CN105658155B - Conductor configuration for the Motorized surgical instrument with rotatable end effector - Google Patents

Abstract

The invention discloses a kind of surgical instruments, the surgical instruments includes shell (12), and the shell (12) has the Slender axles assembly (16) for being attached and being configured to rotate relative to the shell with it.The surgical instruments also includes conductor configuration (930,932,936,944), the conductor configuration (930,932,936,944) be advantageous to electrical power or electric current from the surgical end-effector that can be located in the housing or the power source (200) of the hull outside is delivered to the distal part of the Slender axles assembly or is coupled.The surgical instruments may also include traveling limit structure (950), and the traveling limit structure (950) is used to the Slender axles assembly being limited to predetermined rotation travel range relative to the rotation amount of travel of the shell.

Description

Conductor configuration for the Motorized surgical instrument with rotatable end effector

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 generally used for nail being deployed in soft tissue, to reduce or disappear for example especially when tissue is crosscut Except the bleeding of soft tissue.The surgical stapling device of such as inner cutter may include end effector, and the end effector can be relative In Slender axles assembly motion 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 often includes being configured to removedly store nail wherein Nail bin, the second jaw member often includes anvil block.This kind of surgical stapling device may include to be used to make anvil block pivot relative to nail bin Closed-system.

As described above, the anvil block that surgical stapling device is configured to cause end effector is relative to nail bin pivot Turn, so as to which soft tissue is trapped between them.In all cases, anvil block is configured to apply soft tissue and clamped Power, so as to which soft tissue is firmly held between anvil block and nail bin.However, if surgeon is unsatisfied with end effector Position, then surgeon generally have to enable relieving mechanism on surgical stapling device by anvil block be pivoted into open position and with After reposition end effector.Then, nail generally traverses the passage in nail bin by driver from cartridge deployment, the driver, So that nail deforms against anvil block, and soft tissue layer is fixed together.As it is known in the art, nail often with some 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, the cutting element advances to cut soft tissue between two nails.

The size and construction of such surgical stapling device and actuator be designed to by trochar or other enter opening Insertion body intracavitary.End effector is typically coupled to be dimensioned so as to the slender axles through trochar or opening.Slender axles group Part is typically operatively connected to shank, and the shank support is used for the control system for controlling the operation of end effector and/or touched Send out device.In order to be advantageous 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 slender axles.

The U.S. of powered surgical instrument in Zemlok et al. entitled POWERED SURGICAL STAPLING DEVICE 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. The POWERED SURGICAL INSTRUMENT A1 of U.S. Patent Application Publication US 2011/0278344 are (hereinafter, " Zemlok ' 344 ") have in (now be United States Patent (USP) 8,201,721) disclosed in, the complete disclosure of the patent application publication It is hereby incorporated by reference.

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

Brief 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 in itself, wherein：

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

Fig. 2 is the perspective view that can combine the exemplary loading unit that various surgical instruments disclosed herein use；

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

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

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

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 driver element, and wherein its part is shown with section；

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

Fig. 9 is a form of top view of 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 driver element is locked Determine system and be in locking orientation；

Figure 14 is another partial side sectional view of Figure 13 surgical instruments, and wherein driver element locking system is in unblock Orientation；

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

Figure 16 is the partial side sectional view of Figure 15 surgical instrument embodiment, and wherein its part shows that solid line shows with section The driver element locking system that source is orientated in locking, and the driver element locking system shown in phantom in unblock orientation；

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

Figure 18 is another partial top view of Figure 15-17 surgical instrument embodiment, wherein shown in phantom 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 driver element locking system of apparatus, solid line shows the retraction lever in unactuated position, and shown in phantom first 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 Driver element locking system in locking orientation；

Figure 21 is another partial top view of Figure 20 surgical instrument embodiment, and wherein driver element locking system is in Unblock orientation；

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 percussion bar assembly by Figure 22 surgical instruments and another part of end effector after percussion Cross sectional side view；

Figure 24 is that retraction assemblies have been activated so as to drive beam retraction to return to its original position in end effector The surgical instruments of Figure 23 afterwards 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 Figure 25 surgical instruments and another partial cut away side views of end effector after percussion；

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

Figure 28 is Figure 27 surgical instruments and another partial cut away side views of end effector, wherein distal side trigger shaft It is partially in retraction orientation；

Figure 29 is the part sectioned view of a part for another surgical instrument embodiment, and wherein it is driven at coupler assembly It is orientated in joint motions；

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

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

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

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

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

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

Figure 36 is the part sectioned view along the Figure 33 intercepted of the line 36-36 in Figure 33 surgical instruments；

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

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

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

The partial, exploded perspective view of axle, lining ring and disposable loading unit that Figure 40 is Figure 38；

Another partial, exploded perspective view of axle, lining ring and disposable loading unit that Figure 41 is Figure 38；

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

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

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

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

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

The partial perspective profile of disposable loading unit, lining ring and axle that Figure 47 is Figure 38, there is shown be attached to axle Disposable loading unit；

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

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

Figure 50 is Figure 38 lining ring and the front view of axle intercepted along the plane shown in Figure 48；

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

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

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

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

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

Figure 56 is Figure 38 disposable loading unit, the perspective of lining ring and axle, part sectioned view, and there is shown with insert completely Enter the disposable loading unit in axle, and the lining ring for also illustrating and being in second relative to axle, be rotationally oriented；

Figure 57 is Figure 38 disposable loading unit, the perspective of lining ring and axle, part sectioned view, and there is shown with insert completely Enter the disposable loading unit in axle, and also illustrate the lining ring that initial orientation is in relative to axle；

Figure 58 is Figure 38 disposable loading unit, the perspective of lining ring and axle, part sectioned view, and there is shown with insert completely Enter the disposable loading unit in axle, and also illustrate the lining ring that initial orientation is in relative to axle；

Figure 59 is according to the axle of the surgical instruments of the various embodiments of the disclosure and is not attached to the disposable loading list of axle The part of member, perspective, profile；

The axle and the part of disposable loading unit, perspective, profile that Figure 60 is Figure 59, there is shown with fully-inserted axle Disposable loading unit, and also illustrate the breech lock in unlatched position；

The axle and the part of disposable loading unit, perspective, profile that Figure 61 is Figure 59, there is shown with fully-inserted axle Disposable loading unit, and also illustrate the breech lock in position latching；

Figure 62 be Figure 59 axle and disposable loading unit part, face, profile, there is shown with fully-inserted axle Disposable loading unit, and also illustrate the breech lock in position latching；

Figure 63 is the schematic diagram according to moment of torsion-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 Figure 64 (a) pulse-width modulation circuit It is intended to；

Figure 65 (b) is showing by the percussion element of the low duty ratio recurrent pulse driving of Figure 64 (b) pulse-width modulation circuit 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 speed shown in whole firing schedule of various embodiments and the curve map of moment of torsion according to 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 change；

Figure 75 is the display including touch-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 Figure 75 display, and wherein first information layer is included 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 Figure 75 display, wherein the second Information Level includes being used for The control panel of input is received via touch-screen；

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

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

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

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

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

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

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

The front view for the second Information Level that Figure 85 is the Figure 77 being superimposed upon on Figure 76 first information layer, wherein the second information Layer includes the visual representation of the orientation of the numerical data and DLU related to DLU orientation, 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 Figure 76 first information layer, there is shown with from The input for being used to adjust DLU joint motions via Figure 75 touch-screen of user；

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

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

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

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

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 Figure 76 first information layer, 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 to the exploded view of the surgical instrument system for including shank and end effector of at least one embodiment, 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 the trigger lock in released state；

Figure 97 is the part sectioned view of Figure 96 shank, and there is shown with the trigger lock being in the lock state；

Figure 98 is the profile of Figure 96 trigger lock, and there is shown with trigger lock to be in its released state；

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

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

Figure 100 is to include the surgical instrument system for the trigger lock being in the lock state according at least one embodiment The profile of shank；

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

Figure 102 is another cross-sectional details figure of Figure 100 shank, and there is shown with the trigger in its released 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 to include the surgical instrument system for the trigger lock being in the lock state according at least one embodiment The perspective cutaway view of shank；

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

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

Figure 110 is to show can be used the controller of surgical instruments to be 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 axle according at least one embodiment Schematic diagram；

Figure 113 is the plan of the printed circuit board (PCB) of Figure 112 connectors；

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

Figure 115 be surgical instruments axle and Figure 114 end effector fragmentary, perspective view；

Figure 116 is the profile of the Figure 114 for the axle for being attached to Figure 115 end effector；

Figure 117 is the profile of the connectors between end effector and axle according at least one embodiment；

Figure 118 is the profile of the connectors between end effector and axle according at least one embodiment；

Figure 119 is the profile of the connectors between end effector and axle according at least one embodiment；

Figure 120 is the detail drawing of Figure 119 connectors；

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

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

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

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

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

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

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

Figure 128 is the detail drawing of Figure 121 anvil position indicator, and there is shown with the anvil in 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 Figure 129 surgical instruments power, wherein power system and figure The control system connection of 129 surgical instruments；

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 Figure 130 power system；

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 Figure 134 of the dismounting according to various embodiments described herein power source；

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 Figure 136 electricity that has disconnected of breaking part The circuit diagram on road；

Figure 138 show according to various embodiments described herein be used to protect storage data 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 be used to protect storage data 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 the side view of Figure 146 shell, and wherein external shell is removed is consolidated with exposure by fixing component Surely the detachable block of shell is arrived；

Figure 148 shows the side view of Figure 147 shell, and wherein detachable block removes from shell；

Figure 149 is to show to be limited to detectable impression, recess or the bar code marking 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 axle of the end effector including bar code of at least one embodiment；

Figure 152 is the part according to the axle 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 profile for showing wherein to be located Figure 153 of end effector barcode reader；

Figure 155 is the end effector of surgical instruments and the decomposition diagram of axle according at least one embodiment；

Figure 156 is the end effector of surgical instruments and the decomposition diagram of axle according at least one embodiment, wherein End effector includes the part for the firing member being releasably locked together；

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

The firing member part and the fragmentary, perspective view of locking component that Figure 158 is Figure 156, 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 Figure 156 of release actuator firing member, and the release actuator is configured to Locking component is moved to released state and unlocks firing member part；

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

Figure 161 is the profile of Figure 160 connectors；

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

Figure 163 is the profile of Figure 162 component；

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

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

Figure 166 is the profile of Figure 162 component, and there is shown with the clutch element of Figure 165 in forward location；

Figure 167 is the profile of Figure 162 component, and there is shown with the clutch element of Figure 165 in reverse position；

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

Figure 169 is the perspective according to 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 Figure 169 of the various embodiments of disclosure gear assembly, its In the disk that is rotated in a clockwise direction be shown and engage the pick of the clicker of Figure 169 audible feedback generator；

Figure 171 is the front view of the pick on the disk according to Figure 169 of the various embodiments of disclosure gear assembly, its In the disk that rotates in the counterclockwise direction be shown and engage the pick of the clicker of Figure 169 audible feedback generator；

Figure 172 is that the motor according to the various embodiments of the disclosure, the gear assembly with multiple disks and audible feedback are sent out 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 Nearby the caused figure fed back represents at end；

Figure 174 and Figure 175 is being loaded for the various embodiments according to the disclosure by Figure 172 audible feedback generator Nearby the caused figure fed back represents the joint motions limit of unit；

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 indicate cell voltage；

Figure 180 is the scintillator circuit diagram for being configured to indicate that battery is electrically charged；

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

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

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

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 Figure 185 of the various embodiments of the disclosure sealing motor and gear assembly, face, Profile.

Embodiment

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

- entitled FIRING MEMBER RETRACTION DEVICES FOR POWERED SURGICAL INSTRUMENTS U.S. Patent application, attorney END7293USNP/130016；

- entitled SECONDARY BATTERY ARRANGEMENTS FOR POWERED SURGICAL INSTRUMENTS U.S. Patent application, attorney END7294USNP/130017；

- entitled ERROR DETECTION ARRANGEMENTS FOR SURGICAL INSTRUMENT ASSEMBLIES U.S. Patent application, attorney END7295USNP/130018；

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

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

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

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

- entitled SHROUD RETENTION ARRANGEMENT FOR STERILIZABLE SURGICAL INSTRUMENTS U.S. Patent application, attorney END7300USNP/130023；

- entitled END EFFECTOR DETECTION SYSTEMS FOR SURGICAL INSTRUMENTS the U.S. Patent application, attorney END7302USNP/130025；

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

- entitled Interactive Displays U.S. Patent application, attorney END7304USNP/ 130027；With

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

Some 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 drawings.This area it is common Technical staff will be understood that it is nonrestrictive exemplary to specifically describe herein and be illustrated in the apparatus and method in accompanying drawing Embodiment, and the scope of multiple embodiments of the present invention is limited only by the appended claims.Enter with reference to an exemplary embodiment The feature that row is illustrated or described 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) "), " with " (and with any form, such as " with (has) " and " with (having) "), " bag Containing " (and comprising any form, such as " including (includes) " and " including (including) " and " containing " (and contain Any form having, such as " containing (contains) " and " containing (containing) ") it is open link-verb.Therefore, " bag Include ", " with ", the surgery system, device or equipment of "comprising" or " containing " one or more elements is with these or more Individual 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 Individual or multiple features.

Term " nearside " and " distal side " are herein defined as coming relative to the clinician of the handle portions of manipulation of surgical apparatus Use.Term " nearside " refers near the part of clinician, and term " distal side " refers to the portion away from clinician Point.It is also understood that for the sake of succinct and be clear, such as " vertical ", " level ", "up" and "down" can be used with reference to accompanying 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 perform laparoscopic type and minimally invasive surgical procedures.However, this area Those of ordinary skill will readily appreciate 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 apparatuses disclosed herein such as by natural cavity, can pass through in any way in insertion body Otch or puncturing hole for being formed in tissue etc..The working portion or end effector portion of apparatus can be plugged directly into patient's body It is interior or can by with service aisle enter device insert, the end effector and slender axles of surgical instruments can pass through the work Make passage and promote.

Fig. 1 shows powered surgical instrument 10, and it can be similar to such as Zemlok ' 763 and/or Zemlok in many aspects ' surgical instruments (including various features structure, part and its subassembly) disclosed in 344, the full text of these patents is each to draw It is incorporated herein with mode.Surgical instruments 10 shown in Fig. 1 includes shell 12, and there are the shell 12 handle portions 14 to be advantageous to The manipulation and operation of apparatus.Therefore, term " shell " used herein can cover handheld configuration or can be otherwise manual 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 activated.

Form is stretched out from shell 12 and is configured to operationally attached for the Slender axles assembly 16 of endoscopic portion Be connected to surgical end-effector, the surgical end-effector be configured in response to the firing action applied to it come perform to A few surgical operation.Such surgical end-effector may include such as straight cuts device, grasper or other devices, it is described its His device may include a pair of jaws, and one of jaw can optionally move relative to another jaw or in some configurations In two jaws can be movable with respect to each other.In a manner of another example, surgical end-effector may include to cut With suture tissue device, for example, " loading unit " 20 as shown in Figures 2 and 3.Surgical end-effector (such as loading is single 20) member can for example be releasably attached to the Slender axles assembly 16 of powered surgical instrument 10, as described in more detail herein.

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

As seen in Figure 2, loading unit 20 includes anvil assembly 22, and the anvil assembly 22 is supported for relative to behaviour Make ground to support the carrier 24 of nail bin 26 therein and pivot and advance.Mounting assembly 28 is pivotally coupled to warehouse carrier 24 to be formed Actuated articulation joints 27, the actuated articulation joints 27 allow carrier 24 to surround transverse to longitudinal tool axis " LA-LA " pass Axis of movement " AA-AA " is saved to pivot.Referring to Fig. 3, mounting assembly 28 may include such as top mounting portion 30 and bottom installation portion Divide 32.Each mounting portion 30,32 may include threaded bore 34 on either side of it, and the size of the threaded bore 34 is set Count into and receive bolt (not shown) to be fixed to the upper the proximal end of carrier 24.The pivot member 36 of a pair of centralized positionings can Extended by a pair of coupling members 38 between top mounting portion and lower mounting part, the coupling member 38 engages shell The distal end of part 40.Coupling member 38 can each include interlocking portions of proximal 39, and the interlocking portions of proximal 39 is constructed Into that can be contained in the groove 42 that is formed in the proximal end of casing part 40, by mounting assembly 30 and casing part 40 It is 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 each to be configured to accommodate Upper case half portion 44 and lower case half portion 46 in external shell 50.The proximal end of shell half portion 44 may include to be used for It is releasably engaged the junction piece 48 of the distal end of Slender axles assembly 16.Block 48 can for example with Slender axles 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 passage 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 positioned in the slit 72 being formed between shell half portion 44,46.A pair of " explosion-proof " plates 74 can be positioned on neighbouring with driving beam The distal end of the adjacent casing part 40 of 60 distal end, to prevent from driving beam 60 during the joint motions of carrier 24 It is outwardly.

Driving beam 60 may include distal side work first 62 and nearside bonding part 64.Drive beam 60 can be by single material piece or excellent Selection of land is made up of the sheet material of multiple stackings.Bonding part 64 may include a pair of engaging finger piece, the size of the engagement finger It is designed to engage a pair formed in drive member 66 corresponding holding slits 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 Slender axles assembly engages.Distal side work first 62 can have the tissue cutting part being formed thereon Divide 63.Distal side work first 62 may also include a pair of pin 65, and the pin 65 is configured to drive towards distal side in distal side work first 62 Move through engagement anvil assembly 22 during nail bin 26 so that it is pivoted to closing position, so as to which tissue is clamped in into anvil block 22 and nail bin Between 26.Tissue cut portion 63 in distal side work first 62 is used for when the surgical staples (not shown) being supported in nail bin 26 is with Know that mode is driven into and clamped tissue is cut through when being formed and contacted with anvil block 22.For example, distal side work first 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 During to driving sliding part, sliding part contacts the pusher (not shown) related to nail and causes pusher driving nail to leave storehouse 26 Engaged with being formed with the anvil block 22 of loading unit 20.

As seen in Figure 1, surgical instruments 10 includes the motor 100 for being configured to produce rotary-actuated action, institute State rotary-actuated action to can be used for firing action for example is applied into 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 one kind constructs, for example, firing member component 82 includes driving tube 102, the driving tube 102 is rotatable Ground support is interior in shell 12 and has internal thread (not shown) formed therein.The proximal threaded portion quilt of trigger shaft 104 Support to be threadedly engaged with driving tube 102 so that the rotation of driving tube 102 causes 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.The Zemlok ' 763 and Zemlok quoted as described above ' detail in 344, rotation of the driving tube 102 in the 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 the initial propulsion of the interior edge distal direction of loading unit 20 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 when initially driving with cam to closing position.Trigger shaft 104 and final drive member 60 Through loading unit 20 additional distal translation cause nail be driven into on anvil block 22 nail shaped lower face formed contact.

As in Fig. 1 furthermore, it can be seen that surgical instruments 10 may include to be generally designated the articulation system for 109.However, Surgical instruments 10 may include the various other articulation systems construction being disclosed in detail herein.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 switched 116 by power joint motions or be transported 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 Put (wherein its axis and longitudinal tool axis " LA-LA " substantial registration of Slender axles assembly 16) and move to following position, its Longitudinal tool axis of the axis of end effector around such as joint motions axis " AA-AA " relative to Slender axles assembly " LA-LA " sets at an angle.Other discussions of various aspects about articulation mechanism 110 may be present in before this in full with In the Zemlok ' 763 that way of reference is incorporated herein.In addition, entire disclosure be herein incorporated by reference it is entitled The SURGICAL STAPLING APPARATUS WITH POWERED ARTICULATION disclosure of United States Patent (USP) 7,431,188 The end effector of being capable of joint motions for the motor power that surgical instruments 10 uses can be combined.

In various embodiments, surgical instruments may include at least one motor, and at least one motor can be dynamic by percussion It is applied to loading unit 20 and/or joint motions can be acted and is applied to articulation system 109, it is such as more detailed elsewhere 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 apparatus 10.

In certain embodiments, surgical instruments 10 may include supplemental power source 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 may include main power source 2002 and auxiliary or non-firm 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 can not provide operation of the energy for surgical instruments 10 (for example, When main power source 2002 exhausts and/or 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 between surgery average of operation periods exhaust in main power source 2002 And/or energy is provided in the case of being disconnected with surgical instruments 10 so that surgical instruments 10 returns 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 apparatus 10.For example, power source 200 can provide power to cause driving tube 102 along first to motor (such as motor 100) The axial direction propulsion for rotating and ultimately resulting in trigger shaft 104 in direction, it is single that driving beam 60 is thus driven across loading towards distal side Member 20.Alternatively, power source 200 can provide power to cause driving tube 102 along opposite with first direction second to motor 100 Rotating and ultimately resulting in the axial retraction of trigger shaft 104 for direction, 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 can not provide needed in the case of power (for example, exhausting in main power source 2002 and/or being disconnected with surgical instruments 10 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 about 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 Put.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 apparatus 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 of surgical instruments 10 or provisional memory cell.In addition, auxiliary work( Rate source 2004 be able to can not be provided in main power source 2002 needed in the case of 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 to have the control system of the type and construction disclosed in Zemlok ' 763 2005, the full patent texts are herein incorporated by reference.The other details of construction and operation about such control system 2005 It is available from the announcement.For example, control system 2005 is configured to by user interface (for example, vision or audio show Show device) to produce or provide to user information, such as warning or apparatus state.Signal or defeated caused by control system 2005 Entering can be for example in response to other signals provided by user, device element or input, or can be related to apparatus 10 one The function of individual 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 perform its function, bag Include and interacted by user interface with user.In addition, supplemental power source 2004 be able to can not provide 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 to 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 optionally connected.Management circuit 2006 is configured to analog or digital input or signal being sent to outside The all parts of section's apparatus 10 (include but is not limited to control system 2005, main power source 2002, and/or supplemental power source 2004), or receive all parts from surgical instruments 10 analog or digital input or signal.In all fields, power Management circuit 2006 software (software can use one or more algorithms) can be used come further modulate input signal with Control and all parts of 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 are supplied to power tube with the autonomous system that management circuit 2006 operationally communicates Manage circuit 2006.

Referring again to Figure 129, main power source 2002 may include one or more battery unit, and this depends on the electricity of apparatus 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 each other.Battery pack 2008 can be interchangeable.In other words, it is electric Pond group 2008 can disconnect and remove from surgical instruments 10, and can be replaced by another similar to battery pack.In some aspects, it is main Power source 2002 may include rechargeable battery (for example, lead base, Ni-based, lithium ion base etc.).Battery unit 2008 can exemplified by 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 voltage levels 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 with to the offer work(of 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 Individual disposable battery.In all fields, disposable battery can be e.g., from 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 to be used for battery The power source 2014 of the charging of group 2008.The power source 2014 of charger seat 2012 for example battery (or multiple can be connected in series Battery) or such as alternating current 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 Individual 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 connect (via the i/o interfaces of power packages) 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.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 apparatus 10 (performed in the hospital system be related to), Outer section office, apparatus dealer, equipment manufacturers etc. are assessed and analyzed.

Charger seat 2012 may also include voltameter 2024 for measuring on the battery unit of whole battery pack 2008 Electricity.Voltameter 2024 can connect with processor 2016 so that processor 2016 can determine being applicable 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 for example in handle portions 14 Individual 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 Into can not from apparatus 10 remove in the case of recharged.For example, when main power source 2002 is connected to apparatus 10, can Battery unit 2026 is charged 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 the monitoring electricity ginseng related to the operation of main power source 2002 and/or supplemental power source 2004 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 voltameter 2028, and the voltameter 2028 can be constructed Into the electricity that can be measured in whole 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 circuit for measuring capacity of battery, and the battery capacity is surveyed Amount circuit is configured to measure the voltage status under predetermined load.

Further described above, processor 2032 can be by relevant main power source 2002 and/or supplemental power source 2004 information is stored 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 for example management circuit 2006 can be read by RFID transponder 2034 RFID.RFID transponder 2034 can read RFID from the power source including RFID label 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 related to the ID values of reading removable to determine Unload/whether interchangeable main power source 2002 be authorized to and/or appropriate.In such cases, if processor 2032 determine with Related detachable/interchangeable part of the ID values of reading is uncommitted, then management circuit 2006 is configured to The use of apparatus 10 is prevented, such as (not shown) is switched to prevent power from being delivered to apparatus 10 by disconnecting.Can be by processor 2032 be used to assessing with determine part whether be authorized to and/or appropriate various parameters 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 individual device (such as computer), so as to allow the data being stored in memory 2030 be downloaded to another device for Such as hospital system (operation for being related to apparatus 10 is performed in the hospital system), outer section office, apparatus dealer, and/or apparatus Manufacturer is assessed and analyzed.I/o interfaces 2036 can be for example wired or wave point.

Referring to the 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 Power is allowed to be transferred to apparatus 10 from main power source 2002 and can not be right in main power source 2002 when providing power to apparatus 10 Power is allowed to be transferred to apparatus 10 from supplemental power source 2004 when apparatus 10 provides power.

During the normal operating of apparatus 10, (as above institute after processor 2032 is detected and authorized in main battery source 2002 State) main power source 2002 can be allowed to provide power to apparatus 10.Main power source 2002 is sustainable to provide power to apparatus 10, until Main power source 2002 reaches or dropped below predetermined minimum charge level, for example, when main power source 2002 disconnects and/or consumed When to the greatest extent.Management circuit 2006 can be used for determining when main power source 2002 reaches or drop below predetermined minimum electricity It is horizontal.For example, processor 2032 be configured to using voltameter 2028 or another monitor main work(similar to voltameter The charge level in rate source 2002 and detect charge level and when reach or drop below and be stored in management circuit 2006 Memory 2030 in predetermined minimum level.Now, 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 apparatus 10 to replace main power source 2002.In addition, processor 2032 is configured to detecting main work( By the energy supply of apparatus 10 from main power source when the charge level in rate source 2002 has reached or dropped 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 apparatus 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 apparatus 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, now processor 2032 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 apparatus 10.

