unit bar 564 is directly connected to displacement ring 542.The ratcheting motion of retraction rod thick stick 150 in the manner described above causes to shift ring 542 movement and the engagement and disengaging for leading to locking pin 544 and lockable ring gear 485.

Figure 20 and 21 shows substantially the same with surgical instruments 610 another surgical instruments other than following difference 610’.In this configuration, for example, at least two " blade type " Lock springs 620 and ring gear locking component 622 are supported on tooth On the gearbox-case 472 ' of wheel assembly 470 '.As in fig. 20 as it can be seen that each Lock spring 620 and corresponding locking component 622 are supported in the slit 624 in gearbox-case 472 '.In this configuration, it is attached to 544 ' the quilt of locking pin of displacement ring 542 It is constructed to be permeable to contact and press inward against corresponding Lock spring 620, corresponding ring gear locking component 622 is squeezed It is engaged by locking at lockable ring gear 485.When in position (being shown in Figure 20), lockable ring gear 485 are prevented from rotating relative to gearbox-case 472 '.When shift unit bar 564 pulls displacement ring 542 along distal direction " DD ", Locking pin 544 ' is detached from its corresponding Lock spring 620, this allows spring 620 to bend to initial position, to allow ring gear Locking component 622 is detached from lockable ring gear 485, it is thus allowed to be rotated relative to gearbox-case 472 '.Therefore, when When retraction assemblies 120 start, lockable ring gear 485 is rotated freely through relative to gearbox-case 472 ', to reduce Cause trigger shaft 104 along the required retraction torque capacity of proximal direction " PD " retraction.

Figure 22-24 show if the distal part of the trigger shaft for the surgical instruments being operationally attached during operation or Other component is stuck or is then used for selectively manual retrieving surgery for promoting the operation power of percussion bar assembly to interrupt Another retraction assemblies of the distal part of the trigger shaft of instrument 710 construct.Other than difference described below, surgical instruments 710 can be similar to surgical instruments disclosed in above-described and/or Zemlok ' 763, the full patent texts in design and operation It is herein incorporated by reference.

As it can be seen that surgical instruments 710 includes the shell 712 for being operably supported percussion bar assembly 720 such as in Figure 22-24. Shell 712 can for example be operably supported motor and gear assembly (not shown), for spinning movement is applied to driving tube, It is axially moved according to various modes as described herein so as to lead to fire bar assembly 720.In at least one constructs, hit Hair bar assembly 720 may include the nearside firing member operativelyd interface with according to various modes disclosed herein and driving tube or Bar part 722.In other surgical instruments construction, nearside fires bar part 722 can be operable with other drive configurations and system Ground joins, other described drive configurations and system are configured to axial action being applied to nearside percussion bar part 722.

Furthermore, it can be seen that percussion bar assembly 720 may also include distal side firing member or bar part 724 such as in Figure 22-24, The distal side firing member or bar part 724 according to various modes as described herein be operably linked to loading unit 20 can The proximal end of the driving beam 60 of axial movement.The retraction assemblies 730 of retraction 732 form of link assembly are pivotably coupled to closely Flank attack is sent out between bar part 722 and distal side percussion bar part 724.In the construction shown, retraction link assembly 732 includes actuating Device connector 734, the actuator links 734 have the connector handle portions for being pinned to nearside percussion bar part 722 736.Retraction link assembly 732 further includes the distal side retraction company for being pinned to actuator links 734 and distal side percussion bar part 724 Fitting 738, as shown in the figure.In embodiment illustrated, shell 712 includes the joint motions casing part 714 extended towards distal side, The joint motions casing part 714 extended towards distal side may also include the shaft housing section 716 extended towards distal side.When retraction connecting rod When component 732 is moved axially in response to firing the axial movement of bar assembly 720 along distal direction and proximal direction, shaft housing section 716 can be used for vertically supporting retraction link assembly 732.In order to which the link assembly 732 that is conducive to bounce back is relative to shaft housing section 716 Axial movement, actuator links 734 extend through the slit 718 being formed in shaft housing section 716, as shown in the figure.

Figure 22 shows the position of the percussion bar assembly 720 and retraction assemblies 730 before percussion.Figure 23 is shown along distal side The position of percussion bar assembly 720 and retraction assemblies 730 after the percussion of direction " DD ".If during percussion, clinician Wish driving beam 60 retracting to initial position backward, then clinician can only hold the connector handle of actuator links 734 It portion part 736 and is pivoted along the direction " R ", as shown in figure 24, thus fires bar portion along the direction nearside " PD " drawing distal side Divide 724 and driving beam 60.As shown in Figure 22 and Figure 23, during percussion, distal side fires the proximal end 725 of bar part 724 It can usually be axially spaced and be demarcated as at a distance from " RD " with the distal end 735 of nearside percussion bar part 734.For example, logical During over-drive unit fires and normal retraction fires bar assembly 720, distance " RD " can remain unchanged.However, working as clinician When starting retraction assemblies, distal side fires the distal end 735 of the proximal end 725 and nearside percussion bar part 734 of bar part 724 The distance between (distance " RD ' ") distance " RD " will be less than.In addition, as in fig. 22 as it can be seen that the distal side work head of driving beam 60 The distance of (that is, after complete firing schedule) is by distance between 62 initial position and the end position of distal side work head 62 " FD " is indicated.If desired, distance " RD " can be it is sufficiently large, with allow distal side percussion bar part 724 fully bounce back (that is, Move to the distal end 735 of closer nearside percussion bar part 722), to make work head 62 return to it from end position Initial position.In other words, distal side percussion bar part 724 can bounce back be at least equal to or greater than percussion distance " FD " retraction away from From.In such construct, for example, if work head 65 is stuck in or is otherwise parked in its end position, retraction assemblies Startup can be fully retracted driving beam 60 so that distal side work head 62 returns to its initial position, wherein distal side work head 62 can permit Perhaps anvil block 22 pivotally opens and discharges tissue.

Figure 25-28 shows the alternative percussion bar assembly 720 ' of optionally manual retrieving.Percussion as shown in the figure Bar assembly 720 ' includes that the nearside that can be operativelyd interface with according to various modes disclosed herein and driving tube fires bar part 722’.In other surgical instruments construction, nearside percussion bar part 722 ' can operationally be handed over other drive configurations and system It connects, other described drive configurations and system are configured to control action being applied to nearside percussion bar part 722 '.Percussion Bar assembly 720 ' may also include distal side percussion bar part 724 ', and the distal side percussion bar part 724 ' is hollow at least partly And the end for the driving beam 60 of loading unit 20 being axially movable is operably linked to according to various modes as described herein Portion.For example, distal side percussion bar part 724 ' can have channel 725, the channel 725 to be dimensioned so as to allow far wherein Bar part 724 ' is sent out in flank attack, and axially sliding bounces back apart from " RDD " in nearside percussion bar part 722 '.Retraction distance can be equal to Or more than percussion distance " FD ", to allow retraction assemblies 730 driving beam 60 to bounce back enough distances, to make its work head 62 move to initial position " SP " from end position " EP ".Referring to Figure 25.Retraction assemblies 730 ' may include the latch 732 ' that bounces back.It returns What contracting latch 732 ' may include capable of moving between latch position (Figure 25 and Figure 26) and unlatched position (Figure 27 and Figure 28) Latch shank 735.When in latch position, retraction latch 732 ' attaches distal side and fires bar part 724 ', so that it is prevented from It slides axially in nearside percussion bar part 722 ' and distal side percussion bar part 724 '.When in the orientation, nearside trigger shaft Part 722 ' is moved basically as whole.Therefore, when being orientated in latch, percussion bar assembly 720 ' can be along distal direction " DD " is fired into its end position " EP ", as shown in figure 26.If driving beam 60 is stuck or instrument during firing schedule Interruption in power or loss (or due to other reasons), then clinician can only will retraction latch shank 735 be moved to it is unlatched Position (Figure 27) and then along proximal direction " PD " manually pull retraction latch 732 ', as shown in figure 28.

Various retraction systems disclosed herein and construction can solve the certain defects for constructing and being frequently run onto that previously bounced back, institute It states previously retraction and is configured to the motor power drive member used by surgical end-effector that bounces back.For example, disclosed herein Various retractions construction can be conducive to manually for retracting action to be applied to drive member and/or associated drive configuration, and The resistance usually provided by gear associated with motor/transmission structure will not be provided, while gear/transmission structure being allowed to keep " drivingly " or it is physically coupled to motor.

Therefore, at least one example includes the surgical instruments that can have firing member component, and the firing member component can Including being supported for along the part that distal direction and proximal direction are selectively axially moved.The instrument may also include packet Driving unit is included, the driving unit includes the motor for having motor drive shaft.Gear assembly be driveably connected to motor drive shaft and Including output shaft assembly, the output shaft assembly is configured to and firing member component joins so that when motor drive shaft is along the The part of firing member component along distal direction axially drive and works as motor drive shaft edge when one direction of rotation rotates The part of firing member is axially driven along proximal direction when second direction of rotation rotates.Surgical instruments may also include Retraction assemblies, the retraction assemblies and firing member component join for when motor is deactivated by other spinning movements along second Direction of rotation is manually applied to firing member component.Surgical instruments may also include locking device, the locking device and retraction Component and driving unit handing-over, it is for being prevented during gear assembly holding is driveably connected to motor drive shaft that other rotations is dynamic It is transmitted to motor drive shaft.

According to another example, surgical instruments may include the driving unit for generating firing action and retracting action.Institute It states instrument and may also include surgical end-effector, the surgical end-effector is configured to hit in response to apply it At least one of work and retracting action is started to execute at least one surgical function.Surgical instruments may also include firing member group Part, the firing member component may include that nearside firing member part, nearside firing member part can be grasped with driving unit Make ground to join and be configured to operationally receive rotary actuating movement from it.Firing member component may also include distal side Firing member part, distal side firing member part are supported on the distal side of nearside firing member part and are adapted to It is enough that firing action and retracting action are transferred to surgical end-effector.Retraction assemblies are operably linked to nearside firing member Part and distal side firing member part.Retraction assemblies can unactuated position (wherein retraction assemblies can by firing action and return Proximally firing member is partially transferred to distal side firing member part for contracting action) and actuated position (wherein distal side firing member portion Split-phase moves axially nearside firing member part) between selectively move.

Another surgical instruments example may include shank shell, the shank shell include be operatively coupled with it is thin Long axis component.Elongated shaft assembly can support the trigger shaft being axially movable wherein.Loading unit is operably linked to elongated Axis and be configured to and trigger shaft join.Driving tube is pivotally supported in shank shell and can be grasped with trigger shaft Make ground handing-over.Surgical instruments may also include the motor with motor drive shaft.Motor is operatively supported in shank shell and can It is operably coupled to power source.Gear assembly is driveably connected to motor drive shaft and includes output shaft assembly, the output shaft Component is configured to join with driving tube so that when motor drive shaft rotates along the first direction of rotation, driving tube is along distal direction It drives trigger shaft and driving tube drives trigger shaft along proximal direction when motor drive shaft is rotated along the second direction of rotation.Retraction assemblies It can join with driving tube for manually applying other spinning movements to it along the second direction of rotation when motor is deactivated.Locking Device can join with retraction assemblies and gear assembly, for being prevented during motor sub-assembly holding is driveably connected to motor drive shaft Other spinning movements are transmitted to motor drive shaft.

Referring again to Fig. 1-3, in various embodiments, the motor 100 of surgical instruments 10 is operably linked to percussion member Part (such as percussion element 60), and percussion element 60 can be driven to pass through end effector or DLU 20 during firing schedule. For example, during firing schedule, percussion element 60 is cleavable to be organized and/or nail is fired into tissue.Battery can will be electric Stream, which provides, arrives such as motor 100, and the electric current of offer to motor 100 can be related to the torque generated by motor 100.In addition, The torque generated by motor 100 can be related to the percussion force applied by percussion element 60.Voltage on motor can be with such as motor 100 angular speed is related, and the angular speed can be with the velocity correlation of percussion element 60.Referring now to Figure 63, motor can limit torsion Square-voltage curve 5802.In various embodiments, torque-voltage curve 5802 can have peak torque in the case where optimizing voltage V T₁.For example it is being higher than and/or less than under the voltage for optimizing voltage V, peak torque T is smaller than by the torque of motor generation₁.Example Such as, under the voltage of 1/2V, it is, for example, less than T that torque-voltage curve 5802, which can have,₁Torque T₂。

In various embodiments, the control system that signal communication is carried out with motor can provide electric current to motor from battery. In some embodiments, control system may include such as speed management control, the controllable percussion element of the speed management control Speed.Control system may include such as variable resistance circuit and/or voltage regulator circuit, the variable resistance circuit and/or Voltage regulator circuit is controllable to be provided to the voltage on the electric current and/or motor of motor.In such embodiments, control system can The torque and/or angular speed of motor are controlled, and therefore can control the percussion force and/or speed of the percussion element for being connected to motor Degree.For example, the voltage on motor is adjusted to influence the speed of percussion element in voltage regulator circuit.Referring to Figure 63, if voltage It adjusts circuit and voltage is for example dropped into 1/2V from desired voltage V, then torque can be dropped to less than peak torque T₁T₂And speed can Such as it is adjusted to speed S₂。

In various embodiments, control system may include pulse-width modulation circuit, and control system can propose current impulse It is supplied to motor.Referring primarily to Figure 64 (a) -65 (b), electric current can be pulsed with constant voltage.In various embodiments, the duty of pulse Than (that is, at interval of or the period pulse duration) can influence fire element 5804 percussion speed.When duty is relatively high When (Figure 64 (a)), each pulse can be interval longer portion and therefore motor can be for example with fast speed S₁Driving percussion Element 5804.When duty is relatively low (Figure 64 (b)), each pulse can be the shorter part at interval and therefore motor can be such as With slower speed S₃Driving percussion element 5804.In various embodiments, pulse-width modulation circuit can be in the optimization voltage V of motor (Figure 63), which gets off, provides current impulse to motor.It in such embodiments, can be in the feelings for not reducing the torque generated by motor Condition, which is got off, controls the speed of percussion element 5804.For example, motor can operate for example in the case where optimizing voltage V to generate peak torque T₁, and percussion element 5804 can be made with the speed of reduction (such as speed S by changing the width of voltage pulse₃) and/or appoint What suitable speed is driven across end effector.

In various embodiments, battery can have the volt-ampere limit or power threshold.In other words, battery per unit time may be used The energy of limited quantity is provided.The power threshold of battery can be related to battery and/or circuit design.For example, battery and/or circuit Thermoae limit (for example, thermal capacity and/or wire insulation) power threshold can be influenced.It is carried in addition, the power threshold of battery can limit It is supplied to the magnitude of current of motor.In various embodiments, the motor of (for example, pulsewidth modulation) is controlled using speed management not to be needed The maximum volt-ampere of battery.For example, when battery provides current impulse with using required speed and most under maximum or optimization voltage When big or optimization torque drive percussion element, residual current can be not used in driving percussion element.In such embodiments, remaining Electric current can be used for generating additional torque.Referring to Figure 66 (a) -66 (c), motor may include for example adding or ancillary coil group and remain Aftercurrent can be selectively guided to interpole coil group to generate additional torque.In such embodiments, motor can for example exist Compared with generating high torque under low velocity.In various embodiments, control system can such as volt-ampere limit based on battery come maximum The residual current provided to ancillary coil group is provided.In addition, in certain embodiments, control system can be at least the one of firing schedule Optimize the torque generated by motor during part.

Referring also to Figure 66 (a) -66 (c), battery 6002 can by current selective provide motor 6004.Motor 6004 can Including such as set of main coils 6006 and ancillary coil group 6008.In various embodiments, with the control of 6004 signal communication of motor System 6020 can by current selective be directed to set of main coils 6006 and/or ancillary coil group 6008.For example, control system 6020 can provide electric current to set of main coils 6006 during the first mode of operation, and can carry electric current during second operates It is supplied to such as set of main coils 6006 and ancillary coil group 6008.In various embodiments, switch (such as switch 6010) can beaten Movement is by current selective to provide such as ancillary coil group 6008 between open position and closed position.In various embodiments In, coil group 6006,6008 can individually be started.In addition, control system 6020 may include pulse-width modulation circuit 6022, and Current impulse can be provided such as coil group 6006, at least one of 6008 by battery 6002.In various embodiments, main line Circle group 6006 can be connected to the first circuit 6030 (Figure 66 (a)), and the second coil group can be connected to independently of the first circuit 6030 second circuit 6032 (Figure 66 (a)).In other embodiments, set of main coils 6006 and ancillary coil group 6008 can be by cloth It is set to (Figure 66 (b)) for example in parallel or series connection (Figure 66 (c)).In certain embodiments, motor 6004 may include for example, at least one A additional set of main coils and/or at least one additional ancillary coil group.

In various embodiments, motor can generate the first torque capacity during the first mode of operation, and in the second operation The second torque capacity is generated during state.Second torque capacity can be greater than the first torque capacity.In addition, during the second mode of operation by Low locking of the percussion element between firing the departure date can be organized and/or be limited to the additional torque that ancillary coil group 6006 generates.For example, Referring to Figure 67, motor can during the first mode of operation towards distal side drive percussion element and can during the second mode of operation court Nearside driving percussion element.In various embodiments, element is fired compared to propulsion, motor can be generated when retraction fires element The torque of bigger.In such embodiments, the retraction of percussion element can be improved.If percussion element is stuck, for example, tissue pair It is too thick and/or too hard and cannot cut and/or suture for firing element, then additional torque for example can be used come the percussion that bounces back Element.Referring also to Figure 66, the torque generated by motor can be incrementally increased during " soft " startup stage 5902 of firing schedule And/or it can be gradually lowered during " soft " stop stage 5904,5906 of firing schedule.For example, when promoting percussion member When part, motor can progressively or slowly increase percussion speed when firing schedule starts, and can be hit in percussion element completion Progressively or it is slowly decreased percussion speed when issuing the forward portion of journey.In addition, in various embodiments, motor can bounce back Generate peak torque and/or speed when firing element immediately immediately or substantially.Motor can be for example using interpole coil group 6008 (Figure 65 (a)-(c)) come maximize bounce back start when the torque that generates.

Referring to Figure 68, the controllable percussion element of control system with during the test section 5912 of firing schedule with slower speed Movement.For example, when promoting percussion element, percussion element is initially moved with slower speed, to ensure the selection of end effector And/or arrangement is suitable for target tissue.In addition, as described in more detail herein, the engageable actuator of surgeon, such as switch or press Button with such as driven motor and starts the opening and closing of end effector jaw, fires the movement, and/or load of element The joint motions of unit.When making actuator engage at motor drive actions beginning, firing test section is (for example, indicated by Figure 68 Test section 5912) permissible surgeon " experiment " surgery action, with ensure it is expected and/or suitably surgery act by Start.For example, in certain embodiments, the first button can start the joint motions of the motor driving along first direction, and the Two buttons can start the joint motions of the driving of motor in a second direction.When surgical instruments rotation and/or " inversion " are orientated, the One and second button position can from normal place rotate or become " reversed ", such as from the perspective of operator.If the One direction is expected joint motion direction, then can be it is desirable to assure that loading unit carries out joint during test section along first direction Movement, that is, the first button is actually activated.Similarly, if second direction is expected joint motion direction, can it is expected Ensure that loading unit carries out joint motions in a second direction during test section, that is, the second button is activated.In some embodiments In, the test section during the initial part of surgery action can provide the time to be opened in the action of unexpected surgery for clinician Change in the case of dynamic and/or modification surgery acts.As described in more detail herein, pulse-width modulation circuit (such as pulsewidth modulation electricity Road 6022) can be achieved surgery action initial part during test section.

As described above, motor controller is configured to utilize pulse-width modulation operation motor 6004.In various situations Under, identical pulsewidth modulation for example can be used for set of main coils 6006 and ancillary coil group 6008 by motor controller.In other feelings Under condition, the first pulse-width signal can be used for set of main coils 6006 by motor controller, and second or distinct pulse widths are modulated Signal is used for ancillary coil group 6008.In some cases, motor controller can by pulse-width signal for coil group 6006, One of 6008, but it is not used in another one.In addition, teachings described herein content is applicable to more than two coil group Motor.For example, motor controller can operate multiple coil groups using multiple pulse-width signals.

In various embodiments, motor can for if any brush d.c. motor or Brushless DC motor.In certain embodiments, Motor can be stepper motor, for example, mixing stepper motor.Stepper motor can provide rotation control so that encoder is unnecessary 's.The removal of encoder can for example reduce the cost and/or complexity of motor.Referring to Figure 69 and Figure 70, motor can be to simplify step Into motor.For example, motor may include four electromagnetic poles being spaced apart around periphery.Referring now to Figure 71-74 (c), motor can be Mix stepper motor.Mixing stepper motor may include such as permanent magnet and electromagnet.

The existing surgical instruments construction being disclosed in such as Zemlok ' 763 and Zemlok ' 344 uses two separate motors. One motor for for example driving element being made to be advanced through loading unit towards distal side, this cause the closure of anvil block, tissue cutting, And nail is from the percussion of the nail bin being supported in loading unit.Another motor is for making loading unit surround actuated articulation joints Carry out joint motions.It is also disclosed in United States Patent (USP) 7 in relation to the other details for making loading unit construction carry out joint motions, In 431,188, the entire disclosure of the patent is herein incorporated by reference.It can be increased using two motors in such device Add complexity and increases the overall cost of surgical instruments.For example, such construct can make the retraction system that can be failed during use The doubles of system and other mechanisms.Surgical instruments 810 shown in Figure 29-31 uses single-motor, the motor alternative Ground is for firing surgical end-effector and surgical end-effector being made to carry out joint motions, and the surgical end-effector is by structure It causes that at least one surgical operation can be executed in response to the firing action for applying it.

In at least one form, for example, institute in the various surgical instruments being described in detail herein can be used in surgical instruments 810 Multiple same parts.For example, surgical instruments 810 includes the shell 12 for being wherein operably supported motor 100, the motor 100 are configured to generate rotary actuating movement.Motor 100 is operably linked to gear assembly 820, the gear assembly 820 have the associated driving coupler assembly 840 that can selectively position, the driving coupler assembly 840 will be Hereinafter it is explained in more detail.Surgical instruments 810 may also include the articulation system being generally designated as 859, the pass Section kinematic system is operativelyd interface with elongated shaft assembly for joint motions action is applied to surgical end-effector. In a kind of form, for example, articulation system 859 may include being generally designated the joint motions actuating mechanism for 860, the joint Motion actuation mechanism can be substantially similar in addition to difference described below Zemlok ' 763 and/or Zemlok ' 344 and/or Joint motions actuating mechanism disclosed in United States Patent (USP) 7,431,188.For example, shell 12 may include wherein being equipped with it is rotatable The cylindrical portions 90 of component 92.Rotating parts 92 can join with the proximal end of elongated shaft assembly to be conducive to elongated shaft assembly Rotation relative to shell 12.Rotating parts 92 are operably supported joint motions button and such as 7,431,188 institutes of United States Patent (USP) Disclosed slip-clutch construction.The main joint movement gear 94 of this construction is indicated by the dotted line in Figure 29 and Figure 30.Main joint Movement gear 94 can be connected to main shaft 95 by such as above-mentioned United States Patent (USP) 7, the slip-clutch described in 431,188 so that main The rotation of joint motions gear 94 will cause the corresponding of main shaft 95 to rotate.As wherein described in more detail, joint motions button can be used as Articulated position indicator.Main shaft 95 and J- channel components 96 operatively interface with, and the J- channel components 96 are transported with joint The proximal end of follower link component 97 joins.In one form, joint movement connector component 97 may include single with load The proximal joint movement connector 98 of joint movement connector 70 (Fig. 3) handing-over in member 20.

