CN106456169A - Interface systems for use with surgical instruments - Google Patents

Abstract

A surgical instrument for use by an operator in a surgical procedure includes an elongate shaft, an end effector extending from the elongate shaft, and a control system. The end effector is articulatable relative to the elongate shaft between a home state position and an articulated position. The control system includes a processor and a memory coupled to the processor to store program instructions. The processor can alert the operator when the end effector reaches the home state position from the articulated position.

Description

The interface system being used together with surgical instrumenties

Background technology

The present invention relates to surgical instrumenties, and in all cases, it is related to the surgery being designed to suture and cut tissue Suture and cutting device and its nail bin.

Brief description

By combining accompanying drawing following explanation, the features and advantages of the present invention and its acquisition side with reference to present example Method will become more apparent, and is better understood invention itself, wherein：

Fig. 1 is the perspective view of the surgical instrumenties including shank assembly and shaft assembly, and this shaft assembly includes end effector；

Fig. 2 is the perspective view of the shank assembly of surgical instrumenties of Fig. 1；

Fig. 3 is the schematic block diagram of the control system of surgical instrumenties of Fig. 1；

Fig. 4 is the schematic block diagram of the module being used together with the surgical instrumenties of Fig. 1；

Fig. 5 is the schematic block diagram of the module being used together with the surgical instrumenties of Fig. 1；

Fig. 6 is the schematic block diagram of the module being used together with the surgical instrumenties of Fig. 1；

Fig. 7 is the schematic diagram at the interface of the surgical instrumenties of Fig. 1 being in un-activation or neutral gear configuration；

Fig. 8 is to be activated so that end effector carries out the schematic diagram at the interface of Fig. 7 of joint motions；

Fig. 9 is to be activated so that end effector returns to the signal at the interface of Fig. 7 of joint motions natural state position Figure；

Figure 10 is the schematic diagram of the partial view of the shank assembly of the surgical instrumenties of the Fig. 1 illustrating display；

Figure 11 shows the module of the surgical instrumenties of Fig. 1；

Figure 12 A is the schematic diagram of the screen orientation of the display of Figure 10；

Figure 12 B is the schematic diagram of the screen orientation of the display of Figure 10；

Figure 12 C is the schematic diagram of the screen orientation of the display of Figure 10；

Figure 12 D is the schematic diagram of the screen orientation of the display of Figure 10；

Figure 13 shows the module of the surgical instrumenties of Fig. 1；

Figure 14 A is the side view of the shank assembly of the Figure 10 being in vertical position；

Figure 14 B is the side view of the shank assembly of the Figure 10 being in upside down position；

Figure 15 is the schematic diagram of the display of the Figure 10 illustrating multiple icons；

Figure 16 is the schematic diagram of the display of the Figure 10 illustrating navigation menu；

Figure 17 is the schematic block diagram of the indicator system of surgical instrumenties of Fig. 1；

Figure 18 is the module of the surgical instrumenties of Fig. 1；

Figure 19 is the perspective view of the surgical instrumenties of the Fig. 1 being connected to remote operation unit；

Figure 20 is the perspective view of the surgical instrumenties of the Fig. 1 being connected to remote operation unit；

Figure 21 is the schematic block diagram with the surgical instrumenties of Fig. 1 of remote operation unit radio communication；

Figure 22 is the schematic diagram of the first surgical instrumenties including the remote operation unit for controlling the second surgical instrumenties；

Figure 23 is the perspective view of the modularity surgical instrumenties of the various embodiments according to the disclosure；

Figure 24 is the decomposition diagram of the modularity surgical instrumenties of Figure 23；

Figure 25 is the schematic diagram of the control system of the modularity Surgery Systemss illustrating the various embodiments according to the disclosure；

Figure 26 is the side of the part for update module Surgery Systemss illustrating the various embodiments according to the disclosure The flow chart of method；

Figure 27 is the side of the part for update module Surgery Systemss illustrating the various embodiments according to the disclosure The flow chart of method；

Figure 28 (A) and the schematic diagram that Figure 28 (B) is the control circuit illustrating the various embodiments according to the disclosure；

Figure 29 (A) and the schematic diagram that Figure 29 (B) is the control circuit illustrating the various embodiments according to the disclosure；

Figure 30 is the side of the data for locating reason surgical instrumenties record illustrating the various embodiments according to the disclosure The flow chart of method；

Figure 31 is the side of the data for locating reason surgical instrumenties record illustrating the various embodiments according to the disclosure The flow chart of method；

Figure 32 (A) -32 (C) be illustrate various embodiments according to the disclosure for locating reason surgical instrumenties record The flow chart of the various methods of data；

Figure 33 is the signal of the Surgery Systemss with wireless communication ability illustrating the various embodiments according to the disclosure Figure；

Figure 34 is the outside of the end effector being shown at surgical site of the various embodiments according to the disclosure The front view of screen；

Figure 35 is the front view of the external screen of Figure 34 illustrating to notify of the various embodiments according to the disclosure；And

Figure 36 is the front view of the external screen of Figure 34 illustrating selection menu of the various embodiments according to the disclosure.

Specific embodiment

Present applicant has what on March 1st, 2013 submitted to and was each hereby incorporated herein by full Following patent application：

- entitled " Articulatable Surgical Instruments With Conductive Pathways The U.S. Patent Application Serial Number 13/782,295 of For Signal Communication "；

- entitled " ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS " U.S. Patent Application Serial Number 13/782,323；

U.S. of-entitled " THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS " State's patent application serial number 13/782,338；

- entitled " ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY The U.S. Patent Application Serial Number 13/782,499 of ARRANGEMENT "；

- entitled " MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL The U.S. Patent Application Serial Number 13/782,460 of INSTRUMENTS "；

The U.S. of-entitled " JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS " is special Sharp patent application serial numbers 13/782,358；

- entitled " SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH The U.S. Patent Application Serial Number 13/782,481 of TROCAR "；

- entitled " CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE The U.S. Patent Application Serial Number 13/782,518 of IMPLEMENT PORTIONS "；

- entitled " ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF The U.S. Patent Application Serial Number 13/782,375 of FREEDOM "；And

The U.S. Patent Application Serial Number 13/782,536 of-entitled " SURGICAL INSTRUMENT SOFT STOP ", These applications are all incorporated by reference in its entirety accordingly.

Present applicant also has on March 14th, 2013 submission and is each hereby incorporated herein by full Following patent application：

- entitled " ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE " U.S. Patent Application Serial Number 13/803,097；

- entitled " CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL The U.S. Patent Application Serial Number 13/803,193 of INSTRUMENT "；

- entitled " INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL The U.S. Patent Application Serial Number 13/803,053 of INSTRUMENT "；

- entitled " ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION The U.S. Patent Application Serial Number 13/803,086 of LOCK "；

- entitled " SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR The U.S. Patent Application Serial Number 13/803,210 of SURGICAL INSTRUMENTS "；

The U.S. Patent application of-entitled " MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT " Serial number 13/803,148；

- entitled " DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL The U.S. Patent Application Serial Number 13/803,066 of INSTRUMENTS "；

- entitled " ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL The U.S. Patent Application Serial Number 13/803,117 of INSTRUMENTS "；

- entitled " DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL The U.S. Patent Application Serial Number 13/803,130 of INSTRUMENTS "；And

The U.S. of-entitled " METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT " Patent application serial number 13/803,159.

Present applicant also has to be submitted on the same day with the application and is each herein incorporated by reference in full Following patent application：

Entitled " SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM " (attorney END7386USNP/130458 U.S. Patent Application Serial Number) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS " (generation Reason people file number END7387USNP/130459) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " STERILIZATION VERIFICATION CIRCUIT " (attorney END7388USNP/ 130460) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT " The U.S. Patent Application Serial Number of (attorney END7389USNP/130461) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT The U.S. Patent Application Serial of AND WAKE UP CONTROL " (attorney END7390USNP/130462) Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT The U.S. Patent Application Serial of ASSEMBLIES " (attorney END7391USNP/130463) Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL The U.S. Patent Application Serial of INSTRUMENTS " (attorney END7392USNP/130464) Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION " (attorney END7393USNP/130465 U.S. Patent Application Serial Number) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR " The U.S. Patent Application Serial Number of (attorney END7394USNP/130466) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS " (attorney docket Number END7395USNP/130467) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " MODULAR SURGICAL INSTRUMENT SYSTEM " (attorney END7397USNP/ 130469) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT " (agency People file number END7399USNP/130471) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE The U.S. Patent Application Serial of VOLTAGE PROTECTION " (attorney END7400USNP/130472) Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SURGICAL STAPLING INSTRUMENT SYSTEM " (attorney END7401USNP/ 130473) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；With

Entitled " SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM " (attorney END7386USNP/130474 U.S. Patent Application Serial Number) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _.

Some exemplary will now be described, to understand the knot of apparatus as disclosed herein and method on the whole The principle of structure, function, manufacture and purposes.One or more examples of these embodiments are shown in the drawings.This area It is to be appreciated by one skilled in the art that the apparatus and method specifically describing herein and being illustrated in accompanying drawing are nonrestrictive showing Example property embodiment.Carry out graphic extension in conjunction with an exemplary or the feature of description can be with other embodiments Feature is combined.These modifications and modification are intended to be covered within the scope of the present invention.

" various embodiment ", " some embodiments ", " embodiment " or " enforcement that this specification refers in the whole text Scheme " etc. is it is meant that include at least one embodiment with reference to the specific features of this embodiment description, structure or characteristic In.Therefore, this specification occurs in the whole text phrase " in various embodiments ", " in some embodiments ", " in a reality Apply in scheme " or " in embodiments " etc. might not refer both to identical embodiment.Additionally, in one or more embodiment party In case, specific features, structure or characteristic can combine in any suitable manner.Therefore, in the case of unrestricted, in conjunction with one Embodiment illustrate or the specific features, structure or the characteristic that describe can whole or in part with other embodiments one or more Feature, structure or property combination.These modifications and modification are intended to be covered within the scope of the present invention.

Terms used herein " nearside " and " distally " be the clinician of handle portions with respect to manipulation of surgical apparatus and Speech.Term " nearside " refers to the part near clinician, and term " distally " refers to away from clinician's positioning Part.It is also understood that for the sake of succinct and clear, can combine herein accompanying drawing use spatial terminology such as " vertical ", " level ", "up" and "down".However, surgical operating instrument uses in many directions and position, and these being not intended to limit property of term And/or absolute.

There is provided various exemplary means and method to execute 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 for example combining with open surgery.With continued reference to this specific embodiment, person skilled in the art Member will be further understood that, various apparatuses disclosed herein can insert in vivo by any way, such as passes through natural cavity, passes through It is formed at otch or puncturing hole in tissue etc..The working portion of apparatus or end effector portion can be plugged directly into patient's body Interior or can be inserted by having the entrance device of service aisle, the end effector of surgical instrumenties and slender axles can be by described works Make passage and advance.

Fig. 1 generally shows the surgical instrumenties 2200 of motor driving.In some cases, surgical instrumenties 2200 may include handle Parts 2202, shaft assembly 2204 and (PCC) power 2206 (or " power supply " or " power supply group ").Shaft assembly 2204 may include end Portion executor 2208, this end effector is configured to serve as clamping, cutting off and/or suture in some cases The straight cuts device of tissue, but in other cases, different types of end effector can be used, such as it is used for grasper, cut The other types such as cutter, stiching instrument, Clip Applier, entrance device, medicine/gene therapy equipment, ultrasonic, RF and/or laser aid The end effector of surgical device.Some RF devices can be in the entitled " ELECTROSURGICAL being published on April nineteen ninety-five 4 The United States Patent (USP) 5 of HEMOSTATIC DEVICE ", 403,312, and it is filed on 2 14th, 2008 entitled The United States Patent (USP) Shen of " SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES " Please find in sequence 12/031,573.It is published in entitled " the ELECTROSURGICAL HEMOSTATIC on 4 days April nineteen ninety-five The United States Patent (USP) 5 of DEVICE ", 403,312, and it is filed in entitled " the SURGICAL CUTTING of on 2 14th, 2008 The U.S. Patent Application Serial Number 12/031,573 of AND FASTENING INSTRUMENT HAVING RF ELECTRODES " Entire disclosure be incorporated by reference in its entirety herein.

Refer again to Fig. 1, shank assembly 2202 may include shell 2210, this shell includes being configured to clinical The shank 2212 that doctor grasps, manipulates and/or activate.It will be appreciated, however, that the various unique and new construction of shell 2210 Also the Surgery Systemss that can effectively be controlled with robot are used together.Therefore, robot system also can be covered in term " shell " Accommodate or be otherwise operably supported shell or the similar portions of at least one drive system, at least one driving described System is configured to generate and apply to can be used for activate shaft assembly 2204 disclosed herein and its corresponding equivalent At least one control moves.For example, shell 2210 disclosed herein can with entitled " SURGICAL STAPLING The U.S. Patent Application Serial of INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS " Various robot systems disclosed in number 13/118,241 (now for U.S. Patent Application Publication 2012/0298719), apparatus, portion Part and method are used together.Entitled " SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE The U.S. Patent Application Serial Number 13/118,241 of DEPLOYMENT ARRANGEMENTS " is (now for U.S. Patent Application Publication 2012/0298719) disclosure is incorporated by reference in its entirety herein.

In some cases, surgical instrumenties 2200 may include some operable systems, and described operable system is at least part of Extend through axle 2204 and be operatively engaged with end effector 2208.For example, surgical instrumenties 2200 may include can make End effector 2208 open between configuration and closed configuration change closing assembly, can make end effector 2208 with respect to Axle 2204 carries out the joint motions assembly of joint motions and/or can fasten and/or cut the group being captured by end effector 2208 The percussion assembly knitted.Additionally, shell 2210 is detachably coupled to axle 2204 and may include supplementary closure, joint motions And/or percussion drive system is for operating closure, joint motions and percussion assembly respectively.

In use, the operator of surgical instrumenties 2200 can wish to make surgical instrumenties 2200 reset and make surgical instrumenties 2200 One or more assemblies return default location.For example, end effector 2208 can be inserted patient's body by entrance by operator Interior operative site, and so that end effector 2208 is carried out joint motions and/or so that end effector is closed to catch Obtain the tissue of intracavity.Some or all actions before subsequently operator's alternative is such as cancelled, and may be selected to remove from chamber Surgical instrumenties 2200.Surgical instrumenties 2200 may include one or more systems, and one or more of systems are configured to Promote to make said one or multiple assembly be reliably returned to natural state under the minimum input of operator, thus allowing operator Remove surgical instrumenties from chamber.

Referring to Fig. 1 and 3, surgical instrumenties 2200 may include control system 3000.For example, operator using controlling can be System 3000 makes end effector 2208 enter between joint motions natural state position and articulated position with respect to axle 2204 Row joint motions.In some cases, operator can make to carry out the end execution of joint motions using control system 3000 Device 2208 resets or returns to joint motions natural state position.Control system 3000 can be positioned at least partially shell 2210 In.In some cases, as shown in figure 3, control system 3000 may include microcontroller 3002 (controller), described microcontroller It is configured to receives input signal, and conduct response, starter motor 2216, so that end effector 2208 such as root Class input signal carries out joint motions accordingly.

Apart from the above, end effector 2208 (herein also referred to as can be closed in joint motions natural state position The position of section motion) it is oriented to fully align with axle 2204 so that at least a portion of end effector 2208 and axle 2204 Can be inserted in patient bore by the trocar that entrance is for example positioned in the wall of patient bore or from its retraction, and not damage Entrance.In some cases, when end effector 2208 is in joint motions natural state position, end effector 2208 can Align with the longitudinal axis " LL " through axle 2204 or at least substantially align, as shown in Figure 1.In the case of at least one, close Section motion natural state position can become maximum on the either side of longitudinal axis " LL " with longitudinal axis " LL " and include 5 ° times What angle.In another case, joint motions natural state position can on the either side of longitudinal axis " LL " with longitudinal axis " LL " becomes any angle that is maximum and including 3 °.In another case, joint motions natural state position can be in longitudinal axis Any angle that is maximum and including 7 ° is become with longitudinal axis " LL " on the either side of " LL ".

Control system 3000 can be operated to end effector 2208 in the plane extending along a longitudinal axis with respect to Axle 2204 for example counterclockwise carries out joint motions with first direction such as clockwise direction and/or second direction.At least In the case of one kind, control system 3000 can be operated to end effector 2208 from joint motions natural state position along up time Pin direction joint motions 10 ° of articulated position on the right side of such as longitudinal axis " LL ".And for example, control system 3000 can be grasped Make so that end effector 2208 on the right side of longitudinal axis " LL " 10 ° articulated position in the counterclockwise direction joint motions to Joint motions natural state position.For another example, control system 3000 can be operated to end effector 2208 with respect to axle 2204 From joint motions natural state position in the counterclockwise direction joint motions to such as longitudinal axis " LL " on the left of 10 ° of joint motions Position.It will be appreciate that, end effector can along clockwise direction and/or counter clockwise direction joint motions are to different angles.

Referring to Fig. 1 and 2, the shell 2210 of surgical instrumenties 2200 may include interface 3001, and this interface may include can be by operating Person is using to operate multiple controls of surgical instrumenties 2200.In some cases, interface 3001 may include multiple switch, described many Individual switch can be connected to controller 3002 by such as circuit.In some cases, as shown in figure 3, interface 3001 includes three Switch 3004A-C, each switch in its breaker in middle 3004A-C is connected to control by circuit (such as circuit 3006A-C) respectively Device 3002 processed.It will be appreciate that, other combinations of switch and circuit can be used together with interface 3001.

Referring to Fig. 3, controller 3002 can generally include microprocessor 3008 (" processor ") and be operably linked to locate One or more memory element 3010 of reason device 3008.By executing the order code of storage in memorizer 3010, processor 3008 The various parts of controllable surgical instrumenties 2200, such as motor 2216, various drive system and/or user display.Controller 3002 can be realized using integrated and/or discrete hardware elements, software element and/or combinations thereof.The showing of integrated hardware element Example may include processor, microprocessor, microcontroller, integrated circuit, special IC (ASIC), PLD (PLD), digital signal processor (DSP), field programmable gate array (FPGA), gate, depositor, semiconductor device, core Piece, microchip, chipset, microcontroller, SOC(system on a chip) (SoC) and/or package system (SIP).The example of discrete hardware elements May include circuit and/or component (such as gate, field-effect transistor, bipolar transistor, resistance, capacitor, inductance Device and/or relay).In some cases, controller 3002 may include hybrid circuit, and this hybrid circuit includes for example being located at One or more suprabasil discrete and integrated circuit component or parts.