Referring again to Figure 129, main power source 2002 may be housed in the chamber 2038 of the handle portions 14 of apparatus 10.In order to Replace main power source 2002, the external shells of removable handle portions 14 is to expose chamber 2038.In some examples, trigger Or switch can be associated with the external shell of handle portions 14 so that attempting to remove the external shell of handle portions 14 can be processed 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 this mandate is confirmed, management circuit 2006 can permit Xu Xin main power source 2002 is to the transimission power of apparatus 10.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 Slender axles assembly 16 of (Fig. 1).For example, referring now to Figure 38-58, surgical end-effector (such as disposable loading unit (DLU) surgical instruments can 5502) be releasably attached to, for example, (the Fig. 1 of powered surgical instrument 10.In various embodiments, Surgical instruments may include axle 5520, the engageable such as DLU 5502 of axle 5520.In various embodiments, lining ring is (for example, can Rotation lining ring 5580) it can releasedly lock DLU 5502 relative to axle 5520.In addition, in various embodiments, lining ring 5580 Rotation can be advantageous 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 axle 5520 may include outer tube 5554 and proximal attachment part 5522.When DLU 5502 is fixed to axle 5520 (Figure 39), DLU 5502 distal side attachment part 5504 can receive the proximal attachment part 5522 of axle 5520.In addition, the nearside that rotatable lining ring 5580 can be positioned on axle 5520 is attached Around socket part point 5522 so that DLU 5502 distal side attachment part 5504 is alternatively positioned in rotatable lining ring 5580.It can revolve Axle 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 axle 5502.In certain embodiments, when DLU 5502 is fixed to axle 5520, axle 5520 Proximal attachment part can receive DLU 5502 distal side attachment part.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 axle of surgical instruments During 5520 motion, DLU 5502 can translate along the longitudinal axis limited by axle 5520.When DLU 5502 transports from non-attachment location When moving attachment location, DLU 5502 distal side attachment part 5504 can be inserted into the proximal attachment part 5522 of axle 5520.Example Such as, when DLU 5502 is moved between non-attachment location and attachment location, DLU 5502 can translate 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 guiding DLU 5502 that axle 5520 limits.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 Receive and guide when in into the distal side attachment part 5522 in DLU 5502 insertion axle 5520 of proximal attachment part 5504 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 torsions and/or rotation of the DLU 5502 relative to the longitudinal axis limited by axle 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 axle 5520 and/or lining ring 5580 may include the second alignment mark 5590 (for example, second arrow).The He of first alignment mark 5510 Second alignment mark 5590 to that will definitely be aligned guide rail 5514 and guide groove 5534, it is attached that this can be advantageous to distal side attachment part 5504 It is connected to proximal attachment part 5522.As described herein, translations of the DLU 5502 along longitudinal path towards axle 5520 can be relative to axle 5520 releasedly lock DLU 5502.In such embodiment, it may be unnecessary to LU 5502 relative to axle 5520 rotation, with DLU 5502 is attached relative to axle 5520.In fact, can be by between proximal attachment part 5522 and distal side attachment part 5504 Groove-slit engagement limit and/or prevent rotations of the DLU 5502 relative to axle 5520, as described herein.In various realities Apply in example, lining ring 5580 can be rotated relative to LU 5502 and/or axle 5520 so that DLU 5502 is releasably locked into axle 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 into axle 5520.

Referring primarily to Figure 42 and Figure 43, DLU 5502 portions of proximal 5504 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 along direction B (Figure 39) from initial orientation And/or it is biased into second orientation.When lining ring 5580 is biased into second orientation, distal side attachment part 5504 can be inserted into proximal attachment In part 5522.In addition, when in the fully-inserted proximal attachment part 5522 of distal side attachment part 5504, 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 the engageable axle 5520 in ramp 5508 with influence for example rotate lining ring 5580 rotation.

In various embodiments, rotation ramp 5508 can influence the rotation for the beating shaft 5540 being positioned in axle 5520.Example Such as, referring primarily to Figure 47-50, beating shaft 5540 may include can be from the beating shaft circulator that beating shaft 5540 extends radially outwardly 5544.When in the insertion axles 5520 of DLU 5502, the engageable beating shaft circulator 5544 in rotation ramp 5508 of rotation key 5506. In various embodiments, the rotatable beating shaft circulator 5544 in ramp 5508 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) rotated between along direction B (Figure 54).Referring also to Figure 47-50, beating shaft 5540 can engage with rotatable lining ring 5580.Example Such as, rotatable lining ring 5580 may include circulator groove 5584, and the construction and size of the circulator groove 5584 can be designed Into 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 rotation lining ring 5580 to rotate.In such embodiment, by the insertion axles of DLU 5502 Rotation of the rotatable lining ring 5580 along direction B for example can be caused along direction B rotation by beating shaft circulator 5544 in 5520 Turn (Figure 54).

Referring primarily to Figure 44 and Figure 45, proximal attachment part 5522 may include rotation key slit 5524, and the rotation key is narrow Groove 5524 can receive rotation key 5506 when distal side attachment part 5504 is inserted in 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 in the insertion axles 5520 of DLU 5502, rotation key 5506 can continue on rotation key slit 5524 and transport It is dynamic.In addition, when the motion of distal end 5509 of rotation key 5506 passes through beating shaft circulator 5544, beating shaft circulator 5544 First orientation (Figure 58) can be reversely rotated, this can correspondingly make the rotatable reverse rotation of lining ring 5580 arrive its initial orientation.

In various embodiments, rotatable lining ring 5580 can bias relative to axle 5520 and/or proximal attachment part 5522 Into initial orientation.For example, locking lining ring 5580 can be biased into initial orientation by spring 5592.Spring 5592 may include can be relative to The proximal end 5594 that axle 5520 is fixed and the distal end 5596 that can be fixed relative to lining ring 5580.For example, bullet The proximal end 5594 of spring 5592 is positively retained in the nearside Spring slot 5538 (Figure 51) of axle 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 the mobile spring 5592 of proximal end 5594 of spring 5592, this Twisting resistance can be produced.Therefore, lining ring 5580 can prevent the rotation from initial orientation to second orientation, and when lining ring rotates to During two orientations, spring 5592 can be by the reverse biased of lining ring 5580 to initial orientation.Due to beating shaft circulator 5544 and lining ring Beating shaft 5540 can be also biased into 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 axle 5520 5582.Referring primarily to Figure 46, locking pawl 5582 can extend radially inwardly from the inner rim of rotatable lining ring 5580.In various realities Apply in example, in the ratchet slit 5536 (Figure 44) that locking pawl 5582 may extend into proximal attachment part 5522.Referring primarily to Figure 44, the recess that ratchet slit 5536 can be formed in guide groove 5534.In various embodiments, ratchet slit 5536 can be from guide groove 5534 extensions, and can be perpendicular to or substantially perpendicular to such as guide groove 5534.In addition, when rotatable lining ring 5580 is relative to axle 5520 between initial orientation and second orientation when rotating, and locking pawl 5582 can move along ratchet slit 5536.

In various embodiments, the engageable DLU 5502 of locking pawl 5582 distal side attachment part 5504 is with relative to axle 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 The locking pawl 5582 of rotatable lining ring 5580 is received when in 5502 fully-inserted proximal attachment parts 5522.For example, work as distal side When in the fully-inserted proximal attachment part 5522 of attachment part 5504, the locking recess 5516 of distal side attachment part 5504 can with it is near The ratchet slit 5536 of side attachment part 5522 is aligned.Therefore, locking pawl 5582 can be along in proximal attachment part 5522 Ratchet slit 5536 is slided and slided into the locking recess 5516 in the attachment part of distal side.In addition, locking pawl 5582 can It is biased into by torsionspring 5592 and is engaged with locking recess 5516.For example, leave rotation key in beating shaft circulator 5544 After 5506 distal end 5509, beating shaft 5540 can reverse biased can pass through to first orientation and rotatable lining ring 5580 The reverse biased of torsionspring 5592 is to initial orientation.In addition, when lining ring 5580 is reversely rotated to initial orientation from second 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 advantageous to fire the attachment and/or alignment of component.For example, hit Hair axle 5540 can extend between proximal end 5546 and distal end 5542.Proximal end 5546 can have swivel joint, institute State the rotation that swivel joint can allow 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 advantageous 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 5502 of bayonet mount Cut the corresponding bayonet socket receiver of element.Referring primarily to Figure 40 and Figure 41, percussion component may also include for example around beating shaft 5540 Sleeve pipe 5550 between proximally positioned end 5546 and distal end 5542.

In various embodiments, when beating shaft 5540 is in 5520 internal rotation of axle, beating shaft 5540 may rotate to and DLU Beating shaft slit 5518 in 5502 is aligned.For example, when DLU 5502 is fully-inserted and is attached to axle 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 axle 5520 When interior, beating shaft circulator 5544 can be rotated into by rotation key 5506 and is not aligned with beating shaft slit 5518.In other words, hit Hair axle 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 the misalignment of beating shaft slit 5514.In such embodiment, when the only parts of DLU 5502 are inserted When entering in axle 5520 and/or before DLU 5502 is releasably locked to axle 5520 by rotatable lining ring 5580, hit The percussion path of hair axle 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 axle 5520 before beating shaft 5540 can be fired and/or 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 axle 5520.

In certain embodiments, the rotation of lining ring 5580 can be advantageous 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, radioulnar joint moving lever 5562 and joint motions connector 5566.In addition, axle 5520 may include proximal joint moving lever slit 5528, and DLU 5502 may include such as radioulnar joint moving lever slit 5512.In certain embodiments, proximal joint moving lever 5560 can with it is near Lateral joint moving lever slit 5528 is aligned, and radioulnar joint moving lever 5562 can be right with radioulnar joint moving lever 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, there can be nearside recess referring again to Figure 40 and Figure 41, proximal joint moving lever 5560 5572, and radioulnar joint moving lever 5562 can have distal side recess 5574.In addition, joint motions connector 5566 may include closely Lateral joint moves lug 5568 and radioulnar joint motion lug 5572.Proximal joint motion lug 5568 is positively retained at proximal joint In the nearside recess 5572 of moving lever 5560.In certain embodiments, radioulnar joint motion lug 5570 can operationally connect Close the distal side recess 5574 of radioulnar joint moving lever 5562.As described herein, rotatable lining ring 5580 can be in initial configuration and Rotated between two configurations.When lining ring 5580 rotates, being contained in joint motions connector 5566 therein also can be relative to by axle The 5520 longitudinal axis rotations limited.In various embodiments, when joint motions connector 5566 rotates, joint motions connection The proximal joint motion lug 5568 of device 5566 can be remained 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 radioulnar joint motion movable distal side recess 5574 into radioulnar joint moving lever 5562 of lug 5570 engages.Example Such as, when in the fully-inserted axles 5508 of DLU 5502, the distal side recess 5574 of radioulnar joint moving lever 5562 can be with joint motions The radioulnar joint motion lug 5568 of connector 5566 is aligned.In such embodiment, when rotatable lining ring 5580 reversely rotates During to initial configuration, radioulnar joint motion lug 5568 is slid into the distal side recess 5574 of radioulnar joint moving lever 5562. When radioulnar joint motion lug 5568 is positioned 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 motion lug 5568 and radioulnar joint motion 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 motion lug 5568 and radioulnar joint motion lug 5570 move.

Referring now to figure Figure 51-58, in order to which DLU 5502 to be connected to the axle 5520 of surgical instruments, user can make DLU 5502 alignment mark 5510 is aligned with the alignment mark 5590 of axle 5520 and/or lining ring 5580 (Figure 51).Keeping to fiducial mark During the alignment of note 5510,5590, user can move DLU relative to axle 5520 along the longitudinal axis limited by axle 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 axle 5520.Referring primarily to Figure 53, DLU 5502 can continue to translate relative to axle 5520, and distal side is attached In the guide groove 5534 (Figure 44) that the guide rail 5514 of socket part point 5504 may fitted in the proximal attachment part 5522 of axle 5520.When remote When side attachment part 5504 is moved in proximal attachment part 5522, the bootable guide rail 5514 of guide groove 5534 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 axle 5520 Longitudinal axis rotation.Referring primarily to Figure 52, the proximal joint motion lug 5568 of joint motions connector 5522 is extensible In to the first gap 5530 and it can be positioned in the nearside recess 5572 of proximal joint moving lever 5562, and joint motions connect The radioulnar joint motion 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 in 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 in the clearance notches 5526 extended from rotation key slit 5524.In addition, when beating shaft circulator 5544 moves When in clearance notches 5526, beating shaft 5540 can rotate along direction B.Beating shaft 5540 can rotate to second from first orientation Orientation.Such rotation of beating shaft 5540 can be advantageous 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 Engagement between axle circulator groove 5584 (Figure 46) makes lining ring 5580 be rotated along direction B.Lining ring 5580 can be for example from initial Orientation rotates to second orientation.In addition, when lining ring 5580 rotates, locking pawl 5582 can be along the ratchet slit in axle 5520 5536 motions.In addition, the rotation of lining ring 5580 can rotate the distal end 5596 of spring 5592, because the distal side of spring 5592 End 5596 is positively retained at the distal side Spring slot 5588 (Figure 46) in lining ring 5580 Nei.Distal end 5596 is relative to proximal end The displacement in portion 5594 can produce torsion screen resilience, and the torsion screen resilience for example can deflect into lining ring 5580 just from second orientation Begin to be 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 rotates towards second orientation, proximal joint motion lug 5568 can be with nearside Nearside recess 5572 in joint motions bar 5560 remains engaged with.In addition, radioulnar joint motion lug 5570 is rotatable to cause Radioulnar joint motion lug 5570 provides the gap of the radioulnar joint moving lever 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 fully-inserted axle In 5520.In various embodiments, when joint motions connector 5566 rotates to second orientation, radioulnar joint moving lever 5562 The radioulnar joint motion lug 5570 of joint motions connector 5566 can be left.In addition, radioulnar joint motion lug 5570 can Rotatably it is 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 axle 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 rotate along direction C.For example, beating shaft circulator 5544 can rotate to along direction C from second orientation One orientation.In addition, the rotation of beating shaft circulator 5544 can cause lining ring 5580 to be rotated to initially along direction C from second orientation Orientation.In various embodiments, trigger shaft 5540 can be biased into its first orientation by spring 5592, and can be inclined by lining ring 5580 It is pressed onto its initial orientation.For example, the beating shaft circulator groove 5584 that beating shaft circulator 5544 can be positioned in lining ring 5580 In (Figure 46) so that the rotation of beating shaft circulator 5544 rotates lining ring 5580.It is remote due to joint motions connector 5566 Lateral joint moves the alignment of the distal side recess 5574 of lug 5570 and radioulnar joint moving lever 5562, joint motions connector 5566 It can be rotated with the rotation of lining ring 5580, and radioulnar joint motion lug 5570 may rotate to and be connect with distal side recess 5574 Close.When radioulnar joint motion lug 5570 engages distal side recess 5574, joint motions component 5559 can be assembled.This Outside, when beating shaft circulator 5544 rotates along direction C, the distal end 5542 of beating shaft 5540 can rotate along direction C, and this can Be advantageous 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 in the fully-inserted axles 5520 of DLU5502, locking is recessed Mouth 5516 can be aligned with ratchet slit 5536 so that locking pawl 5582 can rotate to locking recess by ratchet 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 rotates along direction C, Beating shaft circulator 5544 is movable to be aligned into the beating shaft slit 5518 in DLU 5502.Beating shaft circulator 5544 is with hitting Hair axle slit 5518 to such as beating shaft 5540 will definitely be allowed to be promoted towards distal side to fire DLU 5502.

As described herein, rotatable lining ring 5580 can releasedly lock DLU 5502 relative to axle 5520.In addition, lining ring 5580 rotation can be advantageous 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 axle, 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 beginning orientation rotates to second orientation, locking pawl 5582 can depart 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 axle 5520, proximally attachment part 5522 exits. In various embodiments, DLU 5502 can depart from from axle 5520, without rotating DLU 5502 relative to axle 5520.However, lining ring 5580 can rotate relative to axle 5520, and this for example can be such that radioulnar joint moving lever 5562 is connected with the joint motions in lining ring 5580 Device 5566 disconnects and can disconnect the cutting element in beating shaft 5540 and DLU 5502.

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

In various embodiments, DLU 5602 distal side attachment part 5604 may include ratchet 5606, the ratchet 5606 Can the part of distally attachment part 5604 extend radially outwardly.In addition, ratchet 5606 may include inclined surface 5608.Such as this Described in text, when distal side attachment part 5604 is inserted in proximal attachment part 5622, the inclined surface 5608 of ratchet 5606 can connect Close spring (such as spring 5636b) and can deform spring 5636b.In addition, ratchet 5606 can be by proximal attachment part 5622 Keep so that DLU 5602 is releasably locked into axle 5622.Referring primarily to Figure 59, the proximal attachment part 5622 of axle 5620 can Limit cavity 5624.In various embodiments, the construction of cavity 5624 and size are designed to receive DLU 5602 distal side 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 Can be relative to cavity 5624 symmetrically or non-symmetrically.In various embodiments, spring 5636a, 5636b at least a portion may extend away Into cavity 5624.For example, second spring 5636b leg 5637 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 Count into and receive such as ratchet 5606.In various embodiments, locking slit 5638 can keep ratchet 5606 with relative to axle 5620 Releasedly lock DLU 5602.In addition, in various embodiments, proximal attachment part 5622 may include breech lock 5630.Breech lock 5630 can move between unlatched position (Figure 59 and Figure 60) and position latching (Figure 61 and Figure 62).In various embodiments, Breech lock 5630 can be spring-loaded, and breech lock 5630 can be biased into position latching by spring 5634.For example, breech lock 5630 can Including late spring 5634, breech lock 5630 can be biased into and/or be biased into position latching by the late spring 5634.Breech lock position Putting can be for example positioned at the distal side of unlatched position.In certain embodiments, breech lock 5630 may include thumb grip part and/or ridge 5632 move to unlatched position to be advantageous to breech lock 5630 from position latching.For example, the engageable thumb grip part of user 5632 and breech lock 5630 is proximally pulled to be unlocked to breech lock 5630.

In various embodiments, breech lock 5630 can operationally stop or stop at least in part locking slit 5638. For example, when breech lock 5630 is in position latching (Figure 61 and Figure 62), the arm 5635 of breech lock 5630 may extend into locking slit In 5638 at least a portion.Breech lock 5630 can cover or cover at least in part locking slit 5638, and can prevent and/or Limitation enters locking slit 5638.In certain embodiments, the arm 5635 of breech lock 5630 can prevent ratchet 5606 from moving and/or slide Move in locking slit 5638.In addition, when breech lock 5630 is in position latching, the engageable spring 5636a of breech lock 5630, 5636b.For example, with reference to Figure 61 and Figure 62, breech lock 5630 can support spring 5636b so that spring 5636b deformation is limited And/or prevent.In addition, breech lock 5630 can support spring 5636b so that cavity 5624 can not receive DLU 5602 distal side to be attached Part 5604.For example, spring 5636b at least a portion 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 Revolving force can be applied in distal side attachment part 5604 by individual 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 springs or more than three spring.In other embodiments, Single spring in proximal attachment part 5622 can attempt to make distal side attachment part 5604 revolve relative to proximal attachment part 5622 Turn.In addition or alternatively, in various embodiments, DLU 5602 distal side attachment part 5602 may include for example, at least one Individual 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 breech lock 5630 is in unlatched position (Figure 59 and Figure 60), the arm of breech lock 5630 5635 can not stop and/or less stop locking slit 5638.For example, ratchet 5606 can fit through unlatched breech lock 5630 are locked in slit 5638 with being assembled to.In addition, ratchet 5606, which may pass through unlatched breech lock 5630, is biased into locking slit In 5638, as described herein.In addition, in various embodiments, when breech lock 5630 is in unlatched position, breech lock 5630 can take off From spring 5636a, 5636b.For example, when breech lock 5630 is unlatched, breech lock 5630 can not protect and/or limited spring 5636a, 5636b deformation.

Referring primarily to Figure 59, when breech lock 5630 moves and is maintained at such as nearside and/or during unlatched position, spring 5636b can not be latched 5630 supports.In such embodiment, DLU 5602 can move 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 ratchet 5606 of distal side attachment part 5604 can connect Spring 5636b is closed, and spring 5636b is compressed and/or is deformed.In certain embodiments, the inclination of ratchet 5606 Surface 5608 can be slided along spring 5636b, and removable spring 5636b free leg 5637.Spring 5636b deformation Screen resilience can be produced so that screen resilience can be applied on ratchet 5606 by spring 5636b.Referring now to Figure 61, screen resilience can be led Cause the rotation of ratchet 5606.For example, ratchet 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 breech lock 5630, it is unlatched that late spring 5634 can return to breech lock 5630 Position.In addition, when breech lock 5630 returns to unlatched position, the arm 5635 of breech lock 5630 can stop or be partially blocked by locking Slit 5638.In such embodiment, when ratchet 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, breech lock 5630 can Kept against ratchet 5606 and/or support spring 5636b, until breech lock is re-moved to unlatched position.In various embodiments In, in order to discharge DLU 5602 from axle 5620, user can make breech lock 5630 move to unlatched position from position latching again, So that ratchet 5606 is rotatable to leave locking slit 5638.In such embodiment, the rotation of ratchet 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 corresponding electric contact on the axle of surgical instruments when end effector is installed to axle.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 what is be stored thereon At least one data, at least one data can identify end effector by controller access.At least one data It may include the information of a such as bit, more than one bit, a byte or more than one byte.In other some implementations In example, end effector may include transmitter, and 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 at least one data being stored thereon, and at least one data can be sent out Controller is mapped to identify end effector.In such embodiment, 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 axle and/or shank.

Reader will be appreciated that, for example be configured to launch wireless communication with the end effector of controller radio communication Number.In all cases, end effector is configured to transmitting once or more than once signal.In some situations Under, end effector can be prompted with required moment transmission signal and/or continuously repeatedly transmission signal.One In the case of a little, end effector may include to switch, and the switch can be assembled into surgical instruments in the end effector of surgical instruments Before, period, and/or operated afterwards 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 at least one power source, such as battery, and at least one power source can close in ON/ Device use is launched during conjunction with transmission signal.When end effector starts, in all cases, the controller of end effector It is configured to produce signal and by transmitter transmission signal.In some cases, end effector can not be launched 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 operator scheme of the signal from end effector. In all cases, surgical instruments can be at standby 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 certain 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 to can be used for starting end execution One or more electric contacts of device 9560, such as contact 9561.For example, turning now to Figure 112, the axle 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 axle 9040 Two or more short circuits or electrical connection in 9561.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 (PCB) 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 (PCB) 9565 may include control discussed above Device and transmitter.In certain embodiments, axle 9040 may include biasing member, for example, spring 9563, the biasing member can quilt It is constructed to be permeable to bridge 9562 being biased into and is contacted with electric contact 9561.Before bridge 9562 connects electric contact 9561 and/or holding After portion's actuator 9560 has disengaged from axle 9040, circuit can be what is opened, and the power from battery 9564 can be provided without collection Into 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 embodiment, 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 Into causing 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 (as shown in step 9600), quilt Startup is assessed (as shown in step 9604) (as shown in step 9602) and then by surgical instruments.Work as surgical instruments When the wireless signal for the end effector for carrying out self-starting is assessed in positive trial, 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 the signal that communication can be used for evaluation to be received by surgical instruments is complete.For example, end effector can launch 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 correct and/or in other words complete.In all cases, start bit And/or stop position may include next information byte be transmitted before and/or previous information byte by the stopping before transmitting again Cycle.

Further described above, turning now to Figure 110, the controller of surgical instruments may compare the bit pattern of data Or some positions with determine its receive data it is whether correct and/or in other words complete.In all cases, data can be passed It is defeated, to cause controller to assess data and by data compared 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 by data compared with available for the bit pattern template of controller, as shown in step 9702.Xor operation be it is known, And for simplicity, it, which is discussed in detail, 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 for example can be by the storage information about end effector in the memory chip of controller access.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 The abnormal data position received is gone to before required bit pattern.In all cases, guiding or the data bit of the leftmost side 0 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.Now, to upper Text is described further, and can be compared to the bit pattern of displacement and bit pattern template to identify end effector.If The bit pattern of displacement mismatches bit pattern template, then controller can shift to bit pattern again, until under in bit pattern Turn into guiding position and can be by the bit pattern newly shifted compared with bit pattern template for one 1.It is such to shift and compare operation Any suitable number can be performed, until end effector is identified and/or surgical instruments assert that end effector can not be by Identification.

Reader will be appreciated that surgical instruments may include the information of any appropriate digital about end effector.Work as end When actuator is identified by surgical instruments, further described above, surgical instruments may have access to relevant 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 performs The distance that firing member in device must promote, and/or the peak power that 2) motor of surgical instruments should apply to firing member Amount or moment of torsion.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 not Identification, which is fully utilized the haul distance needed for end effector and/or can not suitably limit it, is applied to firing member Power.In all cases, surgical instruments can be dependent on sensor, and the sensor is configured to how detect firing schedule When completed and/or be applied to firing member power it is whether excessive.Sensors with auxiliary electrode can prevent the motor of surgical instruments will be super Rate is crossed to provide and damage the firing member of such as end effector.

Further described above, some end effectors can be more strong compared to other end effectors, because This some 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 that surgical instruments determines to 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 performs Device.If end effector can not identify end effector, the operation sequence or pattern of acquiescence can be used in surgical instruments.Silent In the operator scheme 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 will not regardless of used end effector, motor Damage end effector.In some cases, for can be performed 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 regardless of used end effector, surgical instruments will be not super Rate offer is provided and arrives end effector.In all cases, the appearance of motor power surgical instruments can cause end effector to be carried For overpower.In other words, previously by manually driven surgical instrumentation and substantially can not be by such manually driven surgical The end effector of apparatus damage can be easy to be damaged by motor power surgical instruments.In addition, such, previously end effector could not Including the technology of surgical instruments identification will be driven by a motor, and due to default operating program as described herein, such first front end Portion's actuator even can be still 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 by making program.In such cases, no matter How is used end effector, and firing member will not be collided or hit with the distal end of end effector.

