CN109219404A - With the interchangeable surgical tool component that can surround the surgical end-effector that axis axis selectively rotates - Google Patents

Abstract

The invention discloses a kind of surgical instruments.In one form, which includes elongated shaft assembly and end effector, which is configured to carry out selective rotation relative to the axis of elongated shaft assembly.The surgical instruments may include that surgical end-effector is locked in being rotationally oriented around axis axis when applying axial lock movement and axially unlocked movement with left-hand tools locking system by spin locking system.Surgical instruments may also include rotary drive system, which is configured to apply rotation control action to firing member and applies rotational positioning movement to surgical end-effector.

Description

It can be mutual with can surround surgical end-effector that axis axis selectively rotates Change surgical tool component

Background technique

The present invention relates to surgical instruments, and in various arragement constructions, are related to being designed to suture and cutting tissue Surgical stapling and cutting device and the nail bin being used therewith.

Detailed description of the invention

The various features of the embodiment described herein are managed in combination with following attached drawing according to being described below together with its advantage Solution:

Fig. 1 is the perspective view according to the surgical instruments including interchangeable surgical tool component of at least one embodiment；

Fig. 2 is another perspective view of the handle assembly of the surgical instruments of Fig. 1, and wherein a part of shank shell is omitted Component therein is contained in exposure；

Fig. 3 is the decomposition assembled view of the part of the handle assembly of the surgical instruments of Fig. 1 and Fig. 2；

Fig. 4 is the sectional perspective view of the handle assembly of Fig. 2 and Fig. 3；

Fig. 5 is the partial cross-sectional side view of the handle assembly of Fig. 2 to Fig. 4, and wherein the retained part of handle assembly is with reality Line is shown in a position relative to main housing portion and the main housing part shown in dotted line relative to handle assembly In another position divided；

Fig. 6 is the cross-sectional end view of line 6-6 interception of the handle assembly of Fig. 2 to Fig. 5 in Fig. 5；

Fig. 7 is the other end cross-sectional view of line 7-7 interception of the handle assembly of Fig. 2 to Fig. 6 in Fig. 5；

Fig. 8 is the other end cross-sectional view of the handle assembly of Fig. 2 to Fig. 7, is shown and the driving on rotation driving pod The selector gear that gear is engaged；

Fig. 9 is another cross-sectional end view of the handle assembly of Fig. 2 to Fig. 8, is shown when selector gear and rotation drive Selector solenoidal position when driving gear on dynamic pod is engaged；

Figure 10 is another perspective view of the handle assembly of Fig. 2 to Fig. 9, and wherein certain parts of handle assembly are with cross section It shows and the access faceplate part of handle assembly is shown in dotted line；

Figure 11 is the top view of the handle assembly of Fig. 2 to Figure 11, and wherein emergency system is illustrated at actuatable position；

Figure 12 is the perspective view of the emergency shank of emergency system shown in Fig. 2 to Figure 11；

Figure 13 is the decomposition assembled view of the part of the emergency shank of Figure 12, wherein the part of emergency shank is shown with cross section Out；

Figure 14 is the cross-sectional elevational view of the handle assembly of Figure 11；

Figure 15 is the tool attachment module part of the handle assembly of Fig. 2 to Figure 11 and the interchangeable surgical tool component of Fig. 1 Perspective view；

Figure 16 is the partial cut-away perspective view of the tool attachment module part of Figure 15；

Figure 17 is the decomposition assembled view of the part of the interchangeable surgical tool component of Figure 16；

Figure 18 is the decomposition assembled view of the tool attachment module of Figure 16；

Figure 19 is the perspective view of a form of axis connector release component；

Figure 20 is the side sectional view of the tool attachment module of Figure 16 and Figure 18, and the tool attachment module alignment is to be used for It is mounted on the tool mounting portion of the handle assembly of Fig. 1；

Figure 21 is another side sectional view of the tool attachment module of Figure 20, and the tool attachment module is firstly inserted into In the tool mounting portion of the handle assembly of Fig. 1；

Figure 22 is another sectional view of the tool link block of Figure 20 and 21, and the tool attachment module is attached to Fig. 1 Handle assembly tool mounting portion；

Figure 23 is the perspective view of the interchangeable surgical tool component of Fig. 1；

Figure 24 is the sectional perspective view of the interchangeable surgical tool component of Figure 23；

Figure 25 is the perspective view of the surgical end-effector part of the interchangeable surgical tool component of Figure 23；

Figure 26 is the sectional perspective view of the surgical end-effector of Figure 25；

Figure 27 is the decomposition assembled view of the surgical end-effector of Figure 25；

Figure 28 be the surgical end-effector of Figure 25 part after cross-sectional view；

Figure 29 is the sectional perspective view of the firing member or cutting element according at least one embodiment；

Figure 30 is the cross-section front view according to the actuated articulation joints of at least one embodiment；

Figure 31 is the cross-sectional view of the surgical end-effector of Figure 25, and wherein the firing member of Figure 29 is in firing position；

Figure 32 is another cross-sectional view of the surgical end-effector of Figure 25, and wherein the firing member of Figure 29 is in stop bits It sets；

Figure 33 is another cross-sectional view of a part of the surgical end-effector of Figure 25, and wherein anvil assembly, which is in, opens Position；

Figure 34 is another cross-sectional view of a part of the surgical end-effector of Figure 25, wherein at the firing member of Figure 29 In pre- firing position；

Figure 35 is another cross-sectional view of a part of the surgical end-effector of Figure 34, and wherein firing member has returned To initial position, thus to promote internal screw thread closure nut to engage with the closed thread section thread on the line shaft of distal side；

Figure 36 is the perspective view according to the carriage spring of at least one embodiment；

Figure 37 is the decomposition assembled view of the actuated articulation joints of Figure 30；

Figure 38 is the top view of the actuated articulation joints of Figure 30, and wherein the surgical end-effector of Figure 25 is in non-joint fortune Dynamic orientation；

Figure 39 is another top view of the actuated articulation joints of Figure 30, and wherein surgical end-effector is in maximum joint Movement orientation；

Figure 40 is the perspective view of a part of the elongated shaft assembly of Figure 23, shows the actuated articulation joints and surgery of Figure 30 A part of end effector spin locking system implementation plan；

Figure 40 A is the exploded perspective of the actuated articulation joints and end effector according at least one embodiment Figure shows a kind of arragement construction for convenient for supplying electric signal to the end effector around actuated articulation joints.

Figure 40 B is the actuated articulation joints of Figure 40 A and the side front view of end effector, wherein actuated articulation joints and end Some components of portion's actuator are illustrated in cross-section；

Figure 41 is that the surgical end-effector spin locking system of Figure 40 is in the partial perspective cutaway view of unlock orientation；

Figure 42 is that the surgical end-effector spin locking system of Figure 40 and Figure 41 is in another part of unlock orientation Sectional perspective view；

Figure 43 is that the surgical end-effector spin locking system of Figure 40 to Figure 42 is in the top view that locking is orientated；And

Figure 44 is that the surgical end-effector spin locking system of Figure 40 to Figure 43 is in the top view that unlock is orientated.

In several views, corresponding reference symbol indicates corresponding component.Exemplifications set out herein is with a kind of shape Formula shows various embodiments of the present invention, and this example is not necessarily to be construed as the model limiting the invention in any way It encloses.

Specific embodiment

Present applicant possesses following patent application, the patent application and the application and submits in same date and each It is incorporated herein from being incorporated by reference:

The United States Patent (USP) Shen of entitled " METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM " Please sequence number _ _ _ _ _ _ _ _；Attorney number END7821USNP/150535；

The U.S. Patent Application Serial of entitled " MODULAR SURGICAL INSTRUMENT SYSTEM " Number _ _ _ _ _ _ _；Attorney number END7822USNP/150536；

Entitled " SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE- The U.S. Patent Application Serial Number of ORIENTABLE DISPLAY FIELD " _ _ _ _ _ _ _；Attorney number END7822USNP1/150536-1；

Entitled " SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP The U.S. Patent Application Serial Number of PORTION " _ _ _ _ _ _ _；Attorney number END7823USNP/150537；

Entitled " ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE The U.S. Patent Application Serial Number of BAILOUT SYSTEM " _ _ _ _ _ _ _；Attorney number END7824USNP/150538；

Entitled " SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIL The U.S. Patent Application Serial Number of CONCENTRIC DRIVE MEMBER " _ _ _ _ _ _ _；Attorney number END7825USNP/ 150539；

Entitled " CLOSURE SYSTEM ARRANGEMENTS FOR SURGICAL CUTTING AND STAPLING The U.S. Patent Application Serial Number of DEVICES WITH SEPARATE AND DISTINCT FIRING SHAFTS " _ _ _ _ _ _ _； Attorney number END7826USNP/150540；

Entitled " SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION " U.S. Patent Application Serial Number _ _ _ _ _ _ _；Attorney number END7829USNP/150543；

Entitled " SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE The U.S. Patent Application Serial Number of CUTTING OF TISSUE " _ _ _ _ _ _ _；Attorney number END7830USNP/150544；

The beauty of entitled " SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT " State's patent application serial number _ _ _ _ _ _ _；Attorney number END7831USNP/150545；

Entitled " SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION The U.S. Patent Application Serial Number of LOCKOUT " _ _ _ _ _ _ _；Attorney number END7832USNP/150546；

Entitled " SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT's " U.S. Patent Application Serial Number _ _ _ _ _ _ _；Attorney number END7833USNP/150547；

Entitled " SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT's " U.S. Patent Application Serial Number _ _ _ _ _ _ _；Attorney number END7834USNP/150548；

Entitled " SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT " U.S. Patent Application Serial Number _ _ _ _ _ _ _；Attorney number END7835USNP/150549；

Entitled " SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE The U.S. Patent Application Serial Number of LOCKOUT " _ _ _ _ _ _ _；Attorney number END7836USNP/150550；

The U.S. of entitled " SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM " is special Sharp patent application serial numbers _ _ _ _ _ _ _；Attorney number END7837USNP/150551；

Entitled " SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS's " U.S. Patent Application Serial Number _ _ _ _ _ _ _ _；Attorney number END7838USNP/150552；

The U.S. Patent Application Serial Number of entitled " SURGICAL STAPLING INSTRUMENT " _ _ _ _ _ _ _ _；Generation Manage people's file number END7839USNP/150553；

Entitled " SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF The U.S. Patent Application Serial Number of STAPLES HAVING DIFFERENT HEIGHTS " _ _ _ _ _ _ _；Attorney number END7840USNP/150554；

Entitled " SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET " U.S. Patent Application Serial Number _ _ _ _ _ _ _；Attorney number END7841USNP/150555；

The United States Patent (USP) Shen of entitled " ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLERS " Please sequence number _ _ _ _ _ _ _；Attorney number END7842USNP/150556；

The U.S. Patent Application Serial of entitled " STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES " Number _ _ _ _ _ _ _；Attorney number END7843USNP/150557；

Entitled " CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE The U.S. Patent Application Serial Number of SUPPORT " _ _ _ _ _ _ _；Attorney number END7844USNP/150558；

The beauty of entitled " CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM " State's patent application serial number _ _ _ _ _ _ _ _；Attorney number END7845USNP/150559；With

The United States Patent (USP) Shen of entitled " CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL " Please sequence number _ _ _ _ _ _ _ _；Attorney number END7845USNP1/150559-1.

Present applicant also possesses U.S. Patent application below, these patent applications were mentioned on December 31st, 2015 It hands over, each is respectively entirely incorporated into herein by reference:

Entitled " MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE IN The U.S. Patent Application Serial Number 14/984,488 of POWERED SURGICAL INSTRUMENTS "；

Entitled " MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED The U.S. Patent Application Serial Number 14/984,525 of SURGICAL INSTRUMENTS "；With

Entitled " SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL The U.S. Patent Application Serial Number 14/984,552 of CIRCUITS ".

Present applicant also possesses U.S. Patent application below, these patent applications were mentioned on 2 9th, 2016 It hands over, each is respectively entirely incorporated into herein by reference:

Entitled " SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY The U.S. Patent Application Serial Number 15/019,220 of TRANSLATABLE END EFFECTOR "；

Entitled " SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION The U.S. Patent Application Serial Number 15/019,228 of ARRANGEMENTS "；

Entitled " SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED The U.S. Patent Application Serial Number 15/019,196 of SECONDARY CONSTRAINT "；

Entitled " SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY The U.S. Patent Application Serial Number 15/ of ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY " 019,206；

Entitled " SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION The U.S. Patent Application Serial Number 15/019,215 of ARRANGEMENTS "；

Entitled " ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION The U.S. Patent Application Serial Number 15/019,227 of LINK ARRANGEMENTS "；

Entitled " SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE The U.S. Patent Application Serial Number 15/019,235 of DRIVEN ARTICULATION SYSTEMS "；

Entitled " ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM The U.S. Patent Application Serial Number 15/019,230 of ARRANGEMENTS "；With

Entitled " SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION The U.S. Patent Application Serial Number 15/019,245 of ARRANGEMENTS ".

Present applicant also possesses U.S. Patent application below, these patent applications were mentioned on 2 12nd, 2016 It hands over, each is respectively entirely incorporated into herein by reference:

Entitled " MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED The U.S. Patent Application Serial Number 15/043,254 of SURGICAL INSTRUMENTS "；

Entitled " MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED The U.S. Patent Application Serial Number 15/043,259 of SURGICAL INSTRUMENTS "；

Entitled " MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED The U.S. Patent Application Serial Number 15/043,275 of SURGICAL INSTRUMENTS "；With

Entitled " MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED The U.S. Patent Application Serial Number 15/043,289 of SURGICAL INSTRUMENTS ".

Present applicant possess on June 18th, 2015 submit and be respectively incorporated by reference be incorporated herein with Lower patent application:

Entitled " SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING The U.S. Patent Application Serial Number 14/742,925 of ARRANGEMENTS "；

Entitled " SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING The U.S. Patent Application Serial Number 14/742,941 of FEATURES "；

Entitled " MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE The U.S. Patent Application Serial Number 14/742,914 of SURGICAL INSTRUMENTS "；

Entitled " ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM The U.S. of STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT " Patent application serial number 14/742,900；

Entitled " DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE The U.S. Patent Application Serial Number 14/742,885 of SURGICAL INSTRUMENTS "；With

Entitled " PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE The U.S. Patent Application Serial Number 14/742,876 of SURGICAL INSTRUMENTS ".

Present applicant possess on March 6th, 2015 submit and be respectively incorporated by reference be incorporated herein with Lower patent application:

The U.S. Patent Application Serial Number 14/640,746 of entitled " POWERED SURGICAL INSTRUMENT "；

Entitled " MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED The U.S. Patent Application Serial Number 14/640,795 of SURGICAL INSTRUMENTS "；

Entitled " ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE The U.S. Patent Application Serial Number 14/640,832 of RATES FOR MULTIPLE TISSUE TYPES "；Attorney number END7557USNP/140482；

Entitled " OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO The U.S. Patent Application Serial Number 14/640,935 of MEASURE TISSUE COMPRESSION "；

Entitled " MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR The U.S. Patent Application Serial Number 14/640,831 of FOR POWERED SURGICAL INSTRUMENTS "；

Entitled " TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE The U.S. Patent Application Serial Number 14/ of STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES " 640,859；

Entitled " INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS " U.S. Patent Application Serial Number 14/640,817；

Entitled " CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR The U.S. Patent Application Serial No.14/640 of SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE ", 844；

The U.S. Patent Application Serial of entitled " SMART SENSORS WITH LOCAL SIGNAL PROCESSING " Number 14/640,837；

Entitled " SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE The U.S. Patent Application Serial Number 14/640,765 of INTO A SURGICAL STAPLER "；

Entitled " SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A The U.S. Patent Application Serial Number 14/640,799 of ROTATABLE SHAFT "；With

Entitled " SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING's " U.S. Patent Application Serial Number 14/640,780.