In some cases, microcontroller 3002 can be for being for example purchased from the LM4F230H5QR of Texas Instruments. In some cases, Texas Instruments LM4F230H5QR is ARM Cortex-M4F processor core, and it includes： The on-chip memory of the single cycle flash memory of 256KB or other nonvolatile memories (up to 40MHZ), in order to making property Prefetching buffer, single cycle serial random access storage device (SRAM) of 32KB, being mounted with more than 40MHz can be improvedThe inside read only memory (ROM) of software, 2KB EEPROM (EEPROM), one Or multiple pulsewidth modulation (PWM) module, one or more orthogonal encoder input (QEI) simulation, there are 12 simulation inputs lead to One or more 12 analog-digital converters (ADC) in road, and other features being readily obtained.Other microcontrollers can be easy Ground replaces for the disclosure.Therefore, the disclosure should not necessarily be limited by this context.

In various forms, motor 2216 can drive for for example having the DC brush of the maximum (top) speed of about 25,000RPM Dynamic motor.In other constructions, motor 2216 may include brushless motor, wireless motor, syncmotor, stepper motor or any its His suitable electro-motor.Battery 2218 (or " power supply " or " power supply group "), such as lithium ion battery, shell can be connected to 2212 for example to provide power to motor 2216.

Refer again to Fig. 3, surgical instrumenties 2200 may include the motor controller operationally connecting with controller 3002 3005.Motor controller 3005 is configured to control the direction of rotation of motor 2216.In some cases, motor control Device 3005 is configured to determine, according to the input from controller 3002, the electricity that battery 2218 applies to motor 2216 Pressure polarity, and then determine the direction of rotation of motor 2216.For example, when battery 2218 is applied to the polarity of voltage of motor 2216 By motor controller 3005 according to the input from controller 3002 reversely when, motor 2216 can be by its direction of rotation from up time Pin direction reversely becomes counterclockwise.In addition, motor 2216 can be operably linked to joint motions driver, this joint is transported Dynamic driver can direction for example according to motor 2216 rotation and towards distally or proximally driven by motor 2216.Additionally, joint Motion drive can be operably linked to end effector 2208 so that such as joint motions driver axial direction proximally Translation may result in end effector 2208 along for example counterclockwise carrying out joint motions, and/or joint motions driver Axial translation towards distally may result in end effector 2208 along for example carrying out joint motions clockwise.

In all cases, referring to Fig. 1-3, interface 3001 is configured to so that switching 3004A can be exclusively used in example As the joint motions clockwise of end effector 2208, and switch 3004B and can be exclusively used in the inverse of such as end effector 2208 Hour hands joint motions.In such cases, operator can make end effector 2208 along clockwise by closure switch 3004A Direction carries out joint motions, and makes end effector 2208 carry out joint in the counterclockwise direction by closure switch 3004B Motion.In all cases, switch 3004A-C may include the dome switch opening bias, as shown in Figure 7.Other may also be employed The switch of type, such as capacitance-type switch.

Referring to Fig. 7, dome switch 3004A and 3004B is controlled by rocking arm 3012.The disclosure is contemplated that to be opened for controlling Close other devices of 3004A and 3004B.In neutral position shown in Fig. 7, switch 3004A and 3004B is biased in and beats Open position.Operator for example can be by swinging rocking arm thus pressing dome switch 3004A to make end effector 2208 edge forward Carry out joint motions, as shown in Figure 8 clockwise.As a result, circuit 3006A (Fig. 3) can close, thus to controller 3002 The number of delivering letters to make end effector 2208 carry out joint motions along clockwise direction with starter motor 2216, as mentioned above.Motor 2216 can continue to make end effector 2208 carry out joint motions until operator's release rocking arm 3012, thus allowing dome switch 3004A returns to open position and rocking arm 3012 returns to neutral position.In some cases, controller 3002 is capable of identify that End effector 2208 when reach joint motions predetermined at utmost, and at this moment interrupt motor 2216 electricity Source, irrespective of whether pressing dome switch 3004A.To a certain extent, controller 3002 is configured to reaching peace Total joint motion at utmost when surmount inputting and stopping motor 2216 of operator.Alternatively, operator for example can be led to Cross and swing rocking arm 3012 backwards thus pressing dome switch 3004B to make end effector 2208 carry out joint in the counterclockwise direction Motion.As a result, circuit 3006B can close, thus to make end execute to controller 3002 sending signal with starter motor 2216 Device 2208 carries out joint motions in the counterclockwise direction, as mentioned above.Motor 2216 can continue to make end effector 2208 be closed Section motion discharges rocking arm 3012 until operator, thus allowing dome switch 3004B to return to open position and rocking arm 3012 Return to neutral position.In some cases, controller 3002 is capable of identify that when end effector 2208 reaches joint motions Predetermined at utmost, and at this moment interrupt motor 2216 power supply, irrespective of whether pressing dome switch 3004B.To a certain extent, controller 3002 be configured to reach safe joint motions at utmost when surmount Operator inputs and stops motor 2216.

As described in more detail above, operator can expect for example to make end effector 2208 return to joint motions one's own department or unit shape State position, so that end effector 2208 is alignd with axle 2204 or at least substantially aligns, so that from the inner chamber of patient bounces back Section's apparatus 2200.In all cases, control system 3000 may include virtual ratchet, and this virtual ratchet can be in end effector 2208 have reached prompting operator during joint motions natural state position.In some cases, control system 3000 can be configured One-tenth for example can stop the joint motions of end effector 2208 when reaching joint motions natural state position.In some situations Under, control system 3000 be configured to for example end effector 2208 reach joint motions natural state position when to Operator provides feedback.

In some cases, control system 3000 may include various executable modules, such as software, program, data, driving Device and/or application programming interfaces (API).Fig. 4 shows the example virtual ratchet mould being for example storable in memorizer 3010 Block 10000.Module 10000 may include programmed instruction, and this programmed instruction may result in processor 3008 for example at end when executed Portion executor 2208, during articulated position carries out joint motions, reaches joint motions one's own department or unit shape in end effector 2208 The operator of surgical instrumenties 2200 is for example pointed out during state position.

As described above, referring primarily to Fig. 3, Fig. 7 and Fig. 8, operator for example can make end effector using rocking arm 3012 2208 carry out joint motions.In some cases, the dome switch 3004A of operator's pressable rocking arm 3012 is so that end executes (such as clockwise) for example carries out joint motions to device 2208 to the right in the first direction, and pressable dome switch 3004B so that end effector 2208 (such as counterclockwise) for example carries out joint motions to the left in a second direction.Each In the case of kind, as shown in figure 4, module 10000 scalable processor 3008 is to defeated from dome switch 3004A and/or 3004B Enter the response of signal.For example, processor 3008 is configured to starter motor for example when dome switch 3004A is pressed 2216 so that end effector 2208 carries out joint motions to the right；And processor 3008 is configured to for example justifying Starter motor 2216 when top switch 3004B is pressed is so that end effector 2208 carries out joint motions to the left.In addition, processing Device 3008 is configured to for example when operator discharges dome switch 3004A and/or 3004B respectively, from dome Stop stopping end effector 2208 by leading to motor 2216 when the input signal of switch 3004A and/or 3004B stops Joint motions.

In all cases, as described above, joint motions natural state position may include position range.In some situations Under, processor 3008 is configured to detect when end effector 2208 enters restriction joint motions natural state position Position range.In some cases, surgical instrumenties 2200 may include one or more alignment system (not shown) for sense Survey and record the articulated position of end effector 2208.Processor 3008 is configured to using one or more fixed Position system is detecting when end effector 2208 enters joint motions natural state position.

As shown in figure 4, in some cases, when reaching joint motions natural state position, processor 3008 can stop The joint motions of end effector 2208, to point out operator to reach joint motions natural state position；In some cases, Processor 3008 can stop the joint motions in joint motions natural state position, even if operator continues pressing rocking arm 3012. In some cases, in order to continue through joint motions natural state position, the releasable rocking arm of operator 3012, then put again Move it to restart joint motions.In the case of at least one, operator can push rocking arm 3012 to press dome switch 3004A, such as so that end effector 2208 rotates towards its natural state position, until end effector 2208 reaches it Position state position and the joint motions of processor 3008 stopping end effector 2208, wherein operator can subsequently discharge rocking arm 3012 and subsequently push rocking arm 3012 to press dome switch 3004A again, to continue end effector 2208 along identical The joint motions in direction.

In some cases, as shown in figure 5, module 10000 may include feedback mechanism to reach joint motions one's own department or unit shape Operator is pointed out during state position.Processor 3008 can provide sense organ anti-using various feedback devices 2248 (Fig. 3) to operator Feedback.In some cases, device 2248 may include such as visual feedback means, such as display screen and/or light-emitting diode display.At certain In the case of a little, device 2248 may include audible feedback means, such as speaker and/or buzzer.In some cases, device 2248 may include the haptic feedback devices that for example can provide touch feedback, such as mechanical detent.In some cases, touch feedback Can for example be provided by vibrating motor, this vibrating motor for example can provide vibratory impulse to the shank of surgical instrumenties.In some feelings Under condition, device 2248 may include the combination of such as visual feedback means, audible feedback means and/or haptic feedback devices.

In some cases, processor 3008 is configured to for example when reaching joint motions natural state position Stop the joint motions of end effector 2208 and provide feedback to operator.In some cases, processor 3008 can be There is provided feedback to operator during arrival joint motions natural state position but the joint motions of end effector 2208 can not be stopped. In the case of at least one, end effector 2208 can position from the first side of natural state position towards natural state position Motion, through natural state position, and continues motion on the opposite side of natural state position in same direction.In such fortune During dynamic, when end effector 2208 passes through natural state position, some form of feedback can be provided to operator.Some In the case of, processor 3008 for example can stop the joint fortune of end effector 2208 when reaching joint motions natural state position Move but feedback can not be provided to operator.In some cases, processor 3008 can be in end effector 2208 through its center Suspend end effector 2208 during position and continue thereafter with through its center.In the case of at least one, end executes Device 2208 can such as temporarily resident about 2 seconds of heart position and continue thereafter with its joint motions wherein, precondition is joint fortune Dynamic switch 3012 keeps pressing.

In all cases, the operator of surgical instrumenties 2200 can attempt making end effector using rocker switch 3012 2208 joint motions return to it and do not carry out the position of joint motions.Reader will appreciate that, operator can make end execute Device 2208 accurately and/or is repeatably alignd with the longitudinal axis of surgical instrument shaft.But in all cases, operator can be easy In the particular range that end effector 2208 is positioned accurately at center.For example, operator can push rocker switch 3012 so that end effector 2208 rotates towards its center and subsequently believes that end effector 2208 arrives in operator Reach its center or close to its center when discharge rocker switch 3012.Such situation can be construed to taste by processor 3008 Examination makes end effector 2208 again placed in the middle, and if end effector 2208 not heart position wherein, then processor 3008 Can automatically make end effector 2208 placed in the middle.In at least one example, if the operator of surgical instrumenties is for example in end Rocker switch 3012 is discharged, then processor 3008 can be automatic when executor 2208 is located in about 10 degree of the either side of center Make end effector 2208 again placed in the middle.

In all cases, referring primarily to Fig. 3, Fig. 6 and Fig. 9, module 10000 may include joint motions and resets or machine placed in the middle Structure.In some cases, kinetic control system 3000 may include reset input, if end effector 2208 is in joint motions Position, then this reset input can make end effector 2208 reset or return to joint motions natural state position.For example, connecing When receiving reseting input signal, controller 3008 can determine that the articulated position of end effector 2208, and if end Executor 2208 is in joint motions natural state position, then controller 3008 can not take any action to change end execution The articulated position of device 2208.If however, end effector 2208 is when processor 3008 receives reseting input signal Be in articulated position, then processor 3008 can starter motor 2216 so that end effector 2208 return to joint motions this Position state position.As shown in figure 9, operator can press rocking arm 3012 down to make dome open in short time period simultaneously or at least Close 3004A and 3004B to close each other, this can transmit reseting input signal to processor 3008, so that end effector 2208 is multiple Position or return to joint motions natural state position.Operator can subsequently discharge rocking arm 3012, so that rocking arm 3012 returns to sky File location and make switch 3004A and 3004B return to open position.Alternatively, the interface 3001 of control system 3000 can be wrapped Include single reset switch, for example another dome switch, it independently can be closed from operator to pass to processor device 3008 Defeated joint motions reseting input signal.

Refer again to Fig. 1, the end effector 2208 of surgical instrumenties 2200 may include the first jaw and the second jaw, this One jaw includes anvil block 10002, and this second jaw has and is configured to receive the logical of the nail bin 10006 that may include multiple nails Road 10004.In some cases, end effector 2208 can for example change between configuration and closed configuration organizing opening Capture is between anvil block 10002 and nail bin 10006.Additionally, surgical instrumenties 2200 may include firing member, this firing member can be Percussion natural state position and firing position between axially-movable with when end effector 2208 is in closed configuration from nail bin The 10006 deployment nails and/or cutting capture tissue between anvil block 10002 and nail bin 10006.

As described above, end effector 2208 can change between configuration and closed configuration opening so that tissue is clamped in it In.In at least one embodiment, anvil block 10002 can move with against nail bin between the open position and the closed position 10006 compression organizations.In all cases, anvil block 10002 can be applied to the pressure of tissue or power may depend on the thickness of tissue. For the given clearance distance between anvil block 10002 and nail bin 10006, compared to compared with thin tissue, anvil block 10002 can be to thicker group Knit and apply larger compression pressure or power.Surgical instrumenties may include the sensor that can detect the pressure or power being applied to tissue, example As load sensor.In some cases, when pressure or power are applied to tissue, the thickness of tissue and/or composition can become Change.For example, the fluid such as blood being included in compression organization can be outwardly in adjacent tissue.In such cases, organize Compression pressure that is relatively thin and/or being applied to tissue can be become or power can reduce.It is configured to detection and be applied to tissue Pressure or the sensor of power can detect this change.Sensor can carry out signal communication, wherein processor with processor 3008 3008 can monitor the pressure being applied to tissue or power and/or be applied to the pressure of tissue or the change of power.In at least one situation Under, processor 3008 can be assessed the change of pressure or power and pass on when pressure or power reach to the operator of surgical instrumenties Lower state and no longer changing.Processor 3008 may further determine that the change of pressure or power when be equal to and/or less than threshold value or Person's threshold rates.For example, when the change of pressure or power is higher than 10%/second, processor 3008 can be lighted and for example activate with percussion The warning indicator that device is associated, and when the change of pressure or power is equal to or less than for 10%/second, processor 3008 can be lighted The preparation firing indicator being for example associated with percussion actuator.In some cases, surgical instrumenties can forbid firing member court Distally is advanced through end effector 2208, until the change of such as pressure or power is equal to or less than threshold rates.

In some cases, the operator of surgical instrumenties may be selected to dispose be stored in end effector 2208 more only Nail.In such cases, after firing member is fully advanced, firing member can bounce back.In the case of various other, surgery The operator of apparatus may be selected to dispose the whole nails being stored in end effector 2208.In either case, surgical instrumenties The percussion actuator that operator's pressable extends from shank assembly 2210 advances percussion structure with driven motor 2216 and towards distally Part.Once percussion actuator is depressed sufficiently, motor 2216 can activated.In at least one mode of operation, fire The pressing further of actuator can not affect the operation of motor 2216.Motor 2216 can be according to the mode specified by processor 3008 Operated, until percussion actuator is released.Under other operator schemes at least one, the degree that percussion actuator is pressed Or amount can affect the mode of motor 2216 operation.For example, the initial compression of percussion actuator can be detected simultaneously by processor 3008 And as response, processor 3008 can operate motor 2216 with First Speed, and the additional compression of wherein percussion actuator can be located Reason device 3008 detects and as response, processor 3008 can operate motor 2216 with second speed (such as, fast speed). In some cases, the pressing change of percussion actuator can be proportional to the change of motor speed.In the case of at least one, hit The pressing change sending out actuator can be linearly proportional with the change of motor speed.In all cases, fire actuator quilt Tractive must be more remote, and motor 2216 is operated faster.In certain embodiments, it is applied to the percussion pressure of actuator or power Big I affects the mode of motor 2216 operation.For example, it is applied to the initial pressure of percussion actuator or power can be by processor 3008 detect and as response, and processor 3008 can operate motor 2216 with First Speed, be wherein applied to percussion and activate The additonal pressure of device or power can be detected by processor 3008 and conduct response, and processor 3008 can with second speed (such as, Fast speed) operation motor 2216.In some cases, the change of the pressure or power that are applied to percussion actuator can be with motor speed The change of degree is proportional.In the case of at least one, the change of the pressure or power that are applied to percussion actuator can be with motor speed Change linearly proportional.It is published in entitled " the SURGICAL INSTRUMENT HAVING on December 7th, 2010 The disclosure of the United States Patent (USP) 7,845,537 of RECORDING CAPABILITIES " is incorporated by reference in its entirety herein.

As described above, the operator of surgical instrumenties may be selected to dispose the whole nails being stored in end effector 2208.? In the case of such, operator's pressable fires actuator and subsequently when they believe the firing schedule in firing member for whole nails Release actuator when period is deployed.In some cases, surgical instrumenties may include can when firing schedule completes by The indicator that reason device 3008 is lighted.Suitable indicator may include such as light emitting diode (LED).In some cases, operate Person may believe that firing schedule is fully finished, even if firing schedule is only nearly completed.Surgical instrumenties may include and are adapted to Enough detect at least one sensor of position in its firing schedule for the firing member, wherein sensor can be entered with processor 3008 Row signal communication.If firing schedule terminates in being nearly completed at position, processor 3008 can order motor 2216 complete to hit Send out the firing schedule of component.For example, if firing member has for example completed the whole percussions in addition to the last 5mm of firing schedule Stroke, then processor 3008 can be assumed that operator is intended to complete firing schedule and be automatically completed this firing schedule.

Refer again to Fig. 1, the interface 3001 of surgical instrumenties 2200 may include natural state input 3014.Operator can adopt Natural state input signal is transferred to processor 3008 so that surgical instrumenties 2200 return to one's own department or unit shape by natural state input State, it may include makes end effector 2208 return to joint motions natural state position and/or so that firing member 10060 is returned To percussion natural state position.As shown in Figure 3 and Figure 7, natural state input 3014 may include such as cap or lid, described cap or lid Can press with closure switch 3004C by operator and natural state input signal is transferred to processor by circuit 3006C 3008.In some cases, natural state input 3014 is configured to make end effector 2208 return to joint fortune Dynamic natural state position, and individually input can be used for making firing member return to percussion natural state position.In some feelings Under condition, natural state input 3014 is configured to make firing member return to percussion natural state position, and individually Input can be used for making end effector 2208 return to joint motions natural state position, for example, rocking arm 3012.