Reader will be appreciated that surgical instruments includes the storage letter of the end effector about that can be used together with surgical instruments Breath, the information available for surgical instruments can need to be updated.If for example, preferred operations ginseng about particular end portion actuator 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 be developed for when surgical instruments is used together, surgical instruments can need to be updated.With regard to surgery device For the situation that tool is updated not in time, surgical instruments can not 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 about that can be used together with surgical instruments The storage information of portion's actuator or at least some of end effector.In such embodiment, end effector may include and end Actuator related storage information 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 Penetrate the signal that can be received by surgical instruments.Otherwise similar to described above, end effector can be prompted with transmission signal.Each In the case of kind, the signal can be transmitted into surgical instruments by wiredly and/or wirelessly connecting.In certain embodiments, surgical instruments End effector can be prompted with transmission signal.

Further described above, end effector may include to be stored in one about end effector therein Or multiple parameters.Such parameter is storable on for example one or more storage arrangements.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 for being applied to by the motor of surgical instruments firing member, and/or in fact transported in end effector for joint End effector will carry out the maximum angle of joint motions in the case of dynamic formula end effector.Hold some joint motions formula ends 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 about most For the parameter of large joint movement angle, controller can be entered using this parameter to limit the articulating part of end effector 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 Measured to axis.For percussion speed and/or the parameter of retraction speed about such as firing member, this parameter can pass on example Such as it is used for the percentage or fraction of the required speed of firing member and/or the maximal rate of motor.For example, when propulsion firing member When, the value 3 for firing speed can pass on controller to make 30% time operation of the motor for example in its maximal rate.In addition, example Such as, when bounce back firing member when, the value 5 for retraction speed can pass on controller to make motor for example in its maximal rate 50% time operation.For the parameter of the peak torque about such as motor, this parameter can pass on the peak torque of such as motor The percentage or fraction of value and/or peak torque.In addition, for the parameter of the haul distance about such as firing member, this Parameter can pass on 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 fraction.For example, value 60 may indicate that firing schedule should be such as 60mm.In all cases, parameter value can be with any conjunction Suitable form 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 Order gets parms from end effector.For example, the signal from end effector transmitting may include such as start bit, for first The first bit pattern, the second mould for the second parameter (such as firing speed) of parameter (such as maximum articulation angle) Formula, the 3rd bit pattern for the 3rd 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 the 5th parameter (such as haul distance).But it is only for an example.Appoint What appropriate number of parameter can be transmitted as a part for signal.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 advantageous to the controller point of surgical instruments Whether complete analyse the signal from end effector.In certain embodiments, can be without using start bit and/or stop position.In addition, Multiple signals can be launched from end effector, so as to which the parameter of end effector is sent into surgical instruments.

In all cases, further described above, the controller of surgical instruments can be using inspection and to evaluate Whether its signal for receiving from end effector is complete and/or whether its signal received is what is authorized, i.e. carrys out self-identifying End effector.Examine and may include the value for free from errors being stored, launching, and/or being received for ensuring data.It can lead to In the following manner is crossed to produce：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 about some 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 It is worth after (that is, calculating the inspection calculated and value), controller can enter the inspection of calculating and value with the inspection stored and value 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.Now, 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 number in retrieved data According to be incorrect.In all cases, further described above, controller can be then for example in default operating program Lower operation surgical instruments, lock 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 recalculated and value and the inspection of storage and value matching, controller Then surgical instruments can be operated according to the data uploaded from memory.If the inspection recalculated and value and the inspection of storage It is unequal with being worth, then further described above, controller can then operate surgery device for example under default operating program Tool, lock surgical instruments firing trigger, and/or otherwise by user of the event transmission to surgical instruments.

In the embodiment that wherein parameter about end effector is stored in the memory of end effector, as above It is described, examine and value may be alternatively 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 sent to surgical instruments by one or more of signals.By institute above State, the inspection of storage and value and parameter can be launched together, and for this paper discussion purpose, be received by surgical instruments Surgical instruments can be described as inspection and the value received.Once supplemental characteristic is received, similarly as described above, controller can be by Supplemental characteristic, which calculates, to be examined and value (that is, calculating the inspection calculated and value) and by the inspection of calculating and value and the inspection of reception Test and value is compared.If the inspection calculated and value, equal to the inspection and value received, controller can be assumed that to be performed from end Whole supplemental characteristics of device retrieval are correct.Now, controller can be grasped then according to the data uploaded from end effector Make surgical instruments.If the inspection and value that calculate can be assumed that in retrieved data not equal to the inspection and value, controller received At least one data to be 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 User to surgical instruments.When supplemental characteristic is sent to for example, by one or more wireless transmitting systems from end effector During 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 can be then operated for example under default operating program, locks the firing trigger of surgical instruments, and/or with its other party Formula is by user of the event transmission to surgical instruments.In all cases, due to described above, surgical instruments need not be stored with Any information of end effector is closed, described information is used to operate surgical instruments when using end effector.In such situation Under, it can be completely stored in end about the end effector parameter and the data of inspection and value for confirming data integrity and perform On device.Surgical instruments may include operation sequence, and the operation sequence only needs 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 need not 's.Single operation program can be used together with each end effector.Thus, surgical instruments need not can be updated with including Such as the operation sequence for attached ends actuator and/or the modification program for existing end effector.

Except or substitution it is as described herein be used for identify be attached to surgical instruments end effector wireless communication system, Turning now to Figure 149-154, may include to scan and identify that end is held with user according to the surgical instruments of at least one embodiment The device of row device.Figure 153 shows the shank 11020 including barcode reader 11022, the barcode reader 11022 It is configured to the Figure 149 and Figure 150 of scanning on the end effector 11060 shown in Figure 151, Figure 152 and Figure 154 Shown bar code.Similar to other embodiment disclosed herein, end effector 11060 may include such as shaft portion, anvil Seat 11062, and/or nail bin 11064, one or more parts of its end effector 11060 may include bar code thereon. In certain embodiments, end effector 11060 may include to be positioned at the removable portion among anvil block 11062 and nail bin 11064 Part 11063, the removable member 11063 can be moved before or after end effector 11060 has been assembled to surgical instruments Remove.In Figure 151, bar code 11065 is illustrated as being positioned on the shaft portion of end effector 11060.In Figure 152, bar shaped Code 11065 is illustrated as being positioned on removable member 11063.In various embodiments, the shank 11020 of surgical instruments may include It is configured to read the barcode reader of the bar code on end effector, such as barcode reader 11024.Example Such as, referring primarily to Figure 154, shank 11020 may include internal barcode reader part 11022, and the internal bar code is read Device part 11022 is configured to read the bar code 11065 being limited on the axle of end effector 11060.At least one In the case of kind is such, barcode reader part 11022 may include groove 11026, and the size and construction of the groove 11026 are designed Into the axle for receiving end effector 11060, wherein barcode reader 11024 can be arranged on the opening being defined in groove 11026 In 11027 and/or relative its is installed so that the readable bar code 11065 of barcode reader 11024.Reader will know Road, many barcode reader and bar code agreements are known, and any suitable bar code can be used.In certain situation Under, bar code may include such as bidirectional information, and the bidirectional information allows bar code to be read out in two different directions. Under certain situation, multiple Information Levels can be used in bar code.In some cases, bar code agreement may include preface information, described It is following information after preface information, described information will identify end effector and/or otherwise provide information To surgical instruments, to allow, surgical instruments operates or utilization particular operational program operates.In some cases, barcode reader One or more light beams, the accessible multiple peak and valleys for forming bar code of one or more of light beams can be launched.In some feelings Under condition, 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 can The barcode reader being interpreted.That is, the barcode reader 11024 of shank 11020 positions and is arranged in groove 11026 It is interior so that the light beam of transmitting and reflection is limited in or is at least substantially limited in barcode reader part 11022.So, Barcode reader 11024 can be unlikely to unintentionally or inadvertently scan the different end effectors that may be present in surgical kit, That is, the end effector of the end effector of surgical instruments will be not assembled into.

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 are later available for surgical instruments is had been assembled in end effector 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 elsewhere herein, bar code can be submitted necessary information to controller or Parameter is with the general operating system of use.In some cases, each end effector can be identified using sequence number so that appoint What two end effector is even if can be that the end effector of same type also have two different bar codes thereon. In the case of such, controller is configured to refusal and uses the end effector previously scanned by surgical instruments.It is such The end effector that system can for example prevent at least partly to consume is used again.

As described above, end effector is configured to by 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 near Side end 9969) it may include multiple electric contacts 9968, the multiple electric contact 9968 can be arranged to and be arranged on surgical instruments Axle 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 9967 being positioned at least partially in element cavity 9965.Each electric contact 9968 is also It may include to be positioned at the biasing member 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 contact element.Contact element 9967 is from the stop part 9964 of its projection, institute State stop part 9964 can at least before end effector 9960 is installed to axle 9940 by spring 9966 be movingly biased into Another madial wall engagement of element cavity 9965.Interaction between the side wall of stop part 9964 and element cavity 9965 can Prevent moving out for contact element 9967.When end effector 9960 is installed to axle 9940, axle electric contact 9948 can resist The biasing force applied by spring 9966 inwardly pushes the contact element 9967 of electric contact 9968, as shown in Figure 116.In various feelings Under condition, each pair 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, can each include referring to Figure 117, axle contact 10048 Moveable element 10047 and biasing spring 10046, the biasing 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 axle contact may include flexible portion.For example, end effector may include flexible contacts 10168, The flexible contacts 10168 can axle contact 9948 corresponding to resilient engagement.

For the above for described embodiment, in all cases, end effector can be installed to axle along longitudinal axis. In such cases, will be electric with farthest side axle contact 9948 first referring primarily to Figure 115, recent side end effector contact 9968 Contact.Reader will be appreciated that, when these contacts, which are formed, to be engaged, end effector 9960 is not attached to axle 9940 completely yet.To the greatest extent It can be interim to manage such engagement between these contacts, i.e. be placed in axle 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.Performed 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 produce 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 engages 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 axle of surgical instruments may include first To contact 10248a, 10268a, second couple of contact 10248b, 10268b, and the 3rd couple of contact 10248c, 10268c, wherein the Three pairs of contacts may differ from a pair of contact and second pair of contact.When a pair of contact 10248a, 10268a has been matched, contact Element 10267a can be pressed inwardly so that contact element 10267a the first pontes 10263a contact communication paths 9950a first path part 9951a and contact element 10267a second connecting portion divide 10264a to contact communication path 9950a the second path sections 9952a.In the contact element 10267a position, first path part 9951a and the second path Part 9952a can pass through contact element 10267a transmission signals.When second couple of contact 10248b, 10268b have been matched, touch Point element 10267b can be pressed inwardly so that contact element 10267b the first pontes 10263b contact communication paths 9950b first path part 9951b and contact element 10267b second connecting portion divide 10264b to contact communication path 9950b the second path sections 9952b.In the contact element 10267b position, first path part 9951b and the second path Part 9952b can pass through contact element 10267b transmission signals.When the 3rd couple of contact 10248c, 10268c have been matched, touch Point element 10267c can be pressed inwardly so that contact element 10467c the first pontes 10263c does not contact communication path 9950c first path part 9951c, contact element 10267c second connecting portion divide 10264c not contact communication path 9950c the second path sections 9952c and contact first path part 9951c.In the contact element 10267a position, One path sections 9951c can pass through contact element 10267c transmission signals.Due to described above, when end effector has been pacified completely When putting 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 axle, the 3rd contact 10264c can initially contact first axle contact 10248a.In the position, only two path sections (that is, 9951a and 9952a) can Signal is sent 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) pressure drop caused by signal can be transmitted.Similarly, end effector can be inserted further into axle, directly The second axle contact 10248b and the second contact element 10267b contact first axles contact are contacted to the 3rd 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 sent to controller, and thus controller is configured to detect the pressure drop between interconnection, the pressure drop difference Make five path sections (that is, 9951a, 9952a, 9951b, 9952b and 9951c) in being disposed completely when end effector Pressure drop caused by signal can be transmitted.

In some cases, when end effector is assembled into the slender axles of surgical instruments, operator holds engageable end The drive system and/or articulation system of row device are transported with being advantageous to the closure of such as end effector, percussion, and/or joint 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 detect position of first jaw relative to the second jaw.Referring now to Figure 121-124, end effector 10360 It may include the first jaw or the jaw of anvil block 10362 and second or nail bin 10364, wherein anvil block 10362 can be toward and away from nail bin 10364 motions.Generally, end effector 10360 is inserted into the patient by trochar, and here, end effector 10360 can It is not easy to observe, is also such under the auxiliary of endoscope.Therefore, the user of surgical instruments can not can easily comment Valency anvil block 10362 relative to the second jaw 10364 position.In order to be advantageous 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 detect the gap between anvil block 10362 and nail bin 10364.Some sensors are configured to detect anvil block 10362 relative to nail bin 10364 rotation position.Sensor is disclosed in the entitled STAPLE submitted on March 13rd, 2013 CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM U.S. Patent Application Serial 13/800,025 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 Please be in sequence 13/800,067.The entitled STAPLE CARTRIDGE TISSUE THICKNESS submitted on March 13rd, 2013 The entitled STAPLE that SENSOR SYSTEM U.S. Patent Application Serial 13/800,025 and on March 13rd, 2013 submit The whole public affairs of CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM U.S. Patent Application Serial 13/800,067 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 axle (such as axle 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 pin masking, described sleeve pipe pin allow end effector to enter 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 axle, display can be positioned on axle so that its not sleeve pin masking.In other words, show Device, which can be positioned so that, makes it be located at nearside relative to the proximal end of trochar during use.Referring to shown in Figure 121-124 Embodiment, display 10390 are located on axle 10340.

With continued reference to Figure 121, the anvil block 10362 of end effector 10360 is shown in fully open position.In anvil block 10362 position, the firing member 10330 of end effector 10360 are in proximal position and not promoted towards distal side also.Such as To be described in further detail below, firing member 10330 is promoted so that anvil block 10362 moves towards nail bin 10364 towards distal side.Figure The position of firing member 10330 shown in 121 can represent not the firing of firing member 10300, nearest side position.Work as anvil block 10362 when being in its fully open position, and 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 some diverse 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 Including the use of the anvil block display more than five indicators or less than five indicators.As anvil block 10362 is from its open position Its closing 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 closing position.Indicator 10392,10393 and 10394 shows place In the anvil block 10362 of partial closed position.Indicator 10395 is shown in the anvil block 10362 of closure or parallel position completely. In relatively Figure 121 and Figure 122, reader will be appreciated that, firing member 10330 has promoted towards distal side to close anvil at least in part Seat 10362.When anvil block 10362 is in the position shown in Figure 122, anvil position sensor can detect the new position of anvil block 10362 Put 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 has promoted towards distal side further to close but not fully closed anvil block 10362.When anvil block 10362 is in During position shown in Figure 123, 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 be 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, then the indicator 10392 of anvil block display 10390 is by It is lit.In relatively Figure 123 and Figure 124, firing member 10330 has promoted towards distal side to close anvil block 10362 completely.Work as anvil When seat 10362 is in the position shown in Figure 124, anvil position sensor can detect the new position and indicator of anvil block 10362 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 e.g., from about 10 degree and if anvil block 10362 is rotated such as only about 5 degree, then the instruction of anvil block display 10390 Device 10394 will be lit.

Further described above, end effector and/or surgical instruments may include to be 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 axle of surgical instruments includes any other part bag 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 communicate 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 to send 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 the just closure of anvil block 10362 or opening, 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 that the position about anvil block 10362 is provided to user is fed back.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 represent the discrete positions of anvil block 10362；However, it is possible to situation is anvil Seat 10362 only can instantaneously pass through each in these discrete positions for example 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 determines which is indicated Device relatively accurately represents the position of anvil block 10362, even if anvil block 10362 can not be with that can be represented by indicator for displaying device 10390 Any one alignment in discrete positions.In all cases, when anvil block 10362 is positioned at what is represented by two adjacent indicators 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 each include light-emitting diodes Pipe, at least substantially light of the light emitting diode transmitting same color or the light of same color.In other cases, indicator One or more of 10391-10395 can launch the color different from another indicator 10391-10395.For example, instruction Device 10391 is configured to launch yellow, and indicator 10392-10395 is configured to transmitting such as green. Reader will be appreciated that, referring to Figure 122, when anvil block 10362 is in the partial closed position shown in Figure 122, be positioned at anvil block Tissue T between 10362 and storehouse 10364 can not clamped fully by anvil block 10362, and when the position with anvil block 10362 When related indicator 10391 is lit yellow, the user of surgical instruments can be alerted with mobile end effector 10360 And/or continue to keep careful before percussion process.In some cases, each in indicator 10361-10365 each may be used It is configured to launch more than one color.For example, each indicator 10361-10365 may include to be configured to launch Green and red light emitting diode.In such cases, indicator 10361-10365 can be in the position of instruction anvil block 10362 Transmitting green when putting, as described above, and alternatively, it can be sent out when end effector 10360 and/or surgical instruments have wrong Penetrate red.

As described above, the anvil block of end effector can move between the open and the closed positions relative to nail bin, and And surgical instrument system is configured to detect the motion of anvil block and sends the motion of anvil block to user.Namely Say, it is anticipated that the embodiment that wherein nail bin can move relative to anvil block.In at least one such embodiment, anvil block can be solid It is fixed or can not pivot.When fixing or can not 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 axle carry out joint motions.No matter whether end effector can carry out joint motions, in such embodiment, Nail bin can pivot relative to anvil block.The system and method for motion as described herein for detecting anvil block are applicable to detection nail The motion in storehouse.In addition, the motion as described herein for being used to show that the system and method for the motion of anvil block are applicable to show nail bin.

In all cases, operator can it is expected the drive member that bounced back during firing schedule.It is disclosed in Zemlok ' 763 In surgical instruments use retraction assemblies, the retraction assemblies include the manual actuation machinery interface with reference to driving tube, the drive Dynamic pipe carries out ratcheting motion to start by the retraction lever for making to be arranged on shank.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, because following true：Motor and motor gear roller box exist Remained engaged with during ratcheting motion (startup).Therefore, the retraction assemblies of the device allow for forming enough moments of torsion to rotate Gear and motor drive shaft in gear-box, so as to allow driving tube manually to be rotated.The generation of such power can be by overstress It is arranged on retraction assemblies part, so as to cause the significant trouble of retraction assemblies.Surgical instruments 10 shown in Fig. 1-2 8 can Constructed with unique and new retraction assemblies, thus can avoid the problem and other problemses.

For example, surgical instruments 10 may include retraction assemblies 120, the retraction assemblies 120 include having the He of top section 126 The retraction base 124 of base section 128.In various forms, retraction assemblies 120 pass through drive gear 130 and retraction gear 132 Mechanically join with driving tube 102.Referring to Fig. 5.Drive gear 130 is non-rotatably attached to driving tube 102 so that sliding tooth The rotation of wheel 130 applies to driving tube 102 to rotate.Drive 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 base 124 top section 126 and base section 128 and extend between the two. Mandrel 134 can be supported for advancing around the rotation of its axis " SA-SA ", and its axis " SA-SA " is substantially Perpendicular to the longitudinal axis " LA-LA " of surgical instruments 10.Referring to Fig. 5.In various forms, retraction gear 132 can have and it First spur gear 136 of attachment.First spur gear 136 joins with the second spur gear 138, and second spur gear 138 is operable Ground is supported in the second mandrel 137, second mandrel 137 namely be arranged in a substantially upright manner retraction base 124 Top section 126 and base section 128 between and can surround the second axle axis " SA '-the SA ' " rotation limited by it.The Two spur gears 138 are supported for engaging engagement with the 3rd spur gear 140, and the 3rd spur gear 140 is arranged on first heart On axle 134.3rd spur gear 140 is attached to the first clutch part 144 of one-way clutch assembly 142.Clutch pack 142 Also include the second clutch part 146 that can be rotatably set in the first mandrel 134 of the top of first clutch part 144. Spring (not shown) may be provided between first clutch part 144 and second clutch part 146, thus by first clutch Part 144 and second clutch part 146 are maintained at raised " non-interlocking " orientation, as shown in Figure 5.

It should be appreciated that when driving tube 102 rotates, drive gear 130 will be to the first spur gear 136, the second spur gear 138 Apply rotation with the 3rd spur gear 140 and to first clutch part 144 and corresponding mandrel 134,137.Due to second from Clutch part 146 can surround mandrel 134 and rotate and can be biased into by the spring construction (not shown) being disposed there between Do 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 148 each has flat interlocking surface and tilt sliding surface.As described in greater detail below, second clutch Part 146 can be biased into by retraction lever 150 and engage engagement with first clutch part 144.The slidingsurface of tooth 148 allows mutual Latching 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 device part 144 equally also results in handing-over gear rotation, and longitudinal tool axis is surrounded so as to finally apply to driving tube 102 LA-LA spinning movement.

Referring now to Fig. 6, retraction lever 150 may include elongate shaft portion part 152, and the elongate shaft portion part 152 includes Cam portion 154.Cam portion 154 may include to be 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, so as to allow to bounce back Lever 150 rotates 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 in its entirety herein.In various forms, retraction lever 150 includes each having CAM table thereon One or more cam members 156 in face 158.In first orientation, lever pit 14 of the retraction lever 150 along shell 12 enters Row is set, as shown in Figure 1.The spring between first clutch part 144 and second clutch part 146 is arranged on to be used to bias Bounce back lever 150 with against retraction base 124 top section 126.As visible in figure 6, cam member 156 is arranged on retraction In corresponding cam slot or pit 160 in the top section 126 of base 124.Retraction lever 150 is protected by return spring 162 Hold in first orientation, the return spring 162 is arranged on the top section 126 of retraction base 124 and the cam of retraction lever 150 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 resist the spring being positioned between first clutch part 144 and second clutch part 146 Biasing force along the cam portion 154 for being always biased to return to contracting lever 150 downwards.It is such to move downward compression 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 to rotate clutch pack 142, the clutch pack 142 then makes spur gear 136,138,140 and retraction gear 132 Rotated with drive 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 causes trigger shaft 104 to bounce back (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) rotated around longitudinal tool axis " LA-LA ".Such rotation of driving tube 102 causes trigger shaft 104 are axially movable 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.It is as seen in fig. 5, for example, gear assembly 170 be used for realize required driving torque amount with Trigger shaft 104 is driven along distal direction " DD ", so as to activate loading unit 20.Gear assembly 170 may include to be 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 Make and be connected to motor case 101.Gear assembly 170 and motor 100 can be collectively referred to as " driver element ", be generally designated as 186.

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 driver element 186 outside Rotated in shell 12 around longitudinal tool axis " LA-LA ", but prevent 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 advantageous to provide electric current to driver element 180 and more specifically provide motor 100 Special contact configuration 210.For example, contact configuration 210 may include to be supported on the annular negative pole motor contact on motor case 101 212 and annular positive pole motor contact 114, as seen in Figure 4.Fixed cathode contact 216 may be supported in shell 12 with In the sliding contact with negative pole motor contact 112.Similarly, when driver element 180 is in 12 internal rotation of shell, fixed positive pole Contact 218 can be supported for the sliding contact with positive pole motor contact 214.Fixed cathode contact 216 and cathode contact 218 may include flexure spring shape contact to be advantageous to assembling and adjustment of the driver element 186 in shell 12.Fixed negative pole 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 beneficial to driver element 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 central gear 171 can be connected to Motor drive shaft 107.Main central gear 171 can be supported for and be supported on multiple first planet teeth on the first pinion frame 174 The engagement engagement of wheel 175 so that they also engage engagement with ring gear 173.First central gear 176 can be formed in other words It is attached on the first pinion frame 174, and can be supported for and be supported on multiple second on the second pinion frame 177 The engagement engagement of planetary gear 178.Second planetary gear 178 can also be supported for engaging engagement with ring gear 173.Second sun Gear 179 can be formed at or perhaps be attached on the second pinion frame 177, and can be supported for and multiple third planets The engagement engagement of gear 181.Third planet gear 181 may be supported on third planet tooth rest 180 to be engaged with ring gear 173 Engagement.3rd central gear 183 can be formed at or perhaps be attached on third planet tooth rest 180 and with multiple fourth lines The engagement engagement of star gear 187, the multiple fourth planet gear 187 could attach to output axle unit 184, the output axle unit 184 are pivotally supported in gearbox-case 172 by bearing 185.Fourth planet gear 187 can be also supported for and annular The engagement engagement of gear 173.

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

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

When the driving beam being axially movable for the surgical instruments being disclosed in Zemlok ' 763 is stuck or the work(of apparatus When rate is lost, user has to driving beam is retracted into initial position backward to be advantageous to loading unit using retraction assemblies Removal.However, effective retraction is difficult, because retraction system has to produce 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 new releasable driver element System (being generally designated as 240) is determined to solve this problem.As described in greater detail below, for example, working as releasable driving When unit locking system 240 is in " locking " position, driver element 186 is stopped in the internal rotation of shank shell 12.When surgery device When tool is " fired ", driver element 186 is maintained at latched position, passes through gear train 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, move to driver element locking system 240 " unblock " position, to allow driver element 186 to be rotated freely through in shell 12, therefore without the retraction moment of torsion 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 embodiment, although gear assembly 170 keeps being operably linked to Motor 100 and driving tube 102, but rotating freely for driver element 186 can be reduced when gear configurations are inverted with the driving tube 102 that bounces back When drive gear assemblies 170 needed for moment of torsion.The reduction of moment of torsion can improve the validity of retraction system needed for this.