Present applicant possess on 2 27th, 2015 submit and be respectively incorporated by reference be incorporated herein with Lower patent application:

Entitled " SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION " U.S. Patent Application Serial Number 14/633,576；

Entitled " SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND” U.S. Patent Application Serial Number 14/633,546；

Entitled " SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE The U.S. Patent Application Serial Number 14/633,576 of OR MORE BATTERIES "；

Entitled " CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR The U.S. Patent Application Serial Number 14/633,566 of CHARGING A BATTERY "；

Entitled " SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO The U.S. Patent Application Serial Number 14/633,555 of BE SERVICED "；

The U.S. Patent application sequence of entitled " REINFORCED BATTERY FOR A SURGICAL INSTRUMENT " Row number 14/633,542；

The U.S. Patent Application Serial Number of entitled " POWER ADAPTER FOR A SURGICAL INSTRUMENT " 14/633,548；

The U.S. Patent Application Serial Number 14/ of entitled " ADAPTABLE SURGICAL INSTRUMENT HANDLE " 633,526；

The U.S. Patent Application Serial Number 14/633,541 of entitled " MODULAR STAPLING ASSEMBLY "；With

Entitled " SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE The U.S. Patent Application Serial Number 14/633,562 of PARAMETER "；

Present applicant, which possesses on December 18th, 2014 to submit and be respectively incorporated by reference, to be incorporated herein Following patent application:

Entitled " SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END The U.S. Patent application of EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING " Sequence number 14/574,478；

The beauty of entitled " SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS " State's patent application serial number 14/574,483；

The beauty of entitled " DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS " State's patent application serial number 14/575,139；

Entitled " LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH The U.S. Patent Application Serial Number 14/575,148 of ARTICULATABLE SURGICAL END EFFECTORS "；

Entitled " SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE The United States Patent (USP) Shen of ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE " It please sequence number 14/575,130；

The beauty of entitled " SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS " State's patent application serial number 14/575,143；

Entitled " SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND The U.S. Patent Application Serial Number 14/575,117 of MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS "；

Entitled " SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND The U.S. Patent Application Serial Number 14/575,154 of IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS "；

Entitled " SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE The U.S. Patent Application Serial Number 14/574,493 of ARTICULATION SYSTEM "；With

Entitled " SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE The U.S. Patent Application Serial Number 14/574,500 of ARTICULATION SYSTEM ".

Present applicant possess on March 1st, 2013 submit and be respectively incorporated by reference be incorporated herein with Lower patent application:

Entitled " Articulatable Surgical Instruments With Conductive Pathways The U.S. Patent Application Serial Number 13/782,295 of For Signal Communication ", is now U.S. Patent Application Publication 2014/0246471；

Entitled " Rotary Powered Articulation Joints For Surgical Instruments " U.S. Patent Application Serial Number 13/782,323, be now U.S. Patent Application Publication 2014/0246472；

The beauty of entitled " Thumbwheel Switch Arrangements For Surgical Instruments " State's patent application serial number 13/782,338 is now U.S. Patent Application Publication 2014/0249557；

Entitled " Electromechanical Surgical Device with Signal Relay The U.S. Patent Application Serial Number 13/782,499 of Arrangement " is now U.S. Patent Application Publication 2014/0246474；

Entitled " Multiple Processor Motor Control for Modular Surgical The U.S. Patent Application Serial Number 13/782,460 of Instruments " is now U.S. Patent Application Publication 2014/0246478；

The U.S. of entitled " Joystick Switch Assemblies For Surgical Instruments " is special Sharp patent application serial numbers 13/782,358 are now U.S. Patent Application Publication 2014/0246477；

Entitled " Sensor Straightened End Effector During Removal Through The U.S. Patent Application Serial Number 13/782,481 of Trocar " is now U.S. Patent Application Publication 2014/0246479；

Entitled " Control Methods for Surgical Instruments with Removable The U.S. Patent Application Serial Number 13/782,518 of Implement Portions " is now U.S. Patent Application Publication 2014/ 0246475；

Entitled " Rotary Powered Surgical Instruments With Multiple Degrees of The U.S. Patent Application Serial Number 13/782,375 of Freedom " is now U.S. Patent Application Publication 2014/0246473；With

The U.S. Patent Application Serial Number 13/782,536 of entitled " Surgical Instrument Soft Stop ", It is now U.S. Patent Application Publication 2014/0246476.

Present applicant also possesses submission on March 14th, 2013 and it is respectively incorporated by reference and is incorporated herein Following patent application:

Entitled " ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE " U.S. Patent Application Serial Number 13/803,097, be now U.S. Patent Application Publication 2014/0263542；

Entitled " CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL The U.S. Patent Application Serial Number 13/803,193 of INSTRUMENT " is now U.S. Patent Application Publication 2014/0263537；

Entitled " INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL The U.S. Patent Application Serial Number 13/803,053 of INSTRUMENT " is now U.S. Patent Application Publication 2014/0263564；

Entitled " ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION The U.S. Patent Application Serial Number 13/803,086 of LOCK " is now U.S. Patent Application Publication 2014/0263541；

Entitled " SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR The U.S. Patent Application Serial Number 13/803,210 of SURGICAL INSTRUMENTS " is now U.S. Patent Application Publication 2014/ 0263538；

The U.S. Patent application of entitled " MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT " Sequence number 13/803,148 is now U.S. Patent Application Publication 2014/0263554；

Entitled " DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL The U.S. Patent Application Serial Number 13/803,066 of INSTRUMENTS " is now U.S. Patent Application Publication 2014/0263565；

Entitled " ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL The U.S. Patent Application Serial Number 13/803,117 of INSTRUMENTS " is now U.S. Patent Application Publication 2014/0263553；

Entitled " DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL The U.S. Patent Application Serial Number 13/803,130 of INSTRUMENTS " is now U.S. Patent Application Publication 2014/0263543； With

The U.S. of entitled " METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT " Patent application serial number 13/803,159 is now U.S. Patent Application Publication 2014/0277017.

Present applicant also possess submit on March 7th, 2014 and be incorporated by reference be incorporated herein it is following Patent application:

The U.S. Patent Application Serial Number of entitled " CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS " 14/200,111, it is now U.S. Patent Application Publication 2014/0263539.

Present applicant, which also possesses on March 26th, 2014 to submit and be respectively incorporated by reference, to be incorporated herein Following patent application:

Entitled " POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS's " U.S. Patent Application Serial Number 14/226,106 is now U.S. Patent Application Publication 2015/0272582；

The U.S. Patent Application Serial Number 14/ of entitled " STERILIZATION VERIFICATION CIRCUIT " 226,099, it is now U.S. Patent Application Publication 2015/0272581；

Entitled " VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT " U.S. Patent Application Serial Number 14/226,094, be now U.S. Patent Application Publication 2015/0272580；

Entitled " POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT The U.S. Patent Application Serial Number 14/226,117 of AND WAKE UP CONTROL " is now U.S. Patent Application Publication 2015/ 0272574；

Entitled " MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT The U.S. Patent Application Serial Number 14/226,075 of ASSEMBLIES " is now U.S. Patent Application Publication 2015/0272579；

Entitled " FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL The U.S. Patent Application Serial Number 14/226,093 of INSTRUMENTS " is now U.S. Patent Application Publication 2015/0272569；

The United States Patent (USP) Shen of entitled " SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION " Please sequence number 14/226,116, be now U.S. Patent Application Publication 2015/0272571；

Entitled " SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY The U.S. Patent Application Serial Number 14/226,071 of PROCESSOR " is now U.S. Patent Application Publication 2015/0272578；

The United States Patent (USP) of entitled " SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS " Patent application serial numbers 14/226,097 are now U.S. Patent Application Publication 2015/0272570；

The U.S. of entitled " INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS " is special Sharp patent application serial numbers 14/226,126 are now U.S. Patent Application Publication 2015/0272572；

The U.S. Patent Application Serial Number 14/ of entitled " MODULAR SURGICAL INSTRUMENT SYSTEM " 226,133, it is now U.S. Patent Application Publication 2015/0272557；

The beauty of entitled " SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT " State's patent application serial number 14/226,081 is now U.S. Patent Application Publication 2015/0277471；

Entitled " POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE The U.S. Patent Application Serial Number 14/226,076 of VOLTAGE PROTECTION " is now U.S. Patent Application Publication 2015/ 0280424；

The U.S. Patent Application Serial Number 14/ of entitled " SURGICAL STAPLING INSTRUMENT SYSTEM " 226,111, it is now U.S. Patent Application Publication 2015/0272583；With

The United States Patent (USP) Shen of entitled " SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT " Please sequence number 14/226,125, be now U.S. Patent Application Publication 2015/0280384.

Present applicant, which also possesses on September 5th, 2014, to be submitted and is respectively hereby incorporated herein by full Following patent application:

The United States Patent (USP) Shen of entitled " CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE " Please sequence number 14/479,103, be now U.S. Patent Application Publication 2016/0066912；

Entitled " ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE The U.S. Patent Application Serial Number 14/479,119 of COMPRESSION " is now U.S. Patent Application Publication 2016/0066914；

Entitled " MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION " U.S. Patent Application Serial Number 14/478,908, be now U.S. Patent Application Publication 2016/0066910；

Entitled " MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S The U.S. Patent Application Serial Number 14/478,895 of OUTPUT OR INTERPRETATION ", is now U.S. Patent Application Publication 2016/0066909；

Entitled " USE OF POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED The U.S. Patent Application Serial Number 14/479,110 of CARTRIDGE " is now U.S. Patent Application Publication 2016/0066915；

The U.S. of entitled " SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION " is special Sharp patent application serial numbers 14/479,098 are now U.S. Patent Application Publication 2016/0066911；

The United States Patent (USP) of entitled " MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE " Patent application serial numbers 14/479,115 are now U.S. Patent Application Publication 2016/0066916；With

The United States Patent (USP) Shen of entitled " LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION " Please sequence number 14/479,108, be now U.S. Patent Application Publication 2016/0066913.

Present applicant also possesses submission on April 9th, 2014 and it is respectively incorporated by reference and is incorporated herein Following patent application:

Entitled " MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE The U.S. Patent Application Serial Number 14/248,590 of SHAFTS " is now U.S. Patent Application Publication 2014/0305987；

Entitled " SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING The U.S. Patent Application Serial Number 14/248,581 of DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT ", It is now U.S. Patent Application Publication 2014/0305989；

Entitled " SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING The U.S. Patent Application Serial Number 14/248,595 of THE OPERATION OF THE SURGICAL INSTRUMENT ", now for U.S. Patent Application Publication 2014/0305988；

The U.S. Patent Application Serial Number 14/248 of entitled " POWERED LINEAR SURGICAL STAPLER ", 588, it is now U.S. Patent Application Publication 2014/0309666；

The United States Patent (USP) of entitled " TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT " Patent application serial numbers 14/248,591 are now U.S. Patent Application Publication 2014/0305991；

Entitled " MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS” U.S. Patent Application Serial Number 14/248,584, be now U.S. Patent Application Publication 2014/0305994；

The U.S. Patent Application Serial Number 14/248,587 of entitled " POWERED SURGICAL STAPLER ", now for U.S. Patent Application Publication 2014/0309665；

Entitled " DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL The U.S. Patent Application Serial Number 14/248,586 of INSTRUMENT " is now U.S. Patent Application Publication 2014/0305990；With

Entitled " MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS The U.S. Patent Application Serial Number 14/248,607 of INDICATION ARRANGEMENTS ", is now U.S. Patent Application Publication 2014/0305992。

Present applicant also possesses submission on April 16th, 2013 and it is respectively incorporated by reference and is incorporated herein Following patent application:

Entitled " SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A The U.S. Provisional Patent Application Serial No. 61/812,365 of SINGLE MOTOR "；

The U.S. Provisional Patent Application Serial No. 61/812,376 of entitled " LINEAR CUTTER WITH POWER "；

The U.S. Provisional Patent Application sequence of entitled " LINEAR CUTTER WITH MOTOR AND PISTOL GRIP " Row number 61/812,382；

Entitled " SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND The U.S. Provisional Patent Application Serial No. 61/812,385 of MOTOR CONTROL "；With

Entitled " SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A The U.S. Provisional Patent Application Serial No. 61/812,372 of SINGLE MOTOR ".

Many details are listed, herein to provide to whole with embodiment shown in the drawings described in specification Body structure, function, the thorough understanding of manufacture and purposes.It is not described in well known operation, component and element, in order to avoid make to illustrate Embodiment described in book is smudgy.Reader will appreciate that embodiment described and illustrated herein is non-limiting shows Example, thus it can be appreciated that, specific structural and functional details disclosed herein can be representative and illustrative.Power is not being departed from In the case where the range that benefit requires, variations and modifications can be carried out to these embodiments.

Term " includes " (and any form of " comprising ", such as "comprising"), " having " (and any shape of " having " Formula such as " has "), "comprising" (and any form of "comprising", such as " comprising ") and " containing " (and " containing " Any form, such as " have ") for open link-verb.Therefore, " comprising ", " having ", "comprising" or " containing " one or Surgery system, device or the equipment of multiple element have these one or more elements, but be not limited to only to have these or Multiple element.Equally, the system of " comprising ", " having ", "comprising" or " containing " one or more features, device or equipment Element has those one or more features, but is not limited to only have those one or more features.

Term " nearside " and " distal side " are herein defined as coming relative to the clinician of the handle portions of manipulation surgical instruments It uses.Term " nearside " refers to that near the part of clinician, term " distal side " refers to the portion far from clinician's positioning Point.It is also understood that using such as "vertical", "horizontal", "up" and "down" in combination with attached drawing herein for the sake of succinct and is clear Etc. spatial terminologies.However, surgical instruments uses in many directions and position, and these terms and it is unrestricted and/or Absolute.

Various exemplary means and method are provided for executing laparoscopic type and minimally invasive surgical procedures.However, reading Person it will be readily understood that various method and apparatus disclosed herein can be used for a variety of surgical operations and application in, including for example with Open surgery combines.With continued reference to present embodiment, reader be will be further understood that, various devices disclosed herein Tool in any way in insertion body, by natural cavity, can pass through the notch being formed in tissue or puncturing hole etc..Device The working portion or end effector portion of tool can be inserted directly into patient's body or can be filled by entering with service aisle Insertion is set, the end effector and elongated shaft of surgical instruments can be promoted by the service aisle.

Surgical stapling system may include axis and the end effector from axis extension.End effector includes the first jaw and the Two jaws.First jaw includes nail bin.Nail bin is inserted into the first jaw and can remove from the first jaw；However, Other embodiments replaced from the first jaw can not be removed from the first jaw or at least be readily able to by being susceptible to wherein nail bin. Second jaw includes the anvil block for being configured to the nail deformation for making to project from nail bin.Second jaw can be relative to the first jaw It is pivoted around closure axis；It is contemplated, however, that other embodiment party that can be pivoted to wherein the first jaw relative to the second jaw Case.Surgical stapling system further includes the pass for being configured to allow end effector that joint motions are rotated or carried out relative to axis Save kinematic joint.End effector can be around the joint motions axis rotation for extending through actuated articulation joints.It contemplates not Other embodiments including actuated articulation joints.

Nail bin includes warehouse.Warehouse includes proximal end, distal end and extends between proximal end and distal end Platform.In use, nail bin is located on the first side of tissue to be stapled, and anvil positioning is in second side of tissue On.Anvil block is towards cartridge movement by tissue compression and to grip against platform.Then, the nail being removedly stored in warehouse can It is deployed in tissue.Warehouse includes being defined in nail cavity therein, is removedly stored in nail cavity wherein following closely.Nail cavity is arranged At six longitudinal rows.Three nail chambers are located on the first side of longitudinal slit and three nail chambers are located in second side of longitudinal slit On.Nail cavity and other arragement constructions of nail are also possible.

Nail is supported by the nail driving device in warehouse.Driving device can first or non-firing position and second or percussion It moves between position, is followed closely with being projected from nail bin.Driving device is retained in warehouse by retainer, and the retainer surrounds warehouse Bottom extend and including being configured to grasping warehouse and keeping retainer to the elastic component of warehouse.Driving dress Setting can be moved between its non-firing position and its firing position by sliding part.Sliding part can be adjacent with proximal end Proximal position and the distal position adjacent with distal end between move.Sliding part includes multiple ramped surfaces, the slope Surface is configured to slide below driving device towards anvil block and lifting driving device, and follows closely on the drive means It is supported.

Than that described above, sliding part can also be moved toward the far side by firing member.Firing member is configured to contact Sliding part simultaneously pushes sliding part towards distal end.The longitudinal slit being defined in warehouse is configured to receive percussion structure Part.Anvil block also includes the slit for being configured to receive firing member.Firing member further includes engage the first jaw first Second cam of the second jaw of cam and engagement.When firing member is promoted towards distal side, first cam and the second cam is controllable The distance between platform and anvil block of nail bin or tissue space.Firing member further includes being configured to incision in nail bin and anvil The knife of the intermediate tissue trapped of seat.Wish that knife is positioned at least partly close to ramped surfaces, so that nail is emitted prior to knife.