In all cases, processor 3008 is configured to receiving the basis from natural state input 3014 Firing member is led to return to percussion natural state position and lead to end effector 2208 to return during the condition input signals of position To joint motions natural state position.In some cases, processor 3008 can depend on to the response of natural state input signal It is in percussion pattern or joint motions pattern in surgical instrumenties 2200；If processor 3008 determines that surgical instrumenties 2200 are in Joint motions pattern, then processor 3008 for example end effector 2208 can be led to return in response to natural state input signal To joint motions natural state position；And if processor 3008 determines that surgical instrumenties 2200 are in percussion pattern, then process Device 3008 for example can lead to firing member to return to percussion natural state position in response to natural state input signal.Some In the case of, only when end effector 2208 is in closed configuration, firing member just can axially advance to hit from nail bin 10006 Send out nail.In such cases, only when end effector 2208 is in closed configuration, surgical instrumenties 2200 just can be at firing mould Formula.In some cases, only when end effector 2208 is in and opens configuration, end effector 2208 just can carry out joint fortune Dynamic.In such cases, only when end effector 2208 is in and opens configuration, surgical instrumenties 2200 just can be at joint motions Pattern.Therefore, in some cases, processor 3008 is configured to open by determining that end effector 2208 is in Configuration or closed configuration still fire pattern determining that surgical instrumenties 2200 are in joint motions pattern.In some cases, One or more sensors 3016 (Fig. 3) can be opened configuration also by processor 3008 using determining that end effector 2208 is in It is closed configuration.

Referring now to Fig. 1 and Figure 10, surgical instrumenties 2200 may include screen 2251, and this screen may include in such as shank group In part 2202.Screen 2251 can by one or more of microcontroller as herein described using for example pointing out, to guide and/or Provide feedback to the operator of surgical instrumenties 2200.Screen 2251 can produce output display 2250.In use, operator can example As tilted, overturning and/or rotational handle assembly 2202, and as response, microcontroller can change taking of output display 2250 To improve, alignment and/or the adjustment visual field of the operator with respect to surgical instrumenties 2200 for the output display 2250 and/or any The orientation of suitable reference frame (for example, the reference frame of inertia or at least substantially inertia).Fixed reference frame can be at least in part Limited by gravity.In some cases, the downward acceleration of terrestrial gravitation can be represented by the vector-g in Figure 10.In some situations Under, processor (such as processor 3008) is configured to detect the change in location with respect to reference frame for the shank assembly 2202 And according to screen 2251 with respect to reference frame relative position come one of multiple orientations using screen 2251.

In some cases, as shown in Figure 10, screen 2251 may be provided at the top surface 10008 of shank assembly 2202 On.In all cases, surface 10008 can extend along the first plane, and this first plane is by representing the first of shank assembly 2202 Coordinate X1 and Y1 of group cartesian coordinate limits.In all cases, screen 2251 can be positioned in the first plane.In some feelings Under condition, screen 2251 can be positioned on as in lower plane, and this plane becomes to fix parallel to the first plane and/or with respect to the first plane Any suitable flat of relation extends.In order to the convenience purpose of this paper is it will be assumed that represent first group of Descartes of shank assembly Coordinate is alignd with screen 2251 and is therefore referred to as group of screens cartesian coordinate.Output display 2250 can be located at by second or display In the second plane that coordinate X2 and Y2 of group cartesian coordinate limits.In some cases, as shown in Figure 10, the first plane can example As with the second co-planar.Additionally, at least some cases, first or group of screens cartesian coordinate can be with second or display group Cartesian coordinate is alignd.For example ,+X1 can be alignd with+X2 or parallel, and+Y1 can be alignd with+Y2 or parallel, and+Z1 can be with+Z2 Alignment or parallel.Therefore, in such cases ,-X1 can be alignd with-X2 or parallel, and-Y1 can be alignd with-Y2 or parallel, and- Z1 can be alignd with-Z2 or parallel.As will be described in more detail below, in some cases, second or display group cartesian coordinate Can be with respect to first or group of screens cartesian coordinate is realigned.In all cases, display cartesian coordinate is some Arrangement can be preferred.For example, the neutral position of surgical instrumenties 2200 can be consistent with the+Z1 axle of screen coordinate, described+Z1 axle with + g vector alignment.As will be described in more detail below, processor 3008 may be allowed to specific between the screen coordinate under reference frame Amount deviation and the alignment of displaing coordinate need not be changed；However, if it exceeds between screen coordinate under reference frame specific partially Difference, then processor can change the alignment that displaing coordinate is with respect to screen coordinate.

Referring to Figure 11-12D, module 10010 be configured to change in location in response to shank assembly 2202 and Change or change the orientation of output display 2250 between multiple orientations, the position of shank assembly 2202 for example can be able to hold by being derived from The input of the one or more accelerometer (not shown) being contained in shank assembly 2202 is monitoring.As mentioned above and as schemed Shown in 12A, output display 2250 can adopt first orientation, wherein when surgical instrumenties are in its neutral position, display group flute card + X2 and+Y2 the vector of your coordinate is alignd with+X1 and+Y1 the vector of group of screens cartesian coordinate respectively or at least substantially aligns. In some cases, as shown in Figure 12 B, output display 2250 can adopt second orientation, wherein shows the+Y2 of group cartesian coordinate For example align with+Y1 and-X1 the vector of group of screens cartesian coordinate respectively with+X2 vector or at least substantially align.Some In the case of, as indicated in fig. 12 c, output display 2250 can wherein show the+X2 and+Y2 of group cartesian coordinate using the 3rd orientation Vector is for example alignd with-X1 and-Y1 the vector of group of screens cartesian coordinate respectively or at least substantially aligns.In some situations Under, as indicated in fig. 12d, output display 2250 using the 4th orientation, can wherein show the+X2 and+Y2 vector of group cartesian coordinate For example align with-Y1 and+X1 the vector of group of screens cartesian coordinate respectively or at least substantially align.Other orientations are also permissible 's.

Referring to Figure 11-12D, processor 3008 be configured to for example include first orientation, second orientation, the 3rd Switch the orientation of output display 2250 for example to adapt to shank assembly 2202 between multiple orientations of orientation and/or the 4th orientation Change in location.In some cases, module 10010 may include Hysteresis control algorithm with for example avoid when first orientation, second The vibration of orientation when switching between orientation, the 3rd orientation and/or the 4th orientation.Hysteresis control algorithm can produce and will lead to show The initial detecting of the event of change in orientation and delayed between the processor command of display orientation in order to change.Thus, stagnant ring control Algorithm processed is negligible will to be led to the time of possible transient state orientation and most preferably waits reorientation to show, until reaching stable state Or the state of enough stable states.In some cases, processor 3008 is configured to for example when+Z1 vector and the weight of Z1 axle Output display 2250 is orientated to first orientation when being less than or equal to maximum angle by the angle between the-g vector of power axle g.At certain In the case of a little, processor 3008 is configured to the angle for example between the+X1 vector and the+g vector of gravity axis g of X1 axle When degree is less than or equal to maximum angle, output display 2250 is orientated to second orientation.In some cases, processor 3008 can It is configured to the such as angle between the+Y1 vector and the+g vector of gravity axis g of Y1 axle and be less than or equal to maximum angle When output display 2250 is orientated to the 3rd orientation.In some cases, processor 3008 is configured to for example work as X1 Output display 2250 is orientated when being less than or equal to maximum angle by the angle between the+X1 vector of axle and the-g vector of gravity axis g Become the 4th orientation.In some cases, maximum angle can be selected from e.g., from about 0 degree of any angle to e.g., from about 10 degree of scopes. In some cases, maximum angle can be selected from e.g., from about 0 degree of any angle to e.g., from about 5 degree of scopes.In some cases, Maximum angle can be e.g., from about 5 degree.Above-mentioned maximum angle is exemplary and is not intended to limit the scope of the present disclosure.

Referring to Figure 11-12D, in some cases, processor 3008 is configured to for example when the+Z1 vector of Z1 axle When being in alignment with each other or at least substantially align with-g the vector of gravity axis g, output display 2250 is orientated to first orientation.At certain In the case of a little, processor 3008 is configured to for example when the+X1 vector of X1 axle is in alignment with each other with+g the vector of gravity axis g Or at least substantially align when output display 2250 is orientated to second orientation.In some cases, processor 3008 can be joined It is set to and can for example will export when+Y1 the vector of Y1 axle is in alignment with each other or at least substantially aligns with+g the vector of gravity axis g Display 2250 is orientated to the 3rd orientation.In some cases, processor 3008 be configured to for example when X1 axle+X1 to Output display 2250 is orientated to the 4th orientation when being in alignment with each other or at least substantially align with-g the vector of gravity axis g by amount.

Referring to Figure 11-12D, in some cases, processor 3008 is configured in shank 2212 around longitudinal direction Axis LL (Fig. 1) turn clockwise the angle in the range of e.g., from about 80 degree to e.g., from about 100 degree in the case of make output aobvious Show that 2250 rotate to second orientation from first orientation.In this example, if shank 2212 is around the dextrorotation of longitudinal axes L L Turn and be less than 80 degree, then processor 3008 can not reorientation output display 2250.In some cases, processor 3008 can be joined Being set to can be in the range of shank 2212 be selected from e.g., from about 80 degree to e.g., from about 100 degree around longitudinal axes L L rotate counterclockwise Output display 2250 is made to rotate to the 4th orientation from first orientation in the case of angle.In this example, if shank 2212 encloses It is less than 80 degree around longitudinal axes L L rotate counterclockwise, then processor 3008 can not reorientation output display 2250.

As described above, operator for example can make end effector 2208 carry out joint motions using rocking arm 3012.At certain In the case of a little, operator can for example move along the first direction its finger to swing rocking arm 3012 to press dome switch 3004A, from And make end effector 2208 carry out joint motions along clockwise direction to the right；And operator can such as edge and first direction Contrary second direction moves its finger to press dome switch 3004B, so that end effector 2208 is in the counterclockwise direction Carry out joint motions to the left.

According to rocking arm 3012 with respect to the position of interface 3001 and/or shank assembly 2202 and/or orientation, in some situations Under, in first or neutral position of shank assembly 2202, first direction may be, for example, upward direction and second direction can example As in downward direction, as shown in Fig. 1 and Figure 14 A.In such cases, the operator of surgical instrumenties 2200 can for example get used to Its finger of upper movement carries out joint motions to the right for example to make end effector 2208；And operator can for example get used to Lower its finger of movement carries out joint motions to the left for example to make end effector 2208.However, in some cases, operator The position change of shank assembly 2202 can be the second position, for example, upside down position as shown in Figure 14B.In such cases, If operator forgets makes the moving direction of its finger reversely, operator can make unintentionally end effector 2208 along with behaviour The contrary direction of author's anticipated orientation carries out joint motions.

Referring to Figure 13, surgical instrumenties 2200 may include module 10012, this module can allow operator keep surgeon can Moving direction with respect to the operation custom of surgical instrumenties 2200.As described above, processor 3008 is configured to example As in response to the change of the position of shank assembly 2202 and/or orientation and between multiple configurations switch.In some cases, such as Shown in Figure 13, processor 3008 is configured to be associated in primary importance with shank assembly 2202 and/or orientation Second structure at the interface 3001 that first configuration at interface 3001 and the second position with shank assembly 2202 and/or orientation are associated Switch between type.

In some cases, in the first configuration, processor 3008 is configured to for example in dome switch 3004A When being pressed, order joint motions motor makes end effector 2208 carry out joint motions to the right, and processor 3008 can quilt Being configured to order joint motions motor for example when dome switch 3004B is pressed makes end effector 2208 enter to the left Row joint motions.In the second configuration, processor 3008 can for example when dome switch 3004A is pressed order joint motions horse Reach and make end effector 2208 carry out joint motions to the left, and processor 3008 can for example be pressed in dome switch 3004B During pressure, order joint motions motor makes end effector 2208 carry out joint motions to the right.In various embodiments, surgery Apparatus may include makes end effector 2208 carry out a motor of joint motions along both direction, and in other embodiments In, surgical instrumenties may include the first motor being configured to make end effector 2208 carry out joint motions in the first direction Be configured to the second motor of making end effector 2208 carry out joint motions in a second direction.

Referring to Figure 13-14B, processor 3008 is configured to for example be in primary importance in shank assembly 2202 And/or adopt the first configuration during orientation, and for example adopt second when shank assembly 2202 is in the second position and/or orientation Configuration.In some cases, processor 3008 is configured to by from can for example be contained in shank assembly 2202 One or more accelerometer (not shown) orientation and/or position to detect shank assembly 2202 for the input.In various feelings Under condition, such accelerometer can detect the orientation that shank assembly 2202 is with respect to gravity, i.e. up and/or down.

In some cases, processor 3008 is configured in the vectorial D (figure extending through shank assembly 2202 1) angle and gravity vector g between is to adopt the first structure during any angle in the range of e.g., from about 0 degree to e.g., from about 100 degree Type.In some cases, the angle that processor 3008 is configured between vectorial D and gravity vector g is e.g., from about 0 Spend and during any angle in the range of e.g., from about 90 degree, adopt the first configuration.In some cases, processor 3008 can be configured One-tenth can be such as less than or equal to about as a example the angle between vectorial D and gravity vector g when 80 degree and adopt the first configuration.

In some cases, processor 3008 is configured to as a example the angle between vectorial D and gravity vector g Such as larger than or be equal to about 80 degree when adopt the second configuration.In some cases, processor 3008 is configured in vectorial D Angle and gravity vector g between is to be greater than or be equal to when about 90 degree adopting the second configuration.In some cases, processor 3008 are configured to when angles between vectorial D and gravity vector g are and are greater than or are equal to about 100 degree to adopt the Two configurations.

Reader will appreciate that, the described orientation of shank assembly 2202 and/or position and its by processor 3008 adopt right Configuration is answered to be exemplary in itself and be not intended to limit the scope of the present disclosure.Processor 3008 is configured to adopt With the various other configurations relevant with various other orientations and/or position of shank assembly 2202.

Referring to Figure 15, in some cases, surgical instrumenties 2200 can be by receiving from display (for example, display 2250) The input from operator come to control and/or operate or at least in part control and/or operate；Display 2250 may include Touch screen, this touch screen is suitable to receive the input in one or more touch gestures forms from operator.In various feelings Under condition, display 2250 can be connected to processor, for example, processor 3008, processor 3008 be configured in response to The touch gestures that there is provided by operator and lead to surgical instrumenties 2200 to execute various functions.In some cases, display 2250 May include such as capacitance touch screen, electric resistance touch screen or any suitable touch screen.

Refer again to Figure 15, display 2250 may include multiple icons, the plurality of icon can with can be by surgical instrumenties Multiple functions of 2200 execution are associated.In some cases, processor 3008 is configured to representing specific function Icon by surgical instrumenties 2200 operator select, touch and/or press when lead to surgical instrumenties 2200 to execute this function. In some cases, memorizer (for example, memorizer 3010) may include for make that multiple icons are associated with multiple functions one Individual or multiple modules.

In some cases, as shown in figure 15, display 2250 may include such as percussion icon 10014.Processor 3008 It is configured to the detection percussion input signal when operator touches and/or pressing fires chart 10014.In response to detection To firing input signal, processor 3008 is configured to such as starter motor 2216 to actuate hitting of surgical instrumenties 2200 Send out component, thus the group between anvil block 10002 and nail bin 10006 from nail bin 10006 percussion nail and/or cutting capture Knit.In some cases, as shown in figure 15, display 2250 may include for making end effector 2208 (example in the first direction As clockwise) carry out the joint motions icon 10016 of joint motions；Display 2250 may also include for making end hold (for example, counterclockwise) carries out the joint motions icon 10018 of joint motions to row device 2208 in a second direction.Reader will know Road, display 2250 may include the various other icons being for example associated with various other functions, when such icon is by surgery device When the operator of tool 2200 selects, touches and/or presses, it is described various that processor 3008 may result in surgical instrumenties 2200 to execute Other functions.

In some cases, one or more icons of display 2250 may include and for example represent and by touching or can press The word of function of icon execution, symbol and/or image.In some cases, joint motions icon 10016 can show along up time Pin direction carries out the image of the end effector 2208 of joint motions.In some cases, joint motions icon 10018 can show Carry out the image of the end effector 2208 of joint motions in the counterclockwise direction.In some cases, percussion icon 10014 can show Show the image of the nail from nail bin 10006 percussion.

Referring to Fig. 1 and Figure 16, the interface 3001 of surgical instrumenties 2200 may include multiple operational controls, for example, closure triggering Device 10020, knob 10022, joint motions rocking arm 3012 and/or percussion input 3017 (Figure 17).In some cases, surgery device The various operational controls at the interface 3001 of tool 2200 also act as navigation controls in addition to its operating function.In some situations Under, surgical instrumenties 2200 may include operator scheme and navigation pattern.In operator scheme, in the control of surgical instrumenties 2200 one It is configured to a bit or all execute operating function；And in navigation pattern, in the control of surgical instrumenties 2200 one It is configured to a bit or all execute navigation feature.In all cases, by some in the control of surgical instrumenties 2200 Or the navigation feature of whole execution can be relevant, associated and/or related with the operating function being executed by these controls.Change sentence to change Say, can be limited by the navigation feature of this class control execution by the operating function of the control execution of surgical instrumenties 2200.

Referring to Fig. 1 and Figure 16, in some cases, processor (for example, processor 3008) is configured to outside The main interface configuration that section's apparatus 2200 is in during operator scheme is in two grades of boundaries during navigation pattern with surgical instrumenties 2200 Switch between the configuration of face；Processor 3008 is configured to for example in an operation mode operating function be distributed to interface 3001 some or all controls and under navigation pattern, navigation feature is distributed to such control.In some cases, two The navigation feature of the control in the configuration of level interface for example to be limited by the operating function of the control in main interface configuration.

Referring to Figure 16, in some cases, the operator of surgical instrumenties 2200 can for example pass through to open or start display Navigation menu 10024 in 2250 is starting navigation pattern.In some cases, surgical instrumenties 2200 may include and lead for starting The navigation mode button of model plane formula or switch (not shown).Under any circumstance, processor 3008 can receive navigation pattern During input signal, the control at interface 3001 is switched to secondary interface configuration from main interface configuration.