As in FIG. 8, it can be seen that for example, the 3rd spur gear 140 of retraction assemblies 120 may include to unlock cam 141, the solution Lock cam 141 is configured to activate the locking pawl component 250 of driver element 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 allow to be formed at a series of first locking wedges 256 spaced apart around the outer periphery of gearbox-case 172 from In pass freely through.See, for example, Figure 12 and Figure 13.Pawl locking wedge 258 be formed at locking pawl 252 on with It is engaged by locking in any one in the first locking wedge 256, as described in greater detail below.As in addition Fig. 8- Visible in 11, locking pawl component 250 may also include pawl guiding bar 260, and the pawl guiding bar 260 be able to can be slided It is received in dynamicly in the passage 194 in motor installation hub 192.The axle journal of pawl spring 262 is connected in pawl guiding bar 260 And it is positioned between pawl component 252 and motor installation hub 192 with by the cam engaging portion 264 of pawl component 252 It is biased into and is engaged with the 3rd spur gear 140.

Describe to operate retraction assemblies 120 and driver element locking system 240 now with reference to Fig. 8, Figure 13 and Figure 14 A kind of method.Figure 13 shows the driver element locking system 240 being in the locked position.As in this view, it may be seen that pawl structure Part 252 is biased into distal side latched position by pawl spring 262.When in the latched position, on pawl component 252 Pawl locks wedge 258 and 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 shell 12 and rotated.Pass through pressure Operation of the lower master power switch 80 (Fig. 1) to motor 100 causes rotating and ultimately resulting in trigger shaft 104 for driving tube 102 Axially promote, driving beam 60 is thus driven across loading unit 20 towards distal side.

If such as driving beam 60 is stuck in the tissue that is clamped in loading unit 20 or the power of motor 100 is lost Lose or pipe 102 can not be driven reverse due to certain other reasonses motor 100 rotation with the trigger shaft 104 that finally bounces back, then face 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 driver element locking system 240 is in the locked position) put.In order to start manual retrieving mistake Journey, clinician pull retraction lever 150 with leave the lever pit 14 in shank shell 12 (along " R " direction --- referring to figure 6).Motion of the lever 150 along " R " direction that bounce back causes rotation of the cam portion 154 of retraction lever 150 in retraction base 124 Turn.The cam that such initial rotation of the lever 150 along " R " direction that bounce back causes to unlock the engagement pawl of cam 141 component 252 connects Part 264 is closed so that pawl component 252 is biased into unlocked position, thus allows driver element 186 interior certainly in shank shell 12 Rotated by ground.Cam slot 160 in retraction base is set and is advantageous to the lever 150 that bounces back with enough length The initial disengaging that this rotation of cam portion 154 is advanced without clutch pack 142.Therefore, cam slot 160 can be longer than The cam slot being positioned in previously retraction base structure, to be advantageous to cause driving tube 102 to rotate applying actuation motion The unblock of drive unit assembly 186 before.For example, at least one constructs, cam slot 160 can be elongated, to have About 15 degree are rotated beneficial to retraction lever 150 is made.When clinician continues to rotate retraction lever 150 along " R " direction, cam connects Closing part 264 will straddle on the 3rd spur gear 140 along the neighboring of unblock cam 141.Lever 150 bounce back along " R " direction Continue rotation cause the cam member 156 on cam portion 154 to be engaged with the end of its respective cams slit 160, with along Eccentric cam part 154 in downward direction.This moves downward compression set in first clutch part 144 and second clutch part Spring between 146, the engagement so that tooth 148 thereon is engaged with each other.The rotation that continues of cam portion 154 in the counterclockwise direction can Needle roller clutch is activated, the needle roller clutch joins with accessory and the first mandrel.The continuous actuating of retraction lever 150 makes clutch Device assembly 142 rotates, and the clutch pack 142 then makes spur gear 136,138,140 and retraction gear 132 and sliding tooth The rotation of wheel 130.This then rotation driving pipe 102 and drives trigger shaft 104.

Retraction lever 150 can activated predetermined 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 rise cam portion 152, Thus second clutch part 146 is allowed also to move upwards and depart from first clutch part 144.Needle roller clutch is releasable Accessory, retraction lever 150 is thus allowed to return to motion of the first position without influenceing driving tube 102.Once bounce back lever 150 First position is returned to, driver element 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.

Because gearbox-case 172 rotates freely through during the application of this spinning movement, thus it is previous compared to operation Moment of torsion needed for retraction assemblies, the torque capacity needed for gear in rotation driving pipe 102 and gear assembly 170 significantly reduce.This Class construction is also advantageously used in be prevented retraction assemblies institute during gear assembly 170 keeps being driveably connected to motor drive shaft 107 Caused torsional forces is delivered to motor drive shaft 107.In other words, during the operation of retraction assemblies 120, gear assembly 170 can be protected Hold drivingly coupled between motor drive shaft 107 and driving tube 102.Such construct is different from following retraction and constructed, the retraction structure Make in the United States Patent (USP) 7,959,050 for being disclosed in and being for example incorporated by reference in its entirety this paper, but in the starting period of retraction system Between cause hop physics depart from or physical discontinuity.

Figure 15-18 shows another that above-mentioned surgical instruments 10 is substantially similar in addition to difference described below Surgical instruments 310.As visible in figure 16, apparatus 310 includes gear assembly 470, and the gear assembly 470 includes for example pressing 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 generally designated as 486.In addition to difference described below, gear assembly 470 can be identical with 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.Because driver element 486 does not rotate in this configuration, it directly can be connected to power with 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 it is visible, gear assembly 470 may include the planetary gear structure for being operably linked to motor drive shaft 107.In one kind constructs, example Such as, stationary annular gear 473 can be formed on the inner surface of gearbox-case 472.Main central gear 471 could attach to motor drive shaft 107.Multiple first planetary gears 475 that main central gear 471 can be supported for and be supported on the first pinion frame 474 are nibbled Splice grafting closes.First planetary gear 475 also can engage engagement with ring gear 473.First central gear 476 can be formed at the first row On gear rack 474 and multiple second planetary gears 478 with being supported on the second pinion frame 477 engage engagement.The Two planetary gears 478 can also be supported for engaging engagement with stationary annular gear 473.Secondary sun wheel 479 can be formed at or Person is attached on the second pinion frame 477, and can be supported for and be supported on multiple on third planet tooth rest 480 The engagement engagement of three planetary gears 481.Third planet gear 481 engages engagement with stationary annular gear 473.3rd central gear 483 can be formed at or perhaps be attached on third planet tooth rest 480.3rd central gear 483 can be supported for it is multiple The engagement engagement of fourth planet gear 487, the multiple fourth planet gear 487 could attach to output axle unit 484, the output Axle unit 484 is pivotally supported in gearbox-case 472 by bearing 185.The multiple fourth planet gear 487 can be with The lockable engagement of ring gear 485 engagement, the lockable ring gear 485 are 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 arranged in circular passage 490 and then pass through plug member 492 Keep fixing, the plug member 492 is pressed against or perhaps is maintained in circular passage 490.

Surgical instruments 310 may also include driver element locking system 540, and the driver element locking system 540 includes can The displacement ring assemblies 542 of motion.In at least one form, displacement ring assemblies 542 may include for example to shift ring 543, the shifting Position ring 543 has the locking component of at least one and preferably multiple forms of such as pin 544.Pin 544 protrudes from displacement ring 543 And it is configured to optionally be engaged by locking with lockable ring gear 485.Each in stop 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 visible in fig.15, clutch fixture 560 may include spring perch, A part of the spring perch around the neighboring of the 3rd spur gear 140 is clamped.Clutch fixture 560 can have thereon 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.During normal use (that is, when motor 100 just drives trigger shaft 104), stop 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 original position shown rotates along " R " direction.When the lever 150 that bounces back rotates, the spur gear 140 1 of clutch fixture 560 and the 3rd Rotation is played, so that shift unit bar 564 shifts ring 542 along distal direction " DD " is mobile.When displacement ring 542 is along distal direction When " DD " is moved, stop pin 544 moves into not to be engaged by locking with lockable ring gear 485, to allow lockable annular Gear 485 rotates relative to gearbox-case 472.Clinician continues to make the ratcheting motion of retraction lever 150 to shown in Figure 18 End position.In for example, at least a kind of construction, retraction lever 150 needs only to rotate about 15 degree, make it that stop pin 544 is de- From lockable ring gear 485.After clinician discharges retraction lever 150, return spring 162 will make retraction lever 150 return to original position and clinician repeats the process, 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 not other gear configurations in by gear assembly 470.Thus, compared to holding and gear train 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 moment of torsion is reduced, but trigger shaft 104 can keep being operatively engaged with gear assembly 470.Change Word says that trigger shaft 104 can keep being operably linked to motor 100.When displacement ring 542 is contacted in motor installation hub 192 During bearing 185, stop pin 544 is engaged by locking lockable ring gear 485.In the axle of displacement ring contact motor installation hub 192 After holding 185 or other parts, clutch fixture 560 is configured to slide relative to the 3rd spur gear 140.Therefore, Driver element locking system 540 is used to be advantageous at least the one of driver element 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 the 3rd spur gear 140 with cause remove be used for surgical instruments 310 in reversion connector 550.Such as visible in figure 18, 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 move and cause the engagement and disengaging of stop pin 544 and lockable ring gear 485.

Figure 20 and 21 shows substantially the same with surgical instruments 610 another surgical instruments in addition to 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 '.Such as visible in fig. 20, 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 the quilt of stop pin 544 ' of displacement ring 542 It is constructed to be permeable to contact and presses inward against corresponding Lock spring 620, corresponding ring gear locking component 622 is extruded It is engaged by locking into 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 ", Stop pin 544 ' departs from its corresponding Lock spring 620, and this allows the flexure of spring 620 to arrive original position, to allow ring gear Locking component 622 departs from lockable ring gear 485, thus allows it to be rotated relative to gearbox-case 472 '.Therefore, when When retraction assemblies 120 start, lockable ring gear 485 rotates freely through relative to gearbox-case 472 ', so as to reduce Cause the retraction torque capacity needed for trigger shaft 104 along 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 Miscellaneous part is stuck or is then used for optionally manual retrieving surgery for promoting the operation power of percussion bar assembly to interrupt Another retraction assemblies construction of the distal part of the trigger shaft of apparatus 710.In addition to difference described below, surgical instruments 710 surgical instruments that can be similar in design and operation disclosed in above-described and/or Zemlok ' 763, the full patent texts It is herein incorporated by reference.

Visible such as in Figure 22-24, surgical instruments 710 includes the shell 712 for being operably supported percussion bar assembly 720. Shell 712 can for example be operably supported motor and gear assembly (not shown), for spinning movement is applied into driving tube, It is axially moved so as to cause to fire bar assembly 720 according to various modes as described herein.In at least one constructs, hit Hair bar assembly 720 may include the nearside firing member operationally joined according to various modes disclosed herein and driving tube or Bar part 722.In other surgical instruments construction, nearside percussion bar part 722 can be operable with other driving constructions and system Ground joins, and other described driving constructions 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 the retraction form of link assembly 732 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 also includes being pinned to actuator links 734 and the distal side retraction of distal side percussion bar part 724 connects Fitting 738, as shown in the figure.In embodiment illustrated, shell 712 includes the joint motions casing part 714 towards distal side extension, The joint motions casing part 714 towards distal side extension may also include the shaft housing section 716 towards distal side extension.When retraction connecting rod Component 732 in response to fire bar assembly 720 axial movement along distal direction and proximal direction be axially movable when, shaft housing section 716 can be used for vertically supporting retraction link assembly 732.In order to which the link assembly 732 that is advantageous 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 original position backward, then clinician can only hold the connector handle of actuator links 734 Portion part 736 and it is pivoted along " R " direction, as shown in figure 24, thus along nearside " PD " direction drawing distal side percussion bar portion 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 The distance for being demarcated as " RD " can be generally axially spaced 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 keep constant.However, work as clinician When starting retraction assemblies, the proximal end 725 of distal side percussion bar part 724 and the distal end 735 of nearside percussion bar part 734 The distance between (distance " RD ' ") distance " RD " will be less than.In addition, as visible in fig. 22, the distal side work head of driving beam 60 Distance between 62 original position and the end position of distal side work first 62 (that is, after complete firing schedule) is by distance " FD " is represented.If desired, distance " RD " can be sufficiently large, to allow distal side percussion bar part 724 fully to bounce back (i.e., Move to the distal end 735 of closer nearside percussion bar part 722) so that work first 62 returns to it from end position Original 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, if for example, work first 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 first 62 returns to its original position, wherein distal side work first 62 can be permitted 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 depicted The nearside that bar assembly 720 ' includes according to various modes disclosed herein and driving tube can operationally joining fires bar part 722’.In other surgical instruments construction, nearside percussion bar part 722 ' can operationally be handed over other driving constructions and system Connect, other described driving constructions 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 in part And the end of the driving beam 60 being axially movable of loading unit 20 is operably linked to according to various modes as described herein Portion.For example, distal side percussion bar part 724 ' can have passage 725 wherein, the passage 725 is dimensioned so as to allow far Flank attack sends out bar part 724 ' and axially slides retraction distance " RDD " in nearside percussion bar part 722 '.Retraction distance can be equal to Or more than percussion distance " FD ", so as to allow retraction assemblies 730 beam 60 will be driven to bounce back enough distances, to make its work head 62 move to original position " SP " from end position " EP ".Referring to Figure 25.Retraction assemblies 730 ' may include the breech lock 732 ' that bounces back.Return Contracting breech lock 732 ' may include what can be moved between position latching (Figure 25 and Figure 26) and unlatched position (Figure 27 and Figure 28) Breech lock shank 735.When in position latching, retraction breech lock 732 ' attaches distal side percussion bar part 724 ', so that it is prevented from Slid axially in nearside percussion bar part 722 ' and distal side percussion bar part 724 '.When in the orientation, nearside trigger shaft Moved basically as overall part 722 '.Therefore, when being orientated in breech lock, percussion bar assembly 720 ' can be along distal direction " DD " is fired into its end position " EP ", as shown in figure 26.If beam 60 is driven to be stuck or apparatus during firing schedule Interruption in power or loss (or due to other reasonses), then clinician can only will retraction breech lock shank 735 be moved to it is unlatched Position (Figure 27) and then along proximal direction " PD " manually pull retraction breech lock 732 ', as shown in figure 28.

Various retraction systems disclosed herein and construction can solve some defects that previously retraction construction is frequently run onto, institute State previously retraction and be configured to the motor power drive member that retraction is used by surgical end-effector.It is for example, disclosed herein Various retractions construction can be advantageous to retracting action being manually applied to drive member and/or associated driving construction, and The resistance generally provided by the gear associated with motor/transmission structure will not be provided, while allow gear/transmission structure to keep " drivingly " or it is physically coupled to motor.

Therefore, at least one example includes the surgical instruments can with firing member component, and the firing member component can Including the part for being supported for optionally being axially moved along distal direction and proximal direction.The apparatus may also include bag Driver element is included, the driver element includes the motor with 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 is carried out axially driving and working as motor drive shaft edge along distal direction 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 disables 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 driver element handing-over, it is for being prevented during gear assembly keeps being driveably connected to motor drive shaft that other rotations is dynamic It is delivered to motor drive shaft.

According to another example, surgical instruments may include the driver element for producing firing action and retracting action.Institute State apparatus and may also include surgical end-effector, the surgical end-effector is configured to hit in response to apply it Start to make and retracting action at least one perform at least one surgical function.Surgical instruments may also include firing member group Part, the firing member component may include nearside firing member part, and the nearside firing member part can grasp with driver element 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, the 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 is axially movable for nearside firing member part) between optionally move.

Another surgical instruments example may include shank shell, and the shank shell includes being operatively coupled with it thin Long axis component.Slender axles assembly can support the trigger shaft being axially movable wherein.Loading unit is operably linked to elongated Axle and be configured to and trigger shaft join.Driving tube is pivotally supported in shank shell and can 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 including output shaft assembly, the output shaft Component is configured to and driving tube joins so that when motor drive shaft rotates along the first direction of rotation, driving tube is along distal direction Drive trigger shaft and driving tube drives trigger shaft along proximal direction when motor drive shaft rotates 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 disables.Locking Device can join with retraction assemblies and gear assembly, for being prevented during motor sub-assembly keeps being driveably connected to motor drive shaft Other spinning movements are delivered 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 be by electricity Stream, which provides, arrives such as motor 100, and offer can be related to the moment of torsion as caused by motor 100 to the electric current of motor 100.In addition, Moment of torsion can be related to the percussion force applied by percussion element 60 as caused by motor 100.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, moment of torsion-voltage curve 5802 can have peak torque in the case where optimizing voltage V T₁.Be for example higher than and/or less than optimize voltage V voltage under, the moment of torsion as caused by motor is smaller than peak torque T₁.Example Such as, under 1/2V voltage, it is, for example, less than T that moment of torsion-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 certain 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 embodiment, control system can The moment of torsion 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, voltage regulator circuit can adjust the voltage on motor to influence the speed of percussion element.Referring to Figure 63, if voltage Voltage is for example dropped to 1/2V by regulation circuit from desired voltage V, then moment of torsion 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 cycle pulse duration) can influence fire element 5804 percussion speed.When dutycycle is higher 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 dutycycle 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.In such embodiment, the feelings of the moment of torsion as caused by motor can not reduced Condition, which is got off, controls the speed of percussion element 5804.For example, motor can be operated to produce peak torque for example in the case where optimizing voltage V T₁, and percussion element 5804 can be made by changing the width of voltage pulse with the speed of reduction (such as speed S₃) 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 time per unit can 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 influenceed.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 for controlling (for example, pulsewidth modulation) using speed management can not need The maximum volt-ampere of battery.For example, when battery is maximum or optimize and provide current impulse under voltage with speed needed for utilizing and most During big or optimization torque drive percussion element, residual current can be not used in driving percussion element.It is remaining in such embodiment Electric current can be used for producing additional torque.Referring to Figure 66 (a) -66 (c), motor may include for example to add or ancillary coil group and remain Aftercurrent can be selectively guided to interpole coil group to produce additional torque.In such embodiment, motor can for example exist Compared with producing high torque under low velocity.In various embodiments, the volt-ampere limit that control system can be for example based on battery is 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 Optimization moment of torsion as caused by motor during part.

Referring also to Figure 66 (a) -66 (c), battery 6002 can provide motor 6004 by current selective.Motor 6004 can Including such as set of main coils 6006 and ancillary coil group 6008.In various embodiments, with the control of the signal communication of motor 6004 System 6020 can be directed to set of main coils 6006 and/or ancillary coil group 6008 by current selective.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 switching 6010) can beaten Moved between open position and closing position to provide such as ancillary coil group 6008 by current selective.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 Battery 6002 can provide current impulse at least one in such as coil group 6006,6008.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 Individual additional set of main coils and/or at least one additional ancillary coil group.

In various embodiments, motor can produce the first torque capacity during the first mode of operation, and in the second operation The second torque capacity is produced 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 the departure date is fired can be organized and/or limited to additional torque caused by ancillary coil group 6006.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, compared to percussion element is promoted, motor can produce when retraction fires element Bigger moment of torsion.In such embodiment, 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 can not cut and/or suture for element is fired, then additional torque for example can be used come the percussion that bounces back Element.Referring also to Figure 66, moment of torsion can be incrementally increased during " soft " startup stage 5902 of firing schedule as caused by motor And/or it can be gradually lowered during " soft " stop stage 5904,5906 of firing schedule.For example, fire member when promoting During part, motor can progressively or slowly increase percussion speed when firing schedule starts, and can complete hit in percussion element Progressively or percussion speed is slowly decreased when issuing the forward portion of journey.In addition, in various embodiments, motor can bounce back Produce 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)) starts caused moment of torsion to maximize in retraction.

Referring to Figure 68, the controllable percussion element of control system with during the test section 5912 of firing schedule with slower speed Motion.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 applied to 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 start the opening and closing of end effector jaw, fire the motion, and/or loading of element The joint motions of unit.When engaging actuator at motor drive actions beginning, firing test section is (for example, indicated by Figure 68 Test section 5912) surgeon " experiment " surgery can be allowed to act, with ensure it is expected and/or suitably surgery action by Start.For example, in certain embodiments, the first button can start the joint motions of motor driving in the first direction, and the Two buttons can start the joint motions of motor driving 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 be changed into " reverse ", such as from the perspective of operator.If the One direction is expected joint motions direction, then can be it is desirable to assure that loading unit carries out joint in the first direction during test section Motion, i.e. the first button is actually activated.Similarly, if second direction is expected joint motions direction, can it is expected Ensure that loading unit carries out joint motions in a second direction during test section, i.e. 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 be used 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 exemplified by 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 Enter 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 is used to for example make driving element 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 used to make loading unit surround actuated articulation joints Carry out joint motions.About being also disclosed in United States Patent (USP) 7 for making loading unit construction carry out the other details of 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 increase 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 used to fire surgical end-effector and surgical end-effector is carried out joint motions, and the surgical end-effector can At least one surgical operation is performed in response to the firing action applied to 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 produce rotary actuating movement.Motor 100 is operably linked to gear assembly 820, the gear assembly 820 have an associated driving coupler assembly 840 that can selectively position, and 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 operationally joins with Slender axles assembly for joint motions action is applied into surgical end-effector. In a kind of form, for example, articulation system 859 may include to be 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 to be provided with it is rotatable The cylindrical portions 90 of component 92.Rotating parts 92 can join to be advantageous to Slender axles assembly with the proximal end of Slender axles assembly Relative to the rotation of shell 12.Rotating parts 92 are operably supported joint motions button and such as the institutes of United States Patent (USP) 7,431,188 Disclosed slip-clutch construction.The main joint motion gear 94 of this construction is represented by the dotted line in Figure 29 and Figure 30.Main joint Moving gear 94 can be by such as above-mentioned United States Patent (USP) 7, and the slip-clutch described in 431,188 is connected to main shaft 95 so that main The rotation of joint motions gear 94 will cause the corresponding rotation of main shaft 95.As wherein described in more detail, joint motions button can be used as Articulated position indicator.Main shaft 95 and J- channel components 96 operationally join, and the J- channel components 96 are transported with joint The proximal end handing-over of follower link component 97.In one form, articulation link component 97 may include single with loading The proximal joint motion couplings 98 of articulation link 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 drive coupler assembly 840 operationally to join.It is such as visible in Figure 29 and Figure 30, close Section motion driving series structure 870 may include joint motions drive shaft 872, and the joint motions drive shaft 872 is attached to driving connection The output section of device assembly 840 is connect, such as will be described in more detail below.First joint motions drive gear 873 is attached to joint fortune Move drive shaft and engage engagement, the second joint with the central gear seat ring 875 on second joint motion transmission gears 874 Motion transmission gears 874 are pivotally supported in rotating parts 92.Therefore, the rotation of the first joint motions drive gear 873 Transduction causes the rotation of the second center knuckle motion transmission gears 874.Furthermore, it can be seen that " the 3rd " joint such as in Figure 29 and Figure 30 Motion shaft gear 877 is mounted thereto the second joint kinematic axis 876 with " the 4th " joint motions worm gear 878.3rd joint Motion shaft gear 877 engages engagement with the second center knuckle motion transmission gears 875 so that the first joint motions drive gear 873 rotation ultimately results in the rotation of the 3rd joint motions shaft gear 877 and second joint kinematic axis 876.4th joint motions Worm gear 878 engages engagement with main joint motion gear 94 so that the rotation of the 4th joint motions worm gear 878 causes main joint to move The rotation of drive gear 94 and ultimately result in by joint motions action be applied to articulation link component 97.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 Rotated up to 100.

Visible such as in Figure 31, motor 100 is operably linked to gear assembly 820.Gear assembly 820 may include to couple To the gearbox-case 822 of motor 100.For example, gearbox-case 822 can by screw rod 103 or other machanical fasteners and/or Securing members 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 one kind constructs, 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 central gear 821 and multiple first planets being supported on the first pinion frame 824 The engagement engagement of gear 825 so that they also engage engagement with ring gear 823.First central gear 826 is formed in other words It is attached on the first pinion frame 824, and multiple second planetary gears with being supported on the second pinion frame 827 828 engagement engagements.Second planetary gear 828 is also supported for engaging engagement with ring gear 823.The shape of secondary sun wheel 829 It is attached into other words on the second pinion frame 827, and engagement is engaged with multiple third planet gears 831.3rd Planetary gear 831 is supported on third planet tooth rest 830 and is supported for engaging engagement with ring gear 823.3rd Central gear 833 is formed at the shaft extension 832 being attached in other words on third planet tooth rest 830 and joined with being attached to Multiple fourth planet gears 835 engagement engagement of device gear is connect, the connector gear includes being pivotally supported at axle 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 engages engagement with output axle unit 850, and the output axle unit 850 is by tooth Roller box shell 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 engaging engagement 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 and behaviour about such clutch 230 The other details of work are available from the announcement.However, in alternative embodiment, clutch 230 can be by axle-axle connector or sleeve pipe Construction is replaced, and the axle-axle connector or sleeve pipe, which are configured to be advantageous to export axle unit 850, is directly coupled to driving tube 102.

Referring again to Figure 31, main joint motion drive gear 837 is attached to joint motions drive shaft 872 and and fourth line The engagement engagement of external teeth torus 838 on gear rack 834.In various forms, driving coupler assembly 840 may also include connection Device selector component 842 is connect, the connector selector component 842 is movingly connected to gearbox-case 822 or shell 812 Other parts in other words movingly 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 Divide 844 to include the regions such as region, the channel form, coarse shape such as channel form, coarse shape to be configured to not connect movingly 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 region such as the channel form, coarse shape is configured to not engage the 4th movingly 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.It is visible such as in Figure 29, connector selector Component 842 is pivoted to articulated position, wherein the first articulating shaft retainer part 846 is with exporting on axle unit 850 Second joint kinematic axis retainer part 847 do not engage movingly.When at that position, output axle unit 850 is hindered Only rotated around longitudinal axes L A-LA.Therefore, when at that position, the operation of motor 100 will cause the 3rd central gear 833 rotation, the 3rd central gear 833 engage engagement with fourth planet gear 835.The rotation of fourth planet gear 835 The rotation of rotatable fourth planet tooth rest 834 will be caused.Such rotation of fourth planet tooth rest 834 will also cause It is connected to the rotation of the main joint motion gear 837 of joint motions drive shaft 872.The rotation of joint motions drive shaft 872 will be led Cause the first joint motions drive gear 873 to rotate and drive second joint motion transmission gears 874.Second joint motion is transmitted The rotation of gear 874 causes the rotation of the 3rd 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 motion gear 94, and this will cause joint motions action to be applied to joint motions connection Part 97,70, so as to ultimately result in the rotation that loading unit 20 surrounds actuated articulation joints.Motor drive shaft 107 rotates along first The rotation in direction will cause joint motions of the loading unit along the first joint motions direction, and motor drive shaft 107 is along opposite The rotation of direction of rotation will cause joint of the loading unit along the second joint direction of motion in opposite direction with the first joint motions Motion.