Handle assembly

Fig. 1 shows the motor driving surgery system 10 that can be used for executing a variety of different surgical operations.Implement shown in In scheme, it includes selectively reconfigurable shell or handle assembly 20 that motor, which drives surgery system 10, is attached to one The interchangeable surgical tool component 1000 of kind form.For example, the system 10 described in Fig. 1 includes interchangeable surgical tool component 1000, which includes surgery cuts and fastening instrument, and the surgery cuts and fastening instrument are referred to alternatively as Endoscopic stapler.It is discussed in detail as discussed further below, interchangeable surgical tool component may include being suitable for supporting different sizes With the end effector of the nail bin of type, and there is different shaft lengths, size and type etc..Such arragement construction for example may be used Using any suitable one or more fasteners come fastening tissue.E.g., including what is be removedly stored therein in is multiple tight The fastener cartridge of firmware can be removably inserted into the end effector of surgical tool component and/or be attached to surgical tool group The end effector of part.Other surgical tool components can be used interchangeably with handle assembly 20.For example, interchangeable surgical tool component 1000 can dismantle from handle assembly 20, and be replaced with the different surgical tool components for being configured to execute other surgical operations It changes.In other arragement constructions, surgical tool component can not can exchange with other surgical tool components and consist essentially of example Special axis as attached or being connected to non-removablely handle assembly 20.Surgical tool component is alternatively referred to as elongated shaft assembly.Outside Section's tool assembly can be reusable, or in other constructions, surgical tool component is designed in single use After be set.

With continued reference to present embodiment, it should be understood that various forms of interchangeable surgical tools disclosed herein The surgery system that component can also be controlled effectively with robot is used in combination.Therefore, term " shell " and " housing unit " can also Cover the receiving of robot system or be otherwise operably supported the shell or similar portions of at least one drive system, Wherein at least one drive system be configured to generate and application can be used for activating elongated shaft assembly disclosed herein and At least one control action of its corresponding equivalent.Term " frame " can refer to a part of hand-held surgical instrument.Term " frame Frame " can also indicate the surgical instruments of robot control a part and/or robot system can be used for being operatively controlled it is outer A part of section's instrument.For example, surgical tool component disclosed herein can with such as, but not limited in entitled " SURGICAL The United States Patent (USP) of STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS " Patent application serial numbers 13/118,241 are now the various robots of those disclosed in U.S. Patent Application Publication 2012/0298719 System, instrument, component are used together with method, which is incorporated by reference accordingly is incorporated herein.

Referring now to Fig. 1 and Fig. 2, housing unit or handle assembly 20 include main housing portion 30, and main housing portion 30 can It is formed by a pair of shells segment 40,70, housing sections 40,70 can be made of plastics, polymer material, metal etc., and by suitable When fastener arragement construction such as adhesive, screw, pressing mating feature, snap fit feature, latch etc. be attached at Together.As will be discussed in further detail, main housing portion 30 is operably supported multiple drive systems wherein, these Drive system is configured to generate various controls movements and be applied to various control actions to be operably attached to drive The corresponding part of the interchangeable surgical tool component of dynamic system.Handle assembly 20 further includes retained part 100, retained part 100 It is movably coupled to main housing portion 30 and is configured to be faced in the various positions relative to main housing portion 30 Bed doctor clamping and manipulation.Retained part 100 can be made of a pair of clamping segment 110,120, and retained part 110,120 can be by moulding Material, polymer material, metal etc. are made, and by fastener arragement construction appropriate such as adhesive, screw, by press-fitting It closes feature, snap fit feature, latch etc. to link together, for assembling and maintenance purpose.

As seen in Figure 2, retained part 100 includes clamping shell 130, and clamping shell 130 limits hollow cavity 132, in Cavity 132 is configured to be operably supported drive motor and gear-box, this will be discussed in further detail below.Clamping The upper part 134 of shell 130 is configured to extend through the opening 80 in main housing portion 30 and pivotally axle journal It is connected on pivotal axis 180.Pivotal axis 180 limits the pivot axis for being named as " PA ".Referring to Fig. 3.For the purpose of reference, handle Parts 20 limit the shank axis for being appointed as " HA ", which can be with the axis of the elongated shaft assembly of interchangeable surgical tool In parallel, which is operably attached to handle assembly 20 to line " SA ".Pivot axis P A is transverse to shank axis HA.Referring to Fig. 1.Such arragement construction enables retained part 100 relative to main housing portion 30 around pivot axis P A pivot Go to the position for being best suited for being connected to the type of interchangeable surgical tool component of handle assembly 20.Shell 130 is clamped to limit It is generally designated as the clamping axis of " GA ".Referring to fig. 2.When the interchangeable surgical tool component for being connected to handle assembly 20 includes example When such as endoscopic stapler, clinician may wish to position retained part 100 relative to main housing portion 30, so that clamping axis Line GA perpendicular to or near normal (angle " H1 ") in shank axis HA (herein referred as " the first clip position ").Referring to Fig. 5.So And if handle assembly 20 is for controlling the interchangeable surgical tool component for example including circular stapler, clinician can It can wish retained part 100 being pivoted to such position relative to main housing portion 30, wherein clamping axis GA is relative to handle Portion axis HA is 45 degree or about 45 degree of angles or other suitable acute angles (angle " H2 ").This position is referred to herein as " the Two clip positions ".Fig. 5 shows the retained part 100 shown in dotted line in the second clip position.

Referring now to Fig. 3 to Fig. 5, handle assembly 20 further includes the shank locking system for being generally designated as 150, for opposite Handle portions 100 are selectively locked in desired orientation in main housing portion 30.In a kind of arragement construction, clamping locking System 150 includes the arch sequence 152 of pointed tooth 154.Tooth 154 is separated from each other, and forms latch recess 156 therebetween.Often A latch recess 156 corresponds to the special angle latched position of retained part 100.For example, at least one arragement construction, tooth 154 and latch recess or " latched position " 156 be arranged to and permit retained part 100 in the first clip position and the second clamping position With 10 to 15 degree spaced locks between setting.Two stop positions can be used in the arragement construction, which is modulated to be adopted Instrument type (axis arragement construction).For example, for end cut device axis arragement construction, it can be with axis about at about 90 degree And circular stapler is arranged, which can scan forward with axis about at 45 degree simultaneously towards surgeon.Clamping lock Determining system 150 further includes locking press button 160, and locking press button 160, which has, engages latch recess 156 with being configured to locking Lock part.For example, locking press button 160 is pivotally mounted in the main handle part part 30 on pivot pin 131, pressed with permitting locking Button 160 is pivoted to be engaged with corresponding latch recess 156.Lock spring 164 be used for by locking press button 160 be biased into it is corresponding In the engagement or latched position of latch recess 156.When clinician pressure-locks button 160, lock part and tooth configuration are used In enabling tooth 154 to slide through lock part.Therefore, in order to adjust angle of the retained part 100 relative to main housing portion 30 Position, clinician pressure-lock button 160, and retained part 100 is then pivoted to desired Angle Position.Once retained part 100 are moved into desired locations, and clinician just discharges locking press button 160.Then, Lock spring 164 will be towards a series of 154 bias locking press button 160 of tooth, so that lock part enters corresponding latch recess 156, during use by retained part 100 keep in the position.

Drive system

Handle assembly 20 is operably supported the first rotary drive system 300, the second rotary drive system 320 and third axis To drive system 400.Each free motor 200 of rotary drive system 300,320 provides power, and motor 200 is operatively supported at In retained part 100.As seen in Figure 2, for example, in the chamber 132 that motor 200 is supported in retained part 100 and having There is gear case assembly 202, gear case assembly 202 has from its output driving shaft 204 outstanding.In various forms, motor 200 The DC that may be, for example, the maximum rotation with about 25,000RPM has brush drive motor.In other arragement constructions, motor can be wrapped Include brushless motor, wireless motor, syncmotor, stepper motor or any other suitable electric motor.Motor 200 can be by electricity Source 210 powers, and in one form, which may include removable power source group 212.Power supply 210 may include, for example, in title For the U.S. Patent Application Publication 2015/ of " SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM " Any of various power supply arragement constructions being further disclosed in detail in 0272575, the complete disclosure of this application is accordingly It is herein incorporated by reference.In the arragement construction shown in, for example, power supply group 212 may include proximal housing part 214, it should Proximal housing part is configured to be attached to distal shell part 216.Proximal housing part 214 and distal shell part 216 It is configured to be operably supported multiple batteries 218 wherein.Battery 218 can respectively include for example lithium ion (" LI ") or Other suitable batteries.Distal shell part 216 is configured to removably be operably attached to equally operate Ground is connected to the shank circuit board assemblies 220 of motor 200.Usually alternatively referred to as " the control herein of shank circuit board assemblies 220 System or CPU 224 ".The multiple batteries 218 being connected in series can be used as the power supply of handle assembly 20.In addition to this, power supply 210 can It is interchangeable and/or rechargeable.In other embodiments, surgical instruments 10 can be provided dynamic by such as alternating current (AC) Power.Motor 200 can be controlled by the rocker switch 206 for being installed to retained part 100.

As outlined above, motor 200 is operably linked to gear case assembly 202, and gear case assembly 202 includes output Drive shaft 204.Driving device bevel gear 230 is attached to output driving shaft 204.Motor 200, gear case assembly 202, output driving Axis 204 and driving device bevel gear 230 also can be collectively referred to as " motor sub-assembly 231 " herein.Driving device bevel gear 230 with from Dynamic bevel gear 234 joins, and driven wheel of differential 234 is attached to system drive axis 232 and pivots bevel gear 238, pivot bevel gear 238 axle journals are connected on pivot 180.Driven wheel of differential 234 can on system drive axis 232 bonding station and disengaged position it Between move axially, wherein in bonding station, driven wheel of differential 234 and driver bevel gear 230 are engaged (Fig. 5), are disengaging Position, the abjection of driven wheel of differential 234 are engaged (Figure 14) with driving bevel gear 230.The connection of 235 axle journal of drive system spring Between driven wheel of differential 234 and proximal end flange 236, proximal end flange 236 is formed in the nearside of system drive axis 232 On part.Referring to fig. 4 and Figure 14.Drive system spring 235 is used to 234 bias of driven wheel of differential abjection boring tooth with driving device Wheel 230 is engaged, as will be discussed in further detail.Pivot bevel gear 238 is convenient for output driving shaft 204 and driving Device bevel gear 230 and handle portions 100 are advanced relative to the pivot of main handle part part 30.

In the example shown, system drive axis 232 and the rotation driving selector system handover for being generally designated as 240. In at least one form, for example, rotation driving selector system 240 includes can be in the first rotary drive system 300 and the Selectively moved selector gear 250 between two rotary drive systems 320.Such as in Fig. 6 into Fig. 9 it is seen, for example, driving Selector system 240 includes selector mounting plate 242, and selector mounting plate 242 is immovably mounted in main handle part part 30. For example, selector mounting plate 242 can be frictionally held in the mounting lug (not shown) that is formed in housing sections 40,70 it Between, or otherwise remained at by screw, adhesive etc..Referring still to Fig. 6 to Fig. 9, system drive axis 232 extends Hole in selector mounting plate 242, and there is center or the system drive gear being non-rotatably attached to thereon 237.For example, central drive gear 237 can be attached to system drive axis 232 by keyway arrangement structure 233.Referring to Fig. 6 to figure 9.In other arragement constructions, system drive axis 232 can be by the rotatable twelve Earthly Branches of corresponding shaft bearing (not shown) that are mounted thereto Support is in selector mounting plate 242.Under any circumstance, the rotation of system drive axis 232 will lead to central drive gear 234 Rotation.

As seen in Figure 3, the first drive system 300 includes the first driving pod 302, and the first driving pod 302 can revolve It is supported in the distal walls 32 being formed in main handle part part 30 with turning.First driving pod 302 may include having to be formed in it In strip pod the first main part 304.First driven gear 306 is formed in the first main part 304 or immovable Ground is attached to the first main part 304.First main part 304 can be pivotally supported at be arranged in it is corresponding in distal walls 32 In hole or channel or it can be pivotally supported in the corresponding shaft bearing (not shown) being mounted in distal walls 32.Similarly, Two rotary drive systems 320 include the second driving pod 322, and the second driving pod 322 is also pivotally supported at main handle part portion Divide in 30 distal walls 32.Second driving pod 322 may include the second main part 324, and the second main part 324, which has, to be formed In strip pod therein.Second driven gear 326 is formed in the second main part 324 or is non-rotatably mounted to second Main part 324.Second main part 324 can be pivotally supported at the corresponding aperture being set in distal walls 32 or channel In or its can be pivotally supported in the corresponding shaft bearing (not shown) being installed in distal walls 32.First driving pod 302 It is separated from each other in each lateral side of shank axis HA with the second driving pod 322.For example, see Fig. 4.

As noted before, in the example shown, rotation driving selector system 240 includes selector gear 250.Such as exist Into Fig. 9 as it can be seen that selector gear 250 is rotatably installed on idler shaft 252, idler shaft 252 is movably supported in be changed Fig. 6 In arcuate slot 244 in lug-latch mounting plate 242.Installation selector gear 250 is with all over rotating freely and protect on idler shaft 252 It holds and is engaged with central drive gear 234.Idler shaft 252 is connected to the end of the axis 262 of selector solenoid 260.Shift Device solenoid 260 is pinned or otherwise installs together with main handle part shell 30, so that when selector solenoid 260 is caused When dynamic, selector gear 250 is moved into being engaged with one of the first driven gear 306 or the second driven gear 326.Example Such as, in a kind of arragement construction, when solenoid shaft 262 retracts (Fig. 6 and Fig. 7), selector gear 250 and central drive gear 234 and first driven gear 306 be engaged so that the actuating of motor 200 will lead to the rotation of the first driving pod 302.

As selector gear 250 is biased into first cause as it can be seen that selector spring 266 can be used in figure 6 and figure 7 In dynamic position.Therefore, if surgical instruments 10 runs out of steam, selector spring 266 will be automatically inclined by selector gear 250 It is pressed onto first position.When selector gear 250 is in the position, the subsequent actuating of motor 200 will lead to the first rotation drive The rotation of first driving pod 302 of dynamic system 300.When selector solenoid is activated, selector gear 250 be moved to The second driven gear 326 on second driving pod 322 is engaged.Hereafter, the actuating of motor 200 will lead to the second rotation drive The actuating or rotation of second driving pod 322 of dynamic system 320.

Emergency system

It is discussed in detail as discussed further below, the first rotary drive system 300 and the second rotary drive system 320 can be used In providing power for the various parts part that is connected to their interchangeable surgical tool component.As noted before, at least one In kind arragement construction, if the activating motor in interchangeable surgical tool component runs out of steam, selector spring 266 will It is biased into selector gear 250 in first position.Which grasped according to component part of interchangeable surgical tool component Make, it may be necessary to the application for rotating drive actions is backwards to the first drive system 300, so that interchangeable surgical tool component It can be removed from patient.Shown in exemplary handle assembly 20 using " emergency " system that can be actuated manually, generally designate It is 330, for rotation drive actions to be manually applied to the first rotary drive system 300 for example in above-mentioned scene.

Referring now to Fig. 3, Figure 10 and Figure 11, shown in emergency system 330 include emergency driving system 332, emergency driving system 332 include planetary gear set 334.In at least one form, planetary gear set 334 includes planet gear carrier 336, row Star gear housing 336 accommodates planetary gear arragement construction (not shown), and planetary gear arragement construction includes bevel planet gear 338. Planetary gear set 334 includes emergency driving axis 340, and emergency driving axis 340 is operably linked in planet gear carrier 336 Planetary gear arragement construction.The rotation of bevel planet gear 338 rotates planetary gear arragement construction, planetary gear arrangement knot Structure finally rotates emergency driving axis 340.342 axle journal of emergency driving gear is connected on emergency driving axis 340, so that emergency Driving gear 342 can move axially on emergency driving axis 340, then rotate with it.Emergency driving gear 342 can be in shape At in the shaft end portion in the spring stop flange 344 on emergency driving axis 340 and the distal end for being formed in emergency driving axis 340 It is moved between retainer 346.The emergency axle journal on emergency driving axis 340 of axis spring 348 is connected to emergency driving gear 342 and bullet Between spring stop flange 344.Axis spring 348 of meeting an urgent need is on emergency driving axis 340 by emergency driving gear 342 towards distal side bias. When emergency driving gear 342 is in the farthest position on emergency driving axis 340, engages and connect with emergency driven gear 350 It closes, which is non-rotatably mounted to system drive axis 232.Referring to Figure 14.