Articulation mechanism 860 may also include joint motions driving series structure 870, and the joint motions drive series structure 870 move gear 94 with main joint and coupler assembly 840 are driven to operatively interface with.As it can be seen that closing such as in Figure 29 and Figure 30 Section movement driving series structure 870 may include that joint motions drive shaft 872, the joint motions drive shaft 872 are attached to driving connection The output section for connecing device assembly 840, will in more detail below as described in.First joint motions driving gear 873 is attached to joint fortune It moves drive shaft and is engaged with the central gear seat ring 875 on second joint motion transmission gears 874, the second joint Motion transmission gears 874 are pivotally supported in rotating parts 92.Therefore, the rotation of the first joint motions driving gear 873 Transduction causes the rotation of the second center knuckle motion transmission gears 874.Furthermore, it can be seen that " third " joint such as in Figure 29 and Figure 30 Movement shaft gear 877 is mounted thereto the second joint kinematic axis 876 with " the 4th " joint motions worm gear 878.Third joint Movement shaft gear 877 is engaged with the second center knuckle motion transmission gears 875 so that the first joint motions drive gear 873 rotation eventually leads to the rotation of third joint motions shaft gear 877 and second joint kinematic axis 876.4th joint motions Worm gear 878 is engaged with main joint movement gear 94 so that the rotation of the 4th joint motions worm gear 878 causes main joint to move It drives the rotation of gear 94 and eventually leads to and joint motions action is applied to joint movement connector component 97.It such as will be under Text is described in more detail, and when driving coupler assembly 840 to be in joint motions control orientation, joint motions drive shaft 872 is by horse It is rotated up to 100.

As it can be seen that motor 100 is operably linked to gear assembly 820 such as in Figure 31.Gear assembly 820 may include coupling To the gearbox-case 822 of motor 100.For example, gearbox-case 822 can by screw rod 103 or other machanical fasteners and/or Fastener construction is connected to motor case 101.Gear assembly 820 may include the planet tooth for being operably linked to motor drive shaft 107 Wheel construction 821.In a kind of construction, for example, ring gear 823 can be formed on the inner surface of gearbox-case 822.The main sun Gear 821 is connected to motor drive shaft 107.Main sun gear 821 and multiple first planets being supported on the first pinion frame 824 Gear 825 is engaged so that they are also engaged with ring gear 823.First sun gear 826 is formed in other words Be attached on the first pinion frame 824, and with multiple second planetary gears for being supported on the second pinion frame 827 828 are engaged.Second planetary gear 828 is also supported for being engaged with ring gear 823.829 shape of secondary sun wheel It is attached on the second pinion frame 827 in other words, and is engaged with multiple third planet gears 831.Third Planetary gear 831 is supported on third planet tooth rest 830 and is supported for being engaged with ring gear 823.Third Sun gear 833 is formed in the shaft extension 832 being attached on third planet tooth rest 830 in other words and joins with being attached to The multiple fourth planet gears 835 for connecing device gear are engaged, and the connector gear includes being pivotally supported at axis extension Fourth planet tooth rest 834 in portion 832.In addition, thrust bearing 836 can axle journal be connected between fourth planet tooth rest 834 Shaft extension 832 on.Fourth planet gear 835 is engaged with output axle unit 850, and the output axle unit 850 is by tooth Wheel box enclosure 822 is pivotably supported.Second thrust bearing 836 may be supported on fourth planet gear and output axle unit 850 it Between, it is such as visible in fig. 30.Fourth planet gear 835 is supported for being engaged with internal gear seat ring 854.

In embodiment illustrated, output axle unit 850 is operably linked to the class for having disclosed in Zemlok ' 763 The clutch 230 of type and construction, the full patent texts are herein incorporated by reference.Construction in relation to such clutch 230 and behaviour The other details of work are available from the announcement.However, in alternative embodiment, clutch 230 can be by axis-axis connector or casing Construction is replaced, and the axis-axis connector or casing, which are configured to be conducive to export axle unit 850, is directly coupled to driving tube 102.

Referring again to Figure 31, main joint movement driving gear 837 is attached to joint motions drive shaft 872 and and fourth line External teeth torus 838 on gear rack 834 is engaged.In various forms, driving coupler assembly 840 may also include connection Device selector component 842 is connect, the connector selector component 842 is movably connected to gearbox-case 822 or shell 812 Other parts in other words movably supported by it.In at least one constructs, connector selector component 842 can be with the One drive shaft retainer part 844 and the first articulating shaft retainer part 846 are formed together.First drive shaft retainer portion It includes that regions, the regions such as the channel form, coarse shape such as channel form, coarse shape are configured to not connect movably to divide 844 Close the second drive shaft retainer part 845 on output axle unit 850.Similarly, the first articulating shaft retainer part 846 Including regions such as channel form, coarse shapes, the regions such as the channel form, coarse shape are configured to not engage the 4th movably Second joint kinematic axis retainer part 847 on pinion frame 834.

Figure 29 and Figure 30 be can refer to understand the operation of coupler assembly 840.As it can be seen that connector selector such as in Figure 29 Component 842 is pivoted to articulated position, wherein on the first articulating shaft retainer part 846 and output axle unit 850 Second joint kinematic axis retainer part 847 do not engage movably.When at that position, output axle unit 850 is hindered Only surround longitudinal axis L A-LA rotations.Therefore, when at that position, the operation of motor 100 will lead to third sun gear 833 rotation, the third sun gear 833 are engaged with fourth planet gear 835.The rotation of fourth planet gear 835 It will lead to the rotation of rotatable fourth planet tooth rest 834.Such rotation of fourth planet tooth rest 834 will also cause It is connected to the rotation of the main joint movement gear 837 of joint motions drive shaft 872.The rotation of joint motions drive shaft 872 will be led The first joint motions driving gear 873 is caused to rotate and drive second joint motion transmission gears 874.Second joint movement is transmitted The rotation of gear 874 leads to the rotation of third joint motions Transmission gear and the 4th joint motions worm gear 878.4th joint motions The rotation of worm gear 878 will drive main joint to move gear 94, this will cause joint motions action to be applied to joint motions connection Part 97,70, to eventually lead to the rotation that loading unit 20 surrounds actuated articulation joints.Motor drive shaft 107 is along the first rotation The rotation in direction will cause loading unit along the joint motions of the first joint motion direction, and motor drive shaft 107 is along opposite The rotation of direction of rotation will lead to joint of the loading unit along the second joint direction of motion opposite with the first joint motion direction Movement.

Referring next to Figure 30, connector selector component 842 is pivoted to driving or firing position, wherein the first driving Axis retainer part 844 and the 845 not movable engagement of the second drive shaft retainer part on fourth planet tooth rest 834. When at that position, fourth planet tooth rest 834 is prevented from rotating around longitudinal axis " LA-LA ".Therefore, when in the position When setting, the operation of motor 100 will lead to the rotation of third sun gear 833.Third sun gear 833 and it is supported on fourth planet Fourth planet gear 835 on tooth rest 834 is engaged.Due to fourth planet tooth rest 834 because the first articulating shaft is protected Not movable between second joint kinematic axis retainer part 847 on holder part 846 and fourth planet tooth rest 834 connects It closes and is blocked for rotation, the rotation of fourth planet gear 835 will lead to the rotation for exporting axle unit 850.Exporting axle unit 850 can It is connected to driving tube 102 by clutch pack 230 or by directly coupling.Therefore, the rotation of output axle unit 850 causes The rotation of driving tube 102.As described above, the rotation of driving tube 102 leads to the axial movement of trigger shaft (being not illustrated in Figure 31).Horse The distal side of trigger shaft will be caused to promote up to the rotation of drive shaft 107 along the first direction of rotation, and motor drive shaft 107 is along opposite The rotation in direction will lead to the proximal movement of trigger shaft.In various embodiments, the closure of 20 jaw of loading unit is (for example, anvil Pivot of the holder assembly 22 relative to carrier 24) articulation system and/or trigger system of motor 100 and surgical instruments 10 can be made Connection and/or separation.For example, anvil assembly 22 can make motor 100 and articulation system (example relative to the closure of carrier 24 Such as, with joint motions drive shaft 872) detach, and motor 100 can be connected to trigger system (for example, output axle unit 850).In addition, anvil assembly 22 can be such that motor 100 is detached with trigger system relative to the opening of carrier 24, and can be by motor 100 are connected to articulation system.In such embodiments, when loading unit 20 is opened, motor 100 can influence loading unit 20 joint motions, and when loading unit 20 is closed, motor 100 can influence the percussion of trigger shaft.Surgical instruments 10 may include Such as sensor and/or selector.In certain embodiments, sensor can detect the closure of 20 jaw of loading unit.In addition, passing Sensor can carry out signal communication with selector (such as connector selector component 842).When anvil assembly 22 is for example relative to load When body 24 is opened and/or is closed, selector can make motor 100 couple and/or divide with articulation system and/or trigger system From.Compared to the multiple motors of use so that end effector carries out the elder generation of joint motions and fighting end actuator drive member Preceding powered surgical instrument can be represented huge using the various powered surgical instruments of various driving coupler configurations disclosed herein It improves.

For example, at least one surgical instruments includes the elongated shaft assembly for limiting longitudinal tool axis.Surgical end-effector Elongated shaft assembly is operably linked to for its opposite selective joint motions.Surgical end-effector can be configured to At least one surgical operation can be executed in response to the firing action applied to it.Articulation system can be with elongated shaft assembly It operativelys interface with for joint motions action is applied to surgical end-effector.Firing member component can be with elongated shaft group Part operativelys interface with firing action being applied to surgical end-effector.Surgical instruments, which may also include, to be adapted to Enough generate the motor of rotary actuating movement.Drive coupler assembly that can join with motor and articulation system so as to work as driving When coupler assembly is in the first configuration, the operation of motor will cause actuation motion to be applied to articulation system, thus lead Joint motions of the surgical end-effector relative to longitudinal tool axis are caused, and when driving coupler assembly is in the second configuration When, the operation of motor will cause actuation motion to be applied to firing member component, thus cause firing member component will at least one A firing action is applied to surgical end-effector.

Another surgical instruments example may include shank, and the shank, which has, is operably linked to its restriction longitudinal direction work Has the elongated shaft assembly of axis.Loading unit is operably linked to elongated shaft assembly and is configured in response to it The firing action of application cuts off and sutures tissue.Loading unit is configured to around actuated articulation joints relative to vertical Joint motions are selectively carried out to tool axis.Surgical instruments may also include articulation system, the articulation system Including joint movement connector component, the joint movement connector component is supported and is configured to by elongated shaft assembly It is operativelyd interface with the actuated articulation joints part in one of elongated shaft assembly and loading unit.Joint motions actuator Structure can join by shank support and with joint movement connector component to apply joint motions actuation motion to it.Surgical instruments It may also include firing member component, the firing member component operativelys interface with dynamic to apply percussion to it with loading unit Make.Motor can be operably supported by shank and be configured to generate rotary actuating movement.Drive coupler assembly can Join with motor and joint motions actuating mechanism so that when driving coupler assembly to be in the first configuration, the operation of motor will Cause actuation motion to be applied to articulation system, loading unit is thus caused to be transported relative to the joint of longitudinal tool axis It is dynamic, and when driving coupler assembly to be in the second configuration, the operation of motor will cause actuation motion to be applied to percussion structure Thus part component causes firing member component that at least one firing action is applied to loading unit.

Another surgical instruments example may include the elongated shaft assembly for limiting longitudinal tool axis.Surgical end-effector can Elongated shaft assembly is operably coupled to for its opposite selective joint motions.Surgical end-effector is configured to The firing action in response to applying to it is reached to execute at least one surgical operation.Articulation system can with elongated shaft assembly Operatively join for joint motions action is applied to surgical end-effector.Firing member component can be with elongated shaft assembly It operativelys interface with for firing action is applied to surgical end-effector.Motor is configured to generate rotation cause Dynamic movement.Surgical instruments may also include following device, and described device is for output action to be applied selectively to close from motor Save each in kinematic system and firing member component.

In certain motors drive surgical instruments, touch feedback can be supplied to the operator of surgical instruments by motor.For example, The rotation of motor for example can generate vibration action or noise according to the direction of motor rotation and/or speed.However, various motors Minimum noise can be generated, and therefore surgical touch feedback can be restricted and/or can not be cured by surgery Physiology solution.For example, motor and/or the various modifications and/or improvement transmitted in design can be reduced by motor and/or transmission design production Raw tactile noise.In such embodiments, it may be advantageous to change motor and/or be operably linked to the gear of motor Component, to generate artificial or deliberate touch feedback and/or other sensory feedbacks.In certain embodiments, surgical instruments can incite somebody to action Feedback sends surgeon to, and without making surgeon shift sight from operating position.For example, motor and/or gear can produce Raw tactile and/or audio feedback with surgeon to communicate.In such embodiments, operator shows screen for example without watching To find out the mode of operation or situation of surgical instruments.As described in more detail herein, surgical instruments can transmit the rotation of such as motor Direction, the direction of rotation can correspond to percussion direction and/or the joint motion direction of loading unit of such as firing member.It removes Except this or alternatively, surgical instruments can be transmitted for example during firing schedule firing member speed and/or position and/or Person can for example transmit the speed and/or degree of the joint motions of loading unit.

In various embodiments, as described in more detail herein, motor is operably linked to percussion component and/or joint fortune Dynamic component.Referring now to Figure 168, motor 7010 can drive the motor drive shaft 7014 of for example engageable gear assembly 7020.Various In embodiment, the key 7016 on key, such as motor drive shaft 7014, a part for engageable gear assembly 7020.In some embodiments In, gear assembly 7020 may include that such as disk 7022,7024, the disk 7022,7024 can be configured to by key and motor Axis 7014 is rotated or is rotated together with motor drive shaft 7014 when engaging.For example, the first disk 7022 may include groove (not shown).This Outside, from the groove in engageable first disk of the first key (not shown) 7022 that motor drive shaft 7014 extends so that the first disk 7022 exists Motor drive shaft 7014 is rotated clockwise when (CW) rotates clockwise and is revolved counterclockwise in (CCW) rotation counterclockwise of motor drive shaft 7014 Turn.In at least one embodiment, the first key can be kept and the first disk during the whole operation of surgical instruments and/or its motor Groove engagement in 7022.

In certain embodiments, the first disk 7022 can relative to its along the rotation axis of motor drive shaft 7014 be balance.Still Referring to Figure 168, block (such as block 7026) can extend and can be moved into deviateing by the barycenter of the first disk 7022 from the first disk 7022 The rotation axis of first disk 7022.For example, block 7026 can prolong far from the outer periphery of motor drive shaft 7014 and/or separate first disk 7022 It stretches.In other words, block 7026 can upset the balance of the first disk 7022, lead to the rotation unbalance of the first disk 7022, and therefore exist First disk 7022 generates centrifugal force when being rotated together with motor drive shaft 7014.Therefore, the rotation of the first disk 7022 and block 7026 can produce Raw touch feedback, for example, the vibration or shake of surgical instruments shell and/or shank.Touch feedback can correspond to surgical instruments Mode of operation or situation.In addition, the touch feedback generated by the rotation of the first disk 7022 and block 7026 can be dependent on motor drive shaft 7014 rotary speed.In such embodiments, firing speed and/or joint motions speed also can for example be sent to surgery doctor It is raw.For example, the first disk 7022 can be generated when motor drive shaft 7014 rotates quickly with upper frequency touch feedback and The touch feedback with lower frequency is generated when motor drive shaft 7014 more slowly rotates.

Similar to the first disk 7022, in certain embodiments, the second disk 7024 can be relative to it along the rotation of motor drive shaft 7014 Shaft axis is balance.Referring also to Figure 168, however, block (for example, block 7028) can extend from the second disk 7024 and can make its matter The heart deviates.For example, block 7028 can extend far from the outer periphery of motor drive shaft 7014 and/or separate second disk 7024.In other words, block 7028 can upset the balance of the second disk 7024, lead to the rotation unbalance of the second disk 7024, and therefore in the second disk 7024 and horse Centrifugal force is generated when being rotated together up to axis 7014.Therefore, the rotation of the second disk 7024 and block 7028 can generate touch feedback, example Such as, the vibration or shake of surgical instruments shell and/or shank.Touch feedback can correspond to the mode of operation or feelings of surgical instruments Condition.In addition, the touch feedback generated by the rotation of the second disk 7024 and block 7028 can be dependent on the rotary speed of motor drive shaft 7014. In such embodiments, firing speed and/or joint motions speed also can for example be sent to surgeon.In various embodiments In, the first disk 7022 and/or the second disk 7024 may include the extra block for example similar to block 7026 and/or 7028, described additional Block can for example further help to the haptic response of surgical instruments shell and/or shank.In addition, in some embodiments, horse It is additional and/or different selectively to generate it to be operatively engaged the additional and/or different disks of gear assembly 7120 up to axis 7014 Touch feedback.

Referring also to Figure 168, the second disk 7024 may include inner periphery 7026.In various embodiments, the second key 7016 can be from Motor drive shaft 7014 extends, and the second disk 7024 can be operatively engaged by inner periphery 7030.Inner periphery 7030 may include example Such as the multiple arcs surface 7034 between multiple flat surfaces 7032 and adjacent planar surface 7032.7032 He of each pair of flat surfaces Curved surfaces 7034 can limit groove, and the groove can be configured to receive the second key 7016.In certain embodiments, work as key 7016 when being rotated in a first direction, and key 7016 can abut flat surfaces 7032 and be fixed and/or be maintained at the second disk 7024 Groove in.In such construct, the second disk 7024 can be together rotated in a first direction with motor drive shaft 7014.In addition, certain In embodiment, when key 7016 rotates in the second direction opposite to the first direction, key 7016 could rotate through curved surfaces 7034 and it can be fixed and/or be maintained in the groove in inner periphery 7030.In other words, key 7016 can be relative to the second disk 7024 rotations.In such construct, motor drive shaft 7014 can be rotated in a second direction relative to the second disk 7024.Therefore, work as motor When axis 7014 is rotated in a first direction, key 7016 can only engage the second disk 7024 and the second disk 7024 is caused to rotate.Certain In embodiment, first direction can correspond to CW rotations, and in other embodiments, and first direction can correspond to CCW rotations.

As described herein, since the engagement of the second disk 7024 may depend on the direction of rotation of motor drive shaft 7014, second Disk 7024 can be only when motor drive shaft 7014 rotates in one direction (for example, drive firing member in one direction in motor 7010 And/or when rotating loading unit in one direction) rotation.It is fired for example, the second disk 7024 can only for example bounce back in motor 7010 Component or while rotating clockwise loading unit, rotate.Such selectively engage of second disk 7024 can influence to be generated by surgical instruments Touch feedback.It in other words, can be anti-to generate different and/or larger tactiles based on selectively engaging for the second disk 7024 Feedback.For example, only rotated in motor 7010 in wherein the second disk 7024 with bounce back firing member when the embodiment that rotates in, compared to During the propulsion of firing member, the touch feedback of bigger can be generated during retraction.During retraction, the second disk 7024 can also have Help the generation of touch feedback, this can lead to the higher or larger summation of feedback force.In such embodiments, by the first disk 7022, the larger touch feedback that the second disk 7024 generates can indicate that firing member passes through motor 7010 and returns to surgeon Contracting.In various embodiments, according to described above, when motor drive shaft 7014 rotates in one direction, only the first disk 7022 can revolve Turn, and two disks 7022,7024 are rotatable when motor drive shaft 7014 rotates in mutually opposite directions.As a result, when motor drive shaft 7014 When being rotated along different directions, disk 7022,7024 can generate different feedbacks.

Referring now to Figure 169, in certain embodiments, motor 7010 can drive the motor drive shaft of engageable gear assembly 7120 7014.In various embodiments, the key 7016 on key, such as motor drive shaft 7014, engageable gear assembly 7120.Similar to gear Component 7020, gear assembly 7120 may include multiple disks, for example, the first disk 7122 and the second disk 7124.First disk 7122 and Two disks 7124 can be configured to rotate or take turns together with motor drive shaft 7014 when being selectively engaged with motor drive shaft 7014 by key Turn.For example, the first disk 7122 may include groove (not shown).In addition, the first key (not shown) extended from motor drive shaft 7014 can Engage the groove of the first disk 7122 so that the first disk 7122 rotates together with motor drive shaft 7014.In certain embodiments, it is using Period, the first key can cannot be detached from from the groove of the first disk 7122.Second disk 7124 may include such as inner periphery 7130, similar In the inner periphery 7030 of the second disk 7024.Inner periphery 7130 may include multiple flat surfaces 7132 and multiple arcs surface 7134. As described in herein in relation to Figure 168, key 7016 can be selectively engaged and be detached from according to the direction of rotation of motor drive shaft 7014 The inner periphery 7130 of two disks 7124.For example, when motor drive shaft 7014 is rotated in a first direction, 7016 engageable second disk of key 7124, thus cause the second disk 7124 to be rotated together with motor drive shaft 7014.In addition, when motor drive shaft 7014 rotates in a second direction When, key 7016 can remain disengaged from the second disk so that key 7016 can the rotation in inner circumference 7130 relative to the second disk 7024.

In various embodiments, the first disk 7122 may include at least one pick 7126, and the second disk 7124 can also wrap Include at least one pick 7128.When disk 7122,7124 rotates, pick 7126,7128 can hit audio feedback generator 7140 Element.For example, pick 7126,7128 can hit the clicker 7142,7144 of audio feedback generator 7140.In various embodiments In, when the first disk 7122 rotates, the pick 7126 of the first disk 7122 can hit and bend the first clicker 7142, and when the The pick 7128 of the second disk 7124 can hit and bend the second clicker 7144 when two disks 7124 rotate.Clicker 7142,7144 Shock and flexure can lead to clicker 7142,7144 resonance and generate audible signal.In other words, first and second disks 7122 Rotation can generate audible feedback.In addition, the rotary speed of rotating disk 7122,7124 and/or from the first disk 7122 and the second disk The quantity and construction of 7124 picks extended can influence the frequency of audible signal.In such embodiments, it the speed of motor and hits The corresponding percussion speed of hair element and/or the joint motions speed of loading unit can for example be transmitted to surgeon.

Referring primarily to Figure 170 and Figure 171, in various embodiments, the geometry of pick 7126,7128 can be influenced by sound The audible signal that frequency feedback generator 7140 generates.For example, pick 7126,7128 can include respectively non-decaying surface 7150 and decline Subtract surface 7152.Non- decaying surface 7152 may include such as flat surfaces and surface 7152 of decaying may include such as arc table Face.In various embodiments, wherein the non-decaying surface 7150 of pick 7126 when rotated be located at pick 7126 attenuation meter In the case of before face 7152 (Figure 170), the resonance of clicker 7142 can be decayed by the rear end of pick 7126 decaying of surface 7152 and/ Or stop.For example, the clicker 7126 of the accessible flexure of the arched geometry on decaying surface 7152, to prevent and/or limit sound The vibration of piece 7126 or resonance.On the contrary, the decaying surface 7152 of pick 7126 is located at pick 7126 when rotated wherein In the case of before non-decaying surface 7150 (Figure 171), the resonance of clicker 7142 can not be by the non-decaying surface of pick 7126 7150 decaying.For example, the flat geometry on non-decaying surface 7150 can avoid and/or limit and bends connecing for clicker 7126 It touches so that the resonance of clicker 7126 is allowed to and/or is not so limited.In other words, disk 7122,1724 and related pick 7126,7128 direction of rotation can influence the audio feedback generated by surgical instruments.Therefore, can surgical instruments during use Its mode of operation is notified to the operator of surgical instruments, and without making surgeon shift sight from surgical site.For example, sound Frequency signal can be attenuated when firing member bounces back and can not be attenuated when firing member promotes.In other embodiments, Audio signal can be attenuated when firing member promotes and can not be attenuated when firing member bounces back.In addition, in some realities It applies in example, for example, the audible signal of decaying can be corresponding with the joint motions of loading unit in one direction and unbated Audible signal can be with loading unit along another direction joint motions it is corresponding.In various embodiments, at least one audio Feedback generator can be used alone and/or be used in combination at least one haptic feedback system.In addition, in some embodiments In, at least one haptic feedback system can be used alone and/or be used in combination at least one audible feedback generator.Audio Different modes of operation can be sent to surgeon and/or can will be for example in relation to same operation shape by feedback and touch feedback The duplex feedback of state is supplied to surgeon.