As shown in figure 16, navigation menu 10024 may include various selectable classifications, menu and/or file and/or Various subcategories, submenu and/or sub-folder.In some cases, navigation menu 10024 may include such as joint motions class Mesh, percussion classification, closure classification, battery classification and/or rotation classification.

In some cases, as described above, joint motions rocking arm 3012 for example can be used for making end hold in an operation mode Row device 2208 carries out joint motions, and can be used for selecting under navigation pattern joint motions classification and/or startup and/or Navigation joint motions menu.In some cases, percussion input 3017 (Figure 17) for example can be used for percussion nail in an operation mode, And can be used for selecting percussion classification and/or startup and/or navigation percussion menu under navigation pattern.In some situations Under, as described above, closure trigger 10020 for example can be used in an operation mode making end effector 2208 open configuration with Approach and change between configuration, and can be used for selecting closure classification and/or startup and/or navigation closure under navigation pattern Menu.In some cases, knob 10022 for example can be used for making end effector 2208 with respect to slender axles in an operation mode 2204 rotations, and can be used for selecting rotation classification and/or startup and/or navigation rotary menu under navigation pattern.

Referring primarily to Fig. 1 and Figure 17, the operation of surgical instrumenties 2200 can relate to a series of step of or order, action, thing Part and/or combinations thereof.In all cases, as shown in figure 17, surgical instrumenties 2200 may include indicator system 10030, This indicator system is configured to guide, point out and/or to provide with respect to various steps, action and/or event instead The operator of surgical instrumenties of feeding 2200.

In all cases, indicator system 10030 may include multiple indicators 10032.In some cases, indicator 10032 may include such as visual detector, for example, display screen, backlight or LED.In some cases, indicator 10032 can Including audio indicator, for example, speaker and/or buzzer.In some cases, indicator 10032 may include haptic indication Device, for example, tactile actuator.In some cases, indicator 10032 may include for example visual detector, audio indicator, And/or the combination of tactile indicators.

Referring to Figure 17, indicator system 10030 may include one or more microcontrollers, such as microcontroller 3002, should Microcontroller may include one or more processors (for example, processor 3008) and/or one or more memory element is (for example, Memorizer 3010).In all cases, processor 3008 can be connected to various sensors 10035 and/or feedback system, and this is anti- Feedback system is configured to provide state and/or the surgical instrumenties for example about surgical instrumenties 2200 to processor 3008 The feedback of 2200 process of step, action and/or event involved by operation.

In all cases, the operation of surgical instrumenties 2200 may include multiple steps, and described step includes such as joint fortune Dynamic step, closure step, percussion step, percussion reset process, closed reduction step, joint motions reset process and/or they Combination.In all cases, joint motions step can relate to for example make end effector 2208 close with respect to slender axles 2204 Section moves to articulated position；And joint motions reset process can relate to for example make end effector 2208 return to joint Motion natural state position.In all cases, closure step can relate to for example make end effector 2208 be converted to closure structure Type；And closed reduction step can relate to for example to make end effector 2208 be converted to open configuration.In all cases, fire Step can relate to for example advance firing member to be caught by end effector 2208 to dispose to follow closely and/or cut from nail bin 10006 The tissue obtaining.In all cases, percussion reset process can relate to for example firing member be retracted to percussion natural state position.

Referring to Figure 17, one or more indicators 10032 of indicator system 10030 can with reference to surgical instrumenties 2200 One or more of each step of operation execution step is associated.In all cases, as shown in figure 17, indicator 10032 may include the pass that the relief indicator 10033 being for example associated is associated with joint motions step with relief assembly 2228 The percussion that the closing indicator 10036 that section motion indicator 10034 is associated with closure step is associated with percussion step refers to Show joint motions reset indicator 10040 and closed reduction step phase that device 10038 is associated with joint motions reset process The closed reduction indicator 10042 of association and/or the percussion reset indicator 10044 being associated with percussion reset process.Reader Will appreciate that, above-mentioned steps and/or indicator are exemplary in itself and are not intended to limit the scope of the present disclosure.This public affairs Open and be contemplated that various other steps and/or indicator.

Referring to Fig. 1, in all cases, one or more controls at interface 3001 can be used for the operation of surgical instrumenties 2200 One or more steps in.In some cases, closure trigger 10020 can for example be used for closing in step.In some feelings Under condition, percussion input 3017 (Figure 17) can for example be used for firing in step.In some cases, joint motions rocking arm 3012 can example As in joint motions step and/or joint motions reset process.In some cases, natural state input 3014 can be such as For firing in reset process.

Referring to Figure 17, in all cases, the instruction being associated with one of the step of operation of surgical instrumenties 10030 Device 10032 also can be associated with for the control in such step.For example, joint motions indicator 10034 can be with joint motions Rocking arm 3012 be associated, closing indicator 10036 can be associated with closure trigger 10020, firing indicator 10038 can with hit Send out input 3017 to be associated, and/or percussion reset indicator 10044 can be associated with natural state input 3014.At certain In the case of a little, make indicator be associated with the control at interface 3001 may include indicator is arranged or is positioned on control, interior Portion, nearby, partly arrangement or orient control is internal and/or arrangement or be located immediately adjacent control for example so that indicator and control Part is associated.Reader will appreciate that, above-mentioned control and/or indicator are exemplary in itself and are not intended to limit this public affairs The scope opened.The disclosure is contemplated that various other controls and the indicator being associated with such control.

In all cases, processor 3008 is configured to according to the step by being associated with indicator 10032 One or more orders of limiting of order starting indicator 10032.For example, operator can need according to proceeding by joint Movement step, carry out afterwards closing step and carrying out firing the series of steps of step followed by operating surgical instrumenties 2200.In such example, processor 3008 be configured to by according to sequence of steps identical sequence starting pair Joint motions indicator 10034, closing indicator 10036 and the firing indicator 10038 answered is guiding operator to complete step Sequentially.Change sentence and change and say, processor 3008 is configured to for example start joint motions indicator 10034 first, opens afterwards Dynamic closing indicator 10036, and start firing indicator 10038 followed by.In some cases, surgical instrumenties 2200 can be wrapped Include such as by-pass switch (not shown), this by-pass switch is configured to allow operator to bypass recommended but and nonessential Step.In such cases, pressing by-pass switch can signal to processor 3008 to start next instruction in order Device.

In all cases, processor 3008 is configured to switch indicator between multiple indicator configurations 10032 to guide, to point out and/or provide feedback to the operator of surgical instrumenties 2200.In all cases, processor 3008 can For example by may include start configuration and/or disable configuration multiple indicator configurations between switching indicator 10032 to The operator of surgical instrumenties 2200 provides visual cues.In some cases, one or more of indicator 10032 indicator May include the light source that for example can start in the first indicator configuration for example to point out operator's execution related to indicator 10032 The step of connection；And this light source for example can be deactivated for example with the prompting operation when this step completes in the second indicator configuration Person.

In some cases, light source can be flashing lamp, this flashing lamp can by processor 3008 flicker configuration with non- Change between flicker configuration.In some cases, the flashing lamp being in nand flash configuration can for example be transformed into solid-state illumination or quilt Close.In some cases, the flashing lamp being in flicker configuration can for example represent that step is carrying out the latent period of period.? In some cases, the flicker frequency that can change flashing lamp is to provide various visual cues.For example, when latent period completes close to it When, the flicker frequency of the flashing lamp representing latent period can be increased or decreased.Reader will appreciate that, latent period may be, for example, by Urgent latent period and/or recommendation latent period.In some cases, being forced latent period can be by different from recommendation latent period Flicker configuration expression.In some cases, flashing lamp may include and represents the first color being forced latent period and represent recommendation etc. Treat second color in cycle, the wherein first color is different from the second color.In some cases, the first color may be, for example, red Color, and the second color may be, for example, yellow.

In all cases, one or more of indicator 10032 indicator can for example by processor 3008 The first indicator configuration of control in the next standard step of operating procedure that expression can be used for surgical instrumenties 2200, expression Can be used for the second indicator configuration of control in the non-standard step of the next one of the operating procedure of surgical instrumenties 2200 and/or Represent and cut between the 3rd indicator configuration of control in the next step of operating procedure being not useable for surgical instrumenties 2200 Change.For example, when the end effector 2208 of surgical instrumenties 2000 is in and opens configuration, joint motions indicator 10034 and closing Close indicator 10036 can be lit, thus indicate this two function (that is, end effectors to the operator of surgical instrumenties 2200 Joint motions and end effector closure) can use at this point for operator.In this state, firing indicator 10038 can not It is lit, thus indicate that percussion function is unavailable at this point for operator to operator.Once end effector 2208 is arranged Become closure and/or clamp configuration, joint motions indicator 10034 can be closed, thus indicate joint motions work(to operator Can be now no longer available.In this state, the brightness of closing indicator 10036 can reduce, thus to operator's indicating closing Function now can be reversed.Additionally, in this state, firing indicator 10038 can be lit, and thus hits to operator's instruction Send out function to can use at this point for operator.Once firing member is advanced at least in part, closing indicator 10036 can be by Close, thereby indicate that closure function now can not be reversed.When firing member retracts to its non-firing position backward, percussion refers to Show that the brightness of device 10038 can reduce, thus can again be advanced as desired to operator's instruction firing member.Alternatively, Once firing member bounces back, firing indicator 10038 can be closed, and thus now can not to operator's instruction firing member Again advanced.In either case, after firing member has retracted to its non-firing position backward, closing indicator 10036 can be lighted again, thus now can be reversed to operator's indicating closing function.Joint motions indicator 10034 can Remain turned-off, thereby indicate that joint motions function is now unavailable.Once end effector 2208 is opened, firing indicator To operator, 10038 can be closed (if it is not also closed) thus indicates that percussion function is now unavailable, closure instruction Device 10036 can keep being lit or its brightness can reduce and thus now still can use to operator's indicating closing function, and closes Section motion indicator 10034 can be lighted again thus now be can use to operator's instruction joint motions function.Provided above Example is exemplary and other embodiments are also possible.

In some cases, one or more of indicator 10032 indicator may include such as light source, and this light source can lead to Cross processor 3008 and the second color in the first color in the first indicator configuration, the second indicator configuration and/or Switch between the 3rd color in three indicator configurations.In some cases, indicator 10032 can for example pass through processor 3008 And by change light source light intensity or scanning chromatograph and in the first indicator configuration, the second indicator configuration and/or the 3rd Switch between indicator configuration.In some cases, the first indicator configuration may include the such as first light intensity, the second indicator Configuration may include the such as second light intensity, and/or the 3rd indicator configuration may include the such as the 3rd indicator configuration.

In all cases, in the percussion step of the operation of surgical instrumenties 2200, firing member can be actuated will be many Individual nail is deployed to tissue between anvil block 10002 and nail bin 10006 for the capture from nail bin 10006, and can advance cutting structure Part (not shown) is to cut the tissue of capture.Reader will appreciate that, uses up in the case of there is not nail bin or in presence In the case of nail bin, propulsion cutting element can be worthless with the tissue cutting capture.Therefore, in all cases, surgery device Tool 2200 may include such as locking mechanism (not shown), and this locking mechanism is used up in the case of there is not nail bin or in presence Nail bin in the case of can be actuated to stop cutting element propulsion.

Referring to Figure 18, module 10046 can be instructed to device system (for example, indicator system 10030 (Figure 17)) and use.Each In the case of kind, module 10046 may include the program being stored in one or more memory element (for example, memorizer 3010) and refers to Order, this programmed instruction for example may result in processor 3008 using indicator 10032 in surgical instrumenties 2200 when executed Point out, guide and/or provide feedback to the operator of surgical instrumenties 2200 during the percussion step of operation.In some cases, One or more of indicator 10032 indicator (for example, firing indicator 10038 and/or percussion reset indicator 10044) Can be switched between the first indicator configuration, the second indicator configuration and/or the 3rd indicator configuration by processor 3008 To point out, guide and/or to provide feedback to the behaviour of surgical instrumenties 2200 during the percussion step of the operation of surgical instrumenties 2200 Author.

Referring to Figure 17 and Figure 18, the operator of surgical instrumenties 2200 may be actuated percussion input 3017 to lead to processor 3008 Starter motor 2216, for example, thus actuate firing member so that multiple nails to be deployed to the tissue of capture from nail bin 10006 and Propulsion cutting element is to cut the tissue of capture.In some cases, firing indicator 10038 can be set to the first indicator Configuration is with available and/or for can be used for completing the standard control of percussion step to operator's prompting percussion input 3017 One of option.

In some cases, as shown in Figure 17 and Figure 18, if it is activation that processor 3008 detects locking mechanism, Processor 3008 can be for example by stopping and/or disabling the propulsion that motor 2216 stops cutting element.In addition, processor 3008 It is configured to make firing indicator 10038 be transformed into the 3rd indicator configuration from the first indicator configuration, to alert behaviour Author's percussion input 3017 is unavailable.In some cases, processor 3008 may be additionally configured to can for example put bright display 2250 and show disappearance nail bin image.In some cases, processor 3008 also for example can will fire reset indicator 10044 are set as the first indicator configuration, to notify operator's natural state input 3014 available to actuate firing member, Cutting element is thus made to retract to percussion natural state position.In some cases, processor 3008 is configured to example As detected the installation of new nail bin by sensor 10035 and being used as response, firing indicator 10038 is made to return to the first finger Show device configuration.

In some cases, as shown in figure 18, processor 3008 be configured to operator percussion step complete Stop motor 2216 in the case of release percussion input 3017 before one-tenth.In some cases, processor 3008 also can for example by Firing indicator 10038 is maintained at the first indicator configuration, to point out operator's percussion input 3017 to can be used as standard control choosing Item is for completing the percussion step of the operation of surgical instrumenties 2200.In some cases, processor 3008 also can for example will hit Send out reset indicator 10044 and be set as the second indicator configuration, to notify operator's natural state input 3014 to can be used as can use Retract to percussion one's own department or unit in for example making cutting element when operator determines the percussion step stopping the operation of surgical instrumenties 2200 The non-standard control option of state position.

Apart from the above, as shown in figure 18, if percussion input 3017 is activated again by operator, processor 3008 can Restart motor 2216 as response to continue to advance cutting element, until cutting element is fully advanced.In some feelings Under condition, using sensor 10035, processor 3008 can detect when cutting element is fully advanced；Processor 3008 can be subsequent The direction of rotation for example making motor 2216 is reversely for example so that cutting element retracts to percussion natural state position.In some situations Under, processor 3008 is configured to cutting element is for example detected in processor and has reached percussion natural state position For example stop motor 2216 under situation and/or for example closed reduction indicator 10042 is set as the first indicator configuration.

As described herein, surgical instrumenties can enter various modes of operation, pattern and/or configuration.In some cases, apparatus The undesirable mode of operation of operator, pattern and/or configuration can be entered, this operator can be it is uncertain how make apparatus exit the not phase State, pattern and/or the configuration hoped.In the case of at least one, surgical instrumenties may include SR, and this SR is in quilt Apparatus can be arranged to default conditions, pattern and/or configuration during actuating.For example, default conditions, pattern and/or configuration may include Operator scheme, and non-navigational pattern.In the case of at least one, default conditions and/or configuration may include such as display output 2250 specific orientation.SR can carry out signal communication with processor 3008, and surgical instrumenties can be arranged to by this processor Default conditions, pattern and/or configuration.In some cases, processor 3008 is configured to be maintained at surgical instrumenties Default conditions, pattern and/or configuration.In the case of at least one, surgical instrumenties may include locking press button, and this locking press button is in quilt Surgical instrumenties can be locked in its default conditions, pattern and/or configuration during actuating.In some cases, locking press button can outward Section's apparatus is locked in its current state, pattern and/or configuration.Can be by activating locking press button again come to mode of operation, pattern And/or configuration unblock.In various embodiments, surgical instrumenties be may include and carried out at least the one of signal communication with processor 3008 Individual accelerometer, this processor can determine that when apparatus shank is just being shaken or just moving rapidly back and forth.When sensing this During class shake, surgical instrumenties can be arranged to default operating state, pattern and/or configuration by processor 3008.

Referring to Figure 19, in all cases, surgical assembly 10050 may include surgical instrumenties (for example, surgical instrumenties 2200) With remote operation unit 10052.In some cases, surgical instrumenties 2200 may include main interface, for example, may be present in shank group Interface 3001 in part 2202, as shown in Figure 1.In some cases, interface 3001 may include multiple dominant controls, for example, closure Trigger 10020 (Fig. 1), knob 10022, joint motions rocking arm 3012, natural state input 3014 and/or percussion input 3017 (Figure 17).

In all cases, the operator of surgical instrumenties 2200 can for example manually the dominant control of operation interface 3001 to hold Row surgical operation.As described above, operator can such as actuated articulation motion rocking arm 3012 with starter motor 2216 so that end Executor 2208 carries out joint motions between the position not carrying out joint motions and articulated position.In some cases, Operator can for example activate closure trigger 10020 so that end effector 2208 opens transformation between configuration and closed configuration. In some cases, operator can for example activate percussion input 3017 with starter motor 2216, thus actuating surgical instrumenties 2200 Firing member, thus from nail bin 10006 percussion nail and/or cutting capture between anvil block 10002 and nail bin 10006 Tissue.

In all cases, the operator of surgical instrumenties 2200 can be sufficiently close together shank assembly 2202 can manually grasp Make interface 3001.For example, the Surgery Systemss that operator can control in conjunction with robot to operate surgical instrumenties 2200, this robot control The Surgery Systemss of system can be controlled from remote location.In such cases, operator can for example need to operate machine from operator The remote location of the Surgery Systemss that device people controls is operating surgical instrumenties 2200；Operator can be for example with remote operation unit 10052 remotely to operate surgical instrumenties 2200.Various robot systems, apparatus, part and method are disclosed in entitled “SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS” U.S. Patent Application Serial Number 13/118,241 (now for U.S. Patent Application Publication 2012/0298719) in, this patent application It is incorporated by reference in its entirety herein.

Referring to Figure 19 and Figure 20, remote operation unit 10052 may include such as secondary interface 3001 ', display 2250 ' And/or (PCC) power 2206 ' (or " power supply " or " power supply group ").In all cases, may include can be right for secondary interface 3001 ' Should be in multiple two grades of controls of the dominant control of main interface 3001 '.In some cases, remote operation unit 10052 may include example As the long-range joint motions rocking arm 3012 ' corresponding to joint motions rocking arm 3012.In some cases, remote operation unit The 10052 long-range percussion inputs 3017 ' that may include the percussion input 3017 for example corresponding to surgical instrumenties 2200.In some situations Under, remote operation unit 10052 may include the long-range one's own department or unit of the natural state input 3014 for example corresponding to surgical instrumenties 2200 State input 3014 '.