Referring now to Figure 12 and Figure 13, emergency system 330 includes emergency actuator or emergency handle assembly 360, Help to act emergency driving and is applied to emergency driving system 332 manually.As in these figures as it can be seen that emergency handle assembly 360 Including bevel gear assembly 362 of meeting an urgent need comprising emergency bevel gear 364 and ratchet gear 366.Emergency handle assembly 360 further include Emergency shank 370 is movably coupled to emergency bevel gear assembly 362 by pivotal yoke 372, and pivotal yoke 372 is pivotally mounted on On ratchet gear 366.Emergency shank 370 is pivotally coupled to pivot yoke 372 by pin 374, at storage location " SP " It selectively pivots and advances between actuated position " AP ".Referring to Figure 12.Shank spring 376 is biased into for the shank 370 that will meet an urgent need In actuated position AP.In at least one arragement construction, for example, indicating the axis SP of storage location and indicating the axis of actuated position Angle between line AP may be about 30 degree.Referring to Figure 13.It is such as also shown in Figure 13, emergency handle assembly 360 further includes spine Pawl 378 is taken turns, click 378 is rotatably installed in the chamber in pivot yoke 372 or hole 377.Click 378 is constructed At ratchet gear 366 can be engaged when rotating on direction of actuation " AD ", then revolve when rotate in the opposite direction Turn abjection to be engaged.Ratchet spring 384 and spherical component 386 are movably supported in the chamber 379 in pivot yoke 372, are used in combination Brake apparatus 380,382 when being activated (installation ratchet) in shank 370 of meeting an urgent need in locking ground engagement click 378.

Referring now to Fig. 3 and Figure 10, emergency system 330 further includes manipulating between the open and the closed positions Escape truck panel 390.In the arragement construction shown in, emergency maintenance door 390 is configured to be removably coupled to lead The housing sections 70 of housing parts 30.Therefore, in at least embodiment, when emergency maintenance door 390 is from main housing portion 30 When removing or dismantling, it is referred to as and is in " opening " position and when emergency maintenance door 390 is attached to main housing part as shown in the figure When dividing 30, it is referred to as and is in " closed " position.It is contemplated, however, that arriving other embodiments, wherein maintenance door movably couples To main housing portion, so that remaining attached to the main shell part when maintenance door is in an open position.For example, such In embodiment, maintenance door is pivotably attached to main housing portion or is attached slidably to main housing portion and can be It is manipulated between open position and closed position.In the example shown, emergency maintenance door 390 is configured to engage with buckle The corresponding part of housing sections 70, is removably retained in " closed " position.Also the machinery of other forms can be used Fastener, screw, pin etc..

Whether maintenance door of no matter meeting an urgent need 390 can be dismantled or keep from main housing portion 30 to be movably attached to main housing portion 30, emergency maintenance door 390 includes drive system locking component or yoke 392 and emergency locking component or yoke 396, and each is all From its back side protrusion or it is otherwise formed in thereon.It includes drive shaft recess 394, drive shaft that drive system, which locks yoke 392, Recess 394 is configured to the containment system drive shaft wherein when maintenance door 390 of meeting an urgent need is mounted in main housing portion 30 232 a part (that is, emergency maintenance door is in " closed " position).When emergency maintenance door 390 is positioned or mounted at closed position When, drive system locking yoke 392 is used to be biased into driven wheel of differential 234 to be engaged with driver bevel gear 230 and (resists and drive The bias of dynamic system spring 235).In addition, emergency locking yoke 396 includes emergency driving axis recess 397, it is configured to work as In a part for wherein receiving emergency driving axis 340 when emergency maintenance door 390 is mounted or located at closed position.Such as in Fig. 5 and As it can be seen that emergency locking yoke 396 is also used for deviating from emergency driving gear 342 bias nibbles with driven gear 350 of meeting an urgent need in Figure 10 Splice grafting closes (bias for resisting emergency axis spring 348).Therefore, when emergency maintenance door 390 or emergency maintenance door 390 are in closure position When setting, emergency locking yoke 396 prevents the rotation of 342 interference system drive shaft 232 of emergency driving gear.In addition, emergency locking yoke 396 include shank recess 398, for engaging emergency shank 370 and holding it in storage location SP.

Fig. 4, Fig. 5 and Figure 10 show when meet an urgent need maintenance door 390 installation or it is in the close position when drive component and The configuration of emergency system component.As in these figures as it can be seen that driven wheel of differential 234 is biased by drive system locking component 392 It is engaged with driving device bevel gear 230.Therefore, when maintenance door 390 of meeting an urgent need is installed or is in the close position, motor 200 Actuating will lead to driving device bevel gear 230 rotate and eventually lead to system drive axis 232 rotation.In addition, when being in the position When setting, emergency locking yoke 396 is used for the abjection of 342 bias of emergency driving gear and the emergency driven tooth on system drive axis 232 Wheel 350 is engaged.Therefore, when maintenance door 390 of meeting an urgent need is installed or is in the close position, drive system can be by motor 200 Actuating, and emergency system 330 is disconnected or prevents that any actuation motion is applied to system drive axis 232.It is answered to activate Anxious system 330, clinician remove emergency maintenance door 390 first or emergency maintenance door 390 are otherwise moved to opening Position.The movement removes the engagement of drive system locking component 392 and driven wheel of differential 234, to permit drive system spring Driven wheel of differential 234 bias is deviate from and is engaged with driving device bevel gear 230 by 235.In addition, removing emergency maintenance door It 390 or emergency maintenance door is moved to open position also and causes emergency locking yoke 396 is detached from emergency driving gear 342, thus Emergency driving gear 342 is biased by allowance emergency axis spring 348 to be nibbled with the emergency driven gear 350 on system drive axis 232 Splice grafting closes.Therefore, the rotation of emergency driving gear 342 will lead to the rotation of emergency driven gear 350 and system drive axis 232. It removes emergency maintenance door 390 or emergency maintenance door 390 is otherwise moved to open position and also permit the general of shank spring 376 Emergency shank 370 is biased into actuated position shown in Figure 11 and Figure 14.When at that position, clinician can be in ratchet For installation ratchet in emergency shank 370, this causes the rotation of ratchet bevel gear 364 (for example, suitable in Figure 14 manually on the RD of direction Clockwise), this, which eventually leads to apply by emergency power train 332 to system drive axis 232, retracts spinning movement.Clinician Ratchet can be repeatedly installed in emergency shank 370, be repeatedly attached to shank until system drive axis 232 has been fully rotatable to retract The component of the surgical end-effector part of the surgical tool component of component 20.Once emergency system 330 is by fully hand Dynamic actuating, then clinician's then replaceable emergency maintenance door 390 (that is, will emergency maintenance door 390 back to closed position), from And drive system locking component 392 is promoted to be biased into driven wheel of differential 234 and driving device bevel gear 230 and emergency locking yoke 396 are engaged, and the abjection of emergency driving gear 342 bias and driven gear 350 of meeting an urgent need are engaged.As above it is begged for By if run out of steam or power interruption, selector spring 266 will make selector solenoid 260 be biased into the first actuating position In setting.In this way, the actuating of emergency system 330, which will lead to the first rotary drive system 300, applies reversed or retract action.

As discussed above, surgery suturing appliance may include the emergency system activated manually, which is configured to Such as retract nail percussion driving device.In many cases, emergency system can need to be operated and/or be bent more than once with complete Full reduced time nail fires driving device.In this case, the user of suture instruments may be not sure shaken it is more Lack time emergency system and/or is contracted in other words having obscured percussion driving device also how many needs.Contemplate various realities Scheme is applied, wherein suture instruments include system, which is configured to the position of the firing member of detection percussion driving device It sets, determine the distance that firing member needs to retract, and show the distance of the user away from surgical instruments.

In at least one embodiment, surgery suturing appliance includes one or more sensors, is configured to Detect the position of firing member.In at least one situation, sensor can be positioned for example including hall effect sensor In the axis and/or end effector of suture instruments.The controller of sensor and surgery suturing appliance carries out signal communication, the control Device processed then carries out signal communication with the display on surgery suturing appliance.The controller includes microprocessor, the microprocessor It is configured to that (it includes that firing member is fully retracted position by the physical location of firing member and benchmark or reference position Set) the distance between physical location and the reference position that are compared, and calculate firing member, i.e. Distance Remaining.

Than that described above, display includes such as electronic console, and controller is configured to any suitable Mode show Distance Remaining on an electronic display.In at least one situation, controller shows progress bar over the display. In this case, for example, empty progress bar can indicate that firing member is in the end of its firing schedule, and completely into Degree item can indicate that firing member has been fully retracted.In at least one situation, for example, 0% can indicate at firing member In the end of its firing schedule, and 100% can indicate that firing member has been fully retracted.In some cases, controller It is configured to display and needs the actuating of how many times emergency organization so that firing member is retracted into its over the display complete Retracted position.

Than that described above, the actuating of emergency organization can be operationally by the battery or power of surgery suturing appliance and percussion The electric motor of driving device disconnects.In at least one embodiment, the actuating of emergency organization overturns switch, which will be electric Pond is electrically separated with electric motor.The manual refraction that this system will prevent electric motor from resisting firing member.

Shown in handle assembly 20 also support third axial drive system, which is generally designated as 400.As in figs. 3 and 4 as it can be seen that at least one form, third axial drive system 400 includes solenoid 402, the spiral shell Spool 402 has from its third driving actuator means outstanding or bar 410.The distal end portion of third driving actuator means 410 Portion 412 has third driving arm formed therein or pod 414, is operably attached to thereon interchangeable for receiving The corresponding part of the drive component of surgical tool component.Solenoid 402 is wiredly connected to shank circuit board assemblies 220 and control System processed or CPU 224 are otherwise communicated with shank circuit board assemblies 220 and control system or CPU 224.At least In a kind of arragement construction, solenoid 402 is " spring-loaded ", so that when solenoid 402 does not activate, spring members are by Three driving 410 biass of actuator return in the initial position not activated.

As noted before, reconfigurable handle assembly 20 is advantageously used for activating a variety of different interchangeable surgeries Tool assembly.For this purpose, handle assembly 20 includes tool mounting portion, which is generally designated as 500, and being used for can Exchanging surgical tool component, operationally lotus root is connected to handle assembly.In the example shown, tool mounting portion 500 includes two Inward-facing dovetail receives slit 502, is configured to engage the tool attachment module portion of interchangeable surgical tool component The corresponding part divided.Each dovetail, which receives slit 502, to be taper, or in other words, be slightly V-arrangement.Dovetail is received narrow Slot 502 is configured to releasably accept corresponding conical attachment or ear portions, the conical attachment or ear Object part is formed in a part of tool attachment nozzle segment of interchangeable surgical tool component.Each interchangeable surgical tool Component can also be equipped with latch system, which is configured to be releasably engaged the work for being formed in handle assembly 20 Has the corresponding holding pit 504 in installation section 500.

Various interchangeable surgical tool components can have " master " rotary drive system, be configured to operationally join It is connected to the first rotary drive system 310 or joins with the first rotary drive system 310, and " auxiliary " rotary drive system, It is configured to be operably linked to the second rotary drive system 320 or join with the second rotary drive system 320.Main rotation Turn drive system and auxiliary rotary drive system is configured to mention to the part of certain types of surgical end-effector For various spinning movements, the part of surgical end-effector includes a part of interchangeable surgical tool component.For the ease of inciting somebody to action Main rotary drive system is operably linked to the first rotary drive system and secondary drive system to the second rotary drive system 320, the tool mounting portion 500 of handle assembly 20 further includes a pair of of insertion inclined-plane 506, is configured in connection process Period towards the interchangeable surgical tool component of distal side bias main and secondary rotary drive system part, in order to will mainly revolve Turn drive system to be aligned and be operatively coupled with the first rotary drive system 300 in handle assembly 20, and secondary is revolved Turn drive system to be aligned and be operatively coupled with the second rotary drive system 320 in handle assembly 20.

Interchangeable surgical tool component may also comprise " three-level " axial drive system, for (one or more) is axially dynamic It is applied to the corresponding part of the surgical end-effector of interchangeable surgical tool component.For the ease of by the axially driving system of three-level The third axial drive system 400 that system is operably linked in handle assembly 20, third driving actuator means 410 are provided with Pod 414, the pod 414 are configured to wherein operationally receiving the lug of three-level axial drive system or other Part.

Interchangeable surgical tool component

Figure 15 shows the use for the interchangeable surgical tool component 1000 that can be used in combination with handle assembly 20.Such as at this In figure it is seen, for example, interchangeable surgical tool component 1000 include tool attachment module 1010, be configured to operationally and It is removably attached to the tool mounting portion 500 of handle assembly 20.In the arragement construction shown in, tool attachment module 1010 Including nozzle frame 1020.In the arragement construction shown in, interchangeable surgical tool component 1000 includes main rotary drive system 1100 and auxiliary rotary drive system 1200.Main rotary drive system 1100 is configured to and first in handle assembly 20 Rotary drive system 300 operativelys interface with, and rotation percussion movement is applied to the surgical end being attached to thereon and is executed Device 1500, as will be discussed in further detail.Auxiliary rotary drive system 1200 is configured to and handle assembly 20 On the second rotary drive system 320 operatively interface with, and joint motions control action is applied to articulation system 1700.Surgical end-effector 1500 is connected to elongated shaft assembly 1400, elongated shaft assembly 1400 by articulation system 1700 It is connected to nozzle frame 1020.Interchangeable surgical tool component 1000 further includes three-level drive system 1300, three-level drive system 1300 are configured to operatively interface with the third axial drive system 400 in handle assembly 20.Surgical tool component Three-level axial drive system 1300 include three-level actuator shaft 1302, three-level actuator shaft 1302 have is formed in its proximal end Axis on 1304 is attached lug 1306.As will be discussed in further detail, when interchangeable surgical tool component 1000 When being connected to handle assembly 20, axis attachment lug 1306 is received in the distal end 412 of third driving actuator means 410 Axis is attached in pod 414.

Referring still to Figure 15, reader will be observed that the tool mounting portion 500 of handle assembly 20 includes two inward-facing Dovetail receives slit 502.Each dovetail, which receives slit 502, to be taper, or in other words, be slightly V-arrangement.Dovetail is received Slit 502 is configured to releasably accept corresponding conical attachment or the lug being formed on nozzle frame 1020 Part 1022.Figure 18 is turned next to, at least one form, tool attachment module 1010 is by being generally designated as 1030 Latch system be removedly latchable to the tool mounting portion 500 of handle assembly 20.In the embodiment illustrated, latch system System 1030 includes locking yoke 1032, and locking yoke 1032 includes that a pair of pivot pin 1034 to extend internally (only shows one in Figure 18 It is a), pivot pin 1034 is received in the correspondence pivot hole (not shown) in nozzle frame 1020.Such arragement construction will be for that will lock Determine yoke 1032 and pivots or be movably coupled to nozzle frame 1020.Locking yoke 1032 further includes a pair of of holding lug or hook-shaped shape At object 1036 (only visible one in Figure 18), the holding lug or hook-shaped formation are configured to hook or with other Mode is retentively received in the corresponding holding pit 504 in the tool mounting portion 500 for being formed in handle assembly 20.Passing through will Unlocking motion (being indicated by the arrow 1041 in Figure 18, Figure 20 and Figure 21) is applied to release button 1038, and locking yoke 1032 can pivot Turn abjection to remain engaged with, release button 1038 is attached to locking yoke 1032.Locking yoke spring 1040, which is received in, is formed in locking yoke It is installed on lug 1021 on spring lug 1039 on 1032 with the spring being formed on nozzle frame 1020.Lock yoke bullet Spring 1040 is biased into latched position for that will lock yoke 1032.

Shown in exemplary latch system 1030 further include mandrel connector release component 1031, for by main rotation driving system System 1100 is releasably engaged to the first rotary drive system 300 and auxiliary rotary drive system 1200 is connected to shank group The second rotary drive system 320 on part 20.Referring now to Figure 18 and Figure 19, main rotary drive system 1100 includes main driving Key 1102, the first driving that main drive key 1102 is configured to be axially received in the first rotary drive system 300 are held In nest 302.Main drive key 1102 is slidably received on main transmission shaft 1104, and the main transmission shaft 1104 is by being formed in nozzle Partition 1023 in frame 1020 is pivotably supported.Main drive key 1102 also movably extends through the formation of nozzle frame The hole 1025 in another partition 1024 in 1020.Referring to Figure 18.Main transmission shaft 1104 is rack gear, so that main drive key 1102 move axially freely on main transmission shaft 1104 but do not rotate relative to main transmission shaft 1104, so that main drive key 1102 rotation leads to the rotation of main transmission shaft 1104.Furthermore, it can be seen that main drive key 1102 includes attachment such as in Figure 18 Flange 1106 is received in the chamber 1044 in connector release tab 1042.Therefore, main drive key 1102 and connector are released It is mobile as a unit to put tab 1042.Main transmission spring 1108 by axle journal be connected on main transmission shaft 1104 and every Extend between plate 1023 and connector release tab 1042, to make connector on proximal direction " PD " on main transmission shaft 1104 Discharge tab 1042 and 1102 bias of main drive key.