In various embodiments, surgical instruments can fire element it is close and/or when reaching firing schedule end and/or Feedback is generated when loading unit is close and/or reaches the joint motions limit.In various embodiments, this feedback may differ from and/ Or during being additional to entire firing schedule and/or loading unit carries out generated feedback when joint motions.Therefore, surgical instruments Such as firing schedule can be notified to be nearly completed and/or be completed to user and/or can notify loading unit to operator Close to the joint motions limit and/or have reached the joint motions limit.

Referring now to Figure 172, motor 7010 and motor drive shaft 7014 can be operatively engaged with gear assembly 7120, such as above It is described in more detail.In addition, the disk 7122 of gear assembly 7120,7124 accessible audible feedback generators 7240, the audio are anti- Feedback generator 7240 can be similar to such as audible feedback generator 7140.For example, the pick 7126,7128 on disk 7122,7124 Thus the clicker 7242,7244 of deflection audible feedback generator 7240 leads to clicker 7242,7244 resonance and generates the sense of hearing Feedback.In addition, audible feedback generator 7240 can be moved or be translated relative to gear assembly 7120.As described in more detail below, Audible feedback generator 7240, which is selectively movable into, to be engaged with the clicker 7242,7244 on disk 7122,7124 and/or does not connect It closes selectively to generate audible signal.In other embodiments, motor, gear assembly and/or its disk are movable so that disk Pick, which is selectively moved into, to be engaged with the clicker of audible feedback generator and/or does not engage selectively to generate sense of hearing letter Number.

In various embodiments, when firing member moves during firing schedule, audible feedback generator 7240 can be It is translated in surgical instruments.For example, at firing schedule beginning, audible feedback generator 7240 can be with the pick of disk 7122,7124 7126,7128 misalignment.In addition, when firing member moves toward the far side and/or when close to firing schedule end, audible feedback Generator 7240 is moveable to and/or moves into be aligned with the pick of disk 7122,7,124 7126,7128.In such embodiments, Audible feedback generator 7240 can be close in firing member and/or generates audio feedback when reaching firing schedule end.Referring to figure 173, it is generated for example, feedback generator can be in firing member in position range that is close and/or reaching firing schedule end Feedback is for example to send the position of firing member to surgeon.In such embodiments, surgical instruments can be by firing schedule End sends operator to.For example, referring again to Figure 172, when distal end of the firing member close to firing schedule, at least one A pick 7126,7128 can be aligned at least one clicker 7242,7244.At this point, surgical instruments can generate feedback will fire The position of component sends surgeon to.It, can when each pick 7126,7128 is aligned with one in clicker 7242,7242 Send larger and/or different feedback to surgeon.In addition, when firing member bounces back, at least one pick 7126, 7128 can again with clicker 7242,7244 misalignment so that send reduction and/or different feedbacks to surgeon.Cause This, when feedback generator moves across firing schedule, feedback generator can the position based on firing member will change it is anti- Feedback sends operator to.In addition, gear assembly 7120 may include it is movable at being engaged with audible feedback generator 7240 and/or not The additional disk and/or pick and/or audible feedback generator 7240 of engagement may include it is movable at engaged with pick and/ Or asynthetic additional clicker.In various embodiments, audible feedback generator can be by the alternative and/or extra order of firing member It sets and sends surgeon to.For example, audible feedback generator can along fire and/or retraction path length midpoint and/or Audio feedback is transmitted at incremented point.

Referring now to Figure 174 and Figure 175, it is possible to use movable feedback generator is by the joint motions of loading unit The limit sends surgeon to.For example, audible feedback generator 7240 shown in Figure 172 for example can be with the joint of loading unit It moves and translates.For example, when loading unit is in non-joint motions configuration, audible feedback generator 7240 can with disk 7122, 7124 pick 7126,7128 misalignment.In addition, when loading unit carries out joint motions, audible feedback generator 7240 can It moves to and/or moves into and be aligned with the pick of disk 7122,7,124 7126,7128.In such embodiments, audible feedback occurs Device 7240 can be close in loading unit and/or generates audio feedback when reaching the joint motions limit.For example, referring again to Figure 174 And Figure 175, feedback generator can be in position range that is close and/or reaching firing schedule end in firing member and generate instead Feedback is to send the position of firing member to surgeon.In such embodiments, surgical instruments can pass the joint motions limit Give operator.For example, referring again to Figure 172, when loading unit is close to its joint motions limit (for example, close to 45 degree) When, at least one pick 7126,7128 can be aligned at least one clicker 7242,7244.At this point, surgical instruments can generate feedback To send the position of firing member to surgeon.When loading unit is closer and/or reaches the joint motions limit, each Pick 7126,7128 can be aligned with one in clicker 7242,7244, and can transmit larger and/or different feedback To surgeon.In addition, when loading unit carries out joint motions to return to non-joint motions, neutral position, it is at least one Pick 7126,7128 can again with clicker 7242,7244 misalignment so that reduction and/or different feedbacks are sent to outer Section doctor.Therefore, when feedback generator moves across firing schedule, feedback generator can based on the configuration of loading unit come by The feedback of variation sends operator to.

In various embodiments, it may be advantageous to certain components of surgical instruments be protected to be contacted to prevent fluid.For example, making Surgical instruments can be damaged with contacting unintentionally for body fluid with period, and can limit and/or shorten the life cycle of surgical instruments.This Outside, it may be advantageous to certain components of surgical instruments be protected to be contacted to prevent the fluid of sterilization period.For example, with sterilizing and/or The contact unintentionally of cleaning fluid can damage surgical instruments, and can interfere with and/or limit the reusability of surgical instruments. In various embodiments, certain components of surgical instruments can be sealed and/or be protected to be contacted to prevent fluid.For example, in surgical instruments Electronic device salable protected in the epoxy to prevent fluid.Surgical instruments moving component (for example, motor and/ Or the part of gear assembly) can also be sealed and/or be protected to prevent fluid contact.Such sealing can for example adapt to various movement portions The rotation of part.In addition, in various embodiments, such sealing may also be advantageous for hot transmission so that during surgery instrumentation The heat of generation is relatively efficiently dissipated.

Referring now to Figure 185 and Figure 186, in certain embodiments, motor 7510 and/or gear assembly 7520 can be sealed And/or protection is to prevent the fluid during use and/or during sterilization treatment.Motor 7510 can be similar to such as motor 100, and Gear assembly 7520 can be similar to such as gear assembly 170.In order to seal and protect motor 7510, motor case (such as rubber Casing) it can be positioned on around the motor 7510 in the shell 12 (Fig. 1) of surgical instruments 10 (Fig. 1).Such gum sleeve can limit The heat of motor 7510 is transmitted, and motor 7510 can be easy to overheat.In other embodiments, referring again to Figure 185 and Figure 186, Motor case may include for example can be positioned on the clam shell covering 7516 around motor 7510.In various embodiments, clam shell covers At least two parts that cover piece 7516 may include such as articulating and/or be fastened togather.Clam shell covering 7516 can be permitted Perhaps the rotation of motor 7510 and/or motor drive shaft.In addition, in certain embodiments, clam shell covering 7516 can be conducive to wherein protect The heat for the motor 7510 held is transmitted.It for example can be used for carrying in electric current similar to the contact configuration 7512 (Figure 186) of contact configuration 210 It is supplied to motor 7510.Contact configuration 7512 may include such as anode ring contacts 7514a and cathode ring contacts 7514b (figures 186), the anode ring contacts 7514a and cathode ring contacts 7514b is for example operably connected to by clam shell covering The 7516 fixed cathode contact 7518a kept and cathode contact 7518b (Figure 186).In addition, clam shell covering 7516 may include Lip ring or washer 7519, the lip ring or washer 7519 can for example abut the periphery of motor 7510 and by horses It is sealed in clam shell covering 7516 up to 7510 and contact configuration 7512.In certain embodiments, clam shell covering 7516 can wrap Metal material is included, the heat that the metal material can for example be conducive to motor 7510 is transmitted and can prevent the overheat of motor 7410 And/or damage.

Referring also to Figure 185 and Figure 186, gear assembly 7520 can also be sealed and/or be protected to prevent using and/or sterilizing the phase Between fluid.For example, washer 7522 can be positioned between motor 7510 and the shell of gear assembly 7520 so that 7510 He of motor Gear assembly 7520 forms fluid-tight sealing.In addition, the shell that sealing sleeve pipe 7530 can surround gear assembly 7520 carries out Positioning.Sealing sleeve pipe 7530 may include that edge 7536, the edge 7536 can abut clam shell covering 7516 and/or motor 7510 To provide fluid-tight sealing between them.Sealing sleeve pipe 7530 may also include the opening 7532 for output shaft 7524. For example, the output shaft 7524 of gear assembly 7520 can extend across opening 7532, and fin 7534 may extend into output shaft 7524 to provide fluid-tight sealing while allow rotation of the output shaft 7524 in opening 7532.In various embodiments, Sealing sleeve pipe 7530 and/or its edge 7536, washer and/or fin 7534 may include rubber and/or another suitable material For forming fluid-tight sealing.In various embodiments, mounting bracket or motor holder 7540 (are similar to retainer 190) gear assembly 7520 of sealing and motor 7510 can be for example maintained in the shell 12 (Fig. 1) of surgical instruments 10 (Fig. 1).

Figure 32-37 shows another surgical instruments 910, may include many of other surgical instruments disclosed herein Feature.In at least one form, surgical instruments 910 may include being generally designated the joint motions actuating mechanism for 860, the pass Section motion actuation mechanism can be substantially similar to Zemlok ' 763, Zemlok ' 344 and/or U.S. in addition to difference described below Articulation mechanism disclosed in state's patent 7,431,188.In other constructions, surgical instruments may include as described herein Other various forms of joint motions actuating mechanisms.As it can be seen that instrument 910 includes shell 12 such as in Figure 32, the shell 12 can Cylindrical mounting portion point 90 including being equipped with rotating parts 92 thereon.The nearside of rotating parts 92 and elongated shaft assembly 16 End joins to be conducive to rotation of the elongated shaft assembly 16 relative to shell 12.Such construct allows surgeon to make elongated shaft group Part 16 surrounds longitudinal tool axis " LA-LA " with its loading unit 20 (or surgical end-effector of other forms) is connected to Selectively rotate.Rotating parts 92 can be mounted in cylindrical portions 90 non-removablely or it is designed to and it It is optionally sequestered.

As disclosed herein, according to the type and/or construction of used surgical end-effector, it may be desirable to carry electric current It is supplied to end effector.For example, the sensor, lamp, actuator etc. for needing electricity to start can be used in end effector.However, In such construct, make surgical end-effector that can be severely limited around the ability of longitudinal tool axis " LA-LA " rotation, It can be wound because power to be transported to from electric power source by elongated shaft to the conductor system of surgical end-effector or loading unit And it is seriously damaged --- especially in the case where elongated shaft has been rotated more than one turn.Various surgeries disclosed herein Instrument can be used to be generally designated manages system for 930 conductor, and the conductor management system can avoid the above problem.

Referring again to Figure 32, surgical instruments 910 can provide power by electric power source 200.Electric power source can for example with The types in greater detail of Zemlok ' 763.For example, electric power source 200 may include rechargeable battery (for example, lead base, it is Ni-based, Lithium ion base etc.).It is also contemplated that electric power source 200 may include at least one disposable battery.In at least one construction In, for example, disposable battery can be about 9 volts to about 30 volts.Figure 32 is shown in which that electric power source 200 includes multiple battery units 202 example.The quantity of battery unit used may depend on the current load requirements of instrument 910.It is also contemplated that electric work Rate source may include can be used for the alternating current source in surgical kit.For example, external power line that can be used will be exchanged with plug (not shown) Electricity is transported to various parts, conductor, sensing in surgical instruments shell and/or end effector from the outlet in surgical kit Device, switch, circuit etc..In other application, surgical instruments 910 can be from for example and it is attached or perhaps the system of robot that is connected System obtains power.

It is described leading furthermore, it can be seen that conductor management system 930 may include leading body component and line 932 such as in Figure 32 Body component and line 932 couple handing-over in other words with electric power source 200 for receiving from it power.Leading body component 932 It is connected to the spiral being supported in rotating parts 92, spool, and/or can coiled conductor component 934.In a kind of construction, for example, It includes tape conductor 936 that spiral conductor component 934 can be formed in other words by tape conductor 936, and the tape conductor 936 is with example Mode as illustrated in figures 36 and 37 is wound into spiral form.For example, spiral conductor component 934 can be by spiral-wound conductors system At the spiral-wound conductors can have the attribute similar with screw winding spring (for example, torsionspring).In a kind of form In, for example, conductor 936 can be wound into continuous turn or circle as shown in figs. 36 and 37.In various constructions, conductor 936 can be rolled up Around one or more complete turns.For example, conductor 936 shown in Figure 36 and 37 is configured to turn complete more than four.

In various forms, conductor 936 has first end 938, and the first end 938 can be for example fixed to shell 12 Cylindrical portions 90.In addition, also there is conductor 936 the second end 940, the second end 940 to be attached to rotating parts 92 It is supported by it and advances for rotating with it in other words.Therefore, when rotating parts 92 around cylindrical portions 90 along the When one rotatable direction rotates, spiral-wound conductors 936 are wound into compared with compact form.On the contrary, when rotating parts 92 are along the When two rotatable directions rotate, the tight ness rating of spiral-wound conductors 936 can reduce.Twelve Earthly Branches can be removed in rotating parts 92 wherein It supports in these configurations in cylindrical portions 90, the first end 938 of spiral-wound conductors 936 is removedly supported on cylindrical portion Divide in the slit in 90 or other installation cavitys 942.See, for example, Figure 36 and Figure 37.In addition, leading body component 932 can pass through company It connects device assembly 933 and is removably coupled to spiral conductor component 934.Specifically, dismountable connector assembly 933 can be used for by Leading body component 932 is connected to the first end 938 of spiral-wound conductors 936, to be conducive to rotating parts 92 from cylindrical portion Divide 90 removal.It is not intended in other constructions removed from cylindrical portions in wherein rotatable portion 92, spiral-wound conductors 936 First end 938 can be attached to cylindrical portions 90 non-removablely and leading body component 932 can permanently attach (example Such as, weld) arrive spiral-wound conductors 936 first end.

The second end 940 of spiral-wound conductors 936 can be by adhesive, mechanical holder, snap features etc. no It is removably attached to rotating parts 92.In alternative construction, the second ends 940 of spiral-wound conductors 936 can It is supported in the slit being provided in rotating parts 92 or other mounting characteristic structures with removing, to be conducive to from rotatable portion Divide 92 dismounting spiral-wound conductors 936.As it can be seen that asessory shaft conductor component 944 is attached to spiral cable group such as in Figure 32 and 33 The second end 940 of part 934.Asessory shaft conductor component 944 may be supported in rotating parts 92 and extend through hollow thin Long axis component 16.For example, asessory shaft conductor component 944, which may pass through elongated shaft assembly 16, extends to its distal end, with and attachment The handing-over such as other conductors, sensor, power part to it, other described conductors, sensor, power part etc. and surgical end Actuator, loading unit etc. are connected.Therefore, when clinician rotates rotating parts 92 relative to shell 12, spiral conductor Component 934, and more specifically, spiral-wound conductors 936 will be wound into slightly more close spiral, while being conducive to power It is applied to surgical end-effector, loading unit etc. from power source 200.If clinician relative to shell 12 in opposite direction Rotating parts 92 are rotated, then screw winding cable 936 will slightly solve winding, while still be conducive to power from power source 200 Various parts, the sensor etc. being applied on surgical end-effector, loading unit etc..

Furthermore, it can be seen that conductor management system 930 may also include the rotation limit being generally designated as 950 such as in Figure 34 and 35 Device assembly processed.In at least one constructs, for example, rotational limit stop component 950 includes limiter component 952, the limiter Component 952 is movably attached to rotating parts 92 and is configured to the spiral shell being threadedly engaged on the cylinder 90 of shell 12 Line part 99.Limiter 952 may include that a pair of of relative bump 954, the convex block 954 are formed on rotating parts 92 Every side of longitudinal fin part 958, as shown in figure 33.When rotating parts 92 rotate in the cylindrical portions 90 of shell 12 When, such construct allows limiter 952 to be moved axially in rotating parts 92.The opposed end 960 of limiter component 952 It is configured to be threadedly engaged the threaded portion 99 of cylinder 90.The nearside stop wall 962 of rotating parts 92 to extend internally Being used for restriction with the distal side stop wall 964 to extend internally, limiter 942 can axis when rotating parts 92 rotate on cylinder 90 To the travel distance " TD " of traveling.

Figure 33 shows the limiter of the approximately mid way between nearside stop wall 952 and distal side stop wall 954 952.When at that position, rotation of the rotating parts 92 relative to cylindrical portions 90 along first direction will lead to limiter edge The axial of distal direction " DD " is advanced, until limiter 952 contacts distal side stop wall 964, as shown in figure 34.Equally, rotatable Component 92 causes limiter 952 to be advanced along the axial direction of proximal direction " PD " relative to the rotation of cylindrical portions 90 in opposite direction, Until it contacts the nearside stop wall 962 of rotating parts 92.Thus limitation rotating parts 92 can surround cylindrical portion to this construction Divide 90 fully rotating numbers, to avoid the accidental damage of spiral conductor component 934.Face for example, limitation device assembly 950 is permissible Bed doctor makes elongated shaft assembly, and more specifically rotating parts 92 rotate at least one in either direction around cylindrical portions 90 It is a completely to turn but no more than such as three complete turn.However, revolution, or more specifically, rotating parts 92 on cylinder 90 Rotatable amount of travel can be adjusted by adjusting the size of travel distance " TD ".

Figure 33 shows that the limiter 952 in " neutrality " or " center " position, wherein limiter are centrally positioned in distal side Between stop wall 954 and nearside stop wall 952.In at least one form, at elongated shaft assembly 16 and rotating parts 92 When corresponding neutral position, biasing member 980 can be used for limiter 952 being biased to neutral position.When clinician couple can When rotating part 92 applies rotary motion, elongated shaft assembly 16 will rotate in the above described manner.However, when to 92 He of rotating parts When the rotary motion that elongated shaft assembly 16 applies is interrupted, biasing member 980 will make limiter 952 return to neutral position.

For example, at least one surgical instruments may include that shell, the shell may include rotating parts, the rotatable structure Part is supported on the installation section of shell, is rotated about for being enclosed on rotating range.Limit the elongated of longitudinal tool axis Shaft assembly is operably linked to rotating parts, advances for therewith surrounding longitudinal tool axis rotation.Surgery device Tool may also include electric power source and include conductor management system.Conductor management system may include spool conductor assembly, the volume Axis conductor assembly may be supported in rotating parts and may include the first end conductor and the second end conductor, and described first leads Body end portion is fixed to the installation section of shell, and second end conductor is fixed to rotating parts for therewith revolving Turn to rotate in range.Conductor management system may also include leading body, and the leading body can support inside the shell and be configured to Power can be transferred to spool conductor assembly from electric power source.Spindle guide body can be connected to spool conductor assembly for by electric work Rate is transferred to the distal end of elongated shaft assembly.

Another surgical instruments example may include that shell, the shell may include rotating parts, the rotating parts It is supported on the installation section of shell.Surgical instruments may also include elongated shaft assembly, and the elongated shaft assembly limits longitudinal tool Axis and rotating parts are operably linked to, advanced for therewith surrounding longitudinal tool axis rotation.Surgery Instrument may also include electric power source and the dress for the conductor by extend through elongated shaft assembly from electric power source transimission power It sets.Surgical instruments may also include following device, and described device is used to surround rotating parts the rotation amount of travel of installation section It is restricted to following rotation travel range, the rotation travel range includes complete turning and not around at least one of installation section It is complete more than three to turn.

As described herein, end effector could attach to surgical instruments.In addition as described herein, surgical instruments may include hitting Driving device is sent out, the percussion driving device is configured to from the end effector percussion nail including nail bin.Turning now to Exemplary embodiment shown in Figure 94, for example, surgical instruments 9000 may include shank 9010, the shank 9010 include shell, Grip portion 9012, the motor of percussion actuator 9014 and positioning inside the shell.Surgical instruments 9000 may also include with percussion The axis 9040 of bar 9020, the trigger shaft 9020 can be promoted towards distal side by motor and/or proximally be bounced back.In certain situations Under, end effector may include that the distal part that actuated articulation joints carry out joint motions relative to portions of proximal can be surrounded. In the case of other, end effector can not have actuated articulation joints.Surgical instruments, which may also include, to be configured to make end At least part of actuator carries out the joint motions driving device of joint motions.Referring again to exemplary implementation shown in Figure 94 Example, for example, surgical instruments 9000 may include being configured to around the distal side of actuated articulation joints drive end effector Partial articulation actuator 9070.End effector shown in Figure 94 (that is, end effector 9060) is not by chance can The end effector of joint motions；However, capableing of the end effector of joint motions can be used together with surgical instruments 9000.Such as The end effector of the non-joint motions of fruit, such as end effector 9060, are used together, then joint motions with surgical instruments 9000 The operation of actuator 9070 can not influence the operation of end effector 9060.

Further described above, end effector may include the driving system of the drive system corresponding to surgical instruments System.For example, end effector 9060 may include that firing member, the firing member can be assembled into surgery in end effector 9060 It is operatively engaged with the trigger shaft of surgical instruments 9,000 9020 when instrument.Similarly, end effector may include joint motions Driver, the articulation drive can be when end effector be assembled into surgical instruments and the joint motions bar of surgical instruments It is operatively engaged.In addition, end effector 9060 for example may include proximal connecting portion 9069, the proximal connecting portion 9069 distal sides that the axis 9040 of surgical instruments 9000 can be installed to when end effector 9060 is attached to surgical instruments 9000 connect Socket part point 9042.In all cases, before end effector can be used correctly, it may be desired to the connection of end effector Partly, the correct assembling of drive system and articulation system and surgical instruments.

Referring again to 94, shank 9010 may include firing trigger 9014, and the firing trigger 9014 is by surgery device The motor being configured to when user's actuating of tool 9000 in operation shank 9010.In all cases, shank 9010 It may include the controller for being configured to the actuating of detection firing trigger 9014.In some cases, firing trigger 9014 actuating can be closed the circuit that signal communication is carried out with controller.In such cases, controller is configured to Then operation motor is to promote trigger shaft 9020 towards distal side and the jaw 9062 of end effector 9060 is made to be transported towards jaw 9064 It is dynamic.In some cases, shank 9010 may include that at least one sensor, the sensor can detect and be applied to firing trigger The angle of 9014 power and/or firing trigger 9014 movement.One or more sensors can carry out signal communication with controller, Wherein controller is configured to adjust the speed of motor based on one or more input signals from sensor.Handle Portion 9010 may include that safety switch 9015, the safety switch 9015 can need to will be responsive to come from firing trigger in controller 9014 input is depressed before to operate motor.In all cases, it is logical can to carry out signal with controller for safety switch 9015 Letter, wherein controller can electronic locking motor use, until safety switch 9015 is depressed.Shank 9010 may also include retraction Actuator 9074, the retraction actuator 9074 can cause motor to operate in opposite direction at the time of activation, be connected with retraction percussion 9020 and allow jaw 9062 far from jaw 9064 move.In all cases, the actuating of retraction actuator 9074 can be closed The circuit of signal communication is carried out with controller.In some cases, safety switch 9015 can need to will be responsive to come in controller It is depressed before its reverse phase reverse operation motor from the input of retraction actuator 9074.