In some cases, as shown in figure 19, remote operation unit 10052, interface 3001 ' and/or multiple two grades of controls May include the shape being different from shank assembly 2202, interface 3001 and/or multiple dominant control and/or design.In some feelings Under condition, as shown in figure 20, remote operation unit 10052, interface 3001 ' and/or multiple two grades of controls may include respectively with shank Assembly 2202, interface 3001 and/or the identical or substantially the same shape of multiple dominant control and/or design.

In all cases, as illustrated in figures 19 and 20, remote operation unit 10052 can be for example via elongated flexible cable 10054 shank assemblies 2202 being connected to surgical instrumenties 2200, this elongated flexible cable is configured to various actuatings Signal transmission is to the processor 3008 of surgical instrumenties 2200；The various signals that activate can for example pass through to activate the multiple of interface 3001 ' Two grades of controls are generating.In some cases, as shown in figure 21, remote operation unit 10052 may include such as emitter 10056, this emitter is configured to for example will be by two grades by can be located at the receptor 10058 in shank assembly 2202 The actuating signal that two grades of controls at interface 3001 ' generate is transmitted into processor 3001 from remote operation unit 10052.

In all cases, surgical instrumenties 2200 and/or remote operation unit 10052 may include communication and start input (not Illustrate).In some cases, activate communication to start input may be, for example, that preliminary step is grasped with long-range with setting up surgical instrumenties 2200 Make the communication between unit 10052；Once communication is established, operator can be for example remote using remote operation unit 10052 Journey ground controls surgical instrumenties 2200.

In all cases, memorizer 3010 may include the programmed instruction for automatic configuration pattern, this programmed instruction May result in processor 3008 when executed according to the cause to the multiple dominant controls generations by main interface 3001 with processor 3008 The response of dynamic signal is identical or at least similar mode is responding the actuating being generated by multiple two grades of controls of secondary interface 3001 ' Signal.Change sentence and change and say, processor 3008 is configured to example to the response of the actuating signal being generated by multiple two grades of controls As imitated the response to the actuating signal being generated by multiple dominant controls for the processor 3008.

In some cases, the actuating of long-range percussion input 3017 ' can be from processor 3008 request and percussion input 3017 The identical or at least similar response of actuating；The response of request may include the startup of such as motor 2216 to actuate firing member, The thus tissue between anvil block 10002 and nail bin 10006 from nail bin 10006 percussion nail and/or cutting capture.Some In the case of, the actuating of long-range joint motions rocking arm 3012 ' can be from the actuating of processor 3008 request and joint motions rocking arm 3012 Identical or at least similar response；The response of request may include the startup of such as motor 2216 so that end effector 2208 is relative Carry out joint motions in slender axles 2204.

In some cases, processor 3008 is configured to need the dominant control from main interface 3001 and two grades The input of two grades of controls of correspondence at interface 3001 ' activates signal to execute by the function of this class control request.In such cases, The length of run operator of remote operation unit 10052 can need the assistance of other operator, and this other operator can be for example long-range Operator manually activates the dominant control of main interface 3001 when activating two grades of controls of secondary interface 3001 '.

In all cases, as described above, the Surgery Systemss that operator can control in conjunction with robot to operate surgical instrumenties 2200, the Surgery Systemss that this robot controls can be controlled from remote location by robot control system.In some situations Under, remote operation unit 10052 is configured to and robot control system tandem working.In some cases, machine People's control system may include one or more control ports；And remote operation unit 10052 may include for robot control The attachment means that the control port connection of system processed engages.In such cases, operator for example can control system by robot The interface of system is operating surgical instrumenties 2200.In all cases, control port may include for example unique machinery and/or electrically Configuration, this machinery and/or electrical configuration can need to guarantee consistent product quality and property using original equipment manufacturer's part Energy.

In all cases, may include can be in many aspects similar to shank assembly 2202 for remote operation unit 10052 The various indicators 10032 ' of indicator 10032.In some cases, the indicator 10032 ' of remote operation unit 10052 can According to identical with indicator 10032 or at least substantially identical mode by processor 3008 using with respect to surgical instrumenties Each step of 2200 operation is guiding, to point out and/or to provide feedback to operator.

In all cases, may include can be in many aspects similar to shank assembly 2202 for remote operation unit 10052 The various feedback devices 2248 ' of feedback device 2248.In some cases, the feedback device 2248 ' of remote operation unit 10052 Can according to identical with feedback device 2248 or at least substantially identical mode by processor 3008 using with respect to surgery device Each step of the operation of tool 2200 to provide sensory feedback to operator.Similar to feedback device 2248, feedback device 2248 ' May include such as visual feedback means, audible feedback means, haptic feedback devices and/or combinations thereof.

In all cases, as shown in figure 22, remote operation unit 10052 can for example be included in the first surgical instrumenties In 10060 or it integrates, and can be used for operating the second surgical instrumenties 10062.In some cases, the first surgery device Tool 10060 can for example be present in visual area 10065, and manually can be operated by operator in visual area 10065；And second Surgical instrumenties 10062 may be present in outside visual area 10065.In some cases, in order to avoid leaving visual area 10065, operator Can be for example using remote operation unit 10052 remotely to operate the second surgical instrumenties 10062 in visual area 10065.Some In the case of, the second surgical instrumenties 10062 may be, for example, circular stapler.It is published in the entitled of on January 29th, 2013 The U.S. of " SURGICAL CUTTING AND STAPLING INSTRUMENT WITH SELF ADJUSTING ANVIL " is special The complete disclosure of profit 8,360,297 is herein incorporated by reference.

In all cases, the first surgical instrumenties 10060 and/or the second surgical instrumenties 10062 may include communication start defeated Enter (not shown).In such cases, activate communication to start input may be, for example, preliminary step to set up the first surgical instrumenties 10060 and second communications between surgical instrumenties 10062；Once communication is established, operator can be for example using remote operation Unit 10052 is remotely controlling the second surgical instrumenties 10062.

In all cases, Surgery Systemss may include modular member, and this modular member can be attached and/or combine one Rise to form surgical instrumenties.In some cases, modular member can the different time and/or according to different software and/ Or firmware modification and design of more newly arriving, manufacture, programming and/or renewal.For example, referring primarily to Figure 23 and Figure 24, surgical instrumenties 100 May include the first modular member 110 (for example, shank) and the second modular member 120 (for example, axle 122 and end effector 124), as described in more detail below.In all cases, the first modular member 110 and the second modular member 120 can groups It is fitted together to form modularity surgical instrumenties 100 or its at least a portion.Optionally, different modular members can be coupled To the first modular member 110, for example, there is the axle of size different from the second modular member 120 and/or feature.Each In the case of kind, surgical instrumenties may include addition modular part, such as modular battery.The part of modularity surgical instrumenties 100 May include control system, this control system is designed and configured into the various elements that can control surgical instrumenties 100 and/or work( Energy.For example, the first modular member 110 and the second modular member 120 each can include control system, and each modularity The control system of part 110,120 can communicate and/or coordinate.In all cases, the first modular member 110 can for example exist The different time and/or be designed, manufacture, programming different from the software of the second modular member 120 and/or firmware and/ Or update.

Referring now to Figure 25, the Surgery Systemss of assembling may include the first control system 150 ' and the second control system 150.Control System 150 ' processed, 150 can for example carry out signal communication.In all cases, the second modular member 120 may include and for example controls System 150, this control system may include multiple control modules 152.Control module 152 can for example be used and/or pass through surgical instrumenties 100 element or subsystem are affecting surgical function.Control module 152 can routine for example based on preprogramming, operator defeated Enter and/or system feedback is affecting feedback function.In all cases, the first modular member 110 may also comprise and for example controls System 150 ', this control system may include multiple control modules 152 '.The control system 150 ' of the first modular member 110 and/ Or one of control module 152 ' control module may differ from the control system 150 of the second modular member 120 and/or controls One of module 152 control module.Although control system 150 and 150 ' can be different, control system 150 and 150 ' can It is configured to control corresponding function.For example, control module 152 (a) and control module 152 (a) ' both of which can for example by Order is sent to firmware module 158 to execute firing schedule.In all cases, control system 150, one of 150 ' and/ Or its control module 152,152 ' may include the software of renewal and/or firmware and/or can have nearest expiration date, such as Described in further detail herein.

Control module 152,152 ' may include such as software, firmware, program, module and/or routine, and/or can wrap Include for example multiple softwares, firmware, program, control module and/or routine.In all cases, control system 150,150 ' can wrap Include multiple order levels and/or rank.For example, control system 150 may include the first level 144 of control module 152, controls mould Second level 146 of block 152 and/or the third layer level 148 of control module 152.The control module 152 of the first level 144 can quilt It is configured to for example send commands to the control module 152 of the second level 146, and the control module of the second level 146 152 are configured to send commands to the control module 152 of third layer level 148.In all cases, control system 150,150 ' may include for example less than three levels and/or are more than three levels.

Referring also to Figure 25, the control module 152 in the first level 144 may include high-level software or clinical algorithm 154.Face Bed algorithm 154 can for example control the high-level function of surgical instrumenties 100.In some cases, the control mould in the second level 146 Block 152 may include such as middleware software or structure module 156, and this middleware software or structure module can control surgical instrumenties 100 Intermediate level function.In some cases, abstract order can be sent to the second level by the clinical algorithm 154 of the first level 144 146 structure module 156 is to control surgical instrumenties 100.Additionally, the control module 152 in third layer level 148 may include for example solid Part module 158, this firmware module can be specific to the particular hardware component 160 of surgical instrumenties 100 or some parts.For example, firmware Module 158 for example may correspond to specific cutting element, trigger shaft, trigger, sensor and/or the motor of surgical instrumenties 100, and And/or person may correspond to the particular subsystem of surgical instrumenties 100.In all cases, structure module 156 can send commands to Firmware module 158 is to execute surgical function with corresponding hardware component 160.Therefore, the various control modules of Surgery Systemss 100 152 in the communication of surgery intra-operative and/or can coordinate.

Referring also to Figure 25, the control system 150 of second component 120 may correspond to the control system 150 ' of first component 110, And the various control modules 152 of second component 120 may correspond to the control module 152 ' of first component 110.Change sentence and change and say, often Individual control module 152 may include parallel or corresponding control module 152 ', and control module 152 and 152 ' is configured to Enough execute identical, similar and/or relevant function and/or identical, similar and/or relevant order is provided.Referring also to figure 25, control module 152a may correspond to control module 152a '.For example, control module 152a and both controllable cutting units of 152a ' The firing schedule of part；However, control module 152a is for example configured to control the first cutting element design or model simultaneously And control module 152a ' be configured to control different cutting elements to design or model.In other cases, control mould Block 152a ' may include software program and control module 152a may include renewal or the revision of such as software program.

In all cases, the first component 110 of surgical instrumenties 100 may include the clinic calculation different from second component 120 The clinical algorithm 154 ' of method 154.In addition and/or alternatively, first component 110 may include and is not used in second component 120 The structure module 156 ' of corresponding structure module 156, and/or first component 110 may include right different from second component 120 Answer the firmware module 158 ' of firmware module 158.

In all cases, corresponding control module 152,152 ' may include different expiration dates.This area common Technical staff will appreciate that, control module 152, and 152 ' expiration date can for example be set corresponding to control module 152,152 ' Meter, the date producing, programming and/or update.The expiration date of control module can for example record or be stored in the journey of control module In sequence code.In some cases, the control module of surgical instrumenties 100 can be out-of-date.Additionally, out-of-date or recent renewal is relatively Few control module can incompatible with control module that update and/or recent renewal, be disengaged and/or disconnect.Cause This, in certain circumstances, it may be desirable to control module when updated is to guarantee the suitable of surgical instrumenties 100 and to operate effectively.

In all cases, the modular member of Surgery Systemss may include predetermined acquiescence or master control system.? In the case of such, if the control system of modular member of assembling is different, acquiescence control system is renewable, rewrite, Modification and/or the control system replacing non-default.Change sentence and change and say, if corresponding control module is, for example, different, incompatible Or inconsistent, then the control module that the control module of non-default can be updated and give tacit consent to can be retained.For example, as fruit stem Portion 110 includes control system 150 ' (it is the control system of non-default) and axle 120 includes control system 150 (it is master control System processed), then the control system 150 ' of shank 110 can be updated based on the control system 150 of axle 120.

The axle portion part 120 programming surgical instrumenties can be expected to be more often updated than shank assembly in axle portion part and/or to repair The control system given tacit consent to is included in the case of changing.For example, if the new version of axle portion part 120 and/or iteration compare handle components 110 new version and/or iteration introduce more frequent, then can be advantageously in the axle portion part of modularity surgical instrumenties 100 120 include acquiescence or master control system.Various situations described in the whole disclosure are related to the control module based on axle portion part To update the control module of handle components；However, those skilled in the art will be easy to know, situation about envisioning at other Under, replace or the control module except handle components, the control module of renewable axle portion part and/or disparate modules part.

In all cases, surgical instrumenties 100 (Figure 23 and Figure 24) can be by each level in control system 150 ' or level The control module 152 of each corresponding level in the control module 152 ' in other places and control system 150 or level is compared. If the control module in corresponding level 152 and 152 ' is different, control system 150,150 ' can for example update non-default Control module.Referring to Figure 26, at step 201, control system 150 and/or control system 150 ' can be by first components 110 The control module 152 ' of the first level 144 ' is compared with the control module 152 of the first level 144 of second component 120.? First level 144,144 ' includes high-level clinical algorithm 154 respectively, and in the case of 154 ', control system 150 and/or control are System 150 ' can for example compare clinical algorithm 154 and 154 '.Additionally, at step 203, if the first level 144, the control in 144 ' Molding block 152,152 ' is different, then control system 150 and/or control system 150 ' can such as writing from memory with the first level 144 Recognize module 152 to update the module 152 ' of the first level 144 '.In all cases, control system 150 may compare and/or updates Control system and/or control module, and in other cases, control system 150 ' can for example compare and update control system And/or control module.In all cases, control system 150, one of 150 ' are configured to compare and/or more New control system and/or control module, and in other cases, two control systems 150,150 ' are configured to compare Relatively and/or update control system and/or control module.

At step 205, control system 150 and/or control system 150 ' can be by the second levels 146 ' of first component 110 Control module 152 ' be compared with the control module 152 of the second level 146 of second component 120.For example, in the second level 146,146 ' inclusion intermediate level framework algorithms 156, in the case of 156 ', control system 150,150 ' can for example calculate comparison architecture Method 156 and 156 '.At step 207, if the second level 146, the module 152,152 ' in 146 ' is different, then control system System 150,150 ' can update the control module 152 ' of the second level 146 ' with the acquiescence control module 152 of the second level 146.? In the case of various, although one of control module 152 ' in the second level 146 ' can be with the corresponding mould in the second level 146 Block 152 is identical, but if any corresponding second hierarchy module 152,152 ' is different, then renewable second level 146 ' All control modules 152 '.In other cases, as described in more detail herein, the control different from respective modules 152 can only be updated Molding block 152 '.

At step 209, control system 150 and/or control system 150 ' can be by the third layer levels 148 ' of first component 110 Control module 152 ' be compared with the control module 152 of the third layer level 148 of second component 120.For example, in third layer level 148,148 ' inclusion firmware modules 158, in the case of 158 ', control system 150 and/or control system 150 ' can for example compare admittedly Part module 158 and 158 '.If third layer level 148, the module 152,152 ' in 148 ' is different, then control system 150 and/ Or control system 150 ' can update third layer level 148 ' with the acquiescence control module 152 of third layer level 148 at step 211 Control module 152 '.In all cases, although one of control module 152 ' in third layer level 148 ' can be with third layer Corresponding control module 152 in level 148 is identical, but if any corresponding third layer level module 152,152 ' is different, then Whole modules 152 ' of renewable third layer level 148 '.In other cases, can only update different from corresponding control module 152 Control module 152 '.Referring also to Figure 26, the first level control module 154,154 ' can for example in the second level control module 156, It was updated before 156 ', and the second level control module 156,156 ' can be for example in third layer level control module 158,158 ' It is updated before.In other cases, as described in more detail herein, third layer level control module 158,158 ' can be for example It is updated before two level control modules 156,156 ', and the second level control module 156,156 ' can be for example in ground floor It is updated before level control module 154,154 '.

As described above, control system 150 and/or control system 150 ' can controls when updating, replacing and/or be writing Control system 150,150 ' and/or its control module 152 is compared before module 152,152 ' and/or control system 150,150 ', 152’.Reader will appreciate that, when software upgrading and/or upgrading are unnecessary or not at that time, this step can shorten apparatus starting time. Alternatively, comparison step 201,205 and 209 can be removed, and control system 150,150 ' can for example be automatically updated, replace Change, change and/or rewrite the control module 152 ' of the first modular member 110 and/or the first modular member 110 specific, Predetermined control module 152.

In all cases, control module 152,152 ' successively can be compared to level and update, and in other situations Under, control system 150,150 ' can be systematically carried out one by one comparing and update.In other cases, control module 152,152 ' can Module ground is updated one by one.For example, referring now to Figure 27, at step 221, can be by the third layer of the first control system 150 ' Level module 158 ' third layer level module 158 corresponding with the second control system 150 is compared.In all cases, can be by The expiration date of three hierarchy module 158 ' is compared with the expiration date of corresponding third layer level module 158.Additionally, control system 150 and/or control system 150 ' can determine that expiration date whether the having in third layer level module 158 of third layer level module 158 ' After the effect date.If third layer level module 158 ' is for example new than third layer level module 158, third layer level module 158 ' can be Step 225 place is retained.Whereas if third layer level module 158 ' is new not as third layer level module 158, i.e. third layer level mould Block 158 before corresponding third layer level module 158 or third layer level module 158 and corresponding third layer level module 158 ' tool There is identical expiration date, then third layer level module 158 ' for example can be updated, be replaced by corresponding third layer level module 158 Change, change and/or rewrite.Additionally, in all cases, each mould in the third layer level of control system 150,150 ' can be directed to Block 158,158 ' come repeat step 221 and 223 or 225.Therefore, the module 158 ' in third layer level 148 ' can module ground one by one It is updated, and in all cases, only out-of-date module 158 ' can for example be updated and/or rewrite.