Referring still to Figure 18 and Figure 19, assisting rotary drive system 1200 includes auxiliary drive key 1202, auxiliary drive key 1202 are configured to be axially received in the second driving pod 322 of the second rotary drive system 320.Auxiliary drive key 1202 are slidably received on auxiliary transmission shaft 1204, and auxiliary transmission shaft 1204 is pivotably supported by partition 1023.Auxiliary Drive key 1202 also movably extends through the hole 1026 in partition 1024.Secondary transmission shaft 1204 is rack gear, so that secondary Drive key 1202 is moved axially freely on secondary transmission shaft 1204 but is not rotated relative to secondary transmission shaft 1204, so that secondary The rotation of grade drive key 1202 leads to the rotation of secondary transmission shaft 1204.Auxiliary drive key 1202 includes that attachment flange (does not show Out), which is received in the chamber (not shown) in connector release tab 1042.Therefore, 1202 He of auxiliary drive key It is mobile as a unit that connector discharges tab 1042.Auxiliary transmission spring 1208 is connected to auxiliary transmission shaft 1204 by axle journal It is upper and extend between partition 1023 and connector release tab 1042, on auxiliary transmission shaft 1204 in proximal direction PD Biased connector discharges tab 1042 and auxiliary drive key 1202.As it can be seen that connector discharges 1042 shape of tab such as in Figure 18 At corresponding to there are two upright activator portion 1046, the connector release to extend internally being formed on locking yoke 1032 is prominent Piece 1048.

It can refer to the operation that Figure 20 to Figure 22 understands latch system 1030.Figure 20 shows the beginning of connection process, wherein Interchangeable surgical tool component 1000 moves on installation direction " ID " relative to handle assembly 20.In order to start installation process, Clinician is by the taper attachment lug 1022 on nozzle frame 1020 and on the tool mounting portion 500 of handle assembly 20 The alignment of their correspondence dovetail slot 502, and be inserted into interchangeable surgical tool component 1000 relative to handle assembly 20 It is moved on the ID of direction.Taper is attached insertion of the lug 1022 in their corresponding dovetail slots 502 and mobile for by three Axis attachment lug 1306 on grade actuator shaft 1302 and the axis in the distal end 412 of third driving actuator means 410 are attached Connect the alignment of pod 414.Similarly, main drive key 1102 and each autoregistration of auxiliary drive key 1202 with be formed in handle assembly Corresponding insertion inclined-plane 506 on 20 tool mounting portion 500 contacts.

Figure 21 shows the contact between main drive key 1102 and corresponding insertion inclined-plane 506, wherein it should be understood that auxiliary Corresponding insertion inclined-plane 506 is in similar position by drive key 1202.As in this view, it may be seen that main drive key 1102 It has contacted insertion inclined-plane 506 and continue propulsion of the replaceable surgical tool component 1000 on installation direction ID causes to be inserted into Inclined-plane 506 makes main 1102 bias of drive key in a distal direction on main transmission shaft 1104.Auxiliary drive key 1202 will be similar It is moved on distal direction DD on auxiliary transmission shaft 1204 on ground.Release button is pushed by the direction shown in arrow 1041 1038 can further realize this movement, this to lock 1032 contact connection device of yoke release tab 1042 and resist first to pass Spring 1108 and the biasing force of the second transmission spring 1208 is sent to move it on distal direction DD.Clinician can maintain to discharge Pressure on button 1038, so that once main drive key 1102 and auxiliary drive key 1202 remove their corresponding insertion inclined-planes 506, main drive key 1102 and auxiliary drive key 1202 can be moved respectively to and corresponding first driving pod 302 and the Two driving pods 322 are aligned.It is main to drive when taper attachment lug 1022 rests upon in their own dovetail slot 502 Dynamic key 1102 is axially aligned with the first driving pod 302, and auxiliary drive key 1202 and the second driving pod 322 are axial right Standard, so that main drive key 1102 enters the first driving pod 302, auxiliary when clinician discharges the release button 1038 Drive key 1202 is helped to enter the second driving pod 322.Referring to fig. 22.Therefore, the rotation of the first driving pod 302 will lead to mainly The rotation of drive key 1102 and main transmission shaft 1104, and the rotation of the second driving pod 322 will lead to auxiliary drive key 1202 With the rotation of auxiliary transmission shaft 1204.In addition, axis attachment lug 1306 is received in the distal side of third driving actuator means 410 In axis attachment pod 414 on end 412.Therefore, the axial movement of third driving actuator means 410 will lead to three-level driving The axial movement of axis 1302.It is such as also shown in Figure 20 to Figure 22, interchangeable surgical tool component 1000 further includes onboard " tool " Circuit board 1060, onboard " tool " circuit board 1060 have connector part 1062, and connector part 1062 is configured to It is matched with the device 222 that is correspondingly connected on shank circuit board 220.When tool circuit board 1060 is connected to shank circuit board 220, work Have circuit board and provide identification signal to control system or CPU 224, allows control system or CPU 224 is currently in use The type of interchangeable surgical tool component selects control action appropriate.

End effector

Interchangeable surgical tool component 1000 includes surgical end-effector 1500, and surgical end-effector 1500 is constructed At can cut and fastening tissue.As it can be seen that surgical end-effector 1500 passes through actuated articulation joints such as in Figure 23 and Figure 24 1702 are operably linked to elongated shaft assembly 1400.As will be discussed in further detail, elongated shaft assembly 1400 can be grasped It is connected to tool attachment module 1010 with making and including main rotary drive system 1100, auxiliary rotary drive system 1200 and three The part of grade axial drive system 1300.Referring now to Figure 25 to Figure 28, surgical end-effector 1500 includes elongated passageway 1520, elongated passageway 1520 is configured to be operably supported surgery nail bin 1550 wherein.Surgery nail bin 1550 can wrap Compressible or implantable nail bin is included, with main part 1552, the main part 1552 is by compressible hemostatic material group At, such as, the regenerated cellulose (" ORC ") of oxidation or the foam of biological absorbable, wherein supporting unfashioned metal nail The fastener of row or other forms.It is impacted and prevent hemostatic material from introducing for anti-non-magnetic shim at least some of embodiment It is activated with during position fixing process, entire storehouse can be coated with and/or be enclosed with biodegradable film, such as with trade nameThe polydioxanone film of sale, or it is coated with or is enclosed with the film of polyglycerol sebacate (PGS), and/or by PGA (polyglycolic acid), PCL (polycaprolactone), PLA or PLLA (polylactic acid), PHA (polyhydroxyalkanoate), PGCL (poly- Kapp It is grand), and/or other the biodegradable films for example formed by the compound of PGA, PCL, PLA, PDS, the film is only broken It is just permeable when splitting.A variety of different implantable storehouse arragement constructions are known and may be utilized.For example, in many patent Shens Please with various implantable/compressible storehouse arragement constructions, these patent applications and patent are disclosed in patent in further detail It is incorporated by reference and is incorporated herein accordingly with it.In the example shown, the storehouse main part 1552 of surgery nail bin 1550 Be dimensioned so as to removedly be supported in elongated passageway 1520.

The elongated passageway 1520 and surgery nail bin 1550 being installed therein are alternatively referred to as " the first jaw " 1502 herein. Surgical end-effector 1500 also includes the second jaw 1504 in 1560 form of anvil assembly, is supported for relative to first Jaw is movably advanced.In other words, the first jaw 1502 and the second jaw 1504 can be configured in open position and close Coincidence moves traveling between setting relative to each other.In the arragement construction shown in, anvil assembly 1560 includes anvil body portion Point or anvil block frame 1562.Anvil block frame 1562 includes nearside anvil portion 1570, which has from it A pair of of the gudgeon pin 1572 extended laterally.Gudgeon pin 1572 is movably received in pivot slot 1526,1526 shape of pivot slot At in the corresponding upstanding wall 1524 of the channel installation section 1522 of elongated passageway 1520.7 and Figure 28 referring to fig. 2.At least In a kind of form, anvil block frame 1562 includes a pair of tissue retainer 1564 extended downwardly, and being used for limited target tissue can The distance extended proximally between the first jaw 1502 and the second jaw 1504, so that when destination organization is cut off, fastening Part is properly positioned to fasten cutting tissue.When the first jaw 1502 and the second jaw 1504 in the close position, tissue Retainer 1564 is located at the outside of the upstanding wall 1524 of channel installation section 1522, and nearside anvil portion 1570 is located at uprightly Between wall 1524.Referring to fig. 28.

The concentric drive member of anvil block

Anvil assembly 1560 is operably supported the concentric drive member 1600 of anvil block, for firing member to be operably driven 1620 pass through end effector 1500.The concentric drive member 1600 of anvil block can be for example centrally arranged in anvil block frame 1562 simultaneously And substantially extend its length.In the embodiment illustrated, the concentric drive member 1600 of anvil block includes anvil block drive shaft 1610, Anvil block drive shaft 1610 includes distal side bearing lug 1611 and nearside bearing lug 1612.Distal side bearing lug 1611 can It is rotatably received in distal side bear box 1580, which is supported on the bearing holder (housing, cover) in anvil block frame 1562 It is interior.Nearside bearing lug 1612 is pivotally supported in anvil assembly 1560 by suspension joint bear box 1582, suspension joint axis Shell 1582 is held to be movably supported in the bearing pit 1574 being formed in nearside anvil portion 1570.Referring to fig. 27.Nearside Bear box arragement construction and distal side bear box arragement construction can be used for preventing or at least minimize in anvil block drive shaft 1610 Compressing force generation, otherwise can lead to anvil block drive shaft 1610 and be bent under the conditions of high-tensile strength.Anvil block drive shaft 1610 further includes Driven percussion gear 1614, proximal thread or spiral part 1616 and distal thread or spiral part 1618.It is arranged shown in In structure, proximal thread section 1616 has the first length " FL ", and distal thread section 1618 has greater than the first length The distal length " DL " of FL.In at least one arragement construction, for example, the first length FL can be per inch only about 3 to 5 spiral shells A trapezoidal thread lead is used only in line, and distal length DL can be about 9 to 15 screw threads of per inch, have 2 to 4 Tip lead of screw thread is to obtain more power.However, proximal thread section 1616 and distal thread section 1618 can have other Length.Referring to Figure 31.As it can be seen that the pitch of distal thread section 1618 is greater than the section of proximal thread section 1616 such as in Figure 26 Away from.In other words, the lead of distal thread section 1618 is greater than the lead of proximal thread section 1616.In a kind of arragement construction In, the lead of distal thread section 1618 can for the lead of proximal thread section 1616 approximately twice as.It can also such as in Figure 31 See, dead space 1617 can be provided between proximal thread section 1616 and distal thread section 1618.In at least one example, Integral piece can be made by extrusion gear original part in anvil block drive shaft 1610.

For the ease of assembling various anvil features, anvil assembly 1560 includes anvil covers 1563, which can lead to It crosses welding, snap feature structure etc. and is attached to anvil block frame 1562.In addition, anvil assembly 1560 includes a pair of of anvil plate or nail shape At plate 1568, it may include the nail shapes pit or formation pit of various patterns on its bottom face, correspond to and propped up Support the nail arragement construction in the surgery nail bin 1550 in elongated passageway 1520.Following closely forming board 1568 can be by metal or similar material It is made, and is soldered to or is otherwise attach to anvil block frame 1562.In other arragement constructions, it can also be used and have wherein There is slit to accommodate the single chopping block of firing member.The combination of such chopping block or plate can be used for improving the overall rigid of anvil assembly Degree.For example, (one or more) chopping block can be flat and there is the nail " cast " wherein to form pit or form pit.

Figure 29 shows a kind of form of firing member 1620 comprising main part 1622, main part 1622 have It is formed thereon or is otherwise attach to its knife nut portion 1624.Knife nut portion 1624 is configured to receive In anvil block drive shaft 1610.Distal thread nodule 1626 and proximal thread nodule 1628 are formed in knife nut portion 1624, The distal thread nodule 1626 and proximal thread nodule 1628 are configured to engagement proximal thread section 1616 and distal side spiral shell Line section 1618.Distal thread nodule 1626 is spaced apart relative to the length of dead space 1617 with proximal thread nodule 1628, is made When proper knife nut portion 1624 crosses over dead space 1617, distal thread nodule 1626 is threadedly engaged with distal thread section 1618 And proximal thread nodule 1628 is threadedly engaged with proximal threads section 1616.In addition, anvil block engagement tab 1630 is from knife nut 1624 opposite lateral part is laterally projecting, and is orientated to the corresponding nail of engagement and forms plate 1568, which forms plate and be attached to Anvil block frame 1562.Firing member 1620 further includes channel engagement tab 1632, prominent from each side of main part 1622 Out to engage the part of elongated passageway 1520, as will be discussed in further detail.Firing member 1620 is also cut including tissue Cut surface 1634.

The rotation of anvil block drive shaft 1610 in the first rotational direction will lead to firing member 1620 from initial position (figure 35) end position (Figure 32) is moved axially to.Similarly, the rotation of anvil block drive shaft 1610 in a second rotational direction will lead to Firing member 1620 returns to initial position from end position axial retraction.Final proximally drive shaft 1120 of anvil block drive shaft 1610 Spinning movement is obtained, which can operatively join with main transmission shaft 1104.Referring again to Figure 16 to Figure 18, Proximate drive gear 1110 is installed to main transmission shaft 1104 and is supported for being engaged with power driven gear 1122, should Power driven gear 1122 is installed to the proximal end of proximate drive shaft 1120.Proximate drive shaft 1120 is pivotally supported at dynamic In power axis support tube 1124, and there is the power bevel gear 1126 for being attached to its distal end.Referring to Figure 30.As indicated above Out, interchangeable surgical tool component 1000 shown in includes actuated articulation joints 1702, facilitates surgical end-effector 1500 joint motions.In at least one embodiment as shown in figure 30, actuated articulation joints 1702 include joint motions Axis 1704, the articulating shaft 1704 are installed to the distal end of the external ridge pipe 1402 of elongated shaft assembly.Specifically, external ridge Pipe 1402 includes a pair of pivot tab 1404,1406 distad outstanding, and pivot tab 1404,1406 is attached to articulating shaft 1704 corresponding end, so that articulating shaft 1704 limits the joint motions axis " AA " transverse to axial line " SA-SA ", it should Axial line " SA-SA " is limited by elongated shaft assembly 1400.

Referring still to Figure 30, the power transmission gear 1128 that power bevel gear 1126 is arranged with center is engaged, this is dynamic Power transmission gear 1128 is rotatably journaled on articulating shaft 1704.The main rotary drive system of shown embodiment 1100 further include distal side line shaft 1130, which, which has, is attached to it by screw or other fasteners 1133 The distal side driven gear 1132 of proximal end.Distal side line shaft 1130 alternatively referred to as rotates output driving shaft herein.Distal side The power transmission gear 1128 that driven gear 1132 is arranged with center is engaged.Figure 31 and Figure 32 are turned next to, distal side is driven Moving gear 1134 is attached to the distal end of distal side line shaft 1130.Distal side driving gear 1134 is configured to work as anvil assembly 1560 are engaged when in the close position with the driven percussion gear 1614 in anvil block drive shaft 1610, such as Figure 31 and Figure 32 institute Show.Anvil block drive shaft 1610, which is referred to as, " to be separated and distinguishes " with distal side line shaft 1130.That is, for example, at least shown Arragement construction in, anvil block drive shaft 1610 with 1130 coaxial alignment of distal side line shaft, and does not form distal side line shaft 1130 a part.In addition, for example, anvil block drives when anvil assembly 1560 moves between the open and the closed positions Axis 1610 can be mobile relative to distal side line shaft 1130.Figure 31 shows anvil assembly 1560 in the close position and is in The firing member 1620 of pre- firing position.As in this view, it may be seen that distal thread in the knife nut 1624 of firing member 1620 Nodule 1626 is engaged with distal thread part 1618, so that the rotation of anvil block drive shaft 1610 drives (percussion) firing member 1620 To end position shown in Figure 32.The further details of the operation about firing member 1620 are provided below.

Opening and closing system

In the arragement construction shown in, anvil assembly 1560 passes through one distally advanced as elongated shaft assembly 1400 Point closed tube 1410 and be closed.Such as in Figure 27 and Figure 31 into Figure 35 as it can be seen that closed tube 1410 include internal screw thread be closed nut 1412, internal screw thread closure nut 1412 is configured to and is formed in 1136 spiral shell of closed thread segment on distal side line shaft 1130 Line engagement.Figure 33 shows anvil assembly 1560 in an open position.As discussed above, nearside bearing lug 1612 passes through Suspension joint bear box 1582 is pivotally supported in anvil assembly 1560, which is movably supported in closely In bearing pit 1574 in side anvil portion 1570.Carriage spring 1584 be connected on distal side line shaft 1130 by axle journal and It is configured to that biasing force is applied to bear box 1582 during opening and closing anvil assembly 1560.Such biasing force For forcing anvil assembly 1560 to enter open position.In at least one arragement construction, carriage spring 1584 includes by for example The component of plate 1586 made of the stainless steel of 17-4,416 or 304, it is laminated together that these plates pass through the stainless steel material more annealed And there is the hole 1588 for receiving the distal side line shaft 1130 passed through.Referring to Figure 36.