Before the use of surgical instruments 9000 and/or period, surgical instruments 9000 and/or surgical instruments 9000 it is certain System can fail, is invalid and/or defective.In some cases, such defect and/or solve its mode can be for surgery device The user of tool is not apparent, so as to cause user to fail.In addition, such uncertainty can increase solution defect Or the time needed for " mistake ".Surgical instruments 9000 improves the above situation.Referring again to Figure 94, surgical instruments 9000 Controller is configured to the mistake of detection surgical instruments 9000 and passes the mistake via one or more indicators Give the user of surgical instruments 9000.Surgical instruments 9000 may include one or more indicators, one or more of fingers Show that device may indicate that the property of mistake when being started by controller and in other words to pay attention to user defective in some aspects Surgical instruments 9000 system.For example, surgical instruments 9000 may include that end effector indicator 9086, the end execute Device indicator 9086 is configured to such as instruction end effector also unassembled axis 9040 to surgical instruments 9010.Each In the case of kind, surgical instruments 9000 may include when sensor, the sensor are configured to detection end effector Have been assembled to axis 9040 and/or can accordingly detect end effector when also it is unassembled arrive axis 9040.Sensor can Signal communication is carried out with controller so that controller can receive the signal from sensor and whether find out end effector It is assembled into axis 9040.If controller is found out, end effector is also unassembled to arrive axis 9040, and controller may be actuated end and execute Device indicator 9086.In all cases, end effector indicator 9086 may include lamp, such as red light.In some cases, End effector indicator 9086 may include light emitting diode, such as red light emitting diodes.In addition to or replace it is described above, outside Section's instrument 9000 may include that the sensor that signal communication is carried out with controller, the controller are configured to detection attachment When end effector to axis 9040 had previously had been used.It is stored in for example, sensors with auxiliary electrode is configured to find out At least some nails in end effector have been fired and/or have been configured to find out the percussion structure of the nail in end effector Part had previously been pushed into.In this case, end effector indicator 9086 may be actuated in controller.Therefore, end effector The startup of indicator 9086 can be signaled to the user of surgical instruments 9000 in the presence of more relevant with end effector Mistake and such mistake should or must solve before operating surgical instruments 9000.Reader will be appreciated that from Figure 94, End effector indicator 9086 is adjacent with the distal end of axis 9040, and can be located in axis 9040 in all cases On or near distal connecting portion 9042.In all cases, end effector indicator 9086 can be located in end and hold On row device 9060.Under any circumstance, when end effector indicator 9086 is lit, due to described above, surgical instruments 9000 user can rapidly find out related with end effector in some aspects in the presence of wrong and mistake.End effector Lighting for indicator 9086 can indicate that end effector can not be fully assembled to axis 9040 and/or end is executed to user Device can need to be replaced.

In addition to or instead of end effector indicator 9086, surgical instruments may include one or more indicators.For example, outer Section's instrument 9000 may include firing trigger indicator 9081.Firing trigger indicator 9081 can be with the control of surgical instruments 9000 Device processed carries out signal communication so that when controller detects the relevant mistake of percussion driving device for example with surgical instruments 9000 When, controller can start firing trigger indicator 9081.As shown in Figure 94, firing trigger indicator 9081, which can be positioned on, hits It sends out near trigger 9014.In this case, the user of surgical instruments 9000 is observing firing trigger indicator When 9081 actuating, it can be inferred that having occurred relevant wrong with percussion driving device and diagnostic error source can be started.One In the case of a little, for example, when the battery of surgical instruments 9000 is defective in some aspects, controller can start firing trigger Indicator 9081.For example, if the voltage of battery is less than required level, such as battery can not can in a desired manner operate horse It reaches and firing trigger indicator 9081 may indicate that and need to replace battery.In all cases, when controller illuminating indicators When (such as end effector indicator 9086 and/or firing trigger indicator 9081), controller can currently cause surgery device One or more operating systems of tool 9000 cannot operate.For example, working as end effector indicator 9086 and/or firing trigger When indicator 9081 is for example lit, controller is configured to that firing trigger 9014 is made operationally to take off with motor From so that the actuating of firing trigger 9014 does not operate motor.Firing trigger 9014 is de- with such operability of motor Surgical instruments should be checked from also wrong and user can have been undergone to the user of surgical instruments 9000 instruction surgical instruments 9000 indicator is to find out the property of the mistake.

Referring again to the exemplary embodiment of Figure 94, surgical instruments 9000 may include being located near retraction actuator 9074 Retraction actuator indicator 9085.Similarly as described above, retraction actuator indicator 9085 can carry out signal with controller Communication, wherein when the controller detects that for example with retraction the relevant mistake of driving device, then controller can light retraction actuating Device indicator 9085.In all cases, if actuating bounce back actuator 9074 before non-depressed safety switch 9015, control Device processed can light retraction actuator indicator 9085.In such cases, retraction actuator indicator 9085 can be used as pressure peace The prompting device of full switch 9015.In some cases, surgical instruments 9000 may include being located in the peace near safety switch 9015 Full switch indicator 9082.In some cases, retraction actuator is activated before activating safety switch 9015 as user When 9074, the controller of surgical instruments 9000 can light safety switch indicator 9082.Safety switch indicator 9082 can be with control Device processed carries out signal communication, wherein when the controller detects that for example trigger system cannot be between percussion pattern and collapsed mode Switching, then controller can light safety switch indicator 9082.Surgical instruments 9000 may include being located in articulation actuator Articulation actuator indicator 9084 near 9070.Similarly as described above, articulation actuator indicator 9084 can With controller carry out signal communication, wherein when the controller detects that for example with the relevant mistake of joint motions driving device, then Controller can light articulation actuator indicator 9084.Surgical instruments 9000 may include being located in the axis near axis connection portion Indicator 9083, the axis connection portion are configured to axis 9040 being attached to shank 9010.Similarly as described above, axis refers to Show device 9083 can with controller carry out signal communication, wherein when the controller detects that for example with 9040 relevant mistake of axis, then Controller can light axis indicator 9083.

Turning now to Figure 95, surgical instruments 9100 may include the shank 9110 with 9190 array of indicator, the instruction 9190 array of device is configured to and operable may be present and surgical instruments to the user of surgical instruments 9100 instruction 9100 and/or and the relevant one or more mistakes of its end effector for being attached.9190 array of indicator can be with any suitable Mode be arranged.In all cases, 9190 array of indicator can be arranged to such as surgical instruments 9100 and/or and its The shape or approximate shapes of the end effector of attachment.For example it may include in the outer surface of at least one, shank 9110 Surgical instruments 9100 and/or be attached to surgical instruments end effector diagram.9190 array of indicator can be relative to surgery The profile of instrument and end effector proceeds as follows arrangement, the mode be configured to convey positive experience mistake, It has undergone mistake, and/or can need to assess with the surgical instruments 9100 of solving error and/or a part for end effector.Example Such as, which can be divided in order to show end effector 9060, axis 9040, shank 9010, firing trigger 9014, safety switch 9015, reversed actuator 9074, and/or articulation actuator 9070.In all cases, for example, end effector indicates Device 9192 can be positioned near the diagram of end effector 9060, and axis indicator 9193 can be positioned near the diagram of axis 9040, Firing trigger indicator 9191 can be positioned near the diagram of firing trigger 9014, and safety switch indicator 9195 can position Near the diagram of safety switch 9015, the diagram that reversed actuator indicator 9196 can be positioned on reversed actuator 9074 is attached Closely and/or articulation actuator indicator 9194 can be positioned near the diagram of articulation actuator 9070.Each In the case of kind, each of indicator 9191,9192,9193,9194,9195, and/or 9196 may include light emitting diode. Under some cases, each light emitting diode may include that red light emitting diodes, the red light emitting diodes can be by controller points The bright presence with instruction mistake.In all cases, controller is configured to lighting for pulsed light emission diode, this can Reduce short user and recognizes that indicator has been lit the required time.In some cases, each indicator may include to send out Go out the light emitting diode of more than one color.In some cases, each such light emitting diode is configured to for example Selectively transmitting is red and green.If be not detected and surgical instruments 9100 and/or and its end effector being attached The relevant mistake of relevant portion, then controller be configured to light light emitting diode using green, or alternatively, such as Fruit detect and surgical instruments 9100 and/or and its end effector being attached the relevant mistake of relevant portion, then controller It is configured to light light emitting diode using red.

In some cases, following article is further described in more detail, such as when controller is lighted and the relevant finger of actuator When showing device, one or more of the actuator of the controller lockable surgical instruments of surgical instruments 9000, such as percussion triggering Device 9014, retraction actuator 9074, and/or articulation actuator 9070.For example, controller can refer to lighting firing trigger Firing trigger 9014 is locked when showing device 9081, retraction actuator can be locked when lighting retraction actuator indicator 9085 9074, and/or articulation actuator 9070 can be locked when lighting articulation actuator indicator 9084.Surgery device The shank 9010 of tool 9000 for example may include that firing trigger is locked, and the firing trigger lock is configured to selectively " locking " firing trigger 9014 and firing trigger 9014 is prevented to activated.Firing trigger lock can prevent firing trigger 9014 are fully activated to operate the motor of surgical instruments.Such at least one, firing trigger 9014 can quilt It prevents to be closed firing trigger switch.In some cases, the controller of surgical instruments 9000 is in addition to actuating firing trigger lock Except be also configured to that its electronic locking firing trigger 9014 can be made, that is, prevent to provide the power of battery to motor. In the case of such, electronic locking and mechanical caging can be redundancy；However, mechanical caging can be to the user of surgical instruments 9000 The percussion feedback that driving device has operationally been deactivated is provided.As described above, the controller of surgical instruments 9000 can also be such as Feedback is provided by firing trigger indicator 9081.In this way, it can be provided to the user of surgical instruments 9000 The touch feedback and/or visual feedback of mistake occurs.In some cases, touch feedback can prompt the use of surgical instruments 9000 Person is to start to search for visual feedback.For example, user can attempt actuating firing trigger 9014, and touched percussion cannot be activated When sending out device 9014, user then can check the indicator of the instrument lighted.Under any circumstance, once mistake is solved Certainly, controller can unlock firing trigger 9014 by deactivating firing trigger lock.

Turning now to Figure 100, surgical instruments 9000 may include being configured to hitting for locking firing trigger 9014 Send out trigger lock 9390.Firing trigger is locked shown in 9390 lock-out states and Figure 102 shown in Figure 100,101 and 103 Unlocked state between move.When the unassembled axis 9040 to surgical instruments 9000 of end effector, firing trigger lock 9390 can be biased to its lock-out state.In this locked condition, firing trigger lock 9330 can be prevented or at least substantially be prevented The actuating of firing trigger 9014.More specifically, firing trigger lock 9390 may include bracing strut 9391,9392 and of pinion gear Shank holder 9393 and biasing member (such as spring), the biasing member are configured to bias bracing strut 9391 It is biased to down position to proximal position and by shank holder 9393.The proximal position and shank holder 9393 of bracing strut 9391 Down position be shown in Figure 101.Referring primarily to Figure 101, shank holder 9393 may include hole 9396 and firing trigger 9014 may include protruding portion 9395, the protruding portion 9395 when shank holder is in its down position, protruding portion 9395 not with Hole 9396 is aligned.More specifically, firing trigger 9014 may include the rocker switch with fulcrum 9397, wherein when shank holder 9393 be in its down position when, the shake of firing trigger 9014 will cause to extend from firing trigger 9014 at least one Protruding portion 9395 abuts shank holder 9393 and firing trigger 9014 is prevented to be fully actuated.

When end effector is attached to axis 9040, further described above, firing trigger lock 9390 can be It is moved between its locked configuration and its unlocked configuration.In the unlocked configuration of firing trigger lock 9390, referring primarily to Figure 102, Shank holder 9393 can be at its upward position.In the upward position of shank holder 9393, it is limited in shank holder 9393 Hole 9396 be aligned with the protruding portion 9395 extended from firing trigger 9014.In such cases, firing trigger can be shaken 9014 to activate firing trigger 9014.More specifically, protruding portion 9395 may pass through hole 9396, to allow firing trigger 9014 Around the shake of fulcrum 9397.Therefore, according to described above, shank holder 9393 is between its down position and upward position Movement locks and unlocks respectively firing trigger 9014.Various mechanisms can be used making shank holder 9393 in its down position and It is moved between its upward position.In at least one such embodiment, referring again to Figure 100, axis 9040 may include percussion locking Actuator 9399, the percussion locking actuator 9399 can pass through end effector court when end effector is assembled into axis 9040 Nearside shifts.Bracing strut 9391 can be mounted and/or can be extended proximally from percussion locking actuator 9399, and can wrap Include the tooth 9391a limited thereon.Tooth 9391a can be engaged with the tooth 9392a being defined in pinion gear 9392 so that when hitting When hair locking actuator 9399 and bracing strut 9391 proximally shift, pinion gear 9392, which can enclose, to be rotated about the axis.Accordingly, shank Holder 9393 may include the bracket teeth 9393a of restriction thereon, and the bracket teeth 9393a, which is also engaged with pinion gear teeth 9392a, to be connect It closes, therefore, when present dynasty's proximate drive shaft holder 9391, shank holder 9393 can drive from its down position to its upward position, Thus firing trigger 9014 is unlocked.In order to make shank holder 9393 return to its down position, bracing strut can be moved toward the far side 9391 so that pinion gear 9392 rotates in mutually opposite directions.In all cases, bracing strut 9391 can be because end effector be from axis 9040 dismantle and move toward the far side.

Turning now to Figure 96-97, shank 9010 for example may include trigger lock 9290.Trigger lock 9290 may include shell 9291, locking pin 9292, retainer 9293 and biasing member 9294 can be disposed, the biasing member 9294 is configured to Make to move between deployed position shown in locking pin 9294 non-deployed position and Figure 97 and Figure 99 shown in Figure 96 and Figure 98. In the case of various, retainer 9293 can be made of the temperature-sensitive material being influenced by heat.In at least one such, temperature Sensitive material is for example configured between solid and fluid (for example, liquid, suspension, and/or gas) and/or example Change such as between solid material and semisolid material.When temperature-sensitive material changes or at least partly between solid and liquid When ground changes, 9293 releasable lock rationed marketing 9294 of retainer, to lock firing trigger and/or any other conjunction of shank 9010 Suitable trigger.In all cases, locking pin 9294 can slide backward when being disposed and/or otherwise engage percussion Trigger.Shank can be such as including any appropriate number of trigger lock 9290, selectively to lock any suitable quantity Trigger and/or button.Reader will be appreciated that trigger lock 9290 can be not reducible.In such cases, actuating Trigger lock 9290 can permanently lock the firing trigger of such as shank, so that the instrument can be no longer used.The device The permanent locking of the firing trigger of tool and/or any other trigger can refer to the instrument can not be made again anyway With and in other cases, permanent locking is not easy to reset and the instrument can be needed to be sent to for example have money The technical staff of lattice or mechanism, the technical staff or mechanism can be evaluated the instrument whether should overhaul and reuse or Whether the instrument should be dropped.When the heat-sensitive material of retainer 9293 has been at least partially converted into fluid, technology people Member can be assumed that the instrument is exposed to the temperature of the transition temperature more than thermo-sensitive material.In all cases, for example, thermo-sensitive material Transition temperature can be the solid material temperature for example dissolving, evaporate, and/or distil.Under any circumstance, retainer may be selected 9293 heat-sensitive material and transition temperature, so that the release of locking pin 9294 may indicate that surgical instruments has been exposed to is more than Specific or threshold temperature temperature.In all cases, it if surgical instruments is exposed to excessively high temperature, can damage.Example Such as, surgical instruments includes such as solid electronic device, and the solid electronic device can be damaged when being exposed to such excessive temperature. In such cases, the transition temperature of the threshold temperature of instrument and retainer 9293 can be equal or at least substantially equal, wherein Thus, it is assumed that instrument is also not exposed to the temperature more than threshold temperature when trigger lock 9290 does not activate also, and it is corresponding Ground, when trigger lock 9290 has activated, instrument has been exposed to the temperature more than threshold temperature, and thus surgical instruments can be Damage can at least need to assess whether it has damaged.

Further described above, when sterilizing to surgical instruments, surgical instruments can be exposed to more than threshold value The temperature of temperature and/or transition temperature.Many sterilization process are known, wherein several sterilization process include that surgical instruments is sudden and violent It is exposed to the step of heat.In addition to or replace trigger lock 3290, surgical instruments to may include at least one temperature sensor, it is described at least One temperature sensor can assess the temperature that surgical instruments is subjected to.In all cases, temperature sensor can be with surgical instruments Controller carry out signal communication, to be configured to evaluation surgical instruments whether be exposed to more than threshold temperature Temperature.Such at least one, controller may include that the microprocessor from temperature sensor received signal can be assessed Device and algorithm.If the controller determine that having reached and/or being more than threshold temperature, then controller can permanently prevent the instrument It is operated.In other words, controller can apply electronic locking to surgical instruments.It is similarly as described above, the permanent lock of instrument Surely can refer to the instrument can not be used again anyway, and in other cases, permanent locking can be to be not easy In reset and the instrument can be needed to be sent to for example qualified technical staff or mechanism, the technical staff or mechanism Can be evaluated whether the instrument should be overhauled and be reused or whether the instrument should be dropped.Reader will be appreciated that, when When surgical instruments is sterilized, it may be desired to which power source operates the controller and/or sensor of surgical instruments.If surgical instruments Dry embodiment is included in removable battery or power source to being removed before surgery apparatus sterilizing, wherein in such cases, it can Individually is sterilized and/or reprocessed to battery can be removed.Reader will be appreciated that, once power source can be removed from these elder generations Preceding instrument removal, controller and/or sensor can monitor the temperature of surgical instruments without enough power.Institute is public herein The embodiment for the surgical instruments opened may include battery or power source, and the battery or power source are when being reprocessed not from surgery Instrument removes.Such battery can be described as permanent battery, because it device and/or temperature can be passed in order to control when instrument is sterilized Sensor provides power.In all cases, including the instrument of permanent battery may also include it is removable and/or rechargeable Battery.Under any circumstance, instrument can have enough power to detect and record the temperature that the instrument is subjected to.At least one In the case of kind, the controller of instrument may include that memory chip, the memory chip are configured to deposit temperature reading Storage is in such as temperature register.In all cases, controller can intermittently (that is, with sampling rate appropriate) record come from The reading of sensor.In some cases, controller is configured to so that when the temperature higher than specific temperature is recorded in it When degree reading (even below threshold temperature), controller can increase sampling rate.Accordingly, controller is configured to make It is proper its then when the temperature reading less than specific temperature is recorded, controller can reduce sampling rate, such as back at the beginning of it Beginning sampling rate.

Turning now to Figure 99 A, the algorithm for controller is shown.In some cases, this algorithm may include for example existing Startup program when surgical instruments has been subjected to using for the first time after sterilization treatment for surgical instruments.Startup program can instrument Start after opening.When end effector is assembled into instrument, instrument can be opened automatically.It is such at least one, The assembling of end effector and surgical instruments can be closed the switch that signal communication is carried out with controller.In addition to or instead of institute above State, instrument can on such as shank button and/or switch be depressed when open.Under any circumstance, controller then can be commented Estimate the temperature reading being stored in memory chip, as described above.For example, controller can be assessed in stored temperature reading Whether any one is equal to or more than threshold temperature.If the controller determine that the temperature reading all stored is less than threshold temperature, then Controller can continue its normal start-up procedure.If the controller determine that the temperature reading of one or more storages equals or exceeds threshold It is worth temperature, then controller can continue alternative program.In at least one, controller can be for example by implementing electronic locking And/or mechanical caging is permanently disabled the instrument, the application elsewhere as described in.In some other cases, controller Permissible instrument is used, even if controller has determined that the temperature reading of one or more storages equals or exceeds threshold temperature. The definitive result can be stored in its memory and/or by display (such as light emitting diode) to using by controller Person's instruction has previously been more than threshold temperature and has continued thereafter with its normal start-up procedure.In all cases, controller can be by threshold It is worth temperature as bare maximum, that is, be enough to trigger alternative startup journey equal to or higher than the single temperature reading of threshold temperature Sequence permanently locks the instrument.In other cases, for example, controller be configured to assessment be equal to or higher than Whether the temperature reading pattern of threshold temperature is enough to trigger alternative startup program or permanently locks the instrument, because of the time Can be whether instrument be involved the factor in the sterilization process the considerations of with temperature.

Turning now to 104-109, surgical instruments (such as surgical instruments 9000) may include shank 9410, the shank 9410 Including firing trigger locking system 9490.Shank 9410 is similar to shank 9110 in many aspects, and these aspects are at this It is repeated no more for simplicity in text.Similarly as described above, firing trigger locking system 9490 is configured to lock Fixed and unlock firing trigger 9414.Otherwise similar to described above, firing trigger locking system 9490 can be executed in end It is biased to lock-out state (as shown in Figure 104-107) when the unassembled axis 9040 to surgical instruments of device, and in end effector Unlocked state is moved to when being fully assembled to axis 9040 (as shown in Figure 108 and 109).Further described above, main Referring to Figure 108 and Figure 109, when end effector is assembled into axis 9040, end effector can proximally push sensing member 9499.Sensing member 9499 may pass through axis 9040 and extend to its proximal end from the distal end of axis 9040.In use, work as end When portion's actuator is assembled into axis 9040, end effector can abut the distal end of sensing member 9499 and proximally push sense Component 9499 is surveyed, as described above.As shown in Figure 108 and Figure 109, when proximally pushing sensing member 9499, sensing member The swing arm 9486 of 9499 accessible firing trigger locking systems 9490 and swing arm 9486 is made to rotate up.Swing arm 9486 may include that the end that shank shell is pivotally mounted to via pin 9487, the pin 9487 are configured to allow to put Swing arm 9486, which encloses, to be rotated about the axis.Swing arm 9486 may also include the cam follower portion that can be sensed the contact of component 9499 9488.In use, sensing member 9499 can be such that swing arm 9486 is moved between down position and upward position, to make to hit Hair trigger locking system 9490 moves between locked and unlocked positions respectively.Firing trigger locking system 9490 is also May include the locking pin 9485 for being installed to swing arm 9486, the locking pin 9485 when swing arm 9486 rotates up can by Upper drawing, and can be correspondingly urged downwardly when swing arm 9486 is rotated down.Locking pin 9485 may include pivotally pacifying It is attached to the upper end of swing arm 9486 and is extended through when locking pin 9485 is in its down position and be limited to firing trigger The lower end in the hole 9483 in 9481.In all cases, hole 9483 can be limited to the arm 9482 extended from firing trigger 9414 In.When locking pin 9485 is located in hole 9483, firing trigger 9414 can not surround its fulcrum 9484 and pivot, and therefore Firing trigger 9414 can not be actuated by the user.When locking pin 9485 is in its upward position, locking pin 9485 can not be determined Position is in hole 9483, and therefore firing trigger 9414 can be actuated by the user.When end effector is dismantled from axis 9040, Sensing member 9499 can move to its distal position from its proximal position.In other words, if there is no being attached to axis 9040 End effector, then biasing member (such as spring 9489) can be by 9486 biased downward of swing arm, and therefore triggers percussion Device locking system 9490 is biased to its lock-out state.In addition, when end effector it is unassembled to axis 9040 when, spring 9489 can lead to Arm 9482 is crossed bias force is applied to sensing member 9499 and pushes sensing member 9499 towards distal side.