Referring next to Figure 30, connector selector component 842 is pivoted to driving or firing position, wherein the first driving Axle 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 putting, the operation of motor 100 will cause the rotation of the 3rd central gear 833.3rd central gear 833 is with being supported on fourth planet The engagement engagement of fourth planet gear 835 on tooth rest 834.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 Close and be blocked for rotation, the rotation of fourth planet gear 835 will cause the rotation of output axle unit 850.Exporting axle unit 850 can Driving tube 102 is connected to by clutch pack 230 or by directly coupling.Therefore, exporting the rotation of axle unit 850 causes The rotation of driving tube 102.As described above, the rotation of driving tube 102 causes the axial movement of trigger shaft (being not illustrated in Figure 31).Horse The distal side for causing trigger shaft is promoted up to rotation of the drive shaft 107 along the first direction of rotation, and motor drive shaft 107 is along opposite The rotation in direction will cause the proximal movement of trigger shaft.In various embodiments, the closure of the jaw of loading unit 20 is (for example, anvil Holder assembly 22 relative to carrier 24 pivot) 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) separate, 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 separated with trigger system relative to the opening of carrier 24, and can be by motor 100 are connected to articulation system.In such embodiment, when loading unit 20 is opened, motor 100 can influence loading unit 20 joint motions, and when loading unit 20 closes, 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 the jaw of loading unit 20.In addition, pass 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 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 joint motions and fires the elder generation of end actuator driven component Preceding powered surgical instrument, it can be represented using the various powered surgical instruments of various driving coupler configurations disclosed herein huge Improve.

For example, at least one surgical instruments includes limiting the Slender axles assembly of longitudinal tool axis.Surgical end-effector Slender axles assembly is operably linked to for its relative selective joint motions.Surgical end-effector is configurable to At least one surgical operation can be performed in response to the firing action applied to it.Articulation system can be with Slender axles assembly Operationally join for joint motions action is applied into surgical end-effector.Firing member component can be with slender axles group Part operationally joins for firing action is applied into surgical end-effector.Surgical instruments, which may also include, to be adapted to Enough produce the motor of rotary actuating movement.Coupler assembly is driven to 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 Individual 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 Slender axles assembly of axis.Loading unit is operably linked to Slender axles assembly and is configured in response to it The firing action of application cuts off and sutured tissue.Loading unit is configured to around actuated articulation joints relative to vertical Joint motions are optionally carried out to tool axis.Surgical instruments may also include articulation system, the articulation system Including articulation link component, the articulation link component is supported and is configured to by Slender axles assembly Operationally join with the actuated articulation joints part in one of Slender axles assembly and loading unit.Joint motions actuator Structure can join to apply joint motions actuation motion to it by shank support and with articulation link component.Surgical instruments Firing member component is may also include, the firing member component operationally joins dynamic to apply percussion to it with loading unit Make.Motor can be operably supported by shank and be configured to produce 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, thus cause loading unit 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 Part component, thus cause firing member component that at least one firing action is applied into loading unit.

Another surgical instruments example may include the Slender axles assembly for limiting longitudinal tool axis.Surgical end-effector can Slender axles assembly is operably coupled to for its relative selective joint motions.Surgical end-effector is configured to Enough at least one surgical operation is performed in response to the firing action applied to it.Articulation system can with Slender axles assembly Operatively join for joint motions action is applied into surgical end-effector.Firing member component can be with Slender axles assembly Operationally join for firing action is applied into surgical end-effector.Motor is configured to produce rotation cause Dynamic motion.Surgical instruments may also include following device, and described device is used to be applied selectively to close from motor by output action Save each in kinematic system and firing member component.

In some 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 produce vibration action or noise according to the direction of motor rotation and/or speed.However, various motors Minimum noise can be produced, and therefore surgical touch feedback can be restricted and/or can not be cured by surgery Physiology solution.For example, motor and/or transmission design in various modifications and/or improve can reduce by motor and/or transmission design production Raw tactile noise.In such embodiment, it may be advantageous to change motor and/or be operably linked to the gear of motor Component, to produce 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 surgeon need not be made to shift sight from operating position.For example, motor and/or gear can produce Tactile and/or audio feedback are given birth to be communicated with surgeon.In such embodiment, operator need not watch display screen and for example come Find out the mode of operation or situation of surgical instruments.As described in more detail herein, surgical instruments can transmit the rotation side of such as motor To the direction of rotation may correspond to the percussion direction and/or the joint motions direction of loading unit of such as firing member.Except this Outside or alternatively, surgical instruments can be transmitted for example during firing schedule firing member speed and/or position and/or The speed and/or degree of the joint motions of loading unit can for example be transmitted.

In various embodiments, as described in more detail herein, motor is operably linked to fire component and/or joint fortune Dynamic component.Referring to Figure 168, motor 7010 can drive the motor drive shaft 7014 of for example engageable gear assembly 7020.In various implementations In example, the key 7016 on key, such as motor drive shaft 7014, a part for engageable gear assembly 7020.In certain embodiments, tooth Wheel assembly 7020 may include such as disk 7022,7024, and the disk 7022,7024 is configurable to by key and motor drive shaft 7014 Rotate or rotate together with motor drive shaft 7014 during engagement.For example, the first disk 7022 may include groove (not shown).In addition, from horse Groove in engageable first disk 7022 of the first key (not shown) extended up to axle 7014 so that the first disk 7022 is in motor drive shaft 7014 (CW) clockwise are turned clockwise when rotating and the rotate counterclockwise in (CCW) rotation counterclockwise of motor drive shaft 7014. In at least one embodiment, the first key can be kept and the first disk 7022 during the whole operation of surgical instruments and/or its motor In groove engagement.

In certain embodiments, the first disk 7022 can be balance relative to its rotation axis along motor drive shaft 7014.Still Referring to Figure 168, block (such as block 7026) can extend from the first disk 7022 and can be moved into deviateing by the barycenter of the first disk 7022 The rotation axis of first disk 7022.For example, block 7026 can prolong away from the neighboring of motor drive shaft 7014 and/or remote first disk 7022 Stretch.In other words, block 7026 can upset the balance of the first disk 7022, cause the rotation unbalance of the first disk 7022, and therefore exist First disk 7022 produces 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 may correspond to surgical instruments Mode of operation or situation.In addition, the touch feedback as caused by the rotation of the first disk 7022 and block 7026 can be dependent on motor drive shaft 7014 rotary speed.In such embodiment, 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 produced when motor drive shaft 7014 rotates quickly with upper frequency touch feedback and The touch feedback with lower frequency is produced 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 its rotation along motor drive shaft 7014 Shaft axis are 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 is offset.For example, block 7028 can extend away from the neighboring of motor drive shaft 7014 and/or remote second disk 7024.In other words, block 7028 can upset the balance of the second disk 7024, cause the rotation unbalance of the second disk 7024, and therefore in the second disk 7024 and horse Centrifugal force is produced when being rotated together up to axle 7014.Therefore, the rotation of the second disk 7024 and block 7028 can produce touch feedback, example Such as, the vibration or shake of surgical instruments shell and/or shank.Touch feedback may correspond to the mode of operation or feelings of surgical instruments Condition.In addition, the touch feedback as caused 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 embodiment, 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 for example similar to the extra block of 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 certain embodiments, horse The additional and/or different disk that gear assembly 7120 is operatively engaged up to axle 7014 is additional and/or different optionally to produce Touch feedback.

Referring also to Figure 168, the second disk 7024 may include inner rim 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 rim 7030.Inner rim 7030 may include example Such as the multiple arcs surface 7034 between multiple flat surfaces 7032 and adjacent planar surface 7032.The He of each pair flat surfaces 7032 Curved surfaces 7034 can limit groove, and the groove is configurable to receive the second key 7016.In certain embodiments, key is worked as 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 rotated in a first direction together with motor drive shaft 7014.In addition, some In embodiment, when key 7016 rotates along the second direction opposite with first direction, key 7016 could rotate through curved surfaces 7034 and it can be fixed and/or be held in the groove in periphery 7030.In other words, key 7016 can be relative to the second disk 7024 rotations.In such construct, motor drive shaft 7014 can rotate in a second direction relative to the second disk 7024.Therefore, motor is worked as When axle 7014 is rotated in a first direction, key 7016 can only engage the second disk 7024 and cause the second disk 7024 to rotate.Some In embodiment, first direction may correspond to CW rotations, and in other embodiments, first direction may correspond to CCW rotations.

As described herein, because the engagement of the second disk 7024 may depend on the direction of rotation of motor drive shaft 7014, therefore second Disk 7024 can be only when motor drive shaft 7014 rotates in one direction (for example, driving firing member in one direction in motor 7010 And/or when rotating loading unit in one direction) rotation.Fired for example, the second disk 7024 only for example can bounce back in motor 7010 Component or turn clockwise loading unit when rotate.Such selectively engage of second disk 7024 can influence to be produced by surgical instruments Touch feedback.In other words, can be anti-to produce different and/or larger tactiles based on selectively engaging for the second disk 7024 Feedback.For example, only rotated in wherein the second disk 7024 in motor 7010 with bounce back firing member when the embodiment that rotates in, compared to During the propulsion of firing member, bigger touch feedback can be produced during retraction.During retraction, the second disk 7024 can also have Help the generation of touch feedback, this can cause the higher or larger summation of feedback force.In such embodiment, by the first disk 7022nd, larger touch feedback caused by the second disk 7024 can indicate that firing member passes through motor 7010 and returned 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.Thus, when motor drive shaft 7014 When being rotated along different directions, disk 7022,7024 can produce 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 are configurable 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, using Period, the first key can not can depart from from the groove of the first disk 7122.Second disk 7124 may include such as inner rim 7130, and its is similar In the inner rim 7030 of the second disk 7024.Inner rim 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 according to the direction of rotation of motor drive shaft 7014 and depart from The inner rim 7130 of two disks 7124.For example, when motor drive shaft 7014 is rotated in a first direction, engageable second disk of key 7016 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 be relative to the second disk 7024 in the internal rotation of its inner circumference 7130.

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 cause clicker 7142,7144 resonance and produce audible signal.In other words, first and second disks 7122 Rotation can produce 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 the pick of 7124 extensions can influence the frequency of audible signal.In such embodiment, the speed of motor and hit 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 influenceed by sound Audible signal caused by frequency feedback generator 7140.For example, pick 7126,7128 can each include non-decay surface 7150 and decline Subtract surface 7152.Non- decay surface 7152 may include such as flat surfaces and surface 7152 of decaying may include such as arc table Face.In various embodiments, the non-decay surface 7150 of pick 7126 is located at the attenuation meter of pick 7126 when rotated wherein In the case of before face 7152 (Figure 170), the resonance of clicker 7142 can be decayed by the rear end decay surface 7152 of pick 7126 and/ Or stop.For example, the clicker 7126 of the accessible flexure of the arched geometry on decay surface 7152, to prevent and/or limit sound The vibration of piece 7126 or resonance.On the contrary, the decay surface 7152 of pick 7126 is when rotated positioned at pick 7126 wherein In the case of before non-decay surface 7150 (Figure 171), the resonance of clicker 7142 can not be by the non-decay surface of pick 7126 7150 decay.For example, the flat geometry on non-decay surface 7150 can be avoided and/or limited with bending connecing for clicker 7126 Touch 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 7126th, 7128 direction of rotation can influence the audio feedback as caused by surgical instruments.Therefore, can be in surgical instruments during use Its mode of operation is notified into the operator to surgical instruments, and surgeon need not be made to shift sight from surgical site.For example, sound Frequency signal can be attenuated when firing member bounces back and can be attenuated when firing member promotes.In other embodiments, Audio signal can be attenuated when firing member promotes and can be attenuated when firing member bounces back.In addition, in some realities Apply in example, for example, the audible signal of decay can be corresponding with the joint motions of loading unit in one direction and unbated Audible signal can be corresponding along the joint motions in another direction with loading unit.In various embodiments, at least one audio Feedback generator can be used alone and/or can combine at least one haptic feedback system to use.In addition, in some embodiments In, at least one haptic feedback system can be used alone and/or can combine at least one audible feedback generator to use.Audio Different modes of operation can be sent to surgeon and/or can be by for example about 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 produced 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 whole firing schedule and/or loading unit carry out joint motions when caused feedback.Therefore, surgical instruments Such as firing schedule can be notified to be nearly completed and/or completed to user and/or loading unit can be notified to operator Close to the joint motions limit and/or the joint motions limit is reached.

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 7122,7124 of gear assembly 7120 can contact audible feedback generator 7240, the audio is anti- Feedback generator 7240 can be similar to such as audible feedback generator 7140.For example, the pick 7126,7128 on disk 7122,7124 The clicker 7242,7244 of deflection audible feedback generator 7240, thus cause clicker 7242,7244 resonance and produce the sense of hearing Feedback.In addition, audible feedback generator 7240 can move or translate 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 Close optionally to produce audible signal.In other embodiments, motor, gear assembly and/or its disk are movable so that disk Pick, which optionally moves into, to be engaged with the clicker of audible feedback generator and/or does not engage optionally to produce sense of hearing letter Number.

In various embodiments, when firing member moves during firing schedule, audible feedback generator 7240 can be Translated in surgical instruments.For example, at firing schedule beginning, audible feedback generator 7240 can be with the pick of disk 7122,7124 7126th, 7128 misalignment.In addition, when firing member is towards distal side motion and/or close to firing schedule end, audible feedback Generator 7240 is moveable to and/or moved into be aligned with the pick of disk 7122,7,124 7126,7128.In such embodiment, Audible feedback generator 7240 can be close in firing member and/or produces audio feedback when reaching firing schedule end.Referring to figure 173, produced for example, feedback generator can be in position range that is close and/or reaching firing schedule end in firing member Feed back for example to send the position of firing member to surgeon.In such embodiment, 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 Individual pick 7126,7128 can be aligned with least one clicker 7242,7244.Now, surgical instruments can produce feedback that will fire The position of component sends surgeon to., 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 be based on the position of firing member come by the anti-of change Feedback sends operator to.In addition, gear assembly 7120 may include it is movable into being engaged with audible feedback generator 7240 and/or not The additional disk and/or pick of engagement, and/or audible feedback generator 7240 may include it is movable into 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 Put and send 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, the audible feedback generator 7240 shown in Figure 172 for example can be with the joint of loading unit Move and translate.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 Move to and/or move into and be aligned with the pick of disk 7122,7,124 7126,7128.In such embodiment, audible feedback occurs Device 7240 can be close in loading unit and/or produces 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 produce instead Present to send the position of firing member to surgeon.In such embodiment, 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 with least one clicker 7242,7244.Now, surgical instruments can produce 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 loading unit configuration come by The feedback of change sends operator to.

In various embodiments, it may be advantageous to protect some parts of surgical instruments to be contacted to prevent fluid.For example, make Surgical instruments can be damaged with the contact unintentionally of period and body fluid, and can limit and/or shorten the life cycle of surgical instruments.This Outside, it may be advantageous to protect some parts of surgical instruments 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, some parts of surgical instruments can be sealed and/or 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 protected to prevent fluid contact.Such sealing can for example adapt to various motion portions The rotation of part.In addition, in various embodiments, such sealing may also be advantageous for heat transfer so that during surgery instrumentation Caused heat 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 Sleeve pipe) 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 transfer of motor 7510, 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 to 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 advantageous to wherein protect The heat transfer for the motor 7510 held.For example carried similar to the contact configuration 7512 (Figure 186) of contact configuration 210 available for by electric current It is supplied to motor 7510.Contact configuration 7512 may include such as positive pole ring contacts 7514a and negative pole ring contacts 7514b (figures 186), positive pole ring contacts 7514a and negative pole the ring contacts 7514b is for example operably connected to by clam shell covering The cathode contact 7518a and cathode contact 7518b (Figure 186) of 7516 fixations kept.In addition, clam shell covering 7516 may include Lip ring or packing ring 7519, the lip ring or packing ring 7519 can for example abut the periphery of motor 7510 and by horses It is sealed in up to 7510 and contact configuration 7512 in clam shell covering 7516.In certain embodiments, clam shell covering 7516 can wrap Metal material is included, the metal material can for example be advantageous to the heat transfer of motor 7510 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 protected to prevent using and/or sterilizing the phase Between fluid.For example, packing ring 7522 can be positioned between the shell of motor 7510 and gear assembly 7520 so that the He of motor 7510 Gear assembly 7520 forms fluid-tight sealing.In addition, the shell that sealing sleeve pipe 7530 can surround gear assembly 7520 is carried out Positioning.Sealing sleeve pipe 7530 may include edge 7536, and 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, packing ring 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, and it may include many of other surgical instruments disclosed herein Feature.In at least one form, surgical instruments 910 may include to be 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.Visible such as in Figure 32, apparatus 910 includes shell 12, and the shell 12 can Cylindrical mounting portion point 90 including being provided with rotating parts 92 thereon.Rotating parts 92 and the nearside of Slender axles assembly 16 End joins to be advantageous to rotation of the Slender axles assembly 16 relative to shell 12.Such construct allows surgeon to make slender axles group Part 16 and it is connected to its loading unit 20 (or surgical end-effector of other forms) and surrounds longitudinal tool axis " LA-LA " Optionally rotate.Rotating parts 92 with non-removable can be arranged in cylindrical portions 90 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 which electric current is carried It is supplied to end effector.For example, the sensor, lamp, actuator that needs electricity can be used to start for end effector etc..However, In such construct, surgical end-effector is set to be severely limited around the ability of longitudinal tool axis " LA-LA " rotation, It can be wound because power to be transported to the conductor system of surgical end-effector or loading unit from electric power source by slender axles It is and seriously damaged --- especially in the case where slender axles have been rotated more than one turn.Various surgeries disclosed herein The conductor management system being generally designated as 930 can be used in apparatus, and the conductor management system can avoid above mentioned 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 apparatus 910.It is also contemplated that electric work Rate source may include the alternating current source that can be used in surgical kit.For example, external power line can be used to 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 the system of robot for being for example attached or perhaps being connected with it 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 with electric power source 200 or perhaps joined 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 one kind constructs, for example, Spiral conductor component 934 can be formed by tape conductor 936 or perhaps include 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 Into 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 a whole circle or how whole circle.For example, the conductor 936 shown in Figure 36 and 37 is configured to be more than four whole circles.

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, conductor 936 also has the second end 940, the second end 940 is attached to rotating parts 92 It is supported by it advancing 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.92 removable twelve Earthly Branches of rotating parts wherein Support 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 Connect device assembly 933 and be removably coupled to spiral conductor component 934.Specifically, dismountable connector assembly 933 can be used for inciting somebody to action Leading body component 932 is connected to the first end 938 of spiral-wound conductors 936, to be advantageous to rotating parts 92 from cylindrical portion Divide 90 removal.It is not intended in wherein rotatable portion 92 in other constructions removed from cylindrical portions, spiral-wound conductors 936 First end 938 can with non-removable be attached to cylindrical portions 90 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 advantageous to from rotatable portion Divide 92 dismounting spiral-wound conductors 936.Such as visible in Figure 32 and Figure 33, asessory shaft conductor component 944 is attached to spiral cable The second end 940 of component 934.Asessory shaft conductor component 944 may be supported in rotating parts 92 and extend through hollow Slender axles assembly 16.For example, asessory shaft conductor component 944, which may pass through Slender axles assembly 16, extends to its distal end, with it is attached It is connected to the handing-over such as its other conductors, sensor, power part, other described conductors, sensor, power part etc. and surgery end Portion's actuator, loading unit etc. are connected.Therefore, when clinician rotates rotating parts 92 relative to shell 12, spiral is led Body component 934, and more specifically, spiral-wound conductors 936 will be wound into slightly more close spiral, while be advantageous to work( Rate is applied to surgical end-effector, loading unit etc. from power source 200.If clinician is relative to shell 12 along phase negative side To rotation rotating parts 92, then screw winding cable 936 will slightly solve winding, while still be advantageous to power from power source 200 are applied to various parts on surgical end-effector, loading unit etc., sensor etc..

Furthermore, it can be seen that conductor management system 930 may also include the rotation being generally designated as 950 such as in Figure 34 and Figure 35 Limit device assembly.In at least one constructs, for example, rotationally constrained device assembly 950 includes limiter component 952, the limitation Device component 952 is movingly attached to rotating parts 92 and is configured to be threadedly engaged on the cylinder 90 of shell 12 Threaded portion 99.Limiter 952 may include a pair of relative bumps 954, and the projection 954 is formed on rotating parts 92 Longitudinal fin part 958 every side, 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 axially movable 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 to extend internally of rotating parts 92 Being used for restriction with the distal side stop wall 964 to extend internally, limiter 942 can axle when rotating parts 92 are rotating 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, rotating parts 92 will cause limiter edge relative to the rotation of cylindrical portions 90 in the first direction The axial direction traveling of distal direction " DD ", until limiter 952 contacts distal side stop wall 964, as shown in figure 34.Equally, it is 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.For example, limitation device assembly 950 can allow to face Bed doctor makes Slender axles assembly, and more specifically rotating parts 92 rotate at least one in either direction around cylindrical portions 90 It is whole to enclose but be no more than such as three whole circles.However, the number of turns, or more specifically, rotation of the rotating parts 92 on cylinder 90 is advanced Amount can be adjusted by adjusting the size of travel distance " TD ".

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

For example, at least one surgical instruments may include shell, the shell may include rotating parts, the rotatable structure Part is supported on the mounting portion of shell, for being rotated about in rotating range upper measurement.Limit the elongated of longitudinal tool axis Shaft assembly is operably linked to rotating parts, is advanced for therewith surrounding the rotation of longitudinal tool axis.Surgery device Tool may also include electric power source and including conductor management system.Conductor management system may include spool conductor assembly, the volume Axle 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 mounting portion of shell, and second end conductor is fixed to rotating parts for therewith revolving Turn to rotate in scope.Conductor management system may also include leading body, and the leading body may be supported in 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 Slender axles assembly.

Another surgical instruments example may include shell, and the shell may include rotating parts, the rotating parts It is supported on the mounting portion of shell.Surgical instruments may also include Slender axles assembly, and the Slender axles assembly limits longitudinal instrument Axis and rotating parts are operably linked to, are advanced for therewith surrounding the rotation of longitudinal tool axis.Surgery Apparatus may also include electric power source and the dress for the conductor by extend through Slender axles assembly from electric power source transimission power Put.Surgical instruments may also include the device for limitation, and the device for being used to limit is used for rotating parts around installation At least one whole rotation enclosed and be no more than three whole circles that partial rotation amount of travel is limited to include around mounting portion is advanced Scope.

As described herein, end effector could attach to surgical instruments.As described herein in addition, surgical instruments may include to hit Drive device is sent out, the percussion drive 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 9012, percussion actuator 9014 and the motor being positioned in shell.Surgical instruments 9000 may also include with percussion The axle 9040 of bar 9020, the trigger shaft 9020 can be promoted towards distal side by motor and/or proximally bounced back.In some 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 a portion of actuator carries out the joint motions drive device of joint motions.Referring again to the exemplary implementation shown in Figure 94 Example, for example, surgical instruments 9000 may include to be configured to around the distal side of actuated articulation joints driving end effector Partial articulation actuator 9070.End effector (that is, end effector 9060) shown in Figure 94 is not by chance can The end effector of joint motions；However, being capable 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 drivetrain of the drive system corresponding to surgical instruments System.For example, end effector 9060 may include firing member, the firing member can be assembled into surgery in end effector 9060 Trigger shaft 9020 during apparatus with surgical instruments 9000 is operatively engaged.Similarly, end effector may include joint motions Driver, the joint motions driver can when end effector is assembled into surgical instruments and surgical instruments joint motions bar 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 axle 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 Figure 94, shank 9010 may include firing trigger 9014, and the firing trigger 9014 is by surgery It is configured to operate the motor in shank 9010 during user's actuating of apparatus 9000.In all cases, shank 9010 may include to be configured to the controller that detects the actuating of firing trigger 9014.In some cases, percussion is touched The actuating of hair device 9014 can close the circuit that signal communication is carried out with controller.In such cases, controller is configurable to Motor can then be operated to promote trigger shaft 9020 towards distal side and make the jaw 9062 of end effector 9060 towards jaw 9064 motions.In some cases, shank 9010 may include at least one sensor, and the sensor, which can detect, is applied to percussion The angle of power and/or firing trigger 9014 motion of trigger 9014.One or more sensors can carry out letter with controller Signal communication, wherein controller are configured to adjust motor based on one or more input signals from sensor Speed.Shank 9010 may include safety switch 9015, and the safety switch 9015 can need to will be responsive to come from controller to hit The input for sending out trigger 9014 is depressed before to operate motor.In all cases, safety switch 9015 can enter with controller Row signal communication, wherein controller can electronic locking motor use, until safety switch 9015 is depressed.Shank 9010 may be used also Including the actuator 9074 that bounces back, the retraction actuator 9074 can cause motor to operate in opposite direction in actuating, with retraction Percussion connects 9020 and allows jaw 9062 to be moved away from jaw 9064.In all cases, the actuating of retraction actuator 9074 The circuit that signal communication is carried out with controller can be closed.In some cases, safety switch 9015 can need ring in controller Inputs of the Ying Yu from retraction actuator 9074 is depressed along before its anti-phase reverse operation motor.