As noted before, anvil trunion pin 1572 is received in the pivot slot 1526 being vertically oriented, pivot slot 1526 It is formed in the upstanding wall 1524 of elongated passageway 1520, so that anvil assembly 1560 has relative to elongated passageway 1520 and phase For being supported on the ability of 1550 vertical shift of surgery nail bin therein.Anvil assembly 1560 relative to elongated passageway 1520 this The mobile tissue that can be used for accommodating different-thickness sandwiched therebetween.For this purpose, in the example shown, surgical end-effector 1500 It also include anvil block spring component 1590, for managing the tissue between nail forming board 1568 and the upper face of surgery nail bin 1550 The magnitude in gap.Most particularly as it can be seen that in the example shown, anvil block spring component 1590 includes bearing block such as in Figure 27 1592, bearing block 1592 is mounted between the upstanding wall 1524 of elongated passageway 1520.Such as it can be seen that bearing block in Figure 27 and Figure 33 1592 in the bearing bore 1594 wherein with slightly U-shaped, (bearing bore 1594 is configured to operationally receive wherein Bearing 1138) and it is formed on distal side line shaft 1130 or is otherwise attach to the bearing stop of distal side line shaft 1130 Flange 1140.Such arragement construction is used to for distal side line shaft 1130 being pivotally supported at the proximal end of elongated passageway 1520 In part or channel installation section 1522.Two spring tabs 1596 extend and are orientated to from bearing block 1592 will be downward inclined Pressure is applied to nearside anvil portion 1570.Referring to Figure 32.Such biasing force is used for biased downward nearside anvil portion 1570, makes The biased downward in their corresponding vertical pivot slots 1526 of anvil trunion pin 1572, and enable anvil assembly 1560 Vertical shift is reached to adapt to the tissue of different-thickness.When anvil assembly 1560 is closed, in anvil assembly 1560 and surgery nail bin The destination organization captured between 1550 will lead to the compression of storehouse main body 1552, and be supported on it is therein nail or fastener will by by Pressed to wear tissue be pressed into the nail on the downside of anvil assembly 1560 formed plate 1568 formed contact.According in nail bin 1550 Fastener nail arragement construction, nail can be formed by cartridge body and the tissue of clamping with several discrete rows.For example, can In the presence of six nails in total (for three nails on every side of central area, firing member 1620 may pass through three nail).At least one In kind arragement construction, for example, the nail in a row can deviate or interlock with the nail in adjacent row.

Closure spiral shell such as in Figure 33 as it can be seen that when anvil assembly 1560 is in an open position, on distal side line shaft 1130 Line segment 1136 keeps being threadedly engaged with closure nut 1412.When in open position, firing member 1620 is located at anvil block drive Recent side or initial position on the proximal threaded portion 1616 of moving axis 1610.As it can be seen that being risen when in the nearside such as in Figure 33 When beginning position, the channel engagement tab 1632 on firing member can remove the channel protruding portion being formed in elongated passageway 1520 Divide 1528, so that firing member 1620 can be pivoted to together open position with anvil assembly 1560.When in position (its Alternatively referred to as " fully open position ") when, driving device percussion gear 1614 can keep driving gear 1134 to contact with distal side, but It is not engage engagement.Therefore, the rotation of distal side line shaft 1130 will not result in the rotation of anvil block drive shaft 1610.

In order to start closing course, distal side line shaft 1130 rotates in the first rotational direction.Distal side line shaft 1130 This initial rotation promotes closed tube 1410 to be closed by means of the closed thread segment 1136 on distal side line shaft 1130 with internal screw thread Close being threadedly engaged and moving on distal direction DD between nut 1412.When closed tube 1410 is distally moved, it is formed in Closure tab 1414 in the distal end of closed tube 1410 contacts nearside anvil portion 1570 and is moved into connecing with its cam Touching is so that anvil assembly 1560 is pivoted to initial closed position.Further rotating for distal side line shaft 1130 will lead to closed tube 1410 distal side is mobile, and until closed tube reaches " being closed completely " position, wherein internal screw thread is closed nut 1412 and closed thread Section 1136 is threadably detached from.For example, when at that position, internal screw thread is closed nut 1412 in closed thread segment 1136 Distal side, and distal side line shaft 1130 in the first rotational direction further rotate the fortune that will not affect that closed tube 1410 It is dynamic.Closing spring 1416 is for distad bias closed tube 1410, to keep internal screw thread closure nut 1412 abjection and closure spiral shell Line section 1136 is threadedly engaged.

Once anvil assembly 1560 is moved into closed position, the driven percussion gear 1614 in anvil block drive shaft 1610 It will be engaged now with the distal side driving gear 1134 on distal side line shaft 1130.Therefore, distal side line shaft 1130 is first Further rotating on direction of rotation will lead to the rotation of anvil block drive shaft 1610, and promote firing member 1620 in proximal thread It is moved distally on part 1616.The rotation that continues of anvil block drive shaft 1610 in the first rotational direction will lead to firing member 1620 distal side is mobile.Figure 34 shows firing member 1620 just in the distal side spiral shell of distal thread nodule 1626 and percussion drive shaft Position before being engaged between line part 1618.Figure 31, which is shown, is initially threadably engaged anvil in distal thread nodule 1626 The position of firing member 1620 after the distal thread part 1618 of seat drive shaft 1610.When at that position, firing member The corresponding nail of anvil block engagement tab 1630 on 1620 bond attachments to anvil block frame 1562 forms plate 1568, and channel Engagement tab 1632 the correspondence protrusion 1528 on engaged elongated passageway 1520 to maintain anvil assembly 1560 and elongated Required interval between channel 1520.

The rotation that continues of distal side line shaft 1130 in the first rotational direction promotes anvil block drive shaft 1610 also to rotate.Since The distal thread part 1618 of the engaged anvil block drive shaft 1610 of distal thread nodule 1626, firing member 1620 will be than working as Mobile " the pre- percussion speed of firing member 1620 when being threadably engaged with the proximal threaded portion 1616 of anvil block drive shaft 1610 Degree " is mobile faster " percussion speed ".The speed difference is due to proximal threaded portion 1616 and distal thread part 1618 The difference of lead of screw thread.As firing member 1620 is moved distally through end effector 1500, tissue cutting surface 1634 Nail formed between plate 1568 across and cut through the tissue being clipped in anvil assembly 1560 and surgery nail bin 1550.Cause This sutures tissue when anvil assembly 1560 is moved to fully closed position first.Hereafter, when firing member is promoted towards distal side When by end effector 1500, tissue is cut.Therefore, nail forming process can be with tissue cutting process " separate and distinguish ".

Figure 32 shows firing member 1620 in end firing position or the position at close end firing position.Once hitting Hair component 1620 arrived end firing position (it can be determined such as the (not shown) as sensor, encoder), and distal side is dynamic Power axis 1130 can rotate on the second direction of rotation or " retracted orientation ", this also promotes anvil block drive shaft 1610 in the opposite direction Rotation.The rotation of anvil block drive shaft 1610 in a second rotational direction will promote firing member 1620 to be proximally moved in Figure 35 Shown in position.As can see in Figure 35, closed tube 1410 is equipped with closed tube reset spring 1418, and closed tube resets bullet Spring 1418 extends from the lug 1413 on closure nut 1412 towards distal side.Firing member 1620 is formed with answering of extending proximally Position tab 1636, the reset tab 1636 are configured to the contact closure pipe when firing member 1620 returns to initial position Proximal compression power is simultaneously applied to closed tube reset spring 1418 by reset spring 1418.Such proximal compression power is for forcing closure Pipe 1410, more specifically, closed thread segment 1136 of the internal screw thread closure nut 1412 on distal side line shaft 1130 is forced, So that closure nut thread can threadably be re-engaged the closed thread segment 1136 on distal side line shaft 1130.As distal side is dynamic The continuation of power axis 1130 rotates in a second rotational direction, the interaction between closed thread segment 1136 and closure nut 1412 Closed tube 1410 is promoted proximally to move, so that the mobile abjection of closure tab 1414 and the cam of nearside anvil portion 1570 connect Touching, forces anvil assembly 1560 to open position (Figure 33) to permit carriage spring 1584.Included in 1560 He of anvil assembly Tissue between elongated passageway 1520 can also be used to force anvil assembly 1560 to open position, wherein tissue can be from open position It removes.

Articulation system

As noted before, example shown in includes articulation system 1700, facilitates surgical end-effector 1500 Around the joint motions of joint motions axis AA, joint motions axis AA is transverse to axial line SA.In the example shown, surgery The axial line SA that end effector 1500 can also be centered around 1702 distal side of actuated articulation joints selectively rotates, in Figure 24 Arrow 1703 shown in.In the example shown, articulation system 1700 is by the second rotation driving system in handle assembly 20 320 actuating of system.As discussed above, interchangeable surgical tool component 1000 includes auxiliary rotary drive system 1220, auxiliary rotation Drive system 1220 is configured to operatively join with the second rotary drive system 320 in handle assembly.Shown in In arragement construction, auxiliary rotation drive device 1220 includes a part of articulation system 1700.In the example shown, it closes Saving kinematic system 1700 includes joint motions drive shaft 1706, and joint motions drive shaft 1706 is pivotally supported at line shaft branch On stay tube 1124.As noted before, proximate drive shaft 1120 extends rotatably through line shaft support tube 1124.Shown in In arragement construction, the coaxial alignment on axis axis SA of proximate drive shaft 1120.Line shaft support tube 1124 is configured to make Obtain the not coaxial alignment on axial line SA of joint motions drive shaft 1706.In other words, joint motions drive shaft 1706, which has, closes Section movement driving axial line " ADA ", when joint motions drive shaft 1706 is mounted on line shaft support tube 1124, the axis " ADA " is deviated from axis SA.Referring to Figure 30.Such arragement construction helps to be formed about in actuated articulation joints 1702 relatively tight The nested gear arrangement to gather, it is such as visible into Figure 42 in Figure 38.In the arragement construction shown in, for example, proximal joint is transported Dynamic driven gear 1708 is installed to the proximal end of joint motions drive shaft 1706.Referring to Figure 19.Proximal joint moves driven tooth Wheel 1708 is arranged to be engaged with auxiliary drive gear 1206, which is installed to attachment driving shaft 1204 Distal end.The rotation of auxiliary transmission shaft 1204 and auxiliary drive gear 1206 will lead to proximal joint movement driven gear 1708 rotation and the rotation of joint motions drive shaft 1706.Distal joint movement driving gear 1710 is attached to joint motions The distal end of drive shaft 1706.Distal joint movement driving gear 1710 is supported for nibbling with channel joint motions gear 1538 Splice grafting closes, and channel joint motions gear 1538 is formed on channel fixing device for installing 1530.

More specifically and Figure 30 and Figure 37 is referred to, in the example shown, channel fixing device for installing 1530 includes disk Shape main part 1532, the disc-shaped main body part 1532 have lower part axis attachment tabs 1534 and the upper axis being formed thereon attached Connect tab 1536.Articulating shaft 1704 extends through pair in lower part axis attachment tabs 1536 and upper axis attachment tabs 1534 Ying Kong, with the pivot tab 1404,1406 being attached in external ridge pipe 1402.Such arragement construction is solid for permitting channel installation Determine device 1530 and is rotated relative to external axle ridge pipe 1402 around joint motions axis AA.The formation of channel joint motions gear 1538 In lower part axis attachment tabs 1534 and keep being engaged with distal joint movement driving gear 1710.Referring now to figure 27, in the example shown, the channel installation section 1522 of elongated passageway 1520 includes upright proximal wall 1523, is had from it Proximally installation hub 1525 outstanding.Axis hole 1527 extends through installation hub 1525 and upright proximal wall 1523, the upright nearside Wall 1523 is configured to allowance distal side line shaft 1130 and extends through wherein.In the example shown, channel installation is fixed Device 1530 is frictionally held on installation hub 1525, to complete the connection of end effector 1500 Yu actuated articulation joints 1702 It connects.Referring to Figure 30.

Figure 30, Figure 38 and Figure 39 best illustrate the operation of actuated articulation joints 1702.Pass through the second rotation driving system Rotary joint movement drive shaft 1704 will lead to surgical end-effector 1500 relative to axle center to system 320 in the first rotational direction Line SA is rotated with articulation angle 1711 (Figure 39) or joint motions.In at least one example, articulation angle 1711 It can be between such as 0 ° to 90 °.The rotation of joint motions drive shaft 1704 in the opposite rotation direction will lead to surgical end Joint motions of the actuator 1500 in opposite joint motion direction.Once the joint motions of surgical end-effector 1500 To desired orientation, just stop the confession to the second rotary drive system 320 (and finally to auxiliary rotary drive system 1200) Electricity.It assists between the component (i.e. gear) of rotary drive system 1200 and the component (i.e. gear) of articulation system 1700 Friction is for being maintained at joint motions orientation for surgical end-effector 1500.However, in alternative arragement construction, gear 306 and 326 may be locked in appropriate location.For example, engaging gear 252 with gear 306 when gear 252 engages these gears Gear can be detached from locking.This can be realized with simple cam face, when the movement of gear 252 is to engage, be somebody's turn to do Cam face is detached from locking device.

End effector rotation

The interchangeable surgical tool component 1000 shown is configured to using main rotary drive system 1100 so that outer Section's end effector 1500 is selectively rotated around axial line SA.In addition, in the example shown, third axial drive system 1300 are configured to that surgical end-effector 1500 is selectively locked in desired be rotationally oriented.Such as in Figure 37 and figure It is seen, for example, elongated shaft assembly 1400 includes elongated shaft support tube 1420 in 42, extends to pass from tool mounting portion 1010 Save the nearside of kinematic joint 1702.Elongated shaft support tube 1420 includes " off-axis " channel 1422, for passing through its rotatable twelve Earthly Branches Support joint motions drive shaft 1706.Elongated shaft support tube 1420 further includes distal end 1424, and distal end 1424 has gear Chamber 1426 and gear shaft formed therein 1428, for accommodating lock gear component 1430 wherein.Referring to Figure 37.Locking teeth Wheel assembly 1430 includes driving gear 1432, and driving gear 1432 is received in the gear cavity 1426 in elongated shaft support tube 1420 It is interior.In addition, lock gear component 1430 has the smaller driven gear 1434 for being attached to it.As discussed briefly above, third Axial drive system 1300 includes third actuator shaft 1302, is referred to herein as and locks control-rod 1302.Lock control-rod 1302 have the axis attachment lug 1306 being formed in its proximal end 1304.When interchangeable surgical tool component 1000 couples When to handle assembly 20, axis attachment lug 1306 is received in the axis in the distal end 412 of third driving actuator means 410 It is attached in pod 414.Therefore, the actuating of third axial drive means 400 will lead to the axial movement of locking control-rod 1302.? Shown in arragement construction, the locking control-rod 1302 that can be moved axially has the rack-and-pinion being formed in its distal end 1308, which is configured to be engaged with driven gear 1434.Lock the axial movement of control-rod 1302 It will lead to lock gear component 1430 to rotate in the first rotational direction around gear shaft 1428, and lock control-rod 1302 and exist Axial movement in proximal direction will lead to the rotation of lock gear component 1430 in a second rotational direction.