Further described above, the operation of sensing member 9499 and firing trigger locking system 9490 can be used for It is communicated with the user of surgical instruments.For example, when end effector it is unassembled to axis 9040 when, sensing member 9499 is by towards distal side It biases and firing trigger 9414 will be locked, wherein if user attempts actuating firing trigger 9414, user will Rapidly recognize that mistake may be present in the trigger system of surgical instruments.In this example, user will rapidly recognize end Actuator needs to be assembled into axis 9040 to use surgical instruments.In all cases, if end effector is (although attachment To axis 9040) it has been used, then firing trigger can be locked.Such at least one, end effector may include Firing member, the firing member can be towards close if being located in its nearest side position when end effector is assembled into axis 9040 Side pushes sensing member；However, if this firing member promotes at least partly when end effector is assembled into axis 9040, Then sensing member can not be pushed proximally and therefore firing trigger can keep locking.Equally, such firing trigger lock Surely percussion driving device can be conveyed to user, and there are problems；That is, in this case, end effector has been used.If There is no such tactile lock, then user will undergo following situations, wherein they can press actuator but surgical instruments not The actuator pressed is responded, so as to lead to obscuring for user.

As described above, the end effector not fired previously, which is assembled into axis 9040, can proximally push sensing member, with Unlock firing trigger.In all cases, sensing member and firing trigger locking system are configured to so that hitting Hair trigger is not unlocked, until end effector is fully assembled to axis 9040.If end effector is only partially assembled into 9040, then sensing member can not sufficiently not shifted to unlock firing trigger.Equally, the locking of such firing trigger can be to making User conveys percussion driving device, and there are problems；That is, in this case, end effector is not fully assembled to axis 9040 also.

As described herein, surgical instruments can be assembled in end effector, and the surgical instruments may include being configured to Identify the controller of end effector.In some cases, when controller is activated, controller is configured to evaluate The mark of end effector.In some cases, turning now to Figure 176, when battery is inserted into shank, controller can be opened It is dynamic.In addition to or replace it is described above, when controller is activated, controller be configured to evaluation surgical instruments shape State.For example, controller be configured to the position of enclosed member of evaluation closed system, trigger system firing member The position of the articulation member of position, and/or articulation system.In some cases, surgical instruments may include absolutely fixed Level sensor is to detect the position of firing member.Sensors with auxiliary electrode be disclosed in submit on March 14th, 2013 it is entitled The U.S. Patent Application Serial of ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE In 13/803,097, the complete disclosure of the patent application is herein incorporated by reference.In some cases, surgical instruments It may include end of travel register.Such end of travel register may include mechanical switch, counter and/or trigger；And/or Electronic switch, counter and/or the trigger including being stored in the data in nonvolatile memory.In such embodiments, Controller can estimate whether previous firing schedule is completed.Such embodiment can be beneficial in several cases.For example, control Device can unexpectedly disconnect in surgical procedures and lose power in other words, and when controller is restarted, controller is not Can estimate the instrument whether be for the first time initialization or the instrument whether be in previous firing schedule middle part.End of travel is deposited Device can help to controller and distinguish both of these case.In addition, not by the power loss of instrument or interruption cause lose or reset End of travel register allows whether controller estimation surgical instruments has lost power during firing schedule.If controller Determine that previous firing schedule does not complete also, then controller is configured to：One, allow to provide power to motor to complete Firing schedule, and/or, two, allow to provide power to motor so that firing member, enclosed member and/or joint motions Component retracts to its starting or unactuated position.In all cases, controller can provide continuation to the user of surgical instruments Firing schedule makes the mechanical system of instrument and/or electronic system return to its initial or unactuated position option.Such In embodiment, surgical instruments can not make these systems automatically return to its initial or unactuated position.Under any circumstance, one Denier surgical instruments be in its starting or unactuated state, the end effector previously fired can from surgical instruments dismantle and/ Or the end effector not fired can be assembled into surgical instruments.In all cases, as described herein, surgical instruments can be with The end effector that identification does not fire is identified or at least attempted afterwards.

Turning now to Figure 177, the controller of surgical instruments can perform the deagnostic test of instrument and/or battery.For example, controlling When device processed starts, surgical instruments can assess the temperature for the threshold temperature whether surgical instruments has been exposed to more than surgical instruments, such as It is described herein.In addition, for example, surgical instruments can assess available power, voltage, and/or the electric current of battery, equally such as this paper institutes It states.If instrument cannot can not provide power to motor, object by one or more of these diagnostic tests, controller Reason ground locks instrument and/or indicates such failure to the user of surgical instruments.In such cases, instrument can be by this Class failure record is in its memory so that test data can help to technical staff and assess instrument later.Assuming that instrument passes through These diagnostic tests, then similarly as described above, instrument also can record and pass through the relevant test data of diagnostic test.Any In the case of, whether instrument then can continue to assess instrument in starting or unactuated state and the mark for evaluating end effector Know.As described herein, the program of end effector for identification is disclosed.There is disclosed herein held for evaluating " intelligence " end Whether row device or " stupid " end effector are attached to the program of surgical instruments.In all cases, " intelligence " end effector Can be following end effector, at least part of parameter and/or operation sequence can be supplied to surgery by the end effector Instrument is using the part as identification process." intelligence " end effector can be to try to identify that surgical instruments uses end effector Mode end effector.In some cases, " stupid " end effector is not identify that it will be with surgery in any way The mode that instrument is used together.It is summarized in Figure 178 according to exemplary operation program above.

As described herein, battery can be used for providing power to surgical instruments.In all cases, surgical instruments and/or electricity Pond is configured to whether evaluation battery can be supplied to surgical instruments to execute one or more functions by enough power. In some cases, surgical instruments and/or battery are configured to indicate that battery has foot to the user of surgical instruments Enough power is to execute one or more functions.Figure 179 shows the circuit for the voltage for being configured to instruction battery.It is such Circuit may be present in surgical instruments and/or battery.Under either case in both cases, circuit may include may indicate that can be by Multiple indicators of electricity, voltage, and/or power that battery provides.For example, circuit may include three indicators, described three Indicator includes：Instruction battery is configured to include the first indicator of at least first voltage, be configured to indicate Battery includes the second indicator of at least second voltage and is configured to indicate the third that battery includes at least tertiary voltage Indicator.As shown in Figure 179, circuit 12100 may include being arranged to the first indicator circuit 12110, second being connected in parallel to each other Indicator circuit 12120 and third indicator circuit 12130.When switch 12101 is closed, the potential from battery can apply In indicator circuit 12110,12120 and 12130 both ends.First indicator circuit 12110 may include Zener diode 12111, Light emitting diode 12112 and resistor R1 12113.Similarly, the second indicator circuit 12120 may include Zener diode 12121, light emitting diode 12122 and resistor R2 12123, and third indicator circuit 12130 may include two pole of Zener Pipe 12131, light emitting diode 12132 and resistor R3 12133.Zener diode 12111,12121 and 12131 can be respective With different breakdown voltages.For example, the first Zener diode 12111 can be with the breakdown voltage of such as 11.5V, the second Zener Diode 12121 can be with the breakdown voltage of such as 10V, and third Zener diode 12131 can be with the breakdown of such as 8V Voltage.In such embodiments, if the voltage of battery is greater than or equal to 11.5V, LED 12112,12122 and 12132 will It is lit.Lighting for whole LED can indicate battery with Full Charge Capacity and/or at least enough to the user of surgical instruments Electricity is to execute any function needed for surgical instruments.If the voltage of battery is greater than or equal to 10V, but is less than 11.5V, then LED 12112 and 12122 will be lit；However, LED 12132 will not be lit.LED's 12112 and 12122 lights and LED 12132 do not light can indicate that battery has less than Full Charge Capacity but at least enough electricity are to execute to the user of surgical instruments Any function needed for surgical instruments.If the voltage of battery is greater than or equal to 8V, but is less than 10V, then LED 12112 will be by point It is bright；However, LED 12122 and 12132 will not be lit.Lighting for LED12112 and not lighting for LED 12122 and 12132 can To the user of surgical instruments indicate battery just close to the terminal of its electricity and can have or can not have enough electricity with Execute certain functions needed for surgical instruments.This display of LED may indicate that battery can need to be replaced.If the electricity of battery Pressure is less than 8V, and any of LED 12112,12122 and 12132 will not be lit.This display of LED may indicate that electricity Pond cannot be used for securely executing any function of surgical instruments.Although three indicator circuits 12110 of the use of circuit 12100, 12120 and 12130, but circuit may include that more than three indicator circuit, the more than three indicator circuit include having not With the Zener diode of breakdown voltage.Such embodiment can for example provide the relatively fine grade instruction of the voltage of battery.It is contemplated that To the other embodiment for using only two indicator circuits.

In all cases, battery may include that circuit, the circuit are configured to instruction battery and are electrically charged and/or have There are enough electricity so that it can be used together with surgical instruments.In some cases, surgical instruments may include circuit, the electricity Road is configured to indicate that the battery for being attached to surgical instruments is electrically charged and/or with enough electricity so that it can be with surgery Instrument is used together.Under either case in both cases, turning now to Figure 180, circuit 12200 may include microprocessor 12201, the microprocessor 12201 includes one or more gate poles with cell communication, and the battery can be such as 9V batteries. Circuit 12200 may also include capacitor 12202, such as 10 microfarad capacitors, and the capacitor 12202 can be from including diode 12203 and resistor 12204 circuit receive power.Circuit 12200 may also include in the discharge path of capacitor 12202 LED 12205 and resistor 12206.Such circuit can lead to 12205 intermittent pulsation of LED, and precondition, which is battery, to incite somebody to action Enough power is provided to circuit 12200.In such cases, user can recognize that the LED 12205 of pulsation and will be appreciated by Battery has at least some power (even if not having enough power) that will be used together with surgical instruments.If user is not It is pulsation to recognize LED 12205, then user may be assumed that battery lacks enough power to be used.

In all cases, as described herein and referring to Figure 28 4, it battery and/or is configured to together with battery The surgical instruments used may include that diagnostic circuit, the diagnostic circuit are configured to the available power of assessment battery, electricity Pressure, and/or electric current.Turning now to Figure 184, Battery Diagnostic circuit 12300 is disclosed.Such circuit is configured to assess During being used together before surgical instruments is used together, just with surgical instruments, and/or it has been used together with surgical instruments Battery afterwards.In all cases, battery can be used more than one, and in all cases, battery can be rechargeable Or it is non-rechargeable.The use of battery and the information obtained during the diagnostic assessment of battery can be stored in battery and/or In memory chip in surgical instruments.Figure 183 shows information table 12400, and the representative of described information table 12400, which is recordable in, deposits The type of information on memory chip.For example, recordable access times.For using every time, for example, the charging of recordable battery or The maximum voltage and/or maximum current recharged.For using every time, for example, the recordable current capacity being subjected to during use, The electric current that is used with mA, with the Ah electric currents used, and/or minimum voltage.For using every time, for example, recordable battery charging Time, battery use time, charging when battery temperature, and/or battery when using temperature.These are only that can deposit Some examples of the information of storage.In all cases, this type of information can be used to assess for example in surgical instruments and/or technical staff The applicability that the prior performance and/or battery of battery are used further.

In all cases, it may include circuit turning now to Figure 182, battery and with the surgical instruments that battery is used together, The circuit, which is used to once drop below minimum charge level in the electricity of battery, is switched off battery.In some cases, lithium Ion battery cell can have hot accident if the use under minimum charge level, and prevent battery in the minimum electricity The cut-out circuit used under level can prevent such hot accident from occurring.

In all cases, turning now to Figure 181, surgical instruments may include that controller, the controller are adapted to It enough executes instrument and/or is assembled into the deagnostic test of its battery.For example, controller may include clock and memory chip, institute Memory chip is stated to be configured to assess and record when instrument and/or battery have been used.In some cases, if Instrument and/or battery have the long time away from its last time usage time, then controller be configured to disable the instrument and/ Or battery.In some cases, instrument and/or battery may include one or more sensors, one or more of sensors Sensor be configured to assessment instrument and/or battery various states, such as temperature, humidity, and/or instrument and/or Battery is exposed to the time of the temperature and/or humidity.Controller is configured to whether assessment sensor correctly operates, And if it is not, then controller can disable the instrument and/or battery.Controller be also configured to can to assess instrument and/ Or the used number of battery, and if using more than specific quantity, disable the instrument and/or battery.Controller may be used also It is configured to the assessment available power of battery, as described herein, and if available power is insufficient, disables the instrument And/or battery.

As described herein, surgical instruments may include the various sensings for acquiring feedback and/or other instrument status informations Device.In addition, surgical instruments may include for that will feed back and/or instrument status information is supplied to the organoleptic indicator of user. In some cases, endoscope can be used in combination with surgical instruments, and additional feedback and/or instrument status information, which are supplied to, to be made User.As described herein, for example, endoscope and surgical instruments can carry out signal communication with display, the display can be shown The feedback of sensor from endoscope and/or from surgical instruments.Referring now to Figure 75-93, endoscope 5018 (Figure 93) can Signal communication is carried out with display 5002 (Figure 75).In certain embodiments, display 5002 may include such as head-up display (HUD) and/or video-frequency monitor.In addition, display 5002 can be such as plasma screen, LCD screen or electroluminescence screen Curtain.In various embodiments, display 5002 may include the first information layer 5010 of such as video feed.Video feed It can be the image feedback for example observed in operative site by endoscope 5018 (Figure 93), and can show for example by endoscope 5018 At least part of the surgical instruments 5020 of observation.

In various embodiments, display 5002 may include touching screen 5004.Referring primarily to Figure 75, user can with touch Screen 5004 is touched to interact to interact with display 5002 and surgical instruments 5020.It can be with for example, touching screen 5004 Display 5002 is communicated, and the input for touching screen 5004 is adjustable and/or modification is shown in the letter on display 5002 Breath.In such embodiments, user can communicate with display 5002, without the use of the additional input of display, such as Keyboard and/or computer mouse.In other words, it may be unnecessary to which additional input tool and/or component show to adjust and/or change Information on display 5002.In addition, in various embodiments, touching screen 5004 and can be easy to be cleaned and/or be sterilized. For example, touching screen 5004 may include that flat surfaces, the flat surfaces can be easy in surgical kit and/or operating room wipe Cleaning.In addition to this or alternatively, touching screen 5004 can directly and/or indirectly communicate with surgical instruments 5020 so that The input for touching screen 5004 provides input to surgical instruments 5020.User can be such as surgeon, operator, and/or Assistant.

In various embodiments, touching screen 5004 can for example be located at least part of display 5002, and It is removably secured to display 5002.Can be compatible with multiple displays for example, touching screen 5004, and can be releasedly It is attached and is detached from least one display.In addition, in certain embodiments, it can be stand alone display to touch screen 5004, can It is operated independently of display 5002.For example, dismountable LCD screen may include touching screen 5004, and dismountable LCD Screen may be superimposed at least part of display 5002.In other embodiments, display can be integrated by touching screen 5004 In device 5002.It touches screen 5004 and such as resistive technologies, capacitance technology, supersonic beam technology, and/or Near-Field Radar Imaging skill can be used Art.

Referring primarily to Figure 93, in various embodiments, feedback controller 5016 can be with surgical instruments 5020, endoscope 5018, and/or display 5002 carry out signal communication.In certain embodiments, feedback controller 5016 and endoscope 5018 it Between wiredly and/or wirelessly connection 5017 can provide the video feed from endoscope 5018 to feedback controller 5016.This Outside, between feedback controller 5016 and the microcontroller of surgical instruments 5020 and/or surgical instruments 5020 wiredly and/or wirelessly Connection 5019 can provide the feedback data for being measured and/or being detected by surgical instruments 5020 to feedback controller 5016.For example, each The description of kind sensor is in this article and complete disclosure is incorporated by reference 263 Hes of Zemlock ' being incorporated herein In Zemlock ' 344, and the detectable feedback of various sensors and/or instrument status information.In addition, 5016 He of feedback controller Between display 5002 wiredly and/or wirelessly connection 5015 can by from surgical instruments 5020 feedback data and/or come from The video feed of endoscope 5018 is provided to display 5002.In at least one embodiment, video feed can be shown in display In first information layer 5010 on 5002, and feedback data can be shown in the second Information Level 5012 on display 5004. It is located in the embodiment on display 5002 including the dismountable LCD display for touching screen 5004, feedback control Wiredly and/or wirelessly connection between device 5016 and dismountable LCD display can for example provide feedback data detachable LCD display and/or feedback data can be provided from LCD display to feedback controller 5010.

Referring primarily to Figure 76, display 5002 can play first information layer 5010, and the first information layer 5010 may include Such as the video feed from endoscope 5018 (Figure 93).In all cases, video feed 5010 may include acting on tissue T Surgical instruments 5020 diagram.In various embodiments, surgical instruments 5020 can be similar to such as surgical instruments 10 (Fig. 1), And it is connected to the disposable loading unit (DLU) of surgical instruments and/or end effector 5022 can be similar to such as load list 20 (Fig. 2) of member.The DLU 5022 of surgical instruments 5020 can carry out joint motions relative to tissue T, and tissue T is grasped and/or pressed from both sides It holds between a pair of of jaw, sutures tissue T, and/or tissue T is cut using cutting element, as described herein.In addition, can It is located in surgical site and/or neighbouring 5018 observable DLU 5022 of endoscope, and video can be supplied and/or be recorded It is transferred to feedback controller 5016 (Figure 93).In various embodiments, regarding in the first information layer 5010 on display 5002 Frequency feedback can provide the live visual feedback of operative site for the operator of surgical instruments 5020.

Referring primarily to Figure 77, display 5002 can show the second Information Level 5012.In addition, user may be selected, is mobile, It adjusts, minimize in terms of size, extension, changing, and/or otherwise regulate and control the second Information Level 5012.For example, user can By interacting to the second Information Level 5012 of regulation and control with touch screen 5004.As described herein, the second Information Level 5012 can wrap Include the feedback data from surgical instruments 5020 and/or the control for controlling surgical instruments 5020.In various embodiments, Two Information Levels 5012 may include control panel 5030, and touches screen 5004 and can be used for selecting and/or use control panel 5030 feature structure.Control panel 5030 can fold, adjust size, movement, and/or with other by touching screen 5004 Mode regulates and controls.For example, user can be minimized by selecting minimized/maximized icon 5032 or folding control panel 5030, and control panel 5030 can be maximized or is unfolded by reselection minimized/maximized icon 5032.In addition, making User can for example by whole display 5002 " drag and drop " control panel 5030 come the mobile control plane on display 5002 Plate 5030.In addition, user can touch multiple contact points on screen 5004 to adjust control by " amplification " and/or " diminution " Size of the panel 5030 relative to display 5002.Those skilled in the art will be appreciated that, such as touch screen can be used Its second Information Level 5012 and/or control panel are changed and/or regulated and controled to the various conventional and/or visual contact of curtain 5004 5030。

Referring also to Figure 77, control panel 5030 may include multiple menus, classification, and/or classification.For example, control panel 5030 may include instrument back menu 5036, display menu 5060, and/or instrument controller menu 5070.User can be used Control panel 5030 come select menu and/or switching touch screen 5004 mode of operation.For example, when user selects control plane When the instrument controller menu 5070 of plate 5030, instrument controller can be transmitted to by instruction and/or control by touching screen 5004 5016 (Figure 93) and/or microcontroller.In such embodiments, as described herein, shape can be controlled in instrument by touching screen 5004 It is operated under state.In addition, when selecting to show menu 5060 from control panel 5030, user can change and the second Information Level 5012 And/or 5002 relevant setting of display.In such embodiments, touching screen 5004 can work in the case where modification state is arranged. In addition to this or alternatively, when instrument back menu 5036 is selected, user can change included in the second Information Level 5012 In feedback data.In such embodiments, touching screen 5004 can operate under feedback regulation state.In various embodiments In, control panel 5030 may include additional and/or less menu, classification, and/or classification.In addition, for example can be according to using The preference of person changes various menus, classification, and/or the classification of control panel 5030.Menu, classification, and/or classification can pass through Word and/or symbol are shown in the second Information Level 5012.In various embodiments, the class under each menu 5036,5060,5070 Mesh is optionally shown in the second Information Level 5012.For example, the classification under each menu 5036,5060,5070 can be only in phase The overlying menu 5036,5060,5070 answered just selectively is shown in when being selected by the user in the second Information Level 5012.At other In embodiment, user, which for example manually can minimize and/or maximize, corresponds to each menu 5036,5060, and/or 5070 Classification and/or subcategory.

Referring also to Figure 77, instrument back menu 5036 may include multiple feedback classifications, and during can relate to surgical operation By surgical instruments 5020 (Figure 93) in the feedback data for measuring and/or detecting.As described herein, surgical instruments 5020 is detectable And/or for example movable jaw is measured in the thickness, clamped for opening the position, clamped tissue that are orientated between closed orientation Position, speed, and/or the power of structural chucking power, the joint motions of DLU 5022, and/or percussion element.In addition, with outer The feedback of sensing can be provided display 5002, institute by the feedback controller 5016 (Figure 93) that section's instrument 5020 carries out signal communication Feedback can be provided in the second Information Level 5012 by stating display 5002.As described herein, such as user can be based on to touching Screen 5004 inputs to change selection, setting, and/or the form of the feedback data being shown in the second Information Level 5012.

In various embodiments, the display menu 5060 of control panel 5030 can relate to multiple classifications, for example, unit system 5062 and/or data pattern 5064.In certain embodiments, unit system classification 5062 may be selected in unit system in user Between (for example, between the usual unit of metric unit and the U.S.) switch.In addition, user's alternative such as data pattern classification 5064, in the graphical presentation type (Figure 82-83) of the digital representation type (Figure 79-81) of feedback data and/or feedback data Between switch.The digital representation of feedback data can be shown as such as numerical value and/or percentage.In addition, the figure table of feedback data Such as function of time (Figure 82) and/or distance function (Figure 83) can be shown as by showing.As described herein, user can be from control panel 5030 selection instrument controller menus 5070, to input the instruction for surgical instruments 5020 (Figure 93), described instruction can be via Such as instrument controller 5016 (Figure 93) and/or microcontroller execute.

Referring now to Figure 78, the second Information Level 5012 can cover at least one of the first information layer 5010 on display 5002 Part.Allow user relative in first information layer 5010 below on display 5002 in addition, touching screen 5004 Video feed regulates and controls the second Information Level 5012.For example, the operable touch screen 5004 of user, with selection, regulation and control, again lattice Formula adjusts in terms of size, and/or otherwise changes the information being shown in the second Information Level 5012.In certain realities It applies in example, user, which can be used, touches screen 5004, with relative in the first information layer 5010 being shown on display 5002 Surgical instruments 5020 regulates and controls the second Information Level 5012.The menu of user's alternative such as its control panel 5030, classification and/ Or classification, and the second Information Level 5012 and/or control panel 5030 are adjustable to the selection of reflection user.In various realities It applies in example, user can be from the feature corresponding to specific features structure or the surgical instruments being shown in first information layer 5,010 5020 The instrument back classification 5036 of structure selects classification.It can be relative to surgical instruments 5020 corresponding to the feedback of classification selected by user Special characteristic structure is mobile, a certain position on self poisoning, and/or " buckle " to display 5002.For example, selected is anti- Feedback can be moved into the position of the special characteristic structure for the surgical instruments 5020 that close and/or covering is shown in first information layer 5010 It sets.