Before the use of surgical instruments 9000 and/or period, surgical instruments 9000 and/or surgical instruments 9000 it is some System can fail, be 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 is improved to the above situation.Referring again to Figure 94, surgical instruments 9000 Controller is configured to detect the mistake of 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 end effector indicator 9086, the end performs Device indicator 9086 is configured to for example indicate the end effector also unassembled axle 9040 to surgical instruments 9010.Each In the case of kind, surgical instruments 9000 may include sensor, and the sensor is configured to when detect end effector Have been assembled to axle 9040 and/or can accordingly detect when also unassembled end effector is is arrived axle 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 axle 9040.If controller is found out, end effector is also unassembled to arrive axle 9040, and controller may be actuated end and perform 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.Except or replace it is described above, outside Section's apparatus 9000 may include the sensor that signal communication is carried out with controller, and the controller is configured to detection attachment When end effector to axle 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 nail percussion structure 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 some related to end effector Mistake and such mistake should or must solve before surgical instruments 9000 is operated.Reader will be appreciated that from Figure 94, End effector indicator 9086 is adjacent with the distal end of axle 9040, and can be located in axle 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 relevant 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 axle 9040 and/or end performs to user Device can need to be replaced.

Except or instead of end effector indicator 9086, surgical instruments may include one or more indicators.It is for example, outer Section's apparatus 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 mistake for example related to the percussion drive device of 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 Send out near trigger 9014.In this case, the user of surgical instruments 9000 is observing firing trigger indicator During 9081 actuating, it can be inferred that the mistake related to percussion drive device has occurred 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 horizontal less than required, such as battery can not can in a desired manner operate horse Reach and firing trigger indicator 9081 may indicate that need 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 can not operate.For example, work as end effector indicator 9086 and/or firing trigger When indicator 9081 is for example lit, controller is configured to make firing trigger 9014 operationally take off with motor From so that the actuating of firing trigger 9014 does not operate motor.Firing trigger 9014 takes off with the such operational of motor Surgical instruments should be checked from also wrong and user can have been undergone to user's instruction surgical instruments of surgical instruments 9000 9000 indicator is to find out the wrong property.

Referring again to Figure 94 exemplary embodiment, surgical instruments 9000 may include to be positioned 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 to the related mistake of retraction drive device, then controller can light retraction and activate 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, the actuator indicator 9085 that bounces back can be used as pressure peace The prompting device of full switch 9015.In some cases, surgical instruments 9000 may include to be positioned at the peace near safety switch 9015 Full switch indicator 9082.In some cases, when user activates retraction actuator before safety switch 9015 is activated 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 can not be between percussion pattern and collapsed mode Switching, then controller can light safety switch indicator 9082.Surgical instruments 9000 may include to be positioned at articulation actuator Articulation actuator indicator 9084 near 9070.Similarly as described above, articulation actuator indicator 9084 can Signal communication is carried out with controller, wherein when the controller detects that such as mistake related to joint motions drive device, then Controller can light articulation actuator indicator 9084.Surgical instruments 9000 may include to be positioned at the axle near axis connection portion Indicator 9083, the axis connection portion are configured to axle 9040 being attached to shank 9010.Similarly as described above, axle refers to Show that device 9083 can carry out signal communication with controller, wherein when the controller detects that such as mistake related to axle 9040, then Controller can light axle indicator 9083.

Turning now to Figure 95, surgical instruments 9100 may include the shank 9110 with the array of indicator 9190, the instruction The array of device 9190 is configured to and operable to may be present and surgical instruments to the user of surgical instruments 9100 instruction 9100 and/or the one or more mistakes related to the end effector that it is attached.The array of indicator 9190 can be with any suitable Mode be arranged.In all cases, the array of indicator 9190 can be arranged to such as surgical instruments 9100 and/or and its The shape or approximate shapes of the end effector of attachment.In the case of at least one, the outer surface of shank 9110 for example may include Surgical instruments 9100 and/or be attached to surgical instruments end effector diagram.The array of indicator 9190 can be relative to surgery The profile of apparatus and end effector is arranged as follows, the mode be configured to pass on positive experience mistake, Mistake is undergone, and/or can need to assess with the surgical instruments 9100 of solving error and/or a part for end effector.Example Such as, the profile can be divided in order to show end effector 9060, axle 9040, shank 9010, firing trigger 9014, safety switch 9015th, reverse 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 axle indicator 9193 can be positioned near the diagram of axle 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 reverse actuator indicator 9196 can be positioned on reverse 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 it may include light emitting diode in indicator 9191,9192,9193,9194,9195, and/or 9196. Under certain situation, each light emitting diode may include red light emitting diodes, and the red light emitting diodes can be by controller point The bright presence with instruction mistake.In all cases, controller is configured to lighting for pulsed light emission diode, and this can Reduce short user and recognize 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 Optionally transmitting is red and green.If it is not detected by and surgical instruments 9100 and/or the end effector being attached with it The related mistake of relevant portion, then controller be configured to light light emitting diode using green, or alternatively, such as Fruit detects and surgical instruments 9100 and/or the mistake related with the relevant portion for the end effector that it is attached, 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 lights the finger related to actuator When showing device, one or more of actuator of 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 optionally " 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.In the case of at least one is such, firing trigger 9014 can quilt Prevent closure firing trigger switch.In some cases, the controller of surgical instruments 9000 is except actuating firing trigger lock Outside be also configured to that its electronic locking firing trigger 9014 can be made, i.e. 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 drive device has operationally been disabled 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, can be provided to the user of surgical instruments 9000 The touch feedback and/or visual feedback to make a mistake.In some cases, touch feedback can prompt the use of surgical instruments 9000 Person with start search for visual feedback.For example, user can attempt to activate firing trigger 9014, and touched percussion can not be activated When sending out device 9014, user can then look to the indicator lighted of the apparatus.Under any circumstance, once mistake is solved Certainly, controller can unlock firing trigger 9014 by disabling firing trigger lock.

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

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

Turning now to Figure 96-97, shank 9010 for example may include trigger lock 9290.Trigger lock 9290 may include shell 9291st, stop pin 9292, retainer 9293 and biasing member 9294 can be disposed, the biasing member 9294 is configured to Stop pin 9294 is set to be moved between the non-deployed position shown in Figure 96 and Figure 98 and the deployed position shown in Figure 97 and Figure 99. In the case of various, retainer 9293 can be made up of the temperature-sensitive material being influenced by heat.In the case of at least one is 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 change between solid and liquid or at least partly When ground changes, the releasable lock rationed marketing 9294 of retainer 9293, to lock the firing trigger of shank 9010 and/or any other conjunction Suitable trigger.In all cases, stop pin 9294 can slide backward and/or otherwise engage percussion when being disposed Trigger.Shank can be such as including any appropriate number of trigger lock 9290, optionally 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, to cause the apparatus to be no longer used.The device The permanent locking of the firing trigger of tool and/or any other trigger can refer to the apparatus can not be made again anyway With and in other cases, permanent locking is not easy to reset and the apparatus 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 apparatus whether should be overhauled and be reused or Whether the apparatus 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 apparatus 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, to cause the release of stop pin 9294 to may indicate that surgical instruments exposed to exceeding Specific or threshold temperature temperature.In all cases, if surgical instruments is exposed to too high temperature, it can be damaged.Example Such as, surgical instruments includes such as solid electronic device, and the solid electronic device can damage when exposed to such excessive temperature. In such cases, the transition temperature of the threshold temperature of apparatus and retainer 9293 can be equal or at least substantially equal, wherein Thus, it is assumed that apparatus is also not exposed to the temperature more than threshold temperature when trigger lock 9290 does not activate also, and correspondingly Ground, when trigger lock 9290 has activated, apparatus 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 being sterilized to surgical instruments, surgical instruments, which can be exposed to, exceedes threshold value The temperature of temperature and/or transition temperature.Many sterilization process are known, wherein some sterilization process are including sudden and violent by surgical instruments It is exposed to the step of heat.Except or replace trigger lock 3290, surgical instruments 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, so as to be configured to evaluate whether surgical instruments has been exposed to more than threshold temperature Temperature.In the case of at least one is such, controller may include the microprocessor that can assess the signal received from temperature sensor Device and algorithm.If the controller determine that having reached and/or having exceeded threshold temperature, then controller can permanently prevent the apparatus Operated.In other words, controller can apply electronic locking to surgical instruments.It is similarly as described above, the permanent lock of apparatus Surely can refer to the apparatus can not be used again anyway, and in other cases, permanent locking can be to be not easy In reset and the apparatus can be needed to be sent to for example titular technical staff or mechanism, the technical staff or mechanism Can be evaluated whether the apparatus should be overhauled and be reused or whether the apparatus 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 of surgical instruments and/or sensor.If surgical instruments Dry embodiment is included in removable battery or power source to being removed before surgery apparatus sterilizing, wherein in such cases, can Individually removable battery is sterilized and/or reprocessed.Reader will be appreciated that, once removable power source is from these elder generations Preceding apparatus removes, and controller and/or sensor can not have enough power to monitor the temperature of surgical instruments.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 Apparatus removes.Such battery can be described as permanent battery, be passed because it can be controller and/or temperature when apparatus is sterilized Sensor provides power.In all cases, including permanent battery apparatus may also include it is removable and/or rechargeable Battery.Under any circumstance, apparatus can have enough power to detect and record the temperature that the apparatus is subjected to.At least one In the case of kind, the controller of apparatus may include memory chip, and the memory chip is configured to deposit temperature reading Storage is in such as temperature register.In all cases, controller can intermittently be recorded (that is, with appropriate sampling rate) and come from The reading of sensor.In some cases, controller is configured to so that when it recorded the temperature higher than specified temp When spending reading (even below threshold temperature), controller can increase sampling rate.Accordingly, controller is configured to make It is proper its then when recorded the temperature reading less than specified temp, controller can reduce sampling rate, such as at the beginning of returning to 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 to exist Startup program when surgical instruments has been subjected to using first after sterilization treatment for surgical instruments.Startup program can be in apparatus Start after opening.When end effector is assembled into apparatus, apparatus can be opened automatically.In the case of at least one is such, The assembling of end effector and surgical instruments can close the switch that signal communication is carried out with controller.Except or instead of institute above State, apparatus can be opened when the button for example on shank and/or switch are depressed.Under any circumstance, controller can be commented then 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 the case of at least one, controller can be for example by implementing electronic locking And/or mechanical caging is permanently disabled the apparatus, as the application is described elsewhere.In some other cases, controller Apparatus can be allowed to be used, even if controller has determined that the temperature reading of one or more storages equals or exceeds threshold temperature. The determination result can be stored in its memory and/or by display (such as light emitting diode) to use by controller Person's instruction had previously exceeded threshold temperature and had continued thereafter with its normal start-up procedure.In all cases, controller can be by threshold It is worth temperature as bare maximum, i.e. the single temperature reading equal to or higher than threshold temperature is enough to trigger alternative startup journey Sequence permanently locks the apparatus.In other cases, for example, controller is configured to assessment is equal to or higher than Whether the temperature reading pattern of threshold temperature is enough to trigger alternative startup program or permanently locks the apparatus, because the time Can it be whether apparatus has been involved in the Consideration of sterilization process with temperature.

Turning now to Figure 104-109, surgical instruments (such as surgical instruments 9000) may include shank 9410, the shank 9410 include firing trigger locking system 9490.Shank 9410 is similar to shank 9110, and these aspects in many aspects Repeat no more for simplicity herein.Similarly as described above, firing trigger locking system 9490 is configured to Enough locking and unblock firing triggers 9414.Otherwise similar to described above, firing trigger locking system 9490 can be in end Lock-out state (as shown in Figure 104-107) is biased into during the unassembled axle 9040 to surgical instruments of actuator, and is held in end Row device moves to released state when being fully assembled to axle 9040 (as shown in Figure 108 and 109).Further described above, Referring primarily to Figure 108 and Figure 109, when end effector is assembled into axle 9040, end effector can proximally push sensing structure Part 9499.The distal end that sensing member 9499 may pass through axle 9040 from axle 9040 extends to its proximal end.In use, when When end effector is assembled into axle 9040, end effector can abut the distal end of sensing member 9499 and proximally push Sensing member 9499, as described above.As shown in Figure 108 and Figure 109, when proximally pushing sensing member 9499, structure is sensed Part 9499 can contact the swing arm 9486 of firing trigger locking system 9490 and rotate up swing arm 9486.Swing arm 9486 may include end that shank shell is pivotally mounted to via pin 9487, and the pin 9487 is 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 stop pin 9485 for being installed to swing arm 9486, the stop 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.Stop pin 9485 may include pivotally to pacify It is attached to the upper end of swing arm 9486 and is extended through when stop pin 9485 is in its down position and is 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 stop pin 9485 is positioned in hole 9483, firing trigger 9414 can not pivot around its fulcrum 9484, and therefore Firing trigger 9414 can not be actuated by the user.When stop pin 9485 is in its upward position, stop 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 axle 9040, Sensing member 9499 can move to its distal position from its proximal position.In other words, if there is no being attached to axle 9040 End effector, then biasing member (such as spring 9489) can be by the biased downward of swing arm 9486, and therefore triggers percussion Device locking system 9490 is biased into its lock-out state.In addition, when end effector is unassembled arrive axle 9040 when, spring 9489 can lead to Arm 9482 is crossed biasing force is applied into 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 Communicated with the user of surgical instruments.For example, when end effector is unassembled arrive axle 9040 when, sensing member 9499 is by towards distal side Bias and firing trigger 9414 will be locked, if wherein 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 axle 9040 so as to using surgical instruments.In all cases, if end effector is (although attachment To axle 9040) have been used, then firing trigger can be locked.In the case of at least one is such, end effector may include Firing member, the firing member can be towards near if its nearest side position is positioned at when end effector is assembled into axle 9040 Side pushes sensing member；However, if this firing member promotes at least in part when end effector is assembled into axle 9040, Then sensing member can not be pushed proximally and therefore firing trigger can keep locking.Equally, such firing trigger lock Surely percussion drive device can be passed on problem to be present to user；I.e., in this case, end effector has been used.If In the absence of such tactile lock, then user will undergo situations below, wherein they can press actuator but surgical instruments not The actuator pressed is responded, so as to cause obscuring for user.

As described above, the end effector not fired previously is assembled into axle 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 axle 9040.If end effector is only partially assembled into 9040, then sensing member can not shifted sufficiently to unlock firing trigger.Equally, the locking of such firing trigger can be to making User passes on percussion drive device problem to be present；I.e., in this case, end effector is not fully assembled to axle 9040 also.

As described herein, surgical instruments can be assembled in end effector, and the surgical instruments may include to be 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 in battery insertion shank, controller can be opened It is dynamic.Except or replace it is described above, when controller is activated, controller be configured to evaluate surgical instruments shape State.For example, controller is configured to evaluate the position of enclosed member of closed-system, the firing member of trigger system The position of the articulation member of position, and/or articulation system.In some cases, surgical instruments may include definitely 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 ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE U.S. Patent Application Serial 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 The trigger of electronic switch, counter and/or the data including being stored in nonvolatile memory.In such embodiment, Controller can estimate whether previous firing schedule has been completed.Such embodiment can be beneficial in several cases.For example, control Device can unexpectedly disconnect in surgical procedures loses power in other words, and when controller is restarted, controller is not Can estimate the apparatus whether be first initialization or the apparatus 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 apparatus or interruption cause to lose or resets End of travel register can allow whether controller estimation surgical instruments has lost power during firing schedule.If controller It is determined that previously firing schedule does not complete also, then controller is configured to：First, 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 apparatus 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 non-actuating 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 apparatus and/or battery.For example, controlling When device processed starts, surgical instruments can assess the temperature whether surgical instruments has been exposed to the threshold temperature more than surgical instruments, such as It is described herein.In addition, for example, surgical instruments can assess available horsepower, voltage, and/or the electric current of battery, equally such as this paper institutes State.If apparatus can not can not provide power to motor, thing by one or more of these diagnostic tests, controller Reason ground locking apparatus and/or the such failure of user's instruction to surgical instruments.In such cases, apparatus can be by this Class failure record is in its memory so that test data can help to technical staff and assess apparatus later.Assuming that apparatus passes through These diagnostic tests, then it is similarly as described above, apparatus also can record to by the related test data of diagnostic test.Any In the case of, whether apparatus can continue thereafter with assesses apparatus in starting or non-actuating state and the mark for evaluating end effector Know.As described herein, the program for identifying end effector 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 a portion of parameter and/or operation sequence can be supplied to surgery by the end effector Apparatus 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 apparatus is used together.It is summarized according to exemplary operation program above in Figure 178.

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 evaluate whether battery can be supplied to surgical instruments to perform 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 perform one or more functions.Figure 179 shows the circuit for the voltage that can indicate battery.Such circuit can be deposited In surgical instruments and/or battery.Under either case in both cases, circuit, which may include may indicate that, to be provided by battery Electricity, multiple indicators of voltage, and/or power.For example, circuit may include three indicators, three indicator bags Include：Be configured to indicate battery include at least the first indicator of first voltage, be configured to indicate battery include At least the second indicator of second voltage and it is configured to indicate the 3rd indicator that battery includes at least tertiary voltage. As shown in Figure 179, circuit 12100 may include to be arranged to the first indicator circuit 12110 being connected in parallel to each other, the second indicator electricity The indicator circuit 12130 of road 12120 and the 3rd.When switching 12101 closure, the potential from battery can be applied to indicator Circuit 12110,12120 and 12130 both ends.First indicator circuit 12110 may include Zener diode 12111, light-emitting diodes Pipe 12112 and resistor R1 12113.Similarly, the second indicator circuit 12120 may include Zener diode 12121, light Diode 12122 and resistor R212123, and the 3rd indicator circuit 12130 may include Zener diode 12131, light Diode 12132 and resistor R3 12133.Zener diode 12111,12121 and 12131 can each have different hit Wear voltage.For example, the first Zener diode 12111 can have such as 11.5V breakdown voltage, the second Zener diode 12121 There can be such as 10V breakdown voltage, and the 3rd Zener diode 12131 there can be such as 8V breakdown voltage.Such In embodiment, if the voltage of battery is more than or equal to 11.5V, LED 12112,12122 and 12132 will be lit.All Lighting for LED can indicate that battery performs with Full Charge Capacity and/or with least enough electricity to the user of surgical instruments Any function needed for surgical instruments.If the voltage of battery is more than or equal to 10V, but is less than 11.5V, then the Hes of LED 12112 12122 will be lit；However, LED 12132 will not be lit.Lighting for LED 12112 and 12122 and LED 12132 are not Lighting can indicate that battery has less than Full Charge Capacity but at least enough electricity to perform surgical instruments to the user of surgical instruments Required any function.If the voltage of battery is more than or equal to 8V, but is less than 10V, then LED 12112 will be lit；However, LED 12122 and 12132 will not be lit.Lighting for LED12112 and not lighting for LED 12122 and 12132 can be to surgery device The user of tool indicate battery just close to its electricity terminal and can have or can not have enough electricity to perform surgery Some functions needed for apparatus.LED this display may indicate that battery can need to be replaced.If the voltage of battery is less than Any of 8V, LED 12112,12122 and 12132 will not be lit.LED this display may indicate that battery can not For securely performing any function of surgical instruments.Although circuit 12100 using three indicator circuits 12110,12120, With 12130, but circuit may include more than three indicator circuit, and the more than three indicator circuit includes having different breakdown The Zener diode of voltage.Such embodiment can for example provide the relatively fine grade instruction of the voltage of battery.It is contemplated that use The other embodiment of only two indicator circuits.

In all cases, battery may include circuit, and the circuit is configured to indicate that battery is electrically charged and/or had There are enough electricity so that it can be used together with surgical instruments.In some cases, surgical instruments may include circuit, the electricity The battery that road is configured to indicate to be attached to surgical instruments is electrically charged and/or with enough electricity so that it can be with surgery Apparatus 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 the circuit receiving power of resistor 12204.Circuit 12200 may also include in the discharge path of capacitor 12202 LED 12205 and resistor 12206.Such circuit can cause the batch (-type)s of LED 12205 to be pulsed, and precondition is that battery can incite somebody to action Enough power provides and arrives 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 without 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 the enough power that will be used.

In all cases, it is as described herein and referring to Figure 28 4, battery and/or it is configured to together with battery The surgical instruments used may include diagnostic circuit, and the diagnostic circuit is configured to assess the available power of 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 it with surgical instruments Battery afterwards.In all cases, battery can be used more than once, and in all cases, battery can be rechargeable It is or 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 described information table 12400 is represented to be recordable in and deposited 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 the temperature of battery, and/or the temperature of battery when using.These are only to 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 is switched off battery for once dropping below minimum charge level in the electricity of 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 controller, and the controller is adapted to Enough perform apparatus and/or be 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 apparatus and/or when battery has been used.In some cases, if Apparatus and/or battery away from its last time usage time existing long time, then controller be configured to disable the apparatus and/ Or battery.In some cases, apparatus and/or battery may include one or more sensors, one or more of sensors Sensor is configured to assess the various states of apparatus and/or battery, for example, temperature, humidity, and/or apparatus and/or Time of the battery exposed to the temperature and/or humidity.Controller is configured to assess whether sensor correctly operates, And if it is not, then controller can disable the apparatus and/or battery.Controller be also configured to assess apparatus and/ Or the number that battery has used, and if used over specific quantity, then disable the apparatus and/or battery.Controller may be used also It is configured to assess the available power of battery, as described herein, and if available horsepower is insufficient, then disables the apparatus And/or battery.

As described herein, surgical instruments may include the various sensings for gathering feedback and/or other apparatus status informations Device.In addition, surgical instruments may include the organoleptic indicator for feedback and/or apparatus status information to be supplied to user. In some cases, endoscope can be used in combination with surgical instruments, and additional feedback and/or apparatus 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 And/or video-frequency monitor (HUD).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 by endoscope 5018 (Figure 93) in operative site, and can show for example by endoscope 5018 At least a portion of the surgical instruments 5020 of observation.

In various embodiments, display 5002 may include touch-screen 5004.Referring primarily to Figure 75, user can be with touch Screen 5004 is interacted to be interacted with display 5002 and surgical instruments 5020.For example, touch-screen 5004 can be with display 5002 are communicated, and the input of touch-screen 5004 can adjust and/or change the information being shown on display 5002.Such In embodiment, user can be communicated with display 5002, and without using the additional input of display, for example, keyboard and/or Computer mouse.In other words, it may be unnecessary to which additional input tool and/or part is shown in display to adjust and/or change Information on 5002.In addition, in various embodiments, touch-screen 5004 can be easy to be cleaned and/or be sterilized.For example, touch Screen 5004 may include flat surfaces, and the flat surfaces can be easy to the wiped clean in surgical kit and/or operating room.Except this it Outside or alternatively, touch-screen 5004 can directly and/or indirectly communicate with surgical instruments 5020 so that touch-screen 5004 it is defeated Enter and provide input to surgical instruments 5020.User can be such as surgeon, operator, and/or assistant.

In various embodiments, touch-screen 5004 can be for example positioned at least a portion of display 5002, and can Remove ground and be fixed to display 5002.For example, touch-screen 5004 can be compatible with multiple displays, and can releasedly be attached With at least one display of disengaging.In addition, in certain embodiments, touch-screen 5004 can be stand alone display, it can be independently of Display 5002 operates.For example, dismountable lcd screen may include touch-screen 5004, and dismountable lcd screen can fold It is added at least a portion of display 5002.In other embodiments, touch-screen 5004 can be integrated into display 5002.Touch Touch screen 5004 and such as resistive technologies, capacitance technology, supersonic beam technology, and/or near-field imaging technique can be used.

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.It is for example, each The description of kind sensor is in this article and complete disclosure is incorporated by reference in its entirety this paper Hes of Zemlock ' 263 In Zemlock ' 344, and the detectable feedback of various sensors and/or apparatus status information.In addition, the He of feedback controller 5016 Wiredly and/or wirelessly connection 5015 between display 5002 by the feedback data from surgical instruments 5020 and/or can come from The video feed of endoscope 5018 provides and arrives 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 positioned at including dismountable LCD display of touch-screen 5004 in the embodiment on display 5002, feedback controller Wiredly and/or wirelessly connection between 5016 and dismountable LCD display for example can provide feedback data dismountable LCD display and/or feedback data can be provided to feedback controller 5010 from LCD display.

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 to act 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 loading 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 Hold between a pair of jaws, suture tissue T, and/or tissue T is cut using cutting element, as described herein.In addition, can Surgical site and/or the neighbouring observable DLU 5022 of endoscope 5018 are positioned at, and can be by video feed and/or record 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, be mobile, Adjust, minimize in terms of size, extending, changing, and/or otherwise regulating and controlling the second Information Level 5012.For example, user can By interacting to the second Information Level 5012 with touch-screen 5004.As described herein, the second Information Level 5012 may include Feedback data from surgical instruments 5020 and/or the control for controlling surgical instruments 5020.In various embodiments, second Information Level 5012 may include control panel 5030, and touch-screen 5004 can be used for selecting and/or using control panel 5030 Feature structure.Control panel 5030 can be folded by touch-screen 5004, adjust size, movement, and/or otherwise adjusted Control.For example, user can be minimized or folding control panel 5030 by selecting minimized/maximized icon 5032, and It can maximize by reselection minimized/maximized icon 5032 or deploy control panel 5030.In addition, user can be such as By in whole display 5002 " drag and drop " control panel 5030 come the mobile control panel 5030 on display 5002.Separately Outside, user can adjust the phase of control panel 5030 by multiple contact points on " amplification " and/or " diminution " touch-screen 5004 For the size of display 5002.One of ordinary skill in the art will be appreciated that, the various of such as touch-screen 5004 can be used Conventional and/or visual contact is changed and/or regulates and controls its second Information Level 5012 and/or control panel 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 apparatus controller menu 5070.User can be used Control panel 5030 come select menu and/or switch touch-screen 5004 mode of operation.For example, when user selects control panel During 5030 apparatus controller menu 5070, instruction and/or control can be sent to (the figure of apparatus controller 5016 by touch-screen 5004 And/or microcontroller 93).In such embodiment, as described herein, touch-screen 5004 can operate under apparatus state of a control. In addition, when selecting to show menu 5060 from control panel 5030, user can change and the second Information Level 5012 and/or display The related setting of device 5002.In such embodiment, touch-screen 5004 can work in the case where setting modification state.In addition or separately Selection of land, when instrument back menu 5036 is chosen, user can change the feedback data included in the second Information Level 5012. In such embodiment, touch-screen 5004 can operate under feedback regulation state.In various embodiments, control panel 5030 can Including extra and/or less menu, classification, and/or classification.In addition, for example control can be changed according to the preference of user Various menus, classification, and/or the classification of panel 5030 processed.Menu, classification, and/or classification can be shown by word and/or symbol In the second Information Level 5012.In various embodiments, the classification under each menu 5036,5060,5070 optionally shows In the second Information Level 5012.For example, the classification under each menu 5036,5060,5070 can be only in corresponding overlying menu 5036th, just optionally it is shown in the second Information Level 5012 when 5060,5070 are selected by the user.In other embodiments, make User for example manually can minimize and/or maximize corresponding 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 The feedback data for being measured by surgical instruments 5020 (Figure 93) and/or being detected.As described herein, surgical instruments 5020 it is detectable and/ Or for example movable jaw of measurement open the position between orientation and closed orientation, the thickness of clamped tissue, clamped group Chucking power, DLU 5022 joint motions, and/or the position, speed, and/or the power that fire element knitted.In addition, and surgery The feedback controller 5016 (Figure 93) that apparatus 5020 carries out signal communication can provide the feedback of sensing display 5002, described Display 5002 can include feedback in the second Information Level 5012.As described herein, such as user can be based on to touch-screen Selection, setting, and/or the form of the feedback data being shown in the second Information Level 5012 are changed in 5004 input.