Referring also to Figure 27, after whole third layer level modules 158,158 ' have been compared and have possibly updated, control System 150,150 ' may proceed to step 227.At step 227, control system 150 and/or control system 150 ' can confirm that The third layer level module 158 ' of one control system 150 ' is connected with the second hierarchy module 156 ' of control system 150 ' and/or suitable Ground communication.For example, in the case that third layer level module 158 ' is updated at step 223, the second hierarchy module 156 ' can be made Disconnect with the third layer level module 158 ' updating.If third layer level module 158 ' is for example disconnected with the second hierarchy module 156 ', Then the second hierarchy module 156 ' can be updated at step 229, replaces, changes and/or rewrite.Second hierarchy module 156 ' can For example replaced by correspondence second hierarchy module 156 of the second control system 150.Whereas if third layer level module 158 ' and Two hierarchy module 156 ' suitably connection and/or communications, then the second hierarchy module 156 ' can be retained.Additionally, in various situations Under, can be directed to each module 158 in the third layer level of control system 150,150 ', 158 ' come repeat steps 227 and 229 or 231.Therefore, the module 156 ' in the second level 146 ' can module ground be updated one by one, and in all cases, only disconnects Module 156 ' can for example be updated and/or rewrite.

Update any out-of-date third layer level module 158 ' (step 221 and 223) and guarantee the 3rd of update all Hierarchy module 158 ' (if any) is connected to suitable second the hierarchy module 156 ' (step on the first modular member 110 227th, 229 and 231) after, control system 150,150 ' may proceed to step 233, and the first of the wherein first control system 150 ' Hierarchy module 154 ' can first hierarchy module 154 corresponding with the second control system 150 be compared.If the first hierarchy module 154,154 ' is identical, then update and/or modification process can complete.Whereas if the first hierarchy module 154,154 ' is not With, then the first hierarchy module 154 ' of the first control system 150 ' can pass through the first hierarchy module of the second control system 150 154 updating, to replace, to change and/or to rewrite.

As described herein, modular member 110,120 software and/or firmware module can module ground, successively level ground one by one And/or be systematically carried out updating, change and/or replacing one by one.In some cases, when modular member is attached and/or can grasp When making ground connection, update and/or modification process can be carried out automatically.In other cases, the operator of surgical instrumenties 100 can start Or triggering renewal as herein described and/or modification process.

In all cases, modularity surgical instrumenties (for example, modularity surgical instrumenties 100 (Figure 23 and Figure 24)) may include Carry out the microcontroller of signal communication with engagement transducer and display.In all cases, engagement transducer can detect surgery The relative localization of the modular member of system.Refer again to Figure 23 and Figure 24, include shank in the such as first modular member 110 And in the case that the second modular member 120 includes axle, engagement transducer can detect axle 120 whether engage with shank 110 and/ Or be operatively coupled.In all cases, axle 120 engaging shank 110 (Figure 23) and can be disengaged shank 110 (Figure 24) Between move.

Referring primarily to Figure 28 (A) and Figure 28 (B), engagement transducer (for example, engagement transducer 602) can be with Surgery Systemss Microcontroller (for example, microcontroller 604) carries out signal communication.In all cases, engagement transducer 602 can for example detect Modular member 110,120 joints are still disengaged, and for example its engagement or disengagement state can be sent to micro-control Device 604 processed.When engagement transducer 602 indicates that for example axle 120 is engaged with shank 110, microcontroller 604 can allow module outside the pale of civilization The surgical function of section's apparatus 100 (Figure 23).If modular member 110,120 are for example operatively coupled, then on shank 110 The actuating of firing trigger 112 (Figure 23) can for example be realized or at least attempt the firing action realizing in axle 120.Whereas if Engagement transducer 602 instruction axle 120 is disengaged with shank 110, then microcontroller 604 can stop surgical function.For example, if Modular member 110,120 disconnections, then the actuating of firing trigger 612 can not be realized or not attempt realizing the percussion in axle 120 Action.

In all cases, modularity surgical instrumenties 100 may include display, for example, display 606 (Figure 28 (B)).Aobvious Show that device 606 can be integrated in the modular member 110, one of 120 of surgical instrumenties 100, and/or can be located at modularity The outside of part 110,120 microcontroller 604 with surgical instrumenties 100 carries out signal communication.In all cases, microcontroller Device 604 can be by the information transmission being detected by engagement transducer 602 to display 606.For example, display 606 can illustrate modularity The joint of part 110,120 and/or disengaged.Additionally, in all cases, display 606 can provide guidance and/or guide, Described instruct and/or guiding relate to how (a) be suitably attached, couple and/or fusion surgery apparatus 100 disengaging engaging members 110,120 and/or how (b) suitably dismantle, separate and/or take apart the joint elements 110,120 of surgical instrumenties 100.Again Referring to Figure 28 (A), in all cases, engagement transducer 604 may include hall-effect switch, and in other cases, connects Close sensor and may include for example different and/or other sensor and/or switch.

In some cases, engagement transducer 604 can detect the degree of engagement between the modular member of surgical instrumenties.? First component includes in the case that such as shank 110 and second component include such as axle 120, and shank 110 and axle 120 can be de- Move between bonding station, partially engaged position and bonding station.Partially engaged position can for example be located at disengaged position In the middle of bonding station, and for example can there is some bonding stations in the middle of bonding station and disengaged position.? In the case of various, engagement transducer 604 may include multiple sensors, the plurality of sensor can detection part 110,120 portion Divide bonding station.For example, engagement transducer 606 can for example include multiple sensors and/or electric contact, the plurality of sensor And/or electric contact can for example be staggered along the attachment part of at least one of modular member 110,120.In some feelings Under condition, engagement transducer 604 may include such as hall effect sensor.

In some cases, referring primarily to Figure 29 (A) and Figure 29 (B), Surgery Systemss 100 may include and microcontroller (example As microcontroller 614) carry out multiple sensors of signal communication.Multiple sensors may include first sensor 612 (Figure 29 (A)), this first sensor can for example detect the presence of first component 120 and can be sent to the presence of first component 120 micro- Controller 614.In all cases, first sensor 612 for example can not detect and/or transmit first component 110 and second Degree of engagement between part 120.In all cases, second sensor 613 (Figure 29 (A)) also can be carried out with microcontroller 614 Signal communication.Second sensor 613 can degree of engagement between such as detection module part 110,120.

Similar to the control system shown in Figure 28 (A) and Figure 28 (B), microcontroller 614 can be based on from sensor 612 He 613 reception feedbacks send order, and/or can with display carry out signal communication with show feedback and/or with its other party Formula is communicated with the operator of Surgery Systemss.For example, microcontroller 614 can be in joint position in modular member 110,120 Stop surgical function before putting, and surgical function can be stoped for example when modular member 110,120 part engages.Additionally, Microcontroller 614 can be by the information transmission being detected by engagement transducer to display.For example, display can illustrate modular member 110,120 joint, part engage and/or disengaged.Additionally, in all cases, display can provide guidance and/or draw Lead, described instruct and/or guiding for example relates to how suitably to be attached, couples and/or being disengaged of fusion surgery apparatus And/or the part 110,120 that part engages.

In all cases, surgical instrumenties may include the microprocessor that can carry out signal communication with storage chip or memory element Device, for example, microprocessor 604 (Figure 28 (A) and Figure 28 (B)) or 614 (Figure 29 (A) and 29 (B)).Microprocessor can for example by by The data of various sensors, program and/or electric circuit inspection and/or calculating of surgical instrumenties and/or feedback are sent to storage chip. In all cases, the data of record can for example with time of surgical operation and/or persistent period and surgical operation each Function and/or partial time and/or persistent period are relevant.In addition or alternatively, the data of record can for example with treatment Condition in the condition at position and/or surgical instrumenties is relevant.In some cases, the record of data can be automatic, and In other cases, microprocessor can not record data, unless and/or until being instructed to record data.For instance, it may be preferable to be Keep in surgery intra-operative record data, by the data of record or be stored in the number in storage chip and/or by record According to being transferred to home.In other cases it may be preferable to delete for example in surgery intra-operative record data and thereafter Data except record.

Surgical instrumenties and/or its microcontroller may include data storage protocols.Data storage protocols can for example provide and be used for Record, the rule processing, storing, transmit and/or delete data.In all cases, data storage protocols can be in surgical instrumenties Life cycle during pre-establishing and/or to update.In all cases, data storage protocols may call in surgical function And/or surgical operation complete after deletion record data, and in other cases, data storage protocols may call for predetermined The adopted time period terminate after deletion record data.For example, the data of record can be complete in surgical function according to data storage protocols Become to delete afterwards for one minute, one hour, one day, one week, one month or 1 year.It is any that time predefined Duan Kewei environment allows The suitable and suitable cycle.

In some cases, data storage protocols may call for the surgical function (for example, firing schedule) in predefined number of times The data of deletion record afterwards.In other cases, data storage protocols may call for the deletion record in surgical instrumenties power-off Data.For example, with reference to Figure 31, if surgical instrumenties power-off, microcontroller may proceed to step 709, and wherein microcontroller can Determine whether make a mistake or significant problem in surgery intra-operative, for example, apparatus, part or subsystem failure.In various feelings Under condition, if mistake is detected, microcontroller may proceed to step 713, and wherein data can for example be stored in storage chip In.Additionally, in some cases, if being not detected by mistake, microcontroller may proceed to step 711, and wherein data can example As being deleted.In other cases, data storage protocols may not include step 709, and data storage protocols can for example continue Carry out and do not check gross mistake or inefficacy.

In other cases, data storage protocols may call for after the predefined inertia of surgical instrumenties or quiescent period The data of deletion record.For example, if surgical instrumenties are allowed to stand for and/or put in storage, data storage protocols may call in surgery device Tool is static or idle time predefined section after deletion record data.Necessary quiescent period may be, for example, one minute, one Hour, one day, one week, one month or 1 year.Any suitable and suitable week that predefined quiescent period can allow for environment Phase.In all cases, surgical instrumenties may include such as accelerometer, and this accelerometer can detect the motion of surgical instrumenties and quiet Only.Refer again to Figure 31, when surgical instrumenties not yet power-off at step 701, accelerometer can be set to detect surgery device The motion of tool.If motion was detected at step 703 before predefined idling cycle terminates (step 707), can be in step Predefined free time counting is restarted at rapid 705.Whereas if before predefined idling cycle terminates (step 707) It is not detected by moving by accelerometer, then microprocessor can for example proceed to step 709.In other cases, microprocessor For example step 711 or 713 can be proceeded to directly to according to data storage protocols, and not examination apparatus mistake or inefficacy.

As described herein, data storage protocols may include one or more default rules of the data for deletion record. However, in certain circumstances, it may be desirable to surmounting default rule or program.For example, in order to study and/or develop purpose it may be desirable to Data storage longer period by record.In addition or alternatively it may be desirable to the data of storage record for teaching and/ Or research purpose.Additionally, in all cases, data storage protocols may not include error check procedure, and in such situation Under, such as when operator can expect when surgery intra-operative detects or suspect mistake and/or exception to surmount data storage association Discuss and guarantee the storage of data.Recover data can for example be conducive to perform the operation check and/or error reason determination.Each It may be desired to key or input are to overcome or to surmount normal data storage agreement in the case of kind.In all cases, key can be defeated Enter in surgical instrumenties and/or remote storage, and can for example be inputted by the operator and/or user of surgical instrumenties.

In all cases, Surgery Systemss can point out user or exercises on apparatus author to come for each surgical operation or function selecting Data deletion or data storage.For example, data storage protocols may call for asking the instruction from user, and can be according to user's Instruction carrys out order subsequent action.Surgery Systemss can be in certain trigger events (for example, the knot of the power-off of apparatus, time predefined section Bundle or the completing of particular surgical function) when occurring request from the instruction of user.

In some cases, Surgery Systemss can ask the input from user for example in surgical instrumenties power-off.Referring to figure 30, when user causes the power-off of surgical instrumenties for example at step 801, Surgery Systemss can ask the data storage from user Instruction.For example, at step 803, the display of Surgery Systemss can be inquired and " be preserved data Yes/No？" in all cases, surgery The microcontroller of system can read user input at step 805.If user's request data storage, microcontroller can advance To step 809, wherein data is stored in memory element or the storage chip of Surgery Systemss.If user's request data is deleted Remove, then microcontroller may proceed to step 811, wherein data is wiped free of.In all cases, user can not be inputted.? In the case of such, data storage protocols can require particular procedure at step 813.For example, data storage protocols can for example require " process I ", " process II " or alternative process.In some cases, for example, " process I " can be in step 813 (a) place order data Delete, and " process II " can store in step 813 (b) place order data.In all cases, user can for example in instruction Instruction is provided to surgical instrumenties before requested.In addition or alternatively, the display being associated with Surgery Systemss can be such as Different time request before starting surgical function and/or during instrumentation is from the instruction of user.

If data storage is in the memorizer of surgical instrumenties, data can be safely stored.Example, it may require code or Key is accessing the data of storage.In some cases, access key and may include identification code.For example, outside identification code can be exclusively used in The operator of section's apparatus, user or owner.In such cases, the identification code that the personnel being only authorized to can secure permission, and And the therefore data of personnel's accessible storage that is entitled only to.In addition or alternatively, access key can for example be exclusively used in This apparatus and/or can be manufacturer code.In some cases, access key and may include security server, and data The bluetooth of accreditation can for example be passed through and/or radio frequency (RF) transmission is transmitted and/or accesses.In other cases, access key May include physical key (for example, memorizer key and/or data switching port adapter), this physical key can physically couple Data switching port to surgical instrumenties.In such cases, accessing key can be programmed, for example to obtain to secure data Access and safely storage and/or transmission data.In all cases, access key and can for example correspond to specific surgery Apparatus.

In all cases, the data of the storage arrangement of surgical instrumenties is extracted and can be limited by various safety measures. In some cases, the storage arrangement of surgical instrumenties may include secure data and connects or data switching port.For example, data is handed over Change port and can have proprietary geometry or shape, and the personnel being only authorized to can for example obtain corresponding port key, should Port key is designed and configured into the proprietary geometry of adaptation or shape.In all cases, data switching port may include Mechanical lock, this mechanical lock can for example include plug, multiple pin and/or multiple reed.In all cases, physical key or extraction Device can make the mechanical lock of data switching port unlock.For example, physical key can for example contact multiple pins, make multiple reed deformation And/or make plug be biased into unblock orientation so that data switching port unlocks from locking orientation.

In all cases, data switching port may include at least one connecting pin, and this at least one connecting pin can be inclined Press and/or be maintained at primary importance.When physical key insertion and/or bonding data switching port, physical key can example As made connecting pin be biased into the second position from primary importance.In all cases, primary importance for example can include advanced position, and And the second position can for example include extended position.Additionally, when connecting pin moves to the second position, connecting pin can for example with thing Data switching port in reason key operationally joins.Therefore, the data switching port of storage arrangement can for example be moved into Signal communication is carried out by the data switching port of connecting pin and physical key so that data can swap between the two and/ Or transmission.In all cases, physical key for example can include modular member, and this modular member is configured to can It is attached to modularity surgical instrumenties with removing.In some cases, physical key can replace or imitate the module of surgical instrumenties 100 Change part 110,120 (Figure 23 and Figure 24).For example, physical key could attach to attachment part rather than the axle attachment of shank 110 Divide 120 for example for the storage arrangement transmission data from shank 120.

In addition or alternatively, key or extraction element may include security token.In all cases, data exchange end Mouthful may be, for example, encryption, and/or key can by information or code provide data switching port with authentication secret whether by Authorize and/or accreditation extracts data from data switching port.In some cases, key can for example include special data reading Take device, and data can for example configure to transmit by optical data transmission.

Referring now to Figure 32 (A) -32 (C), before data access is granted to the data reader of suggestion, digital independent, Device can need to be verified and/or confirmed by surgical instrumenties.For example it is proposed that data reader can ask at step 821 and read Take verification and the numerical value of surgical instrumenties.Shown in surgical instrumenties flow chart as shown in Figure 32 (C), surgical instrumenties can be first in step Receive the data reader request of suggestion at 841, and subsequently verification sum value can be sent to the number of suggestion at step 843 According to reader.Refer again to Figure 32 (A), at step 823 it is proposed that data reader can be based on the school being provided by surgical instrumenties Test suitable return code to be calculated or determined with numerical value.The data reader of suggestion for example can access code table, and if suggestion Data reader just suitably attempt access data, then suitable return code can obtain in code table.In such cases, build The data reader of view can obtain at step 823 or calculate return code, and can be sent to return code outer at step 825 Section's apparatus.Refer again to Figure 32 (C), when receiving at step 845 from the return code of the data reader of suggestion, surgery Apparatus can verify at step 847 whether return code is correct.If code is incorrect, the microprocessor of surgical instrumenties can for example before Enter step 849, and surgical instrumenties can be closed or the access to data storage can otherwise be denied.However, If code is correct, microprocessor can for example proceed to step 851, and surgical instrumenties can allow the data reader of suggestion to enter Row data access.For example, data can be safely transferred to data reader at step 851.Then, in step 827 (Figure 32 (A)) place it is proposed that data reader can for example from surgical instrumenties read data.In all cases, the data of transmission can be such as For encrypt, and data reader can for example need before reading data, inapprehensible data to be decrypted.

Referring primarily to Figure 32 (B), alternatively data extract safety method can for example similar to the method shown in Figure 32 (A), And also can need to consider reader private code.Although reader can at step 831 verification of reading device and and return Code can based on verification and, but in all cases it is proposed that data reader can have reader private code and derive from code table Suitable return code can be based on reader private code.For example it is proposed that data reader can consider that at step 832 reader is special With code, and for example at step 833, suitable return code can be determined based on reader private code and code table.The data of suggestion Reader private code and return code for example can be provided surgical instrumenties at step 835 by reader.In such cases, again Referring to Figure 32 (C), the microcontroller of surgical instrumenties can verify return code and reader private code at step 845.If additionally, These codes are correct, then surgical instrumenties can allow the data reader of suggestion is conducted interviews.Then, at step 827 it is proposed that Data reader for example can read data from surgical instrumenties.If one of these codes or two incorrect, surgical instrumenties Reader can be stoped to read data.For example, surgical instrumenties can be closed or otherwise be limited the data transfer to reader.

Referring now to Figure 33, in all cases, Surgery Systemss may include surgical instrumenties 1600, and this surgical instruments can be by many Individual modular member is formed.As described in more detail herein, handle components can be for example compatible from multiple different axle portion parts, and handle Portion's part and/or axle portion part may be, for example, reusable.Additionally, the microcontroller of surgical instrumenties 1600 may include and for example locks Determine circuit.In all cases, lock circuit can stop the actuating of surgical instrumenties, until for example lock circuit is unlocked.? In the case of various, operator can for example temporary visit code be input in Surgery Systemss so that the lock circuit solution of microcontroller Lock.