Referring to Figure 79 and Figure 80, if user for example selects knife progress classification 5040 from instrument back menu 5036, With the relevant knife for sensing data and/or information can for example relative to the DLU 5022 being shown in first information layer 5010 of knife progress To move and/or " buckle " is to a certain position in the second Information Level 5012.In addition, in user from instrument back menu 5036 After selecting desired classification, control panel 5030 is foldable and/or minimizes.It can with the relevant feedback data of knife progress 5052 Be shown near the detection knife of DLU 5022 shown in first information layer 5010 on display 5002, and for example when knife translation and/ Or when moving across DLU 5022, it can go close to percussion close to the first position (Figure 79) of the section start of firing schedule and knife in knife It is moved between the second position (Figure 80) of the distal end of journey.For example, as knife translation distance Xmm, it is relevant with knife progress Data 5052 can be positioned in first position (Figure 79), and as knife translation distance Ymm, with the relevant data of knife progress 5052 can be positioned in the second position (Figure 80).In such embodiments, operator can pass through the feedback on viewing screen 5002 Data 5052 track the knife progress during firing schedule.For example, when the knife of DLU 5022 is for example by end effector jaw 5024 and/or tissue T blocking and when cannot observe, changing value and/or feedback data that operator can be based on feedback data 5052 5052 relative to the shift position of DLU 5022 shown in following first information layer 5010 come track and/or approximation DLU 5020 in Knife position.In addition, display 5002 is in combination with the digital representation of knife progress and the diagram of knife progress indicates and/or symbol It indicates.For example, symbol 5054 (such as arrow) can for example be moved relative to DLU 5022 shown in following first information layer 5010 And/or extend, to show the knife progress across DLU 5022.Referring still to attached drawing 79 and Figure 80, when knife is for example from close to percussion When the position of the position of the section start of stroke (Figure 79) towards the distal end of remote laterally closer firing schedule (Figure 80) promotes, symbol 5054 can for example extend towards distal side.

In various embodiments, user can select the one or more of feedback data different from instrument back menu 5036 Classification, and the different classifications of feedback data can be displayed in the second Information Level 5012 on display 5002.In such implementation Example in, when user from instrument back menu 5036 select feedback data different classifications when, the digital representation of feedback data and/ Or symbolic indication can be moved to the appropriate position on display 5002 relative to DLU 5022 shown in following first information layer 5010 It sets.For example, if user selects jaw position classification 5038 from instrument back menu 5036, opened with movable jaw The relevant feedback data in position between position and clip position for example can be displayed in the second Information Level 5012, and move Position near the movable jaw 5024 of surgical instruments 5020 on to display 5002.In addition, if selection knife speed class Mesh 5042 then can be displayed in the second Information Level 5012 with the feedback data of knife velocity correlation 5058 (Figure 82), and move The position near the knife in DLU 5022 on to display 5002, be similarly to numerical data 5052 described above and/or Symbol 5054.For example, if user selects tissue thickness's classification 5044, with the relevant feedback coefficient of tissue thickness detected According to can be displayed in the second Information Level 5012, and it can be moved into the position near the measurement tissue T on display 5002.This Outside, at least one embodiment, the second Information Level 5012 may include the scale and/or mark that can show detected tissue thickness Ruler.User for example can move scale relative to following tissue T shown in first information layer 5010 via screen 5004 is touched, This can be conducive to user and understand that tissue thickness changes.For example, if user selects end effector classification 5046, then it can be displayed in the second Information Level 5012 with the relevant feedback data 5252 (Figure 84-88) of the joint motions of DLU 5022 In, and can be moved into the position of the actuated articulation joints 5026 (Figure 84 and Figure 85) of DLU 5022 on display 5002 nearby It sets.For example, if user selects percussion force classification 5048, the relevant feedback coefficient of structural percussion force is applied to by knife According to can be displayed in the second Information Level 5012, and can be positioned near the knife of the DLU 5022 on display 5002.In addition, example Such as, it during firing schedule, can be moved relative to DLU 5022 with knife with the relevant feedback data of percussion force that is applied by knife And it is moved in the second Information Level 5012.In addition, if selection chucking power classification 5050, then related to the chucking power in tissue T Feedback data 5158 (Figure 83) can be shown in the second Information Level 5012, and can be below shown in first information layer 5010 DLU 5022 is moved about.In such embodiments, for example, during can clamping being shown with the relevant feedback data of chucking power 5158 And/or along the clamp pressure variation of the length of DLU 5022 and/or width in entire firing schedule.

In various embodiments, feedback can be with the surgery device in first information layer 5010 shown in the second Information Level 5012 The character pair structure of tool 5020 and move.For example, when DLU 5022 is manipulated around operative site, DLU 5022 can enclose It is moved around display 5002.In such embodiments, with DLU 5022 relevant feedback (such as jaw position data and/or pass Section exercise data) it can for example be moved together with DLU 5022.The movement of relevant feedback can ensure that feedback is maintained at regarding for operator Yezhong, the character pair knot without operator's surgical instruments 5020 shown in the first information layer 5010 on display 5002 Structure shifts sight.In addition, the movement of relevant feedback can ensure that the feedback does not stop that operator wishes to observe on display 5002 First information layer 5010 shown in surgical instruments 5020 feature structure.

In certain embodiments, multiple feedback classifications may be selected to be observed on display 5002 simultaneously in user.In addition, Selected feedback can automatically arrange on display 5002, by related data according to nonoverlapping arrangement include In second Information Level 5012.In other words, for example, the feedback being shown in the second Information Level 5012 can not be shown in the second letter Cease other feedback overlappings in layer 5012；However, such feedback can be with the first information layer 5010 that is shown on display 5002 Video feed overlapping.In various embodiments, when feedback data is relative to surgery shown in following first information layer 5010 Instrument 5020 move and/or " buckle " to screen on a certain position when, user can be by by feedback data " drag and drop " to the Other positions in two Information Levels 5012 replace default location.

Referring now to Figure 81, the symbolic indication 5056 of knife progress (for example, the cross of knife and/or knife-edge edge, target center, and/or Graphical representation) it can be moved into position in the second Information Level 5012 Chong Die with cutter position shown in first information layer 5010. In some embodiments, or even when knife is invisible on display 5002 (for example, if knife is blocked in advance), the symbol of knife Expression 5056 moves and/or follows the test position of the knife in the DLU 5022 on screen 5002.For example, going in percussion Near the section start of journey, symbolic indication 5056 can relative to DLU 5022 be in first position, and in firing schedule end Near, symbolic indication 5056 is moved to the second position relative to DLU 5022.

In various embodiments, user " can buckle " onto display 5002 via the feedback that screen 5004 selects is touched Turning, edge, and/or other precalculated positions.For example, referring also to Figure 81, it is removable with the relevant numerical data 5052 of knife progress Move the turning of display 5002.In addition to this or alternatively, user can interact with screen 5004 is touched, will be digital Data 5052 are moved to the different location touched on screen 5004.Based on surgical instruments 5020 below in first information layer 5010 Position, numerical data 5052 can be moved to a certain position in the second Information Level 5012 by user so that DLU's 5022 Corresponding and/or special characteristic structure is not stopped and/or is hindered by numerical data 5052.In addition to this or alternatively, user can Numerical data 5052 is moved to the position near the character pair structure of DLU 5022 so that user can be easy to observe simultaneously 5022 feature structures of corresponding DLU and numerical data 5052.

Referring to Figure 84 and Figure 85, the symbolic indication 5254 (Figure 85) of the feedback data from feedback controller 5016 (Figure 93) It may include in the second Information Level 5012.For example, the joint motions of DLU 5022 symbolic indication 5254 (for example, subtended angle and/or To arc) can be shown in the second Information Level 5012, and can be moved on display 5002 with it is outer shown in first information layer 5010 The actuated articulation joints 5026 of section's instrument 5020 it is close and/or overlapping position.For example, can be by non-joint motions to arc Extend between the axis A that DLU 5022 (Figure 84) is limited and the axis A ' limited by the DLU 5022 (Figure 85) of joint motions. In some embodiments, or even when actuated articulation joints 5026 are invisible on the screen, the symbolic indication of articulation angle 5254 are found in the second Information Level 5012.For example, if 5026 no-fix of actuated articulation joints in the visual field of endoscope and/ Or be obstructed or stop, then the symbolic indication 5254 of articulation angle can provide the visible instruction of joint motions to user. In various embodiments, symbolic indication 5252 can adjust and/or change with the movement and/or joint motions of DLU 5022. For example, symbolic indication 5254 can be arrow arc or line, the initial position and/or non-pass that the arrow arc or line can be from DLU 5022 The articulated position (Figure 85) (as detected by instrument 5020) for saving movement position (Figure 84) towards DLU 5022 extends.This Outside, in various embodiments, symbolic indication 5254 can arrive a certain position relative to DLU 5022 " buckle " shown in first information layer It sets so that symbolic indication 5254 is overlapped and/or is aligned with DLU 5022.For example, referring primarily to Figure 85, the symbol of articulation angle Number indicate 5254 can be moved into it is at actuated articulation joints 5026 shown in first information floor 5010 on display 5002 and/or attached Closely, and can the axis A limited by the DLU 5022 in initial and/or non-articulated position with carry out as DLU 5022 Extend between the axis A ' limited by DLU 5022 when joint motions.

In addition, in various embodiments, can be displayed in the relevant numerical data of the joint motions of DLU 5,022 5252 aobvious Show in the second Information Level 5012 on device 5002.In addition, data 5252 can change with the joint motions of DLU 5022.Example Such as, the second Information Level 5012 (Figure 84) can show X ° of joint motions before DLU 5022 carries out joint motions, and can be (Figure 85) shows Y ° of joint motions after the progress joint motions of DLU 5022.In various embodiments, with the pass of DLU 5022 Section moves relevant feedback data 5252 and can for example the joint motions of surgical instruments 5020 shown in first information layer 5010 connect At first 5026 and/or nearby it is shown in the second Information Level 5012.User can be for example relative to being shown in first information layer Video feed in 5010 is moved, is adjusted in terms of size, minimized using screen 5004 is touched, and/or otherwise Regulation and control are shown in the joint motions data 5252 in the second Information Level 5012.In addition to this or alternatively, user can be with touch Screen 5004 interacts, and symbolic indication 5254 and/or numerical data 5252 are moved to the difference touched on screen 5004 Position.Based on the position of surgical instruments 5020 below in first information layer 5010, user can move numerical data 5252 To a certain position in the second Information Level 5012 so that the special characteristic structure of DLU 5022 is not stopped by numerical data 5252 And/or it hinders.In addition to this or alternatively, numerical data 5252 can be moved to the character pair structure of DLU 5022 by user Neighbouring position so that user can be easy to observe 5022 feature structures of corresponding DLU and numerical data 5252 simultaneously.

Referring now to Figure 82, for example can select to scheme from the display menu 5060 of control panel 5030 by touching screen 5004 Shape indicates.In such embodiments, the graphical representation for feeding back 5058 can be displayed in the second Information Level 5012 on display 5002 In.User graphical representation may be selected observe from surgical instruments 5020 and/or its controller relative to time and/or sky Between measurement data and/or sensing data.For example, user can it is expected to observe the speed of the percussion element in entire firing schedule Degree, and therefore knife speed classification 5042 (Figure 78) can be selected from instrument back menu 5036 (Figure 78).In such embodiments, The graphical representation 5058 of knife speed can persistently obtain data point and be grown for example during firing schedule.In various embodiments In, when firing schedule is completed, graphical representation 5058 can show " soft " startup period 5057 and/or " soft " stop period of knife 5059.In addition, graphical representation 5058 can be positioned on display 5002 so that along the spy of the length of end effector jaw 5024 Positioning set the knife at place speed correspond to the end effector jaw 5022 shown in the first information layer 5010 length it is specific Position.For example, graphical representation 5058 can begin at the starting of the cutter track diameter across DLU 5022 shown in first information layer 5010 Place and/or near, and may terminate at shown in such as first information layer 5010 across DLU 5022 cutter track diameter end Near and/or.In addition, as described herein, graphical representation 5058 " can buckle " appropriate location onto screen, and user can It is as needed that graphical representation 5058 is moved and/or adjusted in terms of size using screen 5004 is touched.In certain embodiments, The digital representation of percussion speed can be together shown in the second Information Level 5012 with graphical representation 5058.

Referring now to Figure 83, in various embodiments, user can it is expected to observe the length along end effector jaw 5024 The chucking power of degree and/width being applied in tissue T, and therefore, can select to be clamped from instrument back menu 5036 (Figure 78) Power classification 5050 (Figure 78).In such embodiments, the graphical representation 5158 of chucking power can be shown in the second Information Level 5012. In some embodiments, graphical representation 5158 can be arranged in the second Information Level relative to tissue is clamped shown in first information layer 5010 In 5012.For example, graphical representation 5158 can begin at the proximal end of jaw 5024 shown in first information layer 5010 and/or Near, and can for example terminate at the distal end of jaw 5024 shown in first information layer 5010 and/or near.In addition, As described herein, graphical representation 5158 " can buckle " appropriate location onto screen, and user can for example utilize touch screen Curtain 5004 come move and/or in terms of size adjust graphical representation 5158.In certain embodiments, graphical representation can be in validity period Between be varied from react such as firing schedule during clamp pressure variation.

Referring to Figure 86-88, in various embodiments, user can interact with screen 5004 is touched, with via instrument Controller 5016 and/or microcontroller will control and/or instruction input is to surgical instruments 5020.For example, user can input Control below, the control be related to making DLU 5022 carry out joint motions, make the clamping of end effector jaw 5024, promote and/ Or retraction cutting element, and/or from DLU 5022 project follow closely.In various embodiments, user can be via touch screen 5004 Select instrument controller class mesh 5070 to start instrument state of a control from control panel 5030 so that user can be via touch screen Curtain 5004 controls surgical instruments 5020.When touch screen 5004 is actuated to for instrument control, user can be with touch screen Curtain 5004 is interacted to control surgical instruments 5020.For example, user can in the second Information Level 5012 control button and/ Or icon is interacted and/or can be handed over the position for corresponding to following surgical instruments 5020 on screen 5004 is touched Mutually, for example to input instructions into surgical instruments 5020.

For example, with reference to Figure 86, user can interact with screen 5004 is touched, to indicate the expectation of such as DLU 5022 Joint motion direction and degree.In certain embodiments, user can touch screen 5004 at DLU 5022 and/it is attached Closely towards the expectation articulated position dragging contact point of end effector 5002.Referring to Figure 86, user can trace from the first letter It ceases at DLU 5022 shown in layer 5010 and/or nearby to the line or arc 5352 of the expectation articulated position of DLU 5022.Example Such as, arc 5352 can from and/or it is approximate extend from the axis A limited by DLU 5022, and arc 5352 may extend by DLU The 5022 axis A ' for it is expected articulated position and limiting.In addition, arc 5352 can for example prolong along the direction indicated by arrow 5354 It stretches.In certain embodiments, when user inputs desired joint motions via touch screen 5004, arc 5352 can not occur In the second Information Level 5010.In various embodiments, device can be transmitted to by desired articulation angle by touching screen 5004 Tool controller 5016 (Figure 93) and/or microcontroller, this can realize that DLU 5022 arrives the joint motions of desired articulation angle. Referring now to Figure 88, instrument controller 5016 (Figure 93) and/or microcontroller can be for example based on user via touch screens 5004 input come realize DLU 5022 arrive axis A ' joint motions.

Referring primarily to Figure 87, in various embodiments, user can be with the control button in first information layer 5012, signal Figure, and/or icon interact, to input instructions into surgical instruments 5020.For example, first information layer 5012 may include symbol Or icon 5356, and user is removable and/or regulates and controls icon 5356, to realize the joint motions of DLU 5022.Various In embodiment, icon 5356 may include the schematic diagram of such as DLU 5022.In addition, icon 5356 can be dragged to joint by user Movement is orientated and/or is rotationally oriented, to realize the joint motions of DLU 5022.In various embodiments, line and/or arc 5358 can Indicate direction and/or the degree of the desired joint motions of user.For example, arc 5358 can take from the non-joint motions of icon 5356 To the joint motions orientation for extending to icon 5356 '.The icon 5356 ' of joint motions can correspond to the expectation of such as DLU 5022 Joint motions.Referring now to Figure 88, instrument controller 5016 and/or microcontroller can be for example based on user via touch screens 5004 input come realize DLU 5022 arrive axis A ' joint motions.For example, 5022 articulatings of DLU are to by arc 5358 The subtended angle of restriction, the arc 5358 is between non-joint motions icon 5356 and joint motions icon 5356 ' shown in Figure 87.

Referring primarily to Figure 89 and Figure 90, in various embodiments, user can interact with screen 5004 is touched, will Relevant instruction input is closed to surgical instruments 5020 with jaw 5024.In certain embodiments, user can touch screen From movable jaw 5024 and/or nearby towards the closed orientation dragging contact point of movable jaw 5024 on 5004, to start The closure of jaw 5024.For example, user can trace it is from movable jaw 5024 shown in first information layer 5010 and/or attached Closely arrive the line or arc 5362 (Figure 89) of the expectation closed orientation of movable jaw 5024.In various embodiments, screen is touched 5004 can be transmitted to closed action instrument controller 5016 and/or microcontroller, this can realize closing for movable jaw 5024 It closes.In certain embodiments, by user trace touch screen 5004 on arc 5362 can from or approximation from by movable pincers The axis A that mouth 5024 limits extend, and arc 5362 may extend into and orientation definition is clamped by the expectation of movable jaw 5024 Axis A ' (Figure 90).In addition, arc 5362 can for example extend along the direction indicated by arrow 5364.Referring now to Figure 90, instrument control Device 5016 and/or microcontroller processed for example can realize movable jaw based on user via the input for touching screen 5004 5024 arrive the closure of axis A '.

Referring now to Figure 91 and Figure 92, in various embodiments, user can press with the control in first information layer 5012 Button and/or icon interact, to input instructions into surgical instruments 5020.For example, first information layer 5012 may include controlling Interface 5072, the control interface 5072 may include that for example button 5074,5075,5076,5077,5078 is defeated for that will instruct Enter to instrument controller 5016 and/or microcontroller.For inputting instructions into instrument controller 5016 (Figure 93) and/or micro-control The button of device processed can relate to for example to make DLU 5022 carry out joint motions, make jaw 5024 be closed and/or clamping, percussion and/or Bounce back cutting element, and/or from DLU 5022 project follow closely.User can with touch screen 5004 interact, with from control circle 5072 select button of face.Referring primarily to Figure 91, control interface 5072 may include for example stopping/bouncing back button 5474, pause button 5475, start button 5476, acceleration button 5477, and/or retard button 5478.User can such as contact start button 5476 To start firing schedule and/or promote percussion element, pause button 5475 is contacted to suspend firing schedule, and/or contact and stop/ Retraction button 5474 is to stop firing schedule and retraction percussion element.In addition, user can interact with control interface 5072, To adjust the speed of the percussion element in entire firing schedule.For example, user is accessible to accelerate button 5477 to increase percussion The speed of element, and user can contact retard button 5478 to reduce the speed of percussion element.User can for example hit It issues " soft " startup stage of journey later and/or period increases the speed of percussion element, and/or can for example be fired in arrival " soft " stop stage of the firing schedule of end of travel reduces the speed of percussion element.In other embodiments, control interface 5072 may include such as button and/or control, for changing the closure of jaw 5024 and/or the joint motions of DLU 5022. In various embodiments, when selecting instrument 5070 menu of controller from control panel 5030 and/or when user is with its other party When formula selects instrument state of a control, control interface 5072 " can buckle " to a certain position in the second Information Level 5012.User For example it can move, adjust relative to first information layer 5010 and/or display 5002 and/or regulate and control control interface 5072.

In various embodiments, referring to Figure 92, the second Information Level 5012 may include such as progress bar 5480, the progress bar 5480 may indicate that the position of the percussion element in DLU 5022.Progress bar 5480 can be in proximal end 5482 and distal end 5488 Between extend, and the nearest side position and the farthest position of the percussion element during firing schedule can be limited.In various implementations In example, the position of percussion element can be for example indicated along progress bar 5480.In certain embodiments, control can be used in user Control in interface 5072 adjusts firing schedule.For example, user can interact with control interface 5072, be based on along into Spend item 5480 percussion element indicating positions come start and/or terminate firing schedule " soft " startup stage and/or it is " soft " stop The dynamic stage.In addition, progress bar 5480 may include measurement markers and/or beacon 5484,5486, the measurement markers and/or beacon 5484,5486 " soft " startups that can be set on such as progress bar 5480 and/or " soft " stop stage can start and/or terminate Position.Beacon 5484,5486 can provide visual cues during firing schedule to user, for example to utilize acceleration button 5077 start and/or terminate " soft " the startup period, and/or start and/or terminate " soft " stop using retard button 5078 Stage.In various embodiments, the position of beacon 5484,5486 can be preset by user.

Referring also to Figure 92, in various embodiments, instrument controller 5016 and/or microcontroller can be based on beacon 5484, 5486 automatically realize the velocity variations of percussion element along the position of progress bar 5480.In addition, user can be with touch screen 5004 interact, and change with mobile and/or regulation and control progress bar 5480 and thus " soft " startup and/or " soft " of firing schedule The stop stage.For example, " soft " startup and/or " soft " stop stage can be set at proximal end 5482 and distal end 5488 it Between along the pre-position of progress bar 5480.In certain embodiments, user can interact with screen 5004 is touched, with Mobile and/or adjusting beacon 5484,5486 is along the position of 5480 length of progress bar.For example, user can be by dragging and discharging Beacon 5484,5486 is arranged between multiple positions on progress bar 5480 beacon 5484,5486, to extend and/or contract " soft " startup of short firing schedule and/or " soft " stop stage.In certain embodiments, user can with touch screen 5004 into Row interaction, with the position of distal end 5488 that is mobile and/or adjusting progress bar 5480, to extend and/or shorten percussion row Journey.For example, user for example can proximally drag distal end 5488 to shorten firing schedule and/or can be dragged towards distal side Distal end 5488 is to extend firing schedule.In various embodiments, instrument controller 5016 and/or microcontroller can such as bases In beacon 5484,5486 and/or distal end 5488 along the location revision of progress bar 5480 come adjust percussion element speed and/ Or firing schedule length.

In various embodiments, surgical instruments 10 may include at least one deactivation mechanisms.As described in more detail herein, such Deactivation mechanisms can prevent end user from modifying surgical instruments unilaterally.For example, referring now to Figure 134, power source 2500 is shown.Power Source 2500 can be used for providing power to surgical instruments (for example, surgical instruments 10 (referring to Fig. 1)), and similar in many aspects Other power sources (for example, power source 200 (referring to Fig. 1)) and Zemlok ' 763 more detailed description described elsewhere in this document Other kinds of power source, which has been herein incorporated by reference.In order to protect power source 2500 with tamper-resistant, Power source 2500 is configured to become unable to operate in the case where it is modified unilaterally or inactivate.For example, power source 2500 For example it can become to inactivate by stopping reception, storage, and/or transmission energy.Prevention distort can ensure that power source 2500 with Surgical instruments 10 is used together the correct operation of period.

Referring to Figure 134 and Figure 135, power source 2500 may include that external shell 2502, the external shell 2502 can be encapsulated The various parts of power source 2500, such as battery pack 2510.Shell 2502 may include first shell 2504 and separably couple To the second shell 2506 of first shell 2504, as shown in Figure 135.In some cases, shell 2504 and shell 2056 can be by Thermoplastic material (for example, makrolon) formation.Alternatively, the other materials with appropriate characteristics can be used.In addition, shell 2504 and shell 2506 can by one or more tightening technologies (for example, adhesive, welding, interlocking structure, and/or screw) into Row is coupled to each other.In one example, shell 2504 and shell 2506 can be secured together via snap-fit engagement. In another example, shell 2504 and shell 2506 can be secured together by fastening member 2508, as shown in Figure 135.