In the example shown, three-level drive system 1300 is configured to and end effector spin locking system 1310 operatively join.In at least one embodiment, end effector spin locking system 1310 includes rotation lock price fixing 1320, rotation lock price fixing 1320 includes disc-shaped main body 1322, which has rod-shaped from its hollow installation outstanding Object 1324.As it can be seen that installation shaft 1324 extends through the axis hole 1527 in installation hub 1525 such as in Figure 30.Mounting rod 1324 Distal end include annular groove 1326, annular groove 1326 is configured to receive the retainer flange to extend internally 1598, retainer flange 1598 is formed on the bear box 1592 of anvil block spring component 1590.The disk of rotation lock price fixing 1320 The surface towards nearside of shape main body 1322 has the multiple locking braking devices 1328 being arranged radially at thereon.Locking braking dress It sets 1328 to be arranged to be frictionally engaged by locking component, which includes locking lug at least one form 1332, which is formed in the lock gear 1330 that axle journal is connected on articulating shaft 1704.Referring to figure 43 and Figure 44.As in these figures as it can be seen that lock gear 1330 is supported for the driving gear with lock gear component 1430 1432 are engaged.Activating three-level actuator shaft 1302 by three-level drive system 1300 will lead to the rotation of lock gear component 1430 Turn.The actuating of lock gear component 1430 will lead to the rotation that lock gear 1330 surrounds articulating shaft 1704.Work as locking teeth When locking lug 1332 on wheel 1330 is engaged with locking braking device 1328, prevent rotation lock price fixing 1320 and end from holding Row device 1500 is rotated around axial line SA.For example, locking lug 1332 frictionally engages corresponding locking braking device 1328 And for forcing rotation lock price fixing 1320 to be further frictionally engaged with the main part 1532 of channel fixing device for installing 1530.This Such frictional engagement between two components is for preventing locking disk 1320 and elongated passageway 1520 from rotating around axial line SA. Figure 43 shows locking lug 1332 and is engaged by locking with one in locking braking device 1328, and Figure 44 shows locking ear Object 1332 is in unlock orientation, and thus locking disk 1320 is rotated freely around axis axis SA.

In the shown embodiment of interchangeable surgical tool component 1000, end effector 1500 is around axial line SA's Rotation is controlled by long-range rotary turnplate 1340, and long-range rotary turnplate 1340 is pivotally supported on nozzle frame 1020.Remotely Rotary turnplate 1340 can operatively join with the rheostat mounting assembly 1350 being mounted in nozzle frame 1020.Such as in Figure 23 In it is seen, for example, long-range rotary turnplate 1340 includes surrounding its periphery, and can be in close more in the two sides of nozzle frame 1020 A fan-shaped 1341.Such arragement construction aloow user's the same hand of clamping shank component 20 finger engagement and Long-range rotary turnplate 1340 is rotated, or long-range rotary turnplate can also be engaged with the another hand of user.With reference to Figure 18, Tu20He Figure 21, rheostat mounting assembly 1350 include hollow installation hub 1352, with annular groove 1354, are formed in spray for receiving Corresponding installation partition 1028 in mouth frame 1020.In at least one arragement construction, installation hub 1352 includes annular retaining system Dynamic device 1356, annular retaining brake apparatus 1356 are configured to long-range rotary turnplate 1340 being maintained at hollow installation hub On 1352, while permitting long-range rotary turnplate 1340 and rotating relative to it.Rheostat mounting assembly 1350 includes radially extending Flange portion 1358 supports a collection of fixed contact therefor 1360 on it.Referring to Figure 18.Flange portion 1358 is received in long-range rotation In the rheostat chamber 1342 walked around in disk 1340.Rotating contact part component 1344 is mounted in rheostat chamber 1342, and is constructed At can when long-range rotary turnplate 1340 rotates in rheostat mounting assembly 1350 with fixed contact therefor 1360 join.Variable resistance Device mounting assembly is wiredly connected to tool circuit board 1060 or otherwise communicates with tool circuit board 1060.

In at least one arragement construction, enclosed by rotating the long-range beginning of rotary turnplate 1340 surgical end-effector 1500 Around the rotation of axial line SA.In at least one arragement construction, control system or CPU 224 are configured to remotely rotating Rotary surgical end effector 1500 on the identical direction of rotation that turntable 1340 rotates.The initial rotation of long-range rotary turnplate 1340 The control system in handle assembly 20 or CPU 224 will be promoted to start the third axial drive system 400 in handle assembly 20.Tool Body, 224 activating solenoids 402 of control system or CPU, this leads to the axial movement of third actuator means 410.Third causes The axial movement of dynamic device component 410 leads to the three-level actuator shaft being operatively connected thereto or locks the axial direction of control-rod 1302 Movement.The axial movement of locking control-rod 1302 leads to the rotation of lock gear component 1430.The rotation of lock gear component 1430 Turn that lock gear 1330 will be made to rotate to unlocked position (Figure 44).Then, control system or CPU 224 will start the first rotation and drive Dynamic system 300.It will be appreciate that since locking lug 1332 has rotated out locking corresponding on rotation lock price fixing 1320 The engagement of brake apparatus 1328, rotation lock price fixing 1320 can rotate now around axial line SA.However, 1320 He of rotation lock price fixing The friction between installation hub 1525 on channel installation section 1522 can temporarily prevent surgical end-effector 1500 from rotating.

The actuating of first rotary drive system 300 will lead to rotation drive actions and be applied to the first driving pod 302, because Selector solenoid 260 is not yet activated and selector gear 250 is biased into and holds with the first driving by selector spring 166 The first driven gear 306 on nest 302 is engaged.Referring to Fig. 6 and Fig. 7.The rotation of first driving pod 302 will lead to mainly The rotation of transmission shaft 1104, the main transmission shaft 1104 are operatively engaged with the first driving pod 302.Main transmission shaft 1104 Rotation will lead to the rotation for the proximate drive gear 1110 for being attached to main transmission shaft 1104.Due to proximate drive gear 1110 with it is attached The power driven gear 1122 for being connected to proximate drive shaft 1120 is engaged, so proximate drive shaft 1120 also rotates.Referring to figure 19。

Referring now to Figure 30, the rotation of proximate drive shaft 1120 will eventually lead to the rotation of distal side driven gear 1132, should Distal side driven gear 1132 is attached to distal side line shaft 1130.The rotation of distal side driven gear 1132 will lead to distal side line shaft 1130 rotation.Friction and bear box 1592 and distal side between distal side line shaft 1130 and rotation lock price fixing 1320 is dynamic The closure nut 1412 and distal side line shaft of friction and closed tube 1410 between power axis 1130 and rotation lock price fixing 1320 The friction in total (" the second amount of friction ") of the friction between closed thread segment 1136 on 1130 is greater than elongated passageway 1520 The friction and rotation lock price fixing 1320 and channel installed between hub portion 1525 and channel fixing device for installing 1530 are installed admittedly The friction in total (" the first amount of friction ") of the friction between device 1530 is determined, to permit elongated passageway 1520 and closed tube 1410 It is rotated relative to channel fixing device for installing 1530 around axial line SA with distal side line shaft 1130.In a kind of arragement construction, For example, the rotation position of long-range rotary turnplate 1340 will determine distal side line shaft 1130 and most by control system or CPU 224 The rotation position of surgical end-effector 1500 is determined eventually.Once surgical end-effector 1500 is located in around axis by user The expectation rotation position of axis SA and the rotation of long-range rotary turnplate 1340 is terminated, control system or CPU 224 will It terminates to the first rotary drive system 300 and powers to third axial drive system 400.In at least one embodiment, Solenoid 402 is " spring-loaded ", so that when deactivated, spring members will make third drive actuator means 410 towards remote Lateral deviation pressure, it is mobile in nearside that this will lead to locking control-rod 1302.Such axial movement of locking control-rod 1302 will lead to lock The rotation of fixed gear 1330, to make to lock lug 1332 and the corresponding locking braking device 1328 on rotation lock price fixing 1320 It remains engaged with, is rotationally oriented so that surgical end-effector 1500 is locked to.Therefore, if handle assembly 20 and more Body third drive system 400 run out of steam, then solenoid spring will promote end effector spin locking system 1310 mobile It is orientated to locking, to prevent surgical end-effector 1500 from rotating relative to elongated shaft assembly 1400.Such as from the discussion of front It should be understood that when interchangeable surgical tool component 1000 is operably linked to handle assembly 20, the axially driving system of third System 400 is used to unlock end effector locking system 1310 and the first rotary drive system 300 is for executing surgical end Device 1500 is rotated relative to elongated shaft assembly 1400.It will be appreciate that such rotation of surgical end-effector 1500 exists completely The distal side of actuated articulation joints 1702.Therefore, external ridge pipe 1402 and actuated articulation joints 1702 are protected during rotary course It holds static.

Operation will now be described and control a kind of universal method of surgical instruments 10.Fig. 1 is shown in interchangeable surgery work Tool component 1000 has been operably attached to the surgical instruments 10 after handle assembly 20.As noted before, by interchangeable surgery The tool attachment part 500 that the tool attachment module part 1010 of tool assembly 1000 is connected to handle assembly 20 promotes tool electric Road plate 1060 is connected to shank circuit board 220 or otherwise communicates with shank circuit board 220, the shank circuit board 220 packet Include control system or CPU 224.Once connecting or communicating with control system or CPU 224, tool circuit board 1060 can be to control System or CPU 224 provide specific software, which is unique for the specific interchangeable surgical tool component.Clinician The retained part 100 of handle assembly 20 can be also located in the required position relative to main housing portion 30, this may be most suitable for In the type of interchangeable surgical tool component to be used.

As seen in Figure 3, handle assembly 20 shown in include the right side control that joins with control system or CPU 224 by Button component 270R and left side control button component 270L.In an exemplary arrangement structure, each control button component 270R, 270L includes the first button 272, the second button 274 and third button 276, and each button and control system or CPU 224 join. It should be appreciated that at least one embodiment, the control button 272 on right-side control button component 270a can be performed and left side The identical control function of control button 272 on control button component 270a.Similarly, on right-side control button component 270R Control function identical with the control button 274 on the control button component 270L of left side can be performed in control button 274.Equally, right The executable control button 276 on left side control button component 270L of control button 276 on the control button component 270R of side Identical control function.Such arragement construction allows the clinician to control surgical instruments from the two sides of handle assembly 20.? In at least one arragement construction, control button 272,274,276 includes " Hall effect " sensor or linear transducer, therefore is pressed The actuating of button can indicate the intensity and required speed of such as user's request.

In a kind of arragement construction, the first control button 272 and the second control button 274 can be used for controlling joint motions system The operation of system 1700.For example, control button 272 can be used for starting surgical end-effector 1500 around joint motions axis AA to The joint motions of right (arrow " R " in Fig. 1).When activating the first control button 272, control system or the starting rotation of CPU 224 Turn the selector solenoid 260 of driving selector system 240, so that the on selector gear 250 and the second driving pod 322 Two driven gears 326 are engaged.Hereafter, control system 224 or CPU driven motor 200 are to make articulation system 1700 Spinning movement will be applied to the second rotation on the necessary direction of rotation of surgical end-effector joint motions to right side (arrow R) Turn drive system 320.In a kind of arragement construction, the amount of the pressing or actuating power that are applied to control button can indicate motor rotation Speed.In addition, or in alternative arrangement, clinician can also press rocker switch 206 to influence motor rotation speed.Once For the joint motions of surgical end-effector 1500 to desired locations, user just stops the first control button 270 (and rocker switch 206) actuating.Once control button 270 is deactivated, control system or CPU 224 just deactivate selector solenoid 260.Shift The spring members of device solenoid 260 are moved into selector gear 250 and the first driven gear on the first driving pod 302 306 are engaged.Therefore, the further actuating of motor 200 will lead to the actuating of the first rotation drive device 300.Second control The actuating of button 274 will operate in an identical manner, but will lead to the rotation of motor 200, to promote articulation system 1700 by 1500 joint motions of surgical end-effector to left side (the arrow L in Fig. 1).

As discussed above, surgical end-effector 1500 can also be revolved relative to actuated articulation joints 1702 around axial line Turn.In order to start the rotation of surgical end-effector 1500, clinician intends to make surgical end-effector 1500 at him or she Long-range rotary turnplate 1340 is rotated on the direction of rotation of rotation.The rotation of long-range rotary turnplate 1340 makes control system or CPU 224 actuating third axial drive systems 400.Specifically, solenoid 402 is activated so that third drives 410 He of actuator means Locking control-rod 1302 moves axially in a proximal direction.When locking control-rod 1302 proximally moves, rack-and-pinion 1308 Promote 1430 spin locking gear 1330 of lock gear component, to make to lock in lug 1332 and rotation lock price fixing 1320 Corresponding locking braking device 1328 is detached from.1 and Figure 42 referring to fig. 4.Solenoid 402 is maintained at the actuating by control system or CPU Orientation, then starter motor 200 is to make surgical end-effector 1500 rotate required direction on desired direction of rotation On spinning movement is applied to the first rotary drive system 300.The actuating of first rotary drive system 300 will lead to distal side driving The rotation of axis 1130, this will lead to surgical end-effector 1500 and rotates around axial line SA.Once surgical end-effector 1500 have rotated to desired locations, just stop rotation of the clinician to long-range rotary turnplate 1340.Hereafter, control system or CPU 224 is by deactivated motor 200 and solenoid 402.Then, third is driven actuator structure by the spring members of solenoid 402 Part 410 and locking control-rod 1302 are biased in distal position, so that lock gear 1330 is promoted to rotate in an opposite direction, To promote to lock the correspondence locking braking device 1328 in the engagement rotation lock price fixing 1320 of lug 1332.Surgical end executes Device 1500 is locked in the rotation position.

In at least one arragement construction, third button 276 may include " major state " button, with control system or CPU 224 communication with by surgical end-effector 1500 return to major state, wherein surgical end-effector be non-joint motions and And also it is rotated back to initial rotation orientation.For example, when third button 276 is activated, CPU can by activating solenoids 402 come End effector spin locking system 1310 is unlocked, is detached from promoting to lock lug 1332 and rotation lock price fixing 1320, then The first rotary drive system 300 is activated, to promote surgical end-effector to be rotated back to starting rotation position.Hereafter, solenoid 402 are deactivated to promote to lock lug 1332 and be re-engaged rotation lock price fixing to lock surgical end-effector 1500 On this is rotationally oriented.Then, control system or CPU 224 selector solenoid 260 may be actuated so that selector gear 250 with The second driven gear 326 on second driving pod 322 is engaged.It is ready to activate it in the second rotary drive system 320 Afterwards, then motor 200 may be actuated so that surgical end-effector 1500 returns to non-joint motions position in control system or CPU 224 It sets.

Once surgical end-effector 1500 has rotated and/or joint motions are at desired configuration, then stop joint fortune The actuating of dynamic system 1700 and the rotation for stopping long-range rotary turnplate 1340 will lead to motor 200 being capable of side to be discussed herein Formula is operatively engaged with the first rotary drive system 300.Then, clinician can manipulate surgical end-effector 1500, so as to By destination organization positioning between anvil assembly 1560 and surgery nail bin 1550.Clinician can pass through actuator rocker arm switch 206 To start to be closed and fire process.The actuating of rocker switch 206 will promote control system or CPU224 driven motor 200, to promote Make motor that rotation control action are applied to the first rotary drive system 300 in the first rotational direction.First rotation driving system The rotation of system 300 will promote distal side line shaft 1130 to rotate and start closing course in the above described manner.Once anvil assembly 1560 It is closed completely, control system or CPU 224 can stop motor 200 and provide the instruction (sound that anvil block is closed completely to clinician Sound, vibration, notice on display screen etc.).No matter whether rocker switch 206 remains actuated, all can this thing happens.Then, When clinician wishes that firing member cuts the destination organization being sewn during closing course, clinician then can be again Actuator rocker arm switch 206 is with starter motor and firing member is promoted to pass through end effector in the above described manner towards distal side driving.It shakes Arm switch 206 be configured to so that motor rotation speed and rocker switch be pressed or otherwise activate away from From proportional.In other arragement constructions, control system or CPU 224 can not stop motor between closure and percussion sequence. Various forms of sensors and/or encoder can be used for monitoring the position of firing member during percussion process.Once firing member End position is reached, the direction of rotation of motor is inverted by control system or CPU 224, until firing member returns to start bit It sets, wherein anvil assembly 1560 is biased into open position in the above described manner.

Figure 40 A and Figure 40 B are shown for will be from the telecommunications of the circuit board 1060 in tool attachment module part 1010 Number it is supplied to an exemplary arrangement structure of the end effector for being attached to it, while enabling end effector with this paper institute The various modes stated selectively joint motions and rotation.As in these figures as it can be seen that conductor (conducting wire) 1401A, 1401B is along thin The external of the external ridge pipe 1402 of long axis component extends.Conductor 1401A, 1401B are along ridge pipe 1402 from tool attachment module 1010 Extend and enters the hole 1531 in channel fixing device for installing 1530.In order to adapt to end effector around actuated articulation joints Ring 1403 can be arranged in conductor 1401A, 1401B to provide enough slacks wherein in 1702 joint motions.Conductor 1401A is extended in channel fixing device for installing 1530 and is had the contact 1405A towards nearside for being attached to it.It is similar Ground, conductor 1401B are extended in channel fixing device for installing 1530 and are had the contact towards nearside for being attached to it 1405B.These contacts 1405A, 1405B correspond respectively to the distal side for the disc-shaped main body 1322 for being mounted on rotation lock price fixing 1320 Conductive trace 1325A, 1325B on surface 1323.When assembled together, contact 1405A connects with trace 1325A electric rotating Touching, and contact 1405B and trace 1325B rotating electrical contact.Such arragement construction permits channel fixing device for installing 1530 With the relative rotation of rotation lock price fixing 1320, while the electricity between conductor 1401A, 1401B and track 1325A, 1325B being promoted to connect Touching.End effector conducting wire 1327A, 1327B are attached respectively to trace 1325A, 1325B and extend through rotation lock price fixing 1320 hollow installation shaft 1324.Then, end effector conducting wire 1327A, 1327B could attach in end effector Sensor, lamp etc..Such arragement construction is used to supply electric power from tool attachment module 1010 to end effector, while promoting end The joint motions and rotation of portion's actuator.