In all cases, operator is commercially available or otherwise obtains temporary visit code for being input to outer department In system.For example, equipment manufacturers or distributor can provide access code with for sale, and these access codes can for necessary so that Unlock and thus using surgical instrumenties 1660.In all cases, access code can make lock circuit unlock the predefined time Section.Equipment manufacturers or distributor can provide the different use persistent period for buying, and user may be selected and buy or Obtain required or preferably using the persistent period.For example, user can obtain ten minutes use times, one hour use time or One day use time.In other cases, it is possible to provide in addition and/or different suitable usage cycles are with for sale or award Power.In all cases, after the usage cycles obtaining are expired, lock circuit can be relocked.In other cases, visit Ask the surgical function that code can make the predefined number of times of lock circuit unblock.For example, user can for example buy or otherwise obtain The percussion of single apparatus or multiple percussion.Additionally, after the number of times that user has made apparatus percussion purchase or mandate, lock circuit can Relocked.In other cases, access code can for example make lock circuit permanently unlock.

In all cases, operator can will be direct for temporary visit code by keypad or other suitable input configurations It is input in surgical instrumenties.In other cases, lock circuit can be by being connected to surgical instrumenties by non-volatile memory cells 1600 and be unlocked, wherein non-volatile memory cells include the access code pre-establishing.In all cases, non-volatile deposit Storage unit can for example be loaded in the battery 1650 of surgical instrumenties 1660.Additionally, non-volatile memory cells can be added again Carry and/or replace.For example, user's commercially available replaceability non-volatile memory cells.In addition or alternatively, for example, formerly The access code of front acquisition is expired or after losing efficacy, commercially available new code and upload non-volatile memory cells.Each In the case of kind, for example, when battery 1650 is connected to power supply and/or outer computer 1670, new code is downloaded to non-easy In the property lost memory element.

In other cases, temporary visit code can be imported into outside or remote access code input, for example, display screen, Computer and/or head up displays.For example, temporary visit code can be bought by computer 1660, and can be transferred to connection It is connected to radio frequency (RF) device 1680 of computer 1660.In all cases, surgical instrumenties 1600 may include for example receptor or Antenna, described receptor or antenna can carry out signal communication with radio-frequency unit 1680.In such cases, radio-frequency unit 1680 can For example the temporary visit code of acquisition is transferred to surgical instrumenties 1600 receptor.Therefore, lock circuit can be unlocked, and operates Person can for example be directed to the time period of purchase of surgical function and/quantity is come using surgical instrumenties 1600.

In all cases, modularity surgical instrumenties can with for illustrating from the data of surgical operation and/or feedback External display is compatible.For example, surgical instrumenties may include the apparatus display for display from the feedback of surgical operation.Each In the case of kind, apparatus display can for example be positioned on the shank of apparatus.In some cases, apparatus display can for example illustrate From endoscopic observation to video data.In addition or alternatively, display can for example detect surgical instrumenties, surgical operation And/or the feature of sensing, measurement, the approximate and/or calculating of surgical site.In all cases it may be desirable to will feed back It is transferred to external display.External display can for example provide the amplification of duplication and/or reproduction feedback to attempt, and this amplification tries Figure can allow multiple operators and/or assistant simultaneously to observe feedback.In all cases it may be desirable to for example select for even It is connected to the surgical instrumenties of external display, and in other cases, the selection of surgical instrumenties can be automatic.

Referring to Figure 34, external display 1700 can for example illustrate end effector 1720 and/or the surgery portion of surgical instrumenties Position.External display 1700 also can for example illustrate feedback and/or the data being sensed and/or measured by surgical instrumenties.In various feelings Under condition, external display 1700 is reproducible to provide the feedback on the display of surgical instrumenties.In some cases, surgical instrumenties Can for example automatically be connected with external display 1700 and/or wireless receiver, this wireless receiver can be with outside or operating room Display 1700 carries out signal communication.In such cases, if multiple surgical instrumenties are just attempting to connect to external display 1700, then can notify operator.As described herein, operator can be for example from needed for the menu setecting external display 1700 Surgical instrumenties.In other cases, operator can be by providing input to surgical instrumenties select required surgical instrumenties.Example As operator can send order, control sequence, or input code is to select surgical instrumenties.In all cases, outside operator can use Section's apparatus is completing specific control sequence to select this surgical instruments.For example, operator can open surgical instrumenties and pre- Press reversing button in the time period of definition and continue the predefined time period for example to select this surgical instruments.Work as surgical instrumenties When chosen, the feedback on selected surgical instrumenties display can for example be relayed or be copied on external display 1700.

In some cases, Surgery Systemss may include proximity transducer.For example, external display and/or wireless receiver May include proximity transducer, this proximity transducer can detect when surgical instrumenties enter in its preset range.Referring primarily to Figure 35 And Figure 36, when display 1700 and/or wireless receiver detect surgical instrumenties, display can notify the user that.In some feelings Under condition, display and/or wireless receiver can detect multiple surgical instrumenties.Referring to Figure 35, display 1700 may include for example non- Project and notify 1704, this non-protruding notifies to be communicated near display 1700 having detected that surgical instrumenties or multiple outer to user Section's apparatus.Therefore, using the control (for example, computer) of display 1700, user can click on and notify 1704 to open apparatus choosing The menu 1706 (Figure 36) selected.Menu 1706 can for example illustrate available surgical instrumenties, and user may be selected preferred surgery device Tool is for playing on display 1700.For example, menu 1706 can illustrate serial number and/or the title of available surgical instrumenties.

In some cases, selected surgical instrumenties can provide feedback to confirm its selection to operator.For example, selected The surgical instrumenties selected can for example provide audition or touch feedback.In addition, selected surgical instrumenties can be fed back at least one Part is played to external display 1700.In some cases, operator may be selected multiple surgical instrumenties and display 1700 Can be shared by selected surgical instrumenties.In addition or alternatively, operating room may include multiple display and at least one Surgical instrumenties can for example be selected for each display.Various Surgery Systemss features and/or part be further described through in August is submitted to and entitled " FIRING MEMBER RETRACTION DEVICES FOR POWERED on the 23rd within 2013 The U.S. Patent Application No. 13/974 of SURGICAL INSTRUMENTS ", in 166, this patent application is incorporated by reference simultaneously Enter herein.

During the entire disclosure of following patent is hereby incorporated by reference：

The U.S. being published in entitled " the ELECTROSURGICAL HEMOSTATIC DEVICE " on April nineteen ninety-five 4 is special Profit 5,403,312；

It is published in entitled " the SURGICAL STAPLING INSTRUMENT HAVING of on 2 21st, 2006 The United States Patent (USP) 7,000,818 of SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS "；

It is published in September, 2008 entitled " the MOTOR-DRIVEN SURGICAL CUTTING AND of 9 days The United States Patent (USP) 7,422,139 of FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK "；

It is published in entitled " the ELECTRO-MECHANICAL SURGICAL INSTRUMENT on December 16th, 2008 The United States Patent (USP) 7,464,849 of WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS "；

It is published in entitled " the SURGICAL INSTRUMENT HAVING AN ARTICULATING on March 2nd, 2010 The United States Patent (USP) 7,670,334 of END EFFECTOR "；

It is published in the United States Patent (USP) of entitled " the SURGICAL STAPLING INSTRUMENTS " on July 13rd, 2010 7,753,245；

It is published in entitled " the SELECTIVELY ORIENTABLE IMPLANTABLE on March 12nd, 2013 The United States Patent (USP) 8,393,514 of FASTENER CARTRIDGE "；

The U.S. Patent Application Serial Number 11/ of entitled " SURGICAL INSTRUMENT HAVING RECORDING " 343,803；

It is filed in entitled " the SURGICAL CUTTING AND FASTENING INSTRUMENT of on 2 14th, 2008 The U.S. Patent Application Serial Number 12/031,573 of HAVING RF ELECTRODES "；

It is filed in entitled " the END EFFECTORS FOR A SURGICAL CUTTING AND of on 2 15th, 2008 The U.S. Patent Application Serial Number 12/031,873 (now for United States Patent (USP) 7,980,443) of STAPLING INSTRUMENT "；

The U.S. Patent Application Serial Number of entitled " MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT " 12/235,782 (now for United States Patent (USP) 8,210,411)；

Entitled " POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY The U.S. Patent Application Serial Number 12/249,117 of RETRACTABLE FIRING SYSTEM " is (now for U.S. Patent Application Publication 2010/0089970)；

It is filed in entitled " the MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT on December 24th, 2009 The U.S. Patent Application Serial Number 12/ of WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY " 647,100；

It is filed in the U.S. Patent Application Serial Number 12/ of in September, 2012 entitled " the STAPLE CARTRIDGE " of 29 days 893,461 (now for U.S. Patent Application Publication 2012/0074198)；

It is filed in the United States Patent (USP) Shen of entitled " the SURGICAL STAPLING INSTRUMENT " of on 2 28th, 2011 Please serial number 13/036,647 (now for U.S. Patent Application Publication 2011/0226837)；

Entitled " SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT The U.S. Patent Application Serial Number 13/118,241 of ARRANGEMENTS " is (now for U.S. Patent Application Publication 2012/ 0298719)；

It is filed in entitled " the ARTICULATABLE SURGICAL INSTRUMENT on June 15th, 2012 The U.S. Patent Application Serial Number 13/524,049 of COMPRISING A FIRING DRIVE "；

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It is filed in entitled " the SURGICAL CUTTING AND FASTENING INSTRUMENT on January 31st, 2006 The U.S. Patent Application Publication 2007/0175955 of WITH CLOSURE TRIGGER LOCKING MECHANISM "；With

It is filed in entitled " the SURGICAL STAPLING INSTRUMENT WITH AN on April 22nd, 2010 The U.S. Patent Application Publication 2010/0264194 of ARTICULATABLE END EFFECTOR ".

According to various embodiments, surgical instrumenties as herein described may include and are connected to the one or more of various sensors Processor (for example, microprocessor, microcontroller).Except processor, storage device (there is operation logic) and communication structure that This is linked together.

As it was previously stated, sensor is configured to detect and gathers the data being associated with surgical device.Processor Process the sensing data receiving from sensor.

Processor is configured to execute operation logic.Processor can be multiple monokaryons or many as known in the art Any one of core processor.Storage device may include and is configured to store forever copying with interim (work) of operation logic The volatibility of shellfish and non-volatile memory medium.

In various embodiments, operation logic is configured to process and adopting that the exercise data of user is associated Collection data, as mentioned above.In various embodiments, operation logic is configured to execute initial treatment, and by number According to being sent to the computer of managed application to determine and to generate instruction.For these embodiments, operation logic can be entered One step is configured to from trustship computer receive information and provides it feedback.In alternative embodiment, operation logic It is configured to play the part of prior role in receive information and determination feedback.In either case, either Its independently determined instruction being also in response to from trustship computer, operation logic can be further configured to can control instead Feedback simultaneously provides feedback to user.

In various embodiments, operation logic can be come by the instruction that the instruction set architecture (ISA) of processor is supported Implement, or to be implemented with higher level language, and be compiled into supported ISA.Operation logic may include one or more patrolling Collect unit or module.Operation logic can be implemented in OO mode.Operation logic is configured to many Business mode and/or multithreading are executing.In other embodiments, operation logic can be real in hardware (such as gate array) Apply.

In various embodiments, communication interface is configured to be conducive between ancillary equipment and computing system Communication.This communication be may include the collected biometric data being associated with position, posture and/or user body The mobile data divided is sent to trustship computer, and the data being associated with touch feedback is sent to periphery from master computer Equipment.In various embodiments, communication interface can be wired or wireless communication interface.The example of wired communication interface may include But it is not limited to USB (universal serial bus) (USB) interface.The example of wireless communication interface may include but be not limited to blue tooth interface.

For various embodiments, processor can be packaged together with operation logic.In various embodiments, processor Can be packaged together with operation logic to form system in package (SiP).In various embodiments, processor can be identical naked Integrated together with operation logic on piece.In various embodiments, processor can be packaged together with operation logic to form piece Upper system (SoC).

Various embodiments can herein be described in the general background of computer executable instructions, described calculating Machine executable instruction such as software, program module and/or just by the engine of computing device.In general, software, program mould Block and/or engine include being arranged to any software element executing specific operation or realizing particular abstract data type.Soft Part, program module and/or engine may include execution particular task or realize the routine of particular abstract data type, program, right As, part, data structure etc..Being embodied as of software, program module and/or engine components and technology is storable in certain shape Transmit on the computer-readable medium of formula and/or by some form of computer-readable medium.Thus, computer Computer-readable recording medium can be any usable medium that can be used for storage information and can be accessed by computing device.Some embodiments also may be used To put into practice in a distributed computing environment, in described distributed computing environment, operation is by by the one of communication network links Or the execution of multiple remote processing devices.In a distributed computing environment, software, program module and/or engine can be located at including depositing Reservoir storage device is in interior local and remote computer-readable storage medium.Memorizer (such as random access memory can be adopted (RAM) or other dynamic storage device) carry out storage information and treat by the instruction of computing device.Memorizer can be additionally used in holding Row stores temporary variable or other average informations during treating by the instruction of computing device.

Although some embodiments being illustrated and being described as each including functional part, software, engine and/or execution The module of kind of operation but it is to be understood that this base part or module can by one or more hardware componenies, software part and/ Or combinations thereof realization.Functional part, software, engine and/or module can be treated (for example, to be processed by logical device by (such as) Device) logic (for example, instruction, data and/or code) that executes realizes.This logic is storable in positioned at one or more class Inside or outside logical device on the computer-readable recording medium of type.In other embodiments, functional part is such as soft Part, engine and/or module can be realized by hardware element, and described hardware element may include processor, microprocessor, circuit, circuit Element (for example, transistor, resistor, capacitor, inducer etc.), integrated circuit, special IC (ASIC), programmable patrol Volume equipment (PLD), digital signal processor (DSP), field programmable gate array (FPGA), gate, depositor, quasiconductor set Standby, chip, microchip, chipset, etc..

The example of software, engine and/or module may include software part, program, application, computer program, application journey Sequence, system program, machine program, operating system software, middleware, firmware, software module, routine, subroutine, function, method, Process, software junction surface, application program junction surface (API), instruction set, calculation code, computer code, code snippet, calculating Machine code snippet, word, value, symbol or any combination of them.Determine embodiment whether using hardware element and/or software Element realizing to be changed according to any amount of factor, all computation rates as desired of these factors, power level, thermal capacitance Difference, processing cycle budget, input data rate, output data rate, memory resource, data bus speed and other designs Or Performance Constraints.

One or more of module as herein described may include and is embodied as firmware, software, hardware or their any group The one or more built-in application programs closing.One or more of module as herein described may include various executable moulds Block, software, program, data, driver, application programming interfaces (API) etc..Firmware is storable in the storage of processor 3008 In device, described memorizer may include the storage of nonvolatile memory (NVM), such as bit mask read only memory (ROM) or flash Device.In various being embodied as, firmware is stored in ROM and can protect flash memory.Nonvolatile memory (NVM) can wrap Include other kinds of memorizer, including such as programming ROM (PROM), erasable programmable ROM (EPROM), electric erasable can Programming ROM (EEPROM) or battery backed random access memory (RAM), such as dynamic ram (DRAM), double data rate (DDR) DRAM And/or synchronous dram (SDRAM) (DDRAM).

In some cases, various embodiments can achieve as article of manufacture.Described article of manufacture can include being arranged Deposit for the computer-readable executing the logic, instruction and/or data of the various operations of one or more embodiments for storage Storage media.In various embodiments, for example, described product may include disk, CD, flash memories or firmware, these systems Product all containing be suitable to by general processor or application specific processor execution computer program instructions.However, embodiment not only It is limited to this.

In conjunction with the various functions element of embodiments disclosed herein description, logical block, module and component Function can be implemented in the general environment of computer executable instructions, the software that such as executed by processing unit, control module, patrols Collect and/or logic module.In general, software, control module, logic and/or logic module include being arranged to executing specific Any software element of operation.Software, control module, logic and/or logic module may include execution particular task or implement special Determine the routine of abstract data type, program, object, part, data structure etc..Software, control module, logic and/or logic mould Being embodied as being storable on some form of computer-readable medium and/or pass through some form of meter of block and technology Calculation machine computer-readable recording medium transmits.Thus, computer-readable medium can be can be used for storage information and can be visited by computing device Any usable medium asked.Some embodiments can also be put into practice in a distributed computing environment, in described Distributed Calculation ring In border, operation is by by one or more remote processing devices execution of communication network links.In a distributed computing environment, soft Part, control module, logic and/or logic module can be located at the local and remote computer including memory storage device In storage medium.

Moreover, it will be appreciated that the embodiment described herein illustrate exemplary be embodied as, and functional element, Logical block, module can the various other modes consistent with described embodiment be implemented with component.Additionally, by this class Functional element, the operation of logical block, module and component execution can be combined and/or separate for given concrete reality Apply, and can be executed by greater number or lesser amount of part or module.As those skilled in the art are reading the disclosure Apparent afterwards, each in independent embodiment described and illustrated herein has discrete parts and feature, not On the premise of deviating from the scope of the present disclosure, the feature that described part and feature can easily with any aspect in some other aspects Separately or in combination.Any described side can be executed by the order of described event or by any other logically possible order Method.

It should be noted that any all mean to combine embodiment to " embodiment " or referring to of " embodiment " Described special characteristic, structure or characteristic are included at least one embodiment.Occur everywhere in the description phrase " In one embodiment " or " in one aspect " might not be all referring to identical embodiment.

Unless stated otherwise, it should be understood that term " process ", " computing ", " calculating ", " determination " etc. are The action of finger computer or computing system or similar computing electronics and/or process, described computing electronics are such as general Processor, DSP, ASIC, FPGA or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or it Any combinations, it is designed to execute function as herein described, and it manipulates the thing being expressed as in depositor and/or memorizer The data of reason amount (for example, electronics) and/or convert thereof into and be similarly expressed as memorizer, depositor or other such letters Other data of physical quantity in breath storage device, transporter or display device.

It should be noted that some embodiments can be retouched using expression " connection " and " connection " and their derivative words State.Being not intended to these terms is synonym for each other.For example, some embodiments can use term " connection " and/or " connection " To describe, to represent that two or more elements are in direct physical contact with each other or make electrical contact with.However, term " connection " can also refer to Two or more elements are not directly contacts each other, but are fitted to each other or interact.For software element, for example, Term " connection " can refer to interface, message interface, application programming interfaces (API), exchange message etc..