Referring to Figure 135-137, power source 2500 may include that deactivation mechanisms 2512, the deactivation mechanisms 2512 can be in power sources So that power source 2500 is from operating in the case that 2500 are damaged.For example, if shell 2502 is modified unilaterally, deactivation mechanisms 2512 may make power source 2500 that cannot operate.As shown in Figure 135-137, deactivation mechanisms 2512 may include circuit 2514, described Circuit 2514 may include can breaking part 2516 (referring to Figure 136).In some examples, can breaking part 2516 can be by can be easy to The conductive material of fracture is constituted.As shown in Figure 136, circuit 2514 can be connected to battery pack 2510 and permissible electric current flows through, Precondition be can breaking part 2516 keep complete.As shown in Figure 137, disconnection can breaking part 2516 can interrupt circuit 2514, thus terminate the electric current flowing by it.Further described above, as shown in Figure 135, circuit 2514 can be determined Position at make can breaking part 2516 can be broken when first shell 2504 and second shell 2506 are separated from each other, this may make In the case that inexertion reparation is broken circuit 2514, power source 2500 cannot be that surgical instruments 10 receives, stores, and/or provide Power.

Referring to Figure 135, power source 2500 may include one or more battery unit, this depends on the current loading of instrument 10 Demand.In various aspects, power source 2500 may include battery pack, such as battery pack 2510, but the battery pack may include that This multiple battery unit being connected in series with.Power source 2500 can be interchangeable.In some aspects, may include can for power source 2500 Storage battery (for example, lead base, Ni-based, lithium ion base etc.).Battery unit can be such as 3 volts of lithium cells, such as CR123A battery units, but in other embodiments can be used different types of battery unit (including with different voltages level And/or the battery unit of different chemical product).User can disconnect and remove from surgical instruments 10 power source 2500 that exhaust and The power source 2500 to have charged is connected in its position.The power source 2500 exhausted then can be charged and be recycled.May be used also It is contemplated that power source 2500 may include at least one disposable battery.In all fields, disposable battery can be about 9 volts to about 30 volts.User can disconnect and remove the disposable power source 2500 exhausted, and connect new disposable power source 2500 with Power is provided to surgical instruments 10.

As described above, power source 2500 may include rechargeable battery cells and can may be removably disposed in for example outer (referring to Fig. 1) in the handle portions 14 of shell 12.In such cases, power source 2500 can be charged using charger seat, institute It states charger seat and may include power source for charging to power source 2500.If power source 2500 is modified unilaterally, as described above, if Deactivation mechanisms (for example, deactivation mechanisms 2512) can be used to be recharged to prevent power source 2500 from being electrically charged device seat.For example, electric Road 2514 can be connected to battery pack 2510 and can be connected to charger seat, to allow charger seat to carry out battery pack 2510 It recharges.As described above, when first shell 2504 is separated with second shell 2506, it can breaking part 2516 (referring to Figure 135) It can disconnect, thus interrupt the electric current for flowing through circuit 2514, this can prevent charger seat from recharging battery pack 2510.This can Be conducive to prevent end user modify power source 2500 unilaterally because modify unilaterally power source 2500 can prevent its from go recharge for In conjunction with the follow-up use of surgical instruments 10.

Referring now to Figure 138-141, power source 2500 may include data storage cell, for example, memory 2552, the number The data for including the information in relation to power source 2500 can be stored according to storage unit, for example, total available power, access times, and/or Performance.In addition, memory 2552 can be stored with close surgical instruments 10 data, the data include related surgical instruments 10 outside The various information (for example, various sensor readings, percussion number, storehouse number for using) of operation in section's surgical procedure and/or have Close the information for the treatment of patient.Memory 2552 may include that any device for storing software, described device include but not limited to ROM (read-only memory), RAM (random access memory), PROM (programming ROM), EEPROM (electric erasable PROM) and/ Or other computer-readable mediums.

Further described above, referring again to Figure 138-141, power source 2500 may include data access entrance, For example, I/O interfaces 2550, to access the data being stored in memory 2552.For example, I/O interfaces 2550 allow to be stored in Data in the memory 2552 of power source 2500 are downloaded to external computer device for assessing and analyzing.In certain feelings Under condition, I/O interfaces 2550 can be wireline interface and be operably linked to deactivation mechanisms 2512, and the deactivation mechanisms 2512 can Including can fracturable connection, it is described can fracturable connection can be cut off to prevent through the data transmissions of I/O interfaces 2550.It is similar In deactivation mechanisms 2512 can breaking part 2516, deactivation mechanisms 2554 can fracturable connection can be positioned so that and make it can be in shell (for example, when first shell 2504 and second shell 2506 are separated from each other) is cut off when body 2502 is broken.

Further described above, as shown in Figure 139-141, I/O interfaces 2550 may include connector 2555, described Connector 2555 is configured to receive is correspondingly connected with device 2556 for example to allow data from external computer device It is transmitted between memory 2552 and computer installation.In addition, connector 2554 can be by covering (for example, pivoting covering 2559) it protects, the pivot covering 2559 is configured in latched position (referring to Figure 139) (wherein connector 2554 be unexposed) (wherein connector 2554, which is exposed to receive, is correspondingly connected with device with unlocked position (referring to Figure 140) 2556) it is moved between.In one example, it screw 2558 that can be used will pivot covering 2559 and be fixed to shell 2502.This public affairs Open other devices it is contemplated that for restorably covering connector 2556.Further described above, showing certain In example, connector 2554 and 2556 may include key and lock engagement, and wherein connector 2554 and 2556 may include for example unique Complimentary geometries, thus prevent connector 2554 receive other connectors, be stored in storage to prevent or at least to limit The unauthorized access of data in device 2552.In some examples, connector 2554 can be positioned in shell 2502, such as Figure 141 It is shown, the unauthorized access of the data in memory 2552 is stored in further limitation.It in such cases, can be by separating The first shell 2504 and second shell 2506 of shell 2502 accesses connector 2554.However, as described in more detail above, stop Power source 2500 can be prevented from operating when shell 2502 ruptures with mechanism 2512, this can further prevent to attempt to expose connection Device 2554 is to access the data being stored in memory 2552.

Referring to Figure 142, power source 2500 may include the processor 2560 that can manage the data being stored in memory 2552. In order to protect such data to prevent unauthorized access, processor 2560 can be connected to rupture sensing mechanism 2562.For example, processor 2560 can be connected to circuit 2514 and be configured to detection can breaking part 2516 fracture.In one example, Destroy the one or more sensors that sensing mechanism 2562 may include the rupture being configured in detection shell 2502.It is in office In the case of what, when detecting rupture, processor 2560 can be programmed to for example prevent to depositing by deletion or encryption data The data being stored in memory 2552 carry out unauthorized access.

Referring to Figure 143-145, surgical instruments 2600 is shown.Surgical instruments 2600 is similar to surgical instruments in many aspects 10 (referring to Fig. 1) and/or surgical instruments 2100 (referring to Figure 146).For example, surgical instruments 2600 may include casing assembly 2602, The casing assembly 2602 is similar to the casing assembly 2102 of surgical instruments 2100 and/or the shell 12 of surgical instruments 10.In addition, Surgical instruments 2600 may include that power source 2500 ', the power source 2500 ' can be used for providing power to surgical instruments 2600 simultaneously And be similar in many aspects other power sources (for example, power source 2500 (referring to Figure 134)) for describing elsewhere of this document and The power sources other kinds of in greater detail of Zemlok ' 763, the full patent texts have been herein incorporated by reference.In addition, such as Shown in Figure 143, power source 2500 ' may include that charge level indicator 2660, the charge level indicator 2660 can be constructed At the feedback that can provide the charge level in relation to power source 2500 ' to user.Feedback can have such as sound and/or light shape Formula.Power source 2500 ' may include one or more light emitting diodes (LED).Processor 2560 can be for example programmed to control LED, to provide the feedback of the charge level in relation to power source 2500 ' to user, the charge level can be for example, by electricity Gauge measures.

As shown in Figure 143-145, power source 2500 ' may include the first LED 2662 and the 2nd LED 2664.Processor 2560 can be connected to LED 2662 and 2664 and can be programmed to receiving the letter that power source is completely charged from voltameter Number when light LED 2662 and both 2664.In addition, processor 2560 can be programmed to receiving power source consumption from voltameter Both LED 2662 and LED 2664 are closed when most signal.In addition, processor 2560 can be programmed to receive from voltameter The first LED is only lighted when the signal to power source with enough electricity of the only once complete operation for surgical instruments 2600 2662 without lighting the 2nd LED 2664.The disclosure is contemplated that the charge level for prompting user's power source 2500 ' Other devices.

In certain embodiments, for example, the various parts of surgical instruments 10 can be reusable and various parts Can be interchangeable.In addition, surgical instruments 10 can at least partly be assembled, dismantled, and/or be re-assemblied.For example, surgery device Tool 10 can be dismantled and can for example be re-assemblied with reusable component and replacement component at least partly.Separately Outside, surgical instruments 10 can be dismantled at least partly during surgery, for cleaning, disinfection, and/or reprocessing.With Afterwards, surgical instruments 10 can for example be re-assemblied.As described in more detail herein, the various feature structures of surgical instruments 10, component and/ Or system can be conducive to its disassembly and assembly.For example, referring now to Figure 146-148, surgical instruments 2100 is shown.Surgical instruments 2100 are similar to surgical instruments 10 in many aspects (referring to Fig. 1).For example, surgical instruments 2100 may include being similar to surgical instruments The casing assembly 2102 of 10 shell 12.In addition, casing assembly 2102 may include several detachable parts 2103, it is described detachable Component 2103 can be detachably fixed to housing main body 2104, such as work package 2106.Other portions of casing assembly 2102 Part can be detachably fixed to housing main body 2104.For example, casing assembly 2102 may include interchangeable power source 2108, institute The handle portions 2110 of housing main body 2104 can be detachably fixed to by stating interchangeable power source 2108.Power source 2108 exists Many aspects are similar to other power sources that this document describes elsewhere, for example, power source 200 (referring to Fig. 1).

Referring again to Figure 147, some or all of casing assembly 2102 or its component can be reusable.It changes Word says that some or all of casing assembly 2102 or its component can be used in multiple surgical operations, the surgical operation Between can need that casing assembly 2102 is cleaned, sterilized, and/or reprocessed.It can be restored by simple and repeatable mode Ground dismantle casing assembly 2102 or some or all of remove its component (for example, work package 2106) ability can simplify it is outer The step of cleaning of shell component 2012, disinfection, and/or reprocessing and/or cost can be reduced.

Referring to Figure 147, casing assembly 2102 can be disassembled after surgical operation, and the casing assembly 2102 dismantled Component (for example, housing main body 2104, work package 2106 and/or power source 2110) can individually or jointly other component into Row cleaning, disinfection, and/or reprocessing, this depends on the characteristic and inner body of each component.In some examples, shell master Body 2104 can be disposable.In other words, casing assembly 2102 can be disassembled and housing main body after surgical operation 2104 can be replaced by new housing main body 2104.However, remainder can be cleaned, sterilized, and/or be reprocessed, then it is attached To new housing main body 2104.Reader will be appreciated that, the other component of casing assembly 2102 is alternatively disposable and can be by new Like replace.

Referring again to Figure 146-148, housing main body 2104 be configured to allow casing assembly 2102 with it is simple, Predictable and repeatable mode carries out assembly and disassembly.For example, housing main body 2104 may include the first cover portion point 2112 (referring to Figure 147) and 2114 (referring to Figure 146) of the second cover portion point that the first cover portion point 2112 can be releasably attached to.One In a example, cover portion point 2112 and 2114 may include that snap-fit engages.Cover portion point 2112 and 2114 may be adapted to paired with each other Engagement.In one example, cover portion point 2112 may include multiple female members 2116 (referring to Figure 147), the multiple female member 2116 cylindrical in shape and can be configured to when cover portion points 2112 and cover portion point 2114 are fitted together to buckle Cooperation juncture receives the correspondence male member (not shown) being arranged in cover portion point 2114.

Further described above, work package 2106 can be nested in the first cover portion point 2112.Such as Figure 147 institutes Show, the second cover portion point 2114 can be removed the work package 2106 being nested in exposure in the first cover portion point 2112, to allow User removes work package 2106 from housing main body 2104.As shown in Figure 147, work package 2106 may include motor 2118, The motor 2118 can generate spinning movement to act on end effector (for example, storehouse/anvil of loading unit shown in Fig. 2 20 Seating portion).Motor 2118 is similar to other motors that this document describes elsewhere in many aspects, for example, motor 100 (referring to Fig. 1).In addition, work package 2106 may also include transmission assembly 2120, the transmission assembly 2120 can be operably linked to Motor 2118 and it is similar to other transmission assemblies for describing elsewhere in this document in many aspects, for example, gear assembly 170 (referring to Fig. 5).In addition, work package 2106 may also include firing member component 2122, the firing member component 2122 can incite somebody to action The spinning movement generated by motor 2118 is converted into that the axial action of end effector can be transferred to by trigger shaft 2124.Percussion Component assembly 2122 is similar to other drive components that this document describes elsewhere in many aspects, for example, firing member component 82。

Referring to Figure 147 and Figure 148, the first cover portion point 2112 may include being designed and separating to receive work package 2106 Multiple compartments.For example, as shown in Figure 147, cover portion point 2112 may include being spaced with accommodate the motor nesting of motor 2118 every Room 2126.In some examples, motor nesting compartment 2126 may be designed to be adapted to motor 2118 in a manner of specific arrangements, to ensure Accurate assembling.In addition, motor nesting compartment 2126 may include that assembling instruction, the assembling instruction can for example be molded onto motor On the wall of nested compartment 2126, to ensure correctly to assemble.For example, the side wall of motor nesting compartment 2126 is configured to Closely receive motor 2118.In addition, side at least can be asymmetricly constructed in some respects with along only one direction (that is, correct orientation) receives motor 2118.

Similarly, as shown in Figure 147, cover portion point 2112 may include transmission assembly nesting compartment 2128, the transmission assembly Nested compartment 2128 can be spaced to accommodate transmission assembly 2120.In addition, in some examples, transmission assembly nesting compartment 2128 It is designed to the adapted transmission component 2120 in a manner of specific arrangements, to ensure accurately to assemble.For example, transmission assembly nesting compartment 2128 side wall is configured to closely receive transmission assembly 2120.In addition, side can be at least in certain aspects It is asymmetricly constructed to receive transmission assembly 2120 along only one direction (that is, correct orientation).In addition, transmission assembly is nested Compartment 2128 may include that assembling instruction, the assembling instruction can be for example molded onto on the wall of transmission assembly nesting compartment 2128, To ensure correctly to assemble.Similarly, as shown in Figure 147, cover portion point 2112 may include firing member nesting compartment 2130, described Firing member nesting compartment 2130 can be spaced to accommodate firing member component 2122.In addition, in some examples, firing member Component nesting compartment 2130 is designed to be adapted to firing member component 2122 in a manner of specific arrangements, to ensure accurately to assemble. For example, the side wall of firing member component nesting compartment 2130 is configured to closely receive firing member component 2122. In addition, side at least can asymmetricly constructed to be received along only one direction (that is, correct orientation) in certain aspects Firing member component 2122.In addition, firing member component nesting compartment 2130 may include that assembling instruction, the assembling instruction can examples It is such as molded onto on the wall of firing member component nesting compartment 2130, to ensure correctly to assemble.Reader will be appreciated that, working group The other component of part 2106 can also provide in the receiving compartment of the unique design in cover portion point 2112.Reader will further know that, The electric contact of work package 2106 can be also embedded in the compartment of cover portion point 2112, so that when correct assembling, it can be in working group Between the other component of part 2106, the other component (for example, power source 2108) of casing assembly 2102 and/or surgical instruments 2100 Establish electrical connection.

Further described above, work package 2106 can be detachably coupled to trigger shaft 2124, such as Figure 147 Shown, work package 2106 is removed as individual unit and reconnects to surgical instruments by this permissible user 2100, to simplify the disassembly and reassembly of work package 2106.In one example, as shown in Figure 147, firing member component 2122 may include hollow tubular distal part 2132, and the hollow tubular distal part 2132 may include distal openings, described remote Side opening is configured to for example receive and be releasably locked to the close of trigger shaft 2124 with snap-fit engagement Side section 2134.

Referring again to Figure 147 and Figure 148, the other component of casing assembly 2102 can be similar to the side of work package 2106 Formula is nested in the special compartment in cover portion point 2112.For example, cover portion point 2112 may include power source nesting compartment 2136, it is described Power source nesting compartment 2136 can be spaced to accommodate power source 2108.In addition, in some examples, power source nesting compartment 2136 are designed to the adaptive power source 2108 in a manner of specific arrangements, to ensure accurately to assemble.For example, power source nesting every The side wall of room 2136 is configured to closely receive power source 2108.In addition, side can at least carry out in some respects It asymmetricly constructs to receive power source 2108 along only one direction (that is, correct orientation).In addition, power source nesting compartment 2136 It may include that assembling instruction, the assembling instruction can be for example molded onto on the wall of power source nesting compartment 2136, it is correct to ensure Assembling.

Further described above, as shown in Figure 147 and Figure 148, certain user's input mechanisms are (for example, percussion Button 2138 and/or closure switch 2140) it can also be dismantled from housing main body 2104, the housing main body 2104 may include being spaced It is opened with the closure for accommodating closure switch 2140 with accommodating the firing button nesting compartment 2142 of firing button 2138 and/or being spaced Close nested compartment 2144.In addition, in some examples, firing button nesting compartment 2142 is designed in a manner of specific arrangements It is adapted to firing button 2138, to ensure accurately to assemble.For example, the side wall of firing button nesting compartment 2142 is configured to It is enough closely to receive firing button 2138.In addition, side at least can asymmetricly constructed with along only in certain aspects One direction (that is, correct orientation) receives firing button 2138.Similarly, closure switch nesting compartment 2144 be designed to Specific arrangements mode is adapted to closure switch 2140, to ensure accurately to assemble.For example, the side wall of closure switch nesting compartment 2144 It is configured to closely receive closure switch 2140.In addition, side can at least carry out in certain aspects it is asymmetric Ground construction along only one direction (that is, correct orientation) to receive closure switch 2140.In addition, firing button nesting compartment 2142 And/or closure switch nesting compartment 2144 may include assembling instruction, it is embedding that the assembling instruction can for example be molded onto firing button On the wall for covering compartment 2142 and/or closure switch nesting compartment 2144, to ensure correctly to assemble.

Referring again to 147 and Figure 148, in addition to nested compartment, cover portion point 2112 may include fixed mechanism, by shell group Some or all of part 2102 detachable part 2103 is fixed in its respective compartment, so that it is guaranteed that detachable part 2103 is protected It holds and is nested in its respective compartment.Such fixed mechanism may include fixing component, the fixing component can unlocked configuration (referring to It Figure 148) is moved between locked configuration (referring to Figure 147), the detachable part 2103 of casing assembly 2102 is locked to it Respective compartment in cover portion point 2112.Reader will be appreciated that, can be used single or multiple fixing components will be one or more Detachable part 2103 is fixed to cover portion point 2112.In addition, fixed mechanism may also include security feature structure, the security feature Structure can prevent fixing component from moving to locked configuration in the case of incorrect assembling, to ensure the removable of casing assembly 2102 Unload the correct assembling of component 2103.As shown in the exemplary embodiment in Figure 147, work package 2106 can pass through several fixed structures Part (for example, motor fixing component 2148, transmission assembly fixing component 2150, and/or firing member component fixing component 2152) Fixed to cover portion point 2112.In some examples, as shown in Figure 147, it can be used power source fixing component 2154, firing button solid Component 2156 and closure switch fixing component 2158 are determined to distinguish constant power source 2108, firing button 2138 and closure switch 2140。

Fixing component can be clamped to by moving to locked configuration (referring to Figure 147) (referring to Figure 148) from unlocked configuration On detachable part 2103.For example, motor fixing component 2148 can be by moving to locking structure (referring to Figure 148) from unlocked configuration Type (referring to Figure 147) is clamped on motor 2118.In some examples, some or all of detachable part 2103 can wrap Track is included, the track is configured to receive fixing component when fixing component moves to locked configuration from unlocked configuration. Track can be oriented so that the respective compartment that they only can be correctly nested in detachable part 2103 in cover portion point 2112 It is aligned to receive the fixing component of movement when interior.For example, if motor 2118 is not nested in motor nesting compartment correctly In 2126, then motor fixing component 2148 can not be properly aligned with its track, and thus when motor fixing component 2148 from When unlocked configuration moves to locked configuration, motor fixing component 2148 injection and can not can for example abut against motor 2118 outer wall.In some examples, motor fixing component 2148 can be oriented so that if working as motor fixing component 2148 User attempts assembling cover portion point 2112 and 2114 when being not in locked configuration, then it can prevent the first cover portion point 2112 and second 2114 cooperation engagement of cover portion point.Whether the assembling parts that the construction can prompt user to reexamine casing assembly 2102 are correct Assembling.

Similar to motor fixing component 2148, transmission assembly fixing component 2150 may be received in special on transmission assembly 2120 With in track, and transmission assembly fixing component 2150 can be positioned so that it is made only correctly to be nested in biography in transmission assembly 2120 Ability its corresponding rail alignment when in defeated component nesting compartment 2128.In addition, firing member component fixing component 2152 can connect It is contained in the dedicated track on such as firing member component 2122, and firing member component fixing component 2152 can be positioned so that So that it is only just corresponding to its when firing member component 2122 is correctly nested in firing member component nesting compartment 2130 Rail alignment.Otherwise similar to motor fixing component 2148, transmission assembly fixing component 2150 and/or firing member component are solid Determine component 2152 to can be oriented so that if working as transmission assembly fixing component 2150 and/or firing member component fixing component 2152 users when being not in locked configuration attempt assembling cover portion point 2112 and 2114, then either of which person can prevent first Cover portion point 2112 is engaged with 2114 cooperation of the second cover portion point.As described above, some in detachable part 2103 can be disassembled, it can It is re-attached to cover component 2112 together as component, and can be fixed by multiple fixing components.For example, work package 2106 can pass through motor fixing component 2148, transmission assembly fixing component 2150 and/or firing member component fixing component 2152 Fixed to cover portion point 2112, as shown in Figure 147.Such construct can provide the Insurance riders degree correctly assembled, because of work package The incorrect assembling of any one of 2106 components can prevent its corresponding fixing component from reaching locked configuration, in this way if made User attempts assembling cover portion points 2112 and 2114 when at least one of fixing component is not up to locked configuration, then can prevent the One cover portion point 2112 is engaged with 2114 cooperation of the second cover portion point.

Referring again to Figure 147 and Figure 148, some or all of fixing component can be pivotably attached to the first cover portion Divide 2112 and locked configuration can be moved to (referring to figure (referring to Figure 148) from unlocked configuration relative to the first cover portion point 2112 147), vice versa.In some examples, the second cover portion point 2114 may include the fixing component (not shown) of protrusion, when outside During the assembling of shell component 2102, when cover portion point 2112 and 2114 is aligned to for coordinating engagement, the fixation structure of the protrusion Part is configured to the correspondence receiver member being received in the detachable part 2103 being nested in the first cover portion point 2112 (not Show) in.The fixing component of protrusion ensures that detachable part 2103 remains fixed in the first cover portion point 2112.In addition, if Fixing component such as because of the not correct assembling of detachable part 2103 not corresponding receiver member of the user in protrusion Assembling cover portion points 2112 and 2114 is attempted when being properly aligned with, then the fixing component of protrusion can prevent the first cover portion point 2112 and the Points 2114 cooperation engagement of two cover portions, this can prompt user reexamine casing assembly 2102 detachable part 2103 assembling Correctly to be assembled.Reader will be appreciated that the position of the fixing component of protrusion and its corresponding receiver member can be reversed, So that the fixing component of protrusion from 2103 protrusion of detachable part and can may be received in pair in the second cover portion points 2114 It answers in receiver member.Under any circumstance, the fixing component of protrusion receiver member corresponding with its each other can be for example with buckle Fitting-type engages releasedly to be attached.The disclosure is contemplated that other engaging mechanisms.