Many surgical instrument systems as described herein are actuated by electric motor；However, surgical instrument system as described herein It can actuate in any suitable manner.In all cases, for example, surgical instrument system as described herein can be by being manually operated Trigger actuate.In some cases, motor disclosed herein may include one or more portions of robot control system Point.In addition, any of end effector disclosed herein and/or tool assembly can be with robotic surgical Instrument systems one It rises and uses.Entitled " SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT The U.S. Patent Application Serial Number 13/118,241 (being now U.S. Patent Application Publication 2012/0298719) of ARRANGEMENTS " Several examples of robotic surgical Instrument system are disclosed in more detail.

The deployment and deformation for having combined nail describe surgical instrument system as described herein；However, implementation as described herein Scheme is without being limited thereto.For example, it is contemplated to dispose the various embodiments of the fastener such as fixture or tack in addition to nail.This Outside, it is also contemplated that utilize the various embodiments of any appropriate device for seal tissue.For example, according to various embodiments End effector may include be configured to heating and seal tissue electrode.In addition, for example, according to certain embodiment End effector can apply vibrational energy and carry out seal tissue.

The complete disclosure of following patents is hereby incorporated by reference:

It is published in the U.S. of entitled " the ELECTROSURGICAL HEMOSTATIC DEVICE " on April nineteen ninety-five 4 Patent 5,403,312；

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

It is published on September 9th, 2008 entitled " MOTOR-DRIVEN SURGICAL CUTTING AND 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 on March 2nd, 2010 The United States Patent (USP) 7,670,334 of ARTICULATING 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 United States Patent (USP) of entitled " SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES " Patent application serial numbers 11/343,803；It is now United States Patent (USP) 7,845,537；

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

It is filed on 2 15th, 2008 entitled " END EFFECTORS FOR A SURGICAL CUTTING AND The U.S. Patent Application Serial Number 12/031,873 (being now 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, it is now 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 United States Patent (USP) 8,608, 045；

It is filed in entitled " the MOTOR-DRIVEN SURGICAL CUTTING on December 24th, 2009 The U.S. Patent application of INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY " Sequence number 12/647,100；It is now United States Patent (USP) 8,220,688；

It is filed in the U.S. Patent Application Serial Number 12/ of on September 29th, 2012 entitled " STAPLE CARTRIDGE " 893,461, it is now U.S. Patent number 8,733,613；

It is filed in the United States Patent (USP) of on 2 28th, 2011 entitled " SURGICAL STAPLING INSTRUMENT " Patent application serial numbers 13/036,647 are now U.S. Patent number 8,561,870；

Entitled " SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE The U.S. Patent Application Serial Number 13/118,241 of DEPLOYMENT ARRANGEMENTS " is now United States Patent (USP) 9,072,535；

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 "；It is now United States Patent (USP) 9,101, 358；

It is filed in entitled " the STAPLE CARTRIDGE TISSUE THICKNESS SENSOR on March 13rd, 2013 The U.S. Patent Application Serial Number 13/800,025 of SYSTEM " is now U.S. Patent Application Publication 2014/0263551；

It is filed in entitled " the STAPLE CARTRIDGE TISSUE THICKNESS SENSOR on March 13rd, 2013 The U.S. Patent Application Serial Number 13/800,067 of SYSTEM " is now U.S. Patent Application Publication 2014/0263552；

It is filed in entitled " the SURGICAL CUTTING AND FASTENING on January 31st, 2006 The U.S. Patent Application Publication 2007/ of INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM " 0175955；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 " is now United States Patent (USP) 8,308, 040。

It is also implementable that these embodiments are permitted although certain embodiments has been combined to describe various devices herein More modifications and variations.In addition, when materials for certain parts are disclosed, it is possible to use other materials.In addition, root According to multiple embodiments, single component can be replaced by multiple components, and multiple components can also be replaced by single component, with Execute given one or more functions.Above-mentioned specific embodiment and following the claims be intended to cover it is all it is such modification and Modification.

Apparatus as disclosed herein is designed to discard after a single use or it is designed to be used for multiple times. However no matter what kind of situation it is, which all can be at least using exercising use by finishing after primary again.Reparation may include following Any combination of step, these steps include but is not limited to provision for disengagement, later carry out the specific component of device cleaning or replacement, And then re-assembly device.Specifically, restoration facilities and/or surgical team's detachable apparatus, and in cleaning and/or more After the particular elements of changing device, device can be reassembled for subsequent use.It will be appreciated by those skilled in the art that finishing Device can be dismantled using various technologies, clean/replace and re-assembly.The use of such technology and resulting reparation Device is within the scope of application.

Device disclosed herein can be handled before the surgery.Firstly, can get new or used instrument, and And it is cleaned as needed.Then, it can carry out disinfection to instrument.In a kind of sterilization technology, the instrument is placed on close It closes and in the container (such as, plastics or TYVEK bag) that seals.Then container and instrument can be placed on to the radiation that can penetrate container , such as γ radiation, X-ray and/or high energy electron.Radiation can kill the bacterium on instrument and in container.Sterilized instrument It can then be stored in sterile chamber.Sealing container instrument can be remained it is sterile, until in medical facilities by the appearance Device is opened.Any other technology known in the art also can be used to carry out disinfection device, the technology includes but is not limited to β spoke It penetrates, γ radiation, ethylene oxide, plasma peroxide and/or steam.

Although the present invention has been described as having exemplary design, can further be repaired in the spirit and scope of the disclosure Change the present invention.Therefore, this application is intended to cover use any modification of the invention of General Principle of the invention, purposes or change Type.

Any patent, announcement or other public materials incorporated in this article in full or in part by reference only simultaneously The material entered is not incorporated herein in existing definition of the present invention, statement or the conflicting range of other public materials.Cause This, and at the necessary level, disclosure specifically listed herein replaces any conflict being herein incorporated by reference Material.It is said that be herein incorporated by reference but with list herein existing definition, statement or other public materials it is conflicting Any material or part thereof will not generated only between incorporated material and existing public material under the degree that conflicts simultaneously Enter.

Claims (20)

1. a kind of surgical instruments, comprising:

Elongated shaft assembly, the elongated shaft assembly limit axis axis；

Surgical end-effector, the surgical end-effector can operatively join with the elongated shaft assembly, to surround institute It states axis axis selectively to rotate relative to the elongated shaft assembly, the surgical end-effector includes firing member, described Firing member is configured in response at least one rotation control action to its application and in the surgical end-effector In selectively move axially；

End effector spin locking system, the end effector spin locking system and the surgical end-effector are handed over It connects, and is configured to the surgery end when applying axial lock movement to the end effector spin locking system Portion's actuator is locked in being rotationally oriented around the axis axis, and applies to the end effector spin locking system The surgical end-effector is unlocked when adding axially unlocked movement selectively to rotate around the axis axis；With

Rotary drive system, the rotary drive system are configured at least one described rotation control action being applied to The firing member, the rotary drive system are configured to be in unlock when the end effector spin locking system At least one rotational positioning movement is applied to the surgical end-effector when configuration, the surgical end-effector is determined Position is rotationally oriented in one selected in being rotationally oriented described in the axis axis.

2. surgical instruments according to claim 1, wherein the elongated shaft assembly further includes actuated articulation joints, described The surgical end-effector is operably linked to the elongated shaft assembly by actuated articulation joints, in order to described outer Section's end effector applies surgical end-effector when joint motions action and surrounds transverse to the joint of axis axis fortune Shaft line selectively carries out joint motions.

3. surgical instruments according to claim 1, wherein the surgical end-effector can be grasped by fixing device for installing It is connected to the elongated shaft assembly with making, the fixing device for installing is configured to permit executing to the surgical end Device applies surgical end-effector when at least one described rotational positioning acts and selectively rotates around the axis axis, And wherein the end effector spin locking system includes rotation lock price fixing, and the rotation lock price fixing is connected to the surgery End effector, at least one described rotational positioning movement be applied to the surgical end-effector when with the surgery end Portion's actuator rotates traveling together, and the rotation lock price fixing is further configured to frictionally engage the fixing device for installing, To prevent the surgical end when axial lock movement is applied to the end effector spin locking system from executing Device is rotated around the axis axis.

4. surgical instruments according to claim 3, wherein the rotation lock price fixing includes being arranged radially at thereon multiple Locking pawl, wherein each locking pawl in the locking pawl is rotationally oriented corresponding to one in described be rotationally oriented, And wherein the end effector spin locking system further includes locking component, and the locking component is supported for applying to it Add the axial lock to be selectively moved to a locking pawl corresponding with the locking pawl when acting to be engaged by locking.

5. surgical instruments according to claim 4, wherein the end effector spin locking system further includes being capable of axis To the locking control-rod of movement, the locking control-rod, which is configured to act the axial lock, is applied to the locking Component.

6. surgical instruments according to claim 5, wherein the locking component includes:

Lock gear component, the lock gear component is rotatably supported into be engaged with the rack gear on the locking control-rod Engagement；

Lock gear, the lock gear are supported for being engaged with the lock gear component；With

Lock lug, the locking lug is formed in the lock gear, with it is described right in the locking pawl A locking pawl is answered selectively to be engaged by locking.

7. surgical instruments according to claim 6, wherein described in the locking lug and the locking pawl When a corresponding locking pawl is engaged by locking, the rotation lock price fixing frictionally engages the fixing device for installing, to prevent Surgical end-effector is stated to rotate around the axis axis.

8. surgical instruments according to claim 2, wherein the actuated articulation joints include:

Articulating shaft, the articulating shaft are connected to the elongated shaft assembly, joint described in the joint motions axis limit Axis of movement；With

Fixing device for installing, pivotly axle journal is connected on the articulating shaft fixing device for installing, to surround institute Carry out joint motions with stating articulating shaft line options, the fixing device for installing can be grasped with the surgical end-effector Make ground handover, to permit applying surgery end when at least one described rotational positioning acts to the surgical end-effector Portion's actuator is selectively rotated around the axis axis.

9. surgical instruments according to claim 8, wherein the end effector spin locking system includes spin locking Disk, the rotation lock price fixing are connected to the surgical end-effector, to be applied at least one described rotational positioning movement Traveling is rotated when the surgical end-effector together with the surgical end-effector, the rotation lock price fixing is further configured to The fixing device for installing can be frictionally engaged, to prevent from axial lock movement being applied to the end effector The surgical end-effector is rotated around the axis axis when spin locking system.

10. surgical instruments according to claim 9, wherein the elongated shaft assembly further includes joint motions drive shaft, institute Joint motions drive shaft is stated to be configured to when moving drive actions to joint motions drive shaft application rotary joint, Joint motions action is applied to the fixing device for installing.

11. surgical instruments according to claim 10, wherein the rotary drive system includes:

Distal side line shaft, the distal side line shaft are operably supported and are configured to by the surgical end-effector The rotation control action is applied to the percussion when end effector spin locking system is in the unlocked configuration Component and by the rotational positioning movement be applied to the surgical end-effector；With

Nearside rotates drive shaft, and the nearside rotation drive shaft can be operatively engaged with the distal side line shaft.

12. a kind of surgical instruments, comprising:

Elongated shaft assembly, the elongated shaft assembly limit axis axis；

Surgical end-effector, the surgical end-effector can operatively join with the elongated shaft assembly, to surround institute It states axis axis selectively to rotate relative to the elongated shaft assembly, the surgical end-effector includes firing member, described Firing member is configured in response to applying at least one rotation control action to it and in the surgical end-effector Selectively move axially；

For to the surgical end-effector apply axial lock act when by the surgical end-effector selectively It is locked in and predetermined any one of is rotationally oriented the device being rotationally oriented around the multiple of the axis axis；With

For at least one described rotation control action to be applied when the described device for selective lock is in unlocked configuration Be added to the firing member and by least one rotational positioning movement be applied to the surgical end-effector with will it is described outside Section's end effector be located in around the axis axis it is described it is predetermined be rotationally oriented in select one be rotationally oriented On device.

13. surgical instruments according to claim 12, further include for make the surgical end-effector surround transverse to Carry out to the articulating shaft line options of the axis axis device of joint motions.

14. a kind of surgery cuts and fastening instrument, comprising:

Elongated shaft assembly, the elongated shaft assembly limit axis axis；

Surgical end-effector, the surgical end-effector include:

Elongated passageway, the elongated passageway are configured to be operably supported the surgery nail bin being located therein；

Anvil block, the anvil block are supported relative to the elongated passageway, in open position and to close relative to the elongated passageway Coincidence selectively moves between setting；With

Cutting element, the cutting element are configured to when the anvil block is in response to applying at least one rotation to the anvil block Control action and be in the closed position when selectively move axially through the elongated passageway and the anvil block, and its Described in surgery cuts and fastening instrument further include:

End effector spin locking system, the end effector spin locking system and the elongated passageway and described elongated Shaft assembly handover, and be configured to apply when axial lock acts to the end effector spin locking system by institute It states elongated passageway and is locked in being rotationally oriented around the axis axis, and to the end effector spin locking system The elongated passageway is unlocked when applying axially unlocked movement selectively to rotate around the axis axis；With

Rotary drive system, the rotary drive system are configured at least one described rotation control action being applied to The cutting element, the rotary drive system are configured to be in unlock when the end effector spin locking system At least one rotational positioning movement is applied to the elongated passageway when configuration, the surgical end-effector is located in and is enclosed One selected in being rotationally oriented described in the axis axis is rotationally oriented.

15. surgery cuts according to claim 14 and fastening instrument, wherein the elongated passageway passes through the fixed dress of installation It sets and is operably linked to the elongated shaft assembly, the fixing device for installing is configured to permit the elongated passageway to exist Apply to the elongated passageway and is selectively rotated when at least one described rotational positioning acts around the axis axis, and its Described in end effector spin locking system include rotation lock price fixing, the rotation lock price fixing is connected to the elongated passageway, To rotate traveling, institute together with the elongated passageway when at least one described rotational positioning movement is applied to the elongated passageway It states rotation lock price fixing to be further configured to frictionally engage the fixing device for installing, to prevent from moving by the axial lock The surgical end-effector when end effector spin locking system is applied to rotate around the axis axis.

16. surgery cuts according to claim 15 and fastening instrument, wherein the rotary drive system includes:

Distal side line shaft, the distal side line shaft are operably supported and are configured to by the surgical end-effector The rotation control action is applied to the cutting when end effector spin locking system is in the unlocked configuration Component and by the rotational positioning movement be applied to the elongated passageway；With

Nearside rotates drive shaft, and the nearside rotation drive shaft can operatively be engaged with the distal side line shaft.

17. surgery cuts according to claim 16 and fastening instrument, wherein the rotary drive system further includes anvil block Drive shaft, the anvil block drive shaft are pivotally supported in the anvil block and can operatively connect with the distal side line shaft It closes, the nearside rotation drive shaft and the cutting element are operatively engaged with the axially driving cutting element across described Elongated passageway and the anvil block.

18. surgery cuts according to claim 15 and fastening instrument further include actuated articulation joints, the joint motions Connector is operably linked to the elongated shaft assembly and the fixing device for installing, in order to which the surgical end-effector is enclosed Joint motions are carried out around the articulating shaft line options transverse to the axis axis, and are executed convenient for the surgical end Device is centered around the axis axis rotation in the actuated articulation joints distal side.

19. surgery cuts according to claim 16 and fastening instrument, further includes:

Actuated articulation joints, the actuated articulation joints are operably linked to the elongated shaft assembly and the fixed dress of the installation It sets, in order to which the surgical end-effector carries out joint around the articulating shaft line options transverse to the axis axis Movement, and rotated convenient for the axis axis that the surgical end-effector is centered around the actuated articulation joints distal side；With

Joint motions drive shaft, the joint motions drive shaft are configured to applying rotation to the joint motions drive shaft When turning joint motions drive actions, joint motions action is applied to the fixing device for installing.

20. surgery cuts according to claim 19 and fastening instrument, wherein the nearside rotation drive shaft is in the axis Coaxial alignment on axis, and wherein the joint motions drive shaft includes deviateing the joint motions drive shaft axis of the axis axis Line.