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 with 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, the graphical presentation type (Figure 82-83) of type (Figure 79-81) and/or feedback data is represented with the numeral in feedback data Between switch.The numeral of feedback data represents that such as numerical value and/or percentage can be shown as.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 apparatus controller menus 5070, to input the instruction for surgical instruments 5020 (Figure 93), the instruction can be via Such as apparatus controller 5016 (Figure 93) and/or microcontroller perform.

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.In addition, touch-screen 5004 can allow user relative to regarding in first information layer 5010 below on display 5002 Frequency is fed back to regulate and control the second Information Level 5012.For example, the operable touch-screen 5004 of user, to select, regulate and control, form again Change, adjust, and/or otherwise change the information being shown in the second Information Level 5012 in terms of size.In some implementations In example, touch-screen 5004 can be used in user, with relative to the surgery in the first information layer 5010 being shown on display 5002 Apparatus 5020 regulates and controls the second Information Level 5012.The menu of user's alternative such as its control panel 5030, classification and/or class Not, and the second Information Level 5012 and/or control panel 5030 are adjustable to the selection of reflection user.In various embodiments In, user can be from the feature structure corresponding to specific features structure or the surgical instruments being shown in first information layer 5,010 5020 Instrument back classification 5036 select classification.Can be relative to the spy of surgical instruments 5020 corresponding to the feedback of classification selected by user Determine feature structure mobile, a certain position on self poisoning, and/or " buckle " to display 5002.For example, selected feedback can It is moved adjacent to and/or covers the position of the special characteristic structure for the surgical instruments 5020 being shown in first information layer 5010.

Referring to Figure 79 and Figure 80, if user for example selects knife progress classification 5040 from instrument back menu 5036, The sensing data related to knife progress and/or information can be for example relative to the knives for the DLU 5022 being shown in first information layer 5010 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.The feedback data 5052 related to knife progress can Near the detection knife for the DLU 5022 being shown on display 5002 shown in first information layer 5010, and for example when knife translation and/ Or when moving across DLU 5022, it can be gone in knife close to the first position of the section start of firing schedule (Figure 79) and knife close to percussion Moved between the second place (Figure 80) of the distal end of journey.For example, as knife translation distance Xmm, it is related to knife progress Data 5052 can be positioned in first position (Figure 79), and as knife translation distance Ymm, the data related to knife progress 5052 can be positioned in the second place (Figure 80).In such embodiment, operator can pass through the feedback on view screen 5002 Data 5052 track the knife progress during firing schedule.For example, when DLU 5022 knife is for example by end effector jaw 5024 and/or tissue T stop and when can not observe, changing value and/or feedback data that operator can be based on feedback data 5052 5052 relative to the shift position of the DLU 5022 shown in following first information layer 5010 come track and/or approximate DLU 5020 in Knife position.In addition, display 5002 can combine the numeral expression of knife progress and the diagram of knife progress represents and/or symbol Represent.For example, symbol 5054 (such as arrow) can for example move relative to the DLU 5022 shown in following first information layer 5010 And/or extension, to show the knife progress through DLU 5022.Referring also to Figure 79 and Figure 80, when knife is for example from close to firing schedule The position of the section start of (Figure 79) towards the position of the distal end of remote laterally closer firing schedule (Figure 80) promote when, symbol 5054 For example it can 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, feedback data numeral represent and/ Or the appropriate position that symbol expression can be moved on display 5002 relative to the DLU 5022 shown in following first information layer 5010 Put.For example, if user selects jaw position classification 5038 from instrument back menu 5036, opened with movable jaw The feedback data of position correlation between position and clip position for example can be displayed in the second Information Level 5012, and may move Position near the movable jaw 5024 of surgical instruments 5020 on to display 5002.If in addition, selection knife speed class Mesh 5042, then the feedback data 5058 (Figure 82) with knife velocity correlation can be displayed in the second Information Level 5012, and may 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, the feedback coefficient related to the tissue thickness detected According to can be displayed in the second Information Level 5012, and the position near the measurement tissue T being movable 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 Chi.User for example can move scale relative to tissue T below first information layer 5010 Suo Shi via touch-screen 5004, this User can be advantageous to and understand that tissue thickness changes.For example, if user selects end effector classification 5046, Then the feedback data 5252 (Figure 84-88) related to DLU 5022 joint motions can be displayed in the second Information Level 5012, and And it is movable to the position of the actuated articulation joints 5026 (Figure 84 and 85) of the DLU 5022 on display 5002 nearby.For example, If user selects percussion force classification 5048, can be shown to being applied to the related feedback data of structural percussion force by knife In the second Information Level 5012, and it can be positioned near the knife of the DLU 5022 on display 5002.In addition, for example, hitting Issue journey during, the feedback data related to the percussion force applied by knife can with knife relative to DLU 5022 move and second Moved in Information Level 5012.If in addition, selection chucking power classification 5050, the feedback coefficient related to the chucking power in tissue T It can be shown in the second Information Level 5012 according to 5158 (Figure 83), and DLU 5022 that can be below shown in first information layer 5010 is attached It is near mobile.In such embodiment, for example, during the feedback data 5158 related to chucking power can show clamping and/or whole The clamp pressure of length and/or width in firing schedule along DLU 5022 changes.

In various embodiments, the feedback shown in the second Information Level 5012 can be with the surgery device in first information layer 5010 The character pair structure of tool 5020 and move.For example, when DLU 5022 is manipulated around operative site, DLU 5022 can enclose Moved around display 5002.In such embodiment, the feedback related to DLU 5022 (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 the surgical instruments 5020 shown in operator from 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 be automatically arranged on display 5002, and related data is included according to nonoverlapping arrangement In second Information Level 5012.In other words, for example, the feedback being shown in the second Information Level 5012 can not be with being shown in the second letter Other feedbacks ceased in layer 5012 are overlapping；However, such feedback can be with the first information layer 5010 that is shown on display 5002 Video feed it is overlapping.In various embodiments, when feedback data relative to following first information layer 5010 shown in surgery Apparatus 5020 move and/or " buckle " to screen on a certain position when, user can be by by feedback data " drag and drop " to Other positions in two Information Levels 5012 replace default location.

Referring now to Figure 81, the symbol of knife progress represent 5056 (for example, the cross of knife and/or knife-edge edge, target center, and/or Figure represents) it is movable to the position in the second Information Level 5012 overlapping with the cutter position shown in first information layer 5010. In some embodiments, in addition when knife when invisible on display 5002 (if for example, knife is blocked in advance), the symbol of knife Represent 5056 test positions that may move and/or follow the knife in the DLU 5022 on screen 5002.For example, gone in percussion Near the section start of journey, symbol represent 5056 can relative to DLU 5022 be in first position, and in firing schedule end Near, symbol represents that 5056 are moved to the second place relative to DLU 5022.

In various embodiments, the feedback that user is selected via touch-screen 5004 can " buckle " on display 5002 Turning, edge, and/or other precalculated positions.It is for example, removable referring also to Figure 81, the numerical data 5052 related to knife progress To the turning of display 5002.In addition or alternatively, user can interact with touch-screen 5004, by numerical data 5052 diverse locations being moved on touch-screen 5004.Position based on surgical instruments 5020 below in first information layer 5010 Put, a certain position that numerical data 5052 can be moved in the second Information Level 5012 by user so that DLU 5022 correspondence And/or special characteristic structure is not stopped and/or hindered by numerical data 5052.In addition or alternatively, user can be by number The position that digital data 5052 is moved near DLU 5022 character pair structure so that user can be easy to observe simultaneously correspondingly The feature structures of DLU 5022 and numerical data 5052.

Referring to Figure 84 and Figure 85, the symbol of the feedback data from feedback controller 5016 (Figure 93) represents 5254 (Figure 85) It can be included in the second Information Level 5012.For example, DLU 5022 joint motions symbol represent 5254 (for example, subtended angle and/or To arc) can be shown in the second Information Level 5012, and be movable on display 5002 with it is outer shown in first information layer 5010 The close and/or overlapping position of the actuated articulation joints 5026 of section's apparatus 5020.For example, can be by non-joint motions to arc Extend between the axis A of DLU 5022 (Figure 84) restrictions 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 when invisible on screen, the symbol of articulation angle represents 5254 are found in the second Information Level 5012.If for example, the no-fix of actuated articulation joints 5026 in the visual field of endoscope and/ Or be obstructed or stop, then the symbol of articulation angle represents the 5254 visible instructions that joint motions can be provided to user. In various embodiments, symbol represents that 5252 can adjust and/or change with DLU 5022 motion and/or joint motions. For example, symbol expression 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 apparatus 5020) for saving movement position (Figure 84) towards DLU 5022 extends.This Outside, in various embodiments, symbol represents that 5254 can arrive a certain position relative to the DLU 5022 " buckle " shown in first information layer Put so that symbol expression 5254 is overlapping with DLU 5022 and/or is aligned.For example, referring primarily to Figure 85, the symbol of articulation angle Number represent 5254 be movable to it is at the actuated articulation joints 5026 shown in the first information floor 5010 on display 5002 and/or attached Closely, and can by the axis A that the DLU 5022 in initial and/or non-articulated position is limited with carrying out as DLU 5022 Extend between the axis A ' limited during joint motions by DLU 5022.

In addition, in various embodiments, the numerical data 5252 related to DLU 5022 joint motions can be displayed in aobvious Show in the second Information Level 5012 on device 5002.In addition, data 5252 can change with DLU 5022 joint motions.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 DLU 5022 pass The related feedback data 5252 of section motion for example can connect in the joint motions of the surgical instruments 5020 shown in first information layer 5010 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 adjusted to move, in terms of size using touch-screen 5004, minimizes, and/or otherwise adjust Control is shown in the joint motions data 5252 in the second Information Level 5012.In addition or alternatively, user can be with touch-screen 5004 interact, the diverse location that symbol expression 5254 and/or numerical data 5252 are moved on touch-screen 5004.Base Numerical data 5252 can be moved to the second letter by the position of surgical instruments 5020 below in first information layer 5010, user Cease a certain position in layer 5012 so that DLU 5022 special characteristic structure is not stopped and/or hindered by numerical data 5252. In addition or alternatively, the position that numerical data 5252 can be moved near DLU 5022 character pair structure by user Put so that user can be easy to observe the corresponding feature structures of DLU 5022 and numerical data 5252 simultaneously.

Referring now to Figure 82, figure for example can be selected from the display menu 5060 of control panel 5030 by touch-screen 5004 Represent.In such embodiment, feed back 5058 figure represent can be displayed in the second Information Level 5012 on display 5002. User may be selected figure represent observe from surgical instruments 5020 and/or its controller relative to time and/or space Measurement data and/or sensing data.For example, user can it is expected to observe the speed of the percussion element in whole firing schedule, And therefore knife speed classification 5042 (Figure 78) can be selected from instrument back menu 5036 (Figure 78).In such embodiment, knife The figure of speed represents that 5058 can persistently obtain data point and grow for example during firing schedule.In various embodiments, When firing schedule is completed, figure represented for 5058 " soft " the startup cycles 5057 and/or " soft " stop cycle 5059 that can show knife. In addition, figure represents that 5058 can be positioned on display 5002 so that along the certain bits of the length of end effector jaw 5024 Put ad-hoc location of the speed corresponding to the length along the end effector jaw 5022 shown in first information layer 5010 of the knife at place. For example, figure represent 5058 can begin at the section starts in the cutter track footpath through DLU 5022 shown in first information layer 5010 with/ Near or, and may terminate at the cutter track footpath through DLU 5022 for example shown in first information layer 5010 end and/or Near.In addition, as described herein, figure represents 5058 appropriate locations that can be on " buckle " to screen, and user can basis Need to represent 5058 using touch-screen 5004 to move and/or adjust figure in terms of size.In certain embodiments, percussion speed The numeral of degree represents to be shown in the second Information Level 5012 together with figure expression 5058.

Referring now to Figure 83, in various embodiments, user can it is expected length of the observation along end effector jaw 5024 The chucking power being applied in tissue T of degree and/width, and therefore, can select to clamp from instrument back menu 5036 (Figure 78) Power classification 5050 (Figure 78).In such embodiment, the figure of chucking power represents that 5158 can be shown in the second Information Level 5012. In some embodiments, figure represents that 5158 can be arranged in the second Information Level relative to the clamping tissue shown in first information layer 5010 In 5012.For example, figure represent 5158 can begin at the proximal end of the jaw 5024 shown in first information layer 5010 and/or Near, and can for example terminate at the distal end of the jaw 5024 shown in first information layer 5010 and/or near.In addition, As described herein, figure represents 5158 appropriate locations that can be on " buckle " to screen, and user can for example utilize touch-screen 5004 represent 5158 to move and/or figure is adjusted in terms of size.In certain embodiments, figure expression can be during use It is varied from changing to react the clamp pressure during such as firing schedule.

Referring to Figure 86-88, in various embodiments, user can interact with touch-screen 5004, with via apparatus control Device 5016 and/or microcontroller processed will control and/or instruction input is to surgical instruments 5020.For example, user can input with Lower control, it is described control be related to makes DLU 5022 carry out joint motions, end effector jaw 5024 clamped, promoted and/or Bounce back cutting element, and/or from DLU 5022 project follow closely.In various embodiments, user can be via touch-screen 5004 from control Panel 5030 processed selects apparatus controller class mesh 5070 to start apparatus state of a control so that user can be via touch-screen 5004 Control surgical instruments 5020.When touch-screen 5004 is actuated to be used for apparatus control, user can be carried out with touch-screen 5004 Interact to control surgical instruments 5020.For example, user can be carried out with the control button in the second Information Level 5012 and/or icon Interact and/or can be interacted with corresponding to the position of following surgical instruments 5020 on touch-screen 5004, will for example refer to Order is input to surgical instruments 5020.

For example, with reference to Figure 86, user can interact with touch-screen 5004, to indicate that such as DLU's 5022 is desired Joint motions direction and degree.In certain embodiments, user can be on touch-screen 5004 at DLU 5022 and/neighbouring court The expectation articulated position dragging contact point of end effector 5002.Referring to Figure 86, user can be traced from first information layer At DLU 5022 shown in 5010 and/or nearby to DLU 5022 line or arc 5352 of it is expected articulated position.For example, arc 5352 can from and/or it is approximate from the axis A limited by DLU 5022 extensions, and arc 5352 may extend into by DLU 5022 phase The axis A ' for hoping articulated position limit.In addition, arc 5352 for example can extend along the direction indicated by arrow 5354.Some In embodiment, when user inputs desired joint motions via touch-screen 5004, arc 5352 can be not present in the second information In layer 5010.In various embodiments, desired articulation angle can be sent to apparatus controller 5016 by touch-screen 5004 (Figure 93) and/or microcontroller, this can realize DLU 5022 to the joint motions for it is expected articulation angle.Referring now to figure 88, apparatus controller 5016 (Figure 93) and/or microcontroller can for example based on user via the input of touch-screen 5004 come real Existing DLU 5022 arrives 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 DLU 5022 joint motions.Various In embodiment, icon 5356 may include such as DLU 5022 schematic diagram.In addition, icon 5356 can be dragged to joint by user Motion is orientated and/or is rotationally oriented, to realize DLU 5022 joint motions.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 It is orientated to the joint motions for extending to icon 5356 '.The icon 5356 ' of joint motions may correspond to such as DLU 5022 expectation Joint motions.Referring now to Figure 88, apparatus controller 5016 and/or microcontroller can be for example based on users via touch-screen 5004 input come realize DLU 5022 arrive axis A ' joint motions.For example, the articulatings of DLU 5022 are to by arc 5358 The subtended angle of restriction, the arc 5358 is between non-the 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 touch-screen 5004, will be with Jaw 5024 closes related instruction input to surgical instruments 5020.In certain embodiments, user can be in touch-screen 5004 On at movable jaw 5024 and/or nearby towards the closed orientation dragging contact point of movable jaw 5024, to start jaw 5024 closure.For example, user can trace at the movable jaw 5024 shown in first information layer 5010 and/or nearby to The line or arc 5362 (Figure 89) of the expectation closed orientation of movable jaw 5024.In various embodiments, touch-screen 5004 can incite somebody to action Closed action is sent to apparatus controller 5016 and/or microcontroller, and this can realize the closure of movable jaw 5024.Some In embodiment, by user trace arc 5362 on touch-screen 5004 can from or it is approximate from being limited by movable jaw 5024 Axis A extends, and arc 5362 may extend into the axis A ' (Figure 90) that orientation definition is clamped by the expectation of movable jaw 5024. In addition, arc 5362 for example can extend along the direction indicated by arrow 5364.Referring now to Figure 90, apparatus controller 5016 and/or Microcontroller can realize movable the closing to axis A ' of jaw 5024 for example based on user via the input of touch-screen 5004 Close.

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 to control 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 apparatus controller 5016 and/or microcontroller.For inputting instructions into apparatus 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 close and/or clamp, fire and/or Bounce back cutting element, and/or from DLU 5022 project follow closely.User can interact with touch-screen 5004, with from control interface 5072 select buttons.Referring primarily to Figure 91, control interface 5072 may include for example to stop/bouncing back button 5474, pause button 5475th, 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 fires element to stop firing schedule and retraction.In addition, user can interact with control interface 5072, To adjust the speed of the percussion element in whole 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 Issue " soft " startup stage of journey afterwards and/or period increase fires the speed of element, and/or for example can 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 joint motions of the closure of jaw 5024 and/or DLU 5022. In various embodiments, when selecting apparatus 5070 menu of controller from control panel 5030 and/or when user is with its other party When formula selects apparatus state of a control, control interface 5072 can " buckle " to a certain position in the second Information Level 5012.User For example control interface 5072 can be moved, adjusts and/or regulate and control relative to first information layer 5010 and/or display 5002.

In various embodiments, it may include such as progress bar 5480, the progress bar referring to Figure 92, the second Information Level 5012 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 of the percussion element during firing schedule can be limited and farthest side position.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, to be entered based on edge Spend bar 5480 percussion element indicating positions come start and/or terminate " soft " startup stage of firing schedule 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 5484th, 5486 can be set to for example on progress bar 5480 it is " soft " startup and/or " soft " stop stage can start and/or terminate Position.Beacon 5484,5486 can provide visual cues during firing schedule to user, with for example using accelerating button 5077 start and/or terminate " soft " the startup cycle, and/or are started using retard button 5078 and/or terminate " soft " stop Stage.In various embodiments, the position of beacon 5484,5486 can be preset by user.

Referring also to Figure 92, in various embodiments, apparatus 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 the pre-position along progress bar 5480.In certain embodiments, user can interact with touch-screen 5004, to move Beacon 5484,5486 is moved and/or adjusted along the position of the length of progress bar 5480.For example, user can be by dragging and release is led Beacon 5484,5486 is arranged between multiple positions on progress bar 5480 by mark 5484,5486, to extend and/or shorten " soft " startup of firing schedule and/or " soft " stop stage.In certain embodiments, user can be handed over touch-screen 5004 Mutually, with the position of distal end 5488 that is mobile and/or adjusting progress bar 5480, so as to extend and/or shorten firing schedule.Example Such as, user for example can proximally drag distal end 5488 to shorten firing schedule and/or can drag distal side towards distal side End 5488 is to extend firing schedule.In various embodiments, apparatus controller 5016 and/or microcontroller can be for example based on leading Location revision along progress bar 5480 of mark 5484,5486 and/or distal end 5488 adjusts the speed of percussion element and/or hit Send out haul distance.

In various embodiments, surgical instruments 10 may include at least one deactivation mechanisms.As described in more detail herein, it is such Deactivation mechanisms can prevent end user from modifying surgical instruments unilaterally.For example, with reference 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 be similar in many aspects Other power sources (for example, power source 200 (referring to Fig. 1)) and Zemlok ' 763 is in greater detail that this document describes elsewhere Other kinds of power source, the full patent texts have been herein incorporated by reference.In order to protect power source 2500 with tamper-resistant, work( Rate source 2500 is configured to become unable to operate or inactivate in the case where it is modified unilaterally.For example, power source 2500 can Such as become to inactivate by stopping reception, storage, and/or transmission energy.Prevention distort can ensure that power source 2500 with it is outer Section's apparatus 10 is used together the correct operation of period.

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

Referring to Figure 135-137, power source 2500 may include deactivation mechanisms 2512, and the deactivation mechanisms 2512 can be in power source So that power source 2500 is from operating in the case that 2500 suffer damage.For example, if housing 2502 were modified unilaterally, deactivation mechanisms 2512 may be such that power source 2500 can not 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 formed.As shown in Figure 136, circuit 2514 can be connected to battery pack 2510 and electric current can be allowed to flow 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 into cause can breaking part 2516 can be broken when the first housing 2504 and the second housing 2506 are separated from each other, this may be such that In the case of inexertion reparation fracture circuit 2514, power source 2500 can not be that surgical instruments 10 is received, stores, and/or provided Power.

Referring to Figure 135, power source 2500 may include one or more battery unit, and this depends on the current loading of apparatus 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.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, different types of battery unit can be used (including with different voltage levels And/or the battery unit of different chemical product).User can disconnect and remove from surgical instruments 10 power source 2500 that exhausts 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 Stating charger seat may include power source for being charged to power source 2500.If power source 2500 is modified unilaterally, as described above, then Deactivation mechanisms (for example, deactivation mechanisms 2512) can be used to be recharged to prevent power source 2500 from being electrically charged device seat.It is 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 Recharge.As described above, when the first housing 2504 separates with the second housing 2506, 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 advantageous to prevent end user modify power source 2500 unilaterally because modify unilaterally power source 2500 can prevent its from go recharge for With reference to 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 Can be stored according to memory cell includes the data of the information about power source 2500, for example, total available power, access times, and/or Performance.In addition, memory 2552 can be stored with the data for closing surgical instruments 10, the data include relevant 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 any device for storing software, and described device includes but is not limited to ROM (read-only storage), 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 some 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 by the data transfers 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 the first housing 2504 and the second housing 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 corresponding connector 2556 of the receiving from external computer device for example to allow data Transmitted between memory 2552 and computer installation.In addition, connector 2554 can be by covering (for example, pivoting covering 2559) protect, the pivot covering 2559 is configured in latched position (referring to Figure 139) (wherein connector 2554 be unexposed) (wherein connector 2554 is exposed to receive corresponding connector with unlocked position (referring to Figure 140) 2556) moved between.In one example, it screw 2558 can be used to pivot covering 2559 and be fixed to housing 2502.This public affairs Open other devices it is contemplated that for restorably covering connector 2556.Further described above, show some 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 housing 2502, such as Figure 141 It is shown, the unauthorized access of the data in memory 2552 is stored in further limitation.In such cases, can be by separating The first housing 2504 and the second housing 2506 of housing 2502 accesses connector 2554.However, it is such as described in more detail above, stop Power source 2500 can be prevented from operating when housing 2502 ruptures with mechanism 2512, this can further prevent to attempt to expose connection Device 2554 is stored in the data in memory 2552 with access.