Further described above, some or all of detachable part 2103 may include cam face, it is described Cam face is configured to move to locking (referring to Figure 148) from unlocked configuration in the fixing component of the first cover portion point 2112 These fixing components are received when configuration (referring to Figure 147).Cam face may be provided in dismountable component 2103 some or Corresponding fixing component is allowed to pressure is applied to detachable part 2103 on whole outer surfaces and under locked configuration On.For example, motor 2118 may include the cam face along its track.When motor fixing component 2148 from unlocked configuration (referring to figure 148) when moving to locked configuration (referring to Figure 147), motor fixing component 2148 can advance along the cam face on motor 2118, To which incremental pressure is applied on motor 2118 by permissible motor fixing component 2148, wherein for example having under locked configuration There is maximum pressure.The pressure for being applied to motor 2118 can help to motor being fixed in motor nesting compartment 2126.

As described above, end effector may include to promote to suture and/or cut the firing member of tissue towards distal side.It is existing Referring to Figure 155, end effector 11260 may include first jaw with anvil block 11262 and with nail bin 11264 second Jaw.End effector 11260 may also include：One, the shell and/or frame extended proximally from anvil block 11262 and nail bin 11264 Frame 11261；With two, the firing member 11266 that can be moved relative to shell 11261, anvil block 11262 and storehouse 11264.It holds end Row device 11260 may also include actuated articulation joints 11230, and the actuated articulation joints 11230 are configured to allow anvil block 11262 and storehouse 11264 pass through articulation drive 11268 carry out joint motions.In use, end effector 11260 can group It is attached to the axis 11240 of surgical instruments, such as is made：One, end effector shell 11261, which is connected to, is configured to support end The shaft housing 11241 of portion's actuator shell 11261；Two, end effector firing member 11266, which is connected to, is configured to push away Actuator 11246 is fired into the axis with retraction end effector firing member 11266；And/or three, end effector Driver 11268 is connected to the axis joint for the end effector articulation drive 11268 that is configured to promote and bounce back Motion actuator 11248.In use, firing member 11266 can be promoted towards distal side, so that anvil block 11262 can be determined from wherein tissue Open position of the position among anvil block 11262 and storehouse 11264 moves to wherein 11262 compression organization of anvil block against storehouse 11264 Closed position.In all cases, firing member 11266 may include being configured to when firing member 11266 is promoted towards distal side The first engagement member of the first jaw can be engaged and be configured to the second engagement member of the second jaw of engagement, so that Anvil block 11262 can be pivoted by engagement member nail bin tomorrow 11264.In order to reopen end effector and allow anvil Seat 11262 returns to its open position, and firing member 11266 must fully be bounced back.In all cases, firing member 11266 may be stuck in the position at least partly fired, and therefore anvil block 11262 can not be switched on again, so that surgery Instrument is difficult to remove from operative site.

Turning now to Figure 156-161, end effector (for example, end effector 11360) may include firing member, described Firing member allows the anvil block 11262 of end effector 11360 to be switched on again, even if the percussion of end effector 11360 Component is stuck in the position at least partly fired.More specifically, end effector 11360 may include firing member 11366, institute It includes removable part 11366a and 11366b to state firing member 11366, and the removable part 11366a and 11366b is each It is configured to allow the relative motion between anvil block 11262 and storehouse 11264 in the case of kind.Referring primarily to Figure 157 and figure 158, when lock 11390 is in the lock state, removable part 11366a and 11366b can be kept together by lock 11390, As shown in Figure 158.Correspondingly, when lock 11390 is in the unlocked state, removable part 11366a and 11366b can be relative to those This movement.The removable part 11366a of firing member 11366 may include the first lateral part 11363a, the second lateral part The 11367a and cutting element part 11365a being located among lateral part 11363a and 11367a.In all cases, Lateral part 11363a and 11367a can sell (Figure 157 via the one or more for being defined in hole 11396a therein is extended through With 158 in be not shown) remain to cutting element part 11365a.The removable part 11366b of firing member 11366 can be wrapped It includes the first lateral part 11363b, the second lateral part 11367b and is located among lateral part 11363b and 11367b Cutting element part 11365b.In all cases, lateral part 11363b and 11367b can via with from its extend bottom At least one holding member (being not shown in Figure 157 and 158) that foot 11396 engages remains to cutting element part 11365b. Reader will be appreciated that aforementioned retaining pin keeps together the various parts of removable part 11363a, while aforementioned holding structure Part keeps together the various parts of removable part 11363b.Reader will further know that, and lock 11390 is in its locking bit Removable part 11363a and 11363b are kept together when setting.In all cases, referring primarily to Figure 158, lock 11390 can It is adapted to including the first locking component 11397a and the second locking component 11397b, the first locking component 11397a The first lock part 11361a of the first cutting element part 11365a is enough engaged, the second locking component 11397b is constructed At the second lock part 11361b that can engage the second cutting element part 11365b.First lock part 11361a and second Lock part 11361b is configured to cutting element part 11365a and 11365b collaboratively and releasedly protects It holds together.In all cases, lock part 11397a, 11397b can keep cutting element part 11365a and 11365b Together so that the corresponding cutting surfaces 11395a and 11395b of cutting element part 11365a and 11365b formed it is continuous, Or at least substantially continuous cutting surfaces.Referring again to Figure 158, lock part 11397a, the 11397b for locking 11390 can be by structures Cause can collaboratively to engage and keep respectively the key 11361a and 11361b of cutting element part 11365a and 11365b. In the case of various, lock part 11397a, 11397b can limit recess 11398 between them, and recess 11398 is adapted to It is enough to receive key 11361a and 11361b when locking 11390 in its latched position.When lock 11390 is proximally pulled, lock Key 11361a and 11361b can be detached from by determining part 11397a and 11397b.At this point, lock 11390 can be no longer by cutting element part 11365a and 11365b keep together.In this case, therefore, removable part 11366a and 11366b can be relative to that This movement.For example, removable part 11366a can together be moved when jaw 11262 is reopened with jaw 11262, and it is right Ying Di, removable part 11366b can keep together with storehouse 11264.According to described above, when firing member 11366 is stuck in example When in the position such as at least partly fired, lock 11390 can be proximally pulled to unlock removable part 11366a and 11366b.

As described above, lock 11390 can be pulled proximally, with unlock firing member 11366 removable part 11366a and 11366b.Turning now to Figure 159, it can proximally be pulled by locking level 11391 and/or push lock 11390 towards distal side.Locking level 11391 can be positioned in end effector 11360 and may include proximal end 11392 and distal end 11393.Locking level 11391 distal end 11393 can be engaged with lock 11390.More specifically, at least one embodiment, distal end 11393 It may include that the protrusion extended from it, the protrusion can be slidably located in the elongated slot 11399 being defined in lock 11390 It is interior.In order to proximally pull lock 11390, locking level 11391 can be proximally pulled, until protrusion contact elongated slot 11399 Proximal end 11394, the wherein action of locking level 11391 can be passed to lock 11390.Accordingly, protrusion is configured to The distal end 11395 for enough contacting elongated slot 11399, to push lock 11390 towards distal side.Reader will be appreciated that, join again See Figure 156, firing member 11366 may include being defined in one or more of longitudinal slits 11369, one or more of Longitudinal slit 11369 is configured to that locking level is allowed to protrude through its extension and engages lock 11390, as described above.

Further described above, referring primarily to Figure 156 and Figure 160, the proximal end 11392 of locking level 11391 It may include the attachment part for being configured to be engaged by the locking actuator 11348 of the axis 11340 of surgical instruments.Referring primarily to Figure 160, locking actuator 11348 may include having jagged distal end 11349, and the recess is for example configured to Receive the proximal end 11392 of locking level 11391.Locking actuator 11348 may also include proximal end 11347, the nearside End 11347 can proximally be pulled by the user of surgical instruments and/or be pushed towards distal side, so that locking actuator 11348 and locking level 11391 proximally and/or move toward the far side respectively.In use, when end effector 11360 is assembled into When axis 11340, the distal end 11349 of locking actuator 11348 can be assembled in the proximal end 11392 of locking level 11391.

As described above, motor can be used for promoting and/or the firing member that bounces back, to dispose the fastener from end effector And/or tissue of the cutting capture in end effector.In all cases, motor may include rotatable drive shaft, institute Translational motion can be converted into and be transferred to firing member by stating the rotation of rotatable drive shaft, for example, cutting element and/or Staple drivers.Such at least one, rotatable drive shaft may include threaded portion, the threaded portion and lining ring spiral shell Line engages, and the lining ring is including being defined in threaded hole therein, wherein in use, lining ring can suffer restraints and cannot rotate, So that the rotation of drive shaft promotes drive shaft and/or the drive shaft that proximally bounces back towards distal side, this depends on the side of drive shaft rotation To.In some cases, it is more than expectation or scheduled maximum, force or torsion that firing member, which can be stuck and/or in other words can be subjected to, The power or torque of square.Turning now to Figure 162-167, motor sub-assembly 12000 may include motor 12010, axis 12020 and slide from Clutch component 12030, wherein slide engaging and disengaging device assembly 12030, which can limit motor 12010, can be transferred to power or the torsion of axis 12020 Square.In all cases, referring primarily to Figure 162 and Figure 163, slide engaging and disengaging device assembly 12030 can be in the rotatable of motor 12010 Drive transfer of torque between output section 12012 and axis 12020.Referring now to Figure 165-167, in all cases, driving output Portion 12012 may include substantially circular exterior contour part 12011 and can be flat or at least substantially flat transition Surface 12014.The exterior contour of driving output section 12012, which may also include, is defined in circular contour part 12011 and flat surfaces First between 12014 drives shoulder 12016 and is defined in opposite end and the circular contour part of flat surfaces 12014 The second driving shoulder 12018 between 12011.

In addition as shown in Figure 165-167, slide engaging and disengaging component 12030 may include driving element 12034, the driving element 12034 are biased to engage with driving output section 12012 by biasing element or spring 12036.Driving element 12034 can at least portion It is located in the holding slit in the shell 12037 for being defined in slide engaging and disengaging component 12030 with dividing so that driving element 12034 Movement relative to shell 12037 can be limited on axis.Reader will be appreciated that the shell 12037 of slide engaging and disengaging component can It is installed to axis 12020 so that shell 12037 and axis 12020 synchronous rotary together.Reader will further know that, at least in certain feelings Under condition, driving element 12034 can will drive the spinning movement of output section 12012 to be transferred to shell 12037.More specifically, when driving When dynamic output section 12012 is rotated along the first direction as indicated by arrow 12017 to promote firing member towards distal side, driving output Portion 12012 can be rotated relative to driving element 12034, until the first driving shoulder 12016 is contacted with driving element 12034.It reads Person will be appreciated that the first driving shoulder 12016 can keep contacting with driving element 12034, and precondition is biasing member 12036 It can resist or at least fully resist the radial outward movement of driving element 12034.As long as driving element 12034 and first is driven Dynamic shoulder 12016 contacts, and motor 12010 can make axis 12020 promote the direction of firing member to rotate along towards distal side.Various In the case of, sufficiently large torque can be applied to driving output section 12012 by motor 12010 so that driving element 12034 it is radial to Therefore outer displacement and makes so that driving defeated portion to go out 12012 the first driving shoulder 12016 slips over driving element 12034 Output section 12012 must be driven to be rotated relative to driving element 12304, slip-clutch shell 12037 and axis 12020.In other words It says, when the torque for being applied to driving output section 12012 is more than scheduled or maximum torque, driving element 12034 can fail And it is operatively disengaged from motor 12010.When to drop below this scheduled or most for the torque for being applied to driving output section 12012 When big torque, driving element 12034 can be re-engaged the first driving shoulder 12016, and therefore, and axis 12020 can be with motor 12010 are operationally re-engaged so that axis 12020 is rotated by the driving output section 12012 of motor 12010.

Further described above, when driving output section 12012 is along the second direction rotation as indicated by arrow 12019 Turn with proximally bounce back firing member when, driving output section 12012 can rotate relative to driving element 12034, until second drive Dynamic shoulder 12018 is contacted with driving element 12034.Reader will be appreciated that the second driving shoulder 12018 can be kept and driving element 12034 contacts, precondition are the radial directions that driving element 12034 can be resisted or at least fully be resisted to biasing member 12036 It moves out.As long as driving element 12034 with second driving shoulder 12018 contact, motor 12010 can make axis 12020 along Proximally the direction of retraction firing member rotates.In all cases, sufficiently large torque can be applied to driving by motor 12010 Output section 12012 so that driving element 12034 radially outward shifts so that drive defeated portion go out 12012 the second driving shoulder Portion 12018 slips over driving element 12034, and so that drives output section 12012 relative to driving element 12034, sliding Clutch outer member 12037 and axis 12020 rotate.In other words, when the torque for being applied to driving output section 12012 is more than predetermined Or when maximum torque, driving element 12034 can fail and be operatively disengaged from motor 12010.When being applied to, driving is defeated When going out the torque in portion 12012 and dropping below the scheduled or maximum torque, driving element 12034 can be re-engaged the second drive Dynamic shoulder 12018, and therefore, axis 12020 can be operationally re-engaged with motor 12010 so that axis 12020 passes through motor 12010 driving output section 12012 is rotated.

In all cases, further described above, the first driving shoulder 12016 and second drives shoulder 12018 can have identical configuration.In some cases, the first driving shoulder 12016 can be limited and the by first curvature radius Two driving shoulders 12018 can be limited by second curvature radius.In some cases, first curvature radius can be with second curvature radius It is identical.In such cases, the maximum that motor 12010 can apply when rotating driving output section 12012 along first direction 12017 Or sliding torque can drive the maximum that apply when output 12012 or sliding with motor 12010 in a second direction 12019 rotations Moment of torsion is same or substantially the same.In some cases, first curvature radius may differ from second curvature radius.In such feelings Under condition, maximum or sliding torque that motor 12010 can apply when rotating driving output section 12012 along first direction 12017 can It is different from the maximum or sliding torque that motor 12010 can apply in a second direction 12019 rotation driving output 12012. In the case of at least one is such, first curvature radius can be more than second curvature radius, wherein therefore, along first direction 12017 Maximum or sliding torque is smaller than 12019 maximum or sliding torque in a second direction.In other words, first compared to percussion is promoted Part, when retraction fires element, motor 12010 can apply axis 12020 larger torque.When it is expected bounce back percussion element so that When the end effector of surgical instruments can for example be switched on again and be unclamped from tissue, such situation can be advantageous.Extremely In the case of few a kind of, first curvature radius is smaller than second curvature radius, wherein therefore, along first direction 12017 maximum or Sliding torque can be more than 12019 maximum or sliding torque in a second direction.In other words, element is fired compared to retraction, when When promoting percussion element, motor 12010 can apply axis 12020 larger torque.

Further described above, referring primarily to Figure 163 and Figure 164, biasing member 12036 can be by spring lining ring 12032 are elastically supported, and the spring lining ring 12032 is located in the circumferential passageway being defined in slip-clutch shell 12037 In 12031.In such cases, spring lining ring 12032 and biasing member 12036 can cooperate to apply radially inward bias force And/or resist the radial outward movement of driving element 12034.In all cases, spring lining ring 12032 may include annular Main body, the annular body include the first free end 12033 and the second free end 12034, and wherein annular body can be in above-mentioned diameter It is applied to outside power and flexibly extends and flexibly shunk when the radially outer power has stopped or reduced at that time. In this case, the first free end 12033 of spring lining ring 12032 can be moved relative to the second free end 12034.

Device disclosed in this invention can be designed to be processed after a single use, or they can be designed to be It is nonexpondable.However, in either case, described device can be repaired, to make again after use at least once With.It repairs and may include provision for disengagement, cleaning or replace specific component and wherein arbitrary several steps for subsequently re-assemblying Combination.Specifically, described device is detachable, and selectively can replace or remove in any combination the arbitrary number of described device Purpose specific component or component.Cleaning and/or replace particular elements after, described device can re-assembly at the repair facility so as to It then uses, or is re-assemblied immediately before surgery by surgical team.Those skilled in the art will know Road, the repairing again of device can utilize it is a variety of be used to dismantle, the technology for cleaning/replace and re-assembly.The purposes of these technologies And obtained prosthetic device again is within the scope of the present invention.

Preferably, invention as described herein is handled before surgery.First, new or used instrument is obtained, and according to It is cleaned.Then it can sterilize to instrument.In a kind of sterilization technology, instrument is placed on closure and the appearance of sealing In device, such as in plastics or TYVEK bag.Then the radiation area of the container can be penetrated by being placed in container and device, such as γ radiation, X- rays or high energy electron.Radiation makes the bacterium on kill instrument and in container.Then the instrument after sterilizing is stored in disinfection In container.The sealing container makes instrument keep sterile until opening the container in medical facilities.

Any patent, announcement or other public materials incorporated herein by reference in its entirety or in part only simultaneously The material entered is not incorporated herein in existing definition, statement or the conflicting range of other public materials described in the disclosure.Together Sample and at the necessary level, the disclosure that the application is expressly recited instead of be incorporated herein in a manner of citation appoint What conflict material.It is any be herein incorporated by reference but with existing definition as described herein, statement or other public material phases Any material of conflict or part thereof, under the degree for only not generating conflict between the incorporated material and the existing public material It is incorporated herein.

It, can also be right in the spirit and scope of the disclosure although the present invention has been described as having illustrative design The present invention modifies.Therefore this application is intended to cover any modification, purposes or the modified versions using general principles. In addition, this application is intended to cover belong to known or used this different from the disclosure having in practical framework in fields of the present invention Class pattern.

Claims

1. it is anti-for being shown between endoscope type average of operation periods that a kind of system, the system and surgical instruments carry out signal communication Feedback, the system comprises：

Screen including touch sensitive interface, wherein the touch sensitive interface is designed to receive at least one input；

The first layer of display on the screen, wherein the first layer includes the primary feedback from the surgical instruments；And

The second layer of display on the screen, wherein the second layer includes the additional feedback from the surgical instruments, Described in the second layer be superimposed on the first layer at least partly, and wherein at least one input of the touch sensitive interface It is designed to rearrange the additional feedback of the second layer relative to the primary feedback of the first layer.

2. system according to claim 1, wherein the primary feedback includes the video feed of the surgical instruments.

3. system according to claim 2, wherein the additional feedback includes the data sensed by the surgical instruments.

4. system according to claim 1, wherein at least one input be included in it is mobile between multiple positions described in Additional feedback.

5. system according to claim 1, wherein at least one input is converted between being included in multiple unit systems The additional feedback.

6. system according to claim 1, wherein at least one input be included in number display and graphical display it Between convert the additional feedback.

7. system according to claim 1, wherein at least one input adjusts the auxiliary in terms of being included in size Feedback.

8. it is anti-for being shown between endoscope type average of operation periods that a kind of system, the system and surgical instruments carry out signal communication Feedback, the system comprises：

The first layer of display on the screen, wherein the first layer includes the primary feedback from the surgical instruments, wherein The primary feedback includes the video feed of the surgical instruments；And

The second layer of display on the screen, wherein the second layer includes the additional feedback from the surgical instruments, Described in additional feedback include the data sensed by the surgical instruments, wherein the second layer be superimposed upon at least partly it is described On first layer, and the institute relative to the first layer is wherein designed to at least one input of the touch sensitive interface Primary feedback is stated to manipulate the additional feedback of the second layer,

Wherein described at least one input includes at least one of the data that will be sensed by surgical instruments data phase The specific position on the screen is dragged to for the surgical instruments being shown in the second layer.

9. it is anti-for being shown between endoscope type average of operation periods that a kind of system, the system and surgical instruments carry out signal communication Feedback, the system comprises：

The second layer of display on the screen, wherein the second layer includes the additional feedback from the surgical instruments, Described in the second layer be superimposed on the first layer at least partly, and wherein at least one input of the touch sensitive interface It is designed to manipulate the additional feedback of the second layer relative to the primary feedback of the first layer,

Wherein described at least one input includes the part for selecting the additional feedback, wherein the portion of the additional feedback Divide the feature structure corresponding to the surgical instruments, and the selected section of the wherein described additional feedback is self-positioning to described The position of the character pair structure close to the surgical instruments being shown in the first layer on screen.

10. system according to claim 9, wherein the position on the screen is superimposed upon and is shown in the first layer In the surgical instruments character pair structure on.

11. it is anti-for being shown between endoscope type average of operation periods that a kind of system, the system and surgical instruments carry out signal communication Feedback, the system comprises：

The screen for positioning and include touch sensitive interface far from the surgical instruments, wherein the touch sensitive interface is designed to connect Receive at least one input；

The first layer of display on the screen, wherein the first layer includes the primary feedback from the surgical instruments；

The second layer of display on the screen, wherein the second layer includes the additional feedback from the surgical instruments, Described in the second layer be superimposed on the first layer at least partly, and wherein at least one input of the touch sensitive interface It is designed to manipulate the additional feedback of the second layer relative to the primary feedback of the first layer, and

The controller of signal communication is carried out with the touch sensitive interface and the surgical instruments, wherein the controller be based on it is described extremely Few one inputs and selectively controls the surgical instruments.

12. a kind of device carrying out signal communication with endoscopic instruments, described device include：

The bottom of video feed from the endoscopic instruments is shown；

The lamination of dynamical feedback from the endoscopic instruments is shown；With

Manipulation device, the manipulation device are used to show relative to the bottom of the video feed anti-to rearrange the dynamic At least part that the lamination of feedback is shown.

13. device according to claim 12, wherein the lamination of the dynamical feedback is shown including by the endoscope type The information of instrument sensing.

14. device according to claim 12, wherein the manipulation device includes touching screen.

15. a kind of system being used together with surgical instruments, the system comprises：

The screen of touch sensitive interface is detached and included with the surgical instruments, wherein the feedback from the surgical instruments is designed to It can show on the screen, and the wherein described feedback includes：

The video of endoscope supplies；With

It is superimposed upon the state of the surgical instruments at least part of the video supply of the endoscope；With

The controller of signal communication is carried out with the touch sensitive interface and the surgical instruments, wherein the controller is based on to described The input of touch sensitive interface and selectively control the surgical instruments.

16. system according to claim 15, wherein the controller is wirelessly communicated with the surgical instruments.

17. system according to claim 15, wherein the surgical instruments includes threshold limit, and the wherein described control Device controls the surgical instruments in order to avoid being more than the threshold limit.

18. system according to claim 15, wherein the touch sensitive interface includes multiple controls, and it is wherein the multiple Control is adjustable.

19. a kind of system being used together with surgical instruments, the system comprises：

Screen including touch sensitive interface, wherein the feedback from the surgical instruments is designed to be shown in the screen On, and the wherein described feedback includes：

The video of endoscope supplies；With

The controller of signal communication is carried out with the touch sensitive interface and the surgical instruments, wherein the controller is based on to described The input of touch sensitive interface and selectively control the surgical instruments,

The wherein described touch sensitive interface include at least part of of the surgical instruments manipulate schematic diagram, and it is wherein described can The manipulation for manipulating schematic diagram is designed to control described corresponding at least part of the surgical instruments.

20. system according to claim 19, wherein it is described can manipulate schematic diagram being capable of regarding relative to the endoscope Frequency supply movement.