It should be appreciated that the described any patent being incorporated herein by reference, publication or other open materials, no By being full text or part, the definition being only given in the material being incorporated to the disclosure, statement or other open materials are not rushed It is expressly incorporated herein in prominent scope.Therefore, and under necessary degree, the disclosure being expressly recited herein replaces with the side of quoting Any conflict material that formula is expressly incorporated herein.It is said that be herein incorporated by reference but with existing definition as herein described, statement or Afoul any material of other open materials or part thereof, does not only produce between the material being incorporated to and existing open material It is expressly incorporated herein under the degree of raw conflict.

Disclosed embodiments of the present invention are applied to splanchnoscopy and open surgical apparatus and the application of routine Operation in robot assisted.

The embodiment of apparatus as disclosed herein may be designed as abandoning using after single, is also designed to for repeatedly making With.Any of the above-described or two kinds in the case of, all these embodiments can be repaired, so that using making again after at least one times With.Repair the combination in any that may include following steps：Provision for disengagement and then clean or change specific component and subsequently carrying out again Assembling.Specifically, with the embodiment of provision for disengagement, and optionally can change in any combination or to remove Any number of specific component of device or part.When cleaning and/or change particular elements, the embodiment of described device can Restoration facilities re-assembly or is re-assemblied by surgical team before will carrying out surgical operation and use for subsequent. It will be understood by those skilled in the art that device reparation can carry out dismantling using multiple technologies, clean/change and group again Dress.The device that the use of these technology and gained are repaired again is all within the scope of application.

Only by way of example, before surgical operation, the embodiment described herein can be processed.It is possible, firstly, to Obtain new or used apparatus, and be cleaned as needed.Then, apparatus can be carried out disinfection.In a kind of sterilization skill In art, this apparatus is placed in closure and the container of sealing, such as in plastics or TYVEK bag.Then can be by container and apparatus It is placed in the radiation field that can penetrate this container, such as gamma-radiation, X-ray or high energy electron.Radiation can be killed on apparatus and container In antibacterial.Apparatus after sterilization subsequently can be stored in sterile chamber.Apparatus can be kept being in aseptic shape by sealing container State, until open this container in medical facilities.It is also possible to use any other technology known in the art device is sterilized, bag Include but be not limited to β radiation or gamma-radiation, oxirane or steam.

It will be recognized by those skilled in the art, ingredient as herein described (for example, operating), device, object and it The discussion enclosed be to be used as example for the sake of clear concept, and it is contemplated that multiple configuration modification.Therefore, such as Used herein, the specific example of elaboration and the discussion enclosed are intended to represent their more generally classifications.Generally, any specific example Use be intended to represent its classification, and not the including part and should not adopt of concrete composition part (for example, operating), device and object Take restriction.

For substantially any plural number used herein and/or singular references, those skilled in the art can turn from plural number Change odd number into and/or pluralize from odd number conversion, as long as being suitable for context and/or applying just permissible.For clarity, various Singular/plural displacement is not herein clearly stated.

Theme as herein described elaborates the different parts being included in other different parts or portion different from other sometimes The different parts that part connects.It should be appreciated that the framework of such description is only example, and in fact can implement to realize obtaining phase Other frameworks of the many of congenerous.On conceptual sense, any arrangement obtaining the part of same functionality all has Effect " associated ", thus obtain required feature.Therefore, be combined together for obtaining particular functionality herein appoints What two assembly all can be considered " to be associated " each other, thus obtaining required feature, regardless of whether structure or intermediate module are such as What.Equally, any two assembly being so connected also can be considered " to be operatively connected " each other or " operatively coupling ", to obtain Required feature, and any two assembly that can be so connected all can be considered " to be operatively coupled " each other, to obtain Obtain required feature.The specific example being operatively coupled including but not limited to can Physical Match and/or physics interact group Part, and/or wireless interactive, and/or wireless interactive assembly, and/or logic is interactive, and/or logic interactive component.

Some aspects can be described using expression " connection " and " connection " and their derivative words.It should be appreciated that simultaneously Being not meant to term is synonym for each other.For example, some aspects can using term " connection " describing, with represent two or More elements are in direct physical contact with each other or make electrical contact with.In another example, some aspects can be come using term " connection " Description, to represent two or more element direct physical contacts or electrical contact.However, term " connection " can also refer to two or More elements are not directly contacts each other, but are fitted to each other or interact.

In some cases, one or more parts are herein referred to alternatively as " being configured to ", " are configurable to Can ", " operable/operationally ", " be suitable for/being suitable to ", " can ", " adapt to/be suitable for " etc..Those skilled in the art will Recognize, unless context indicates otherwise, otherwise " be configured to " generally to cover the part of state of activation and/or do not swash The part of state alive and/or the part of holding state.

Although having shown that and describe the particular aspects of invention as described herein theme, the technology to this area Personnel are evident that, based on teaching herein, can make in the case of without departing from theme as herein described change and Modification, and as in the true scope of theme as herein described, its broader aspect therefore claims are by institute Such change is had to include in the range of it with modification.It will be understood by those of skill in the art that in general, herein particularly with Term used in attached claim (for example, the text of appended claims) is typically aimed at as open to the outside world term (for example, art Language " inclusion " should be interpreted that " including but not limited to ", and term " having " should be interpreted that " at least having ", term "comprising" should be explained For " including but not limited to " etc.).Those skilled in the art is also understood that when the specific number of introduced claim narration For expected when, then such intention will clearly describe in the claims, and do not exist such narration in the case of, There is not such intention.For example, for helping understand, following appended claims can contain to introductory phrase " at least one " " one or more " using introduce claim narration.However, it is logical that the use of such phrase is not construed as with hint Cross indefinite article " one " or " a kind of " introducing claim narration will introduce any specific of claim narration containing such Claim is limited in the claim containing the such narration of only one, in addition when same claim include introductory short (for example, " one " and/or " a kind of " generally should solve for language " one or more " or " at least one " and such as " one " or " a kind of " Be interpreted as meaning " at least one " or " one or more ") indefinite article when；This is also applied for chatting to for introducing claim The use of the definite article stated.

Even if in addition, when clearly describing the given number introducing claim narration, those skilled in the art should Recognize, this narration generally should be construed as meaning that the number at least being described (for example, is not having the situation of other modifiers Under, the naked narration to " two narrations " generally means that at least two narrations or two or more narrations).Additionally, making wherein With in the case of the convention similar to " at least one of A, B and C etc. " it is however generally that, this structure is intended to there is this The technical staff in field will be understood that the meaning of described convention (for example, " has the system of at least one of A, B and C " will include But be not limited to have only A, only B, only C, A together with B, together with A with C, together with B with C and/or A, B are together with C etc. system).? Wherein use similar in the case of the convention of " at least one of A, B or C etc. " it is however generally that, this structure is intended to Have it should be appreciated by those skilled in the art that the meaning of described convention (for example, " has the system of at least one of A, B or C " Including but not limited to had only A, only B, only C, A together with B, together with A with C, together with B with C and/or A, B are together with C etc. is System).Those skilled in the art is also understood that generally, unless the context indicates otherwise, otherwise no matter in specific embodiment party Assume the turning word of two or more alternative terms in formula, claim or accompanying drawing and/or phrase is interpreted as covering Probability including any one of one of described term, described term or this two terms.For example, phrase " A or B " leads to Often will be understood to comprise " A " or the probability of " B " or " A and B ".

For appended claim, it will be appreciated by those skilled in the art that the operation wherein listed generally can be appointed What is sequentially carried out.Although in addition, multiple operating processes are listed with certain order, it is to be understood that, can be differently configured from shown suitable Other of sequence sequentially carry out described multiple operation, or can carry out described multiple operation simultaneously.Unless the context requires otherwise, Otherwise such example substituting sequence may include overlap, staggered, interruption, rearrangement, increment, preparation, supplement, simultaneously, reversely, Or the sequence of other changes.Additionally, unless the context requires otherwise, otherwise as " in response to ", " relevant " term or its The adjective of his past tense is generally not intended to exclude such variant.

Put it briefly it has been described that by the many beneficial effects being produced using concept as herein described.In order to illustrate Purpose that is bright and describing, there has been provided the above-mentioned specific embodiment of one or more embodiments.These specific embodiment parties Formula is not intended to as in detail or be limited to precise forms disclosed in this invention.According to above-mentioned teachings, the present invention can be entered Row modification or modification.Selected and description one or more embodiments are to illustrate the principle of the present invention and actual use On the way, thus allowing those of ordinary skill in the art can utilize multiple embodiments, and the concrete application in suitable imagination In the case of carry out various modifications.It is intended to limit four corner with claims that this together submits to.

Claims (32)

1. by operator's surgical instrumenties used in surgical operation, described surgical instrumenties include one kind：

Slender axles；

The end effector extending from described slender axles, wherein said end effector can be with respect to described slender axles at one's own department or unit Carry out joint motions between state position and articulated position；With

Control system, described control system includes：

Processor；With

Memorizer, described memorizer is connected to described processor and is instructed with storage program, and described program instructs from described storage Described processor is led to reach described natural state position in described end effector from described articulated position during device execution When point out described operator.

2. surgical instrumenties according to claim 1, wherein said programmed instruction is leading to institute when described memorizer executes State processor and stop described end in described end effector when described articulated position reaches described natural state position The joint motions of executor.

3. surgical instrumenties according to claim 1, also include motor, and described motor is operable to so that described end executes Device carries out joint motions between described natural state position and described articulated position, and wherein said programmed instruction is from institute Described processor is led to reach described one's own department or unit shape in described end effector from described articulated position when stating memorizer execution Stop described motor during state position.

4. surgical instrumenties according to claim 1, wherein said programmed instruction is leading to institute when described memorizer executes State processor when described end effector is from the described articulated position described natural state position of arrival to described operator Visual feedback is provided.

5. surgical instrumenties according to claim 1, wherein said programmed instruction is leading to institute when described memorizer executes State processor when described end effector is from the described articulated position described natural state position of arrival to described operator Touch feedback is provided.

6. by operator's surgical instrumenties used in surgical operation, described surgical instrumenties include one kind：

Shank assembly, described shank assembly can be moved between multiple positions, and described shank assembly includes interface；

Slender axles；

End effector, described end effector is from described slender axles towards distal extension；With

Control system, described control system includes：

Processor；With

Memorizer, described memorizer is connected to described processor and is instructed with storage program, and described program instructs from described storage Described processor is led to switch between the configuration of multiple interfaces during device execution, each the interface configuration in the configuration of wherein said interface It is associated with one of described position position.

7. surgical instrumenties according to claim 6, wherein said multiple interfaces configuration includes the first interface configuration and second Interface configuration, wherein said multiple positions include primary importance and the second position, and wherein said programmed instruction is from described Described processor is led to adopt described first interface structure when described shank assembly is in described primary importance during memorizer execution Type and when described shank assembly is in the described second position adopt described second contact surface configuration.

8. surgical instrumenties according to claim 7, also include screen, and wherein said first interface configuration includes described screen First orientation, and wherein said second contact surface configuration includes the second orientation of described screen, and described second orientation is different from Described first orientation.

9. surgical instrumenties according to claim 7, wherein said interface includes first switch and second switch, and described first Switch and described second switch can be operated by described operator so that described end effector relative is carried out in described slender axles Joint motions.

10. surgical instrumenties according to claim 9, wherein said first switch can be operated by described operator with institute Stating when processor generates described first interface configuration makes described end effector carry out joint motions in the first direction, and wherein Described first switch can be operated by described operator to make described end when described processor generates described second contact surface configuration Portion executor carries out joint motions along the second direction different from described first direction.

11. surgical instrumenties according to claim 10, wherein said second switch can by described operator operate with Described processor makes described end effector carry out joint motions along described second direction when generating described first interface configuration, and And wherein said second switch can be operated by described operator to make when described processor generates described second contact surface configuration Described end effector carries out joint motions along described first direction.

12. one kind are included by operator's surgical instrumenties used in surgical operation, described surgical instrumenties：

Interface, described interface includes multiple operational controls；

Slender axles；

End effector, described end effector is from described slender axles towards distal extension；With

Control system, described control system includes：

Processor；With

Memorizer, described memorizer is connected to described processor and is instructed with storage program, and described program instructs from described storage Described processor is led to switch described interface between main interface configuration and secondary interface configuration during device execution, wherein said multiple Operating function, wherein said multiple behaviour are executed when operational controls are configured to be in described main interface configuration at described interface As control be configured to be in described secondary interface configuration at described interface when execute navigation feature, wherein said navigation work( Can be relevant with described operating function.

13. surgical instrumenties according to claim 12, wherein said interface includes display.

14. surgical instrumenties according to claim 13, are additionally included in energy when described surgical instrumenties are in described navigation pattern Enough navigation menus being accessed by described display.

15. surgical instrumenties according to claim 14, wherein said navigation menu includes joint motions menu, wherein said Multiple operational controls include joint motions control, and wherein said joint motions control is operable to in described main interface configuration Make described end effector relative carry out joint motions in described slender axles, and wherein said joint motions control is operable to To access described joint motions menu in described secondary interface configuration.

16. one kind are included by operator's surgical instrumenties used in surgical operation, described surgical instrumenties：

Slender axles；

End effector, from described slender axles towards distal extension, described end effector includes nail bin to described end effector, institute State multiple nails that nail bin includes to move between non-percussion configuration and percussion configuration；

Firing lock, described firing lock is configured to make the plurality of nail move to described percussion configuration；

Interface, described interface includes touch screen, and wherein said touch screen includes firing icon；With

Control system, described control system includes：

Processor；With

Memorizer, described memorizer is connected to described processor and is instructed with storage program, and described program instructs from described storage Described processor detection is led to select the percussion input signal generating during described percussion icon in described operator during device execution, its Described in programmed instruction to lead to described processor to make by starting described firing lock when described memorizer executes described Multiple nails move to described percussion configuration and carry out the described detection in response to described percussion input signal.

17. surgical instrumenties according to claim 16, also include articulation mechanism, and described articulation mechanism is constructed One-tenth can make described end effector relative carry out joint motions in described slender axles, and wherein said touch screen includes joint motions Icon, wherein said programmed instruction is leading to described processor detection in described operator selection institute when described memorizer executes State the joint motions input signal generating during joint motions icon, and wherein said programmed instruction is from the execution of described memorizer When lead to described processor by start described articulation mechanism and make described end effector carry out joint motions and respond In described joint motions input signal.

18. one kind are included by operator's surgical instrumenties used in surgical operation, described surgical instrumenties：

Interface, described interface includes control；With

Indicator system, described indicator system includes：

Indicator, described indicator is associated with described control；

Processor；With

Memorizer, described memorizer is connected to described processor and is instructed with storage program, and described program instructs from described storage Described processor is led to start described indicator to point out described operator to operate described control during device execution.

19. surgical instrumenties according to claim 18, wherein said interface includes multiple controls, and wherein said instruction Device system includes the associated plurality of indicator with the plurality of control.

20. surgical instrumenties according to claim 19, wherein said multiple controls can operate in order, wherein said Programmed instruction is leading to described processor to start the plurality of indicator according to described order when described memorizer executes.

21. surgical instrumenties according to claim 18, wherein said indicator is visual detector.

22. surgical instrumenties according to claim 21, wherein said visual detector includes lamp, described lamp be actuated to Described operator signals and to operate described control.

23. surgical instrumenties according to claim 21, wherein said visual detector includes lamp, and described lamp is adapted to Enough change color to signal to operate described control to described operator.

24. one kind are included by operator's surgical instrumenties used in surgical operation, described surgical instrumenties：

Interface, described interface can be operated by described operator in the step operating described surgical instrumenties, wherein said interface Including control；With

Indicator system, described indicator system includes：

Indicator, described indicator is associated with described control；

Processor；With

Memorizer, described memorizer is connected to described processor and is instructed with storage program, and described program instructs from described storage Described processor is led to switch described indicator between the first indicator configuration and the second indicator configuration, wherein during device execution Described processor be configured to described control can by described operator situation used in described step under by institute State indicator and be set as described first indicator configuration, and wherein said processor be configured to can not in described control By under described operator situation used in described step, described indicator is set as described second indicator configuration.

25. surgical instrumenties according to claim 24, wherein said programmed instruction is leading to when described memorizer executes Described processor can be supplied to described operator in described control and be used as standard control for completing the situation of described step Lower described indicator is set as described first indicator configuration.

26. surgical instrumenties according to claim 25, wherein said programmed instruction is leading to when described memorizer executes Described processor is in the case of described control can be supplied to described operator as non-standard control during described step Described indicator is set as the 3rd indicator configuration.

27. surgical instrumenties according to claim 24, wherein said interface includes multiple controls, wherein said indicator system System includes the associated plurality of indicator with the plurality of control.

28. surgical instrumenties according to claim 27, wherein said programmed instruction is leading to when described memorizer executes Described processor switches the plurality of indicator between described first indicator configuration and described second indicator configuration.

A kind of 29. surgical assemblies, including：

Surgical instrumenties, described surgical instrumenties are used in surgical operation by operator, and described surgical instrumenties include：

Shank assembly, described shank assembly includes main interface, and described main interface includes multiple dominant controls；

Slender axles, described slender axles are from described shank assembly towards distal extension；With

End effector, from described slender axles towards distal extension, wherein said multiple dominant controls being capable of handss for described end effector It is operated such that dynamic described end effector dynamicly；With

Remote operation unit, described remote operation unit includes secondary interface, and described secondary interface includes multiple two grades of controls, its Described in multiple two grades of controls be operable to activate described end effector with long-range.

30. surgical assemblies according to claim 29, wherein said multiple dominant controls can activate to generate main control letter Number, wherein said multiple two grades of controls can activate to generate Two-stage control signal, and wherein said Two-stage control signal quilt It is configured to imitate described main control signal.

31. surgical assemblies according to claim 30, wherein said surgical instrumenties include receptor, wherein said long-range behaviour Include emitter as unit, described emitter is configured to described Two-stage control signal transmission to described receptor.

32. surgical assemblies according to claim 30, wherein said surgical instrumenties include controller, described controller bag Include：

Processor, described processor is configured to receive described main control signal and described Two-stage control signal；With

Memorizer, described memorizer is connected to described processor and is instructed with storage program, and described program instructs from described storage Described processor response is led to cause at least one of described main control signal and described Two-stage control signal during device execution Move described end effector.