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, Destroying sensing mechanism 2562 may include to be configured to the one or more sensors for detecting the rupture in housing 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 power source 2500 ', and 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 charge level indicator 2660, and the charge level indicator 2660 can be constructed Into the feedback that the charge level about power source 2500 ' can be provided 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, so as to provide the feedback of the charge level about 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 2664 both.In addition, processor 2560 can be programmed to receiving power source consumption from voltameter Closed during most signal LED 2662 and LED 2664 both.In addition, processor 2560 can be programmed to receive from voltameter The first LED is only lighted when there is the signal of enough electricity of the only once complete operation for surgical instruments 2600 to power source 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 in part be assembled, dismantled, and/or re-assemblied.For example, surgery device Tool 10 can at least in part be dismantled and for example can re-assemblied with reusable part and replacement part.Separately Outside, surgical instruments 10 can be dismantled at least in part between surgery average of operation periods, for cleaning, sterilizing, and/or reprocess.With Afterwards, surgical instruments 10 can for example be re-assemblied.As described in more detail herein, the various features structure of surgical instruments 10, component and/ Or system can be advantageous 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 to be similar to surgical instruments The casing assembly 2102 of 10 shell 12.In addition, casing assembly 2102 may include some detachable blocks 2103, it is described detachable Part 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 part can be reusable.Change Word says that some or all of casing assembly 2102 or its part 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 recovered by simple and repeatable mode Ground dismantle casing assembly 2102 or remove some or all of its part (for example, work package 2106) ability can simplify it is outer The step of cleaning of shell component 2012, sterilization, 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 Part (for example, housing main body 2104, work package 2106 and/or power source 2110) individually or jointly can enter miscellaneous part Row cleaning, sterilization, and/or reprocessing, this depends on the characteristic and inner body of each part.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 reprocessed, then attachment To new housing main body 2104.Reader will be appreciated that, the miscellaneous part 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 individual 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 fit together with buckle Juncture is coordinated to receive the corresponding 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 produce spinning movement to act on end effector (for example, storehouse/anvil of the loading unit 20 shown in Fig. 2 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 other transmission assemblies for describing elsewhere in this document are similar 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 as caused by motor 2118 is converted into be transferred to the axial action of end effector 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 to be designed and separate to receive work package 2106 Multiple compartments.For example, as shown in Figure 147, cover portion point 2112 may include to be 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 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 asymmetricly be constructed with along only one direction in some respects (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 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 assembling instruction, and 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 can receive at least asymmetricly being constructed in certain aspects along only one direction (that is, correct orientation) Firing member component 2122.In addition, firing member component nesting compartment 2130 may include assembling instruction, the assembling instruction can example Such as it is 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 miscellaneous part 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 during proper correct assembling, can be in working group Between the miscellaneous part of part 2106, the miscellaneous part (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, this can allow user using work package 2106 as individual unit to remove and reconnect to surgical instruments 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 for example can be received and be releasably locked to the portions of proximal of trigger shaft 2124 with snap-fit engagement 2134。

Referring again to Figure 147 and Figure 148, the miscellaneous part 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 at least can be carried out in some respects Asymmetricly construct to receive power source 2108 along only one direction (that is, correct orientation).In addition, power source nesting compartment 2136 It may include assembling instruction, the assembling instruction can be for example molded onto on the wall of power source nesting compartment 2136, correct to ensure Assembling.

Further described above, as shown in Figure 147 and Figure 148, some 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 to be spaced Opened with accommodating the firing button nesting compartment 2142 of firing button 2138 and/or being spaced with accommodating the closure of closure switch 2140 Close nested compartment 2144.In addition, in some examples, firing button nesting compartment 2142 is designed in a manner of specific arrangements Firing button 2138 is adapted to, 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 is constructed to receive closure switch 2140 along only one direction (that is, correct orientation).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 block 2103 is fixed in its respective compartment, so that it is guaranteed that detachable block 2103 is protected Hold and be nested in its respective compartment.Such fixed mechanism may include fixing component, the fixing component can unlocked configuration (referring to Figure 148) moved between locked configuration (referring to Figure 147), the detachable block 2103 of casing assembly 2102 is locked to it Respective compartment in cover portion point 2112.Reader will be appreciated that, single or multiple fixing components can be used by one or more Detachable block 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 part 2103.As shown in the exemplary embodiment in Figure 147, work package 2106 can pass through some 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 by moving to locked configuration (referring to Figure 147) (referring to Figure 148) to be clamped to from unlocked configuration On detachable block 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 block 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 they only can correctly be nested in the respective compartment in cover portion point 2112 in detachable block 2103 It is aligned to receive the fixing component of motion 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 It is not in user during locked configuration and attempts assembling cover portion point 2112 and 2114, then it can prevents the first cover portion point 2112 and second Cover portion point 2114 coordinates engagement.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 and it is only correctly 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 for example on firing member component 2122, and firing member component fixing component 2152 can be positioned so that So that it is just corresponding to its only 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 consolidated 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, which are not in user during locked configuration, attempts assembling cover portion point 2112 and 2114, then either of which person can prevent first Cover portion point 2112 coordinates with the second cover portion point 2114 to be engaged.As described above, some in detachable block 2103 can be disassembled, can Cover component 2112 is re-attached to 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 work package The incorrect assembling of any one part in 2106 can prevent its corresponding fixing component from reaching locked configuration, so if made Assembling cover portion points 2112 and 2114 is attempted during at least one not up to locked configuration of the user in fixing component, then can prevent the One cover portion point 2112 coordinates with the second cover portion point 2114 to be engaged.

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 projection, when outside During the assembling of shell component 2102, when cover portion point 2112 and 2114 is aligned to be used to coordinate engagement, the fixation structure of the projection Part can be received in the corresponding receiver member (not shown) in the detachable block 2103 being nested in the first cover portion point 2112. The fixing component of projection ensures that detachable block 2103 is remained fixed in the first cover portion point 2112.In addition, if user exists The fixing component of projection for example because detachable block 2103 not correctly assembling and not corresponding receiver member is correctly right Punctual to attempt assembling cover portion point 2112 and 2114, then the fixing component of projection can prevent the cover portion point of the first cover portion point 2112 and second 2114 coordinate engagement, and this can prompt the assembling of the detachable block 2103 that user reexamines casing assembly 2102 to carry out Correct assembling.Reader will be appreciated that the position of the fixing component of projection and its corresponding receiver member can be reversed, to dash forward The fixing component risen can be from the projection of detachable block 2103 and the corresponding receiving structure that may be received in the second cover portion point 2114 In part.Under any circumstance, the fixing component of projection receiver member corresponding with its for example can be connect with snap-fit each other Close to be releasedly attached.The disclosure is contemplated that other engaging mechanisms.

Further described above, some or all of detachable block 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 during configuration (referring to Figure 147).Cam face may be provided in dismountable part 2103 some or Fixing component corresponding to can allowing on whole outer surfaces and under locked configuration pressure is applied to detachable block 2103 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, So as to allow motor fixing component 2148 that incremental pressure is applied on motor 2118, 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 towards distal side to suture and/or cut the firing member of tissue.It is existing Referring to Figure 155, end effector 11260 may include the first jaw with anvil block 11262 and second with nail bin 11264 Jaw.End effector 11260 may also include：First, the shell and/or frame proximally extended 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.Hold 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 joint motions driver 11268 carry out joint motions.In use, end effector 11260 can group The axle 11240 of surgical instruments is attached to, such as is caused：First, end effector shell 11261, which is connected to, is configured to support end The shaft housing 11241 of portion's actuator shell 11261；2nd, end effector firing member 11266, which is connected to, is configured to push away Enter and the axle for the end effector firing member 11266 that bounces back fires actuator 11246；And/or three, end effector Driver 11268 is connected to the axis joint for the end effector driver 11268 that is configured to promote and bounces back Motion actuator 11248.In use, firing member 11266 can promote towards distal side, so that anvil block 11262 is organized to determine therefrom Open position of the position among anvil block 11262 and storehouse 11264 moves to the wherein compression organization of anvil block 11262 against storehouse 11264 Closing position.In all cases, firing member 11266 may include to be configured to when firing member 11266 promotes towards distal side The first engagement member of the first jaw can be engaged and be configured to engage the second engagement member of the second jaw, to cause 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 be may be stuck at least partly position of percussion, and therefore anvil block 11262 can not be switched on again, so that surgery Apparatus 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 can allow the anvil block 11262 of end effector 11360 to be switched on again, even if the percussion of end effector 11360 Component is stuck at least partly position of percussion.More specifically, end effector 11360 may include firing member 11366, institute Stating firing member 11366 includes removable part 11366a and 11366b, 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 released state, removable part 11366a and 11366b can be relative to those This motion.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 positioned among lateral part 11363a and 11367a.In all cases, One or more pin (Figure 157 that lateral part 11363a and 11367a can be defined in hole 11396a therein via extending through Not shown in 158) remain to cutting element part 11365a.The removable part 11366b of firing member 11366 can be wrapped Include the first lateral part 11363b, the second lateral part 11367b and be positioned among lateral part 11363b and 11367b Cutting element part 11365b.In all cases, lateral part 11363b and 11367b can via with from the bottom that it extends At least one holding member (not shown in Figure 157 and 158) that pin 11396 engages remains to cutting element part 11365b. Reader will be appreciated that foregoing retaining pin keeps together removable part 11363a various parts, while foregoing holding structure Part keeps together removable part 11363b various parts.Reader will further know that, and lock 11390 is in its locking bit Removable part 11363a and 11363b are kept together when putting.In all cases, referring primarily to Figure 158, lock 11390 can Can be engaged including the first locking component 11397a and the second locking component 11397b, the first locking component 11397a One cutting element part 11365a the first lock part 11361a, the second locking component 11397b can engage second and cut Cut component part 11365b the second lock part 11361b.First lock part 11361a and the second lock part 11361b can It is configured to cutting element part 11365a and 11365b collaboratively and is releasably held together.In various feelings Under condition, lock part 11397a, 11397b can keep together cutting element part 11365a and 11365b so that cutting structure Part part 11365a and 11365b corresponding cutting surfaces 11395a and 11395b forms continuous or at least substantially continuous Cutting surfaces.Referring again to Figure 158, locking 11390 lock part 11397a, 11397b collaboratively can engage and protect respectively Hold cutting element part 11365a and 11365b key 11361a and 11361b.In all cases, lock part 11397a, 11397b can limit recess 11398 between them, and recess 11398 is configured to be in its latched position in lock 11390 When receive key 11361a and 11361b.When lock 11390 is proximally pulled, lock part 11397a and 11397b can depart from Key 11361a and 11361b.Now, lock 11390 no longer can keep together cutting element part 11365a and 11365b. In this case, therefore, removable part 11366a and 11366b can be movable with respect to each other.For example, removable part 11366a can move when jaw 11262 reopens together with jaw 11262, and accordingly, removable part 11366b It can be kept together with storehouse 11264.According to described above, when firing member 11366 is stuck in the position of for example, at least part percussion When middle, lock 11390 can be proximally pulled to unlock removable part 11366a and 11366b.

As described above, lock 11390 can be pulled proximally, with unlock the removable part 11366a of firing member 11366 and 11366b.Turning now to Figure 159, it can proximally be pulled by securing rod 11391 and/or push lock 11390 towards distal side.Securing rod 11391 can be positioned in end effector 11360 and may include proximal end 11392 and distal end 11393.Securing rod 11391 distal end 11393 can engage with lock 11390.More specifically, at least one embodiment, distal end 11393 It may include the projection from its extension, the projection can be slidably located in the elongated slot 11399 being defined in lock 11390 It is interior.In order to proximally pull lock 11390, securing rod 11391 can be proximally pulled, until projection contact elongated slot 11399 Proximal end 11394, the wherein action of securing rod 11391 can be passed to lock 11390.Accordingly, projection is configured to The distal end 11395 of elongated slot 11399 is enough contacted, to push lock 11390 towards distal side.Reader will be appreciated that, join again See Figure 156, firing member 11366 may include to be defined in one or more of longitudinal slits 11369, one or more of Longitudinal slit 11369 is configured to allow securing rod 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 securing rod 11391 It may include to be configured to the attachment part engaged by the locking actuator 11348 of the axle 11340 of surgical instruments.Referring primarily to Figure 160, locking actuator 11348 may include have jagged distal end 11349, and the recess is for example configured to Receive the proximal end 11392 of securing rod 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 securing rod 11391 respectively proximally and/or towards distal side move.In use, when end effector 11360 is assembled into During axle 11340, the distal end 11349 of locking actuator 11348 can be assembled in the proximal end 11392 of securing rod 11391.

As described above, motor can be used for the firing member that promotes and/or bounce 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.In the case of at least one is such, rotatable drive shaft may include threaded portion, the threaded portion and lining ring spiral shell Line engages, and the lining ring includes being defined in screwed hole therein, wherein in use, lining ring can suffer restraints and can not 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, firing member can be stuck and/or in other words can be subjected to exceeding expectation or predetermined maximum, force or torsion The power or moment of torsion of square.Turning now to Figure 162-167, motor sub-assembly 12000 may include motor 12010, axle 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 axle 12020 Square.In all cases, can be in the rotatable of motor 12010 referring primarily to Figure 162 and Figure 163, slide engaging and disengaging device assembly 12030 Drive transfer of torque between output section 12012 and axle 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 the opposite end and 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 into driving output section 12012 to engage by biased element 12036 or spring 12036.Driving element 12034 can It is positioned at least partially in the holding slit in the shell 12037 for being defined in slide engaging and disengaging component 12030 so that driving element 12034 can be limited on axis relative to the motion of shell 12037.Reader will be appreciated that, the shell of slide engaging and disengaging component 12037 may be mounted to axle 12020 so that shell 12037 and axle 12020 synchronous rotary together.Reader will further know that, and at least exist In some cases, the spinning movement for driving output section 12012 can be transferred to shell 12037 by driving element 12034.More specifically Ground, when driving output section 12012 to be rotated along the first direction as indicated by arrow 12017 to promote firing member towards distal side, Driving output section 12012 can rotate relative to driving element 12034, until the first driving shoulder 12016 and driving element 12034 Contact.Reader will be appreciated that the first driving shoulder 12016 can keep contacting with driving element 12034, and precondition is bias structure The radial outward movement of driving element 12034 can be resisted or at least fully resisted to part 12036.As long as driving element 12034 Contacted with the first driving shoulder 12016, motor 12010 can make axle 12020 along the direction rotation that firing member is promoted towards distal side Turn.In all cases, sufficiently large moment of torsion can be applied to driving output section 12012 by motor 12010, so that driving element 12034 radially outward shift, so that driving defeated portion to go out 12012 the first driving shoulder 12016 slips over driving element 12034, and hence in so that output section 12012 is driven relative to driving element 12304, slip-clutch shell 12037 and axle 12020 rotations.In other words, when the moment of torsion for being applied to driving output section 12012 exceedes predetermined or maximum moment of torsion, driving Element 12034 can fail and be operatively disengaged from motor 12010.When the moment of torsion for being applied to driving output section 12012 drops to During less than the predetermined or maximum moment of torsion, driving element 12034 can be re-engaged the first driving shoulder 12016, and therefore, Axle 12020 can be operationally re-engaged with motor 12010 so that the driving output section that axle 12020 passes through motor 12010 12012 are rotated.

Further described above, when driving output section 12012 is revolved along the second direction as indicated by arrow 12019 Turn with proximally bounce back firing member when, driving output section 12012 can be rotated relative to driving element 12034, until second drive Dynamic shoulder 12018 contacts 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 resisted to biasing member 12036 Move out.As long as driving element 12034 with second driving shoulder 12018 contact, motor 12010 can make axle 12020 along Proximally the direction of retraction firing member rotates.In all cases, sufficiently large moment of torsion 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 hence in so that drives output section 12012 relative to driving element 12034, slides Clutch outer member 12037 and axle 12020 rotate.In other words, make a reservation for when the moment of torsion for being applied to driving output section 12012 exceedes Or during maximum moment of torsion, driving element 12034 can fail and be operatively disengaged from motor 12010.When being applied to, driving is defeated When going out the moment of torsion in portion 12012 and dropping below the predetermined or maximum moment of torsion, driving element 12034 can be re-engaged the second drive Dynamic shoulder 12018, and therefore, axle 12020 can be operationally re-engaged with motor 12010 so that axle 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 at 12017 rotation driving output section 12012 in the first direction Or the maximum or slip that sliding torque can apply with motor 12010 when 12019 rotation drivings in a second direction export 12012 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 at 12017 rotation driving output section 12012 in the first direction can It is different from the maximum or sliding torque that motor 12010 can apply when 12019 rotation drivings in a second direction export 12012. It is at least one it is such in the case of, first curvature radius can be more than second curvature radius, wherein therefore, in the first direction 12017 Maximum or sliding torque is smaller than 12019 maximum or sliding torque in a second direction.In other words, it is first compared to percussion is promoted Part, when retraction fires element, motor 12010 can apply larger moment of torsion to axle 12020.When it is expected bounce back percussion element so that The end effector of surgical instruments can be for example switched on again and from during tissue release, such situation can be favourable.Extremely In the case of few a kind of, first curvature radius is smaller than second curvature radius, wherein therefore, in the 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 larger moment of torsion to axle 12020.

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 positioned at 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 inner biasing 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 footpath 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 move relative to the second free end 12034.

Device disclosed in this invention can be designed to be handled after being intended for 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.Repairing may include provision for disengagement, cleaning or changes specific part and wherein any several steps for subsequently re-assemblying Combination.Specifically, described device is detachable, and optionally can change or remove in any combination the Arbitrary Digit of described device Purpose specific component or part.Cleaning and/or change particular elements after, described device can be re-assemblied at restoration facilities so as to Then use, or re-assemblied before it will carry out surgical operation by surgical team.Those skilled in the art will know Road, the repairing again of device can utilize it is a variety of for dismantling, the technology for cleaning/change 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 apparatus is obtained, and according to Need to be cleaned.Then apparatus can be sterilized.In a kind of sterilization technology, apparatus 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 apparatus and in container.Then the apparatus after sterilizing is stored in sterilization In container.The sealing container makes apparatus keep sterile untill opening the container in medical facilities.

By reference in full or any patent, announcement or other open materials for being partly incorporated herein only simultaneously The material entered in the existing definition described in the disclosure, statement or the afoul scope of other open materials with not being incorporated herein.Together Sample and under necessary degree, disclosure that the application is expressly recited instead of appointing of being incorporated herein in a manner of citation What conflict material.It is any be herein incorporated by reference but with it is as described herein it is existing definition, statement or other open material phases Any material of conflict or part thereof, only do not produced under the degree of conflict between the material and existing open material being incorporated to It is incorporated herein.

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

Claims (23)

1. a kind of surgical instruments, the surgical instruments includes：

Shell；

Rotating parts, the rotating parts be supported on the mounting portion of the shell for around it in rotating range Upper rotation；

Slender axles assembly, the Slender axles assembly limit longitudinal tool axis and are operably linked to the rotating parts For therewith being advanced around longitudinal tool axis rotation；

Electric power source；And

Conductor management system, the conductor management system include：

Spool conductor assembly, the spool conductor assembly include the first end conductor and the second end conductor, first conductor End be fixed to the shell mounting portion, second end conductor be fixed to the rotating parts for one Rise and rotated on the rotating range；

Leading body, the leading body are supported in the shell and are configured to pass electrical power from the electric power source It is defeated to arrive the spool conductor assembly, wherein the leading body is connected to the spool conductor assembly；With

Spindle guide body, the spindle guide body are connected to the spool conductor assembly for electrical power is transferred into the Slender axles assembly Distal end.

2. surgical instruments according to claim 1, wherein the leading body is connected to the first of the spool conductor assembly End conductor.

3. surgical instruments according to claim 2, wherein the leading body can be removed by dismountable connector assembly Ground is connected to first end conductor.

4. surgical instruments according to claim 1, the surgical instruments also includes surgical end-effector, the surgery end Portion's actuator is operably linked to the distal end of the Slender axles assembly and is configured to receive from it electrical power.

5. surgical instruments according to claim 1, the surgical instruments also includes being used to the rotating range being limited to The device of pre- fixing turn.

6. surgical instruments according to claim 5, wherein including for the described device limited：

Distal side traveling restricted part on the rotating parts；

Nearside traveling restricted part on the rotating parts, the nearside traveling restricted part are advanced with the distal side and limited System part is axially spaced travel distance；With

Limiter component, the limiter component are movably supported on the rotating parts in the distal side row Enter between restricted part and the nearside traveling restricted part and axially advance, and connect with the mounting portion screw thread of the shell Close so that when the rotating parts rotate relative to the mounting portion along the first direction of rotation, the limiter component Axially driven towards the distal side traveling restricted part until being in contact with it with and then preventing the rotating parts described in First direction of rotation further rotates, and causes when the rotating parts rotate relative to the mounting portion along second When direction rotates, the limiter component by towards the nearside traveling restricted part axially driven until be in contact with it with and then Prevent the rotating parts further rotating along second direction of rotation.

7. surgical instruments according to claim 6, wherein the travel distance has value, the value is advantageous to described Rotating parts are along first direction of rotation and second direction of rotation around mounting portion rotation traveling at least one It is whole to enclose and be no more than three whole circles around mounting portion rotation traveling.

8. surgical instruments according to claim 6, wherein the described device for limiting be configured to by it is described can Rotating range of the rotating member along first direction of rotation is limited to first number of turns and by the rotating parts described in The rotating range of second direction of rotation is limited to second number of turns.

9. surgical instruments according to claim 8, wherein the first lap number is equal to second number of turns.

10. surgical instruments according to claim 9, wherein the limiter component is biased into positioned at described by voltage biasing structure On middle position between distal side traveling restricted part and the nearside traveling restricted part so that revolved when interrupting along described first When turning one of direction and second direction of rotation to rotating parts application revolving force, the voltage biasing structure makes the limit Device component processed returns to the middle position.

11. a kind of surgical instruments, the surgical instruments includes：

Shell, the shell include mounting portion；

Rotating parts, the rotating parts are supported on the mounting portion of the shell and rotated about for enclosing；

Slender axles assembly, the Slender axles assembly include distal end and be operably linked to the rotating parts with Advanced in therewith being rotated relative to the shell；

Surgical end-effector, the surgical end-effector are operably linked to the distal end of the Slender axles assembly；

Electric power source；And

Conductor management system, the conductor management system include：

Can coiled conductor component, it is described can coiled conductor component include the first end conductor and the second end conductor, described first End conductor be fixed to the shell mounting portion, second end conductor be fixed to the rotating parts for It rotates together；

Leading body, the leading body are supported in the shell and are configured to pass electrical power from the electric power source It is defeated to it is described can coiled conductor component；With

Spindle guide body, the spindle guide body be connected to it is described can coiled conductor component for electrical power is transferred into the surgical end Actuator.

12. surgical instruments according to claim 11, the surgical instruments also includes pre- for rotating range to be limited to The device of fixing turn.

13. surgical instruments according to claim 12, wherein including for the described device limited：

Distal side traveling restricted part on the rotating parts；

Nearside traveling restricted part on the rotating parts, the nearside traveling restricted part are advanced with the distal side and limited System part is axially spaced travel distance；With

Limiter component, the limiter component are movably supported on the rotating parts in the distal side row Enter between restricted part and the nearside traveling restricted part and axially advance, and connect with the mounting portion screw thread of the shell Close so that when the rotating parts rotate relative to the mounting portion along the first direction of rotation, the limiter component Axially driven towards the distal side traveling restricted part until being in contact with it with and then preventing the rotating parts described in First direction of rotation further rotates, and causes when the rotating parts rotate relative to the mounting portion along second When direction rotates, the limiter component by towards the nearside traveling restricted part axially driven until be in contact with it with and then Prevent the rotating parts further rotating along second direction of rotation.

14. surgical instruments according to claim 13, wherein the travel distance has value, the value is advantageous to institute Stating rotating parts, around the mounting portion, rotation is advanced at least along first direction of rotation and second direction of rotation One it is whole enclose and around the mounting portion rotation advance be no more than three circle.

15. surgical instruments according to claim 13, wherein be configured to will be described for the described device for limiting Rotating parts are limited to first number of turns and by institute around rotating range of the mounting portion along first direction of rotation State rotating parts and be limited to second number of turns around rotating range of the mounting portion along second direction of rotation.

16. surgical instruments according to claim 15, wherein the first lap number is equal to second number of turns.

17. surgical instruments according to claim 16, wherein the limiter component is biased into positioned at institute by voltage biasing structure State on the middle position between distal side traveling restricted part and the nearside traveling restricted part so that when interrupting along described first Any direction of rotation in direction of rotation and second direction of rotation to the rotating parts apply revolving force when, it is described partially Laminated structure makes the limiter component return to the middle position.

18. surgical instruments according to claim 11, wherein the electric power source is supported by the shell.

19. surgical instruments according to claim 18, wherein the shell includes shank, and wherein described electric power source Including at least one battery being supported in the shank.

20. a kind of surgical instruments, the surgical instruments includes：

Shell；

The rotating parts being supported on the mounting portion of the shell；

Slender axles assembly, the Slender axles assembly limit longitudinal tool axis and are operably linked to the rotating parts For therewith being advanced around longitudinal tool axis rotation；

Electric power source；

The device of power is transmitted from the electric power source for the conductor by extend through the Slender axles assembly；With

For the device of limitation, the device for being used to limit is used for the rotation that the rotating parts are surrounded to the mounting portion Input of changing one's profession is limited to include at least one whole rotation travel range enclosed and be no more than three whole circles around the mounting portion.

21. surgical instruments according to claim 20, wherein including wire for the device for transmitting power.

22. a kind of surgical instruments, the surgical instruments includes：

Shell；

Rotating parts, the rotating parts are supported on the mounting portion of the shell, for rotating model around it Place rotation；

Slender axles assembly, the Slender axles assembly limit longitudinal tool axis and are operably linked to the rotatable structure Part, for therewith being advanced around longitudinal tool axis rotation；

Electric power source；And

Conductor management system, the conductor management system include：

Spool conductor assembly, the spool conductor assembly include the first end conductor and the second end conductor, first conductor End is fixed to the mounting portion of the shell, and second end conductor is fixed to the rotating parts, for its Rotated together on the rotating range；

Leading body, the leading body are supported in the shell and are configured to pass electrical power from the electric power source It is defeated to arrive the spool conductor assembly, wherein the leading body is removably coupled to described by dismountable connector assembly One end conductor；With

Spindle guide body, the spindle guide body are connected to the spool conductor assembly for electrical power is transferred into the Slender axles assembly Distal end.

23. a kind of surgical instruments, the surgical instruments includes：

Shell；

Rotating parts, the rotating parts be supported on the mounting portion of the shell for around it in rotating range Upper rotation；

Slender axles assembly, the Slender axles assembly limit longitudinal tool axis and are operably linked to the rotatable structure Part, for therewith being advanced around longitudinal tool axis rotation；

Electric power source；

For the rotating range to be limited to the device of pre- fixing turn；And

Conductor management system, the conductor management system include：

Spool conductor assembly, the spool conductor assembly include the first end conductor and the second end conductor, first conductor End is fixed to the mounting portion of the shell, and second end conductor is fixed to the rotating parts, for its Rotated together on the rotating range；

Leading body, the leading body are supported in the shell and are configured to pass electrical power from the electric power source It is defeated to arrive the spool conductor assembly；With

Spindle guide body, the spindle guide body are connected to the spool conductor assembly for electrical power is transferred into the Slender axles assembly Distal end.